CN115998328A - Three-dimensional B-type ultrasonic imaging method and device - Google Patents
Three-dimensional B-type ultrasonic imaging method and device Download PDFInfo
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Abstract
The three-dimensional B-type ultrasonic imaging device comprises a laser positioning system, a gyroscope and a B-type ultrasonic device, wherein the gyroscope is arranged on a B-type ultrasonic probe, the laser positioning system is a pulse laser range finder, and the pulse laser range finder monitors five positioning monitoring points through laser to four corners and a central point; dividing the three-dimensional object into small cubes which are arranged in sequence by using a voxel model method, wherein one small cube is a voxel; and vertically moving to different detection points from top to bottom at each detection point, and detecting different voxels until the different voxels form a three-dimensional image of a detection region. A plurality of voxels are arranged according to the corresponding spatial positions to form a three-dimensional image, so that the reconstruction of any plane of the B ultrasonic can be realized, and the diagnosis is convenient.
Description
Technical Field
The invention relates to the technical fields of wireless optical communication, laser ranging, gyroscope positioning and image processing, in particular to a more visual three-dimensional image application for B-type ultrasonic detection.
Background
The disease is diagnosed in a gray scale, namely brightness (brightness) mode, namely "two-dimensional display", and the first English letter of brightness is B, so that the disease is called B ultrasonic, namely two-dimensional ultrasonic or gray scale ultrasonic; the type B ultrasonic imaging apparatus is used for various examinations, which are currently known ultrasonic examination methods and apparatuses. Such as non-operative diagnostic examinations of the human body, are generally used in clinical applications. No pain, no damage and no radioactivity to the detected person. The scope of type B ultrasound examinations is wide and may relate to 1 abdominal examinations: including liver, gall, pancreas, spleen, abdominal cavity, etc.; 2 gynecological examination; 3 urinary system examination; 4 superficial tumor and lesions; 5 heart and limb vascular examinations. The B-type ultrasonic can clearly display various sectional images of various organs and surrounding organs, and the images are rich in sense of reality and close to the anatomical real structure, so that the early diagnosis can be definitely performed by applying ultrasonic examination.
However, the current type B ultrasound also has limitations that are difficult to overcome: because of the occurrence of multiple repeated reflections and false reflection due to side lobe interference in the reflection method, misdiagnosis is sometimes easy to cause. The slice-type pictures are also unfavorable for the analysis and diagnosis of doctors, and are easy to cause misdiagnosis. Thus, a series of three-dimensional B-ultrasound imaging techniques have emerged.
CN 201911385603.7 discloses a linear array scanning three-dimensional imaging B ultrasonic probe, which comprises a probe shell and a sound-transmitting cover arranged on the probe shell, wherein a bracket is arranged in the probe shell, a stepping motor is fixedly arranged on the bracket, a probe transmission mechanism is arranged on the stepping motor, a two-dimensional ultrasonic sound head is fixedly arranged on the probe transmission mechanism, and the two-dimensional ultrasonic sound head is driven by the probe transmission mechanism to reciprocate along the linear direction. The linear array three-dimensional scanning is realized through the linear motion of the two-dimensional ultrasonic imaging section, and the three-dimensional ultrasonic imaging quality is greatly improved.
The CN201110310055.9 three-dimensional B ultrasonic detection device comprises an FPGA module, a display module, a hard disk, a mouse, a keyboard module and a microprocessor. The FPGA module is used for acquiring three-dimensional B ultrasonic data and primarily processing the data; the display module is used for displaying image information.
CN200910250070.1 discloses a three-dimensional B-ultrasonic device for realizing disk scanning, wherein a first thrust ball bearing, one end of a jacket, a second thrust ball bearing and a nut are sequentially connected and are fixed on the outer wall of the inner layer of the shell, a first motor penetrates through the inner layer of the shell and is sequentially connected with a first photoelectric encoder and a first coupling piece, and two ends of a transmission rod are respectively connected with the first coupling piece and the jacket; the other end part of the outer sleeve is fixed on the supporting sheet; one end of the motor fixing sleeve is connected with the supporting sheet; the second motor passes through the motor fixing sleeve and is connected with the second coupling piece, a second photoelectric encoder is arranged between the second motor and the second coupling piece, and the ultrasonic sensor is fixed on the second coupling piece and is connected with the control line board; the control line board is connected with the program controller and used for adjusting and controlling the rotating speeds of the first motor and the second motor, and the outer layer of the shell contains the first thrust ball bearing, the outer sleeve, the second thrust ball bearing, the first motor, the first coupling piece, the transmission rod and the first photoelectric encoder.
The prior art still cannot completely realize three-dimensional imaging, so the invention adopts a laser positioning system and an image processing technology with higher precision to change the original two-dimensional slice type picture into a three-dimensional integral image, can be used for medical treatment, is convenient for doctors to analyze and diagnose, and can also be used for other B ultrasonic detection.
Disclosure of Invention
The invention aims to provide a method for obtaining a three-dimensional integral type B ultrasonic picture by changing an original two-dimensional slice type picture into a three-dimensional integral type image by adopting a laser positioning system with higher precision and an image superposition technology, and particularly applying a laser ranging technology and a gyroscope torsion angle measuring technology to B ultrasonic.
The detailed technical scheme of the invention is as follows: a three-dimensional B-mode ultrasonic imaging device, the principle of the three-dimensional B-mode ultrasonic imaging method: the gyroscope is arranged on the B ultrasonic probe, and the pulse laser range finder is used for monitoring five positioning monitoring points by emitting laser to four corners and the monitoring points; dividing the three-dimensional object into small cubes which are arranged in sequence by using a voxel model method, wherein one small cube is a voxel; any voxel (v) uses the central coordinates (x, y, z), x i ，y i ，z i It is determined that x, y, z are integers assumed to be in the interval, respectively. And arranging a plurality of voxels according to the corresponding spatial positions to form a three-dimensional stereoscopic image.
The three-dimensional ultrasonic imaging method is based on a laser ranging, a gyroscope positioning system and a B-type ultrasonic device, wherein images obtained point by the B-type ultrasonic device are integrated or stored piece by piece, and three-dimensional images are generated according to the position and angle superposition of the B-type ultrasonic probe.
Can accurately generate a three-dimensional B-type ultrasonic image of the inspected part in the body of the inspected person, and is convenient for doctors to observe, analyze and diagnose.
And (3) collecting three-dimensional coordinates of the voxel: the pulse laser range finder is used for emitting laser to four corners of an area of a detection object (such as a bed on which a patient lies) to serve as reference points, so that the positions of the pulse laser range finder and the position (bed) of the detection object are ensured to be relatively unchanged; simultaneously, the pulse laser range finder emits laser beams to positioning points on the checked part of the human body, the skin of the checked part of the human body has fluctuation of different degrees in the scanning pressing process of the B ultrasonic probe, and the pulse laser range finder monitors five positioning points in total by emitting the laser beams at four angles and the checked part; the pulse laser range finder obtains the distance between the laser probe and five monitoring points respectively; the computer system calculates the (x) of the scanning position of the B ultrasonic probe according to the different distances of the five monitoring points detected by the pulse laser 1 ，y 1 ，z 1 ) Coordinates; at this time, the ultrasonic wave emitted by the B ultrasonic probe detects a two-dimensional sectional view of the interior (organ) of the detected object (human body), and the size of the detected sectional view of the fan is fixed. The ultrasonic probe is transmitted by the ultrasonic probe to detect different two-dimensional sectional views of the interior (organ) of a detected object (human body) at different positions, and the two-dimensional sectional views are overlapped to form a three-dimensional imaging; two-dimensional translation is carried out to different detection points, and each detection point moves up and down to different detection points vertically, so that detection of different voxels is carried out until the different voxels form a three-dimensional image of a detection area.
At this point, the gyroscope mounted on the B-mode probe monitors the angle of deflection as the probe deflects. Fixed sector scan area and angle of deflection, thereby calculating three-dimensional coordinates (x n ，y n ，z n )。
And (3) volume element superposition: the scanning of the B ultrasonic probe comprises a translation method and a rotation method, wherein the translation method is that the B ultrasonic probe records a group of two-dimensional section data at intervals in the translation process; the rotation method is that the B ultrasonic probe records a group of two-dimensional section data after rotating a certain angle in the process of rotating at one position. By accumulating a large amount of two-dimensional section data, the computer system calculates the three-dimensional coordinates of each small volume element in the organ to be inspected, and stores and calculates the data. According to the sequence of the three-dimensional coordinates, the volume elements are sequentially arranged, and the accumulation of the volume elements finally forms a three-dimensional image of the organ to be inspected.
The method specifically comprises the following steps:
And 2, installing a gyroscope on the handle of the B-type ultrasonic probe, wherein the gyroscope is used for determining the rotation of the B-type ultrasonic probe, and adding a rotation angle parameter to the originally determined three-dimensional positioning coordinate, so that the positioning of the organ volume element is more accurate.
And 3, monitoring the fluctuation state of the body and the fluctuation state of the skin of the surface of the human body pressed by the B-type ultrasonic probe on the human body when the human body breathes by the laser ranging system and the gyroscope, simultaneously monitoring the specific position of the B-type ultrasonic probe scanned on the human body and the deflection angle of the B-type ultrasonic probe, and according to the specific monitored position and the deflection angle, calculating and recording the three-dimensional coordinates of each voxel of the organ by the computer system and storing the voxel image of the organ.
And 5, diagnosing the illness state by the doctor according to the finally generated three-dimensional whole organ image.
Further, the probe emits laser, and when a human body is not detected, the laser is automatically closed, so that waste of resources is prevented.
Furthermore, the formed three-dimensional whole organ image can be divided into a plurality of organ two-dimensional section data pictures by using a computer program, the two-dimensional section data pictures at different positions can be extracted like an extraction drawer, diagnosis is performed from two aspects of whole and section, and the accuracy of diagnosis is increased.
The 3D result is synthesized by overlapping two-dimensional signals one by one and is synthesized according to experimental data of a system.
By adopting the technical scheme, the invention has the following beneficial effects:
according to the invention, through the laser and gyroscope positioning and picture superposition principles, the problem that the original doctor can only observe the B-type ultrasonic slice is solved, the doctor can realize any planar reconstruction through the three-dimensional integral organ image, and the diagnosis is performed by combining the slice and the 3D result, so that the accuracy of the diagnosis is increased. Compared with the existing B-type ultrasonic mode in hospitals, the invention can more comprehensively and accurately display the three-dimensional image of the inspected part, and meanwhile, compared with a CT shooting mode with higher cost, the invention has lower cost and can be suitable for wider crowds.
Drawings
The probe shown in fig. 1 emits reference light (i.e., laser spot 1234) at the four corners for locating the reference.
Fig. 2 illustrates a positioning reference point selected on a human body.
Fig. 3 is a schematic diagram showing a scanning position of a B-type ultrasonic probe at a certain moment;
FIG. 4 is a schematic illustration of a doctor holding a B-mode ultrasound probe to scan the skin of a human body;
FIG. 5 is a schematic view of a doctor holding a B-mode ultrasound probe to scan the skin of a human body, and obtaining different ultrasound images (represented by two different images) at different positions of translation;
fig. 6 is a schematic diagram showing the positioning of coordinates (combining and splitting the obtained images) of a certain number of voxels according to the present invention.
Detailed Description
Example 1
The system structure of this case includes: the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and superposition system and a B-type ultrasonic probe;
the specific implementation steps of the case are as follows:
And 2, emitting laser beams (namely laser points 5, 6, 7, 8 and 9) to the label points on the human body by the laser device, and detecting the fluctuation state of the skin on the surface of the human body in the breathing process of the human body and the pressing process of the B-type ultrasonic probe.
And 3, along with the scanning of the B-type ultrasonic probe, the inspected part of the human body is sunken or protruded, so that the reflection time of each of the laser monitoring points 5, 6, 7, 8 and 9 is changed, the positions of the laser monitoring points 5, 6, 7, 8 and 9 from the probe can be calculated respectively by using a distance calculation formula, and the computer system calculates the three-dimensional coordinates of the position of the B-type ultrasonic probe according to the data of the five laser monitoring points.
And 4, the B-type ultrasonic probe with the spiral instrument can deviate along with the angle in the scanning process, and the spiral instrument can measure the deviation angle of the B-type ultrasonic tester.
And 5, the computer operation system can determine three-dimensional coordinates of each volume element in the two-dimensional slice data pictures of the organs with different positions and different angles monitored at different moments in the steps 3 and 4 and store the data.
And 6, the computer image superposition system sequentially superposes the two-dimensional slice pictures with the positions determined by the voxel positions, so that the slice pictures with original planeness are spliced into a complete, three-dimensional and more visible three-dimensional organ image in sequence.
Example two
The system structure of this case includes: the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and superposition system and a B-type ultrasonic probe;
the specific implementation steps of the case are as follows:
And 2, the base points 5 and 6 are the same positioning base point, and the base point 5 can be regarded as a state when a checked person inhales or a state when the checked person is scanned and pressed by the B-type ultrasonic probe, and the accurate distance and the angle detection of the gyroscope are calculated according to the laser detection principle to determine the three-dimensional coordinate of the base point 5.
And 4, similarly, calculating accurate distance and angle detection of the gyroscope according to a laser detection principle for other base points on the human body at the same moment, and enabling the computer system to be capable of specifically positioning three-dimensional coordinates of the position where the B-type ultrasonic probe is detecting after uniformly combining and analyzing the five monitoring points.
Example III
The system structure of this case includes: 1. the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and superposition system, a B-type ultrasonic probe and a gyroscope monitoring system;
the specific implementation steps of the case are as follows:
And 3, randomly selecting one point on the scanned two-dimensional section image as a voxel, namely, a black point marked on the image. According to the sector image of fixed size scanned by the B-type ultrasonic probe, the computer system can respectively calculate the distance (x 1 ，y 1 ，z 1 ) Can be derived from the distance of the marker element (x 2 ，y 2 ，z 2 )。
And 4, repeating the step 3 to obtain coordinates of a certain number of voxels, and obtaining the position coordinates of the two-dimensional section picture according to the coordinates of the certain number of voxels to serve as a lower positioning basis for the superposition processing of the subsequent two-dimensional section picture.
Example IV
The system structure of this case includes: the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and superposition system and a B-type ultrasonic probe;
the specific implementation steps of the case are as follows:
And 2, when the probe scans a position on the skin of the human body, the laser positioning system and the gyroscope monitoring system monitor and obtain the position coordinates of the B-type ultrasonic probe at the moment, and the computer system marks the generated B-ultrasonic picture 1, records the coordinates and stores data.
And 3, slightly translating the B-type ultrasonic probe, simultaneously monitoring and obtaining the position coordinates of the B-type ultrasonic probe by a laser positioning system and a gyroscope monitoring system, simultaneously marking the generated B-ultrasonic picture 2 by a computer system, recording the coordinates of the B-ultrasonic picture, and storing data.
And 4, setting a certain frequency, and acquiring and positioning the two-dimensional B-mode ultrasonic pictures every a small distance or every a small time in the translation process of the B-mode ultrasonic probe.
And 5, acquiring more two-dimensional slice data as the interval distance is smaller or the interval time is shorter, and enabling the three-dimensional B ultrasonic image synthesized later to be about specific and clear.
Example five
The system structure of this case includes: the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and superposition system and a B-type ultrasonic probe;
the specific implementation steps of the case are as follows:
And 2, when the probe scans a position on the skin of the human body, the skin of the human body is in a flat state, the laser positioning system and the gyroscope monitoring system monitor and obtain the position coordinates of the B-type ultrasonic probe at the moment, and the computer system marks the generated B-ultrasonic image 3, records the coordinates and stores data.
And 3, floating the human skin along with the respiration of a person, lifting the B-type ultrasonic probe by the floating skin, so that an included angle exists between the B-type ultrasonic probe and the vertical direction, simultaneously monitoring and obtaining the position coordinates of the B-type ultrasonic probe by a laser positioning system and a gyroscope monitoring system, simultaneously marking the generated B-ultrasonic image 4 by a computer system, recording the coordinates of the B-type ultrasonic image, and storing data.
And 4, storing two-dimensional section pictures of different moments, different positions and different angles from two aspects of translation and deflection by combining the deflection process of the B-type ultrasonic probe in the case and the translation process of the B-type ultrasonic probe in the fourth case, wherein a computer system can perform coordinate positioning and angle deflection recording on the pictures.
Example six
The system structure of this case includes: the system comprises a laser positioning system, a gyroscope monitoring system, an image processing and voxel superposition system and a B-type ultrasonic probe;
the specific implementation steps of the case are as follows:
the left-most side is the two-dimensional section image data of a large number of human kidneys recorded in the implementation process of the fourth case and the fifth case, and the two-dimensional section image data are positioned through coordinates of a certain number of voxels, as shown in fig. 6.
And 2, processing and superposing two-dimensional section pictures of the human kidney at the left side by an image processing and superposing system to sequentially superpose the two-dimensional section pictures of the human kidney at the middle to synthesize the three-dimensional B-type ultrasonic image picture of the human kidney.
And 3, extracting a two-dimensional section image of a certain position of the human kidney from the three-dimensional B-type ultrasonic image of the human kidney on the right side.
And 4, a doctor can find out a place possibly with a problem according to the generated three-dimensional B-type ultrasonic image, then the two-dimensional section image is extracted, the position and the angle of the extracted two-dimensional section image can be selected according to the intention and the idea of the doctor, and the diagnosis of the doctor on the illness state is facilitated according to the two-dimensional section images at different positions and different angles.
The above embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to the above embodiments, and any modifications and partial substitutions within the knowledge of those skilled in the art without departing from the spirit and scope of the present invention should be included in the scope of the present invention.
Claims (7)
1. The three-dimensional B-type ultrasonic imaging device is characterized by comprising a laser positioning system, a gyroscope and a B-type ultrasonic device, wherein the gyroscope is arranged on the B-type ultrasonic probe, the laser positioning system is a pulse laser range finder, and the pulse laser range finder monitors five positioning monitoring points through laser to four corners and a central point; dividing the three-dimensional object into small cubes which are arranged in sequence by using a voxel model method, wherein one small cube is a voxel; any voxel (v) uses the central coordinates (x, y, z), x i ，y i ，z i Determining that x, y, z are integers assumed to be in the interval, respectively; a plurality of voxels are arranged according to the corresponding space position to form a three-dimensional image, so that the reconstruction of any plane of the B ultrasonic can be realized, and the diagnosis is convenient;
and (3) collecting three-dimensional coordinates of the voxel: the pulse laser range finder is used for emitting laser to four corners of the area of the detection object as reference points, so that the position of the pulse laser range finder and the position of the detection object, namely the position of the bed, is ensured to be relatively unchanged; simultaneous pulse laser range finderThe pulse laser range finder monitors five positioning monitoring points by emitting laser at four angles and the center point because of the continuous breathing state of the human body plate and the fluctuation of the skin of the inspected part of the human body; the pulse laser range finder obtains the respective distances between the laser probe and five monitoring points, and the computer system calculates the (x) of the scanning position of the B ultrasonic probe according to the different distances between the five monitoring points detected by the pulse laser 1 ，y 1 ，z 1 ) Coordinates; at the moment, the ultrasonic wave emitted by the B ultrasonic probe detects a two-dimensional section screenshot of the interior of the detection object, and the size of the detected sector section screenshot is fixed; b ultrasonic probe transmits ultrasonic probe to detect different two-dimensional section screenshot of the interior of the detected object at different positions to form three-dimensional imaging; two-dimensional translation is carried out to different detection points, and each detection point moves up and down to different detection points vertically, so that detection of different voxels is carried out until the different voxels form a three-dimensional image of a detection area.
2. The three-dimensional B-mode ultrasonic imaging apparatus according to claim 1, wherein at the detection point, the angle of deflection is monitored by a gyroscope mounted on the B-ultrasonic probe along with the deflection of the probe; fixed sector scan area and angle of deflection, thereby calculating three-dimensional coordinates (x n ，y n ，z n )。
3. The three-dimensional B-mode ultrasound imaging device of claim 1, wherein the volume elements are superimposed: the scanning of the B ultrasonic probe comprises a translation method and a rotation method, wherein the translation method is that the B ultrasonic probe records a group of two-dimensional section data at intervals in the translation process; the rotation method is that the B ultrasonic probe records a group of two-dimensional section data after rotating by a certain angle in the process of rotating at one position; through accumulation of a large amount of two-dimensional section data, the computer system can calculate three-dimensional coordinates of each small volume element in the organ to be checked, and store and calculate the data; according to the sequence of the three-dimensional coordinates, the volume elements are sequentially arranged, and the accumulation of the volume elements finally forms a three-dimensional image of the area to be inspected.
4. A three-dimensional ultrasonic imaging method is characterized in that a laser positioning system, a gyroscope and a B-type ultrasonic device are based, and the three-dimensional ultrasonic imaging method is characterized in that images obtained point by the B-type ultrasonic device are integrated or stored piece by piece, and three-dimensional images are generated according to the position and angle superposition of a B-type ultrasonic probe.
5. The method of three-dimensional ultrasound imaging of claim 1, wherein,
step 1, a laser is arranged above a patient bed, and a laser probe is started to emit reference light to four corners of the bed to serve as a positioning reference of a system; labeling a plurality of labels on a human body for monitoring the fluctuation state in the breathing process of the human body; the specific monitoring process is as follows; the doctor holds the B-type ultrasonic probe to scan the part to be inspected by the inspected person, and simultaneously the laser emits laser beams on the human body, the laser reflection time is measured according to the fluctuation condition of the skin of the human body, and the distance between the probe and each label on the surface of the human body is calculated, so that the three-dimensional position of the inspected part scanned by the B-type ultrasonic probe is positioned;
step 2, installing a gyroscope on the handle of the B-type ultrasonic probe, wherein the gyroscope is used for determining the twisting of the B-type ultrasonic probe, so that the originally determined three-dimensional positioning coordinate is increased by a rotating angle, and the positioning of the organ volume element is more accurate;
step 3, a laser ranging system and a gyroscope monitor the fluctuation state of the body when the human body breathes and the fluctuation state of the skin on the surface of the human body caused by the fact that the B-type ultrasonic probe presses the human body in real time, and monitor the fluctuation state of the skin on the surface of the human body and the fluctuation state of the skin on the surface of the human body simultaneously to obtain the specific position of the B-type ultrasonic probe scanned on the human body and the deflection angle of the B-type ultrasonic probe, wherein according to the specific position and the deflection angle which are monitored, a computer system calculates and records the three-dimensional coordinates of each voxel of an organ and stores the voxel image of the organ;
step 4, a doctor holds the B-type ultrasonic probe to scan the part to be inspected slowly for a plurality of times, a computer system records two-dimensional sector slice pictures of all scanned positions, then the computer system gives each voxel in each two-dimensional slice data a specific three-dimensional coordinate, a voxel superposition system combines voxels of different positions and angles according to sequence, a large number of voxels of the two-dimensional slice data are arranged one by one and superposed, and finally a three-dimensional integral organ image is formed by superposing a large number of two-dimensional slice pictures according to sequence;
and 5, diagnosing the illness state by the doctor according to the finally generated three-dimensional whole organ image.
6. The method of three-dimensional ultrasound imaging of claim 5, wherein the probe emits laser light that is automatically turned off when no human body is detected.
7. The method of three-dimensional ultrasound imaging according to claim 5, wherein the computer program is used to divide the three-dimensional whole organ image into a plurality of two-dimensional slice data pictures of the organ, extract the two-dimensional slice data pictures at different positions, and determine from both the whole and slice aspects to realize arbitrary planar reconstruction.
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| CN107865671A (en) * | 2017-12-12 | 2018-04-03 | 成都优途科技有限公司 | Three-D ultrasonic scanning system and control method based on monocular vision positioning |
| CN110575196A (en) * | 2018-06-11 | 2019-12-17 | 上海联影医疗科技有限公司 | ultrasonic probe and puncture surgery system |
| CN115248446A (en) * | 2021-04-28 | 2022-10-28 | 中慧医学成像有限公司 | Three-dimensional ultrasonic imaging method and system based on laser radar |
| CN114533111A (en) * | 2022-01-12 | 2022-05-27 | 电子科技大学 | Three-dimensional ultrasonic reconstruction system based on inertial navigation system |
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