CN114533111A - Three-dimensional ultrasonic reconstruction system based on inertial navigation system - Google Patents
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Abstract
The invention discloses a three-dimensional ultrasonic reconstruction system based on an inertial navigation system, which obtains a two-dimensional ultrasonic image by scanning an ultrasonic probe, acquires the position and the posture of the ultrasonic probe under an inertial navigation coordinate system at different moments by combining a gyroscope and acceleration, and fixes the relation between the ultrasonic probe and the two-dimensional ultrasonic image at any moment, so that the relative pose information relation of the two-dimensional ultrasonic image under the inertial navigation coordinate system at any moment can be obtained, a series of two-dimensional ultrasonic images are uniformly displayed under the inertial coordinate system according to the relative position relation and the posture of the two-dimensional ultrasonic images through a three-dimensional reconstruction module, and are projected onto a computer to realize three-dimensional ultrasonic display, and a doctor can be guided to perform an operation in real time.
Description
Technical Field
The invention belongs to the technical field of three-dimensional ultrasonic imaging, and particularly relates to a three-dimensional ultrasonic reconstruction system based on an inertial navigation system.
Background
Free-hand (free-hand) three-dimensional imaging, namely, an ultrasonic probe is freely moved by a human hand to scan on a target object, and the position and direction information of the ultrasonic probe is captured by utilizing an optical three-dimensional sensing technology. The three-dimensional sensing technology commonly used at present comprises a spatial reference object or signal and a corresponding detector. For example, an electromagnetic transmitter is used to transmit an electromagnetic wave as a reference signal, and a probe determines the change in the position and direction of the probe according to the change in the field strength of the electromagnetic wave. As another example, one or more optical sensors positioned on the surface of the probe are used as a reference, and one or more cameras surrounding the ultrasound probe are used to detect the position and orientation of the probe.
The three-dimensional sensing technology has its own advantages and limitations, wherein the electromagnetic sensing technology is interfered by external electromagnetic waves. The technology based on optical sensors affects the positioning of the light when the light is blocked.
In addition, the conventional ultrasound imaging operation is that a doctor holds an ultrasound probe, moves a target region on a patient, and acquires an ultrasound image of the region. The scanning results in two-dimensional ultrasound images, the information acquired of the target area is limited, and if surgery is performed by means of this image information, the doctor is relied upon to convert it into three-dimensional information in the brain in order to find the best position for scanning.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a three-dimensional ultrasonic reconstruction system based on an inertial navigation system, wherein a navigation coordinate system is established according to the output of a gyroscope and an accelerometer, and the position and the posture of a carrier in the navigation coordinate system are calculated, so that the reconstruction of a three-dimensional ultrasonic image is realized.
In order to achieve the above object, the three-dimensional ultrasonic reconstruction system based on an inertial navigation system according to the present invention includes:
the ultrasonic imaging module comprises an ultrasonic probe and a mobile terminal; the ultrasonic probe carries out ultrasonic scanning on the region of interest of the target to obtain a two-dimensional ultrasonic image at a certain moment, and the two-dimensional ultrasonic image is displayed through the mobile terminal;
the two-dimensional ultrasonic imaging device is used for storing the two-dimensional ultrasonic image transmitted by the ultrasonic imaging module and transmitting the two-dimensional ultrasonic image to the spatial information processing module;
the inertial navigation system module comprises a gyroscope and an accelerometer; wherein the gyroscope is used for measuring the three-axis angular velocity (w) of the ultrasonic probe under an inertial navigation coordinate system at a certain momentx,wy,wz) The accelerometer is used for measuring the triaxial acceleration a of the ultrasonic probe under an inertial navigation coordinate system at a certain moment;
the spatial information processing module comprises a correction unit and a calibration unit; wherein, the correction unit obtains the three-axis angular velocity (w) sent by the inertial navigation system modulex,wy,wz) And an acceleration a, thereby calculating an attitude angle (beta) of a certain time with respect to a time 0x,βy,βz) And a displacement m; will posture angle (beta)x,βy,βz) And the displacement m is used as the three-dimensional space information of the ultrasonic probe, then the two-dimensional ultrasonic image is according to the attitude angle (beta)x,βy,βz) Arranging the displacement m in a three-dimensional space to obtain a three-dimensional ultrasonic image;
the calibration unit converts each pixel point in the two-dimensional ultrasonic image into a three-dimensional space through mapping, then the three-dimensional ultrasonic image calibration correction unit obtained through conversion is used for obtaining a three-dimensional ultrasonic image, and then the calibrated three-dimensional ultrasonic image is sent to the three-dimensional reconstruction module;
the three-dimensional reconstruction module comprises a computer and a display; the computer registers an inertial navigation coordinate system and a coordinate system of a display, and then establishes a projection relation from the inertial navigation coordinate system to the medical image; and the computer receives the three-dimensional ultrasonic image sent by the spatial information module and projects the three-dimensional ultrasonic image to the display according to the established projection relation to complete three-dimensional reconstruction, so that a doctor is guided to perform an operation.
The invention aims to realize the following steps:
the invention relates to a three-dimensional ultrasonic reconstruction system based on an inertial navigation system, which obtains a two-dimensional ultrasonic image by scanning an ultrasonic probe, acquires the position and the posture of the ultrasonic probe under an inertial navigation coordinate system at different moments by combining a gyroscope and acceleration, and fixes the relation between the ultrasonic probe and the two-dimensional ultrasonic image at any moment, so that the relative posture information relation of the two-dimensional ultrasonic image under the inertial navigation coordinate system at any moment can be obtained, a series of two-dimensional ultrasonic images are uniformly displayed under the inertial coordinate system according to the relative position relation and the posture of the two-dimensional ultrasonic images through a three-dimensional reconstruction module and are projected onto a computer to realize three-dimensional ultrasonic display, and a doctor can be guided to perform an operation in real time.
Meanwhile, the three-dimensional ultrasonic reconstruction system based on the inertial navigation system also has the following beneficial effects:
(1) the inertial navigation system is an autonomous navigation system which does not depend on external information and does not radiate energy to the outside, and a gyroscope and an accelerometer are taken as navigation parameter calculation systems of sensitive devices, the system establishes a navigation coordinate system according to the output of the gyroscope and the accelerometer, and the position and the posture of a carrier in the navigation coordinate system are calculated; compared with the traditional electromagnetic sensing technology and optical sensor technology, the technology is slightly influenced by the external environment and is not influenced by external electromagnetic interference and light shielding;
(2) according to the invention, a doctor does not need to adjust the angle by experience to find the optimal scanning position, and the three-dimensional ultrasonic image can be displayed in real time;
(3) the three-dimensional ultrasonic imaging precision and stability after the three-dimensional reconstruction are good, so that the three-dimensional ultrasonic image information can be displayed in real time after all the two-dimensional ultrasonic images after the three-dimensional reconstruction are spliced, and a doctor is guided to perform an operation.
Drawings
FIG. 1 is a block diagram of an embodiment of a three-dimensional ultrasound reconstruction system based on an inertial navigation system according to the present invention;
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
FIG. 1 is a block diagram of an embodiment of a three-dimensional ultrasonic reconstruction system based on an inertial navigation system according to the present invention.
In this embodiment, as shown in fig. 1, the three-dimensional ultrasound reconstruction system based on an inertial navigation system of the present invention includes:
the ultrasonic imaging module comprises an ultrasonic probe and a mobile terminal; the ultrasonic probe carries out ultrasonic scanning on the region of interest of the target to obtain a two-dimensional ultrasonic image at a certain moment, and the two-dimensional ultrasonic image is displayed through the mobile terminal;
the two-dimensional ultrasonic imaging device is used for storing the two-dimensional ultrasonic image transmitted by the ultrasonic imaging module and transmitting the two-dimensional ultrasonic image to the spatial information processing module;
the inertial navigation system module comprises a gyroscope and an accelerometer; wherein, the gyroscope is used for measuring the three-axis angular velocity (w) of the ultrasonic probe under an inertial navigation coordinate system at a certain momentx,wy,wz) The accelerometer is used for measuring the triaxial acceleration a of the ultrasonic probe under an inertial navigation coordinate system at a certain moment;
in this embodiment, the inertial navigation system module selects a strapdown inertial navigation system, and the inertial navigation system module specifically selects a corm ATGM332D multi-system combination in the beidou GPS vehicle-mounted positioning inertial navigation module, which can acquire information such as precision, height, heading, speed, displacement, and the like. The inertial navigation system module is integrated on the ultrasonic probe, namely a gyroscope and an accelerometer are integrated on the ultrasonic probe, so that when the ultrasonic probe carries out ultrasonic scanning on the region of interest of a target, each two-dimensional ultrasonic image obtained shows the pose of the ultrasonic probe when the ultrasonic probe shoots the region of interest;
the spatial information processing module comprises a correction unit and a calibration unit; wherein, the correction unit obtains the three-axis angular velocity (w) sent by the inertial navigation system modulex,wy,wz) And acceleration a, thereby calculatingAttitude angle (beta) at a certain time relative to time 0x,βy,βz) And a displacement m; in the present embodiment, the attitude angle (β)x,βy,βz) And the calculation method of the displacement m comprises the following steps:
calculating attitude angle (beta)x,βy,βz)：
Attitude angle of rotation at time i with respect to time 0 on the X-axis
Attitude angle of rotation at time i with respect to time 0 on the Y-axis
Attitude angle of rotation at time i with respect to time 0 on the Z-axis
Calculating the displacement m:
calculating the speed at the moment i:
calculate the displacement of time i with respect to the rotation at time 0: (ii) a
Will posture angle (beta)x,βy,βz) And the displacement m is used as the three-dimensional space information of the ultrasonic probe, then the two-dimensional ultrasonic image is according to the attitude angle (beta)x,βy,βz) Arranging the displacement m in a three-dimensional space to obtain a three-dimensional ultrasonic image;
the calibration unit converts each pixel point in the two-dimensional ultrasonic image into a three-dimensional space through mapping, then the three-dimensional ultrasonic image calibration correction unit obtained through conversion is used for obtaining a three-dimensional ultrasonic image, and then the calibrated three-dimensional ultrasonic image is sent to the three-dimensional reconstruction module;
the three-dimensional reconstruction module comprises a computer and a display; the computer registers an inertial navigation coordinate system and a coordinate system of a display, and then establishes a projection relation from the inertial navigation coordinate system to the medical image; and the computer receives the three-dimensional ultrasonic image sent by the spatial information module and projects the three-dimensional ultrasonic image to the display according to the established projection relation to complete three-dimensional reconstruction, so that a doctor is guided to perform an operation.
In this embodiment, the specific process of reconstructing the three-dimensional ultrasound image includes:
setting the coordinate of the jth pixel point under the inertial navigation coordinate system at the time 0 as
Calculating the three-dimensional coordinates of each pixel point after three-dimensional reconstruction:
the coordinate value after the X-axis reconstruction at the time i is as follows:
the coordinate value after the Y-axis reconstruction at the time i is as follows:
the coordinate value after the Z axis reconstruction at the time i is as follows:
and after the coordinate value of each pixel point after three-dimensional reconstruction is calculated, obtaining a reconstructed three-dimensional ultrasonic image.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (4)
1. A three-dimensional ultrasonic reconstruction system based on an inertial navigation system, comprising:
the ultrasonic imaging module comprises an ultrasonic probe and a mobile terminal; the ultrasonic probe carries out ultrasonic scanning on the region of interest of the target to obtain a two-dimensional ultrasonic image at a certain moment, and the two-dimensional ultrasonic image is displayed through the mobile terminal;
the two-dimensional ultrasonic imaging device is used for storing the two-dimensional ultrasonic image transmitted by the ultrasonic imaging module and transmitting the two-dimensional ultrasonic image to the spatial information processing module;
the inertial navigation system module comprises a gyroscope and an accelerometer; wherein, the gyroscope is used for measuring the three-axis angular velocity (w) of the ultrasonic probe under an inertial navigation coordinate system at a certain momentx,wy,wz) The accelerometer is used for measuring the triaxial acceleration a of the ultrasonic probe under an inertial navigation coordinate system at a certain moment;
the spatial information processing module comprises a correction unit and a calibration unit; wherein, the correction unit obtains the three-axis angular velocity (w) sent by the inertial navigation system modulex,wy,wz) And an acceleration a, thereby calculating an attitude angle (beta) of a certain time with respect to a time 0x,βy,βz) And a displacement m; the attitude angle (beta)x,βy,βz) And the displacement m is used as the three-dimensional space information of the ultrasonic probe, then the two-dimensional ultrasonic image is according to the attitude angle (beta)x,βy,βz) Arranging the displacement m in a three-dimensional space to obtain a three-dimensional ultrasonic image;
the calibration unit converts each pixel point in the two-dimensional ultrasonic image into a three-dimensional space through mapping, then the three-dimensional ultrasonic image calibration correction unit obtained through conversion is used for obtaining a three-dimensional ultrasonic image, and then the calibrated three-dimensional ultrasonic image is sent to the three-dimensional reconstruction module;
the three-dimensional reconstruction module comprises a computer and a display; the computer registers an inertial navigation coordinate system and a coordinate system of a display, and then establishes a projection relation from the inertial navigation coordinate system to the medical image; and the computer receives the three-dimensional ultrasonic image sent by the spatial information module and projects the three-dimensional ultrasonic image to the display according to the established projection relation to complete three-dimensional reconstruction, so that a doctor is guided to perform an operation.
2. The inertial navigation system-based three-dimensional ultrasound reconstruction system of claim 1, wherein the inertial navigation system module is a strapdown inertial navigation system, and the inertial navigation system module is integrated on the ultrasound probe.
3. The inertial navigation system-based three-dimensional ultrasound reconstruction system according to claim 1, characterized in that the attitude angle (β)x,βy,βz) And the calculation method of the displacement m comprises the following steps:
calculating attitude angle (beta)x,βy,βz)：
Attitude angle of rotation at time i with respect to time 0 on the X-axis
Attitude angle of rotation at time i with respect to time 0 on the Y-axis
Attitude angle of rotation at time i with respect to time 0 on the Z-axis
Calculating the displacement m:
calculating the speed at the moment i:
calculate the displacement of time i with respect to the rotation at time 0:
4. the inertial navigation system-based three-dimensional ultrasound reconstruction system of claim 1, wherein the three-dimensional reconstruction module implements three-dimensional ultrasound image reconstruction by:
setting the coordinate of the jth pixel point under the inertial navigation coordinate system at the time 0 as
Calculating the three-dimensional coordinates of each pixel point after three-dimensional reconstruction:
the coordinate value after the X-axis reconstruction at the time i is as follows:
the coordinate value after the Y-axis reconstruction at the time i is as follows:
the coordinate value after the Z axis reconstruction at the time i is as follows:
and after the coordinate value of each pixel point after three-dimensional reconstruction is calculated, obtaining a reconstructed three-dimensional ultrasonic image.
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| CN115998328A (en) * | 2022-11-11 | 2023-04-25 | 南京晓庄学院 | Three-dimensional B-type ultrasonic imaging method and device |
| WO2023240584A1 (en) * | 2022-06-17 | 2023-12-21 | 之江实验室 | Cross-media knowledge semantic expression method and apparatus |
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