CN118177975B - Ultrasonic navigation rapid fusion device and method - Google Patents
Ultrasonic navigation rapid fusion device and method Download PDFInfo
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Abstract
The invention belongs to the technical field of ultrasonic navigation, and discloses an ultrasonic navigation rapid fusion device and method, comprising an electrocardiograph monitor, an electrocardiograph R wave frequency multiplication phase-locked control board, an ultrasonic image acquisition module, an electromagnetic navigation host, a nuclear magnetic image acquisition device and a navigation workstation, the electrocardiograph monitor comprises an electrocardiograph electrode and R wave output, wherein the electrocardiograph electrode is connected to a human body and is used for acquiring heartbeat signals. The invention utilizes the electrocardio R wave frequency multiplication phase-locked control board to introduce a cardiac phase signal, and divides the heart beat into a plurality of phase periods to be used as a fusion reference. Cardiac phase information is introduced for ultrasound imaging of the heart organ. And simultaneously, the nuclear magnetic scanning cardiogram, and selecting a corresponding cardiac phase period nuclear magnetic sequence for fusion according to the cardiac phase period of the ultrasonic image. The accurate fusion of the heart beating and contraction-relaxation-accompanying detection objects is realized, and meanwhile, the fusion efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of ultrasonic navigation, and particularly relates to an ultrasonic navigation rapid fusion device and method.
Background
In recent years, ultrasound has been widely used in diagnosis and surgical treatment of heart related diseases, and echocardiography can observe wall thickness, heart cavity structure, heart function status and the like in real time, and is a preferred noninvasive imaging examination method for diagnosis and surgical guidance because of no radiation of ultrasound, but imaging is affected by bones, gases and body surface fixtures because of the physical characteristics of ultrasound, so that the application of ultrasound in surgery is limited. And there is complementarity between different imageology, so people began to improve on these defects by ultrasound navigation. The ultrasonic image navigation is a new technology for combining ultrasonic images with other imaging images (including CT, MRI, PET and the like) to dynamically observe various organs of a human body in real time, can combine the ultrasonic images with tomographic images of CT, MRI, PET-CT and the like in a three-dimensional way through a magnetic positioning system, and uses selected other images for navigation in the real-time scanning of ultrasonic waves for accurate positioning of minimally invasive surgery treatment. The defects of conventional ultrasonic imaging are overcome by the novel technologies of three-dimensional image reconstruction, multi-modal fusion and the like, so that the ultrasonic navigation has great significance in the aspect of pathological diagnosis and accurate treatment of the heart.
The traditional ultrasonic fusion is that marking points or natural marking points are manually placed before operation, an optical or electromagnetic navigation sensor is additionally arranged on an ultrasonic probe, the position and posture correlation information of the marking points under an ultrasonic image coordinate system, an electromagnetic navigation coordinate system and a nuclear magnetic image coordinate system is registered to obtain conversion matrixes among the coordinate systems, and then the ultrasonic and nuclear magnetic image fusion under the current ultrasonic posture is carried out according to the conversion matrixes in operation. However, due to the actions of beating, systolic and diastolic, the conventional method of registering by only using the marker points cannot accurately fuse the detection objects of the beating and the systolic and diastolic detection objects.
Disclosure of Invention
The invention aims to provide an ultrasonic navigation rapid fusion device and method for solving the technical problems.
In order to solve the technical problems, the specific technical scheme of the ultrasonic navigation rapid fusion device and method provided by the invention is as follows:
The utility model provides an ultrasonic navigation fuses device fast, includes electrocardiograph monitor, electrocardio R wave frequency multiplication phase locking control board, ultrasonic image collection module, electromagnetism navigation host computer, nuclear magnetism image collector and navigation workstation, and electrocardiograph monitor includes electrocardio electrode and R wave output, electrocardio electrode is connected on one's body for obtain the heartbeat signal, R wave output is connected to electrocardio R wave frequency multiplication phase locking control board, ultrasonic image collection module and nuclear magnetism image collector are connected to navigation workstation, electrocardio R wave frequency multiplication phase locking control board is used for obtaining the heart phase signal after the self-adaptation synchronous frequency multiplication with the R wave; the ultrasonic image acquisition module is used for acquiring heart ultrasonic images; the nuclear magnetic image collector is used for collecting nuclear magnetic images of the heart; the navigation workstation is used for registering the acquired ultrasonic image, the pose of the ultrasonic probe and the nuclear magnetic image information, and dynamically fusing the ultrasonic image and the nuclear magnetic image based on the frequency multiplication R wave cardiac phase signal.
Further, the ultrasonic image acquisition module comprises an ultrasonic probe, an ultrasonic host and a video acquisition box, the ultrasonic probe is connected with the ultrasonic host, a video output port of the ultrasonic host is connected with the video acquisition box, the video acquisition box is connected to a navigation workstation, the ultrasonic probe contacts with the surface of a human body and is close to the heart and is used for acquiring heart ultrasonic images, an electromagnetic navigation sensor is mounted on the ultrasonic probe and is connected with the electromagnetic navigation host, the electromagnetic navigation host is connected with the navigation workstation, a magnetic field generator is included in the electromagnetic navigation host and can send electromagnetic signals to the electromagnetic navigation sensor, and the electromagnetic navigation sensor returns received electromagnetic signals to the electromagnetic navigation host so as to acquire pose information of the ultrasonic probe relative to the electromagnetic navigation host in a coordinate system.
Further, the electrocardio R wave frequency multiplication phase-locked control board comprises an electrocardio monitor R wave input interface, a signal limiting band-pass filter circuit, an AD acquisition circuit, a logic processing circuit and a navigation workstation interface circuit, R wave signals acquired by the electrocardio monitor R wave input interface are processed by the signal limiting band-pass filter circuit and then are sent to the AD acquisition circuit, the AD acquisition circuit carries out quantization acquisition on the input R wave signals and then carries out control logic processing on the logic processing circuit, the current electrocardio phase stage is obtained after processing, and the electrocardio phase stage is sent to a navigation circuit workstation through the navigation workstation interface circuit.
The invention also discloses a method for carrying out ultrasonic navigation rapid fusion by the ultrasonic navigation rapid fusion device, which comprises the following steps:
step 1: pre-operation nuclear magnetic tape electrocardiograph respiration gate scanning, grouping and filling k space according to the phases of a cardiac cycle to obtain nuclear magnetic resonance active images of different phases of the heart;
step 2: pre-operation ultrasonic nuclear magnetic electromagnetic registration is carried out, and an electromagnetic navigation coordinate system-to-nuclear magnetic image coordinate system conversion matrix K and an ultrasonic image coordinate system-to-electromagnetic navigation sensor coordinate system conversion matrix L on the ultrasonic probe are obtained;
Step3: and obtaining the cardiac phase at the current moment according to an electrocardio R wave frequency multiplication phase locking control panel control logic method, and carrying out dynamic fusion according to the corresponding cardiac nuclear magnetic images of each phase of the cardiac cycle in operation.
Further, the step 1 includes the following specific steps: an MR developing marking ball is placed on a patient before nuclear magnetic scanning, and an electrocardiograph gating and a respiratory gating required by the cardiac nuclear magnetic image scanning are worn, and a retrospective heart gating mode is adopted: MR data are continuously acquired after breath shielding is reduced, k-space is filled by grouping according to the phases of a cardiac cycle, nuclear magnetic resonance active images of different phases of the heart are obtained, and in the nuclear magnetic image reconstruction process after scanning is finished, the cardiac images of different phases are distinguished by using the phase information of the heart to obtain dynamic nuclear magnetic images of high-density electrocardio phase orders, wherein the high-density electrocardio phase orders are 2 and more than 2.
Further, the step 2 includes the following specific steps:
Step 2.1: registering a preoperative electromagnetic navigation coordinate system and a nuclear magnetic image coordinate system;
The method comprises the steps that a patient wears breath gating before operation, breath-hold amplitude of the patient is consistent with that of nuclear magnetic scanning through the breath gating, coordinates of a plurality of electromagnetic navigation sensors on the body surface of the patient are tracked at the moment, the position of an MR developing marking ball under an electromagnetic navigation coordinate system is calculated based on the structural relation of the plurality of electromagnetic navigation sensors, and nuclear magnetic image coordinate system and electromagnetic navigation coordinate system registration are carried out to obtain an electromagnetic navigation coordinate system and nuclear magnetic image coordinate system conversion matrix K;
Step 2.2: registering an electromagnetic navigation coordinate system of the ultrasonic probe and an ultrasonic image coordinate system through an ultrasonic calibration phantom; and obtaining an electromagnetic navigation sensor coordinate system conversion matrix L from the ultrasonic image coordinate system to the ultrasonic probe.
Further, the step 3 includes the following specific steps:
The method comprises the steps that a patient wears respiratory gating, breath-hold amplitude is consistent with nuclear magnetic scanning under respiratory gating indication, an electromagnetic navigation sensor is arranged on an ultrasonic probe, an ultrasonic output interface outputs heart ultrasonic real-time image data, the pose of the ultrasonic probe in an electromagnetic navigation coordinate system is obtained through coordinates returned by the electromagnetic navigation sensor on the ultrasonic probe, an electrocardio R wave frequency multiplication phase-locked control board immediately carries out self-adaptive phase frequency multiplication after R wave input is obtained from an electrocardio monitor, and the cardiac phase at the current moment is obtained according to electrocardio R wave frequency multiplication phase-locked control board control logic.
Further, the control logic of the electrocardio R wave frequency multiplication phase-locked control board is as follows:
The method comprises the steps of firstly carrying out peak detection on acquired R wave data to obtain an accurate position of an R wave, determining a phase stage by taking the peak position of a current R wave as a reference, calculating a heartbeat interval time corresponding to an R wave interval in the phase stage, firstly finding a peak of a previous signal waveform by adopting a peak detection algorithm, namely the position of the maximum R wave, recording an AD acquisition sample serial number, continuously detecting and obtaining the R peak at the current moment and the corresponding AD acquisition sample serial number, obtaining a current RR peak interval count M according to the difference between the AD acquisition clock frequency and the AD acquisition sample serial number between the R wave, obtaining a frequency division coefficient D=M/N compared with a required electrocardio phase number N, taking the peak point of the R wave as a current cardiac phase starting point, dividing the AD acquisition clock by the frequency division coefficient D, then adopting a counter to count the frequency division clock to accurately obtain the current cardiac phase, and outputting phase information to an electromagnetic navigation host.
Further, the step 3 includes phase sequence fusion of the cardiac cycle, that is, scaling is performed according to the current cardiac cycle RR interval T2 during the operation and the cardiac cycle RR interval T1 during the pre-operation nuclear magnetic scanning, and the phase of the cardiac cycle where the current time is located is determined in a self-adaptive manner.
Further, the step 3 includes: the method comprises the steps that two pieces of information of a cardiac phase j and an electromagnetic navigation pose of an ultrasonic probe in operation are obtained through Y=K×X×L, wherein X is a pose coordinate of an electromagnetic navigation sensor returned by the electromagnetic navigation sensor on the ultrasonic probe under the electromagnetic navigation system coordinate system, namely a relation from the electromagnetic navigation sensor coordinate system on the ultrasonic probe to the electromagnetic navigation coordinate system, K is a conversion matrix of the electromagnetic navigation coordinate system obtained through calculation in step 2.1 and a nuclear magnetic image coordinate system, and L is a conversion matrix of the ultrasonic image coordinate system obtained in step 2.2 to the electromagnetic navigation sensor coordinate system on the ultrasonic probe; and then generating a simulated ultrasonic tangent plane image for fusion on the current nuclear magnetic image, normalizing the simulated ultrasonic tangent plane image to the same resolution as the ultrasonic image, carrying out color and transparency conversion, and superposing the ultrasonic image on the current acquired ultrasonic image to obtain a real-time ultrasonic image fused with nuclear magnetic information.
The ultrasonic navigation rapid fusion device and method have the following advantages: the invention utilizes the electrocardio R wave frequency multiplication phase-locked control board to introduce a cardiac phase signal, and divides the heart beat into a plurality of phase periods to be used as a fusion reference. Cardiac phase information is introduced for ultrasound imaging of the heart organ. And simultaneously, the nuclear magnetic scanning cardiogram, and selecting a corresponding cardiac phase period nuclear magnetic sequence for fusion according to the cardiac phase period of the ultrasonic image. The accurate fusion of the heart beating and contraction-relaxation-accompanying detection objects is realized, and meanwhile, the fusion efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of an ultrasonic navigation rapid fusion device according to the present invention;
FIG. 2 is a schematic diagram of the structure of the control panel of the electrocardiograph R wave frequency multiplication phase lock of the present invention;
FIG. 3 is a schematic view of MRI images of different phases of the heart according to the present invention;
FIG. 4 is a diagram of an example of control logic of an ECG R wave frequency-doubling phase-locked control board according to the present invention;
fig. 5 is a schematic diagram of the ultrasound navigation rapid fusion method of the present invention.
Detailed Description
In order to better understand the purpose, structure and function of the present invention, the following describes in further detail an ultrasonic navigation rapid fusion device and method according to the present invention with reference to the accompanying drawings.
The working principle of the invention is to introduce a cardiac phase signal and divide the heart beat into a plurality of phase periods to be used as a fusion reference. Cardiac phase information is introduced for ultrasound imaging of the heart organ. And simultaneously, the nuclear magnetism also needs to scan the cardiac map, and the corresponding cardiac phase period nuclear magnetism sequence is selected for fusion aiming at the cardiac phase period of the ultrasonic image.
As shown in fig. 1, the invention relates to an ultrasonic navigation rapid fusion device, which comprises an electrocardiograph monitor, an electrocardiograph R wave frequency multiplication phase-locked control board, an ultrasonic image acquisition module, an electromagnetic navigation host, a nuclear magnetic image acquisition device and a navigation workstation, wherein the electrocardiograph monitor comprises an electrocardiograph electrode and R wave output, the electrocardiograph electrode is connected to a human body and is used for acquiring heartbeat signals, the R wave output is connected to the electrocardiograph R wave frequency multiplication phase-locked control board, the electrocardiograph R wave frequency multiplication phase-locked control board is connected to the navigation workstation through a serial port, and the electrocardiograph R wave frequency multiplication phase-locked control board is used for acquiring cardiac phase signals after self-adaption synchronous frequency multiplication of the R wave. The ultrasonic image acquisition module comprises an ultrasonic probe, an ultrasonic host and a video acquisition box, wherein the ultrasonic probe is connected with the ultrasonic host, a video output port of the ultrasonic host is connected with the video acquisition box, the video acquisition box is connected to a navigation workstation, the ultrasonic probe contacts with the surface of a human body and is close to the heart position for acquiring heart ultrasonic images, an electromagnetic navigation sensor is arranged on the ultrasonic probe, the electromagnetic navigation sensor is connected with the electromagnetic navigation host, and the electromagnetic navigation host is connected with the navigation workstation through a USB or a network port. The electromagnetic navigation host comprises a magnetic field generator, and can send electromagnetic signals to the electromagnetic navigation sensor, and the electromagnetic navigation sensor returns the received electromagnetic signals to the electromagnetic navigation host, so that pose information of the ultrasonic probe relative to the electromagnetic navigation host in a coordinate system is obtained. The nuclear magnetic image collector is connected with the navigation workstation through a network and is used for collecting nuclear magnetic images of the heart. The navigation workstation is a PC (personal computer) and is used for registering the acquired information such as the ultrasonic image, the pose of the ultrasonic probe, the nuclear magnetic image and the like, and dynamically fusing the ultrasonic image and the nuclear magnetic image based on the frequency multiplication R wave cardiac phase signal.
As shown in fig. 2, the electrocardio R wave frequency multiplication phase-locked control board comprises an electrocardio monitor R wave input interface, a signal limiting band-pass filter circuit, an AD acquisition circuit, a logic processing circuit and a navigation workstation interface circuit. The logic processing circuit comprises a crystal oscillator circuit, a power conditioning circuit and a reset circuit. The method comprises the steps that R wave signals acquired by an R wave input interface of an electrocardiograph monitor are processed by a signal limiting band-pass filter circuit and then are sent to an AD acquisition circuit, the AD acquisition circuit carries out quantitative acquisition on the input R wave signals and then carries out control logic processing on the R wave signals by a logic processing circuit, the current electrocardiograph phase stage is acquired after the processing, and the electrocardiograph phase stage is sent to a navigation circuit workstation through a navigation workstation interface circuit. In the embodiment, the AD acquisition circuit adopts a 16-bit AD acquisition chip AD7616, the logic processing circuit adopts an FPGA chip AG32VF407 with a built-in MCU, and the electrocardiograph monitor R wave input interface and the navigation workstation interface circuit adopt a USB-RS232 chip CH340.
As shown in fig. 5, the method for rapid fusion of ultrasonic navigation of the present invention comprises the following steps:
step 1: pre-operative nuclear magnetic tape electrocardiographic respiration gating scan.
The MR developing marking ball is placed on the patient before nuclear magnetic scanning, and the patient wears the electrocardiograph gating and the respiration gating which are needed by the cardiac nuclear magnetic image scanning, and the embodiment adopts Philips wireless respiration gating and wireless electrocardiograph gating VCG, adopts a nuclear magnetic coil special for the heart, and adopts a retrospective heart gating mode: MR data are continuously acquired after breath-hold reducing effects of respiration, and then k-space is grouped and filled according to phases of the cardiac cycle to obtain MRI images of different phases of the heart, as shown in FIG. 3. In the reconstruction process of the nuclear magnetic image after the scanning is finished, the phase information of the heart is utilized to distinguish the heart images in different phases to obtain a dynamic nuclear magnetic image with high density frame number (namely, the electrocardio phase order), and the high density electrocardio phase order is 2 or more. The greater the electrocardio phase order, the higher the accuracy, and the preferred frequency division number for the combined force and accuracy requirements is 2-16, as shown in fig. 3, and the center electric phase order in this embodiment is 6.
Step 2: preoperative ultrasound, nuclear magnetic, electromagnetic registration.
The registration process is to solve a rotation matrix R and a displacement S between two point clouds, where p i and q i are two sets of point cloud coordinates, and the process of solving the rotation matrix R and the translation vector S can be converted into the following objective function:
The registration matrix can be solved by optimizing methods such as SVD, levenberg-Marquardt to minimize the objective function.
Step 2.1: the preoperative electromagnetic navigation coordinate system is registered with the nuclear magnetic image coordinate system.
The method is characterized in that the Philips wireless respiration gating is carried out on a patient before operation, the breath holding amplitude of the patient is consistent with that of nuclear magnetic scanning through the respiration gating, at the moment, coordinates of a plurality of electromagnetic navigation sensors on the body surface of the patient are tracked, the position of an MR developing marking ball under an electromagnetic navigation coordinate system can be calculated based on the structural relation of the electromagnetic navigation sensors, and the nuclear magnetic image coordinate system and the electromagnetic navigation coordinate system of the marking points are registered.
Here, p i and q i are respectively a marker point identified in the nuclear magnetic image and a marker point under the electromagnetic navigation coordinate system, and the electromagnetic navigation coordinate system and the nuclear magnetic image coordinate system transformation matrix K are obtained through solving the above formula. ( And (3) injection: after the rotation matrix R of 3x3 and the translation vector S of 3x1 are converted into a homogeneous coordinate system, a conversion matrix K of 4x4 can be obtained. )
Step 2.2: and registering the electromagnetic navigation coordinate system of the ultrasonic probe and the ultrasonic image coordinate system through the ultrasonic calibration phantom.
There are various types of ultrasonic calibration phantoms, in this embodiment, a method based on a small ball is taken as an example, a plurality of small balls with known and fixed structural pose are arranged in the phantoms, an electromagnetic navigation sensor is fixed on the outer surface of the phantoms, and p i and q i are respectively the coordinates of a target small ball in an electromagnetic navigation system and the coordinates of the sphere center of a marked ball in an ultrasonic image. During registration, the phantom is fixed, and therefore, the coordinates p i of the target sphere in the electromagnetic navigation system can be known.
An electromagnetic navigation sensor is arranged on the ultrasonic probe, and a rotation matrix R and a translation vector S from a coordinate system of the electromagnetic navigation sensor to an ultrasonic image coordinate system need to be calculated. And in the registration process, manually operating the ultrasonic probe to sequentially find each marking ball to obtain the coordinate q i of the center of the marking ball in the ultrasonic image. Based on the electromagnetic navigation sensor on the ultrasonic probe at this time, the rotation matrix R i and the translation matrix S i from the electromagnetic navigation coordinate system to the electromagnetic navigation sensor coordinate system on the probe can be known, so that it can be known that the position of the ball center in the electromagnetic navigation sensor coordinate system of the ultrasonic probe is p i=Ri*pj + Si when the ball coordinate q i is acquired. Here p j is the coordinates of the current point in electromagnetic navigation. Therefore, based on point cloud registration, the calculation method is the same as that of step 2.1, and the coordinate system conversion matrix L of the electromagnetic navigation sensor on the ultrasonic probe from the ultrasonic image coordinate system is obtained.
After the pre-operation registration is completed, an electromagnetic navigation coordinate system-to-nuclear magnetic image coordinate system conversion matrix K and an ultrasonic image coordinate system-to-ultrasonic probe electromagnetic navigation sensor coordinate system conversion matrix L are obtained.
Step 3: intraoperative adaptive dynamic fusion.
The wireless breathing gate control is worn by the patient in operation, breath holding amplitude is consistent with nuclear magnetism scanning through the anesthesia respirator under the breathing gate control indication, an electromagnetic navigation sensor is arranged on an ultrasonic probe, an ultrasonic output interface outputs heart ultrasonic real-time image data, ultrasonic image video is output by the ultrasonic equipment through the HDMI interface, ultrasonic heart images are acquired by navigation software through the USB video acquisition box, and the pose of the ultrasonic probe in an electromagnetic navigation coordinate system is acquired through coordinates returned by the electromagnetic navigation sensor on the ultrasonic probe. And the electrocardio R wave frequency multiplication phase locking control board immediately carries out self-adaptive phase frequency multiplication after acquiring R wave input from the electrocardio monitor, and acquires the cardiac phase at the current moment according to the control logic of the electrocardio R wave frequency multiplication phase locking control board.
Specifically, the control logic of the electrocardio R wave frequency multiplication phase-locked control board is as follows:
The acquired R wave data is subjected to peak detection to acquire the accurate position of the R wave, and because the start of the subsequent phase stage takes the peak position of the current R wave as a reference, the phase stage determination is also calculated by the heartbeat interval time corresponding to the R wave interval. During design, a peak detection algorithm is adopted to find out the peak of the previous signal waveform, and the peak is the maximum value R wave. And recording the sequence number of the AD acquisition sample, continuously detecting and acquiring the R wave crest and the corresponding AD acquisition sample sequence number at the current moment, acquiring the current RR peak interval AD acquisition clock count M according to the difference between the AD acquisition clock frequency and the sequence number of the AD acquisition sample between the R waves, acquiring a frequency division coefficient D=M/N compared with the required electrocardio phase number N, and taking the peak point of the R wave as the current cardiac phase starting point after determining, wherein the frequency division is carried out on the AD acquisition clock through the frequency division coefficient D, and the frequency division can be realized through a logic gate circuit or an MCU counter. According to the multiple relation between the counting frequency of the MCU counter and the AD acquisition clock frequency, the frequency division coefficient is rounded and then is loaded into the MCU counter comparator, the MCU counter automatically triggers the counter to interrupt after being full, and the interrupt function performs overturning operation on pins corresponding to the frequency division output clock so as to obtain the frequency division clock. And then counting the frequency division clock by adopting a counter to accurately acquire the current cardiac phase and outputting phase information to an electromagnetic navigation host.
Under normal conditions, the time intervals between the heart RR waves are relatively consistent, but the heart beating is easily influenced by the state of a patient and the anesthesia depth to change rapidly and slowly, so that the intervals of the preoperative scanning cardiac cycle and the operative center moving cycle, namely RR peak time intervals, are different, the preoperative and operative center moving phase intervals are caused to have deviation, and the accumulation of the deviation can lead to phase dislocation, so that fusion precision is poor. In order to ensure the fusion accuracy, the cardiac cycle phase sequence self-adaptive fusion is required, namely, the cardiac cycle phase sequence self-adaptive fusion is scaled according to the current cardiac cycle RR interval T2 in operation and the cardiac cycle RR interval T1 in preoperative nuclear magnetic scanning. The phase of the cardiac cycle at which the current time is located is adaptively determined.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in fig. 4, the AD sampling clock is 1Khz, and the pre-operation nuclear magnetic image scanning heartbeat RR interval M1 is 924 in the AD sampling clock count, so that the interval time t1=924/1000=0.924 s is obtained, the pre-operation heart rate is 60s/0.924 s= 64.935, and the rounding is 65 bpm (beats per minute); the inter-operative heart rate RR interval M2 is 1089 counted by the AD sampling clock, and the interval time t2=1089/1000= 1.089s is obtained, so that the inter-operative heart rate is 60s/1.089 s=55.1, and is 55bpm after rounding, so that the inter-operative heart rate 55bpm is slower than the pre-operative nuclear magnetic resonance scanning heart rate 65 bpm. In this embodiment, the cardiac cycle is divided into 6 phases, so as to obtain a preoperative cardiac phase interval t1=t1/6=0.154 s, an operative cardiac phase interval t2=t2/6=0.182 s, an operative central electrical phase interval is longer than an operative pre-operative phase interval, for an AD sampling clock, a frequency division coefficient d1=924/6=154 before an operation can be obtained according to an operative RR interval count M1, the frequency division clock is 1 kHz/154=6.5 Hz, and then the frequency division clock is counted through a phase counter, so that the corresponding electrocardio different phase states before the operation can be obtained. Since the equal interval distribution of the intra-operative cardiac phases is ensured, according to the intra-operative RR interval count 1089, the intra-operative frequency division coefficient d2=1089/6=181.5 can be obtained, the intra-operative frequency division coefficient is rounded to 182, the frequency division clock is 1 kHz/182=5.5 Hz, then the frequency division clock is counted through the phase counter, and the corresponding intra-operative electrocardio different phase states can be obtained and output to the navigation host workstation. And the navigation host control software is used for acquiring the preoperative corresponding phase nuclear magnetic image according to the phase position in the operation and fusing the preoperative corresponding phase nuclear magnetic image. As shown in FIG. 4, the front RR wave interval and the rear RR wave interval are different, and the phase interval is also different, so that the synchronous phase-locked frequency multiplication of the self-adaptive R wave in operation is realized.
Compared with the fusion of the phase sequence without the cardiac cycle, the fusion precision is greatly improved.
The following ultrasonic image coordinate system is a three-dimensional coordinate system established by adding two-dimensional coordinate axes where the ultrasonic image is located and the vertical coordinate axes of the two-dimensional plane according to a right rule. The method has two information of cardiac phase j and electromagnetic navigation pose of the ultrasonic probe in operation, and a conversion matrix from an ultrasonic image coordinate system to a jth nuclear magnetic sequence image at the moment can be obtained through Y=K×X×L. Wherein X is the pose coordinate of the electromagnetic navigation sensor returned by the electromagnetic navigation sensor on the ultrasonic probe under the electromagnetic navigation system coordinate system, K is the transformation matrix of the electromagnetic navigation coordinate system and the nuclear magnetic image coordinate system obtained by the calculation in the step 2.1, and L is the transformation matrix of the ultrasonic image two-dimensional coordinate system obtained in the step 2.2 to the electromagnetic navigation sensor coordinate system on the ultrasonic probe. Because z=0, namely the plane where the ultrasonic image is located in the ultrasonic image coordinate system is known, based on the obtained conversion matrix Y, the plane where the ultrasonic image corresponds to the nuclear magnetic image can be obtained, then an analog ultrasonic tangent plane image for fusion can be generated for the current nuclear magnetic image through sampling interpolation or an algorithm based on B spline function deformation and the like, the analog generated ultrasonic tangent plane image is normalized to the same resolution as the ultrasonic image, color and transparency transformation is carried out, and the ultrasonic tangent plane image is overlapped on the current acquired ultrasonic image, so that the real-time ultrasonic image fusing nuclear magnetic information is obtained.
It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (2)
1. The utility model provides an ultrasonic navigation fuses device fast, includes electrocardiograph monitor, electrocardio R wave frequency multiplication phase locking control board, ultrasonic image acquisition module, electromagnetism navigation host computer, nuclear magnetism image collector and navigation workstation, and electrocardiograph monitor includes electrocardio electrode and R wave output, electrocardio electrode is connected on one's body for obtain the heartbeat signal, its characterized in that, R wave output is connected to electrocardio R wave frequency multiplication phase locking control board, ultrasonic image acquisition module and nuclear magnetism image collector are connected to navigation workstation, electrocardio R wave frequency multiplication phase locking control board is used for obtaining the heart phase signal after the self-adaptation synchronous frequency multiplication of R wave; the ultrasonic image acquisition module is used for acquiring heart ultrasonic images; the nuclear magnetic image collector is used for collecting nuclear magnetic images of the heart; the navigation workstation is used for registering the acquired ultrasonic image, the pose of the ultrasonic probe and the nuclear magnetic image information, and dynamically fusing the ultrasonic image and the nuclear magnetic image based on the frequency multiplication R wave cardiac phase signal; the electrocardio R wave frequency multiplication phase-locked control board comprises an electrocardio monitor R wave input interface, a signal limiting band-pass filter circuit, an AD acquisition circuit, a logic processing circuit and a navigation workstation interface circuit, wherein an R wave signal acquired by the electrocardio monitor R wave input interface is processed by the signal limiting band-pass filter circuit and then is sent to the AD acquisition circuit, the AD acquisition circuit carries out quantization acquisition on the input R wave signal and then carries out control logic processing on the logic processing circuit, and the current electrocardio phase stage is acquired after processing, and is sent to the navigation workstation through the navigation workstation interface circuit; the logic processing circuit includes a processor that executes control logic including: the method comprises the steps of firstly carrying out peak detection on acquired R wave data to obtain an accurate position of an R wave, determining a phase stage by taking the peak position of a current R wave as a reference, calculating a heartbeat interval time corresponding to an R wave interval in the phase stage, firstly finding a peak of a previous signal waveform by adopting a peak detection algorithm, namely the position of the maximum R wave, recording an AD acquisition sample serial number, continuously detecting and obtaining the R peak at the current moment and the corresponding AD acquisition sample serial number, obtaining a current RR peak interval count M according to the difference between the AD acquisition clock frequency and the AD acquisition sample serial number between the R wave, obtaining a frequency division coefficient D=M/N compared with a required electrocardio phase number N, taking the peak point of the R wave as a current cardiac phase starting point, dividing the AD acquisition clock by the frequency division coefficient D, then adopting a counter to count the frequency division clock to accurately obtain the current cardiac phase, and outputting phase information to an electromagnetic navigation host.
2. The rapid ultrasonic navigation fusion device according to claim 1, wherein the ultrasonic image acquisition module comprises an ultrasonic probe, an ultrasonic host and a video acquisition box, the ultrasonic probe is connected with the ultrasonic host, a video output port of the ultrasonic host is connected with the video acquisition box, the video acquisition box is connected to a navigation workstation, the ultrasonic probe contacts with the surface of a human body and is close to the heart and is used for acquiring heart ultrasonic images, an electromagnetic navigation sensor is mounted on the ultrasonic probe and is connected with the electromagnetic navigation host, the electromagnetic navigation host is connected with the workstation, a magnetic field generator is included in the electromagnetic navigation host and can send electromagnetic signals to the electromagnetic navigation sensor, and the electromagnetic navigation sensor returns the received electromagnetic signals to the electromagnetic navigation host so as to acquire pose information of the ultrasonic probe relative to the electromagnetic navigation host in a coordinate system.
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| JP5179801B2 (en) * | 2007-08-24 | 2013-04-10 | 株式会社東芝 | Ultrasonic image display method and apparatus |
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