TW202322766A - Ultrasonic imaging system including an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, an image capture unit, a display unit, and a processing unit - Google Patents

Abstract

An ultrasonic imaging system includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, an image capture unit, a display unit, and a processing unit. The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image capture unit, and the display unit. The processing unit is configured to generate a three-dimensional ultrasonic image according to a plurality of two-dimensional ultrasonic images respectively obtained by the ultrasonic probe at a plurality of inclination angles, and then the three-dimensional ultrasonic image and the three-dimensional image of a test object are spatially correctly superimposed and displayed on the display unit according to the first characteristic pattern and the second characteristic pattern of a real-time image captured by the image capture unit.

Description

Ultrasonic Imaging System

The present invention relates to an imaging system, in particular to an ultrasonic imaging system.

The earliest medical ultrasound has only a set of transmitting crystals and receivers in the ultrasound probe to detect the amplitude of the reflected wave and obtain a one-dimensional signal. Afterwards, through the linear cutting of the crystal, a one-dimensional array arrangement can be formed, and a directional electronic phase focusing can be performed, and then a two-dimensional image of a section can be constructed. Ultrasound technology for diagnosis.

However, the current ultrasonic images generally can only produce cross-sectional two-dimensional images. When it comes to reconstruction of 3D images, the first known technology is to use mechanical scanning to drive an ultrasonic array probe to sequentially capture cross-sectional images at different positions, and then use numerical calculation methods to perform 3D reconstruction of information . The second known technique is to use a two-dimensionally cut ultrasonic array probe to sequentially excite different rows of ultrasonic probes to obtain cross-sectional images at different positions. Due to the high complexity of the mechanical design of the first technique, the price of the probe is quite expensive, while the price of the two-dimensional ultrasonic array probe of the second technique is even more expensive than that of the first technique. Therefore, whether there are other ultrasonic imaging systems with more cost advantages and simpler design for reconstructing 2D ultrasonic images into 3D images has become a problem to be solved. In addition, how to spatially superimpose the reconstructed ultrasound image with other higher-resolution structural images such as MRI, CT, etc., so that clinicians can make a better diagnosis must also be overcome technically.

Therefore, the object of the present invention is to provide an ultrasonic image system for reconstructing a three-dimensional image, and to accurately superimpose and display it with other images in space.

Therefore, according to an aspect of the present invention, an ultrasonic imaging system is provided, including an ultrasonic probe and a processing unit.

The ultrasonic probe is controlled to generate a plurality of corresponding ultrasonic transmission signals and receive corresponding plurality of ultrasonic reflection signals at different inclination angles, and the inclination angles are located on a swing plane.

The processing unit is electrically connected to the ultrasonic probe. When the ultrasonic probe is at each inclination angle, the processing unit controls the ultrasonic probe to generate one of the ultrasonic transmission signals, and receives the ultrasonic reflection signal corresponding to the one of them, so as to The sound wave reflection signal generates a corresponding two-dimensional ultrasonic image. The processing unit then generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the corresponding inclination angles.

In some embodiments, the ultrasonic imaging system further includes an inertial sensor, which is arranged on the ultrasonic probe, and detects three axial acceleration components, and the inertial sensor has a The tilt angle of the probe is the same. The processing unit is electrically connected to the inertial sensor, and when the ultrasonic probe is at each inclination angle, the processing unit receives and stores the acceleration components of the three axes, and according to the acceleration components generated by the inertial sensor The acceleration components of the three axes are calculated to calculate the corresponding inclination angles respectively.

，

，

， 其中，G是該重力加速度，A1是該AX軸加速度分量，A2是該AY軸加速度分量，A3是該AZ軸加速度分量。 In some implementation aspects, the ultrasonic imaging system is suitable for a surface to be measured, and the surface to be measured includes a normal vector. Wherein, the acceleration components of the three axes are mutually perpendicular to each other, and are respectively an acceleration component of the AX axis, an acceleration component of the AY axis, and an acceleration component of the AZ axis, and each of the inclination angles is a gravity acceleration G relative to The included angle of the direction of the AZ-axis acceleration component. The relationship between each of the inclination angle φ, the AX-axis acceleration component, the AY-axis acceleration component, and the AZ-axis acceleration component is as follows:

,

,

, wherein, G is the gravitational acceleration, A1 is the AX-axis acceleration component, A2 is the AY-axis acceleration component, and A3 is the AZ-axis acceleration component.

In some implementation aspects, the plurality of actual object planes respectively corresponding to the equivalent two-dimensional ultrasonic images are respectively perpendicular to the swing plane, and the extension planes of each of the actual object planes intersect to form a straight line.

In some implementation aspects, the largest of the inclination angles is greater than the smallest, and the absolute value of the largest is equal to the absolute value of the smallest.

，

， R是每一該實際物體平面的延伸平面所相交成的該直線與每一該實際物體平面的距離，φ _cri是該等傾斜角之其中最大者的絕對值，R大於等於0。 In other implementations, each of the two-dimensional ultrasonic images includes a maximum width W and a maximum height h, and the three-dimensional ultrasonic image includes a maximum length L, the maximum width W, and a maximum height H , the relationship between the maximum height H, the maximum length L, and the maximum height h is as follows:

,

, R is the distance between the straight line intersected by the extension planes of each actual object plane and each actual object plane, φ _cri is the absolute value of the largest of the inclination angles, and R is greater than or equal to 0.

，

，

。 In some implementation aspects, each of the two-dimensional ultrasonic images includes a two-dimensional coordinate system (x, y), and the maximum width of the image in the x direction of the two-dimensional coordinates is equal to the maximum width W, in the The maximum height of the image in the y direction of the two-dimensional coordinates is equal to the maximum height h, the three-dimensional ultrasonic image includes a three-dimensional coordinate system (X, Y, Z), the three-dimensional coordinate system (X, Y, Z) and the two-dimensional The relationship between the coordinate system (x, y) is as follows,

,

,

.

In other embodiments, the ultrasonic imaging system further includes a display unit electrically connected to the processing unit to display the three-dimensional ultrasonic image. The processing unit can also make a cross-section in any direction according to the three-dimensional ultrasonic image to generate a cross-sectional image, and then perform image processing according to the cross-sectional image to generate at least one functional image, which can be simultaneously displayed by the display unit At least one of the cross-sectional image, the at least one functional image, the three-dimensional ultrasound image, and the two-dimensional ultrasound images.

In some other implementation aspects, each of the two-dimensional ultrasound images is a B-Mode (Brightness Mode) image.

Therefore, according to another aspect of the present invention, an ultrasonic imaging system is provided, which is suitable for an object under test and includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, and an image capture unit. fetching unit, a display unit, and a processing unit.

The ultrasonic probe is controlled to generate a plurality of corresponding ultrasonic transmission signals and receive corresponding plurality of ultrasonic reflection signals at different inclination angles, and the inclination angles are located on a swing plane. The first characteristic pattern is set on the ultrasonic probe, and is used for image recognition and analysis to generate a first spatial orientation corresponding to the first characteristic pattern. The second characteristic pattern is arranged on the object to be tested, and maintains a fixed relative position with the object to be tested, and is used for image recognition and analysis to generate a second spatial orientation corresponding to the second characteristic pattern.

The storage unit stores a three-dimensional image related to the object under test, a second relative positional relationship between the object under test and the second characteristic pattern in space, and a two-dimensional image generated by the detection of the ultrasonic probe. A first relative positional relationship between the three-dimensional ultrasound image and the first characteristic pattern in space. The image capturing unit captures a real-time image including the object under test, the first characteristic pattern, and the second characteristic pattern.

The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image capture unit, and the display unit. When the ultrasonic probe is at each inclination angle, the processing unit controls the ultrasonic probe to generate one of the ultrasonic transmission signals, and receives the ultrasonic reflection signal corresponding to the one of them, so as to The sound wave reflection signal generates the corresponding two-dimensional ultrasonic image, and the processing unit generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic image and the corresponding inclination angles.

The processing unit obtains the first spatial orientation according to the first characteristic pattern of the real-time image, and then obtains an ultrasonic image position of the three-dimensional ultrasonic image in space according to the first relative positional relationship, and obtains an ultrasonic image position of the three-dimensional ultrasonic image according to the real-time image Obtain the second spatial orientation of the second characteristic pattern, and then obtain the position of the object under test in space according to the second relative positional relationship, and obtain the position of the object under test according to the position of the ultrasonic image and the position of the object under test , the three-dimensional ultrasonic image and the three-dimensional image of the object under test are spatially correctly superimposed and displayed on the display unit.

In some embodiments, the ultrasonic imaging system further includes an inertial sensor, which is arranged on the ultrasonic probe, and detects three axial acceleration components, and the inertial sensor has a The same inclination angle of the probe, the processing unit is electrically connected to the inertial sensor, when the ultrasonic probe is at each inclination angle, the processing unit receives and stores the acceleration components of the three axes, and according to The acceleration components of the three axes generated by the inertial sensor are used to calculate the corresponding inclination angles respectively.

In some embodiments, the three-dimensional image of the object under test is an anatomical medical image, and includes a computerized tomography (CT) image and a magnetic resonance imaging (MRI) image. one.

In other embodiments, each of the first characteristic pattern and the second characteristic pattern includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or can be used for image recognition analysis to obtain orientation and angle of a pattern.

In some other implementation aspects, wherein, the image capture unit is disposed on the ultrasonic probe.

Therefore, according to another aspect of the present invention, an ultrasonic imaging system is provided, which is suitable for an object under test and includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, and an image capture unit. fetching unit, a display unit, and a processing unit.

The ultrasonic probe is controlled to generate multiple ultrasonic transmission signals and receive corresponding multiple ultrasonic reflection signals. The first characteristic pattern is set on the ultrasonic probe, and is used for image recognition and analysis to generate a first spatial orientation corresponding to the first characteristic pattern. The second characteristic pattern is arranged on the object to be tested, and maintains a fixed relative position with the object to be tested, and is used for image recognition and analysis to generate a second spatial orientation corresponding to the second characteristic pattern.

The storage unit stores a three-dimensional image related to the object under test, a second relative positional relationship between the object under test and the second characteristic pattern in space, and a two-dimensional image generated by the detection of the ultrasonic probe. A first relative positional relationship between the three-dimensional ultrasound image and the first characteristic pattern in space. The image capturing unit captures a real-time image including the object under test, the first characteristic pattern, and the second characteristic pattern.

The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image capture unit, and the display unit, and controls the ultrasonic probe to generate one of the ultrasonic emission signals, and receives the corresponding signal The ultrasonic reflection signal is used to generate the corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal.

The processing unit obtains the first spatial orientation according to the first characteristic pattern of the real-time image, and then obtains an ultrasonic image position of the two-dimensional ultrasonic image in space according to the first relative positional relationship, and obtains an ultrasonic image position of the two-dimensional ultrasonic image according to the real-time The second characteristic pattern of the image obtains the second spatial orientation, and then obtains a position of the object under test in space according to the second relative positional relationship, and obtains a position of the object under test according to the position of the ultrasonic image and the object under test position, the two-dimensional ultrasonic image and the three-dimensional image of the object under test are spatially correctly superimposed and displayed on the display unit.

In some embodiments, the three-dimensional image of the object under test is an anatomical medical image, and includes a computerized tomography (CT) image and a magnetic resonance imaging (MRI) image. one.

In other embodiments, each of the first characteristic pattern and the second characteristic pattern includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or can be used for image recognition analysis to obtain orientation and angle of a pattern.

In some other implementation aspects, wherein, the image capture unit is disposed on the ultrasonic probe.

The effect of the present invention is: when the ultrasonic probe is at different inclination angles, the processing unit can obtain the corresponding two-dimensional ultrasonic images, and the different inclination angles are all located on the swing plane. The processing unit generates the three-dimensional ultrasonic image by using the two-dimensional ultrasonic images and the corresponding inclination angles. Furthermore, the real-time image captured by the image capture unit enables the processing unit to obtain the 3D image of the object under test according to the distance between the 3D ultrasonic image (or the 2D ultrasonic image) The correct relative position in space can be correctly superimposed and displayed on the display unit, thereby realizing a superimposed image that takes into account both high resolution (that is, the three-dimensional image) and immediacy (that is, the ultrasonic image), so as to facilitate Guidance of therapeutic procedures performed clinically.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numerals.

Referring to Fig. 1, a first embodiment of an ultrasonic imaging system 100 of the present invention is applicable to a surface to be measured 9, and includes an ultrasonic probe 1, an inertial sensor (Inertial measurement unit, IMU) 2, a processing Unit 3, and a display unit 4. The surface to be measured 9 includes a normal vector 91 and is, for example, the skin surface of a human body or an animal, but not limited thereto.

…(1)

…(2)

…(3) 其中，G是該重力加速度，A ₁是該A _X軸加速度分量，A ₂是該A _Y軸加速度分量，A ₃是該A _Z軸加速度分量。 The inertial sensor 2 is disposed on the ultrasonic probe 1 and detects three axial acceleration components, and the inertial sensor 2 has the same inclination angle as the ultrasonic probe 1 . More specifically, the acceleration components of the three axes are perpendicular to each other two by two, and are respectively an A _X- axis acceleration component, an A _Y- axis acceleration component, and an A _Z- axis acceleration component. The inclination angle is an included angle between a gravitational acceleration G relative to the direction of the A _Z- axis acceleration component. The relationship between the inclination angle φ, the A _X- axis acceleration component, the A _Y- axis acceleration component, and the A _Z- axis acceleration component is shown in the following formulas (1)~(3), that is to say, by the formula ( 1) and (2), or the formulas (1) and (3) can calculate the inclination angle.

…(1)

…(2)

...(3) Wherein, G is the gravitational acceleration, A ₁ is the A _X- axis acceleration component, A ₂ is the A _Y- axis acceleration component, and A ₃ is the A _Z- axis acceleration component.

The processing unit 3 is, for example, a processor of a computer host, a digital signal processor (DSP), or other processing chips with computer computing capabilities, etc., but not limited thereto. The processing unit 3 is electrically connected to the inertial sensor 2 and the ultrasonic probe 1 . When the ultrasonic probe 1 is at each different inclination angle, the processing unit 3 receives and stores the three axial acceleration components, and controls the ultrasonic probe 1 to generate an ultrasonic transmission signal, and receives the corresponding An ultrasonic reflection signal. The processing unit 3 then generates a corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal, and the two-dimensional ultrasonic image is a B-Mode (Brightness Mode) image generated by the existing ultrasonic probe 1 . The processing unit 3 then calculates the corresponding inclination angles according to the generated acceleration components of the three axes, and generates a three-dimensional ultrasonic wave according to the two-dimensional ultrasonic images and the corresponding inclination angles. image.

Referring to Fig. 1, Fig. 2, and Fig. 3, Fig. 2 is a perspective view, and Fig. 3 is a side view of Fig. 2, both of which illustrate the ultrasonic probe 1 at three different inclination angles, that is, three When the inclination angles are equal to φ _min , 0 and φ _max respectively, the positional relationship of the three actual object planes P1 , P2 and P3 respectively corresponding to the three 2D ultrasonic images generated by the processing unit 3 . In addition, it should be emphasized that: for the convenience of explanation, only three actual object planes P1, P2, P3 are drawn in Fig. 2 and Fig. 3, in fact, the ultrasonic probe 1 can detect a plurality of other actual objects flat. In addition, referring to FIG. 4 again, FIG. 4 exemplarily illustrates the schematic diagram of the two-dimensional ultrasonic image B1 on the actual object plane P1. Similarly, FIG. Schematic illustration of the actual object planes P2, P3.

In more detail, the inclination angles (ie φ _min , 0, φ _max ) are located on the same swing plane (as shown in Figure 3), and when the inclination angle is equal to 0 degrees, the inertial The direction of the A _Z axis acceleration component detected by the detector 2 is parallel to the normal vector 91. The inclination angles correspond to the actual object planes of the two-dimensional ultrasonic images respectively being perpendicular to the swing plane, and the extension planes of each of the actual object planes intersect to form a straight line L1. More precisely, the distance R between the straight line L1 formed by the extension plane of each actual object plane and each actual object plane is the distance R. The actual position of the straight line L1 in space is the position of the crystal of the ultrasonic probe 1 when the ultrasonic probe 1 detects at different inclination angles, and the crystal emits the ultrasonic waves. Signal transmitter.

The largest of these inclination angles is greater than the smallest, and the absolute value of the largest is equal to the absolute value of the smallest. For example, in this embodiment, the largest of these inclination angles (ie φ _max ) is equal to 60 degrees, and the smallest of these inclination angles (ie φ _min ) is equal to -60 degrees, but not within this range limit.

…(4)

…(5) 其中，φ _cri是該等傾斜角之其中最大者的絕對值，在本實施例中為60度，R大於等於0。舉例來說，當該超音波探頭1的該晶體與該待測表面9的距離等於零時，則R等於0。 Each of the 2D ultrasound images includes a maximum width W and a maximum height h. The 3D ultrasonic image includes a maximum length L, a maximum width W, and a maximum height H. The relationship among the maximum height H, the maximum length L, and the maximum height h is as the following formulas (4) and (5).

…(4)

...(5) Wherein, φ _cri is the absolute value of the largest of the inclination angles, which is 60 degrees in this embodiment, and R is greater than or equal to 0. For example, when the distance between the crystal of the ultrasonic probe 1 and the surface 9 to be tested is equal to zero, then R is equal to 0.

…(6)

…(7)

…(8) Each of the two-dimensional ultrasonic images includes a two-dimensional coordinate system (x, y), the maximum width of the image in the x direction of the two-dimensional coordinates is equal to the maximum width W, and the image in the y direction of the two-dimensional coordinates The maximum height is equal to this maximum height h. The three-dimensional ultrasonic image includes a three-dimensional coordinate system (X, Y, Z). Taking the actual object plane P2 in FIG. 2 as an example, the x direction of the two-dimensional coordinate is X2, and the y direction of the two-dimensional coordinate is Y2, the three directions of the three-dimensional coordinate system are X1, Y1, and Z1 respectively. The relationship between the three-dimensional coordinate system (X, Y, Z) and the two-dimensional coordinate system (x, y) is as follows formulas (6)-(8).

...(6)

...(7)

…(8)

In addition, it should be specially added that: in this embodiment, the ultrasonic probe 1 is operated at different positions of the inclination angles by a user, while in other embodiments, the ultrasonic probe 1 It is also possible to move more stably between positions with different inclination angles by means of certain specially designed tools or carriers. In addition, in this embodiment, each of the inclination angles is calculated by the processing unit 3 according to the corresponding acceleration components of the three axes, and in other embodiments, each of the inclination angles is also obtained It may be obtained by calculating the inertial sensor 2 according to the corresponding acceleration components of the three axes.

Furthermore, in other embodiments, the ultrasonic imaging system may also omit the inertial sensor, and use other methods to detect the inclination angle of the ultrasonic probe. For example, the ultrasonic system may further include a single camera, and the ultrasonic probe is provided with a barcode or other specific patterns, and the camera uses image recognition technology to identify the barcode or the specific pattern to obtain the ultrasonic probe. An attitude angle (Euler angles, or Euler angles), and then obtain the tilt angle; or, the ultrasonic system can also include two cameras, and use the angle difference between the two cameras to reconstruct the ultrasonic probe in three-dimensional space position, and then obtain the attitude angle and the tilt angle; or, the ultrasonic imaging system also includes an electromagnetic tracker (Electromagnetic tracker, EM tracker), which uses magnetic field induction to identify the three-axis orientation, and then obtains the attitude angle and the inclination angle.

The display unit 4 is, for example, a screen, and is electrically connected to the processing unit 3 to display the 3D ultrasound image, or simultaneously display the 3D ultrasound image and the 2D ultrasound images. The processing unit 3 can also make a cross-section in any direction according to the three-dimensional ultrasonic image to generate at least one cross-sectional image, and then perform image processing according to the at least one cross-sectional image, so as to simultaneously display the cross-sectional image through the display unit 4 Surface images and the results of image processing.

In addition, the processing unit 3 can also calculate and generate other functional images based on the received ultrasonic reflection signals, such as entropy (Entropy) parameter images, Doppler (Doppler) variable images, strain (Strain) ) variable image, Nakagami variable image, etc. For example, Doppler variable images can display blood flow information, strain variable images can provide tissue for Young's modulus quantification for tissue elasticity (Elasticity) identification, Nakagami variable and entropy parameter images can provide tissue alignment Structural regularity analysis. The display unit 4 can also simultaneously display at least one of the functional images and at least one of the three-dimensional ultrasonic images, the two-dimensional ultrasonic images, and the at least one cross-sectional image, so as to provide Richer and more effective ultrasound image information.

Referring to FIG. 5, a second embodiment of an ultrasonic imaging system 200 of the present invention is suitable for an object to be tested and includes an ultrasonic probe, a first characteristic pattern 81, a second characteristic pattern 82, and a storage unit 6 , an image capture unit 7 , a display unit, and a processing unit 5 . The object to be tested is, for example, the abdomen of a human body. The ultrasonic probe is controlled to generate multiple ultrasonic transmission signals and receive corresponding multiple ultrasonic reflection signals.

The first characteristic pattern 81 is disposed on the ultrasonic probe, and is used for image recognition analysis to generate a first spatial orientation V1 corresponding to the first characteristic pattern 81 . The second characteristic pattern 82 is arranged on the object to be tested, and maintains a fixed relative position with the object to be tested, and is used for image recognition analysis to generate a second space corresponding to the second characteristic pattern 82 Azimuth V2. In Fig. 5, the first spatial orientation V1 and the second spatial orientation V2 are schematically represented in the form of a normal vector, which does not mean that the first spatial orientation V1 and the second spatial orientation V2 only include normal vectors message.

Each of the first characteristic pattern 81 and the second characteristic pattern 82 includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or a pattern that can be used for image recognition analysis to obtain orientation and angle. Referring to FIG. 2, in this embodiment, the first characteristic pattern 81 is an example of four square two-dimensional barcodes, and the second characteristic pattern 82 is eight two-dimensional barcodes respectively arranged on both sides and on the same plane. example. In addition, for convenience of description, the first characteristic pattern 81 and the second characteristic pattern 82 in FIG. Designed 2D barcode.

The image capturing unit 7 captures a real-time image including the object under test, the first characteristic pattern 81, and the second characteristic pattern 82, that is, a field of view 96 captured by the image capturing unit 7 , including the object under test, the first characteristic pattern 81 , and the second characteristic pattern 82 . In this embodiment, the image capture unit 7 is set on the ultrasonic probe, and in other embodiments, the image capture unit 7 may not be set on the ultrasonic probe, as long as the real-time image It can include the object under test, the first characteristic pattern 81 , and the second characteristic pattern 82 . In addition, the number of photographing lenses included in the image capturing unit 7 is based on the real-time images provided correspondingly, and the first spatial orientation V1 and the second spatial orientation V2 can be determined by known image recognition and analysis techniques. To determine, the first spatial orientation V1 and the second spatial orientation V2 include the angle and orientation of the first characteristic pattern 81 and the second characteristic pattern 82 in space, that is, the position and orientation relative to the image capture unit 7 Angle, or the absolute position and angle in space with a preset reference point.

For another example, the real-time image includes each complete two-dimensional barcode included in the first characteristic pattern 81 and the second characteristic pattern 82, and each two-dimensional barcode includes at least three known identification points, And also included in the real-time image, each of the recognition points is, for example, at the edge or side point of the corresponding two-dimensional barcode. After the at least three identification points of each two-dimensional barcode in the real-time image are successfully identified by the processing unit 5, the processing unit 5 uses the image capture unit 7 and the known or preset spatial physical relationship to identify The distance relationship in the three-dimensional space of each identification point, and give the corresponding coordinates, then each identification point will be given a specific spatial coordinate.

The processing unit 5 then calculates a corresponding space vector according to the space coordinates of any two identification points, and the at least three identification points of each two-dimensional barcode will correspondingly produce only two different space vectors , and each space vector is located on the same plane of the two-dimensional barcode. For each two-dimensional barcode, the processing unit 5 calculates the outer product of two of the space vectors, or calculates the outer product of any two of the space vectors and calculates the average value of multiple sets of outer products to obtain the corresponding two One-dimensional orientation of the barcode. It should be specially supplemented here that one of the identification points of each two-dimensional barcode can be set at the center point of the two-dimensional barcode, then the spatial orientation generated according to the two space vectors corresponding to the identification point It will directly correspond to the center point where the 2D barcode is located. Or, the actual size of each two-dimensional barcode is small enough, and the number of the identification points is large enough (that is, the number of the outer products of the space vectors is large enough), so that the average value of the outer products corresponds to The spatial orientation is close to the central point of the two-dimensional barcode. The processing unit 5 calculates the average value of all the spatial orientations of all the two-dimensional barcodes of the first characteristic pattern 81 (or the second characteristic pattern 82), and then can obtain the first spatial orientation V1 (or the Second spatial orientation V2).

The storage unit 6 stores a three-dimensional image related to the object to be tested, a second relative positional relationship between the object to be tested and the second characteristic pattern 82 in space, and the detection results generated by the ultrasonic probe. A first relative positional relationship between a two-dimensional ultrasonic image 83 and the first characteristic pattern 81 in space. The three-dimensional image of the object under test is an anatomical medical image with high-resolution characteristics, such as a computerized tomography (CT) image, a magnetic resonance imaging (MRI) image, or other similar images.

Since the first characteristic pattern 81 is set on the ultrasonic probe, when the medical staff moves with the ultrasonic probe in hand, the first characteristic pattern 81 and the two-dimensional ultrasonic image detected by the ultrasonic probe The relative positions of 83 remain unchanged, that is, the first relative position relationship remains fixed. Similarly, the second characteristic pattern 82 is disposed on the object under test, and its relative position to the object under test remains unchanged, and the second relative positional relationship also remains fixed. Therefore, the first relative positional relationship and the second relative positional relationship can be pre-designed or calculated using known techniques.

The processing unit 5 is electrically connected to the storage unit 6, the ultrasonic probe, the image capture unit 7, and the display unit, and controls the ultrasonic probe to generate one of the ultrasonic transmission signals, and receives the corresponding one of them. The ultrasonic reflection signal is used to generate the corresponding two-dimensional ultrasonic image 83 according to the ultrasonic reflection signal.

The processing unit 5 obtains the first spatial orientation V1 according to the first characteristic pattern 81 of the real-time image, and then obtains an ultrasonic image position of the two-dimensional ultrasonic image 83 in space according to the first relative positional relationship, And obtain the second spatial orientation V2 according to the second characteristic pattern 82 of the real-time image, and then obtain a position of the object under test in space according to the second relative positional relationship, and according to the ultrasonic image position and the position of the object under test, the two-dimensional ultrasonic image 83 and the three-dimensional image of the object under test are spatially correctly superimposed and displayed on the display unit.

For another example, the processing unit 5 can not only identify the first spatial orientation V1 and the second spatial orientation V2, but also can identify the coordinates of a starting position of the first spatial orientation V1 and the second spatial orientation V2 . Since the second spatial orientation V2 is obtained by eight two-dimensional barcodes (i.e. this embodiment), and the spatial coordinates (i.e. actual distance and position) of each of the two-dimensional barcodes are known, therefore, the processing unit 5. That is, the corresponding relationship between the spatial coordinates of the two-dimensional barcodes of the second spatial orientation V2 and the spatial vectors, such as a spatial transformation matrix or a scaling factor, can be used to obtain information about the first spatial orientation. All spatial coordinates (ie actual distance and position) of V1 and the second spatial orientation V2. Similarly, the processing unit 5 can also obtain the position of the object under test (or the position of the object under test) through the fixed first relative position relationship (or the second relative position relationship).

Referring to FIG. 6 again, FIG. 6 is a schematic diagram showing the two-dimensional ultrasonic image 83 and the three-dimensional image displayed on the display unit and correctly superimposed in space. Wherein, the three-dimensional image includes ribs 93 , liver 94 , and skin 95 of the object under test (ie, abdomen 92 ). In addition, it should be noted that the three-dimensional image is a three-dimensional image presentation of multiple computerized tomography (CT) images or multiple magnetic resonance imaging (MRI) images after image analysis and feature extraction. Effect. In this embodiment, the feature extraction refers to the positions and three-dimensional contours of the ribs 93 , the liver 94 , and the skin 95 in the image.

In addition, in other embodiments, the ultrasonic imaging system 200 can also include a third characteristic pattern and a surgical instrument, such as a puncture needle, an electrocautery needle, etc., the third characteristic pattern is similar to the first characteristic pattern 81, However, if it is installed on the surgical instrument, the processing unit 5 can obtain a third spatial orientation through the third characteristic pattern included in the real-time image, and then display the corresponding surgical instrument in a spatially correct overlapping manner. the display unit.

Furthermore, in the second embodiment, the processing unit 5 generates the two-dimensional ultrasonic image 83 through the ultrasonic probe, and in other embodiments, the ultrasonic probe and the processing unit 5 may also have The parts that operate in the same way as the first embodiment, or, the ultrasonic imaging system 200 also includes the same inertial sensor as the first embodiment, so that the processing unit 5 according to the first embodiment The two-dimensional ultrasonic image and the corresponding inclination angles generate a three-dimensional ultrasonic image, and the three-dimensional ultrasonic image is replaced by the two-dimensional ultrasonic image to be displayed on the display unit correctly.

In summary, by setting the inertial sensor on the ultrasonic probe to detect the inclination angle of the ultrasonic probe, the ultrasonic probe is detected at different inclination angles, and the inclination The processing unit can calculate and generate the three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the inclination angles if the angle meets the simple restriction condition. In this way, not only can it be easily used in the popular low-end ultrasonic imaging system, but also realize an ultrasonic imaging system with simple design and fast calculation. Furthermore, the real-time image captured by the image capture unit enables the processing unit to obtain the 3D image of the object under test according to the distance between the 3D ultrasonic image (or the 2D ultrasonic image) The correct relative position in space can be correctly superimposed and displayed on the display unit, thereby realizing a superimposed image that takes into account both high resolution (that is, the three-dimensional image) and immediacy (that is, the ultrasonic image), so as to facilitate Carry out the guidance of treatment procedure clinically, so can really reach the purpose of the present invention.

But the above-mentioned ones are only embodiments of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

100, 200: Ultrasonic imaging system 1: Ultrasonic probe 2: Inertial sensor 3: Processing unit 4: Display unit 5: Processing unit 6: Storage unit 7: Image capture unit 81: First characteristic pattern 82: Second Two characteristic pattern 83: two-dimensional ultrasonic image 9: surface to be measured 91: normal vector 92: abdomen 93: rib 94: liver 95: skin 96: field of view H: maximum height L: maximum length L1: straight line B1: two-dimensional ultrasound Sound wave image R: distance P1, P2, P3: actual object plane X1, X2: direction Y1, Y2: direction Z1: direction φ _max , φ _min : tilt angle V1: first spatial orientation V2: second spatial orientation

Other features and effects of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: Fig. 1 is a schematic diagram illustrating a first embodiment of the ultrasonic imaging system of the present invention; FIG. 2 is a perspective view illustrating a plurality of actual object planes corresponding to a plurality of two-dimensional ultrasonic images of the first embodiment; Fig. 3 is a side view, assisting Fig. 2 to illustrate the relationship between these actual object planes; FIG. 4 is a schematic diagram, assisting FIG. 3 to illustrate one of the two-dimensional ultrasound images; Fig. 5 is a schematic diagram illustrating a second embodiment of the ultrasonic imaging system of the present invention; and FIG. 6 is a schematic diagram illustrating the superposition result of a 2D ultrasonic image and a 3D image of the second embodiment.

200: Ultrasonic imaging system

1: Ultrasonic probe

4: Display unit

5: Processing unit

6: storage unit

7: Image capture unit

81: The first characteristic pattern

82: Second characteristic pattern

92: abdomen

96: Vision

V1: first space orientation

V2: Second space orientation

Claims (5)

An ultrasonic imaging system is suitable for an object to be tested and includes: An ultrasonic probe, controlled to generate a plurality of corresponding ultrasonic transmission signals at different multiple inclination angles, and receive a plurality of corresponding ultrasonic reflection signals, the inclination angles are located on a swing plane; A first characteristic pattern is arranged on the ultrasonic probe, and is used for image recognition and analysis to generate a first spatial orientation corresponding to the first characteristic pattern; A second characteristic pattern is arranged on the object to be tested, and maintains a fixed relative position with the object to be tested, and is used for image recognition and analysis to generate a second spatial orientation corresponding to the second characteristic pattern; A storage unit, storing a three-dimensional image related to the object under test, a second relative positional relationship between the object under test and the second characteristic pattern in space, and a A first relative positional relationship between the two-dimensional ultrasonic image and the first characteristic pattern in space; An image capturing unit, capturing a real-time image including the object under test, the first characteristic pattern, and the second characteristic pattern; a display unit; and A processing unit, electrically connected to the storage unit, the ultrasonic probe, the image capture unit, and the display unit, when the ultrasonic probe is at each inclination angle, the processing unit controls the ultrasonic probe to generate the One of the ultrasonic transmission signals, and receive the ultrasonic reflection signal corresponding to the one of them, so as to generate the corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal, and the processing unit then generates the corresponding two-dimensional ultrasonic image according to the two-dimensional ultrasonic image and the corresponding inclination angles to generate a three-dimensional ultrasonic image, The processing unit obtains the first spatial orientation according to the first characteristic pattern of the real-time image, and then obtains an ultrasonic image position of the three-dimensional ultrasonic image in space according to the first relative positional relationship, and obtains an ultrasonic image position of the three-dimensional ultrasonic image according to the real-time image Obtain the second spatial orientation of the second characteristic pattern, and then obtain the position of the object under test in space according to the second relative positional relationship, and obtain the position of the object under test according to the position of the ultrasonic image and the position of the object under test , the three-dimensional ultrasonic image and the three-dimensional image of the object under test are spatially correctly superimposed and displayed on the display unit. The ultrasonic imaging system as described in claim 1, further comprising an inertial sensor, which is arranged on the ultrasonic probe, and detects three axial acceleration components, and the inertial sensor has a The same inclination angle of the probe, the processing unit is electrically connected to the inertial sensor, when the ultrasonic probe is at each inclination angle, the processing unit receives and stores the acceleration components of the three axes, and according to The acceleration components of the three axes generated by the inertial sensor are used to calculate the corresponding inclination angles respectively. The ultrasonic imaging system according to claim 2, wherein the three-dimensional image of the object to be tested is an anatomical medical image, and includes computerized tomography (CT) images and magnetic resonance imaging (Magnetic resonance imaging, One of the MRI images. The ultrasonic imaging system according to claim 2, wherein each of the first characteristic pattern and the second characteristic pattern includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or can be used for image recognition analysis to A pattern of orientations and angles is obtained. The ultrasonic imaging system according to claim 2, wherein the image capturing unit is arranged on the ultrasonic probe.

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