KR20210136355A - Apparatus and method for generating 3d ultrasound image - Google Patents

Abstract

The present invention relates to an apparatus for generating a three-dimensional (3D) ultrasonic image and a method thereof. According to one embodiment of the present invention, the apparatus comprises: an ultrasonic probe outputting an ultrasound beam to a region of interest; a distance sensor installed in the ultrasonic probe, outputting a signal toward a reflective surface, and receiving a reflected signal to measure a distance between the ultrasonic probe and the reflective surface; a two-dimensional (2D) image generation unit generating a plurality of 2D ultrasonic images from the ultrasonic beam reflected from the region of interest; a location information acquisition unit acquiring relative location information according to movement of the ultrasonic probe on the basis of distance information measured by the distance sensor; and a 3D generation unit generating a 3D ultrasonic image of the region of interest by combining the plurality of 2D ultrasonic images and the relative position information of the ultrasonic probe. Accordingly, a 3D image of an object can be acquired by using an inexpensive distance sensor and an inertia sensor.

Description

Apparatus and method for generating a three-dimensional ultrasound image {APPARATUS AND METHOD FOR GENERATING 3D ULTRASOUND IMAGE}

The present invention relates to an apparatus and method for generating a 3D ultrasound image, and more particularly, based on a plurality of 2D ultrasound images obtained using an ultrasound probe and relative position information of the ultrasound probe obtained using a distance measuring sensor. The present invention relates to an apparatus and method for generating a three-dimensional ultrasound image.

[Description of state-funded R&D]

This study was conducted with the support of the Ministry of Science and ICT's biomedical technology development project (development of ultrasonic transducer and attachable device using semiconductor technology, project identification number: 1711105874) under the supervision of the Korea Institute of Science and Technology.

An ultrasound probe is a device capable of measuring a round trip time of an ultrasound beam, including a transducer that outputs an ultrasound beam to a region of interest and a receiver that receives an ultrasound beam reflected from an object in the region of interest. A processing device (eg, a computer device) connected to the ultrasound probe generates a two-dimensional image (ie, a planar image) of a region of interest and an object in the region of interest based on the measured round trip time of the ultrasound beam. The generated ultrasound image may be provided to the user through the display.

These two-dimensional ultrasound images can detect lesions (such as tumors or organ abnormalities) within the region of interest, but it is possible to precisely find small lesions or hidden lesions between organs only with a flat image taken from a cross-section. is difficult In addition, in ultrasound treatment that directly removes or stimulates body parts using high-intensity focused ultrasound (HIFU) or low-intensity focused ultrasound (LIFU), it is important to accurately specify the location of the lesion, so a three-dimensional image is required.

The 3D ultrasound imaging apparatus may be obtained by acquiring multiple two-dimensional images (ie, planar images obtained by photographing a cross-section of a region of interest) for different positions and combining the plurality of two-dimensional images. In a general method, a two-dimensional image may be acquired while an ultrasonic probe is moved at a constant speed and direction, and a three-dimensional spatial image may be acquired by tagging each two-dimensional image with position information of the ultrasonic probe and combining them. However, in this method, the ultrasonic probe needs to be moved only on a preset path and speed for accurate position measurement, and for this purpose, expensive special equipment installed in advance must be used. Also, there is a disadvantage that the accuracy may be lowered depending on external factors such as the patient's body movement during diagnosis.

As another method, a region of interest may be simultaneously photographed using an ultrasound probe array composed of a plurality of ultrasound probes disposed in space, and a 3D image may be generated by combining 2D images obtained by each ultrasound probe. have. However, this also requires the use of expensive special equipment installed with a plurality of ultrasound probes, and accuracy may be lowered if the patient moves during diagnosis.

In order to solve this problem, various types of 3D ultrasound imaging technology have been proposed. Referring to U.S. Patent Application Publication No. 2018/0153504, after limiting the movement of the ultrasonic probe using a fixing frame, a direction sensor is mounted on the ultrasonic probe, and direction information according to the movement of the ultrasonic probe is combined with a two-dimensional image. Create a dimensional image.

According to this, there is an advantage that a 3D ultrasound image can be obtained at a relatively low cost, but since the motion of the ultrasound probe is limited to only one axis and information related to the position movement cannot be reflected, 3D images for several axes can be obtained. The downside is that you can't. That is, through the prior art, only an incomplete three-dimensional image of a limited location can be obtained.

US Patent Application Publication US 2018/0153504 A1

An object of the present invention is to provide an apparatus for generating a 3D ultrasound image using an ultrasound probe having a distance measuring sensor installed therein, and a method for generating a 3D ultrasound image using the apparatus.

Another object of the present invention is to provide a system for generating a three-dimensional ultrasound image using an ultrasound probe interlocked with a smart terminal such as a smart phone or a tablet PC.

According to an embodiment of the present invention, an apparatus for generating a 3D ultrasound image includes: an ultrasound probe configured to output an ultrasound beam to a region of interest and receive an ultrasound beam reflected from the region of interest; a distance measuring sensor installed in the ultrasonic probe and measuring a distance between the ultrasonic probe and the reflective surface by outputting a signal toward the reflective surface and receiving a signal reflected from the reflective surface; a two-dimensional image generator for generating a plurality of two-dimensional ultrasound images of the region of interest from the ultrasound beam received by the ultrasound probe; a location information obtaining unit configured to obtain relative location information according to the movement of the ultrasonic probe based on the distance between the ultrasonic probe and the reflective surface measured by the distance measuring sensor; and a 3D image generator configured to generate a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probe.

According to an embodiment, the ultrasonic probe further includes an inertial measurement sensor installed on the ultrasonic probe to detect a change in position according to the movement of the ultrasonic probe, wherein the position information obtaining unit detects the position of the ultrasonic probe by the inertial measurement sensor. The relative position information of the ultrasound probe may be acquired further based on the change.

According to an embodiment, the inertial measurement sensor includes a tilt sensor for detecting a change in inclination according to the movement of the ultrasonic probe, an acceleration sensor for detecting an acceleration change according to the movement of the ultrasonic probe, and measuring the direction and strength of a magnetic field. By providing a magnetometer for detecting the relative movement of the ultrasonic probe with respect to the ultrasonic probe, it may be configured to detect a change in the position of the ultrasonic probe.

According to an embodiment, in order to minimize the movement of the distance measuring sensor according to the movement of the ultrasonic probe, a gimbal coupled to the ultrasonic probe and the distance measuring sensor may be further included.

According to an embodiment, the reflective surface may include at least three planes, and the at least three planes may be perpendicular to each other.

According to an embodiment, the reflective surface may be a wall surface constituting an indoor space surrounding the 3D ultrasound image generating apparatus.

According to an embodiment, the signal output by the distance measuring sensor toward the reflective surface may be an ultrasonic signal or an optical signal.

According to an embodiment, the 3D image generating unit tags the relative position information of the ultrasound probe with respect to each of the plurality of 2D ultrasound images, and combines the plurality of 2D ultrasound images tagged with the position information. A three-dimensional ultrasound image may be generated.

A three-dimensional ultrasound image generating system using a terminal according to an embodiment of the present invention includes: a terminal including a processor; an ultrasound probe coupled to the terminal and configured to output an ultrasound beam to a region of interest and receive an ultrasound beam reflected from the region of interest; and a distance measuring sensor coupled to the terminal and measuring a distance between the terminal and the reflective surface by outputting a signal toward the reflective surface and receiving a signal reflected from the reflective surface, wherein the processor includes the ultrasonic probe generates a plurality of two-dimensional ultrasound images for the region of interest from the ultrasound beam received from and generate a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and relative position information of the terminal.

According to an embodiment, the terminal may further include a display, and the processor may be further configured to output the 3D ultrasound image on the display.

According to an embodiment, the terminal further comprises an inertial measurement sensor for detecting a change in position according to the movement of the terminal, and the processor is further configured to determine the position of the terminal based on the change in the position of the terminal detected by the inertial measurement sensor. It is possible to obtain relative position information according to the movement.

According to an embodiment, the inertial measurement sensor provided in the terminal includes a tilt sensor for detecting a change in inclination according to the movement of the ultrasonic probe, an acceleration sensor for detecting an acceleration change according to the movement of the ultrasonic probe, and a direction and strength of a magnetic field. It may be configured to detect a change in the position of the ultrasonic probe by providing a magnetometer or the like for detecting the relative movement of the ultrasonic probe by measuring .

According to an embodiment of the present invention, a method for generating a 3D ultrasound image includes outputting an ultrasound beam to a region of interest using an ultrasound probe and receiving an ultrasound beam reflected from the region of interest; generating a plurality of two-dimensional ultrasound images of the region of interest; measuring a distance between the ultrasonic probe and the reflective surface by outputting a signal toward a reflective surface using a distance measuring sensor installed in the ultrasonic probe and receiving a signal reflected from the reflective surface; obtaining relative position information of the ultrasonic probe based on the distance between the ultrasonic probe and the reflective surface measured by the distance measuring sensor; and generating a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probe.

According to an embodiment, the method further comprises detecting a position change according to the movement of the ultrasound probe using an inertial measurement sensor installed in the ultrasound probe, and the relative position information of the ultrasound probe is determined by the inertial measurement sensor. It may be obtained further based on a change in the position of the ultrasound probe detected by the .

According to an embodiment, the generating of the 3D ultrasound image of the region of interest may include: tagging relative position information of the ultrasound probe with respect to each of the plurality of 2D ultrasound images; and combining a plurality of two-dimensional ultrasound images tagged with the location information.

A computer program stored in a computer-readable storage medium for executing the method for generating a 3D ultrasound image according to the embodiments may be provided.

According to an embodiment of the present invention, by using a distance measuring sensor attached to the ultrasonic probe to obtain relative position information of the ultrasonic probe, and combining the position information with a plurality of two-dimensional images generated using the ultrasonic probe, interest A 3D ultrasound image of the region may be generated.

According to the conventional 3D imaging techniques based on the ultrasound probe, expensive ancillary equipment or a mark pad attached to the patient's body is used to limit the movement axis of the ultrasound probe to obtain direction information or to measure the position of the ultrasound probe. had to use This limited the angle of the ultrasound image or limited the mobility of the device, and made it difficult to utilize due to the high cost.

According to an embodiment of the present invention, a three-dimensional ultrasound image can be obtained at low cost by measuring the relative position of the ultrasound probe using a relatively inexpensive distance measuring sensor, and an additional device is not attached to the patient's body. Errors caused by body movements can be reduced.

In addition, the embodiment of the present invention can be utilized anywhere as long as there is an external reflective surface composed of three surfaces, and furthermore, it is easily linked with a terminal (smartphone, tablet PC, etc.) equipped with an inertial measurement sensor and a distance measurement sensor to facilitate three-dimensional ultrasound. You can also create images.

1 is a block diagram illustrating a configuration of an apparatus for generating a 3D ultrasound image according to an exemplary embodiment.
2 illustrates an operation example of an apparatus for generating a 3D ultrasound image according to an exemplary embodiment.
3 illustrates an exemplary method of generating a two-dimensional ultrasound image set using an ultrasound image generating apparatus according to an exemplary embodiment.
4 illustrates an exemplary method of generating a 3D ultrasound image by combining a 2D ultrasound image set generated according to an exemplary embodiment.
5 is a diagram illustrating a process of acquiring a 3D image of an object by combining a plurality of cross-sectional images of the object using the 3D ultrasound image generating apparatus according to an exemplary embodiment.
6 is a block diagram illustrating a configuration of a 3D ultrasound image generating system using a terminal according to an exemplary embodiment.
7 is a diagram illustrating an operation example of a system for generating a 3D ultrasound image using a terminal according to an exemplary embodiment.
8 is a flowchart illustrating a method for generating a 3D ultrasound image according to an exemplary embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be embodied in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the following detailed description is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings, but the scope of the claims is not limited or limited by the embodiments.

1 is a block diagram illustrating a configuration of an apparatus for generating a 3D ultrasound image according to an exemplary embodiment.

Referring to FIG. 1 , an apparatus 1 for generating a three-dimensional ultrasound image according to an exemplary embodiment includes a device unit 10 for acquiring data by interacting with an external environment, and 3 by processing the data obtained from the device unit. The processor 20 may be configured to generate a dimensional ultrasound image. According to an embodiment, the device unit 10 may include an ultrasonic probe 110 , a distance measuring sensor 120 , and an inertial measuring sensor 130 , and the processing unit 20 includes a two-dimensional image generating unit 210 , It may include a location information acquisition unit 220 and a 3D image generation unit 230 .

Here, the device unit 10 and the processing unit 20 are merely classified according to the nature of the functions and roles performed by each component in order to describe only one embodiment, and in other embodiments, the device unit 10 ) and the processing unit 20 may not be separated or may include different components. In addition, each component is merely indicated as one block for convenience of description, and in reality, two or more components are included in one software and/or hardware device, or one component includes two or more software and/or hardware devices. It may be implemented by a hardware device.

Hereinafter, the function, role, and coupling relationship of each of the components constituting the 3D ultrasound image generating apparatus according to the embodiment will be described in detail with reference to the drawings. Additional components, such as circuits or electronic devices for supplying and controlling power to the device, have similar structures and principles to those used in general ultrasound diagnostic apparatuses in the art, and thus detailed descriptions thereof will be omitted.

The ultrasound probe 110 is configured to output an ultrasound beam to a region of interest and receive an ultrasound beam reflected from the region of interest. The ultrasonic probe 110 uses, for example, a conventional ultrasonic element using a piezoelectric material and a CMUT, PMUT, an ultrasonic transducer using a photoacoustic effect, or an ultrasonic transducer using electromagnetic force to radiate an ultrasonic beam toward the region of interest. is composed

Ultrasonic transducers apply physical vibrations such as the piezoelectric effect to convert AC energy of 20 KHz or more into mechanical vibrations of the same frequency. The transducer outputs ultrasonic waves of an appropriate intensity by adjusting the output according to the area to be treated and the purpose, and the output ultrasonic waves overlap to form an ultrasonic beam.

The formed ultrasound beam is radiated toward the ROI, is reflected by an object (eg, a skeleton, an organ, a tumor, a lesion, etc.) existing in the ROI and returns to the ultrasound probe 110 . The ultrasound probe 110 is provided with an ultrasound receiver to detect reflected ultrasound, and calculates a round trip time of the ultrasound signal (that is, the difference between the time at which the ultrasound is output and the time at which the ultrasound is reflected back) to measure the distance between the probe and the object. .

The two-dimensional image generator 210 may generate an ultrasound image of the region of interest and the object by collecting the distances measured with respect to each ultrasound beam and converting it into a signal representing the image. A typical ultrasound probe acquires distance information only in the direction indicated by the head part provided with the output unit and the receiver, and the processor performs imaging based on the distance information, so an image generated through a single ultrasound probe at a specific location is a two-dimensional image representing a single cross-section. The two-dimensional image generator 210 generates an image from a signal transmitted from the ultrasonic probe in real time, and generates a plurality of two-dimensional ultrasonic images obtained by photographing the region of interest and the object at different angles as the position or inclination of the ultrasonic probe changes. create

3 illustrates an exemplary method of generating a two-dimensional ultrasound image set using an ultrasound image generating apparatus according to an exemplary embodiment. 3A shows a change in the spatial position of the ultrasound probe 110 , and FIG. 3B shows a change in the inclination of the ultrasound probe 110 . As described above, one 2D ultrasound image is generated at a specific position (position in three-dimensional space) and a specific angle (the angle the head faces) of the ultrasound probe, and different 2D ultrasound images are generated as the position or angle changes as the probe moves. An image is created. A plurality of images generated according to the movement constitute one two-dimensional ultrasound image set, and each image is tagged with location information as described below and used to generate a three-dimensional image.

The distance measuring sensor 120 is installed in the ultrasonic probe 110, and is configured to measure the distance from the ultrasonic probe 110 to the reflective surface by outputting a signal toward the reflective surface and receiving the signal reflected from the reflective surface. . The data (ie, the distance from the probe or the sensor to the reflective surface) measured using the distance measuring sensor 120 specifies the position of the ultrasonic probe 110 in three-dimensional space in the position information acquisition unit 220 to be described later. used to do

Since the distance measuring sensor 120 is installed in a part of the ultrasonic probe 110 as shown in FIG. 2 , the position of the distance measuring sensor 120 may be regarded as the same as the position of the ultrasonic probe 110 . Some errors may occur depending on the location where the distance measuring sensor is installed, but this may be corrected by the correction information input in advance.

Referring to FIG. 2 , in the apparatus according to an embodiment, in order to minimize the movement of the distance measuring sensor according to the movement of the ultrasonic probe, the ultrasonic probe 110 and the gimbal 140 are coupled to the distance measuring sensor 120 . may include. A gimbal means a rotation-allowing support frame that allows rotation about the front-rear, left-right axis so that the installed equipment can be placed horizontally and vertically regardless of the movement of other structures. In this specification, the gimbal 140 is coupled with the ultrasonic probe 110 on one side and the distance measuring sensor 120 on the other side, so that the distance measuring sensor 120 is coupled to the axis change or shaking according to the movement of the ultrasonic probe 110. Secure it so that it does not wobble.

Hereinafter, a detailed method for determining the position of the distance measuring sensor (ie, the position of the ultrasonic probe) in 3D space will be described.

2 is a diagram illustrating an operation example of an apparatus for generating a 3D ultrasound image according to an exemplary embodiment. In the embodiment shown in FIG. 2 , the reflective surface consists of at least three planes (R _a , R _b , R _c ) that are perpendicular to each other. Such a reflective surface corresponds to a wall (including a floor and a ceiling) constituting an indoor space if it is a general indoor space. Therefore, when the ultrasound image generating apparatus of the embodiment operates indoors, the location may be determined using signals reflected from the three-axis wall surface without a separate installation object. If it operates in an outdoor space other than a space surrounded by a wall or if the wall is not flat, the position may be determined by installing three reflective plates (eg, acrylic plates) perpendicular to each other.

The distance measuring sensor 120 has an output unit for outputting a signal (eg, an ultrasonic signal or an infrared light signal, etc.) toward _{each reflective surface (R a} , R _b , R _{c ), and is reflected back by each reflective surface} A receiver for detecting an incoming signal is provided. The distance measuring sensor 120 is based on the time difference between the time when the output unit outputs the signal and the time when the reflected signal is received from the receiver, each reflective surface (R _a , R _b , R ) from the distance measuring sensor 120 . _c ) calculate the distance (ie, the distance between the ultrasonic probe and the reflective surface). For example, the time when the output optical signal is referred to as t _1, the reflecting surface (R _a) When the optical signal is detected by the receiving reflection point by as t _2, a half of the distance measuring sensor 120 surface The distance d _a to (R _a ) can be expressed by the following equation.

… 수학식 (1)

… Equation (1)

Here c represents the speed of light. In the same way, the distances d _b , _{dc to the remaining reflective surfaces R b} , R _c can be measured. According to an embodiment, the distance measuring sensor 120 measures the distance at regular time intervals or whenever the probe moves and transmits it to the location information acquisition unit to track the location of the ultrasonic probe in real time.

Although the example of FIG. 2 shows a configuration for outputting signals in three directions toward three reflective surfaces, a smaller number of reflective surfaces or four or more reflective surfaces may be used. However, when two or less reflective surfaces are used, an additional configuration for specifying a position in a three-dimensional space may be required, and when four or more reflective surfaces are used, positioning accuracy can be improved.

Referring back to FIG. 1 , the location information obtaining unit 220 determines the relative position of the ultrasonic probe 110 based on distance data to each reflective surface measured using the distance measuring sensor 120 . If the distance from three or more reflective surfaces to the ultrasonic probe is known, the three-dimensional position of the ultrasonic probe can be specified using triangulation. The obtained relative position information of the ultrasound probe is used to generate a 3D ultrasound image together with a 2D ultrasound image set at each position.

According to an embodiment, an inertial measurement sensor 130 installed on the ultrasonic probe 110 and detecting a change in position according to the movement of the ultrasonic probe may be further provided. The inertial measurement sensor 130 is a component for detecting the movement of an object (here, an ultrasonic probe) in a three-dimensional space by measuring changes in the movement speed, movement direction, acceleration, etc. of the object. For example, the inertial measurement sensor 130 is a tilt sensor for detecting a tilt change according to the movement of the ultrasonic probe 110, an acceleration sensor for detecting an acceleration change, and measuring the direction and strength of the magnetic field of the ultrasonic probe 110 for this. The motion of the ultrasonic probe may be detected by providing a geomagnetic sensor or a magnetometer for detecting the relative motion. However, these components are merely exemplary, and any sensor capable of detecting a change in position or posture according to the movement of an object may be used.

According to an embodiment, the location information obtaining unit 220 may obtain tilt change information of the ultrasonic probe 110 by using a tilt sensor provided in the inertial measurement sensor 130 . The ultrasound image generated by the two-dimensional image generator 210 varies depending on the angle of the head of the ultrasound probe 110 , that is, the angle at which the ultrasound beam is incident. When the distance measuring sensor 120 is used, the position (coordinate) of the ultrasonic probe 110 in three-dimensional space can be specified, but there is a limit in detecting a change in movement such as a change in inclination. Accordingly, by additionally providing the inertial measurement sensor 130 capable of detecting a change in inclination or a direction of rotation, an ultrasound image corresponding to a change in angle as well as a positional movement in the coordinates of the ultrasonic probe 110 can be generated. The inertial measurement sensor 130 does not necessarily have to be configured as a separate device from other components, and may be built into the ultrasonic probe 110 or configured as a single device with the distance measurement sensor 120 .

The 3D image generator 230 is configured to generate a 3D ultrasound image of a region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probe. The plurality of 2D ultrasound images is a set of ultrasound images that are differently captured according to a change in position or angle of an ultrasound probe, as described with reference to FIG. 3 . The relative position information of the ultrasonic probe includes information on the position change in three-dimensional space of the probe sensed using the distance measuring sensor, and additionally, the inclination, moving speed, moving direction, Includes change information such as rotation speed and acceleration.

According to an embodiment, the 3D image generating unit 230 tags the relative position information of the ultrasound probe 110 with respect to each of the plurality of 2D ultrasound images, and the plurality of 2D ultrasound images tagged with the position information are tagged. A 3D ultrasound image is generated by combining the 3D ultrasound images.

4 illustrates an exemplary method of generating a 3D ultrasound image by combining a 2D ultrasound image set generated according to an exemplary embodiment. Referring to FIG. 4A , a plurality of two-dimensional ultrasound images are matched with position information and direction information according to inclination in a three-dimensional space of the ultrasound probe when each image is taken, which is based on each position and inclination information. Construct the dataset. The three-dimensional image generator generates an ultrasound image expressed in three-dimensional space as shown in (B) by forming a volume through a reconstruction process of combining the datasets. The image restoration process involves software processing.

5 is a diagram illustrating a process of acquiring a 3D image of an object by combining a plurality of cross-sectional images of the object using the 3D ultrasound image generating apparatus according to an exemplary embodiment. Referring to FIG. 5A , a cross-sectional image of an object is generated using an ultrasound probe and a two-dimensional image generator, and a plurality of cross-sectional images are combined according to the position of the ultrasound probe as shown in (B), ( As shown in C), an image of an object expressed in a three-dimensional space may be generated.

As described above, when using the 3D ultrasound image generating apparatus according to the embodiment, position information (coordinate position and inclination information in 3D space) of the ultrasound probe is combined with a plurality of 2D images to obtain a 3D image for the region of interest (or object). 3D stereoscopic images can be created.

6 shows the configuration of a 3D ultrasound image generating system using a terminal according to another embodiment of the present invention.

Referring to FIG. 6 , a system according to an exemplary embodiment includes a terminal 30 having an inertial measurement sensor and a processor, is coupled to the terminal 30 and outputs an ultrasound beam to a region of interest and is reflected from the region of interest. An ultrasonic probe 110 for receiving a beam, and a distance measuring sensor coupled to the terminal 30 and measuring the distance between the terminal and the reflective surface by outputting a signal toward the reflective surface and receiving a signal reflected from the reflective surface (120).

The terminal 30 refers to an electronic device having a processor 310 capable of processing data input from the outside. In a preferred embodiment, the terminal 30 includes a smart electronic device that is portable, such as a smart phone, a tablet PC, and can receive data from an external device through an installed application and process it with a built-in processor. In one embodiment, the terminal 30 may include additional components such as the inertial measurement sensor 320 and the display 330, which will be described later.

The processor 310 generates a plurality of 2D ultrasound images for the region of interest from the ultrasound beam received by the ultrasound probe 110 , and the distance between the reflective surfaces from the terminal 30 measured by the distance measuring sensor 120 . It is configured to acquire relative position information according to the movement of the terminal based on the , and generate a 3D ultrasound image for a region of interest based on a plurality of 2D ultrasound images and the relative position information of the terminal 30 .

7 is a diagram illustrating an operation example of a system for generating a 3D ultrasound image using a terminal according to an exemplary embodiment. As illustrated, the ultrasound probe 110 may be coupled to the lower end of the terminal 30 , and outputs an ultrasound beam toward the region of interest and the object and detects the reflected ultrasound.

The processor 310 generates an ultrasound image of a region of interest and an object by collecting distances measured with respect to each ultrasound beam and converting it into a signal representing an image. The ultrasound image may appear differently according to a change in the position of the ultrasound probe 110 . Accordingly, a plurality of two-dimensional ultrasound images obtained by photographing a cross-section of an object are generated according to the movement of the ultrasound probe.

The distance measuring sensor 120 may be coupled to the upper end of the terminal 30, and output a signal (eg, an ultrasonic signal or an infrared light signal) toward the _{reflective surfaces (R a} , R _b , R _{c ) perpendicular to each other and} Detect the reflected signal. A detailed function of the distance measuring sensor 120 and a distance measuring method have been described with reference to FIG. 1 , so a redundant description will be omitted. In an embodiment, the distance measuring sensor 120 may be coupled to the terminal 30 through a gimbal for minimizing shaking according to the movement of the terminal 30 .

The processor 310 determines a relative position of the ultrasound probe 110 based on distance data to each reflective surface measured using the distance measuring sensor 120 . When the distance from three or more reflective surfaces to the ultrasonic probe is known, the position of the ultrasonic probe in three-dimensional space can be specified using triangulation.

According to an embodiment, the terminal 30 may further include an inertial measurement sensor 320 for detecting a change in position according to movement. A typical smart device such as a smartphone or tablet PC is equipped with an IMU sensor that can detect the tilt, rotation, movement speed, direction, etc. of the device, so that the movement of the terminal can be detected through this. The processor 310 receives information about changes in the inclination, movement speed, direction, acceleration, etc. of the ultrasonic probe 110 from the inertial measurement sensor 320, so that not only the position movement on the coordinates of the ultrasonic probe 110 but also the angle of the ultrasonic probe 110 is measured. It is possible to create an image that responds to changes.

The processor 310 generates a 3D ultrasound image of a region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probes. According to an embodiment, the processor 310 tags the relative position information of the ultrasound probe 110 with respect to each of the plurality of 2D ultrasound images, and combines the plurality of 2D ultrasound images tagged with the position information. This creates a three-dimensional ultrasound image. As described with reference to FIGS. 4 and 5 , an image of the object expressed in a three-dimensional space can be generated by generating a cross-sectional image of the region of interest and the object, and combining a plurality of cross-sectional images according to the position of the ultrasound probe. .

According to an embodiment, the terminal 30 may further include a display 330 , and the processor 310 may output the generated 3D ultrasound image on the display 330 . The user can monitor the 3D stereoscopic image of the subject being diagnosed in real time through the display screen of a smartphone or tablet PC.

As described above, using the 3D ultrasound image generating system according to the embodiment, the 3D ultrasound image can be simply generated by connecting the ultrasound probe and the distance measuring sensor to a terminal such as a smartphone. The system according to the embodiment is less expensive than a conventional 3D imaging apparatus and has high utility because it is easy to carry.

8 is a flowchart illustrating a method for generating a 3D ultrasound image according to an exemplary embodiment. The method according to the embodiment may be performed by the above-described components of the ultrasound image generating apparatus, and a redundant description of each component will be omitted.

Referring to FIG. 8 , a step of outputting an ultrasound beam to a region of interest using an ultrasound probe and receiving an ultrasound beam reflected from the region of interest is performed ( S10 ).

Next, a step of generating a plurality of two-dimensional ultrasound images of the region of interest is performed (S20).

Next, a step of measuring the distance between the ultrasonic probe and the reflector is performed by outputting a signal to the reflector and receiving a signal reflected from the reflector using a distance measuring sensor installed in the ultrasonic probe (S30).

Next, a step of detecting a position change according to the movement of the ultrasonic probe using an inertial measurement sensor installed in the ultrasonic probe is performed (S40). As described above, the inertial measurement sensor may include a tilt sensor, an acceleration sensor, an earth magnetic field sensor, and the like, and using this, it is possible to detect changes in tilt, movement speed, direction, acceleration, etc. according to the movement of the ultrasonic probe.

Next, a step of obtaining relative position information of the ultrasonic probe based on the distance between the ultrasonic probe and the reflector measured by the distance measuring sensor and the position change (eg, inclination change) of the ultrasonic probe detected by the inertial measuring sensor is performed (S50) ).

Finally, a step of generating a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and the relative position information of the ultrasound probe is performed (S60). The step S60 may include tagging the relative position information of the ultrasound probe with respect to each of the plurality of 2D ultrasound images and combining the plurality of 2D ultrasound images tagged with the position information.

The method for generating a dimensional ultrasound image according to an embodiment may be implemented as an application or implemented in the form of program instructions that may be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.

Examples of the computer-readable recording medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM, a DVD, and a magneto-optical medium such as a floppy disk. media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

According to the embodiments described above, by using a distance measuring sensor attached to the ultrasonic probe to obtain relative position information of the ultrasonic probe, and by combining the position information with a plurality of two-dimensional images generated using the ultrasonic probe, interest A 3D ultrasound image of the region may be generated.

According to the conventional 3D ultrasound imaging techniques, it is necessary to limit the movement axis of the ultrasound probe to obtain direction information, or use expensive ancillary equipment or a mark pad attached to the patient's body to measure the position of the ultrasound probe. did.

According to an embodiment of the present invention, a three-dimensional ultrasound image can be obtained at low cost by measuring the relative position of the ultrasound probe using a relatively inexpensive distance measuring sensor, and an additional device is not attached to the patient's body. There is little error due to body movement.

In addition, the embodiment of the present invention can be utilized anywhere as long as there is an external reflective surface composed of three surfaces, and furthermore, it is easily linked with a terminal (smartphone, tablet PC, etc.) equipped with an inertial measurement sensor and a distance measurement sensor to facilitate three-dimensional ultrasound. You can also create images.

Although described above with reference to the embodiments, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below You will understand.

1: 3D ultrasound image generating device
10: device unit
110: ultrasonic probe
120: distance measuring sensor
130: inertial measurement sensor
20: processing unit
210: two-dimensional image generating unit
220: location information acquisition unit
230: 3D image generator
30: terminal
310: processor
320: inertial measurement sensor
330: display

Claims (16)

an ultrasound probe that outputs an ultrasound beam to a region of interest and receives an ultrasound beam reflected from the region of interest;
a distance measuring sensor installed in the ultrasonic probe and measuring a distance between the ultrasonic probe and the reflective surface by outputting a signal toward the reflective surface and receiving a signal reflected from the reflective surface;
a two-dimensional image generator for generating a plurality of two-dimensional ultrasound images of the region of interest from the ultrasound beam received by the ultrasound probe;
a location information obtaining unit configured to obtain relative location information according to the movement of the ultrasonic probe based on the distance between the ultrasonic probe and the reflective surface measured by the distance measuring sensor; and
and a 3D image generator configured to generate a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probe.
According to claim 1,
It is installed on the ultrasonic probe and further comprises an inertial measurement sensor for detecting a change in position according to the movement of the ultrasonic probe,
3D ultrasound image generating apparatus, characterized in that the position information acquisition unit acquires the relative position information of the ultrasound probe further based on a position change of the ultrasound probe detected by the inertial measurement sensor.
3. The method of claim 2,
The inertial measurement sensor includes a tilt sensor for detecting a change in inclination according to the movement of the ultrasonic probe, an acceleration sensor for detecting an acceleration change according to the movement of the ultrasonic probe, and a direction and strength of a magnetic field to measure the direction and strength of the ultrasonic probe. A three-dimensional ultrasound image generating apparatus, characterized in that it comprises at least one of a magnetometer for detecting relative motion.
According to claim 1,
In order to minimize the movement of the distance measuring sensor according to the movement of the ultrasonic probe, the apparatus further comprising a gimbal coupled to the ultrasonic probe and the distance measuring sensor.
According to claim 1,
The reflective surface is composed of at least three planes, wherein the at least three planes are perpendicular to each other.
6. The method of claim 5,
The 3D ultrasound image generating apparatus, characterized in that the reflective surface is a wall constituting an indoor space surrounding the 3D ultrasound image generating apparatus.
According to claim 1,
3D ultrasound image generating apparatus, characterized in that the signal output from the distance measuring sensor toward the reflective surface is an ultrasound signal or an optical signal.
According to claim 1,
The 3D image generator may generate the 3D ultrasound image by tagging the relative position information of the ultrasound probe with respect to each of the plurality of 2D ultrasound images, and combining the plurality of 2D ultrasound images tagged with the position information. A three-dimensional ultrasound image generating apparatus, characterized in that.
A three-dimensional ultrasound image generating system using a terminal, comprising:
a terminal having a processor;
an ultrasound probe coupled to the terminal and configured to output an ultrasound beam to a region of interest and receive an ultrasound beam reflected from the region of interest; and
A distance measuring sensor coupled to the terminal and measuring the distance between the terminal and the reflective surface by outputting a signal toward the reflective surface and receiving a signal reflected from the reflective surface,
The processor is
generating a plurality of two-dimensional ultrasound images of the region of interest from the ultrasound beam received by the ultrasound probe;
Obtaining relative position information according to the movement of the terminal based on the distance between the terminal and the reflective surface measured by the distance measuring sensor,
and generating a 3D ultrasound image for the region of interest based on the plurality of 2D ultrasound images and relative position information of the terminal.
10. The method of claim 9,
The terminal further includes a display,
The processor is further configured to output the 3D ultrasound image on the display, 3D ultrasound image generating system using a smartphone.
10. The method of claim 9,
The terminal further includes an inertial measurement sensor for detecting a change in position according to the movement of the terminal,
wherein the processor acquires relative position information according to the movement of the terminal further based on a change in the position of the terminal detected by the inertial measurement sensor.
12. The method of claim 11,
The inertial measurement sensor includes a tilt sensor for detecting a change in inclination according to the movement of the ultrasonic probe, an acceleration sensor for detecting an acceleration change according to the movement of the ultrasonic probe, and a direction and strength of a magnetic field to measure the direction and strength of the ultrasonic probe. A system for generating a three-dimensional ultrasound image using a terminal, characterized in that it comprises at least one of a magnetometer for detecting relative motion.
outputting an ultrasound beam to a region of interest using an ultrasound probe and receiving an ultrasound beam reflected from the region of interest;
generating a plurality of two-dimensional ultrasound images of the region of interest;
measuring a distance between the ultrasonic probe and the reflective surface by outputting a signal toward a reflective surface using a distance measuring sensor installed in the ultrasonic probe and receiving a signal reflected from the reflective surface;
obtaining relative position information of the ultrasonic probe based on the distance between the ultrasonic probe and the reflective surface measured by the distance measuring sensor; and
and generating a 3D ultrasound image of the region of interest based on the plurality of 2D ultrasound images and relative position information of the ultrasound probe.
14. The method of claim 13,
The method further comprises the step of detecting a position change according to the movement of the ultrasonic probe using an inertial measurement sensor installed in the ultrasonic probe,
The method for generating a three-dimensional ultrasound image, characterized in that the relative position information of the ultrasound probe is obtained further based on a change in the position of the ultrasound probe detected by the inertial measurement sensor.
14. The method of claim 13,
The step of generating a 3D ultrasound image for the region of interest comprises:
tagging the relative position information of the ultrasound probe with respect to each of the plurality of 2D ultrasound images; and
and combining a plurality of two-dimensional ultrasound images tagged with the location information.
A computer program stored in a computer-readable storage medium for executing the method for generating a three-dimensional ultrasound image according to any one of claims 13 to 15.

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