WO2017036044A1 - 一种超声探头标定体模、超声探头标定系统及其标定方法 - Google Patents

一种超声探头标定体模、超声探头标定系统及其标定方法 Download PDF

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WO2017036044A1
WO2017036044A1 PCT/CN2015/100063 CN2015100063W WO2017036044A1 WO 2017036044 A1 WO2017036044 A1 WO 2017036044A1 CN 2015100063 W CN2015100063 W CN 2015100063W WO 2017036044 A1 WO2017036044 A1 WO 2017036044A1
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ultrasonic probe
phantom
calibration
ultrasonic
probe
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French (fr)
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温铁祥
辜嘉
谢耀钦
王磊
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device
    • A61B8/587—Calibration phantoms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe

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  • the invention relates to the field of ultrasonic image technology, in particular to an ultrasonic probe calibration phantom, a system and a calibration method thereof.
  • Ultrasound imaging has been widely used in ultrasound image guided interventional surgery and reconstruction of three-dimensional volume data.
  • ordinary two-dimensional ultrasound probes do not have peripheral positioning devices, and thus ultrasound image data cannot be directly used in surgery. Therefore, there must be a positioning device that can establish a corresponding transformation relationship with the ultrasound imaging plane.
  • Ultrasonic probe calibration is the process of determining the position sensor coordinate system fixed on the ultrasonic probe into a two-dimensional ultrasound imaging plane coordinate system transformation relationship.
  • Single-point phantom calibration is performed by multi-angle scanning imaging of a circular object (Fig. 1a) or the intersection of intersecting lines (Fig. 1b), and then segmenting the point object in the scanned image, and usually The point object is treated as the coordinate origin of the phantom object.
  • the calibration accuracy of this type of method depends on the positioning accuracy of the feature point object on the ultrasound image, and it is ensured that the ultrasound image plane just passes through the center point of the feature point object.
  • the interior of the multi-point and cross-line phantoms forms a plurality of imageable circular intersections from a plurality of intersecting lines, again requiring the ultrasound image plane to pass through the plane of the intersection.
  • a relationship between three points of collinearity or a three-point coplanar triangle is usually formed between multiple intersections (Fig. 1c), and the geometrical constraint relationship is used to solve the calibration equation.
  • the calibration idea of the two-dimensional shape phantom is similar to the multi-point phantom, which is to replace the intersection of the intersecting lines by scanning the geometric corner points of the two-dimensional plane object (Fig. 1d), and the corner points usually show higher on the scanned image.
  • the three-crossing line phantom consists of three two-two vertical intersecting lines (Fig. 1e).
  • the phantom is designed to use the coordinate system composed of three intersecting lines as the local coordinate system of the phantom, so that the ultrasonic scanning plane does not need to be Calibration of the phantom perpendicular to the ultrasound probe simplifies the scanning operation.
  • the calibration method of the phantom is to fix a slab that can be clearly imaged in ultrasound at the bottom of the sink or in the sink as the ultrasonic calibrator phantom.
  • the image formed by the phantom in the ultrasound is a straight line, so that the subsequent image features (straight line ) extraction is easier, the number of points on the line is aligned
  • the solution to the equation is very rich.
  • the N-shaped phantom consists of one or more layers of nylon threads forming an N-shaped target (Fig. 1f). When the ultrasonic plane cuts through these N-shaped targets, each N-shaped target line produces three speckle feature points on the image.
  • the ratio of the distance between the two left and right bright spots to the middle bright spot and the design constraints of the model can be used to solve the intersection of the N-shaped target and the imaging plane in the design coordinate system.
  • N-shaped phantoms have been widely used due to their simple fabrication and convenient scanning.
  • the sound field of the ultrasonic probe spreads as the depth of the scan increases, and the ultrasonic imaging surface is not an ideal geometric plane.
  • An imaging surface with a certain thickness intersects with a linear target, and the projection of the emission target on the ideal imaging plane is not comparable to a point, thereby forming a linear or even curved speckle feature point, but this spot is manually or automatically picked up.
  • There are great errors and uncertainties in the coordinates of the marker points which causes the error in the calculation of the three-dimensional coordinate reconstruction of the N-shaped target to increase, which leads to the loss of the coplanarity originally existing in this process, which leads to the decrease of the calibration accuracy.
  • the present invention provides an ultrasonic probe calibration phantom to effectively solve the problems existing in the prior art.
  • the present invention provides an ultrasonic probe calibration phantom, wherein the ultrasonic probe is provided with a concave groove at an intermediate position of the upper surface of the phantom, and a plurality of tapered holes are formed on one side thereof.
  • the present invention also provides an ultrasonic probe calibration system, comprising:
  • the ultrasonic probe is calibrated to the phantom, and is fixed in the ultrasonic water tank, and the pure water just passes the ultrasonic probe calibration phantom, and the ultrasonic probe defines a concave groove at an intermediate position of the upper surface of the phantom, a plurality of tapered holes are formed on one side;
  • An NDI puncture probe is fixedly inserted into the tapered hole, and the tip of the NDI puncture probe can be obtained by an ultrasound image.
  • the ultrasound probe calibration phantom uses a material that is ultrasonically permeable.
  • the ultrasound probe calibration phantom uses plexiglass.
  • the present invention also provides an ultrasonic probe calibration method, comprising the following steps:
  • the ultrasonic probe calibration phantom Fixing the ultrasonic probe calibration phantom in the ultrasonic water tank, and causing the pure water in the ultrasonic water tank to just immerse into the ultrasonic probe calibration phantom, the ultrasonic probe calibration phantom a concave groove is formed in an intermediate position of the upper surface, and a plurality of tapered holes are formed on one side of the upper surface;
  • Position information of the tip and the positioning and tracking device in the world coordinate system is simultaneously acquired by the NDI puncture probe, and is respectively recorded as y i and T S ⁇ W ;
  • the image registration algorithm based on iterative nearest neighbors is used to solve the transformation matrix T P ⁇ S , which can simultaneously acquire spatial calibration and time calibration.
  • the method further includes the steps of:
  • Each point ix ⁇ X of the X set is transformed by the current transformation matrix Tk, and then the point closest to T k (x i ) is found in the Y set, and this point is marked as the corresponding point at the kth iteration
  • the result of this step is a collection of corresponding pairs of points ( );
  • the ultrasound probe calibration phantom uses a material that is ultrasonically permeable.
  • the ultrasound probe calibration phantom uses plexiglass.
  • the ultrasonic probe calibration phantom provided by the invention has a concave groove at a middle position of the upper surface, and a plurality of tapered holes are formed on a side surface thereof. Due to the structure of the ultrasonic probe to calibrate the phantom, the two-dimensional ultrasonic probe can be fixed at The ultrasonic probe is calibrated on the phantom, thus avoiding the hand-held The unexpected jitter error greatly improves the practicability of the calibration system.
  • the ultrasonic probe calibration system provided by the present invention has a concave groove in the middle of the upper surface of the calibration phantom of the ultrasonic probe, and a plurality of tapered holes are formed in a side surface thereof, and the concave groove is fixedly connected with two-dimensional ultrasound a probe in which a 5NDI puncture probe is inserted, and a tip of the NDI puncture probe can be obtained by an ultrasonic image.
  • the present invention adopts the ultrasonic probe calibration system of the above structure, and the neutral plane of the ultrasonic plane can be along The gap in the middle is just above the neutral surface of the ultrasonic probe to calibrate the phantom, so that the neutral plane of the ultrasonic plane is just the tip of the NDI puncture probe, which solves the "point" phantom and the two-dimensional "face".
  • the problem that the phantom and the ultrasound plane cannot be aligned.
  • the ultrasonic probe calibration method provided by the invention adopts an image registration algorithm based on iterative nearest neighbor points: i) can automatically find two point sets (the ultrasonic probes mark the feature points on the phantom and the corresponding feature points on the ultrasonic imaging plane) Correspondence between the two, so there is no need to synchronize the time between the two sets of points; ii) the number of sets between the two sets of points is not required to be equal; iii) once the transformation matrix is solved, the calibration can be solved inversely The delay between the image data and the positioning data in the system, therefore, the above algorithm well solves the problem of spatial calibration and time calibration of the ultrasonic probe.
  • FIG. 1( a ) is a schematic structural view of a point phantom of a calibration phantom of an ultrasonic probe provided by the prior art
  • FIG. 1(b) is a schematic structural view of a single cross-line phantom of an ultrasonic probe calibration phantom provided by the prior art
  • FIG. 1(c) is a schematic structural view of a multi-crossing line phantom of an ultrasonic probe calibration phantom provided by the prior art
  • FIG. 1(d) is a schematic structural view of a two-dimensional shape phantom of an ultrasonic probe calibration phantom provided by the prior art
  • FIG. 1(e) is a schematic structural view of a three-crossing line phantom of an ultrasonic probe calibration phantom provided by the prior art
  • FIG. 1(f) is a schematic structural view of an N-shaped phantom of a calibration phantom of an ultrasonic probe provided by the prior art
  • FIG. 2 is a schematic structural diagram of a calibration phantom of an ultrasonic probe according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an ultrasonic probe calibration system according to an embodiment of the present invention.
  • FIG. 5 is an image of an NDI puncture probe on an ultrasound probe according to an embodiment of the present invention.
  • an embodiment of the present invention provides an ultrasonic probe calibration phantom 100.
  • the upper surface of the upper surface is provided with a concave groove 110, and a plurality of tapered holes (not shown) are formed on one side of the surface.
  • the ultrasonic probe calibration phantom 100 uses a material with good ultrasonic permeability; in particular, the ultrasonic probe calibration phantom 100 uses plexiglass.
  • the ultrasonic probe calibration phantom 100 provided by the present invention has a concave groove 110 at an intermediate position of the upper surface, and a plurality of tapered holes are formed on a side surface thereof.
  • the two-dimensional ultrasonic probe is calibrated by the ultrasonic probe to calibrate the phantom. It can be fixed on the calibration phantom of the ultrasonic probe, thus avoiding the unexpected jitter error caused by hand-held, etc., greatly improving the practicability of the calibration system.
  • an embodiment of the present invention provides an ultrasonic probe calibration system, including: an ultrasonic water tank 210, an ultrasonic probe calibration phantom 100, a two-dimensional ultrasonic probe 220, and an NDI puncture probe 230.
  • the ultrasonic water tank 210 is filled with pure water; the ultrasonic probe is calibrated to the phantom 100, and is fixed in the ultrasonic water tank 210, and the pure water just has not passed the ultrasonic probe calibration phantom 100;
  • the ultrasonic probe 220 is fixed in the concave groove 110, and the two-dimensional ultrasonic probe 220 is further fixed with a positioning and tracking device (not shown); the NDI puncture probe 230 is fixedly inserted into the tapered hole.
  • the tip of the NDI puncture probe 230 can be acquired by an ultrasound image.
  • the invention adopts the ultrasonic probe calibration system 200 of the above structure, so that the neutral plane of the ultrasonic plane along the middle gap just passes the neutral plane of the ultrasonic probe calibration phantom, so that the neutral plane of the ultrasonic plane adopts the NDI puncture probe.
  • the tip of the blade solves the problem that the "point type” phantom and the two-dimensional "face” phantom are not aligned with the ultrasonic plane.
  • FIG. 4 is a flow chart of steps of an ultrasonic probe calibration method according to an embodiment of the present invention, including the following steps:
  • Step S310 Fixing the ultrasonic probe calibration phantom in the ultrasonic water tank, and making the pure water in the ultrasonic water tank just immersed in the ultrasonic probe calibration phantom;
  • Step S320 Fixing the two-dimensional ultrasonic probe in the concave slot, and positioning the tracking device in the two-dimensional ultrasonic probe;
  • Step S330 inserting the NDI puncture probe into the tapered hole, and acquiring the tip of the NDI puncture probe through an ultrasonic image; it can be understood that the acquired tip image should theoretically be the other side of the gap The intersection of the walls, but because the actual ultrasonic plane has a certain thickness, there is a very small error, which can be obtained as the small circle A in the circle in Fig. 5.
  • the imaging effect shows that the image quality of the tip of the NDI puncture probe is very good. Meet the accuracy requirements of manual and automatic segmentation.
  • Step S340 The position information of the tip and the positioning and tracking device in the world coordinate system are simultaneously acquired by the NDI puncture probe, and are respectively recorded as y i and T S ⁇ W ;
  • the ultrasound imaging plane coordinate system P to the transformation matrix of the ultrasound probe positioning device coordinate system S; it can be understood that in space x i and y i are different representations of the same point in two different coordinate system representations;
  • Step S360 Solving the transformation matrix T P ⁇ S by using an image registration algorithm based on the nearest neighbor point of the iteration, and simultaneously obtaining spatial calibration and time calibration.
  • the present invention adopts an image registration algorithm based on Iterative Closest Point (ICP) to solve the transformation matrix, and can simultaneously solve spatial calibration and time calibration, which can greatly improve the accuracy of calibration.
  • ICP Iterative Closest Point
  • the method further includes the following steps:
  • Step S380 constructing the following formula based on the image registration algorithm of the nearest neighbor point, and iteratively solving the following formula can be regarded as a process of iteratively minimizing the following two equations.
  • Step S390 transform each point x i ⁇ X of the X set by the current transformation matrix T k , and then find the point closest to T k (x i ) in the Y set, and mark this point as the kth iteration Corresponding point
  • the result of this step is a collection of corresponding pairs of points ( );
  • the ultrasonic probe calibration method provided by the invention adopts an image registration algorithm based on iterative nearest neighbor points: i) can automatically find two point sets (the ultrasonic probes mark the feature points on the phantom and the corresponding feature points on the ultrasonic imaging plane) Correspondence between the two, so there is no need to synchronize the time between the two sets of points; ii) the number of sets between the two sets of points is not required to be equal; iii) once the transformation matrix is solved, the calibration can be solved inversely The delay between the image data and the positioning data in the system, therefore, the above algorithm well solves the problem of spatial calibration and time calibration of the ultrasonic probe.

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Abstract

一种超声探头标定系统和方法，该系统包括超声探头标定体模（100），该超声探头标定体模（100）的上表面的中间位置开设有凹形槽（110），其侧面开设有若干锥形孔，所述凹形槽（110）内固定连接有二维超声探头（220），所述锥形孔中插入有NDI穿刺探针（230），通过超声图像可以获取所述NDI穿刺探针（230）的尖端，采用上述结构的超声探头标定系统可以让超声平面的中性面沿着中间的缝隙正好过超声探头标定体模（100）的中性面，使得超声平面的中性面正好采用NDI穿刺探针（230）的尖端，很好的解决了"点型"体模和二维"面型"体模与超声平面不能对准的问题。

Description

一种超声探头标定体模、超声探头标定系统及其标定方法 技术领域
本发明涉及超声图像技术领域，尤其涉及一种超声探头标定体模、系统及其标定方法。
背景技术
超声成像已经广泛应用于超声图像引导的介入手术、三维体数据的重建中。但是，普通二维超声探头没有外围定位设备，进而超声图像数据不能直接用于手术中。因此，必须有一种定位装置能和超声成像平面建立一种对应的变换关系。而超声探头标定就是确定固定在超声探头上的位置传感器坐标系转换为二维超声成像平面坐标系变换关系的过程。
在超声探头的标定算法中，标定模型的设计和制作至关重要。模型设计的好坏直接影响到标定操作是否简易、标定特征点成像是否清晰、特征点提取是否方便以及后续的标定求解是否精确。经典的超声探头标定模型可分为两类：基于体模(Phantom-based)的标定模型和基于定位探针(Stylus-based)的标定模型。
单点体模标定是通过对一个圆形的物体(如图1a)或交叉线的交点(如图1b)进行多角度的扫描成像，然后在扫描图像中分割出该点物体，并通常将该点物体看作该体模对象的坐标原点进行求解。这一类方法的标定精度依赖于超声图像上对特征点物体的定位精度，要确保超声图像平面刚好经过特征点物体的中心点。多点和交叉线体模的内部由多个交叉线形成多个可成像的圆形交点，同样要求超声图像平面通过交点所在平面。多个交点之间通常形成三点共线或三点共面三角形的关系(如图1c)，并利用这些几何约束关系求解标定方程。二维形状体模的标定思想类似于多点体模，它是通过扫描二维平面物体的几何角点代替交叉线的交点(如图1d)，在扫描图像上角点通常都表现出更高的亮度值。三交叉线体模由三个两两垂直的交叉线组成(如图1e)，该体模的设计初衷是将三交叉线组成的坐标系统作为体模的局部坐标系统，使得超声扫描平面不需要垂直于超声探头标定体模，可相对简化扫描操作。
面体模的标定方法以在水槽底部或在水槽中固定一个可在超声中清晰成像的平板作为超声探头标定体模，体模在超声中所成的像为一条直线，使得后续的图像特征(直线)提取更加容易，直线上的点个数对标 定方程的求解是非常丰富的。N形体模由一层或多层尼龙线组成N形目标(如图1f)，当超声平面切过这些N形目标时，每个N形靶线在图像上产生3个亮斑特征点。手动识别和拾取三个亮斑的坐标后，通过左右2个亮斑到中间亮斑的距离之比，并结合模型的设计约束，可以求解出N形目标与成像平面交点在设计坐标系中的三维坐标值。
近年来，N形体模由于其制作简单，扫描方便快捷，因此得到广泛应用。然而超声探头的声场随着扫描深度增加而扩散，超声成像面并非理想的几何平面。有一定厚度的成像面与线形目标相交，发射目标在理想成像平面上的投影比不上一个点，从而形成线状甚至弧形的亮斑特征点，但是，这一的光斑在手工或者自动拾取标志点坐标时存在很大的误差和不确定性，引起N形目标三维坐标重建计算中的误差增大，导致这个过程中原本存在的共面性丢失，进而引起标定精度的下降。
发明内容
基于此，本发明提供一种超声探头标定体模，以有效解决现有技术存在的问题。
一方面本发明提供了一种超声探头标定体模，所述超声探头标定体模的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔。
另一方面本发明还提供了一种超声探头标定系统，包括：
超声水槽，其内盛放有纯净水；
超声探头标定体模，固定于所述超声水槽内，且所述纯净水刚好没过所述超声探头标定体模，所述超声探头标定体模的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔；
二维超声探头，固定于所述凹形槽内，所述二维超声探头中还固定有定位跟踪装置；以及
NDI穿刺探针，固定插入所述锥形孔中，通过超声图像可以获取所述NDI穿刺探针的尖端。
在一些实施例中，所述超声探头标定体模采用超声波通透性好的材料。
在一些实施例中，所述超声探头标定体模采用有机玻璃。
再一方面，本发明还提供了一种超声探头标定方法，包括下述步骤：
将所述超声探头标定体模固定于所述超声水槽中，且使所述超声水槽中的纯净水刚好没入所述超声探头标定体模，所述超声探头标定体模 的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔；
将所述二维超声探头固定于所述凹形槽中，所述二维超声探头中还固定有定位跟踪装置；
将所述NDI穿刺探针插入所述锥形孔中，并通过超声图像获取所述NDI穿刺探针的尖端；
通过所述NDI穿刺探针同时获取所述尖端和所述定位跟踪装置在世界坐标系的位置信息，并分别记为yi及TS→W；
记录所述尖端在所述超声图像平面上的像素位置信息，记为xi，且yi＝TS→W·TP→S·xi，其中，TP→S为待求的超声成像平面坐标系P到超声探头定位装置坐标系S的变换矩阵；
采用基于迭代最邻近点的图像配准算法求解变换矩阵TP→S，可同步获取空间标定和时间标定。
在一些实施例中，还包括下述步骤：
变换所述NDI穿刺探针在所述超声探头标定体模中的位置，获取一些列所述尖端位置的点集对，记为Y＝{yi,i∈m}和X＝{xi,i∈n}，其中m≠n，m，n为自然数；
基于迭代最邻近点的图像配准算法，构建下述公式，并对下述公式迭代地求解过程可看作对如下两个方程进行迭代地进行最小化的过程，
Figure PCTCN2015100063-appb-000001
通过当前变换矩阵Tk将X集合的每一点ix∈X进行变换，再在Y集合中寻找离Tk(xi)最近的点，并将这一点标记为在第k次迭代的对应点
Figure PCTCN2015100063-appb-000002
这一步的结果为一组对应点对的集合(
Figure PCTCN2015100063-appb-000003
)；
反复进行上述操作，寻找一个变换矩阵T使得Y＝{yi,i∈m}和X＝{xi,i∈n}，这两个点集对齐。
在一些实施例中，所述超声探头标定体模采用超声波通透性好的材料。
在一些实施例中，所述超声探头标定体模采用有机玻璃。
本发明采用上述技术方案具有下述有益效果：
本发明提供的超声探头标定体模，在上表面的中间位置开设有凹形槽，其侧面开设有若干锥形孔，由于该超声探头标定体模的这种结构使得二维超声探头可以固定在超声探头标定体模上，这样避免了手持等造 成的意外抖动误差，极大的提高了标定系统的实用性。
本发明提供的超声探头标定系统，在所述超声探头标定体模的上表面的中间位置开设有凹形槽，其侧面开设有若干锥形孔，所述凹形槽内固定连接有二维超声探头，所述锥形孔中插入有5NDI穿刺探针，通过超声图像可以获取所述NDI穿刺探针的尖端，本发明采用上述结构的超声探头标定系统，可以让超声平面的中性面沿着中间的缝隙正好过超声探头标定体模的中性面，使得超声平面的中性面正好采用NDI穿刺探针的尖端，这样很好的解决了“点型”体模和二维“面型”体模与超声平面不能对准的问题。
本发明提供的超声探头标定方法，采用基于迭代最邻近点的图像配准算法：i)能自动找到两个点集(超声探头标定体模上的特征点和超声成像平面上对应的特征点)之间的对应关系，因此并不需要两个点集之间在时间上的同步；ii)不需要两个点集之间集合个数相等；iii)一旦变换矩阵求解获得，可逆向求解出标定系统中图像数据和定位数据之间的延时，因此，上述算法很好的解决了超声探头空间标定和时间标定的问题。
附图说明
图1中(a)为现有技术提供的超声探头标定体模的点体模的结构示意图；
图1中(b)为现有技术提供的超声探头标定体模的单交叉线体模的结构示意图；
图1中(c)为现有技术提供的超声探头标定体模的多交叉线体模的结构示意图；
图1中(d)为现有技术提供的超声探头标定体模的二维形状体模的结构示意图；
图1中(e)为现有技术提供的超声探头标定体模的三交叉线体模的结构示意图；
图1中(f)为现有技术提供的超声探头标定体模的N形体模的结构示意图；
图2为本发明实施例提供的超声探头标定体模的结构示意图；
图3为本发明实施例提供的超声探头标定系统的结构示意图；
图4为本发明实施例提供的超声探头标定方法的步骤流程图；
图5为本发明实施例提供的NDI穿刺探针在超声探头上的成像。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。
附图中给出了本发明的较佳实施方式。以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
请参阅图2，本发明实施例提供一种超声探头标定体模100，其上表面的中间位置开设有凹形槽110，其一侧面上开设有若干锥形孔(图未示)。
可以理解，所述超声探头标定体模100采用超声波通透性好的材料；特别地，所述超声探头标定体模100采用有机玻璃。
本发明提供的超声探头标定体模100，由于在上表面的中间位置开设有凹形槽110，其侧面开设有若干锥形孔，由于该超声探头标定体模的这种结构使得二维超声探头可以固定在超声探头标定体模上，这样避免了手持等造成的意外抖动误差，极大的提高了标定系统的实用性。
请参阅图3，本发明实施例提供一种超声探头标定系统，包括：超声水槽210、超声探头标定体模100、二维超声探头220以及NDI穿刺探针230。
其中，超声水槽210，其内盛放有纯净水；超声探头标定体模100，固定于所述超声水槽210内，且所述纯净水刚好没过所述超声探头标定体模100；所述二维超声探头220，固定于所述凹形槽110内，5所述二维超声探头220中还固定有定位跟踪装置(图未示)；NDI穿刺探针230，固定插入所述锥形孔中，通过超声图像可以获取所述NDI穿刺探针230的尖端。
本发明采用上述结构的超声探头标定系统200，可以让超声平面的中性面沿着中间的缝隙正好过超声探头标定体模的中性面，使得超声平面的中性面正好采用NDI穿刺探针的尖端，这样很好的解决了“点型”体模和二维“面型”体模与超声平面不能对准的问题。
请参阅图4，为本发明实施例提供的超声探头标定方法的步骤流程图，包括下述步骤：
步骤S310：将所述超声探头标定体模固定于所述超声水槽中，且使所述超声水槽中的纯净水刚好没入所述超声探头标定体模；
步骤S320：将所述二维超声探头固定于所述凹形槽中，所述二维超声探头中还固定有定位跟踪装置；
步骤S330：将所述NDI穿刺探针插入所述锥形孔中，并通过超声图像获取所述NDI穿刺探针的尖端；可以理解，获取的尖端图像理论上说应该是与缝隙中另一侧壁的交点，但由于实际超声平面具有一定的厚度，存在一个非常小的误差，可得如图5中圈内小圆点A，成像效果表明NDI穿刺探针尖端特征点成像质量非常好，可以满足手动好自动分割的精度要求。
步骤S340：通过所述NDI穿刺探针同时获取所述尖端和所述定位跟踪装置在世界坐标系的位置信息，并分别记为yi及TS→W；
步骤S350：记录所述尖端在所述超声图像平面上的像素位置信息，记为xi，且yi＝TS→W·TP→S·xi，其中，TP→S为待求的超声成像平面坐标系P到超声探头定位装置坐标系S的变换矩阵；可以理解，在空间上xi和yi是同一点在两个不同坐标系统表示下的不同表示；
步骤S360：采用基于迭代最邻近点的图像配准算法求解变换矩阵TP→S，可同步获取空间标定和时间标定。
可以理解，本发明采用基于迭代最邻近点(Iterative Closest Point,ICP)的图像配准算法来对待求解变换矩阵进行求解，可同时解决空间标定和时间标定，能极大的提高了标定的精准度。
在另一实施例中，还包括下述步骤：
步骤S370：变换所述NDI穿刺探针在所述超声探头标定体模中的位置，获取一些列所述尖端位置的点集对，记为Y＝{yi,i∈m}和X＝{xi,i∈n}，其中m≠n，m，n为自然数；
步骤S380：基于迭代最邻近点的图像配准算法，构建下述公式，并对下述公式迭代地求解过程可看作对如下两个方程进行迭代地进行最小化的过程，
Figure PCTCN2015100063-appb-000004
可以理解，ICP算法的一个最显著特点是：它不要求点集X和Y中的点是完全一一对应的。反之，如果这两个点集对应的变换矩阵T是已 知的，那么可用ICP确定两个点集间的一一对应关系。在数学上，ICP算法的求解过程可看作对上述两个方程进行迭代地进行最小化的过程。
步骤S390：通过当前变换矩阵Tk将X集合的每一点xi∈X进行变换，再在Y集合中寻找离Tk(xi)最近的点，并将这一点标记为在第k次迭代的对应点
Figure PCTCN2015100063-appb-000005
这一步的结果为一组对应点对的集合(
Figure PCTCN2015100063-appb-000006
)；
步骤S410：反复进行上述操作，寻找一个变换矩阵T使得Y＝{yi,i∈m}和X＝{xi,i∈n}，这两个点集对齐。
本发明提供的超声探头标定方法，采用基于迭代最邻近点的图像配准算法：i)能自动找到两个点集(超声探头标定体模上的特征点和超声成像平面上对应的特征点)之间的对应关系，因此并不需要两个点集之间在时间上的同步；ii)不需要两个点集之间集合个数相等；iii)一旦变换矩阵求解获得，可逆向求解出标定系统中图像数据和定位数据之间的延时，因此，上述算法很好的解决了超声探头空间标定和时间标定的问题。
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 (7)

  1. 一种超声探头标定体模，其特征在于，所述超声探头标定体模的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔。
  2. 一种超声探头标定系统，其特征在于，包括：
    超声水槽，其内盛放有纯净水；
    超声探头标定体模，固定于所述超声水槽内，且所述纯净水刚好没过所述超声探头标定体模，所述超声探头标定体模的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔；
    二维超声探头，固定于所述凹形槽内，所述二维超声探头中还固定有定位跟踪装置；以及
    NDI穿刺探针，固定插入所述锥形孔中，以通过超声图像获取所述NDI穿刺探针的尖端。
  3. 如权利要求2所述的超声探针标定系统，其特征在于，所述超声探头标定体模采用有机玻璃制成。
  4. 一种超声探头标定方法，其特征在于，包括下述步骤：
    将所述超声探头标定体模固定于所述超声水槽中，且使所述超声水槽中的纯净水刚好没入所述超声探头标定体模，所述超声探头标定体模的上表面的中间位置开设有凹形槽，其一侧面上开设有若干锥形孔；
    将所述二维超声探头固定于所述凹形槽中，所述二维超声探头中还固定有定位跟踪装置；
    将NDI穿刺探针插入所述锥形孔中，并通过超声图像获取所述NDI穿刺探针的尖端；
    通过所述NDI穿刺探针同时获取所述尖端和所述定位跟踪装置在世界坐标系的位置信息，并分别记为yi及TS→W；
    记录所述尖端在所述超声图像平面上的像素位置信息，记为xi，且yi＝TS→W·TP→S·xi，其中，TP→S为待求的超声成像平面坐标系P到超声探头定位装置坐标系S的变换矩阵；
    采用基于迭代最邻近点的图像配准算法求解变换矩阵TP→S，以同步获取空间标定和时间标定。
  5. 如权利要求4所述的超声探头标定方法，其特征在于，还包括下述步骤：
    变换所述NDI穿刺探针在所述超声探头标定体模中的位置，获取至 少六个所述尖端位置的点集对，记为Y＝{yi,i∈m}和X＝{xi,i∈n}，其中m≠n，m，n为自然数；
    求解最优变换矩阵T，使得点集对Y＝{yi,i∈m}和X＝{xi,i∈n}对齐。
  6. 如权利要求4所述的超声探头标定方法，其特征在于，所述求解最优变换矩阵T，使得点集对Y＝{yi,i∈m}和X＝{xi,i∈n}对齐包括：
    步骤一：利用公式(1)，通过变换矩阵Tk将X集合的每一点xi∈X进行变换，再在Y集合中寻找离Tk(xi)最近的点，并将这一点标记为在第k次迭代的对应点
    Figure PCTCN2015100063-appb-100001
    得到一组对应点对的集合
    Figure PCTCN2015100063-appb-100002
    Figure PCTCN2015100063-appb-100003
    步骤二：根据集合
    Figure PCTCN2015100063-appb-100004
    利用公式(2)求解变换矩阵T，得到描述点集对Y＝{yi,i∈m}和X＝{xi,i∈n}直接的变换关系：
    Figure PCTCN2015100063-appb-100005
    迭代执行上述步骤一和步骤二，求解得到最优变换矩阵T，使得点集对Y＝{yi,i∈m}和X＝{xi,i∈n}对齐。
  7. 如权利要求4-6中任意一项所述的超声探针标定方法，其特征在于，所述超声探头标定体模采用有机玻璃制成。
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