DE3908648A1 - Presentation of ultrasonic images - Google Patents
Presentation of ultrasonic imagesInfo
- Publication number
- DE3908648A1 DE3908648A1 DE19893908648 DE3908648A DE3908648A1 DE 3908648 A1 DE3908648 A1 DE 3908648A1 DE 19893908648 DE19893908648 DE 19893908648 DE 3908648 A DE3908648 A DE 3908648A DE 3908648 A1 DE3908648 A1 DE 3908648A1
- Authority
- DE
- Germany
- Prior art keywords
- images
- image
- guide arm
- image processing
- analog
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8993—Three dimensional imaging systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/13—Tomography
- A61B8/14—Echo-tomography
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Pathology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur dreidimensiona len Darstellung von Ultraschall-Bildern, insbesondere aus dem Körperinneren von Patienten.The invention relates to a three-dimensional device len representation of ultrasound images, in particular from the inside of patients.
Zur Bilddarstellung in der Medizin sind Röntgen- oder Ultra schallgeräte bekannt. Zur räumlichen Darstellung werden oft zwei Geräte eingesetzt. Aber auch damit ist die genaue Be stimmung der absoluten Lage von Organen im Körper nicht ganz einfach, da die Bildebenen oder die Blickwinkel nie ganz frei wählbar sind.X-ray or ultra are used for image display in medicine sound devices known. Often for spatial representation two devices used. But this is also the exact loading the absolute position of organs in the body is not quite correct easy, because the picture planes or the viewing angles never quite are freely selectable.
Aufgabe der Erfindung ist es, eine Vorrichtung zu schaffen, mit der auf einfache Weise dreidimensionale Bilder aus be liebigen Blickwinkeln oder Bilder aus beliebigen Schnitt ebenen erzeugbar sind.The object of the invention is to provide a device with the simple three-dimensional images from be lovely angles or pictures from any cut levels can be generated.
Diese Aufgabe wird erfindungsgemäß gelöst von einer Vorrich tung mit den Merkmalen des Anspruchs 1.This object is achieved by a Vorrich device with the features of claim 1.
Ausführungen der Erfindung sind Gegenstände von Unter ansprüchen.Embodiments of the invention are the subject of sub claims.
In einer bevorzugten Ausführung hat der Führungsarm Analog winkelgeber. Ein Analog-Digital-Wandler, der z.B. auch im PC integriert sein kann, digitalisiert die Meßwerte. Der Führungsarm hat bevorzugt sechs Freiheitsgrade, das heißt er hat 6 voneinander unabhängige Drehgelenke, deren Stel lungen registriert werden.In a preferred embodiment, the guide arm is analog angle encoder. An analog-digital converter, which e.g. also in PC can be integrated, digitizes the measured values. The Guide arm preferably has six degrees of freedom, that is it has 6 independent swivel joints, the stel lungs are registered.
Als Bildspeicher eignen sich alle herkömmlichen Massenspei cher, bevorzugt kann eine Festplatte mit mindestens 8 Mbyte benutzt werden.All conventional mass storage devices are suitable as image storage A hard disk with at least 8 Mbytes can be used to be used.
Der bildverarbeitende Rechner umfaßt bevorzugt ein Bild verarbeitungssystem mit Analog-Digital-Interface zur Digi talisierung der Ultraschallbilder (Zugriff auf Standard videosignal), einen Framebuffer zur Abspeicherung eines Ultraschallbilds in Echtzeit und eine Arithmetic logical unit zur Bildverarbeitung. Als Systemrechner eignet sich z.B. ein Personal-Computer (PC).The image processing computer preferably comprises an image processing system with an analog-digital interface for digitalizing the ultrasound images (access to standard video signal), a frame buffer for storing an ultrasound image in real time and an arithmetic logical unit for image processing. A personal computer (PC) , for example, is suitable as a system computer.
Die erfindungsgemäße Vorrichtung ist insbesondere für die Medizin entwickelt worden, um dreidimensionale Bilder des Körperinneren von Patienten zu erhalten oder um die abso lute Lage von Organen zu bestimmen. Dieses Problem tritt z.B. bei der Punktierung oder bei der Bestrahlungsplanung auf. Auch zur Darstellung von Steinen und anderen Konkre menten sowie zur Darstellung des Bereichs, den ein Stoß wellenkegel z.B. der Lithotripsie überstreicht, eignet sich das Gerät.The device according to the invention is particularly for Medicine has been developed to produce three-dimensional images of the Preserve the inside of patients or to avoid the abso Determine lute location of organs. This problem occurs e.g. when puncturing or planning treatment on. Also for the representation of stones and other congress elements as well as to represent the area that a shock shaft cone e.g. lithotripsy is suitable the device.
Die Erfindung eignet sich aber auch für die Werkstoff prüfung, so kann z.B. die räumliche Lage von Lunkern oder Rissen in sonographisch diagnostizierbaren Körpern ermit telt werden. Auch die Oberflächenanalyse von unterschied lichen Werkstoffen in sonogener Umgebung ist mit der Vorrichtung möglich.The invention is also suitable for the material testing, e.g. the spatial location of blowholes or Cracks in sonographically diagnosable bodies be communicated. Even the surface analysis of difference materials in a sonogenic environment with the Device possible.
Die Handhabung der Vorrichtung wird anhand einer Figur näher erläutert.The handling of the device is based on a figure explained in more detail.
Die Figur zeigt schematisch eine Patientenliege PL mit einem Patientenkörper PK und in diesem einen interessie renden Bereich, z.B. eine Niere. An der Patientenliege PL ist der Führungsarm F befestigt, an dessen Spitze sich der Ultraschall-Transducer TR befindet. Dieser ist mit einem bekannten Ultaschallgerät US mit Bildschirm (Monitor M) verbunden. Die erfindungsgemäße Vorrichtung enthält die Komponenten Bildspeicher BS und Rechner R, der hier aus einem bildverarbeitenden System (BV) und einem System rechner (PC) besteht. Zur Umwandlung der Meßsignale des Führungsarms F ist ein Analog-Digital-Wandler ADC vorge sehen. In dem Rechner R werden aus den digitalisierten Signalen der Analogwinkelgeber und den bekannten Arm konstanten des Führungsarmes F die Lagen der Schnittebenen bestimmt.The figure schematically shows a patient couch PL with a patient body PK and in this an area of interest, for example a kidney. The guide arm F is attached to the patient bed PL , and the ultrasound transducer TR is located at the tip thereof. This is connected to a known ultrasound device US with a screen (monitor M) . The device according to the invention contains the components image memory BS and computer R , which here consists of an image processing system (BV) and a system computer (PC) . To convert the measurement signals of the guide arm F , an analog-digital converter ADC is easily seen. The positions of the cutting planes are determined in the computer R from the digitized signals of the analog angle transmitters and the known arm constants of the guide arm F.
Die erfindungsgemäße Vorrichtung wird folgendermaßen be dient:The device according to the invention will be as follows serves:
Zur Aufnahme eines dreidimensionalen Bildes werden während einer freien Scanbewegung des Transducers TR um den zu untersuchenden Körper (PK) in definierten Zeitabständen zweidimensionale Schnittbilder aufgenommen. Das heißt, der Ultraschall-Transducer TR wird vom Arzt oder eine Hilfs kraft manuell an den Patientenkörper PK gedrückt und ge schwenkt (um eine oder mehrere Achsen über den Körper ge führt). Dadurch werden Ultraschallbilder verschie dener Schnittebenen aufgenommen. Der Bediener beobachtet dabei auf dem Monitor M das generierte B-Bild in Echtzeit und muß lediglich auf eine gleichbleibend gute Abbildung des Objekts auf dem Monitor M achten. Die während der Scan-Bewegung (Schwenk bewegung) aufgenommenen Schnittbilder werden in dem externen Bildspeicher BS abgespeichert. Mit Hilfe des Führungsarms F, der hier Analogwinkelgeber enthält, wird zu jedem Schnitt bild die Position des Transducers TR und die Lage der Scan- Ebene bestimmt und mitabgespeichert.To record a three-dimensional image, two-dimensional sectional images are recorded at defined time intervals during a free scanning movement of the transducer TR around the body to be examined (PK) . This means that the ultrasound transducer TR is pressed manually by the doctor or an auxiliary force onto the patient's body PK and swiveled (passes over one or more axes over the body). As a result, ultrasound images of various cutting planes are recorded. The operator observes the generated B-image in real time on the monitor M and only has to pay attention to a consistently good image of the object on the monitor M. The sectional images recorded during the scan movement (swivel movement) are stored in the external image memory BS . With the help of the guide arm F , which contains analog angle encoders, the position of the transducer TR and the position of the scan plane are determined and saved for each sectional image.
Zur Aufnahme der Ultraschall-B-Bilder kann jedes beliebige Ultraschallgerät verwendet werden, das ein Standard-Video- Signal (CCIR, NTSC) aufweist. Im Bildverarbeitungssystem BV des Rechners R kann die Bildinformation jedes zweidimensio nalen Schnittbildes digitalisiert und in Echtzeit manipu liert werden, z.B mit an sich bekannten Verfahren der Kantendetektion, der Kontrastanhebung und der Filterung. Diese Schnittbilder werden im Bildspeicher BS abgespeichert.Any ultrasound device that has a standard video signal (CCIR, NTSC) can be used to record the ultrasound B-images. In the image processing system BV of the computer R , the image information of each two-dimensional sectional image can be digitized and manipulated in real time, for example using methods known per se for edge detection, contrast enhancement and filtering. These sectional images are stored in the image memory BS .
Die Generierung des dreidimensionalen Bildes erfolgt nach den abgeschlossenen Scan-Bewegungen aus den aufgenommenen Schnittbildern und den jeweiligen Lagen der Schnittebenen. Die Lage der Schnittebene wird vom Rechner PC aus den Sig nalen der Analogwinkelgeber und den Armkonstanten (Länge der Armglieder, Drehwinkel der einzelnen Gelenke, Signale der Gelenke in Kalibrierstellung) berechnet und mit dem jeweiligen Schnittbild auf Platte abgespeichert. Das drei dimensionale Bild wird im Framebuffer des Bildverarbeitungs systems BV berechnet und auf dem Monitor M dargestellt. Der Betrachtungspunkt des Drei-D-Bildes kann vom Benutzer ge wählt und variiert werden. Durch das dreidimensionale Bild können beliebige Schnittebenen gelegt und am Monitor M dar gestellt werden.The three-dimensional image is generated after the completed scan movements from the recorded sectional images and the respective positions of the sectional planes. The position of the cutting plane is calculated by the computer PC from the signals of the analog angle encoder and the arm constants (length of the arm links, angle of rotation of the individual joints, signals of the joints in the calibration position) and saved on the plate with the respective sectional image. The three-dimensional image is calculated in the frame buffer of the image processing system BV and displayed on the monitor M. The viewpoint of the three-dimensional image can be selected and varied by the user. Through the three-dimensional image, any section planes can be placed and displayed on the monitor M.
Das Bildverarbeitungssystem bietet weitere Möglichkeiten zur Bildanalyse, z.B. eine Berechnung der Grauwertverteilung, Kontrastbestimmungen, Objekterkennungen oder Kantendetek tion, was alles an sich bekannte Routinen aus der Bildver arbeitung sind, Bildmanipulation (Echtzeit-Bild-Prozessing wie Bildaddition oder Bildsubtraktion, Multiplikation oder Division, Mittelwertbildung, logische Operationen, Eingangs- und Ausgangs-Look-Up-Tabellen), Bildvermessung (bestimmende Objektgröße) oder Darstellungen von Pseudofarben (Falsch farbendarstellung).The image processing system offers further possibilities for Image analysis, e.g. a calculation of the gray value distribution, Contrast determinations, object recognition or edge detection tion, what all known routines from image processing work, image manipulation (real-time image processing such as image addition or subtraction, multiplication or Division, averaging, logical operations, input and output look-up tables), image measurement (determining Object size) or representations of pseudo colors (wrong color representation).
Claims (7)
- - einem B-Scan Ultraschallgerät (US), dessen Transducer (TR) an einem Führungsarm (F) befestigt ist, dessen Koordinaten (Winkel, Wege) der einzelnen Glieder zueinander registriert werden,
- - einen Bildspeicher (BS),
- - einen bildverarbeitenden Rechner (R), der aus den gespeicherten Bildern und den dazugehörigen Koordinaten des Führungsarms (F) dreidimensionale Bilder oder Bilder aus beliebigen Schnittebenen erzeugt und auf einem Bildschirm (Monitor M) dar stellt.
- a B-scan ultrasound device (US) , the transducer (TR) of which is attached to a guide arm (F) , the coordinates (angles, paths) of the individual links to one another are registered,
- an image memory (BS) ,
- - An image processing computer (R) , which generates three-dimensional images or images from any sectional plane from the stored images and the associated coordinates of the guide arm (F) and displays them on a screen (monitor M) .
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE19893908648 DE3908648A1 (en) | 1989-03-16 | 1989-03-16 | Presentation of ultrasonic images |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19893908648 DE3908648A1 (en) | 1989-03-16 | 1989-03-16 | Presentation of ultrasonic images |
Publications (1)
Publication Number | Publication Date |
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DE3908648A1 true DE3908648A1 (en) | 1990-09-20 |
Family
ID=6376513
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE19893908648 Withdrawn DE3908648A1 (en) | 1989-03-16 | 1989-03-16 | Presentation of ultrasonic images |
Country Status (1)
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DE (1) | DE3908648A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4029829A1 (en) * | 1990-09-20 | 1992-04-02 | Dornier Medizintechnik | THREE-DIMENSIONAL REPRESENTATION OF ULTRASONIC IMAGES |
EP0581704A1 (en) * | 1992-07-31 | 1994-02-02 | Universite Joseph Fourier | Method for determining the position of an organ |
DE19520368A1 (en) * | 1994-06-08 | 1995-12-14 | Siemens Medical Systems Inc | Activating system for activating measurement sensing unit |
WO1999002100A1 (en) | 1997-07-10 | 1999-01-21 | Mueller Wolfram | Coordinate guidance and reference positioning system |
US5924989A (en) * | 1995-04-03 | 1999-07-20 | Polz; Hans | Method and device for capturing diagnostically acceptable three-dimensional ultrasound image data records |
DE19802341C1 (en) * | 1998-01-22 | 1999-08-12 | Siemens Ag | Medical system |
WO2006043859A1 (en) * | 2004-10-18 | 2006-04-27 | Mobile Robotics Sweden Ab | Robot for ultrasonic examination |
US11435459B2 (en) * | 2017-03-13 | 2022-09-06 | Koninklijke Philips N.V. | Methods and systems for filtering ultrasound image clutter |
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4029829A1 (en) * | 1990-09-20 | 1992-04-02 | Dornier Medizintechnik | THREE-DIMENSIONAL REPRESENTATION OF ULTRASONIC IMAGES |
EP0581704A1 (en) * | 1992-07-31 | 1994-02-02 | Universite Joseph Fourier | Method for determining the position of an organ |
FR2694881A1 (en) * | 1992-07-31 | 1994-02-25 | Univ Joseph Fourier | Method for determining the position of an organ. |
US5447154A (en) * | 1992-07-31 | 1995-09-05 | Universite Joseph Fourier | Method for determining the position of an organ |
DE19520368A1 (en) * | 1994-06-08 | 1995-12-14 | Siemens Medical Systems Inc | Activating system for activating measurement sensing unit |
US5924989A (en) * | 1995-04-03 | 1999-07-20 | Polz; Hans | Method and device for capturing diagnostically acceptable three-dimensional ultrasound image data records |
WO1999002100A1 (en) | 1997-07-10 | 1999-01-21 | Mueller Wolfram | Coordinate guidance and reference positioning system |
AT405126B (en) * | 1997-07-10 | 1999-05-25 | Graf Reinhard | COORDINATE GUIDE SYSTEM AND REFERENCE POSITIONING SYSTEM |
DE19802341C1 (en) * | 1998-01-22 | 1999-08-12 | Siemens Ag | Medical system |
WO2006043859A1 (en) * | 2004-10-18 | 2006-04-27 | Mobile Robotics Sweden Ab | Robot for ultrasonic examination |
US7753851B2 (en) | 2004-10-18 | 2010-07-13 | Mobile Robotics Sweden Ab | Robot for ultrasonic examination |
US11435459B2 (en) * | 2017-03-13 | 2022-09-06 | Koninklijke Philips N.V. | Methods and systems for filtering ultrasound image clutter |
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