WO2017020281A1 - 超声图像处理系统和方法及其装置、超声诊断装置 - Google Patents

超声图像处理系统和方法及其装置、超声诊断装置 Download PDF

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WO2017020281A1
WO2017020281A1 PCT/CN2015/086158 CN2015086158W WO2017020281A1 WO 2017020281 A1 WO2017020281 A1 WO 2017020281A1 CN 2015086158 W CN2015086158 W CN 2015086158W WO 2017020281 A1 WO2017020281 A1 WO 2017020281A1
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display
image data
dimensional image
boundary
dimensional
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French (fr)
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丛龙飞
孙腾
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Shenzhen Mindray Bio Medical Electronics Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
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Priority to CN201580081656.3A priority Critical patent/CN107835661B/zh
Priority to PCT/CN2015/086158 priority patent/WO2017020281A1/zh
Publication of WO2017020281A1 publication Critical patent/WO2017020281A1/zh
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Definitions

  • the present invention relates to ultrasonic image processing technology, and more particularly to an ultrasonic image processing system and method and apparatus therefor, and an ultrasonic diagnostic apparatus.
  • Radiofrequency ablation RMA
  • cryoablation a method for ultrasound interventional ablation for cancer therapy. All three methods of ablation are performed by a special needle or ablation probe placed through the skin or body lumen structure to the tumor site (the tumor is inserted inside). Tumor cells are killed by local heating (radiofrequency ablation, microwave ablation) or freezing (freezing ablation).
  • the application of ultrasound is used throughout the interventional ablation treatment. Ultrasound detection can obtain a large number of image information corresponding to the disease organization in various stages of the patient's treatment, preoperative, and postoperative, which can provide the medical staff with various stages of the patient. In detail, it provides important complementary physiological and anatomical information for the study of diseases, treatments, and diagnostic techniques.
  • the shape of the tumor is generally spherical, and the lesions treated by radiofrequency ablation or microwave ablation are ellipsoidal, so the direction of the ablation needle (the long axis direction of the ellipsoid of the lesion) is often clinically present.
  • the lesion completely covered the tumor boundary, but the vertical and ablation needle directions did not completely cover the tumor boundary.
  • ultrasound contrast was introduced to evaluate the outcome of interventional therapy.
  • the main evaluation method is to perform two-dimensional ultrasound angiography before and after surgery to measure the long diameter of the tumor area and the long diameter of the lesion.
  • This measurement can not guarantee the consistency of the ultrasonic section and position during the two measurements, especially In the case of multi-needle ablation of a large tumor, a simple measurement of the long diameter of the lesion does not represent the entire ablation zone.
  • the current three-dimensional ultrasound imaging technique is mostly used to display the individual state of the target area alone, or to use 4D imaging to display the dynamic blood perfusion form of the target area, but it can not provide a quantitative data reference for the ablation treatment effect.
  • the present invention provides an ultrasonic image processing system comprising:
  • a data receiving module configured to acquire a plurality of sets of three-dimensional image data corresponding to the same target organization, where the plurality of sets of three-dimensional image data includes at least two sets of three-dimensional image data;
  • An image mapping module configured to establish a spatial mapping relationship between the plurality of sets of three-dimensional image data
  • An image analysis module configured to segment a target area based on any one of the plurality of sets of three-dimensional image data, obtain a boundary of the target area, and, according to the spatial mapping relationship, the target area The boundary is mapped to other groups of three-dimensional image data;
  • a display processing module configured to display, on the display, at least one display image reconstructed according to at least one set of three-dimensional image data of the other set of three-dimensional image data;
  • An image marking module for marking the boundary in the display image or marking an area within the boundary in the display image.
  • the present invention also provides an ultrasonic image processing method, including:
  • the multiple sets of three-dimensional image data including at least two sets of three-dimensional image data
  • an ultrasound image processing apparatus comprising:
  • a storage module configured to store the acquired plurality of sets of three-dimensional image data corresponding to the same target organization and a result of performing operations on the plurality of sets of three-dimensional image data, wherein the plurality of sets of three-dimensional image data comprise at least two sets of three-dimensional image data;
  • a human-machine interaction input device configured to acquire data for manipulating the plurality of sets of three-dimensional image data
  • a processor configured to process the plurality of sets of three-dimensional image data according to the received manipulation data, and output an image processing result, and perform the following steps in the process of processing the plurality of sets of three-dimensional image data:
  • the present invention also provides an ultrasonic diagnostic apparatus comprising: an image acquisition module for transmitting and receiving ultrasonic waves, and analyzing three-dimensional image data of a target tissue; and the above-described ultrasonic image processing apparatus.
  • the invention is mainly a novel technique for quantitative comparison and display of tumor ablation effects.
  • the image processing system, method and apparatus and diagnostic apparatus of the present invention can display three-dimensional image data acquired before and after surgery based on double window or multi-window contrast, and display tumor tissue area and safety boundary on the contrast window, based on the present invention.
  • the technical solution can present the image of the ablation effect on the scene after the ablation surgery, and provide a visual quantitative reference for the evaluation of the therapeutic effect of the ablation procedure.
  • FIG. 1 is a schematic structural view of an ultrasonic image processing system of the present invention
  • mapping module 120 of FIG. 1 is a schematic structural diagram of the mapping module 120 of FIG. 1;
  • FIG. 3 is a schematic structural diagram of the processing module 140 shown in FIG. 1;
  • FIG. 7 is a schematic structural view of another embodiment of an ultrasonic image processing system of the present invention.
  • Figure 8 is a schematic view showing the addition of an auxiliary measuring scale when displayed
  • FIG. 9 is a schematic structural diagram of an image marking module 150 according to the present invention.
  • FIG. 10 is a schematic structural diagram of an image analysis module 130 according to the present invention.
  • FIG. 11 is a flowchart of an ultrasonic image processing method according to the present invention.
  • Figure 13 is a schematic structural view of an ultrasonic image processing apparatus of the present invention.
  • Figure 14 is a schematic view showing the structure of an ultrasonic diagnostic apparatus of the present invention.
  • the invention is based on an ultrasonic image analysis and processing technology, and provides a novel ultrasonic image processing system and method with a quantitative contrast function of tumor ablation effect, a device thereof, and an ultrasonic diagnostic device.
  • the technical solution of the invention can effectively compare and display a plurality of three-dimensional ultrasound image data during the tumor ablation treatment, and intuitively understand the change of the disease region during the tumor ablation treatment on the display interface, including the shape and size of the tumor and the ablation
  • the therapeutic tumor safety margin provides a more efficient and visual quantitative data reference for medical procedures such as cancer treatment.
  • an ultrasound image processing system 100 including:
  • the data receiving module 110 is configured to acquire multiple sets of three-dimensional image data corresponding to the same target organization, where the multiple sets of three-dimensional image data include at least two sets of three-dimensional image data;
  • the image mapping module 120 is configured to establish a spatial mapping between the plurality of sets of three-dimensional image data system
  • the image analysis module 130 is configured to segment a target area based on any one of the plurality of sets of three-dimensional image data, obtain a boundary of the target area, and map a boundary of the target area according to the spatial mapping relationship. Other groups of three-dimensional image data;
  • a display processing module 140 configured to display, on the display interface, other sets of three-dimensional image data according to the foregoing other set of three-dimensional image data (ie, a set of three-dimensional image data for segmenting the target region to obtain a boundary of the target region) Reconstructing at least one display image obtained from at least one set of three-dimensional image data; and
  • the image marking module 150 is configured to mark a boundary of the target area in the display image or mark an area located within a boundary of the target area in the display image.
  • the "boundary" of the target area mentioned may be a three-dimensional body structure boundary of the target area, or may be obtained by expanding or contracting a predetermined width based on the boundary of the three-dimensional body structure (referred to as a boundary)
  • the security boundary can also be any other objective or user- or system-defined boundary that is suitable or required.
  • the three-dimensional body structure boundary and/or the safety boundary are exemplified, but the present invention is not limited to the three-dimensional body structure boundary and the safety boundary.
  • the foregoing three-dimensional body structure boundary refers to a corresponding structural shape boundary of the divided target region in the display image
  • the security boundary refers to obtaining a corresponding width based on the three-dimensional body structure boundary expansion or contraction predetermined width.
  • the three-dimensional body structure boundary and the security boundary should not be understood as referring only to a circle of pixels in which the boundary line in the image is displayed, but should be understood to also include all within a certain width near the boundary line in the display image. Pixels, then all pixels within a certain width near the boundary line of the three-dimensional body structure boundary and the safety boundary should be targeted when marking the three-dimensional body structure boundary and the safety boundary.
  • the at least two sets of three-dimensional image data corresponding to the same target tissue may be the result of imaging the target tissue at least twice, for example, imaging the patient at each examination stage, imaging before the tumor ablation, and after the operation. Multiple sets of three-dimensional image data obtained at different stages of imaging, preoperative, and postoperative imaging.
  • the three-dimensional image data here can be a three-dimensional ultrasound group The image data, the three-dimensional ultrasound contrast image data, or the three-dimensional image data including both the ultrasound tissue image data and the three-dimensional ultrasound contrast image data.
  • the above-mentioned safety boundary refers to a safety boundary of tumor ablation treatment, which is defined as a boundary obtained by expanding a tumor region outward or contracting a predetermined width inward, where the predetermined width is generally 5 mm, and the method for generating a safety boundary may be based on segmentation of the tumor three-dimensional.
  • the body produces a binary image, and the expansion algorithm is used on the binary image to expand the tumor body outward by a predetermined distance.
  • the edge of the three-dimensional body is a safety edge; or the normal vector of the edge point is calculated based on the three-dimensional shape of the tumor. Extend a certain distance along the normal vector to produce a safe boundary.
  • the plurality of display images obtained by reconstructing the plurality of sets of three-dimensional image data are respectively included, and the corresponding two-dimensional images under the same slice in the three-dimensional image reconstructed by the Multi Planar Reconstruction (MPR) are further included for each group.
  • the three-dimensional image data is reconstructed to obtain two-dimensional images and stereoscopic images under a plurality of sections.
  • the segmentation of the corresponding target region may also be performed based on one of the display images corresponding to the plurality of sets of three-dimensional image data reconstructed by the MPR on the display, and the imaging data before the tumor ablation treatment is preferably selected when the target region is segmented.
  • the target area of this embodiment is the tumor tissue used for tumor ablation treatment.
  • This embodiment can effectively compare and display the corresponding relationship between the three-dimensional body and the safety boundary of the tumor tissue in the ultrasound image before and after the treatment of the tumor tissue.
  • the optimal solution of the present embodiment is to obtain two imaging images before and after the tumor ablation treatment.
  • the three-dimensional image data of the two groups before and after surgery are compared and displayed, and then the segmentation process of the target region is performed based on the pre-operative three-dimensional image data, and the segmentation result of the target region is mapped to the post-operative image according to the mapping relationship between the images, compared with the single image.
  • the segmentation of the target area in the postoperative image will more clearly show the current state of the tumor tissue after tumor ablation treatment, and provide more accurate and more visual comparative analysis data for medical staff, which can more intuitively understand tumor ablation.
  • Physiological and anatomical information after treatment are important to improve the quality of the target area in the postoperative image.
  • the mapping module 120 of this embodiment includes:
  • each of the registration units 121 establishes a spatial mapping relationship of the plurality of sets of three-dimensional image data based on an inter-image registration method
  • the mapping instruction receiving unit 122 is configured to be used on a display interface of the display or a human-machine interactive input device Providing a prompt box, or a button, or an instruction input box, or an operation gesture for selecting the above-mentioned registration unit for an alternative or a plurality of combinations to obtain a mapping selection instruction;
  • the mapping execution unit 123 is configured to invoke the selected registration unit according to the mapping selection instruction to register the plurality of sets of three-dimensional image data for image display.
  • a fundamental image based on a single shot that is, a tissue image
  • the pixel points of the contrast image and the tissue image are one-to-one correspondence, and the mapping relationship between the two can be established without performing a separate registration operation.
  • the registration calculation between images may be based on tissue image data, contrast image data, or a combination based on both.
  • the automatic registration method between images mainly includes two parts, namely, the similarity measurement method between images and the mapping method between images. According to different mapping methods, it can be divided into rigid body transformation (rotation and translation), radiation transformation (scaling, rotation and translation) and nonlinear transformation (to establish different mappings for different local images).
  • rigid body transformation rotation and translation
  • radiation transformation scaling, rotation and translation
  • nonlinear transformation to establish different mappings for different local images.
  • the implementation of the registration method between the images is not limited to the above or one of the registration algorithms described below. .
  • the registration method between the images may be selected as a rigid body transformation, that is, including rotation and translation. If the depth design is inconsistent during the two acquisitions, the difference algorithm (such as bilinear interpolation, spline interpolation or nearest neighbor interpolation) is used to scale the two sets of 3D image data to the same scale, and then register according to the rigid body transformation. Calculation.
  • a registration method between partial images in combination with a formula is an example of a registration method between partial images in combination with a formula.
  • the mapping matrix A is introduced to establish a spatial mapping relationship function between two sets of three-dimensional ultrasound images, as shown in the following formula (1).
  • the rigid body registration based on the three-dimensional ultrasound image can be described as assuming that the brightness of the image with the pixel point X i in a certain set of ultrasound three-dimensional contrast data is f(X i ), and the brightness of the image of the pixel point Y i of the other set of ultrasonic three-dimensional contrast data is g(Y i ), the mapping between the two sets of ultrasound three-dimensional contrast data can be expressed as:
  • the similarity measure function between the two sets of three-dimensional image data can also be calculated in the above steps based on the least square error sum (SSD), the maximum cross correlation (CC), and the minimum absolute difference algorithm based on the improved ultrasonic noise Rayleigh distribution characteristic.
  • the function f(X i ) representing the brightness in the similarity measure function, g(Y i ) can also be replaced with the form of the local gradient size, the local gray value quotient and the like corresponding to the three-dimensional image data.
  • the degree of approximation of the calculation result and 1 is determined, thereby solving the mapping matrix A, and obtaining the spatial mapping relationship of the plurality of sets of three-dimensional image data.
  • the similarity measurement method between the rigid body registration-based images provided herein may be: using the pixel brightness or the local gradient size or the minimum absolute difference of the local gray quotient based on the rigid body registration and measuring the similarity between the two sets of three-dimensional image data.
  • Automatic registration method for sex metrics automatic registration method based on rigid body registration using pixel brightness or local gradient size or local gray quotient least square error and measure similarity measure between two sets of three-dimensional image data;
  • the prompting frame provided by the mapping instruction receiving unit 122 of the embodiment, or a button, or an instruction input box, or an operation gesture may select one or more combinations of the above-mentioned automatic registration methods between images, and perform image data to be processed. Registration calculations establish spatial mapping relationships between images.
  • an interactive registration method combined with manual selection can be employed.
  • the upper left corner 3 ⁇ 3 matrix of the mapping matrix A is a symmetric orthogonal matrix.
  • the most direct solution is to use the interactive operation to select 4 or more pairs of corresponding point pairs on the two sets of 3D image data, and fit through the least squares method.
  • the method solves the optimal mapping matrix A.
  • the above interactive registration method is the most basic registration scheme.
  • There are many manual registration methods for establishing rigid body mapping between two three-dimensional data It is not exhaustive, and the interactive registration of manual registration selection in this embodiment is not exhaustive. The method is not limited to this.
  • the display processing module 140 in this embodiment includes:
  • each of the display analysis units 141 compare and display a plurality of display images corresponding to the plurality of sets of three-dimensional image data on the display interface of the display according to the following manner:
  • a plurality of display areas 2 are set on the same display interface 1 of the display, and each display area correspondingly displays at least one display image correspondingly obtained in each set of three-dimensional image data.
  • each display area correspondingly displays at least one display image correspondingly obtained in each set of three-dimensional image data.
  • side-by-side display images corresponding to two sets of three-dimensional image data, such as side-by-side display of pre- and post-operative three-dimensional image data Corresponding display image.
  • the display image of the three-dimensional image data corresponding to the display area is enlarged or displayed on the display interface.
  • the second display mode sets a plurality of display windows 3 for respectively displaying a plurality of display images corresponding to each set of three-dimensional image data, and when one of the display windows 3' is selected, the display interface is displayed.
  • the display image of the three-dimensional image data corresponding to the display window is enlarged or displayed.
  • the display window 3 here can minimize the position below the display interface.
  • a sub display area 4 for simultaneously displaying a plurality of sets of three-dimensional image data and an image for magnifying and displaying a plurality of sets of three-dimensional image data are set on the same display interface 1 as described above.
  • a pair of main display areas 5 displaying images, when one or both of the above sub-display areas
  • the display image 6' corresponding to the selected three-dimensional image data is enlarged and displayed in the main display area.
  • the simultaneous display of the plurality of sets of three-dimensional image data may be a plurality of mapped display images corresponding to the plurality of sets of three-dimensional image data being scrolled and displayed in the sub-display area.
  • the embodiment is not limited to the above three display modes, and may further provide a prompt box for selecting at least one reconstruction slice, or a button, or an instruction input box, or an operation gesture to obtain a reconstruction slice selection instruction, and according to the other
  • At least one set of three-dimensional image data in the set of three-dimensional image data reconstructs a two-dimensional image located on the reconstructed slice selected according to the reconstructed slice selection instruction, and displays the two-dimensional image on the display interface.
  • the corresponding two-dimensional images under the same slice in the reconstructed plurality of three-dimensional images can be compared and displayed, based on which the image contrast under the same slice can be provided only on the display interface, and the comparison display manner can also refer to the above three.
  • the setting display area or the display window or the main sub-display area mode on the display interface of the display regardless of how the display area is arranged and arranged on the display interface to display a plurality of display images obtained by reconstructing the plurality of sets of three-dimensional image data, the display images selected on the display interface are marked, and the mark is displayed on the display interface. Selecting a display image or a display area for displaying a plurality of display images corresponding to a set of three-dimensional image data, generating a display mark; according to the display mark, magnifying the corresponding selected display image or display area on the display interface of the display Or contrast / separate display.
  • the image displayed separately as an enlargement or contrast may include a display image before being split, and also includes a display image corresponding to the three-dimensional body structure boundary and the security boundary and its region mark after the segmentation.
  • the display processing module further displays at least one display image reconstructed according to any one of the aforementioned set of three-dimensional image data on the display interface
  • the image marking module further marks the at least one display image obtained according to the reconstruction of any one of the aforementioned three-dimensional image data.
  • the aforementioned boundary or mark is located in an area within the boundary, wherein the at least one display image reconstructed from any set of three-dimensional image data is located at least one display image reconstructed from at least one set of the three-dimensional image data of the other set of three-dimensional image data The same cut surface.
  • the display processing module 140 further includes:
  • the display instruction receiving unit 142 is configured to be raised on the display interface 1 or the human-machine interactive input device. Providing a prompt box, or a button, or an instruction input box, or an operation gesture for selecting at least one of the above display analysis units to obtain a display selection instruction;
  • the display execution unit 143 is configured to invoke the selected display analysis unit according to the display selection instruction described above.
  • the embodiment can provide a user with more contrast display schemes based on various display settings, for the user of the ultrasound image processing system 100 to select the required contrast display scheme according to needs or actual conditions, so that the image processing result is more intuitively presented. .
  • the system 100 further includes an auxiliary measurement scale unit 160 for equally spacing the preset widths.
  • the grid-aided measurement scale is superimposed on the above display image to be used as a positioning measurement. As shown in FIG.
  • display images corresponding to two sets of three-dimensional image data are displayed side by side, and the display area 8-1 is used to display pre-operative three-dimensional image data, and in the display area 8- 2 is used for displaying post-operative three-dimensional image data, and the display images corresponding to the three-dimensional image data are superimposed on the display areas 8-1 and 8-2 to display an equally-spaced grid auxiliary measurement scale for the pre-operative three-dimensional image data.
  • the three-dimensional volume structure boundary 10 and the security boundary 9 are obtained, and the corresponding three-dimensional body structure boundary 10 and the security boundary 9 of the post-operative three-dimensional image data are obtained through the mapping relationship, and corresponding to the display region 8-1 and It is displayed on the 8-2, and the superimposed auxiliary measuring scale 7 can directly and directly understand the size of the three-dimensional body in the target area and the distance from the safety boundary 9.
  • text information indicating a preset width may be superimposed on the auxiliary measurement scale to intuitively understand the size of the three-dimensional body in the target area and the distance from the safety boundary 9, so that the medical staff can make a judgment in time. Direct judgment basis.
  • the auxiliary measurement scale unit 160 may include:
  • the image marking module 150 displays the three-dimensional body structure boundary and the security boundary in color in the display image, and/or displays the three-dimensional body structure boundary in the display image based on different color transparency.
  • the area within the security boundary As shown in FIG. 9, when the related marking operation is specifically performed, the image marking module 150 includes:
  • the object selection unit 151 is configured to acquire a pre-marked initial value corresponding to the three-dimensional body structure boundary or the security boundary in the display image, and/or a pre-position corresponding to the three-dimensional body structure boundary or the security boundary area
  • the initial value of the mark, the initial value corresponding to the three-dimensional body structure boundary or the safety boundary may be all pixel values within a certain width near the boundary line in the display image, and the initial position corresponding to the three-dimensional body structure boundary or the inner area of the above-mentioned safety boundary Value is the value of all pixels within the boundary or within the intersection of the boundaries;
  • a marking color unit 152 configured to provide a color prompt box for selecting a color, or a button, or an instruction input box, or an operation gesture on the display interface of the display to obtain a color instruction;
  • a transparency selection unit 153 configured to provide a prompt box for selecting a fill area transparency, or a button, or an instruction input box, or an operation gesture on the display interface to obtain a transparency instruction;
  • the information superimposing unit 154 is configured to superimpose and display the color instruction and/or the pre-marked initial value corresponding to the three-dimensional body structure boundary or the security boundary, and/or the three-dimensional body structure boundary or the security boundary area. Color information and/or transparency information selected in the transparency directive.
  • This embodiment provides a more mark execution scheme, and the user of the ultrasonic image processing system 100 can select its required mark execution scheme according to actual conditions as needed, so that the image processing result is more intuitively presented.
  • the image analysis module 130 includes:
  • the image dividing unit 131 is configured to perform a segmentation process on a target region on any one of the three-dimensional image data to obtain a boundary of the target region;
  • the mapping unit 133 is configured to map the boundary of the target area according to the spatial mapping relationship Go to other groups of 3D image data that have established spatial mapping relationships.
  • the image analysis module 130 further includes: a security boundary generating unit 132 for expanding or contracting a predetermined width along the boundary of the three-dimensional body structure to generate security. boundary.
  • the image dividing unit 131 performs a segmentation process of the target region on any one of the three-dimensional image data to obtain a three-dimensional body structure boundary of the target region; then, the security boundary generating unit 132 expands along the boundary of the three-dimensional body structure or The predetermined width is indented to obtain a security boundary, so that the mapping unit 133 maps the boundary of the target area to the other group of three-dimensional image data in which the spatial mapping relationship has been established according to the spatial mapping relationship described above.
  • the image dividing unit 131 may further include:
  • each of the image segmentation processing units 1311 performs a segmentation process of a target region on any one of the three-dimensional image data based on an image segmentation method
  • the segmentation instruction receiving unit 1312 is configured to provide a prompt box for selecting at least one of the image segmentation units, or a button, or an instruction input box, or an operation gesture on the display interface or the human-machine interaction input device of the display to obtain a segmentation selection. Instruction;
  • the segmentation execution unit 1313 is configured to invoke the selected image segmentation unit according to the segmentation selection instruction.
  • This embodiment provides a more image segmentation processing scheme.
  • the user of the ultrasound image processing system 100 can select an image segmentation processing scheme required according to actual conditions, so that the system is more user-friendly and improves the accuracy of image processing.
  • the image segmentation method in this embodiment may adopt a Graph Cut method, for example, through manual intervention to select a tumor target region, and the algorithm automatically performs automatic segmentation of the tumor target according to the difference between the internal gray scale distribution and the external gray scale distribution. It may also be an image region segmentation method based on gray scale distribution, which is based on the assumption that the image is divided into a foreground and a back scene, and each part of the image gray scale satisfies a Gaussian distribution, respectively, by defining a gray scale distribution based on the inner and outer portions of the contour region. The energy functional of the variance is used to solve the edge of the object in the image. It can also be a method of manual segmentation, in each of the three-dimensional data.
  • the edges of the tumor tissue are outlined on the stratified layer, and the three-dimensional shape and shape of the tumor tissue can be generated based on these two-dimensional edges.
  • the image segmentation method of the present invention is not limited to the above several methods, and many methods may be employed.
  • the focus of the present invention is to provide a user with a plurality of image segmentation processing scheme selection functions, and thus does not describe a specific image segmentation algorithm.
  • the segmentation of the target region can be performed after at least two three-dimensional ultrasound image acquisitions are completed, or after a set of three-dimensional image data is acquired.
  • a set of three-dimensional ultrasound data is collected and the target is segmented, and a second set of three-dimensional ultrasound data is acquired after the tumor ablation intervention and the registration calculation is performed with the first group, and the three-dimensional data before and after the surgery and the segmentation result are displayed based on the comparison of the registration maps. .
  • the present invention also provides an ultrasound image processing method, including:
  • Step 210 Acquire multiple sets of three-dimensional image data corresponding to the same target organization, where the multiple sets of three-dimensional image data include at least two sets of three-dimensional image data;
  • Step 220 Establish a spatial mapping relationship between the plurality of sets of three-dimensional image data.
  • Step 230 based on any one of the plurality of sets of three-dimensional image data, segmenting the target area, obtaining a boundary of the target area, and mapping the boundary to the established spatial mapping relationship according to the spatial mapping relationship.
  • Group of three-dimensional image data
  • Step 240 Display at least one display image reconstructed according to at least one set of three-dimensional image data in the other group of three-dimensional image data on a display interface;
  • Step 250 marking the boundary or the area located within the boundary in the display image.
  • the boundaries herein may include three-dimensional body structure boundaries and/or security boundaries, and the relevant descriptions of the boundaries and their regions are described above.
  • the method further includes: displaying, on the display interface, at least one display image reconstructed according to any one of the above three-dimensional image data; at least one obtained by reconstructing according to any one of the three-dimensional image data And displaying, in the image, an area in which the boundary or the mark is located within the boundary; wherein the at least one display image obtained by reconstructing according to any one of the set of three-dimensional image data is reconstructed from at least one set of three-dimensional image data according to the other set of three-dimensional image data At least one of the display images is on the same slice.
  • comparing on the display interface Displaying a plurality of display images obtained by reconstructing the plurality of sets of three-dimensional image data, where the plurality of display images include corresponding two-dimensional images under the same slice in the three-dimensional image reconstructed based on the MPR, and also including the reconstructed three-dimensional image Two-dimensional images and/or three-dimensional images under one facet.
  • the three-dimensional image data is three-dimensional ultrasound tissue image data, three-dimensional ultrasound contrast image data, or three-dimensional image data including both ultrasound tissue image data and three-dimensional ultrasound contrast image data.
  • step 220 of the embodiment establishes a space between the plurality of sets of three-dimensional image data.
  • the steps of mapping the relationship may include:
  • the registration method between the selected images is called according to the mapping selection instruction, and the plurality of sets of three-dimensional image data are registered to establish a spatial mapping relationship of the plurality of sets of three-dimensional image data.
  • the mapping module 120 For the specific registration method between images, refer to the related description of the mapping module 120 above, which is not described here.
  • the user in order to provide a more contrast display scheme, the user can select a corresponding registration method between the images according to the need, and the contrast display on the display of the embodiment is performed to reconstruct the plurality of sets of three-dimensional image data corresponding to the display.
  • the steps of obtaining a plurality of displayed images are implemented in the following manner:
  • the selected display mode is invoked according to the display selection command described above.
  • the display mode is not exhaustive here, but the present invention preferably implements the step of displaying a plurality of display images corresponding to the reconstruction of the plurality of sets of three-dimensional image data on the display interface, that is, the display interface or the human machine on the display.
  • a reconstruction slice selection instruction selects a two-dimensional image on the reconstructed slice surface and displays the two-dimensional image on the display interface. For example, according to the reconstructed slice selection instruction, a corresponding two-dimensional image under the same slice in the reconstructed plurality of three-dimensional images is displayed on the display interface. In this way, the user can conveniently extract the corresponding two-dimensional image to be compared from a large amount of image data, and reduce the time for artificially searching for an image.
  • the steps of reconstructing the plurality of display images corresponding to the multiple sets of three-dimensional image data on the display interface may be implemented in the following manner:
  • the corresponding selected display image or display area is enlarged or displayed on the display interface.
  • the above method of the embodiment further includes the step 260: setting the equal width of the preset width A grid-assisted measurement scale is superimposed on the display image shown above for positioning measurements.
  • the step 260 may further include: providing a prompt box for selecting a preset width, or a button, or a button on the display interface of the display, or Command input box, or operation gesture to obtain the corresponding width instruction; adjust the spacing of the equidistant grid scale according to the width instruction to obtain the adjusted equidistant grid auxiliary measurement scale; the adjusted equal-space grid auxiliary measurement
  • the ruler is superimposed on the display image displayed on the display interface.
  • the method of performing the operation of the mark in the display image is to colorally mark the three-dimensional body structure boundary and the security boundary, and/or the base in the display image.
  • the regions within the above-described three-dimensional body structure boundary and safety boundary are displayed in the above-described display image with different color transparency.
  • the user can select the required mark execution plan according to the actual situation according to the actual situation, and the step of performing the mark operation in the above display image includes:
  • the user in order to provide a more image segmentation processing scheme, can select an image segmentation processing scheme required according to actual conditions, which is based on any one of the plurality of sets of three-dimensional image data.
  • the steps of dividing the target area by the three-dimensional image data include:
  • the selected image segmentation method is called according to the segmentation selection instruction, and the segmentation process of the target region is performed on any one of the plurality of sets of three-dimensional image data.
  • the image segmentation method can be referred to the specific description of the image segmentation unit 131.
  • FIGS. 11 and 12 are schematic flowcharts of an ultrasonic image processing method according to an embodiment of the present invention. It should be understood that although the various steps in the flowcharts of FIGS. 11 and 12 are sequentially displayed as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Except as explicitly stated herein, the execution of these steps is not strictly limited, and may be performed in other sequences. Moreover, at least some of the steps in FIGS. 11 and 12 may include a plurality of sub-steps or a plurality of stages, and further steps or stages are added to the steps of FIGS.
  • the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better.
  • Implementation Based on such understanding, the technical solution of the ultrasonic image processing system and method of the present invention may be embodied in the form of a software product in essence or in the form of a software product, which is carried in a non-volatile manner.
  • a computer readable storage carrier (such as a ROM, a magnetic disk, an optical disk, a server storage space) includes instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform various embodiments of the present invention
  • a terminal device which may be a mobile phone, a computer, a server, or a network device, etc.
  • the present invention provides users with more humanized services, and can provide users with free choice of image data processing and corresponding parameters and setting data in the image display process, such as the above are provided for selection.
  • One or more selected prompt boxes, or buttons, or command input boxes, or operation gestures to obtain corresponding user operation data but the present invention is not limited to only adopting these four methods, it should be understood that the present invention is in ultrasonic image processing.
  • Such a "providing a prompt box for selecting one or more choices, or a button, or an instruction input box, or an operation gesture, etc.” is provided on the device to select from the corresponding methods pre-stored in the system for image data.
  • the operation data such as the division operation, image registration, and image display setting are processed, thereby providing the user with a more humanized and freely operable service.
  • the operation gestures herein include a manual touch display interface to perform a selection operation, a sliding gesture to select an alternative information listed on the display interface, and the like, and can refer to an experience mode provided to the user interface application on the touch interface of the mobile phone.
  • the ultrasonic image processing system and method of the present invention presented in the above various embodiments are applied to an ultrasonic image processing apparatus, a new function can be given, so that the existing ultrasound image processing apparatus can have a quantitative comparison of tumor ablation effects. Function, can effectively contrast the tumor ablation treatment Multiple 3D image data during the treatment process, and intuitively understand the changes in the disease area during the tumor ablation treatment on the display interface, and provide more effective quantitative data reference for medical processes such as cancer treatment.
  • the present invention further provides an ultrasonic image processing apparatus 300, including:
  • the storage module 301 is configured to store the acquired plurality of sets of three-dimensional image data corresponding to the same target organization, the multiple sets of three-dimensional image data including at least two sets of three-dimensional image data and a result of performing an operation on the three-dimensional image data; 301 can be a device such as a cache or a hard disk;
  • the human-computer interaction input device 302 is configured to acquire data for manipulating the plurality of sets of three-dimensional image data, the manipulation data includes an operation of importing the three-dimensional image data, inputting an initial condition of the target tissue segmentation, and selecting an image segmentation method, and registering Operation instructions such as methods and display modes;
  • a display 303 configured to display a display image obtained by reconstructing the plurality of sets of three-dimensional image data
  • the processor 304 is configured to process the plurality of sets of three-dimensional image data according to the received manipulation data, and output the image processing result to obtain a display image, and perform the following steps in the process of processing the plurality of sets of three-dimensional image data:
  • the user in order to provide a more contrast display scheme, can select a corresponding registration method between images according to the need.
  • the user can select a corresponding registration method between images according to the need.
  • the instruction obtained from the human-machine interaction input device 302 described above According to the instruction obtained from the human-machine interaction input device 302 described above. Selecting one or a plurality of combinations to select one of the above three display modes to display a plurality of display images corresponding to the reconstruction of the plurality of sets of three-dimensional image data on the display 303, and the specific implementation of the three display modes herein See the above related diagram for the scheme 4. The related description of FIG. 5 and FIG. 6 is not described here.
  • the preferred solution of this embodiment is: display interface on the display or person Providing, on the machine interaction input device, a prompt box for selecting at least one reconstruction slice, or a button, or an instruction input box, or an operation gesture to obtain a reconstruction slice selection instruction, wherein the processor is configured according to the other group of three-dimensional image data At least one set of three-dimensional image data reconstructs a two-dimensional image located on a reconstructed slice selected according to the reconstructed slice selection instruction, and displays the two-dimensional image on the display interface.
  • the plurality of sets of three-dimensional images reconstructed may be corresponding to the two-dimensional images under the same slice.
  • the processor further performs the following steps:
  • the at least one display image reconstructed according to the any set of three-dimensional image data is located on the same slice as the at least one display image reconstructed according to the at least one set of the three-dimensional image data of the other set of three-dimensional image data.
  • another preferred embodiment of the present embodiment is to mark the selected display on the display interface of the display by using a processor for conveniently viewing and comparing the displayed important images.
  • An image or a display area for displaying a plurality of display images corresponding to a set of three-dimensional image data (see the related descriptions of FIGS. 4, 5, and 6 above, wherein the display area includes the display area and the display window in the drawing ), generating a display mark, according to which the corresponding selected display image or display area is enlarged or displayed on the display interface.
  • an equal-pitch grid image of a preset width is superimposed on the display image as a background for display.
  • the processor is configured to display on the display interface or the human-machine interaction of the display.
  • a prompt box, or a button, or an instruction input box, or an operation gesture for selectively selecting a preset width in the equal-gauge grid auxiliary measurement scale is also provided for enabling the user to equidistantly on the display interface as needed.
  • the spacing of the grid image is adjusted accordingly to facilitate a more intuitive understanding of the three-dimensional volume of the target area and the distance from the security boundary.
  • the three-dimensional body structure boundary and the security boundary are color-coded in the display image, and/or the three-dimensional body is displayed in the display image based on different color transparency.
  • the structure boundary and the area within the security boundary are used to display a marking operation performed on the above-described display image.
  • the device further includes a communication module 305, configured to acquire the plurality of sets of three-dimensional image data from the Internet.
  • a communication module 305 configured to acquire the plurality of sets of three-dimensional image data from the Internet.
  • three-dimensional image data about the same target tissue can be obtained from the Internet server for comparison display, thereby understanding the pathological condition of the relevant tissue, and providing more and more intuitive anatomy for disease research and diagnosis. Comparative analysis with physiological information.
  • the processor provides a registration method and/or image segmentation between the selected auxiliary measurement images on the display interface or the human-machine interactive input device of the display.
  • a prompt box, or a button, or an instruction input box, or an operation gesture of the method and/or providing a prompt box for selecting a color and selecting a transparency of the fill area, or a button on a display interface or a human-machine interactive input device of the above display, Or an instruction input box, or an operation gesture.
  • the selection of multiple algorithms is more humanized, so that a comparative demonstration of the processing results between multiple algorithms can be realized, for the research and diagnosis of diseases, and Ultrasound image processing research has provided corresponding technical support.
  • image registration method and image segmentation method refer to the related descriptions about the mapping module 120 and the image segmentation unit 131, which will not be described herein.
  • the processor 304 analyzes the acquired tags of the plurality of sets of three-dimensional image data, and determines whether the multiple sets of three-dimensional image data are determined according to the tags.
  • a plurality of sets of three-dimensional image data belonging to the same target organization are associated and stored in the storage module.
  • the content of the label can be
  • the information capable of uniquely determining the identity of the patient may be ID information, fingerprint information, etc., including the name of the scan site, the time, and information that uniquely identifies the patient.
  • the present invention also provides an ultrasonic diagnostic apparatus 400, as shown in FIG. 14, which includes the ultrasonic image processing apparatus 300 mentioned in each of the above embodiments and for transmitting and receiving ultrasonic waves, An image acquisition module 401 that obtains three-dimensional image data of a target tissue;
  • the ultrasound image processing apparatus 300 includes: a storage module 301, configured to store the acquired plurality of sets of three-dimensional image data corresponding to the same target tissue, and a result of performing an operation on the plurality of sets of three-dimensional image data, wherein the plurality of sets of three-dimensional image data includes at least two a set of three-dimensional image data; a human-computer interaction input device 302, configured to acquire data for manipulating the plurality of sets of three-dimensional image data; a display 303, configured to display a display image reconstructed according to the plurality of sets of three-dimensional image data; and the processor 304
  • the method is configured to process the plurality of sets of three-dimensional image data according to the received manipulation data, and output an image processing result, and perform the following steps in the process of processing the plurality of sets of three-dimensional image data: establishing the plurality of sets of three-dimensional image data.
  • a spatial mapping relationship based on any one of the plurality of sets of three-dimensional image data, segmenting the target area, obtaining a boundary of the target area, and mapping the boundary of the target area to the other according to the spatial mapping relationship Group of three-dimensional image data; according to the above Retrieving at least one display image obtained from at least one set of three-dimensional image data of the set of three-dimensional image data and outputting the at least one display image to the display for display; marking a boundary of the target area in the at least one display image or at least An area in the display image in which the mark is located within the above boundary.
  • the ultrasonic diagnostic apparatus of the present embodiment can also be used by the processor to add a label to the three-dimensional image data obtained by the image capturing module 401, and the label is used to distinguish three-dimensional image data of different target tissues.
  • the label here may include the name of the scanning part, the time, and the information capable of uniquely determining the identity of the patient.
  • the information that can uniquely determine the identity of the patient herein may be ID information, fingerprint information, and the like.
  • the image acquisition module 401 mentioned in the above-mentioned FIGS. 13 and 14 is for transmitting and receiving a specific ultrasonic shape, and performs processing to obtain image data of a target tissue.
  • the storage module 301 is mainly used for storing and collecting The image data can also store the data and parameters generated by other related modules during the operation.
  • the processor 304 is mainly used for image processing such as image registration, image segmentation, coordinate space mapping, image MPR (Multi Planar Reconstruction) reconstruction, and the like, automatically or semi-automatically.
  • the human-computer interaction input device 302 is mainly used for responding to the displayed image data by hardware devices such as a keyboard, a mouse, and a trackball, such as image tracing, target selection, interactive registration, and the like.
  • the display 303 is mainly used to display the collected data and the manipulation result of the interactive module.
  • the processor 304 is mainly used for processing image data, and may include various functional modules of the above-described ultrasonic image processing system and various steps for performing the above-described ultrasonic image processing method, as for each of the above-described ultrasonic image processing apparatuses 300.
  • various functional modules of the above-described ultrasonic image processing system and various steps for performing the above-described ultrasonic image processing method, as for each of the above-described ultrasonic image processing apparatuses 300.
  • steps for performing the above-described ultrasonic image processing method as for each of the above-described ultrasonic image processing apparatuses 300.
  • a preferred embodiment is provided herein based on the structural description of the ultrasonic diagnostic apparatus described above.
  • the image data acquisition module is first used to collect at least two sets of three-dimensional angiographic data of the target region, for example, preferably by using the image acquisition module 401 to obtain two related images before and after the tumor ablation intervention. 3D image data. In the process of collection, try to use a larger collection angle and collection range to obtain as much information as possible for the subsequent registration process. There may be a certain time interval between the two sets of three-dimensional ultrasound contrast data acquisition, and other scans or tumor ablation operations may be performed during the time interval of the two acquisitions. These two data acquisitions can be performed before tumor ablation and after tumor ablation treatment.
  • the patient needs to rest in the bed for a period of time (half an hour or more).
  • the rest can make the gas generated near the patient's tumor during the thermal ablation treatment dissipate as much as possible, and the gas affects the imaging effect of the ultrasound. Try to ensure that the patient's position is consistent during the two collections, and try to ensure that the position of the probe and the direction of the probe are consistent before and after the operation.
  • the image data obtained by the above-described acquisition section is processed by the above-described ultrasonic image processing apparatus 300.
  • the image data collected for a single scan is given corresponding identification label content, and the two sets of three-dimensional image data are associated and stored based on the label content.
  • the two sets of three-dimensional image data before and after the tumor ablation intervention for the same target tissue are extracted from the storage module 301, and the spatial mapping relationship between the two is established based on the registration method between the images.
  • the automatic registration method can be selected, that is, firstly, the mapping matrix A is introduced to establish a spatial mapping relationship function between the two sets of three-dimensional ultrasonic images represented by the above formula (1), and then two sets of three-dimensional images are calculated based on the minimum absolute difference sum (SAD).
  • SAD minimum absolute difference sum
  • a similarity measure function between image data such as the function represented by equation (2).
  • the degree of approximation of the calculation result and 1 is determined, thereby solving the mapping matrix A, and obtaining the spatial mapping relationship of the plurality of sets of three-dimensional image data.
  • two sets of three-dimensional image data obtained before and after the acquisition of the tumor ablation intervention are displayed on the display, and the displayed image is obtained based on the MPR reconstruction technique to obtain a two-dimensional image of the section of the tumor.
  • the corresponding two-dimensional image is obtained under the same section when reconstructing the post-operative three-dimensional image data, and displayed in the position of the display area 8-2 in FIG.
  • the two-dimensional image is superimposed with an equally spaced grid image 7 as a background display.
  • the expansion algorithm obtains a safety boundary 9 on the binary image along the distance of the three-dimensional body structure boundary 10 by 5 mm. Based on the image segmentation processing on the pre-operative three-dimensional image data, the obtained three-dimensional volume structure boundary 10 and the security boundary 9 are mapped to the post-operative three-dimensional image data according to the spatial mapping relationship solved above, and in FIG.
  • the display area 8-1 and the display area 8-2 respectively correspond to the two-dimensional image obtained by reconstructing the three-dimensional image data before and after the operation, and mark the corresponding three-dimensional body structure boundary and the security boundary, or located in the two-dimensional image.
  • the three-dimensional body structure boundary and the area within the security boundary are respectively correspond to the two-dimensional image obtained by reconstructing the three-dimensional image data before and after the operation, and mark the corresponding three-dimensional body structure boundary and the security boundary, or located in the two-dimensional image.
  • color or color selection can be performed by a prompt box provided on the display interface, and/or selection of area transparency is performed, and color is used in the two-dimensional image displayed in the display area 8-1 and the display area 8-2. Marking the three-dimensional volume structure boundary 10 and the security boundary 9, and/or displaying the three-dimensional body structure boundary 10 and the security boundary 9 in the two-dimensional image displayed by the display area 8-1 and the display area 8-2 based on different color transparency region.
  • the three-dimensional imaging results before and after the operation can be simultaneously displayed on the display interface of the display, and the three-dimensional body size and the safety boundary of the tumor tissue corresponding to the three-dimensional imaging results before and after the operation are respectively used for quantitatively displaying the minimally invasive tumor.
  • the effect of interventional therapy provides a basis for quantitative judgments for medical staff to determine whether the interventional treatment plan for tumor ablation has been effectively implemented.
  • the image processing system, method and device and diagnostic device thereof are mainly applicable to the evaluation of ablation of liver tumor ablation, and the invention can also be used for minimally invasive intervention of human tissues such as uterus and prostate. Post-government assessment.
  • the image processing system, method and device of the present invention and the diagnostic device thereof provide a technique for clinical evaluation and display of the effect of tumor interventional ablation treatment, and can quantitatively compare and analyze the relative positional relationship between the tumor tissue and the safety boundary and the lesion area. Visually quantify the size of the area of insufficient ablation.
  • three-dimensional contrast-enhanced imaging technology is used to image the tumor target area at least twice before and after surgery, and at least two sets of data before and after the target area are obtained.
  • the three-dimensional volume and shape of the extracted target region are segmented on one of the sets of data. Based on image registration technology or other technologies, a one-to-one correspondence between two sets of data is established. Based on the mapping relationship between the two sets of data, the three-dimensional shape information of the target area obtained on one of the sets of data is mapped to another set of data, and the multi-window (or multi-display area) contrast displays the state of the target area.
  • the display method may be one in which one window (or display area) displays a 2D image in which one set of data is reconstructed using MPR (Multi-Plane Reconstruction) and an intersection area of a three-dimensional volume and shape of the target area with the 2D image.
  • MPR Multi-Plane Reconstruction
  • the other window displays the 2D image corresponding to the previous window (or display area) and the three-dimensional volume and shape of the target area and the 2D image in another set of reconstructed data. Intersection area.
  • the operations of measurement, tracing, segmentation, etc. performed on one window (or display area) can be mapped to the corresponding position of another window (or display area). Display, thereby visually comparing the two sets of three-dimensional image data for evaluating the effect of tumor ablation intervention therapy, and can provide medical personnel with on-site judgment whether ablation covers the entire tumor tissue region to provide visual quantitative data.

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Abstract

一种超声图像处理系统，包括：数据接收模块（110），用于获取同一目标组织对应的多组三维图像数据；图像分析模块（130），用于基于多组三维图像数据中的任意一组三维图像数据，分割目标区域，获得目标区域的三维体结构边界、及沿该三维体结构边界外扩或内缩生成的安全边界；图像映射模块（120），用于建立多组三维图像数据之间的空间映射关系，并根据空间映射关系，将目标区域的三维体结构边界和安全边界映射到其他组三维图像数据中；以及图像标记模块（150），用于在显示图像中标记目标区域分别在多组三维图像数据中相对应的三维体结构边界和安全边界、或位于三维体结构边界和安全边界内的区域。该系统能够解决现有技术中无法对治疗过程中的超声图像进行汇总分析及定量显示的问题。

Description

超声图像处理系统和方法及其装置、超声诊断装置 技术领域
本发明涉及超声图像处理技术，特别是涉及超声图像处理系统和方法及其装置、超声诊断装置。
背景技术
针对癌症治疗的超声介入消融治疗，目前有三种方式：射频消融(RFA)、冷冻消融、微波消融。这三种消融治疗方式都是通过特殊的针或消融探头，经皮肤或者人体管腔结构放置到肿瘤位置(肿瘤插入内部)。通过局部加热(射频消融、微波消融)或者冷冻(冷冻消融)杀死肿瘤细胞。超声的应用贯穿在整个介入消融治疗过程中，利用超声波检测可以获得大量的病人看病过程、术前，和术后等各个阶段，病症组织对应的图像信息，这可以为医护人员提供病人各个阶段的详细情况，对研究病症、治疗、诊断等技术提供了很重要的互补的生理学、解剖学的信息。
以肿瘤治疗为例，通常肿瘤的形状为近似球形，而采用射频消融或者微波消融进行治疗出来的消融灶为椭球型，因此临床经常出现消融针方向(消融灶椭球的长轴方向)上消融灶完全覆盖肿瘤边界，但是垂直与消融针方向还没有完全覆盖肿瘤边界。基于此临床出现的问题，将超声造影引入对介入治疗结果进行评估。目前主要的评估手段是采用对术前、术后分别进行超声二维造影，测量肿瘤区域的长径和消融灶的长径，该测量不能保证两次测量时超声切面和位置的一致性，尤其在大肿瘤多针消融时，简单的消融灶长径测量不能代表整个消融区域。目前的三维超声造影技术，大都用来单独显示目标区域的单独状态，或则采用4D成像，显示目标区域的动态血流灌注形式，但是都不能给消融治疗效果提供一个定量的数据参考。
基于此有必要提供一个新的超声图像处理系统为癌症治疗等医学过程提供更加有效的定量数据参考。
发明内容
基于此，有必要针对现有技术中无法对治疗过程中的超声图像进行汇总分析及定量显示的问题，提供一种超声图像处理系统和方法及其装置、超声诊断装置。
本发明提供了一种超声图像处理系统，其包括：
数据接收模块，用于获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据；
图像映射模块，用于建立所述多组三维图像数据之间的空间映射关系；
图像分析模块，用于基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述目标区域的边界映射到其他组三维图像数据中；
显示处理模块，用于在显示器上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像；及
图像标记模块，用于在所述显示图像中标记所述边界或者在所述显示图像中标记位于所述边界内的区域。
基于上述系统，本发明还提供了一种超声图像处理方法，其包括：
获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据；
建立所述多组三维图像数据之间的空间映射关系；
基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述边界映射到其他组三维图像数据中；
在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像；及
在所述显示图像中标记出所述边界或者在所述显示图像中标记位于所述边界内的区域。
基于上述系统和方法，本发明还提供了一种超声图像处理装置，其包括：
存储模块，用于存储获取的同一目标组织对应的多组三维图像数据及对所述多组三维图像数据执行操作的结果，其中所述多组三维图像数据包括至少两组三维图像数据；
人机交互输入设备，用于获取对所述多组三维图像数据进行操控的数据；
显示器，用于显示根据所述多组三维图像数据重建获得的显示图像；及
处理器，用于依据接收的所述操控数据对所述多组三维图像数据进行处理，并输出图像处理结果，在对所述多组三维图像数据进行处理的过程中执行以下步骤：
建立所述多组三维图像数据之间的空间映射关系；
基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述目标区域的边界映射到其他组三维图像数据中；
根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像并将所述至少一个显示图像输出到所述显示器进行显示；
在所述至少一个显示图像中标记所述目标区域的边界或者在所述至少一个显示图像中标记位于所述边界内的区域。
基于上述图像处理装置，本发明还提供了一种超声诊断装置，其包括：图像采集模块，用于发射和接收超声波形，解析获得目标组织的三维图像数据；和上述超声图像处理装置。
本发明主要是一种全新的对肿瘤消融效果定量对比显示的技术。本发明的图像处理系统、方法及装置和诊断装置可以基于双窗口或者多窗口对比显示术前和术后采集的三维图像数据，并在对比窗口上显示肿瘤组织区域和安全边界，基于本发明的技术方案，可以在消融手术治疗后，现场对消融效果进行图像呈现，为对消融手术治疗效果的评估提供可视化的定量数据参考。
附图说明
图1为本发明的超声图像处理系统的结构示意图；
图2为图1中映射模块120的结构示意图；
图3为图1中显示处理模块140的结构示意图；
图4、图5和图6为三种对比显示方案的效果示意图；
图7为本发明的超声图像处理系统的另一实施例的结构示意图；
图8为显示时加入辅助测量标尺的示意图；
图9为本发明中图像标记模块150的结构示意图；
图10为本发明中图像分析模块130的结构示意图；
图11为本发明超声图像处理方法的流程图；
图12为本发明超声图像处理方法另一实施例的流程图；
图13为本发明的超声图像处理装置的结构示意图；
图14为本发明的超声诊断装置的结构示意图。
具体实施方式
本发明基于超声图像的分析处理技术，提供了一种全新的具有肿瘤消融效果定量对比功能的超声图像处理系统和方法及其装置、和超声诊断装置。利用本发明的技术方案可以有效的对比显示肿瘤消融治疗过程中的多个三维超声图像数据、并在显示界面上直观的了解肿瘤消融治疗过程中病症区域的情况变化，包括肿瘤的形状大小及消融治疗的肿瘤安全边界，为癌症治疗等医学过程提供更加有效的、可视化的定量数据参考。基于以下实施例详细说明本发明技术方案的各个方面。
如图1所示，本实施例提供了一种超声图像处理系统100，其包括：
数据接收模块110，用于获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据；
图像映射模块120，用于建立上述多组三维图像数据之间的空间映射关 系；
图像分析模块130，用于基于上述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得上述目标区域的边界，并根据上述空间映射关系，将上述目标区域的边界映射到其他组三维图像数据中；
显示处理模块140，用于在显示界面上显示根据前述的其他组三维图像数据(即，用于分割出目标区域以获得目标区域的边界的那一组三维图像数据之外的其他组三维图像数据)中的至少一组三维图像数据重建获得的至少一个显示图像；及
图像标记模块150，用于在上述显示图像中标记上述目标区域的边界或者在上述显示图像中标记位于上述的目标区域的边界内的区域。
本发明的实施例中，提到的目标区域的“边界”可以是目标区域的三维体结构边界，也可以是基于此三维体结构边界外扩或内缩预定宽度而获得相应边界(称之为安全边界)，也可以是任何其他适合的或者需要的客观存在的或者用户或系统定义的边界。下文中的各个具体实施例中，以三维体结构边界和/或安全边界为例进行了说明，但是本发明不局限于该三维体结构边界和安全边界。
本发明的实施例中，前述的三维体结构边界是指显示图像中被分割的目标区域的对应结构形状边界，而安全边界是指基于此三维体结构边界外扩或内缩预定宽度而获得相应边界，同时，在图像显示中，三维体结构边界和安全边界不应当理解为仅指显示图像中边界线所在的一圈像素，而应当理解为还包括显示图像中边界线附近一定宽度内的所有像素，那么在标记三维体结构边界和安全边界时应当针对的是三维体结构边界和安全边界的边界线附近一定宽度内的所有像素。
上述实施例中，上述同一目标组织对应的至少两组三维图像数据可以是分至少两次对目标组织进行成像的结果，比如可以是对病人各个检查阶段进行成像、肿瘤消融手术前成像、手术后成像、二次手术的术前和术后成像的不同阶段获得的多组三维图像数据。这里的三维图像数据可以是三维超声组 织图像数据、三维超声造影图像数据、或同时包含超声组织图像数据和三维超声造影图像数据的三维图像数据。上述安全边界是指肿瘤消融治疗的安全边界，其定义为在肿瘤区域向外扩展或者向内收缩预定宽度获得的边界，这里的预定宽度一般为5mm，生成安全边界的方法可以是基于分割肿瘤三维体生产二值图，在二值图上采用膨胀算法，把肿瘤体向外拓展预设距离，膨胀后三维体的边缘就是安全边缘；也可以是基于肿瘤的三维形状计算边缘点的法向量，沿着法向量向外拓展一定距离生产安全边界。上述重建上述多组三维图像数据对应获得的多个显示图像，包括基于多重平面重建技术(Multi Planar Reconstruction，MPR)重建出的三维图像中同一个切面下的相应二维图像，还包括针对每组三维图像数据进行重建后获得的多个切面下的二维图像和立体图像。对应的目标区域的分割也可以基于在显示器上通过MPR重建出的多组三维图像数据对应的其中一个显示图像进行分割处理或标记，优选分割目标区域时选择肿瘤消融治疗手术前的成像数据。
本实施例的目标区域即为用于肿瘤消融治疗的肿瘤组织。本实施例可以有效的对比显示针对肿瘤组织治疗前后的超声图像中肿瘤组织的三维体和安全边界的对应关系，本实施例的最优方案是针对肿瘤消融治疗的前后进行两次成像获得的术前和术后两组三维图像数据，进行对比显示，然后基于术前三维图像数据进行目标区域的分割处理，依据图像间的映射关系将目标区域的分割结果映射到术后图像中，相比单独在术后图像中进行目标区域的分割处理，会更加清晰明了的展现肿瘤消融治疗后的肿瘤组织的当前状况，为医护人员提供更加精确、更加可视化的对比分析数据，可以更加直观的了解肿瘤消融治疗后的生理和解剖学信息。
在本发明的其中一个实施例中，如图2所示，本实施例的映射模块120包括：
至少一个配准单元121，每一个配准单元121基于一种图像间的配准方法建立上述多组三维图像数据的空间映射关系；
映射指令接收单元122，用于在显示器的显示界面或人机交互输入设备上 提供用于择一选择或多种组合的选择上述配准单元的提示框、或按键、或指令输入框、或操作手势，以获得映射选择指令；及
映射执行单元123，用于根据上述映射选择指令调用被选中的配准单元，对上述多组三维图像数据进行配准用以图像显示。
本实施例中，如果超声造影成像在获得超声造影图像的同时可以获得基于单次发射的基波图像，即组织图像。造影图像和组织图像两者像素点是一一对应的，不需要做单独的配准操作，就可以建立两者间的映射关系。图像间的配准计算可以是基于组织图像数据、造影图像数据或者同时基于两者的组合。图像间自动配准方法主要包括两部分，即图像间的相似性度量方法和图像间的映射方法。根据映射方法不同，可以分为刚体变换(旋转和平移)、放射变换(放缩、旋转和平移)和非线性变换(对不同局部的图像建立不同的映射)。结合超声三维造影成像特点，下面给出刚体配准和仿射配准的两种实施方案，本发明在图像间的配准方法的实施方案上不限定为上述或下述某一种配准算法。
如果两组超声三维造影数据是在同一深度下采集，即采集的像素是同一尺度，图像间的配准方法可以是选为刚体变换，即包括旋转和平移。如果两次采集时深度设计不一致，则需要采用差值算法(如双线性插值、样条插值或者最近邻插值等)把两组三维图像数据放缩到同一尺度，然后按照刚体变换进行配准计算。以下结合公式举例说明部分图像间的配准方法。
基于刚体配准的图像间的相似性度量方法实现图像间的配准方法时可以采用以下步骤：
首先，引入映射矩阵A建立两组三维超声图像间的空间映射关系函数，如下述公式(1)所示。基于三维超声图像的刚体配准，可以描述为假设某组超声三维造影数据中像素点为Xi的图像亮度为f(Xi)，另一组超声三维造影数据像素点Yi的图像亮度为g(Yi)，两组超声三维造影数据间映射可表示为：
Yi＝AXi，
Figure PCTCN2015086158-appb-000001
          公式(1)
然后，基于最小绝对差值和(SAD)计算两组三维图像数据间的相似性度量函数，如下述公式(2)。
Figure PCTCN2015086158-appb-000002
                    公式(2)
上述步骤中还可以基于最小平方误差和(SSD)、最大互相关(C-C)，以及基于超声波噪声Rayleigh分布特性改进的最小绝对差值算法来计算两组三维图像数据间的相似性度量函数。同时相似性度量函数中表征亮度的函数f(Xi)，g(Yi)还可以替换为对应三维图像数据的局部梯度大小、局部灰度商等等形式。
最后，基于相似性度量函数判断计算结果与1的近似程度，从而求解出映射矩阵A，获得上述多组三维图像数据的空间映射关系。
这里提供的基于刚体配准的图像间的相似性度量方法可以是：基于刚体配准的利用像素亮度或局部梯度大小或局部灰度商的最小绝对差值和衡量两组三维图像数据间的相似性度量的自动配准方法；基于刚体配准的利用像素亮度或局部梯度大小或局部灰度商的最小平方误差和衡量两组三维图像数据间的相似性度量的自动配准方法；基于刚体配准的利用像素亮度或局部梯度大小或局部灰度商的最大互相关衡量两组三维图像数据间的相似性度量的自动配准方法；基于刚体配准的依据超声波噪声Rayleigh分布特性改进的像素亮度或局部梯度大小或局部灰度商的最小绝对差值算法衡量两组三维图像数据间的相似性度量的自动配准方法。通过本实施例的映射指令接收单元122提供的提示框、或按键、或指令输入框、或操作手势可以选择上述图像间自动配准方法中的一种或多种组合，对待处理的图像数据进行配准计算，建立图像间的空间映射关系。
除了可以采用上述图像间的自动配准算法外还可以采用结合手动选择的交互式配准方法。具体如下所述，在假设刚体配准要求下，映射矩阵A的左上角3×3矩阵为对称正交矩阵。求解两组三维图像数据间的刚体配准方法有多种，最直接方案是利用交互操作，分别在两组三维图像数据上选择4组或者4组以上的对应点对，通过最小二乘拟合方法求解最优映射矩阵A。上述交互式配准方法是最基本的配准方案，建立两个三维数据间刚体映射的手动配准方法有很多种，在此不累举，本实施例的手动配准选择的交互式配准方法也不限于此。
在本发明的其中一个实施例中，如图3所示，本实施例中的显示处理模块140包括：
至少两个显示分析单元141，上述每一个显示分析单元141基于以下一种方式在显示器的显示界面上对比显示重建上述多组三维图像数据对应获得的多个显示图像：
第一种显示方式，如图4所示，在显示器的同一显示界面1上设定多个显示区域2，每一个显示区域对应显示重建所述每组三维图像数据中对应获得的至少一个显示图像(包括基于多重平面重建技术重建出的至少一个切面下的二维图像和/或三维立体图像)，优选并排显示两组三维图像数据对应的显示图像，比如并排显示术前和术后三维图像数据对应的显示图像。这种显示方式下，还可以当其中一个或一对显示区域被选中时，则在显示界面上放大或显示该显示区域中所对应的三维图像数据的显示图像。
第二种显示方式，如图5所示，设定多个显示窗3用以分别显示每一组三维图像数据对应的多张显示图像，当其中一显示窗3’被选中则在上述显示界面上放大或显示该显示窗对应的三维图像数据的显示图像。这里的显示窗3可以最小化在显示界面的下方位置。
第三种显示方式，如图6所示，在上述同一显示界面1上设定用于同时显示多组三维图像数据的副显示区域4和用于放大显示多组三维图像数据对应的一幅或一对显示图像的主显示区域5，当上述副显示区中的一组或两组 三维图像数据的任意一幅显示图像或任意一对显示图像6被选中，则在上述主显示区域放大显示被选中的三维图像数据对应的显示图像6’。这里的同时显示多组三维图像数据可以是在副显示区域滚动显示多组三维图像数据对应的多个经过映射的显示图像。
本实施例不限于上述三种显示方式，还可以是提供用于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令，并根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据该重建切面选择指令选择出的重建切面上的二维图像，并在显示界面上显示该二维图像。例如，可以对比显示重建出的多组三维图像中同一个切面下的相应二维图像，基于此可以仅在显示界面上提供同一切面下的图像对比，而对比显示的方式也可以借鉴上述三种在显示器显示界面上的设置显示区域或显示窗或主副显示区域方式。此外，无论显示器界面上如何排列和设置显示区域以显示重建后的多组三维图像数据获得的多个显示图像，而对于在显示界面上选中的显示图像均给予标记，利用标记在显示界面上被选中的显示图像或用于显示一组三维图像数据对应的多张显示图像的显示区域，生成显示标记；依据该显示标记，将相应的被选中的显示图像或显示区域在显示器的显示界面上放大或对比/单独显示。这里的作为放大或对比单独显示的图像可以包括未进行分割之前的显示图像，也包括分割之后做了相应针对三维体结构边界和安全边界及其区域标记的显示图像。
因此，显示处理模块还在显示界面上显示根据前述任意一组三维图像数据重建获得的至少一个显示图像，并且图像标记模块还在根据前述任意一组三维图像数据重建获得的至少一个显示图像中标记前述边界或者标记位于边界内的区域，其中根据任意一组三维图像数据重建获得的至少一个显示图像与根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。
如图3所示，上述显示处理模块140还包括：
显示指令接收单元142，用于在上述显示界面1或人机交互输入设备上提 供用于选择至少一个上述显示分析单元的提示框、或按键、或指令输入框、或操作手势，以获得显示选择指令；及
显示执行单元143，用于根据上述显示选择指令调用被选中的显示分析单元。
本实施例可以基于多种显示设置为用户提供了更加多的对比显示方案，供超声图像处理系统100的用户根据需要或实际情况选择其所需的对比显示方案，使得更加直观的呈现图像处理结果。
基于上述各个实施例，为了更加直观的了解肿瘤消融治疗过程中病症区域的情况变化，如图7所示，上述系统100中还包括：辅助测量标尺单元160，用于将预设宽度的等间距网格辅助测量标尺叠加到上述显示图像中显示用作定位测量。如图8所示举例说明，在显示器的显示界面1上，并排显示两组三维图像数据对应的显示图像，在显示区域8-1用于显示术前的三维图像数据，而在显示区域8-2用于显示术后的三维图像数据，三维图像数据对应的显示图像均在显示区域8-1和8-2的位置上叠加显示等间距网格辅助测量标尺，针对术前的三维图像数据进行目标区域的分割处理后获得三维体结构边界10和安全边界9，则对应的通过映射关系获得术后的三维图像数据的三维体结构边界10和安全边界9，并对应在显示区域8-1和8-2上显示出来，通过叠加的辅助测量标尺7可以更加直观的直接了解目标区域三维体的大小及与安全边界9的距离。在本实施例中还可以在辅助测量标尺上叠加表示预设宽度的文字信息，用以直观的了解目标区域三维体的大小及与安全边界9的距离大小，为医护人员能够及时作出判断给予更加直接的判断依据。
在本发明的其中一个实施例中，为了能使辅助测量标尺实现间距可调，则辅助测量标尺单元160可以包括：
用于在显示器的显示界面或人机交互输入设备上提供用于择一选择预设宽度的提示框、或按键、或指令输入框、或操作手势以获取相应的宽度指令的单元；
用于根据宽度指令执行调节等间距网格辅助测量标尺的间距获得调整后 的等间距网格辅助测量标尺的单元；及
用于将调整后的等间距网格辅助测量标尺叠加到上述显示图像中显示用以定位测量。
在上述各个实施例中，上述图像标记模块150在上述显示图像中用彩色标示上述三维体结构边界和安全边界、和/或基于不同的彩色透明度在上述显示图像中显示位于上述三维体结构边界和安全边界内的区域。如图9所示，在具体执行相关标记操作时，上述图像标记模块150包括：
对象选择单元151，用于获取上述显示图像中三维体结构边界或上述安全边界所对应的预被标记的初始值，和/或位于上述三维体结构边界或上述安全边界内区域所对应的预被标记的初始值，该三维体结构边界或安全边界所对应的初始值可以是显示图像中边界线附近一定宽度内的所有像素值，位于上述三维体结构边界或上述安全边界内区域所对应的初始值为边界内或边界相交区域内的所有像素值；
标记色彩单元152，用于在显示器的显示界面上提供用于选择颜色的色彩提示框、或按键、或指令输入框、或操作手势，以获取色彩指令；
透明度选择单元153，用于在上述显示界面上提供选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势，以获取透明度指令；及
信息叠加单元154，用于在上述三维体结构边界或上述安全边界、和/或位于上述三维体结构边界或上述安全边界内区域所对应的预被标记的初始值叠加显示上述色彩指令和/或透明度指令中选择的颜色信息和/或透明度信息。
本实施例提供了更加多的标记执行方案，超声图像处理系统100的用户可以根据需要、根据实际情况选择其所需的标记执行方案，使得更加直观的呈现图像处理结果。
基于上述各个实施例，如图10所示，上述图像分析模块130包括：
图像分割单元131，用于对上述三维图像数据中的任意一组三维图像数据进行目标区域的分割处理，获得上述目标区域的边界；及
映射单元133，用于根据上述空间映射关系，将上述目标区域的边界映射 到已建立空间映射关系的其他组三维图像数据中。
当然，当所述边界为上述三维体结构边界和安全边界时，上述图像分析模块130还包括：安全边界产生单元132，用于沿该三维体结构边界外扩或内缩预定宽度，生成的安全边界。
图像分割单元131对上述三维图像数据中的任意一组三维图像数据进行目标区域的分割处理，获得上述目标区域的三维体结构边界；然后，安全边界产生单元132沿该三维体结构边界外扩或内缩预定宽度获得安全边界，从而映射单元133根据上述空间映射关系将上述目标区域的边界映射到已建立空间映射关系的其他组三维图像数据中。
其中，上述图像分割单元131还可以包括：
至少一个图像分割处理单元1311，上述每一个图像分割处理单元1311基于一种图像分割方法对上述三维图像数据中的任意一组三维图像数据进行目标区域的分割处理；
分割指令接收单元1312，用于在显示器的显示界面或人机交互输入设备上提供用于选择至少一个上述图像分割单元的提示框、或按键、或指令输入框、或操作手势，以获得分割选择指令；及
分割执行单元1313，用于根据上述分割选择指令调用被选中的图像分割单元。
本实施例提供了更加多的图像分割处理方案，超声图像处理系统100的用户可以根据需要根据实际情况选择其所需的图像分割处理方案，使得系统更加人性化，提高了图像处理的精确度。
本实施例中的图像分割方法可以是采用Graph Cut方法，例如通过过人工介入选择肿瘤目标区域，算法自动根据肿瘤内部灰度分布和外部灰度分布的差异进行肿瘤目标的自动分割。也可以是基于灰度分布的图像区域分割方法，该方法基于假设图像分为前景和后景，而且各部分图像灰度分别满足高斯分布，通过定义一个基于轮廓区域内部和外部的灰度分布的方差的能量泛函来求解图像中物体边缘。还可以是采用手动分割的方法，在三维数据的每一二 维层片上勾勒出肿瘤组织的边缘，基于这些二维边缘可以生成肿瘤组织的三维体和形状。本发明在此的图像分割方法不限于上述几种方式，还可以采用很多方法，本发明的重点在于为用户提供了多种图像分割处理方案的选择功能，因此不累述具体的图像分割算法。目标区域的分割环节可以在完成至少两次三维超声图像采集后进行，也可以在采集完一组三维图像数据后就进行。例如采集一组三维超声数据并分割目标，肿瘤消融介入手术后采集第二组三维超声数据并与第一组进行配准计算，基于配准映射对比显示术前与术后的三维数据以及分割结果。
基于上述针对超声图像处理系统的论述，如图11所示，本发明还提供了一种超声图像处理方法，其包括：
步骤210，获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据；
步骤220，建立上述多组三维图像数据之间的空间映射关系；
步骤230，基于上述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得上述目标区域的边界，并根据上述空间映射关系，将上述边界映射到已建立空间映射关系的其他组三维图像数据中；
步骤240，在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像；
步骤250，在上述显示图像中标记上述边界、或者位于上述边界内的区域。这里的边界可以包括三维体结构边界和/或安全边界，有关边界及其区域的理解参见上述相关说明。
在本发明的其中一个实施例中，上述方法还包括：在显示界面上显示根据上述任意一组三维图像数据重建获得的至少一个显示图像；在根据上述任意一组三维图像数据重建获得的至少一个显示图像中标记上述边界或者标记位于上述边界内的区域；其中根据上述任意一组三维图像数据重建获得的至少一个显示图像与根据上述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。例如，在显示界面上对比 显示重建上述多组三维图像数据对应获得的多个显示图像，这里的多个显示图像包括基于MPR重建出的三维图像中同一个切面下的相应二维图像，也包括重建出的三维图像中多个切面下的二维图像和/或三维立体图像。
在本发明的其中一个实施例中，上述三维图像数据为三维超声组织图像数据、三维超声造影图像数据、或同时包含超声组织图像数据和三维超声造影图像数据的三维图像数据。
在本发明的其中一个实施例中，为了提供更加多的配准计算方案使得用户可以根据需要选择相应的图像间的配准方法，本实施例的步骤220建立多组三维图像数据之间的空间映射关系的步骤可以包括：
在显示器的显示界面或人机交互输入设备上提供用于选择至少一种图像间的配准方法的提示框、或按键、或指令输入框、或操作手势，以获得映射选择指令；
根据上述映射选择指令调用被选中的图像间的配准方法，对上述多组三维图像数据进行配准，建立上述多组三维图像数据的空间映射关系。具体的图像间的配准方法参见以上有关映射模块120的相关说明，在此不累述。
在本发明的其中一个实施例中，为了提供更加多的对比显示方案使得用户可以根据需要选择相应的图像间的配准方法，本实施例的在显示器上对比显示重建上述多组三维图像数据对应获得的多个显示图像的步骤采用以下方式实现：
在显示器的显示界面或人机交互输入设备上提供用于择一选择三种显示方式的提示框、或按键、或指令输入框、或操作手势，以获得显示选择指令：这里的三种显示方式参见上述有关显示处理模块140的相关说明；根据上述显示选择指令调用被选中的显示方式。
针对上述对比显示方案的具体实施方案参见上述有关图4、图5和图6的相关说明，在此不累述。对于显示方式在此不穷举，但是本发明优选采用以下方式实现在显示界面上对比显示重建所述多组三维图像数据对应获得的多个显示图像的步骤，即在显示器的显示界面或人机交互输入设备上提供用 于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令；根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据所述重建切面选择指令选择出的重建切面上的二维图像，并在显示界面上显示所述二维图像。其中例如，依据该重建切面选择指令在显示界面上对比显示重建出的多组三维图像中同一个切面下的相应二维图像。采用此种方式可以方便用户从繁多的图像数据中提取所需要对比的相应二维图像，而减少了人为查找图像的时间。
同时，为了便于放大显示相应的图像或图像区域进行图像分割处理或者查看图像，还可以通过以下方式实现在显示界面上对比显示重建所述多组三维图像数据对应获得的多个显示图像的步骤：
标记在显示界面上被选中的显示图像或用于显示一组三维图像数据对应的多张显示图像的显示区域(参见上述有关附图4、图5和图6的相关说明，这里的显示区域包括附图中的显示区域和显示窗)，生成显示标记；
依据所述显示标记，将相应的被选中的显示图像或显示区域在显示界面上放大或显示。
在本发明的其中一个实施例中，为了更加直观的了解肿瘤消融治疗过程中病症区域的情况变化，如图12所示，本实施例的上述方法还包括步骤260：将预设宽度的等间距网格辅助测量标尺叠加到上述显示图像中显示用于定位测量。为了能使等间距网格标尺实现间距可调，则在本实施例的方法中步骤260还可以包括：在显示器的显示界面上提供用于择一选择预设宽度的提示框、或按键、或指令输入框、或操作手势，以获取相应的宽度指令；根据宽度指令执行调节等间距网格标尺的间距，获得调整后的等间距网格辅助测量标尺；将调整后的等间距网格辅助测量标尺叠加到显示界面上的显示图像中显示。本实施例中针对加入等间距网格辅助测量标尺的成像效果可以参见上述有关图7和图8的相关说明，在此不作累述。
在本发明的其中一个实施例中，在上述显示图像中执行标记的操作的方法为在上述显示图像中用彩色标示上述三维体结构边界和安全边界、和/或基 于不同的彩色透明度在上述显示图像中显示位于上述三维体结构边界和安全边界内的区域。为了提供更加多的标记执行方案使得户可以根据需要、根据实际情况选择其所需的标记执行方案，则在上述显示图像中执行标记操作的步骤包括：
获取上述显示图像中预被标记的上述三维体结构边界或上述安全边界；
在显示器的显示界面或人机交互输入设备上提供用于选择颜色的色彩提示框、或按键、或指令输入框、或操作手势，以获取色彩指令；
在上述显示界面或人机交互输入设备上提供选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势，以获取透明度指令；
在上述三维体结构边界或上述安全边界上、和/或位于上述三维体结构边界或上述安全边界内的区域所对应的预被标记的初始值上叠加显示上述色彩指令和/或透明度指令中选择的颜色信息和/或透明度信息。
在本发明的其中一个实施例中，为了提供更加多的图像分割处理方案使得用户可以根据需要根据实际情况选择其所需的图像分割处理方案，上述基于上述多组三维图像数据中的任意一组三维图像数据分割目标区域的步骤包括：
在上述显示界面或人机交互输入设备上提供用于选择至少一种图像分割方法的提示框、或按键、或指令输入框、或操作手势，以获得分割选择指令；
根据上述分割选择指令调用被选中的图像分割方法，对上述多组三维图像数据中的任意一组三维图像数据中进行目标区域的分割处理。
上述有关超声图像处理方法中的相关细化内容可以参见上述有关超声图像处理系统的相关说明，比如图像分割方法可以参见上述有关图像分割单元131的具体说明内容。
图11和12为本发明实施例的超声图像处理方法的流程示意图。应该理解的是，虽然图11和12的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，其可以以其他的顺序执行。 而且，图11和12中的至少一部分步骤可以包括多个子步骤或者多个阶段，并且根据上述文字说明在图11和12的基础上还增加有一些步骤或者阶段，而这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，其执行顺序也不必然是依次进行，而是可以与其他步骤或者其他步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的超声图像处理系统及方法的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品承载在一个非易失性计算机可读存储载体(如ROM、磁碟、光盘、服务器存储空间)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的系统结构和方法步骤。
基于上述系统架构和方法步骤，本发明为用户提供了更多人性化的服务，可以供用户自由选择图像数据处理及图像显示过程中的相应参数和设置数据，比如上述均用到了提供用于择一或多选的提示框、或按键、或指令输入框、或操作手势，以获得相应的用户操作数据，但本发明不限于仅采用这四种方式，应当理解为，本发明在超声图像处理设备上提供了这种“提供用于择一或多选的提示框、或按键、或指令输入框、或操作手势等”方式，以从系统中预先存储的相应方法中挑选用于针对图像数据进行处理的分割操作、图像配准、图像显示设置等操作数据，从而为用户提供了更加人性化和可自由操作的服务。这里的操作手势包括手动触摸显示界面做选择操作、通过滑动手势选择显示界面上罗列的备选信息等等操作，可借鉴手机触摸界面上提供给用户界面应用的体验方式。
如果将上述各个实施例所呈现的本发明的超声图像处理系统及方法应用于超声图像处理装置中，即可赋予其新的功能，使得在现有超声图像处理装置中能够具有肿瘤消融效果定量对比功能，可以有效的对比显示肿瘤消融治 疗过程中的多个三维图像数据、并在显示界面上直观的了解肿瘤消融治疗过程中病症区域的情况变化，为癌症治疗等医学过程提供更加有效的定量数据参考。具体如下所示。基于上述内容，如图13所示，本发明还提供了一种超声图像处理装置300，其包括：
存储模块301，用于存储获取的同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据及对所述三维图像数据执行操作的结果；这里的存储模块301可以是缓存、硬盘等设备；
人机交互输入设备302，用于获取对多组三维图像数据进行操控的数据，该操控数据包括导入三维图像数据的操作、输入所述目标组织分割的初始条件、和选用图像分割方法、配准方法、显示方式等的操作指令；
显示器303，用于显示根据上述多组三维图像数据重建获得的显示图像；及
处理器304，用于依据接收的所述操控数据对多组三维图像数据进行处理，并输出图像处理结果获得显示图像，在对多组三维图像数据进行处理的过程中执行以下步骤：
建立上述多组三维图像数据之间的空间映射关系，基于上述多组三维图像数据中的任意一组三维图像数据，分割目标区域，获得上述目标区域的边界，并根据上述空间映射关系，将上述边界映射到其他组三维图像数据中，根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像并将所述至少一个显示图像输出到所述显示器进行显示；在所述至少一个显示图像中标记所述目标区域的边界或者在所述至少一个显示图像中标记位于所述边界内的区域。
在本发明的其中一个实施例中，为了提供更加多的对比显示方案使得用户可以根据需要选择相应的图像间的配准方法，本实施例中，根据从上述人机交互输入设备302获得的指令，择一选择或多种组合的选择上述三种显示方式中的一种在上述显示器303上对比显示重建上述多组三维图像数据对应获得的多个显示图像，这里的三种显示方式的具体实施方案参见上述有关图 4、图5和图6的相关说明，在此不累述。
基于上述图4、图5和图6中的三种显示方式，为从大量的图像数据中筛选相应的图像数据进行对比显示和查看，本实施例优选的方案是：在显示器的显示界面或者人机交互输入设备上提供用于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令，所述处理器根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据所述重建切面选择指令选择出的重建切面上的二维图像，并在所述显示界面上显示所述二维图像。其中显示重建出的多组三维图像中可以是同一个切面下的相应二维图像。例如，在本发明的其中一个实施例中，所述处理器还执行下列步骤：
根据所述任意一组三维图像数据重建获得的至少一个显示图像并将根据所述任意一组三维图像数据重建获得的至少一个显示图像输出到显示界面上进行显示；
在根据所述任意一组三维图像数据重建获得的至少一个显示图像中标记所述边界或者标记位于所述边界内的区域；
其中根据所述任意一组三维图像数据重建获得的至少一个显示图像与根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。
基于上述图4、图5和图6中的三种显示方式，为方便查看和对比显示重要的图像，本实施例的另一个优选方案是：利用处理器标记显示器的显示界面上被选中的显示图像或用于显示一组三维图像数据对应的多张显示图像的显示区域(参见上述有关附图4、图5和图6的相关说明，这里的显示区域包括附图中的显示区域和显示窗)，生成显示标记，依据该显示标记，将相应的被选中的显示图像或显示区域在显示界面上放大或显示。
在本发明的其中一个实施例中，本实施例中，在显示上述显示图像时，将预设宽度的等间距网格图像叠加到上述显示图像中作为背景用以显示。基于此，本实施例中，上述处理器在上述显示器的显示界面或人机交互输入设 备上还提供用于择一选择等间距网格辅助测量标尺中预设宽度的提示框、或按键、或指令输入框、或操作手势，用于使得用户能在显示器界面上根据需要对等间距网格图像的间距做相应的调整，便于更加直观的了解目标区域的三维体大小及与安全边界的距离大小。
在本发明的其中一个实施例中，本实施例中，在上述显示图像中用彩色标示上述三维体结构边界和安全边界、和/或基于不同的彩色透明度在上述显示图像中显示位于上述三维体结构边界和安全边界内的区域来显示对上述显示图像执行的标记操作。
在本发明的其中一个实施例中，本实施例中，上述装置还包括通讯模块305，用于从互联网获取上述多组三维图像数据。本实施例可以实现从互联网服务器上获取更多的有关同一目标组织的三维图像数据用以对比显示，从而了解相关组织的病变情况，对疾病的研究和诊断提供更多的、更加直观的解剖学和生理学信息的对比分析。
在本发明的其中一个实施例中，本实施例中，上述处理器在上述显示器的显示界面或人机交互输入设备上提供用于择一选择辅助测量图像间的配准方法和/或图像分割方法的提示框、或按键、或指令输入框、或操作手势；和/或在上述显示器的显示界面或人机交互输入设备上提供用于选择颜色和选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势。基于本实施例，在传统的超声图像处理装置的基础上，更加人性化的提供了多重算法的选择，从而可以实现对多种算法间处理结果的对比演示，为对疾病的研究和诊断、以及超声图像的处理研究都提供了相应的技术支持。具体的图像间的配准方法、图像分割方法参见上述有关有关映射模块120和图像分割单元131的相关说明，在此不作累述。
基于上述各个实施例，本实施例中为了能够区分获取的三维图像数据是否属于同一目标组织，则上述处理器304解析获取的多组三维图像数据的标签，根据标签判断上述多组三维图像数据是否属于同一目标组织，针对同一目标组织的多组三维图像数据在上述存储模块中关联存储。该标签的内容可 以包括扫描部位名称、时间、以及能唯一确定病人身份的信息等内容，这里的能唯一确定病人身份的信息可以是身份证信息、指纹信息等。
基于上述超声图像处理装置，本发明还提供了一种超声诊断装置400，如图14所示，其包括：上述各个实施例中提到的超声图像处理装置300和用于发射和接收超声波形、解析获得目标组织的三维图像数据的图像采集模块401；
上述超声图像处理装置300包括：存储模块301，用于存储获取的同一目标组织对应的多组三维图像数据及对上述多组三维图像数据执行操作的结果，其中上述多组三维图像数据包括至少两组三维图像数据；人机交互输入设备302，用于获取对上述多组三维图像数据进行操控的数据；显示器303，用于显示根据上述多组三维图像数据重建获得的显示图像；及处理器304，用于依据接收的上述操控数据对上述多组三维图像数据进行处理，并输出图像处理结果，在对上述多组三维图像数据进行处理的过程中执行以下步骤：建立上述多组三维图像数据之间的空间映射关系；基于上述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得上述目标区域的边界，并根据上述空间映射关系，将上述目标区域的边界映射到其他组三维图像数据中；根据上述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像并将上述至少一个显示图像输出到上述显示器进行显示；在上述至少一个显示图像中标记上述目标区域的边界或者在上述至少一个显示图像中标记位于上述边界内的区域。
本实施例的超声诊断装置还可以利用处理器还用于对上述图像采集模块401获得的三维图像数据添加标签，该标签用于区分不同的目标组织的三维图像数据。这里的标签可以包括扫描部位名称、时间、以及能唯一确定病人身份的信息等内容，这里的能唯一确定病人身份的信息可以是身份证信息、指纹信息等。
上述图13和图14中提到的图像采集模块401用于发射和接收特定超声波形，并进行处理获得目标组织的图像数据。存储模块301主要用于存储采集到 的图像数据，同时还可以存储其它相关模块在运行过程中产生的数据和参数。处理器304主要用于自动或者半自动进行图像处理，例如图像配准，图像分割，坐标空间映射，图像MPR(Multi Planar Reconstruction)重建等等图像。人机交互输入设备302主要用于响应键盘、鼠标、轨迹球等硬件设备对显示出来的图像数据的操控，例如：图像描迹，目标选择，交互式配准等等。显示器303主要用于显示采集的数据以及交互式模块的操控结果。
总之，上述处理器304主要用于对图像数据进行处理，则其可以包括上述超声图像处理系统的各个功能模块和用于执行上述超声图像处理方法的各个步骤，至于上述超声图像处理装置300的各个组成部分的说明可以参见上述有关说明，在此不作累述。
基于上述超声诊断装置的结构说明在此提供一最优实施例。
如图14所示，首先是图像数据采集环节，利用图像采集模块401采集目标区域至少两组三维造影数据，比如优选利用图像采集模块401在肿瘤消融介入手术前后分两次成像获得相关的两组三维图像数据。在采集的过程中尽量利用较大的采集角度和采集范围，为后续的配准流程操作获取尽量丰富的组织结构数据信息。两组三维超声造影数据采集之间可以有一定的时间间隔，在两次采集的时间间隔内可以进行其它的扫描或者肿瘤消融手术等操作。这两次数据采集可以分别在肿瘤消融之前和肿瘤消融治疗之后。在临床应该过程中，肿瘤消融治疗结束后需要让病人在病床休息一段时间(半小时以上)，休息可以使热消融治疗过程中病人肿瘤附近产生的气体尽量消散，该气体影响超声的成像效果。两次采集时尽量保证病人体位一致，尽量保证术前与术后采集时探头位置和探头方向一致。
如图13所示，在利用上述超声图像处理装置300对上述采集环节获得的图像数据进行处理。对于单次扫描采集的图像数据给予相应的识别标签内容，基于该标签内容将这两组三维图像数据关联存储。
从存储模块301提取上述采集的针对同一目标组织的肿瘤消融介入手术前后的两组三维图像数据，基于图像间的配准方法建立两者的空间映射关系。 这里可以选用自动配准方法，即首先，引入映射矩阵A建立上述公式(1)所表示的两组三维超声图像间的空间映射关系函数，再基于最小绝对差值和(SAD)计算两组三维图像数据间的相似性度量函数，如公式(2)所表示的函数。最后基于相似性度量函数判断计算结果与1的近似程度，从而求解出映射矩阵A，获得上述多组三维图像数据的空间映射关系。
基于上述空间映射关系，在显示器上对比显示采集肿瘤消融介入手术前后获得的两组三维图像数据，显示的图像基于MPR重建技术获得肿瘤所在切面的二维图像。基于手术前获得三维图像数据进行MPR重建获得肿瘤所在切面的二维图像，并如图8所示在显示器显示界面1上的显示区域8-1显示手术前的三维图像数据对应的二维图像，基于针对手术前三维图像数据获得的二维图像，则在重建手术后三维图像数据时在同一切面下获得相应的二维图像，并显示在图8中显示区域8-2的位置，显示相应的二维图像时叠加等间距网格图像7作为背景显示。
针对显示区域8-1显示手术前的三维图像数据对应的二维图像，进行目标区域(比如肿瘤组织)的分割处理，获得肿瘤组织的三维体结构边界10，并基于该三维体结构边界10利用膨胀算法在二值图像上沿该三维体结构边界10外拓5mm的距离获得安全边界9。基于对手术前的三维图像数据进行的图像分割处理，依据上述求解的空间映射关系，将上述获得的三维体结构边界10和安全边界9映射到手术后的三维图像数据中，并在图8中的显示区域8-1和显示区域8-2分别对应显示手术前后的三维图像数据重建获得的二维图像，并在该二维图像中标记显示相对应的三维体结构边界和安全边界、或位于所述三维体结构边界和安全边界内的区域。
对于上述标记操作可以通过在显示器界面上提供的提示框进行颜色或色彩的选择，和/或进行区域透明度的选择，在显示区域8-1和显示区域8-2显示的二维图像中用彩色标示三维体结构边界10和安全边界9、和/或基于不同的彩色透明度在显示区域8-1和显示区域8-2显示的二维图像中显示位于三维体结构边界10和安全边界9内的区域。
基于上述操作即可在显示器的显示界面上同时显示手术前后的三维成像结果、及其中肿瘤组织的三维体大小及安全边界分别对应在手术前后三维成像结果中的情况，用于定量显示肿瘤微创介入治疗的效果，为医护人员判断肿瘤消融介入治疗方案是否已有效的进行了实施提供了定量判断的依据。
综上所述，本发明提供的图像处理系统、方法和装置及其诊断装置，主要可应用于对肝脏肿瘤消融治疗消融进行评估，同时本发明还可以用于子宫、前列腺等人体组织微创介入治理后的评估。本发明的图像处理系统、方法和装置及其诊断装置提出了一种对肿瘤介入消融治疗效果进行临床评估与显示的技术，可以定量对比分析肿瘤组织及安全边界与消融灶区域的相对位置关系，直观定量显现消融不足区域的大小。本发明的技术中采用三维超声造影成像技术，对肿瘤目标区域在术前和术后进行至少两次成像，获得目标区域术前和术后至少两组数据。在其中一组数据上分割提取目标区域的三维体积和形状。基于图像配准技术或者其它技术，建立两组数据间的一一对应关系。基于两组数据间的映射关系，把在其中一组数据上获得的目标区域的三维形状信息映射到另外一组数据中，多窗口(或多显示区域)对比显示目标区域状态。显示方法可以是在其中一个窗口(或显示区域)显示采用MPR(多平面重建)重建出其中一组数据的2D图像和目标区域的三维体积和形状与该2D图像的相交区域。基于两组数据的对应关系，在另一个窗口(或显示区域)显示重建出来的另一组数据中与前一窗口(或显示区域)对应的2D图像以及目标区域的三维体积和形状与2D图像的相交区域。同时基于配准建立的两组数据间的映射关系，可以把在某一个窗口(或显示区域)上进行的测量、描迹、分割等操作，映射到另外一个窗口(或显示区域)的对应位置显示，从而直观对比上述两组三维图像数据，用于对肿瘤消融介入治疗效果进行评估，可以给医护人员进行现场判断消融是否涵盖整个肿瘤组织区域提供可视化的定量数据。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于 本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (34)

  1. 一种超声图像处理系统，其特征在于，所述系统包括：
    数据接收模块，用于获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包括至少两组三维图像数据；
    图像映射模块，用于建立所述多组三维图像数据之间的空间映射关系；
    图像分析模块，用于基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述边界映射到其他组三维图像数据中；
    显示处理模块，用于在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像；及
    图像标记模块，用于在所述显示图像中标记所述边界或者在所述显示图像中标记位于所述边界内的区域。
  2. 根据权利要求1所述的超声图像处理系统，其特征在于，所述图像映射模块包括：
    至少一个配准单元，每一个配准单元基于一种图像间的配准方法建立所述多组三维图像数据之间的空间映射关系；
    映射指令接收单元，用于提供用于选择至少一个所述配准单元的提示框、或按键、或指令输入框、或操作手势，以获得映射选择指令；及
    映射执行单元，用于根据所述映射选择指令调用被选中的配准单元。
  3. 根据权利要求1所述的超声图像处理系统，其特征在于，所述显示处理模块提供用于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令，并根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据所述重建切面选择指令选择出的重建切面上的二维图像，并在显示界面上显示所述二维图像。
  4. 根据权利要求1所述的超声图像处理系统，其特征在于，所述系统还包括：
    辅助测量标尺单元，用于将预设宽度的等间距网格辅助测量标尺叠加到所述显示图像中显示用作定位测量。
  5. 根据权利要求4所述的超声图像处理系统，其特征在于，所述辅助测量标尺单元包括：
    用于提供用于择一选择预设宽度的提示框、或按键、或指令输入框、或操作手势以获取相应的宽度指令的单元；
    用于根据所述宽度指令执行调节等间距网格辅助测量标尺的间距获得调整后的等间距网格辅助测量标尺的单元；及
    用于将所述调整后的等间距网格辅助测量标尺叠加到所述显示图像中显示用作定位测量的单元。
  6. 根据权利要求1所述的超声图像处理系统，其特征在于，所述图像标记模块在所述显示图像中用彩色标识所述边界、和/或基于不同的彩色透明度在所述显示图像中显示位于所述边界内的区域。
  7. 根据权利要求6所述的超声图像处理系统，其特征在于，所述图像标记模块包括：
    对象选择单元，用于获取所述显示图像中所述边界所对应的预被标记的初始值，和/或位于所述边界内区域所对应的预被标记的初始值；
    标记色彩单元，用于提供用于选择颜色的色彩提示框、或按键、或指令输入框、或操作手势，以获取色彩指令；
    透明度选择单元，用于提供选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势，以获取透明度指令；及
    信息叠加单元，用于在所述边界、和/或位于所述边界内区域所对应的预被标记的初始值上叠加显示所述色彩指令和/或透明度指令中选择的颜色信息和/或透明度信息。
  8. 根据权利要求1所述的超声图像处理系统，其特征在于，所述图像分析模块包括：
    图像分割单元，用于对所述三维图像数据中的任意一组三维图像数据进 行目标区域的分割处理，获得所述目标区域的边界；及
    映射单元，用于根据所述空间映射关系，将所述目标区域的边界映射到已建立空间映射关系的其他组三维图像数据中。
  9. 根据权利要求8所述的超声图像处理系统，其特征在于，所述图像分割单元包括：
    至少一个图像分割处理单元，所述每一个图像分割处理单元基于一种图像分割方法对所述三维图像数据中的任意一组三维图像数据进行目标区域的分割处理；
    分割指令接收单元，用于提供用于选择至少一个所述图像分割单元的提示框、或按键、或指令输入框、或操作手势，以获得分割选择指令；及
    分割执行单元，用于根据所述分割选择指令调用被选中的图像分割单元。
  10. 根据权利要求1所述的超声图像处理系统，其特征在于，所述显示处理模块还在显示界面上显示根据所述任意一组三维图像数据重建获得的至少一个显示图像，并且所述图像标记模块还在根据所述任意一组三维图像数据重建获得的至少一个显示图像中标记所述边界或者标记位于所述边界内的区域，其中根据所述任意一组三维图像数据重建获得的至少一个显示图像与根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。
  11. 根据权利要求1至10中任意一项所述的超声图像处理系统，其特征在于：所述边界为所述目标区域的三维体结构边界和/或沿所述目标区域的三维体结构边界外扩或内缩生成的安全边界。
  12. 根据权利要求8所述的超声图像处理系统，其特征在于，所述图像分析模块还包括：安全边界产生单元，用于沿该三维体结构边界外扩或内缩预定宽度，生成安全边界。
  13. 一种超声图像处理方法，其特征在于，所述方法包括：
    获取同一目标组织对应的多组三维图像数据，所述多组三维图像数据包 括至少两组三维图像数据；
    建立所述多组三维图像数据之间的空间映射关系；
    基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述边界映射到其他组三维图像数据中；
    在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像；及
    在所述显示图像中标记所述边界或者在所述显示图像中标记位于所述边界内的区域。
  14. 根据权利要求13所述的超声图像处理方法，其特征在于，所述建立多组三维图像数据之间的空间映射关系的步骤包括：
    提供用于选择至少一种图像间的配准方法的提示框、或按键、或指令输入框、或操作手势，以获得映射选择指令；
    根据所述映射选择指令调用被选中的图像间的配准方法，建立所述多组三维图像数据的空间映射关系。
  15. 根据权利要求13所述的超声图像处理方法，其特征在于，所述在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像的步骤包括：
    提供用于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令；
    根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据所述重建切面选择指令选择出的重建切面上的二维图像，并在显示界面上显示所述二维图像。
  16. 根据权利要求13所述的超声图像处理方法，其特征在于，所述在显示界面上显示根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像的步骤包括：
    标记所述显示界面上被选中的显示图像或用于显示一组三维图像数据对 应的多张显示图像的显示区域，生成显示标记；
    依据所述显示标记，将相应的被选中的显示图像或显示区域在所述显示界面上放大或显示。
  17. 根据权利要求13所述的超声图像处理方法，其特征在于，所述方法还包括：将预设宽度的等间距网格辅助测量标尺叠加到所述显示图像中显示用作定位测量。
  18. 根据权利要求17所述的超声图像处理方法，其特征在于，所述方法还包括：
    提供用于择一选择预设宽度的提示框、或按键、或指令输入框、或操作手势，以获取相应的宽度指令；
    根据所述宽度指令执行调节等间距网格辅助测量标尺的间距，获得调整后的等间距网格辅助测量标尺；
    将所述调整后的等间距网格辅助测量标尺叠加到所述显示图像中显示用作定位测量。
  19. 根据权利要求13所述的超声图像处理方法，其特征在于，在所述显示图像中执行标记的操作的方法为在所述显示图像中用彩色标识所述边界、和/或基于不同的彩色透明度在所述显示图像中显示位于所述边界内的区域。
  20. 根据权利要求19所述的超声图像处理方法，其特征在于，在所述显示图像中执行标记操作的步骤包括：
    获取所述显示图像中所述边界所对应的预被标记的初始值，和/或位于所述边界内区域所对应的预被标记的初始值；
    提供用于选择颜色的色彩提示框、或按键、或指令输入框、或操作手势，以获取色彩指令；
    提供选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势，以获取透明度指令；
    在所述边界、和/或位于所述边界内的区域所对应的预被标记的初始值上叠加显示所述色彩指令和/或透明度指令中选择的颜色信息和/或透明度信息。
  21. 根据权利要求13所述的超声图像处理方法，其特征在于，所述基于所述多组三维图像数据中的任意一组三维图像数据分割出目标区域的步骤包括：
    提供用于选择至少一种图像分割方法的提示框、或按键、或指令输入框、或操作手势，以获得分割选择指令；
    根据所述分割选择指令调用被选中的图像分割方法，对所述多组三维图像数据中的任意一组三维图像数据中进行目标区域的分割处理。
  22. 根据权利要求13所述的超声图像处理方法，其特征在于，还包括：
    在显示界面上显示根据所述任意一组三维图像数据重建获得的至少一个显示图像；
    在根据所述任意一组三维图像数据重建获得的至少一个显示图像中标记所述边界或者标记位于所述边界内的区域；
    其中根据所述任意一组三维图像数据重建获得的至少一个显示图像与根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。
  23. 根据权利要求13至22中任意一项所述的超声图像处理系统，其特征在于：所述边界为所述目标区域的三维体结构边界和/或沿所述目标区域的三维体结构边界外扩或内缩生成的安全边界。
  24. 一种超声图像处理装置，其特征在于，所述装置包括：
    存储模块，用于存储获取的同一目标组织对应的多组三维图像数据及对所述多组三维图像数据执行操作的结果，其中所述多组三维图像数据包括至少两组三维图像数据；
    人机交互输入设备，用于获取对所述多组三维图像数据进行操控的数据；
    显示器，用于显示根据所述多组三维图像数据重建获得的显示图像；及
    处理器，用于依据接收的所述操控数据对所述多组三维图像数据进行处理，并输出图像处理结果，在对所述多组三维图像数据进行处理的过程中执行以下步骤：
    建立所述多组三维图像数据之间的空间映射关系；
    基于所述多组三维图像数据中的任意一组三维图像数据，分割出目标区域，获得所述目标区域的边界，并根据所述空间映射关系，将所述目标区域的边界映射到其他组三维图像数据中；
    根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像并将所述至少一个显示图像输出到所述显示器进行显示；
    在所述至少一个显示图像中标记所述目标区域的边界或者在所述至少一个显示图像中标记位于所述边界内的区域。
  25. 根据权利要求24所述的超声图像处理装置，其特征在于，在所述显示器的显示界面或者所述人机交互输入设备上提供用于选择至少一个重建切面的提示框、或按键、或指令输入框、或操作手势，以获得重建切面选择指令，所述处理器根据所述其他组三维图像数据中的至少一组三维图像数据重建位于依据所述重建切面选择指令选择出的重建切面上的二维图像，并在所述显示界面上显示所述二维图像。
  26. 根据权利要求24所述的超声图像处理装置，其特征在于，在显示所述显示图像时，将预设宽度的等间距网格辅助测量标尺叠加到所述显示图像中显示用作定位测量。
  27. 根据权利要求24所述的超声图像处理装置，其特征在于，在所述显示图像中用彩色标示所述边界、和/或基于不同的彩色透明度在所述显示图像中显示位于所述边界内的区域来显示对所述显示图像执行的标记操作。
  28. 根据权利要求24所述的超声图像处理装置，其特征在于，所述处理器在所述显示器的显示界面或者人机交互输入设备上提供用于选择至少一种图像间的配准方法和/或图像分割方法的提示框、或按键、或指令输入框、或操作手势；和/或在所述显示器的显示界面或者人机交互输入设备上提供用于选择颜色和选择填充区域透明度的提示框、或按键、或指令输入框、或操作手势。
  29. 根据权利要求24所述的超声图像处理装置，其特征在于，所述处理 器解析获取的多组三维图像数据的标签，根据该标签判断所述多组三维图像数据是否属于同一目标组织，针对同一目标组织的多组三维图像数据在所述存储模块中关联存储。
  30. 根据权利要求24所述的超声图像处理装置，其特征在于，所述处理器标记所述显示器的显示界面上被选中的显示图像或用于显示一组三维图像数据对应的多张显示图像的显示区域，生成显示标记，依据所述显示标记，将相应的被选中的显示图像或显示区域在所述显示界面上放大或显示。
  31. 根据权利要求24所述的超声图像处理方法，其特征在于，所述处理器还执行下列步骤：
    根据所述任意一组三维图像数据重建获得的至少一个显示图像并将根据所述任意一组三维图像数据重建获得的至少一个显示图像输出到显示界面上进行显示；
    在根据所述任意一组三维图像数据重建获得的至少一个显示图像中标记所述边界或者标记位于所述边界内的区域；
    其中根据所述任意一组三维图像数据重建获得的至少一个显示图像与根据所述其他组三维图像数据中的至少一组三维图像数据重建获得的至少一个显示图像位于相同的切面上。
  32. 根据权利要求24至33中任意一项所述的超声图像处理系统，其特征在于：所述边界为所述目标区域的三维体结构边界和/或沿所述目标区域的三维体结构边界外扩或内缩生成的安全边界。
  33. 一种超声诊断装置，其特征在于，所述装置包括：
    图像采集模块，用于发射和接收超声波形，解析获得目标组织的三维图像数据；和
    上述权利要求24至32中任意一权利要求所述的超声图像处理装置。
  34. 根据权利要求33所述的超声诊断装置，其特征在于，所述处理器还用于对所述图像采集模块获得的三维图像数据添加标签，该标签用于区分不同的目标组织的三维图像数据。
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