WO2017215528A1 - 一种三维成像方法和系统 - Google Patents

一种三维成像方法和系统 Download PDF

Info

Publication number
WO2017215528A1
WO2017215528A1 PCT/CN2017/087764 CN2017087764W WO2017215528A1 WO 2017215528 A1 WO2017215528 A1 WO 2017215528A1 CN 2017087764 W CN2017087764 W CN 2017087764W WO 2017215528 A1 WO2017215528 A1 WO 2017215528A1
Authority
WO
WIPO (PCT)
Prior art keywords
dimensional
scanned object
dimensional structure
image
initial
Prior art date
Application number
PCT/CN2017/087764
Other languages
English (en)
French (fr)
Inventor
郑永平
Original Assignee
中慧医学成像有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中慧医学成像有限公司 filed Critical 中慧医学成像有限公司
Priority to AU2017285943A priority Critical patent/AU2017285943B2/en
Priority to CA3027455A priority patent/CA3027455C/en
Priority to US16/309,107 priority patent/US10945693B2/en
Priority to JP2018564882A priority patent/JP2019517879A/ja
Priority to EP17812639.7A priority patent/EP3473182A4/en
Publication of WO2017215528A1 publication Critical patent/WO2017215528A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/466—Displaying means of special interest adapted to display 3D data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
    • A61B5/0035—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/022—Stereoscopic imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing

Definitions

  • the present invention relates to a three-dimensional imaging technique for biological objects, and in particular to an object-oriented three-dimensional imaging method and system.
  • Three-dimensional imaging of biological objects is widely used in medicine, including CT, magnetic resonance imaging and the like. Recently, the use of ultrasound imaging to achieve three-dimensional imaging has also been used more and more. For example, three-dimensional imaging of the fetus and heart has come into practical use. Ultrasound imaging of bone structures is also evolving. Compared to the heart and the fetus, the human bone surface strongly reflects the ultrasound, making it difficult to image the structure below the bone surface, and the bones of the fetus are not calcified, so the ultrasound can penetrate. Therefore, ultrasound, optical tomography, photoacoustic imaging, and other similar methods of imaging an object with a skeletal structure face this problem.
  • a three-dimensional ultrasound scan from the back can only obtain images of the surface of the spinous process bone and the transverse bone but not the entire spine bone, because the vertebral body is on the other side, thereby enabling three-dimensional imaging.
  • the effect is greatly limited.
  • other methods such as CT and MRI can also obtain the basic three-dimensional structure of the spine.
  • the present invention is directed to the problem of the existing three-dimensional imaging of ultrasound in the prior art, and proposes a three-dimensional imaging of a biological object, which can utilize the basic three-dimensional structure of the biological object on the one hand and the two-dimensional biological object on the other hand by using, for example, ultrasound technology.
  • Scanning imaging thereby proposing a three-dimensional imaging method and system for biological objects, can reduce the scanning operation required for imaging, and reduce the use of radiation imaging methods by organisms to reduce damage to living organisms.
  • a three-dimensional imaging method includes the following steps:
  • the method further includes the steps of continuously displaying the initial three-dimensional structure of the scanned object and the adjusted three-dimensional structure during the two-dimensional scanning imaging process.
  • the initial three-dimensional structure of the scanned object refers to a known representative three-dimensional anatomy of a certain part of the human body.
  • the initial three-dimensional structure of the scanned object refers to a representative three-dimensional anatomical structure corresponding to different ages and genders of the human body.
  • the initial three-dimensional structure of the scanned object is obtained by other means by the scanned object, and the other methods include pre-scanning or nuclear magnetic resonance scanning of the human body scanned object.
  • the initial three-dimensional structure of the scanned object or a portion thereof is adjusted, including spatial position, angle, size, and relative scale.
  • the initial three-dimensional structure of the scanned object or part thereof is adjusted to be deformable or non-deformable.
  • the image information for controlling the adjustment described in the step S4) includes a characteristic point, line, face, body, or a combination thereof of the scanned object or a part thereof.
  • the final three-dimensional structure diagram of the scanned object described in the step S6) further includes an indication serving as the feature for the adjustment.
  • a three-dimensional imaging system includes
  • An imaging device for acquiring a two-dimensional image of a scanned object at a determined portion
  • a spatial positioning device for acquiring spatial position and angle of each two-dimensional image of the imaging device
  • a feature extraction unit for extracting feature information in a two-dimensional image or a three-dimensional image formed by the two-dimensional image
  • a display device for displaying a two-dimensional image and a three-dimensional structure of a scanned object.
  • three-dimensional imaging can be assisted by using known approximate three-dimensional structures of the scanned object and adjustment of the two-dimensional image.
  • the method of the present invention can also be applied to other similar imaging methods, such as optical tomography, photoacoustic imaging, terahertz imaging, and the like. Since the three-dimensional imaging of the present invention adopts object orientation, only some preliminary information of the imaged object, such as a certain bone of the human body, has its approximate original shape but does not know its specific size, position and detail, and utilizes the present invention.
  • the method can continuously scan the position of the object by using two-dimensional imaging, and adjust the original shape of the object to obtain the specific size, position and detail of the object, and form an overall three-dimensional image of the object.
  • the operator can continuously see the progress of the scanning through the display, including the part that has been scanned and the unscanned part and the quality of the image, so that useful feedback information can be obtained to guide further scanning.
  • FIG. 1 is a schematic flow chart of a first embodiment of a three-dimensional imaging method of the present invention
  • FIG. 2 is a schematic diagram showing the relationship between a scanned object and a scanning range in an embodiment of the method of the present invention
  • FIG. 3 is a three-dimensional structural diagram illustrating placement of a scanned object at a position of a scanning object in an embodiment of the method of the present invention
  • Figure 4 is a cross-sectional view (a) of a three-dimensional structure diagram and an image (b) obtained by a two-dimensional ultrasonic method at the same position in the present embodiment;
  • Figure 5 is a schematic diagram illustrating the scanning of points on an object in an embodiment of the method of the present invention.
  • Figure 6 is a schematic view showing a line on a scanned object in an embodiment of the method of the present invention.
  • Figure 7 is a schematic view showing a face on a scanned object in an embodiment of the method of the present invention.
  • Figure 8 is a schematic view showing a body on a scanned object in an embodiment of the method of the present invention.
  • Figure 9 is a schematic diagram illustrating one embodiment of a three dimensional imaging system in accordance with the present invention.
  • the object-oriented three-dimensional imaging method provided by the present invention includes the following steps:
  • Step 101 determining, on the scanned object, a portion including the scanned object to be three-dimensionally scanned;
  • a scanning range 202 may be first set according to the estimated scanning object position 201, as shown in FIG. 2, 201 is an estimated scanning object position, 202 is a set scanning range, and 203 is Including an area of the scanned object; in other words, for an object requiring three-dimensional imaging, the position 201 that needs to be scanned may be estimated based on experience.
  • a scanning range 202 may be set on the human body or other organisms to cover the estimated scan.
  • the position 201 of the object, and the area 203 is an area including the scanning object, as shown in FIG. 2;
  • Step 102) Obtain an initial three-dimensional structure of an existing scanned object from a database according to the determined part of the scanned object;
  • the three-dimensional structure is extracted from the database in which the three-dimensional structure of the scan object is stored in advance as the initial three-dimensional structure 300 of the scan object, as shown in FIG. 3, in which the scan range 202 is set.
  • the initial three-dimensional structure diagram 300 of the scanned object is placed.
  • the initial three-dimensional structure of the scanned object corresponding to the three-dimensional structure diagram 300 may be pre-acquired and stored in a known representative three-dimensional anatomy of a certain part of the human body in the database, or may be pre-acquired and stored in a database.
  • the representative three-dimensional anatomical structure of the human body corresponding to different ages and genders may also be a three-dimensional anatomical structure obtained in advance by other means and stored in a database.
  • Other approaches include pre-scanning or nuclear magnetic resonance scanning of human scanned objects.
  • the three-dimensional structure of different sources should be a data structure with uniform standards.
  • 4(a) is a cross-sectional view showing a three-dimensional structure diagram of an initial related scan object read from a database in the embodiment
  • Step 103 scanning the portion including the scanned object by ultrasonic imaging technology to form a series of two-dimensional images having different spatial position and/or angle information;
  • Step 103 is to obtain two-dimensional imaging of as much information as possible by setting different directions and positions.
  • Fig. 4(b) is an image of the position obtained by two-dimensional ultrasound imaging at the same position of Fig. 4(a). Since the high frequency ultrasonic wave cannot penetrate the bone, the lower part of the bone has no image; comparing the two figures, According to the ratio of the curves obtained by the corresponding positions, the structure of the scanned object can be adjusted globally or locally.
  • Step 104) adjusting an initial three-dimensional structure of the scanned object or a part thereof according to image information about the scanned object or the scanned object part in the image; wherein the image information for controlling the adjustment includes scanning the object or a characteristic point of the part thereof , line, face, body, or a combination thereof;
  • the point on the scanned object as shown in FIG. 5 may be some feature points on the scanned object, such as feature points formed on the image by the human bone, and FIG. 5 shows the spinous process apex 50 of the spine bone (scanned object). As a feature point of the spine bone;
  • the line on the scanned object as shown in FIG. 6 may be some characteristic lines on the scanned object, for example, a straight line 60 formed on the image by the human bone, as shown in FIG. 6, the characteristic line may be a straight line or a curved line;
  • the surface on the scanned object shown in FIG. 7 may be some feature surface 70 on the scanned object, the feature surface may be a plane or a curved surface, and the feature surface 70 shown in FIG. 7 is a curved surface feature surface;
  • the body on the scanned object as shown in FIG. 8 may have some local features 80;
  • Step 105) repeating steps 103) and 104) until the initial three-dimensional structure of the entire scanned object is adjusted according to the obtained image, where the adjustment of the image can be off-line once after all the images are collected and Completed, reducing the time taken by the scanning process for the scanned object;
  • Step 106) displaying a final three-dimensional structure diagram of the adjusted scanned image in the display, the scanning
  • the final three-dimensional structure of the object also includes an indication of the features used for the adjustment.
  • Step 201) determining a scanned portion of the scanned object according to the scanned object
  • Step 202) Obtain an initial three-dimensional structure of the scanned object from the database
  • Step 203) displaying an initial three-dimensional structure and structural information for adjustment on the display, including feature points, lines, faces, and bodies;
  • Step 204) changing the spatial position of the scanning probe by displacement or (and) rotating to change the angle information of the scanning probe, scanning the determined scanning portion, and acquiring a plurality of two-dimensional images having different spatial position and angle information of the scanning object, and scanning imaging The obtained two-dimensional image is displayed on the display;
  • Step 205) adjusting an initial three-dimensional structure according to image information about a scanned object or a part of the scanned object in the image, where the adjustment includes one or more of a spatial position, an angle, a size, and a relative ratio;
  • Step 206) if the plurality of two-dimensional images acquired in step 204) have already covered the initial three-dimensional structure of the scanned object and have been adjusted correspondingly to the three-dimensional structure of the object, otherwise step 204 and step 206 are repeatedly performed;
  • Step 207) displaying a final three-dimensional structure diagram of the adjusted scanned image in the display
  • Steps 205-207) The adjustment of the image can be performed off-line once after all the images are collected, which can reduce the scanning time.
  • the adjustment in step 205 is a deformable adjustment, that is, the scanning object starts from the initial three-dimensional result, and each part can be based on the information obtained in the image scanning. Individual adjustments so that the various parts of the adjusted scanned object are not simply scaled. Deformable scaling is especially useful for spinal bone distortion.
  • a step may be added in which the three-dimensional structure of the adjusted scanned object is displayed in the display each time. The operator can continuously see the progress of the scan, including the part that has been scanned and the part that has not been scanned, and the quality of the image, so that useful feedback information can be obtained to guide further scanning.
  • the final three-dimensional structure of the object also includes an indication of the features used for the adjustment to facilitate the adjustment operation.
  • an imaging device 91 for acquiring a two-dimensional image of a scanned object at a determined portion, in the present embodiment, this imaging
  • the device may be an ultrasonic scanning imaging device; 2) a spatial positioning device 92 for acquiring the spatial position and angle of each two-dimensional image of the imaging device; when the imaging device performs multiple consecutive scanning imaging on the determined portion, the spatial positioning device 92 records The corresponding two-dimensional image formed by the lower scan imaging is used as a basis for adjusting the initial three-dimensional structure; 3) for providing an initial three-dimensional structure database 93 relating to the scanned object, where the initial three-dimensional structure database of the various scanned objects is pre-stored in 4) a feature extraction unit 94 for extracting feature information in a two-dimensional image or a three-dimensional image formed by a two-dimensional image, where the feature information may be a point, a line, a face or a body;
  • the adjustment unit 95 for acquiring a two-dimensional image of a scanned object at a determined portion
  • the object-oriented three-dimensional imaging method and system of the present invention utilizes an existing initial three-dimensional structure and a readily available two-dimensional image having different spatial positions and angles to adjust the initial three-dimensional structure to obtain three-dimensional imaging of the scanned object.
  • This kind of three-dimensional imaging the implementation process has no harm to the human body, and the adjustment of the three-dimensional structure can be processed in the background by rapidly completing the imaging of the two-dimensional image, which reduces the time of detecting the scanning, and can present the details of the rich three-dimensional image.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Computer Graphics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

一种对象导向的三维成像方法和系统，包括：在被扫描物体上确定要进行三维扫描的包含扫描对象的部位；根据所确定被扫描物体部位，取得与扫描对象对应的已有的初始三维结构（300）；对包含扫描对象的部位进行扫描，形成一系列具有空间位置和角度信息的二维图像；根据图像中有关扫描对象或扫描对象局部的图像信息，将扫描对象或其局部的初始三维结构（300）进行调整；直到遍历整个扫描对象的初始三维结构（300），根据所获得的图像进行相应的调整并在显示器中显示。该方法和系统仅需成像对象的一些初步三维信息，即可利用二维成像不断地扫描对象所在的位置，并通过调整对象的原始形状从而获取对象的具体的大小、位置及细节，并形成对象整体三维图像。

Description

一种三维成像方法和系统 技术领域
本发明涉及生物对象的三维成像技术，具体涉及一种对象导向的三维成像方法和系统。
背景技术
生物对象的三维成像在医学得到广泛应用，包括CT、核磁共振成像等。最近用超声波成像来实现三维成像也得到越来越多应用。比如，胎儿和心脏的三维成像已经进入实用。而使用超声波进行骨骼结构的成像也在不断发展中。相比心脏和胎儿，人的骨骼表面会强烈反射超声波，从而对骨表面以下的结构很难成像，而胎儿的骨头没有钙化，所以超声可以穿透。因此，对具有骨骼结构的对象进行超声、光层析成像、光声成像及其他类似方法成像，都面临这一问题。比如，在扫描人体脊柱骨时，从背上进行三维超声扫描，只能得到有关棘突骨和横突骨表面的图像而不能得到整个脊柱骨，因其椎体在另一边，从而使三维成像的效果受到很大的限制。另一方面，我们知道每一节脊柱的大概形状。而且其他方式如CT、核磁共振成像也有可以获得脊柱的基本三维结构。
技术问题
本发明针对现有技术存在的超声三维成像存在的问题，提出一种生物对象的三维成像，可以一方面利用可以获得生物对象的基本三维结构，另一方面利用诸如超声技术对生物对象进行二维扫描成像，从而提出一种生物对象的三维成像方法和系统，可降低成像所需的扫描操作，减少生物体使用有辐射的成像方法从而减低对生物体的损伤。
问题的解决方案
技术解决方案
按照本发明一个方面的一种三维成像方法，包括以下步骤：
S1)在被扫描物体上确定要进行三维扫描的包含扫描对象的部位；
S2)根据所确定被扫描物体部位取得已有的扫描对象的初始三维结构；
S3)对包含扫描对象的部位进行扫描，形成一系列具有空间位置和角度信息的二维图像；
S4)根据图像中有关扫描对象或扫描对象局部的图像信息，将扫描对象或其局部的初始三维结构进行调整；
S5)重复步骤S3)和S4)直到整个扫描对象的初始三维结构，根据所获得的图像进行了相应的调整；
S6)在显示器中显示调整过的扫描图像的最终三维结构图。
在按照本发明上述三维成像方法中，还包括在二维扫描成像过程中不断显示扫描对象的初始三维结构以及调整过的三维结构的步骤。
在按照本发明上述三维成像方法中，所述扫描对象的初始三维结构是指人体的某一部位的已知的代表性的三维解剖结构。
在按照本发明上述三维成像方法中，所述扫描对象的初始三维结构是指人体不同年龄和性别相对应的代表性的三维解剖结构。
在按照本发明上述三维成像方法中，所述扫描对象的初始三维结构是被扫描对象通过其他途径获得的，所述其他途径包括，对人体扫描对象预先进行CT或核磁共振扫描得到。
在按照本发明上述三维成像方法中，所述将扫描对象或其局部的初始三维结构进行调整，包括空间位置、角度、尺寸大小、相对比例。
在按照本发明上述三维成像方法，所述将扫描对象或其局部的初始三维结构进行调整，是可变形或不可变形的调整。
在按照本发明上述三维成像方法中，所述步骤S4)中所述的用于控制调整的图像信息包括扫描对象或其局部的有特征的点、线、面、体，或其组合。
在按照本发明上述三维成像方法中，所述步骤S6)中所述的扫描对象的最终三维结构图中还包括用作所述调整用的特征的标示。
按照本发明另一方面的一种三维成像系统，包括
用于在确定的部位上获取扫描对象二维图像的成像装置；
用于获取成像装置的每一张二维图像空间位置和角度的空间定位装置；
用于提供有关扫描对象的初始三维结构的数据库；
用于提取二维图像中或由二维图像形成的三维图像中的特征信息的特征提取单元；
用于利用所述特征信息调整扫描对象的初始三维结构的调整单元；
用于显示二维图像及扫描对象的三维结构的显示装置。
发明的有益效果
有益效果
实施本发明提供的对象导向的三维成像方法和系统，可以利用已知的有关扫描对象的大概三维结构以及二维图像的调整来辅助三维成像。本发明的方法也可以应用在其他类似的成像方法中，例如，光层析成像，光声成像，太赫兹成像等。由于本发明的三维成像采用对象导向，仅仅有成像对象的一些初步的信息，比如对象是人体的某根骨头，所以有其大概的原始形状但不知其具体的大小、位置及细节，利用本发明方法，就可以利用二维成像不断地扫描对象所在的位置，并通过调整对象的原始形状从而获取对象的具体的大小、位置及细节，并形成对象整体三维图像。在扫描过程中，操作者可以通过显示器不断看到扫描的进展情况，包括已经被扫描的部位及未被扫描的部位及图像的质量，从而可以得到有用的反馈信息来指导进一步的扫描。
对附图的简要说明
附图说明
图1是本发明三维成像方法第一实施例的流程示意图；
图2是说明在本发明方法实施例中扫描对象与扫描范围关系的示意图；
图3是说明在本发明方法实施例中，在扫描对象位置上放置扫描对象的三维结构图；
图4是在本实施例中三维结构图截面图(a)以及在同一位置通过二维超声方法获得的图像(b)；
图5是说明在本发明方法实施例中扫描对象上的点的示意图；
图6是说明在本发明方法实施例中扫描对象上的线的示意图；
图7是说明在本发明方法实施例中扫描对象上的面的示意图；
图8是说明在本发明方法实施例中扫描对象上的体的示意图；
图9是说明在本发明三维成像系统一个实施例的示意图。
发明实施例
本发明的实施方式
下面结合附图和实施例，对本发明方法和系统的特点进行进一步说明，其中，实施例仅仅是示意性而非限定性的。
实施例1
在本发明方法第一实施例中，如图1，实施本发明提供的对象导向的三维成像方法包括需要如下步骤：
步骤101)在被扫描物体上确定要进行三维扫描的包含扫描对象的部位；
在实施具体病患特定扫描对象三维成像时，可以先根据估计的扫描对象位置201，设置一个扫描范围202，如图2，201是估计的扫描对象位置，202是设定的扫描范围，203是包括扫描对象的一个区域；换言之，对需要三维成像的对象，可以先根据经验估计需要进行扫描的位置201，为此可以在人体或其他生物体上，设置一个扫描范围202，可以覆盖所估计扫描对象的位置201，而区域203是包括扫面对象的一个区域，如图2所示；
步骤102)根据所确定被扫描物体部位，从数据库中取得已有的扫描对象的初始三维结构；
在步骤101设置的扫描范围基础上，从预先保存有扫描对象的三维结构的数据库中提取三维结构作为扫描对象的初始三维结构300，如图3所示，其中，在设定的扫描范围202内，放上扫描对象的初始三维结构图300。其中，与三维结构图300对应的扫描对象的初始三维结构可以预先获取并保存在数据库中的人体的某一部位的已知的代表性的三维解剖结构，也可以是预先获取并保存在数据库中的人体不同年龄和性别相对应的代表性的三维解剖结构，还可以是预先通过其他途径获得的并保存在数据库中的三维解剖结构。其他途径包括，对人体扫描对象预先进行CT扫描或核磁共振扫描。其中，不同来源的三维结构应该是具有符合统一标准的数据结构。
图4(a)所示为在本实施例中，从数据库中读取到的初始有关扫描对象的三维结构图的一个截面图；
步骤103)通过超声成像技术，对包含扫描对象的部位进行扫描，形成一系列具有不同空间位置和/或角度信息的二维图像；
由于二维成像可以从各个角度在设定扫描范围内进行，从而可以得到有关扫描对象最多的特征信息，因为有些特征信息从一个方向成像可能不是很清楚，但从另一个方向成像看可能很明显。步骤103就是通过设定不同方向和位置获得尽可能多的信息的二维成像。
图4(b)是在图4(a)同一位置上用二维超声成像获取的该位置的图像，由于高频超声波不能穿透骨头，所以骨头的下部分结构没有图像；比较两图，可根据两者相应位置所得的曲线的比例，就可以对扫描对象的结构进行全局或局部的调整。
步骤104)根据图像中有关扫描对象或扫描对象局部的图像信息，将扫描对象或其局部的初始三维结构进行调整；其中，用于控制调整的图像信息包括扫描对象或其局部的有特征的点、线、面、体，或其组合；
如图5所示的扫描对象上的点，可以是扫描对象上的一些特征点，比如人体骨头在图像上形成的特征点，图5示出了脊柱骨(扫描对象)的棘突顶点50，作为脊柱骨的特征点；
如图6所示的扫描对象上的线，可以是扫描对象上的一些特征线，例如人体骨头在图像上形成的直线60，如图6所示，特征线可以是直线或曲线；
如图7所示的扫描对象上的面，可以是扫描对象上的一些特征面70，特征面可以是平面或曲面，图7中示出的特征面70是曲面特征面；
如图8所示的扫描对象上的体，可以具有一些局部的特征体80；
在获得有关扫描对象的特征点、线、面、体基础上，可以对扫描对象进行全局或局部的平移、旋转、缩放及其各种组合的调整，例如，同时进行平移和缩放；
步骤105)重复步骤103)和104)直到整个扫描对象的初始三维结构根据所获得的图像进行了相应的调整，此处对图像的调整，可以在所有的图像采集完之后一次性脱线进行并完成，减少扫描过程对扫描对象时间占用；
步骤106)在显示器中显示调整过的扫描图像的最终三维结构图，所述的扫描 对象的最终三维结构图中还包括用作所述调整用的特征的标示。
第二实施例
步骤201)根据扫描对象确定被扫描物的扫描部位；
步骤202)从数据库获取扫描对象的初始三维结构；
步骤203)在显示器上显示初始三维结构以及用于调整的结构信息，包括特征点、线、面、体；
步骤204)通过位移改变扫描探头的空间位置或(和)旋转改变扫描探头的角度信息，对确定的扫描部位进行扫描，获取扫描对象多个具有不同空间位置和角度信息的二维图像，扫描成像获得的二维图像显示在显示器上；
步骤205)根据图像中有关扫描对象或扫描对象局部的图像信息，对初始三维结构进行调整，所述的调整包括空间位置、角度、尺寸大小、相对比例中的一种或几种；
步骤206)如果步骤204)获取的多个二维图像已经涵盖扫描对象的初始三维结构并已对对象的三维结构进行了相应的调整，否则重复执行步骤204和步骤206；
步骤207)在显示器中显示调整过的扫描图像的最终三维结构图；
其中步骤205-207)对图像的调整可以在所有的图像采集完之后一次性脱线进行，这样可以减少扫描时间。
在另一个实施例中，对应于上述第二实施例不同的是，步骤205中的调整是可变形的调整，即扫描对象从初始三维结果开始，各个部位都能根据图像扫描中获得的信息进行单独调整，从而使得调整后的扫描对象的各个部位不是简单按比例缩放。可变形的缩放对脊柱骨畸变的情况特别有用。
在另一个实施例中，对应于上述第二实施例不同的是，在步骤205调整三维结构后，可以增加一个步骤，即每次对调整过的扫描对象的三维结构在显示器中显示。操作者可以不断看到扫描的进展情况，包括已经被扫描的部位及未被扫描的部位，及图像的质量，从而可以得到有用的反馈信息来指导进一步的扫描。
在另一个实施例中，对应于上述第二实施例不同的是，在步骤S6)中所述的扫 描对象的最终三维结构图中还包括用作所述调整用的特征的标示，以方便调整操作。
在图9示出的本发明一种三维成像系统实施例中，包括以下组成部分：1)用于在确定的部位上获取扫描对象二维图像的成像装置91，在本实施例中，这个成像装置可以是超声扫描成像装置；2)用于获取成像装置每一张二维图像空间位置和角度的空间定位装置92；在成像装置对确定部位进行连续多次的扫描成像时，空间定位装置92会记录下扫描成像形成的对应二维图像，以便作为调整初始三维结构的依据；3)用于提供有关扫描对象的初始三维结构数据库93，此处，各种扫描对象的初始三维结构数据库是预先保存在数据库中的；4)用于提取二维图像中或由二维图像形成的三维图像中的特征信息的特征提取单元94，此处的特征信息可以是点、线、面或体；5)用于利用特征信息调整扫描对象的初始三维结构的调整单元95，此处调整包括空间位置、角度、尺寸大小、相对比例中的一种或几种；6)用于显示二维图像及扫描对象的二维结构的显示装置96，在获得来自数据库的初始三维结构时显示三维结构图，在获得来自成像装置91的二维图像时显示二维图像，在调整单元95的调整后的三维结构时显示利用特征信息调整后的三维结构图。
本发明的对象导向的三维成像方法和系统，利用已有的初始三维结构和容易获得的具有不同空间位置和角度的二维图像，对初始三维结构进行调整从而得到扫描对象的三维成像。这种三维成像，实施过程对人体没有伤害，可以通过快捷完成二维图像的成像而将三维结构的调整在后台处理，减少了检测扫描的时间，且可以呈现较丰富的三维图像的细节。
以上仅仅是对本发明方法和系统进行的应当理解的是，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (10)

  1. 一种三维成像方法，其特征在于，包括以下步骤：
    S1)在被扫描物体上确定要进行三维扫描的包含扫描对象的部位；
    S2)根据所确定被扫描物体上所述部位，取得与扫描对象对应的已有的初始三维结构；
    S3)对包含扫描对象的所述部位进行扫描，形成一系列具有空间位置和角度信息的二维图像；
    S4)根据图像中有关扫描对象或扫描对象局部的图像信息，将扫描对象或其局部的初始三维结构进行调整；
    S5)重复步骤S3)和S4)直到遍历整个扫描对象的初始三维结构，根据所获得的图像进行相应的调整；
    S6)在显示器中显示调整过的扫描图像的最终三维结构图。
  2. 根据权利要求1所述三维成像方法，其特征在于，还包括在二维扫描成像过程中不断显示扫描对象的初始三维结构以及调整过的三维结构的步骤。
  3. 根据权利要求1所述三维成像方法，其特征在于，所述扫描对象的初始三维结构是指人体的某一部位的已知的代表性的三维解剖结构，所述代表性的三维解剖结构预先保存在数据库中。
  4. 根据权利要求1所述三维成像方法，其特征在于，所述扫描对象的初始三维结构是指人体不同年龄和性别相对应的代表性的三维解剖结构，不同年龄和性别的代表性的三维解剖结构预先保存在数据库中。
  5. 根据权利要求1所述三维成像方法，其特征在于，所述扫描对象的初始三维结构是被扫描对象通过其他途径获得的，所述其他途径包括，对人体扫描对象预先进行CT或核磁共振扫描得到并保存在数据库中。
  6. 根据权利要求1所述三维成像方法，其特征在于，所述将扫描对象 或其局部的初始三维结构进行调整，包括空间位置、角度、尺寸大小、相对比例。
  7. 根据权利要求1所述三维成像方法，其特征在于，所述将扫描对象或其局部的初始三维结构进行调整，是可变形或不可变形的调整。
  8. 根据权利要求1所述三维成像方法，其特征在于，所述步骤S4)中所述的用于控制调整的图像信息包括扫描对象或其局部的有特征的点、线、面、体，或其组合。
  9. 根据权利要求1所述三维成像方法，其特征在于，所述步骤S6)中所述的扫描对象的最终三维结构图中还包括用作所述调整用的特征的标示。
  10. 一种三维成像系统，其特征在于，包括
    用于在确定的部位上获取扫描对象二维图像的成像装置；
    用于获取成像装置的每一张二维图像空间位置和角度的空间定位装置；
    用于提供有关扫描对象的初始三维结构的数据库；
    用于提取二维图像中或由二维图像形成的三维图像中的特征信息的特征提取单元；
    用于利用所述特征信息调整扫描对象的初始三维结构的调整单元；
    用于显示二维图像及扫描对象的三维结构的显示装置。
PCT/CN2017/087764 2016-06-15 2017-06-09 一种三维成像方法和系统 WO2017215528A1 (zh)

Priority Applications (5)

Application Number Priority Date Filing Date Title
AU2017285943A AU2017285943B2 (en) 2016-06-15 2017-06-09 Three-dimensional imaging method and system
CA3027455A CA3027455C (en) 2016-06-15 2017-06-09 Three-dimensional imaging method and system
US16/309,107 US10945693B2 (en) 2016-06-15 2017-06-09 Three-dimensional imaging method and system
JP2018564882A JP2019517879A (ja) 2016-06-15 2017-06-09 ３次元イメージング方法及びシステム
EP17812639.7A EP3473182A4 (en) 2016-06-15 2017-06-09 THREE-DIMENSIONAL IMAGING METHOD AND SYSTEM

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610427021.0 2016-06-15
CN201610427021.0A CN107510466B (zh) 2016-06-15 2016-06-15 一种三维成像方法和系统

Publications (1)

Publication Number Publication Date
WO2017215528A1 true WO2017215528A1 (zh) 2017-12-21

Family

ID=60663920

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/087764 WO2017215528A1 (zh) 2016-06-15 2017-06-09 一种三维成像方法和系统

Country Status (7)

Country Link
US (1) US10945693B2 (zh)
EP (1) EP3473182A4 (zh)
JP (1) JP2019517879A (zh)
CN (1) CN107510466B (zh)
AU (1) AU2017285943B2 (zh)
CA (1) CA3027455C (zh)
WO (1) WO2017215528A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108694381A (zh) * 2018-05-11 2018-10-23 星络科技有限公司 对象定位方法和对象轨迹追踪方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110672549B (zh) * 2019-10-09 2022-08-09 深圳市重投华讯太赫兹科技有限公司 成像方法及装置
DE102019131693A1 (de) * 2019-11-22 2021-05-27 Carl Zeiss Microscopy Gmbh Messgerät zur untersuchung einer probe und verfahren zum bestimmen einer höhenkarte einer probe

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006082146A1 (de) * 2005-02-03 2006-08-10 Siemens Aktiengesellschaft Verfahren zur korrektur nicht reproduzierbarer geometriefehler eines röntgen-c-bogengerätes
CN101006933A (zh) * 2006-01-23 2007-08-01 西门子公司 用于显示三维对象的方法和设备
CN101442934A (zh) * 2006-05-11 2009-05-27 皇家飞利浦电子股份有限公司 使用未造影图像数据生成术中3维图像的系统和方法
CN101689298A (zh) * 2006-12-22 2010-03-31 皇家飞利浦电子股份有限公司 用于对对象成像的成像系统和成像方法
CN102342845A (zh) * 2010-07-21 2012-02-08 西门子公司 用于支架放置的两2d影像患者主动脉配准
US20130004042A1 (en) * 2011-07-01 2013-01-03 Dong Yang Methods and apparatus for scatter correction for cbct system and cone-beam image reconstruction

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6978166B2 (en) * 1994-10-07 2005-12-20 Saint Louis University System for use in displaying images of a body part
DE10210650B4 (de) * 2002-03-11 2005-04-28 Siemens Ag Verfahren zur dreidimensionalen Darstellung eines Untersuchungsbereichs eines Patienten in Form eines 3D-Rekonstruktionsbilds und medizinische Untersuchungs- und/oder Behandlungseinrichtung
US20050078861A1 (en) * 2003-10-10 2005-04-14 Usikov Daniel A. Tomographic system and method for iteratively processing two-dimensional image data for reconstructing three-dimensional image data
CN100469321C (zh) * 2005-11-28 2009-03-18 香港理工大学 三维超声波检测方法
JP5027922B2 (ja) * 2008-05-07 2012-09-19 株式会社日立製作所 超音波診断装置
US8444564B2 (en) * 2009-02-02 2013-05-21 Jointvue, Llc Noninvasive diagnostic system
CN102106741B (zh) * 2009-12-25 2013-06-05 东软飞利浦医疗设备系统有限责任公司 一种二维超声图像的三维重建方法
DE102010018872A1 (de) * 2010-04-30 2011-11-03 Siemens Aktiengesellschaft Bildgebendes Verfahren zur hervorgehobenen Darstellung von Gefäßen in einem Untersuchungsbereich eines Patienten und Medizinsystem zur Durchführung des Verfahrens
JP5525355B2 (ja) * 2010-07-12 2014-06-18 国立大学法人 東京大学 超音波診断装置
CA2819331C (en) * 2010-12-08 2021-01-12 James Couch Generating an estimate of patient radiation dose resulting from medical imaging scans
KR101805619B1 (ko) * 2011-01-25 2017-12-07 삼성전자주식회사 3차원 의료 영상으로부터 최적의 2차원 의료 영상을 자동으로 생성하는 방법 및 장치
US8879815B2 (en) * 2011-08-23 2014-11-04 Siemens Aktiengesellschaft Automatic initialization for 2D/3D registration
CN103417243B (zh) * 2012-05-24 2015-05-27 中慧医学成像有限公司 一种三维超声成像装置、系统和方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006082146A1 (de) * 2005-02-03 2006-08-10 Siemens Aktiengesellschaft Verfahren zur korrektur nicht reproduzierbarer geometriefehler eines röntgen-c-bogengerätes
CN101006933A (zh) * 2006-01-23 2007-08-01 西门子公司 用于显示三维对象的方法和设备
CN101442934A (zh) * 2006-05-11 2009-05-27 皇家飞利浦电子股份有限公司 使用未造影图像数据生成术中3维图像的系统和方法
CN101689298A (zh) * 2006-12-22 2010-03-31 皇家飞利浦电子股份有限公司 用于对对象成像的成像系统和成像方法
CN102342845A (zh) * 2010-07-21 2012-02-08 西门子公司 用于支架放置的两2d影像患者主动脉配准
US20130004042A1 (en) * 2011-07-01 2013-01-03 Dong Yang Methods and apparatus for scatter correction for cbct system and cone-beam image reconstruction

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3473182A4 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108694381A (zh) * 2018-05-11 2018-10-23 星络科技有限公司 对象定位方法和对象轨迹追踪方法

Also Published As

Publication number Publication date
CA3027455A1 (en) 2017-12-21
US10945693B2 (en) 2021-03-16
CN107510466A (zh) 2017-12-26
US20190307409A1 (en) 2019-10-10
AU2017285943B2 (en) 2020-05-07
EP3473182A4 (en) 2020-01-01
EP3473182A1 (en) 2019-04-24
JP2019517879A (ja) 2019-06-27
CA3027455C (en) 2022-01-11
AU2017285943A1 (en) 2019-01-17
CN107510466B (zh) 2022-04-12

Similar Documents

Publication Publication Date Title
CN105025803B (zh) 从多个三维视图对大对象的分割
JP5400466B2 (ja) 画像診断装置、画像診断方法
US5181513A (en) Method of acquiring ultrasound images
JP6238651B2 (ja) 超音波診断装置及び画像処理方法
US11109839B2 (en) Imaging systems and methods for positioning a 3D ultrasound volume in a desired orientation
JP5027922B2 (ja) 超音波診断装置
US20180008232A1 (en) Ultrasonic diagnostic apparatus, scan support method, and medical image processing apparatus
US10368841B2 (en) Ultrasound diagnostic apparatus
JP6118021B2 (ja) 超音波診断装置及び画像表示方法
KR101182891B1 (ko) 2차원 초음파 영상과 3차원 초음파 영상의 합성영상을 제공하는 초음파 시스템 및 방법
WO2017215528A1 (zh) 一种三维成像方法和系统
WO2014060868A1 (en) Method and apparatus for ultrasound image acquisition
US20180028157A1 (en) Ultrasonic image pickup device and image processing device
JP2008188193A (ja) 医用画像診断装置
KR101562569B1 (ko) 3차원 초음파 스캔 이미지의 합성을 포함한 3차원 초음파 진단 장치 및 방법
WO2012157406A1 (ja) 画像解析装置、プログラム、及び画像撮像装置
CN107092774B (zh) 一种提供参考信息的方法及装置
EP3449838B1 (en) Imaging method and device
JP2004016374A (ja) 医療用撮像装置
CN110934613B (zh) 超声波诊断装置及超声波诊断方法
JP2014036885A (ja) 画像診断装置、画像診断方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17812639

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018564882

Country of ref document: JP

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 3027455

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2017285943

Country of ref document: AU

Date of ref document: 20170609

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2017812639

Country of ref document: EP

Effective date: 20190115