CN114305667A - Ultrasonic thermal ablation monitoring method and system based on non-relevant characteristics - Google Patents
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Abstract
The invention belongs to the technical field of ultrasonic monitoring imaging, and discloses an ultrasonic thermal ablation monitoring method and system based on non-relevant characteristics, wherein the method comprises the following steps: s1, selecting an interested area for thermal ablation monitoring, and carrying out ultrasonic scanning on the interested area to obtain ultrasonic echo data; s2, performing beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data; s3, calculating to obtain logarithmically compressed ultrasonic image data based on the ultrasonic radio frequency data; s4, calculating the non-relevant characteristics of the ultrasonic echo data at different moments based on the ultrasonic image data; s5, obtaining ultrasonic non-relevant characteristic images based on the non-relevant characteristics of ultrasonic echo data at different moments; and S6, displaying the ultrasound non-relevant characteristic image. The invention can realize real-time, high-contrast, accurate and clear monitoring of the thermal damage area in the thermal ablation process; the method does not need ultrasonic echo data to meet a specific distribution model, does not need extra model training and learning processes, and is simple to implement.
Description
Technical Field
The invention belongs to the technical field of ultrasonic monitoring imaging, and particularly relates to an ultrasonic thermal ablation monitoring method and system based on non-relevant characteristics.
Background
The tumor thermal ablation technology increases the temperature of tumor tissues through a radio frequency electrode or a microwave probe which is punctured through skin, and finally achieves the purposes of tumor coagulation necrosis and inactivation. In order to eliminate the tumor without affecting the surrounding normal tissue, real-time monitoring of the thermal ablation process is required.
In clinic, a large amount of bubbles generated in the thermal ablation process are utilized to strongly reflect ultrasound, and the thermal ablation process is monitored by adopting a traditional ultrasound B mode, but the image contrast is not high, different imaging effects can be caused by different image gain settings in the actual use process, and the setting dependency of the quality of an image on preset parameters is large.
Existing researchers have proposed using ultrasound Nakagami imaging technology to monitor the thermal ablation process. The Nakagami model is a statistical model, by means of which the concentration of different scatterers in the biological tissue can be distinguished using the Nakagami statistical parameters estimated from the ultrasound backscatter signals, whereby monitoring of the thermal ablation process can be achieved. However, the use of this technique is premised on the assumption that the estimation object must satisfy the distribution model, and in practical applications, changes in the ultrasonic signal processing technique may affect the statistical distribution of the ultrasonic data, and thus may not satisfy the distribution model, and the statistical distribution has insufficient flexibility for parametric imaging, and the ultrasonic Nakagami image generally has the disadvantage of unclear edges.
Chinese patent publication No. CN109171998B discloses a thermal ablation region recognition monitoring imaging method and system based on ultrasound deep learning, in which a deep learning model is trained by combining optical images and ultrasound images of an actual thermal ablation region, and classification and recognition of the thermal ablation region are finally achieved. However, deep learning models often require a large amount of data to train to ensure reliability, and data acquisition and acquisition are often difficult, and the invention adopts ex vivo data to train and obviously cannot be directly used in clinic.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an ultrasonic thermal ablation monitoring method and system based on non-relevant characteristics, which can realize real-time, high-contrast, accurate and clear monitoring of a thermal injury area in a thermal ablation process and are simple to realize.
The invention adopts the following technical scheme:
an ultrasonic thermal ablation monitoring method based on non-relevant characteristics comprises the following steps:
s1, selecting an interested area for thermal ablation monitoring, and carrying out ultrasonic scanning on the interested area to obtain ultrasonic echo data;
s2, performing beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
s3, calculating to obtain logarithmically compressed ultrasonic image data based on the ultrasonic radio frequency data;
s4, calculating autocorrelation characteristics of ultrasonic echo data at different moments and cross-correlation characteristics of the ultrasonic echo data at different moments based on the ultrasonic image data, and further obtaining non-correlation characteristics of the ultrasonic echo data at different moments;
s5, obtaining ultrasonic non-relevant characteristic images based on the non-relevant characteristics of ultrasonic echo data at different moments;
and S6, displaying the ultrasound non-relevant characteristic image.
Preferably, the method further comprises the following steps between the step S1 and the step S2: and carrying out different gain compensation on the ultrasonic echo data at different depths.
Preferably, step S3 includes the steps of:
s3.1, demodulating the ultrasonic radio frequency data to obtain an ultrasonic orthogonal signal;
s3.2, solving the envelope of the ultrasonic orthogonal signal;
and S3.3, carrying out logarithmic compression on the envelope to obtain the ultrasonic image data after the logarithmic compression.
Preferably, the method further comprises the following steps between the step S5 and the step S6:
converting the scanning coordinate system of the ultrasonic non-relevant characteristic image into a display coordinate system;
and performing smooth filtering on the ultrasonic non-relevant feature image after the coordinate system is converted to obtain a final ultrasonic non-relevant feature image.
Preferably, the smoothing filter includes a temporal smoothing filter and a spatial smoothing filter.
As a preferred scheme, in step S3.2, the calculation formula of the envelope is specifically:
wherein, I represents the real part of the ultrasonic orthogonal signal, Q represents the imaginary part of the ultrasonic orthogonal signal, R represents the solved envelope, env is the function of the solved envelope, and j represents the imaginary number unit.
As a preferred scheme, in step S3.3, the calculation formula is specifically:
wherein Img is the ultrasound image data after logarithmic compression, and a is the base number of the log function.
Preferably, in step S4, the non-correlation feature calculation formula of the ultrasound echo data is specifically:
where y denotes the ultrasound probe direction, z denotes the depth direction, τ is the time interval,
for the autocorrelation characteristics of the ultrasonic echo data at time t,
the autocorrelation characteristics of the ultrasonic echo data at the time t + tau,
is the cross-correlation characteristic of two frames of ultrasonic echo data with time interval tau,
representing the uncorrelated features of the ultrasound echo data at time t.
Preferably, in step S6, an ultrasound B-mode image acquired based on the ultrasound echo data in step S1 is also displayed at the same time.
Correspondingly, the ultrasonic thermal ablation monitoring system based on the non-relevant features comprises an ultrasonic scanning module, a beam forming module, a logarithmic compression module, an ultrasonic non-relevant module and a display module which are sequentially connected, wherein the ultrasonic non-relevant module comprises a non-relevant feature calculation unit and a non-relevant feature image generation unit which are connected, the non-relevant feature calculation unit is connected with the logarithmic compression module, and the non-relevant feature image generation unit is connected with the display module;
the ultrasonic scanning module is used for carrying out ultrasonic scanning on the selected region of interest for thermal ablation monitoring so as to obtain ultrasonic echo data;
the beam synthesis module is used for carrying out beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
the logarithm compression module is used for calculating to obtain the ultrasound image data after logarithm compression based on the ultrasound radio frequency data;
the non-correlation characteristic calculation unit is used for calculating the self-correlation characteristics of the ultrasonic echo data at different moments and the cross-correlation characteristics among the ultrasonic echo data at different moments based on the ultrasonic image data so as to obtain the non-correlation characteristics of the ultrasonic echo data at different moments;
the non-correlation characteristic image generating unit is used for obtaining ultrasonic non-correlation characteristic images based on the non-correlation characteristics of the ultrasonic echo data at different moments;
and the display module is used for displaying the ultrasound non-relevant characteristic image.
The invention has the beneficial effects that:
can realize real-time, high-contrast, accurate and clear monitoring of the heat damage area in the heat ablation process
Can support the simultaneous display of the traditional ultrasonic B mode and the ultrasonic characteristic image and better help a clinician to judge the condition of a heat injury area
The calculation of the ultrasonic parameter image depends on the ultrasonic echo data, so the method has the advantages of no damage and no radiation as the traditional B mode of the ultrasonic
The method does not need ultrasonic echo data to meet a specific distribution model, does not need extra model training and learning processes, is simple to realize, and can be directly applied to clinic.
Only the region of interest is scanned, so that subsequent calculation amount can be reduced, and instantaneity is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an ultrasound thermal ablation monitoring method based on uncorrelated features according to the present invention;
FIG. 2 is a schematic diagram of an ultrasound thermal ablation monitoring system based on non-relevant features according to the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
The first embodiment is as follows:
referring to fig. 1, the present embodiment provides an ultrasound thermal ablation monitoring method based on uncorrelated features, including the steps of:
s1, selecting an interested area for thermal ablation monitoring, and carrying out ultrasonic scanning on the interested area to obtain ultrasonic echo data;
s2, performing beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
s3, calculating to obtain logarithmically compressed ultrasonic image data based on the ultrasonic radio frequency data;
s4, calculating autocorrelation characteristics of ultrasonic echo data at different moments and cross-correlation characteristics of the ultrasonic echo data at different moments based on the ultrasonic image data, and further obtaining non-correlation characteristics of the ultrasonic echo data at different moments;
s5, obtaining ultrasonic non-relevant characteristic images based on the non-relevant characteristics of ultrasonic echo data at different moments;
and S6, displaying the ultrasound non-relevant characteristic image.
The scheme of the embodiment can realize real-time, high-contrast, accurate and clear monitoring of the thermal damage area in the thermal ablation process. Secondly, ultrasonic echo data are not required to meet a specific distribution model, extra model training and learning processes are not required, ultrasonic scanning is directly carried out on the ROI, subsequent calculated amount can be reduced, implementation is simple, and the method can be directly applied to clinic. The calculation of the ultrasonic attenuation characteristic image depends on the ultrasonic echo data, so the method has the advantage of no damage and no radiation like the traditional B mode of the ultrasonic.
In step S6, the ultrasound B-mode image obtained based on the ultrasound echo data in step S1 is also displayed simultaneously, so that the present embodiment can support the simultaneous display of the ultrasound conventional B-mode and the ultrasound characteristic image, and better help the clinician to determine the condition of the thermal injury region
Specifically, the method comprises the following steps:
in step S1, specifically, an ultrasound probe is used to perform an ultrasound scan on a Region of interest (ROI) to obtain ultrasound echo data, where the selection of the ROI Region may be directly input by a user, and the position and size of the ROI Region may be adjustable at any time during the imaging process.
The method between the step S1 and the step S2 further comprises the steps of: and carrying out different gain compensation on the ultrasonic echo data at different depths. Because the ultrasonic wave can be attenuated continuously in the process of propagation, the deeper the propagation depth, the greater the attenuation, so different gain compensation needs to be performed on the ultrasonic echo signals at different depths, and specifically, a gain curve can be stored in a memory in advance and then read when in use.
In step S3, the method includes the steps of:
s3.1, demodulating the ultrasonic radio frequency data to obtain an ultrasonic orthogonal signal, namely IQ data, wherein the frequency demodulation adopts an orthogonal demodulation mode and can also adopt other demodulation modes such as Hibert transformation and the like;
s3.2, solving the envelope of the ultrasonic orthogonal signal;
and S3.3, carrying out logarithmic compression on the envelope to obtain the ultrasonic image data after the logarithmic compression.
After frequency demodulation, a down-sampling link can be added to down-sample ultrasonic IQ data so as to further reduce the calculation amount of subsequent links and ensure the real-time performance of the method, and the down-sampling times are generally set to be 2-6 and are more suitable.
In step S3.2, the calculation formula of the envelope is specifically:
wherein, I represents the real part of the ultrasonic orthogonal signal, Q represents the imaginary part of the ultrasonic orthogonal signal, R represents the solved envelope, env is the function of the solved envelope, and j represents the imaginary number unit. The function env of the envelope calculation can be an absolute value function, and the above formula becomes
The sum of squares of the IQ data may be directly obtained as the envelope.
In step S3.3, since the dynamic range of the system is limited, in order to better process and display the ultrasound echo data, the dynamic range compression, that is, logarithmic compression, needs to be performed on the ultrasound envelope data, and the calculation formula specifically is as follows:
wherein Img is the ultrasound image data after logarithmic compression, and a is the base number of the log function, which is generally set to 10, and other non-negative integers can also be used.
In step S4, during the thermal ablation, the thermal injury area is enlarged continuously, which may cause a change in the correlation between the two frames of ultrasound echo data, and the change is measured by the non-correlation characteristic, so that the monitoring of the thermal injury area may be achieved. the calculation of the uncorrelated features of the ultrasound echo data at time t can be expressed as:
where y denotes the ultrasound probe direction, z denotes the depth direction, τ is the time interval,
for the autocorrelation characteristics of the ultrasonic echo data at time t,
the autocorrelation characteristics of the ultrasonic echo data at the time t + tau,
is the cross-correlation characteristic of two frames of ultrasonic echo data with time interval tau,
non-correlated features representing ultrasound echo data at time t。
The method between the step S5 and the step S6 further comprises the steps of:
converting a scanning coordinate system of the ultrasonic non-related characteristic image into a display coordinate system, and converting the scanning coordinate system into the display coordinate system according to the ultrasonic echo data received from the ultrasonic probe, wherein the coordinate system is a scanning coordinate system and is different from the display coordinate system, so that coordinate conversion is needed, and the scanning coordinate system is converted into the display coordinate system;
and performing smooth filtering on the ultrasonic non-correlation characteristic image after the coordinate system is converted to obtain a final ultrasonic non-correlation characteristic image, wherein the smooth filtering comprises time smooth filtering and space smooth filtering.
The spatio-temporal smoothing is used for weakening or removing noise of the ultrasonic echo data, wherein the spatial smoothing filtering can adopt mean value filtering, and the filtering process is as follows:
wherein I (y, z) represents the parametric image matrix to be filtered, g (y, z) represents the parametric image matrix after mean filtering, N × M represents the size of the filtering window, and both N and M are set to 5 in the present invention. In addition to mean filtering, gaussian smoothing, median filtering, frequency domain filtering, etc. may be used. The time smoothing filtering can be implemented by performing weighted average on images with different frame numbers, the frame number T can be set to 2, and then the formula of time composition is specifically:
wherein the weighting coefficients α 0 and α 1 need to satisfy the condition that the sum is 1,
a smooth image is required for the current time instant,
the smoothed image at the previous time is the image,
the image is smoothed at the current moment.
Example two:
referring to fig. 2, the present embodiment provides an ultrasound thermal ablation monitoring system based on uncorrelated features, which includes an ultrasound scanning module, a beam forming module, a logarithmic compression module, an ultrasound uncorrelated module, and a display module, which are sequentially connected, where the ultrasound uncorrelated module includes a correlated uncorrelated feature calculating unit and an uncorrelated feature image generating unit, the uncorrelated feature calculating unit is connected to the logarithmic compression module, and the uncorrelated feature image generating unit is connected to the display module;
the ultrasonic scanning module is used for carrying out ultrasonic scanning on the selected region of interest for thermal ablation monitoring so as to obtain ultrasonic echo data;
the beam synthesis module is used for carrying out beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
the logarithm compression module is used for calculating to obtain the ultrasound image data after logarithm compression based on the ultrasound radio frequency data;
the non-correlation characteristic calculation unit is used for calculating the self-correlation characteristics of the ultrasonic echo data at different moments and the cross-correlation characteristics among the ultrasonic echo data at different moments based on the ultrasonic image data so as to obtain the non-correlation characteristics of the ultrasonic echo data at different moments;
the non-correlation characteristic image generating unit is used for obtaining ultrasonic non-correlation characteristic images based on the non-correlation characteristics of the ultrasonic echo data at different moments;
and the display module is used for displaying the ultrasound non-relevant characteristic image.
The ultrasonic scanning module can also comprise a transmitting/receiving circuit, a signal amplification module and an analog-to-digital converter besides the ultrasonic probe. The ultrasonic probe can be a convex array probe, a linear array probe, a phased array probe or other special probes, the transmitting/receiving circuit is used for controlling the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echoes, the signal amplification module is used for amplifying ultrasonic signals, and the analog-to-digital converter is used for converting analog ultrasonic signals into digital signals.
The display module can adopt a display special for medical ultrasound, and can also adopt other displays such as a workstation computer and a mobile phone, and the number of the displays can be one or more.
It should be noted that, similar to the embodiments, the ultrasound thermal ablation monitoring system based on the non-relevant features provided in the embodiments is not described herein again.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention by those skilled in the art should fall within the protection scope of the present invention without departing from the design spirit of the present invention.
Claims (10)
1. An ultrasonic thermal ablation monitoring method based on non-relevant characteristics is characterized by comprising the following steps:
s1, selecting an interested area for thermal ablation monitoring, and carrying out ultrasonic scanning on the interested area to obtain ultrasonic echo data;
s2, performing beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
s3, calculating to obtain logarithmically compressed ultrasonic image data based on the ultrasonic radio frequency data;
s4, calculating autocorrelation characteristics of ultrasonic echo data at different moments and cross-correlation characteristics of the ultrasonic echo data at different moments based on the ultrasonic image data, and further obtaining non-correlation characteristics of the ultrasonic echo data at different moments;
s5, obtaining ultrasonic non-relevant characteristic images based on the non-relevant characteristics of ultrasonic echo data at different moments;
and S6, displaying the ultrasound non-relevant characteristic image.
2. The ultrasound thermal ablation monitoring method based on uncorrelated features according to claim 1, further comprising the steps between step S1 and step S2 of: and carrying out different gain compensation on the ultrasonic echo data at different depths.
3. The ultrasound thermal ablation monitoring method based on the uncorrelated features according to claim 2, wherein the step S3 comprises the steps of:
s3.1, demodulating the ultrasonic radio frequency data to obtain an ultrasonic orthogonal signal;
s3.2, solving the envelope of the ultrasonic orthogonal signal;
and S3.3, carrying out logarithmic compression on the envelope to obtain the ultrasonic image data after the logarithmic compression.
4. The ultrasound thermal ablation monitoring method based on uncorrelated features according to claim 3, further comprising the steps between step S5 and step S6 of:
converting the scanning coordinate system of the ultrasonic non-relevant characteristic image into a display coordinate system;
and performing smooth filtering on the ultrasonic non-relevant feature image after the coordinate system is converted to obtain a final ultrasonic non-relevant feature image.
5. The ultrasound thermal ablation monitoring method based on the uncorrelated features according to claim 4, wherein the smoothing filter comprises a temporal smoothing filter and a spatial smoothing filter.
6. The ultrasound thermal ablation monitoring method based on the uncorrelated features according to claim 3, wherein in step S3.2, the calculation formula of the envelope is specifically:
wherein, I represents the real part of the ultrasonic orthogonal signal, Q represents the imaginary part of the ultrasonic orthogonal signal, R represents the solved envelope, env is the function of the solved envelope, and j represents the imaginary number unit.
7. The ultrasound thermal ablation monitoring method based on the uncorrelated features according to claim 6, wherein in step S3.3, the calculation formula is specifically:
wherein Img is the ultrasound image data after logarithmic compression, and a is the base number of the log function.
8. The ultrasound thermal ablation monitoring method based on uncorrelated features according to claim 7, wherein in step S4, the uncorrelated feature calculation formula of the ultrasound echo data is specifically:
where y denotes the ultrasound probe direction, z denotes the depth direction, τ is the time interval,
for the autocorrelation characteristics of the ultrasonic echo data at time t,
the autocorrelation characteristics of the ultrasonic echo data at the time t + tau,
is the cross-correlation characteristic of two frames of ultrasonic echo data with time interval tau,
representing the uncorrelated features of the ultrasound echo data at time t.
9. The ultrasound thermal ablation monitoring method based on uncorrelated features according to claim 8, wherein in step S6, ultrasound B-mode images obtained based on the ultrasound echo data in step S1 are also displayed simultaneously.
10. An ultrasonic thermal ablation monitoring method based on non-relevant features is characterized by comprising an ultrasonic scanning module, a beam forming module, a logarithmic compression module, an ultrasonic non-relevant module and a display module which are sequentially connected, wherein the ultrasonic non-relevant module comprises a non-relevant feature calculation unit and a non-relevant feature image generation unit which are connected, the non-relevant feature calculation unit is connected with the logarithmic compression module, and the non-relevant feature image generation unit is connected with the display module;
the ultrasonic scanning module is used for carrying out ultrasonic scanning on the selected region of interest for thermal ablation monitoring so as to obtain ultrasonic echo data;
the beam synthesis module is used for carrying out beam synthesis on the ultrasonic echo data to obtain ultrasonic radio frequency data;
the logarithm compression module is used for calculating to obtain the ultrasound image data after logarithm compression based on the ultrasound radio frequency data;
the non-correlation characteristic calculation unit is used for calculating the self-correlation characteristics of the ultrasonic echo data at different moments and the cross-correlation characteristics among the ultrasonic echo data at different moments based on the ultrasonic image data so as to obtain the non-correlation characteristics of the ultrasonic echo data at different moments;
the non-correlation characteristic image generating unit is used for obtaining ultrasonic non-correlation characteristic images based on the non-correlation characteristics of the ultrasonic echo data at different moments;
and the display module is used for displaying the ultrasound non-relevant characteristic image.
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