CN114668495A - Biplane free arm three-dimensional reconstruction method and application thereof - Google Patents

Biplane free arm three-dimensional reconstruction method and application thereof Download PDF

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CN114668495A
CN114668495A CN202111224898.7A CN202111224898A CN114668495A CN 114668495 A CN114668495 A CN 114668495A CN 202111224898 A CN202111224898 A CN 202111224898A CN 114668495 A CN114668495 A CN 114668495A
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image
probe
relative displacement
biplane
frames
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李德来
范列湘
王煜
李斌
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Shantou Ultrasonic Instrument Research Institute Co ltd
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Shantou Ultrasonic Instrument Research Institute Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A61B8/4488—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer the transducer being a phased array
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition

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Abstract

The invention relates to the field of ultrasonic detection, in particular to a biplane free arm three-dimensional reconstruction method and application thereof. The following technical scheme is adopted: the method comprises the steps of carrying out image acquisition by rotating a biplane probe and controlling an A scanning array and a B scanning array, calculating the relative displacement of the probe between each frame of image according to the obtained front and back frames of a plurality of frames of A-surface images and/or B-surface images, carrying out three-dimensional conversion on the obtained a plurality of frames of A-surface images and/or B-surface images according to the relative displacement, thus obtaining a three-dimensional body of an object to be scanned, and applying the method to prostate detection. Has the advantages that: the biplane free arm three-dimensional reconstruction method is used for carrying out image detection on the prostate and constructing a three-dimensional data image, the appearance of the probe is a conventional inner probe, discomfort of a patient in the examination process can be reduced, the cost of the probe and the requirement on a host are reduced, and the examination cost is reduced; meanwhile, the movement of the patient in the examination process can be compensated, and the accuracy of the reconstructed volume data and the examination is effectively improved.

Description

Biplane free arm three-dimensional reconstruction method and application thereof
Technical Field
The invention relates to the field of ultrasonic detection, in particular to a biplane free arm three-dimensional reconstruction method and application thereof.
Background
The three-dimensional reconstruction of the prostate has important significance for follow-up prostate clinic, and the real-time property of an ultrasonic image and the high-resolution characteristic of MRI imaging are utilized to combine the two to position the focus position in real time. The method has important significance for preoperative diagnosis, operation and biopsy puncture planning, positioning and postoperative examination.
The existing ultrasonic three-dimensional reconstruction methods are mainly divided into three categories: 1) direct three-dimensional scanning and reconstruction based on a two-dimensional area array probe; 2) two-dimensional image sequence sampling and three-dimensional reconstruction based on a one-dimensional probe driven by a motor; 3) sampling and three-dimensional reconstruction of a two-dimensional image sequence of a one-dimensional probe based on a position sensor. Wherein, the equipment cost of 1) is high, and the requirements on the probe and the host are high; 2) the motor and the drive control circuit are required to be integrated in the probe, the probe is higher in cost and larger in volume than a conventional probe, and the probe can bring discomfort or pain to a patient during image acquisition; 3) position sensor need be used, and position sensor commonly used at present is electromagnetic type and optics type, and its precision has certain limitation, also increases extra cost simultaneously. Meanwhile, in the two methods 1) and 2), when the image is acquired, the patient cannot move, otherwise, the imaging effect is influenced, and 3) the influence of the environment is large.
Disclosure of Invention
The invention aims to disclose a biplane free arm three-dimensional reconstruction method and application thereof, and particularly discloses a method for acquiring images and realizing accurate three-dimensional data reconstruction by using a conventional biplane probe and application of the method in prostate three-dimensional reconstruction.
In order to achieve the purpose, the invention adopts the following technical scheme: a biplane free arm three-dimensional reconstruction method includes recording two scanning arrays of a biplane probe as A and B, wherein a plane image obtained by scanning the array A is an A surface, and a plane image obtained by scanning the array B is a B surface; the method comprises the steps of carrying out image acquisition at a certain frequency by rotating a biplane probe and controlling an A scanning array and a B scanning array, calculating the relative displacement of the probe between each frame of image according to the obtained front and back frames of a plurality of frames of A-surface images and/or B-surface images, and carrying out three-dimensional conversion on the obtained plurality of frames of A-surface images and/or B-surface images according to the calculated relative displacement so as to obtain the three-dimensional body of the scanned object.
Specifically, when the relative displacement of the probe between each frame of image is calculated according to the obtained front and rear frames of the multiple frames of the A-surface image and/or the B-surface image, the relative displacement is calculated by using the front and rear frames of the A-surface image or the B-surface image, specifically, a data point region is selected on the front frame of the A-surface image or the B-surface image, then the front frame of the A-surface image or the B-surface image is superposed and compared with the corresponding rear frame of the A-surface image or the B-surface image, and finally the relative displacement of the probe between the front frame of the image and the rear frame of the image is calculated according to the relative displacement of the data point region on the front frame of the A-surface image or the rear frame of the B-surface image.
In another scheme, when the relative displacement of the probe between each frame of image is calculated according to the obtained multiple frames of the A-surface image and/or the front frame and the rear frame of the B-surface image, the front frame and the rear frame of the A-surface image and the front frame and the rear frame of the B-surface image are used for calculating the relative displacement, and specifically, the front frame and the rear frame of the A-surface image and the front frame and the rear frame of the B-surface image are used for calculating the relative displacement respectively, and then the relative displacement obtained by calculating the A-surface image and the relative displacement obtained by calculating the B-surface image are comprehensively calculated to obtain the relative displacement of the probe.
Specifically, when the image acquisition is performed by using the scanning array A and the scanning array B, the image acquisition is performed in an alternating sequence by adopting a time-sharing method, and the acquired images are grouped and processed according to the scanning array A and the scanning array B.
The biplane free arm three-dimensional reconstruction method is used for three-dimensional reconstruction of the prostate so as to position the focus position of the prostate in real time.
The invention has the advantages that: by using the biplane free arm three-dimensional reconstruction method to carry out image detection on the prostate and construct a three-dimensional data image, the probe is a conventional inner probe in shape, so that discomfort of a patient in the examination process can be reduced, the cost of the probe and the requirement on a host can be reduced, and the examination cost is reduced; meanwhile, the movement of the patient in the examination process can be compensated, and the examination accuracy is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a bi-planar convex array probe and scanning surface.
Detailed Description
A biplane free arm three-dimensional reconstruction method includes recording two scanning arrays of a biplane probe as A and B, wherein a plane image obtained by scanning the array A is an A surface, and a plane image obtained by scanning the array B is a B surface; the method comprises the steps of carrying out image acquisition at a certain frequency by rotating a biplane probe and controlling an A scanning array and a B scanning array, calculating the relative displacement of the probe between each frame of image according to the obtained front and back frames of a plurality of frames of A-surface images and/or B-surface images, and carrying out three-dimensional conversion on the obtained plurality of frames of A-surface images and/or B-surface images according to the calculated relative displacement so as to obtain the three-dimensional body of the scanned object. The biplane probe can adopt a biplane convex array probe or a biplane linear array probe or a biplane one-convex one-line probe.
The three-dimensional reconstruction method disclosed by the invention can calculate the displacement of the probe relative to the scanned object by using the image acquired by one or two of the scanning arrays A and B, and then construct the three-dimensional image of the scanned object by using the image acquired by one or two of the scanning arrays A and B according to the displacement information of the probe obtained by calculation. The displacement information of the probe comprises displacement generated by active rotation of the probe and displacement generated passively by the probe when a patient moves, and the probe can enable the A scanning array and the B scanning array to acquire multi-angle and multi-plane images of an object to be scanned through active rotation, so that the A-plane image and the B-plane image obtained by the A scanning array and the B scanning array can be used for constructing a three-dimensional data image of the object to be scanned.
In embodiment 1, in this embodiment, when the relative displacement of the probe between each frame of images is calculated according to the obtained previous and subsequent frames of the multiple frames of the a-plane images and/or the B-plane images, the calculation of the relative displacement is performed by using the previous and subsequent frames of the a-plane images or the B-plane images, specifically, a data point region is selected on the previous frame of the a-plane images or the B-plane images, then the previous frame of the a-plane images or the B-plane images is compared with the corresponding subsequent frame of the a-plane images or the B-plane images in an overlapping manner, and finally, the relative displacement of the probe between the previous and subsequent frames of the images is calculated according to the relative displacement of the data point region on the previous and subsequent frame of the a-plane images or the B-plane images.
In this embodiment, one of the a-plane image and the B-plane image may be used to calculate the relative displacement of the probe, and the other image is used to construct a three-dimensional data image of the scanned object. For example, the relative displacement is calculated using the B-plane image, and the three-dimensional data image of the scanned object is reconstructed using the a-plane image. The embodiment is more suitable for the condition that the patient moves less in the detection process, namely, the relative displacement between the probe and the scanned object is only the displacement generated by the rotation of the probe.
In embodiment 2, in this embodiment, when the relative displacement of the probe between each frame of images is calculated from the obtained a-plane images and/or the previous and subsequent frames of the B-plane images of the plurality of frames, the relative displacement is calculated using the previous and subsequent frames of the a-plane images and the B-plane images, specifically, the relative displacement is calculated using the previous and subsequent frames of the a-plane images and the previous and subsequent frames of the B-plane images, and then the relative displacement calculated from the a-plane images and the relative displacement calculated from the B-plane images are comprehensively calculated, so as to obtain the relative displacement of the probe.
Specifically, when the a scanning array and the B scanning array are used for image acquisition, the image acquisition may be performed in an alternating sequence by a time-sharing method, and the acquired images are grouped and processed according to the a scanning array and the B scanning array.
In the embodiment, because the A-plane image and the B-plane image are simultaneously adopted to calculate the relative displacement of the probe, the relative displacement of the probe relative to the scanned object which actively rotates can be accurately detected, and meanwhile, the relative displacement between the probe and the scanned object caused by the movement of the patient can be detected and compensated, so that the accuracy of the reconstruction of the three-dimensional data image of the scanned object is improved.
Example 3, an application of the above biplane free arm three-dimensional reconstruction method, which is used to perform three-dimensional reconstruction on the prostate by using the biplane free arm three-dimensional reconstruction method described in example 1 or 2, so as to locate the lesion position of the prostate in real time. By using the biplane free arm three-dimensional reconstruction method to carry out image detection on the prostate and construct a three-dimensional data image, the probe is a conventional inner probe in shape, so that discomfort of a patient in the examination process can be reduced, the cost of the probe and the requirement on a host can be reduced, and the examination cost is reduced; meanwhile, the movement of the patient in the examination process can be compensated, and the examination accuracy is effectively improved.
It should be understood that the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the scope of the present invention.

Claims (5)

1. A biplane free arm three-dimensional reconstruction method is characterized by comprising the following steps: recording two scanning arrays of the double-plane probe as A and B, wherein a plane image obtained by scanning the array A is a plane A, and a plane image obtained by scanning the array B is a plane B; the method comprises the steps of carrying out image acquisition at a certain frequency by rotating a biplane probe and controlling an A scanning array and a B scanning array, calculating the relative displacement of the probe between each frame of image according to the obtained front and back frames of a plurality of frames of A-surface images and/or B-surface images, and carrying out three-dimensional conversion on the obtained plurality of frames of A-surface images and/or B-surface images according to the calculated relative displacement so as to obtain the three-dimensional body of the scanned object.
2. The biplane free arm three-dimensional reconstruction method according to claim 1, characterized in that: when the relative displacement of the probe between each frame of image is calculated according to the obtained front and rear frames of the multi-frame A-surface image and/or B-surface image, the front and rear frames of the A-surface image or B-surface image are used for calculating the relative displacement, specifically, a data point region is selected on the A-surface image or B-surface image of the front frame, then the A-surface image or B-surface image of the front frame and the A-surface image or B-surface image of the rear frame are superposed and compared, and finally the relative displacement of the probe between the front and rear frames of image is calculated according to the relative displacement of the data point region on the A-surface image or B-surface image of the front frame and the rear frame.
3. The biplane free arm three-dimensional reconstruction method according to claim 1, characterized in that: when the relative displacement of the probe between each frame of image is calculated according to the obtained multiple frames of A-surface images and/or the previous and next frames of B-surface images, the relative displacement is calculated by utilizing the A-surface images and the previous and next frames of the B-surface images, specifically, the relative displacement is calculated by utilizing the previous and next frames of the A-surface images and the previous and next frames of the B-surface images respectively, and then the relative displacement obtained by the calculation of the A-surface images and the relative displacement obtained by the calculation of the B-surface images are comprehensively calculated to obtain the relative displacement of the probe.
4. The biplane free arm three-dimensional reconstruction method according to claim 3, wherein: when the scanning array A and the scanning array B are used for image acquisition, the image acquisition is carried out in an alternating sequence by adopting a time-sharing method, and the acquired images are grouped and processed according to the scanning array A and the scanning array B.
5. Use of the biplane free-arm three-dimensional reconstruction method according to any one of claims 1 to 4, characterized in that: and performing three-dimensional reconstruction on the prostate by using the biplane free arm three-dimensional reconstruction method so as to position the focus position of the prostate in real time.
CN202111224898.7A 2021-10-15 2021-10-15 Biplane free arm three-dimensional reconstruction method and application thereof Pending CN114668495A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117281616A (en) * 2023-11-09 2023-12-26 武汉真彩智造科技有限公司 Operation control method and system based on mixed reality

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117281616A (en) * 2023-11-09 2023-12-26 武汉真彩智造科技有限公司 Operation control method and system based on mixed reality
CN117281616B (en) * 2023-11-09 2024-02-06 武汉真彩智造科技有限公司 Operation control method and system based on mixed reality

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