WO2020093299A1 - 一种超声成像方法、超声成像设备及存储介质 - Google Patents

一种超声成像方法、超声成像设备及存储介质 Download PDF

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Publication number
WO2020093299A1
WO2020093299A1 PCT/CN2018/114492 CN2018114492W WO2020093299A1 WO 2020093299 A1 WO2020093299 A1 WO 2020093299A1 CN 2018114492 W CN2018114492 W CN 2018114492W WO 2020093299 A1 WO2020093299 A1 WO 2020093299A1
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WIPO (PCT)
Prior art keywords
orientation information
coordinate system
ultrasound
information
tissue
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Ceased
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PCT/CN2018/114492
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English (en)
French (fr)
Inventor
丛龙飞
王勃
安兴
刘羽西
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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Application filed by Shenzhen Mindray Bio Medical Electronics Co Ltd, Shenzhen Mindray Scientific Co Ltd filed Critical Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority to CN201880097451.8A priority Critical patent/CN112672692B/zh
Priority to PCT/CN2018/114492 priority patent/WO2020093299A1/zh
Publication of WO2020093299A1 publication Critical patent/WO2020093299A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • the embodiments of the present invention relate to the technical field of image processing, and in particular, to an ultrasound imaging method, an ultrasound imaging device, and a storage medium.
  • the doctor Before heart valve replacement surgery or radiological interventional therapy, the doctor needs to know the position of the target tissue relative to the human body, that is, the position of the patient's heart, and the position of the heart valve and valve orifice relative to the human body, to select the surgical incision position.
  • digital subtraction angiography Digital Subtraction Angiograpahy, DSA
  • digital direct imaging system Digital Radiography, DR
  • the doctor then roughly estimates the target tissue relative to the human body based on the projected image Directional position.
  • ultrasound can also be used to image the heart, and the doctor can roughly estimate the position of the target tissue relative to the human body according to the direction of the probe.
  • the embodiments of the present invention are expected to provide an ultrasound imaging method, an ultrasound imaging device, and a storage medium, which can display the tissue orientation information of the target tissue and the human body orientation information of the target tissue in the reference volume coordinate system, thereby accurately Determines the directional position of the target tissue relative to the human body.
  • An embodiment of the present invention provides an ultrasound imaging method.
  • the method includes:
  • Ultrasound imaging the target tissue with an ultrasound probe to obtain an ultrasound image of the target tissue, and obtain orientation information of the ultrasound probe;
  • the tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system.
  • the determining the reference volume coordinate system includes:
  • the orientation information of the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any orientation information of the reference body in a stable state;
  • the reference body coordinate system is determined according to the orientation information of the reference body.
  • the method before determining the tissue orientation information of the target tissue in the reference volume coordinate system according to the first orientation information and the orientation information of the ultrasound probe, the method further includes:
  • first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning device coordinate system
  • second mapping relationship is a world coordinate system and the reference volume The mapping relationship between coordinate systems.
  • the determining tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasound probe includes:
  • the third mapping relationship is a mapping relationship between the coordinate system of the positioning device and the world coordinate system;
  • the third-party bit information is mapped to determine the tissue position information.
  • the acquiring the second mapping relationship includes:
  • the second mapping relationship is determined according to the position information of the reference volume in the world coordinate system.
  • the method further includes:
  • the displaying of the tissue orientation information and the human body orientation information in the reference volume coordinate system includes:
  • the tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system according to at least one of color, shape, and icon.
  • the displaying of the tissue orientation information and the human body orientation information in the reference volume coordinate system includes:
  • the reference volume coordinate system is displayed in a multi-dimensional model or virtual reality VR, and the tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system.
  • the displaying of the tissue orientation information and the human body orientation information in the reference volume coordinate system includes:
  • tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system, and areas other than the tissue orientation information and the human body orientation information are hidden.
  • the displaying the orientation information of the ultrasound probe in the reference volume coordinate system includes:
  • the orientation information of the ultrasound probe in the reference volume coordinate system is displayed according to at least one of color, shape and icon.
  • the displaying the orientation information of the ultrasound probe in the reference volume coordinate system includes:
  • the reference volume coordinate system is displayed in a multi-dimensional model or virtual reality VR, and the position information of the ultrasound probe in the reference volume coordinate system is displayed in real time.
  • the ultrasound image is a two-dimensional ultrasound image
  • determining the first orientation information of the target tissue from the ultrasound image includes:
  • the position information corresponding to the feature point is determined as the first position information.
  • the ultrasound image includes a multi-dimensional ultrasound image
  • determining the first orientation information of the target tissue from the ultrasound image includes:
  • the orientation information corresponding to the image area is determined as the first orientation information.
  • the position information of the reference body includes:
  • the orientation information of the reference body is collected by the fitting positioning device, wherein the fitting positioning device is fitted to any orientation of the reference body in a stable state;
  • the orientation information of the ultrasound probe and determine the orientation information of the ultrasound probe as the orientation information of the reference body, wherein the ultrasound probe is placed in any orientation where the reference body is in a stable state.
  • the determining the human body position information where the target tissue is currently located in the reference volume coordinate system includes:
  • the human body position information is determined in the reference volume coordinate system according to the corresponding relationship.
  • An embodiment of the present invention provides an ultrasound imaging device.
  • the ultrasound imaging device includes:
  • a probe positioning device built in or externally fixed to the ultrasound probe
  • a transmission / reception sequence controller excites the ultrasound probe to transmit ultrasound waves to a target tissue through the transmission / reception selection switch, and controls the ultrasound probe to receive ultrasound echoes returned from the target tissue ;
  • a processor configured to perform the following steps:
  • Determining a reference volume coordinate system performing ultrasound imaging on the target tissue through the ultrasound probe to obtain an ultrasound image of the target tissue, and obtaining the orientation information of the ultrasound probe through the probe positioning device; determining from the ultrasound image First orientation information of the target tissue; determining tissue orientation information of the target tissue in the reference body coordinate system based on the first orientation information and the orientation information of the ultrasound probe; in the reference body coordinate system Determine the position information of the human body where the target tissue is currently located;
  • a display for displaying the tissue orientation information and the human body orientation information in the reference volume coordinate system.
  • the processor is specifically configured to determine the orientation information of the reference body, wherein the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body indicates that the reference body is in a stable state Arbitrary position information; determine the reference body coordinate system according to the position information of the reference body.
  • the processor before determining the tissue orientation information of the target tissue in the reference volume coordinate system based on the first orientation information and the orientation information of the ultrasound probe, Acquiring a first mapping relationship and a second mapping relationship, wherein the first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning device coordinate system, and the second mapping relationship is a world coordinate system and the reference volume The mapping relationship between coordinate systems.
  • the processor is specifically configured to map the first orientation information according to the first mapping relationship to determine the second orientation information of the target tissue in the coordinate system of the positioning device;
  • the third mapping relationship is determined by the orientation information of the ultrasound probe, and the second orientation information is mapped according to the third mapping relationship to determine third-party position information of the target organization in the world coordinate system, wherein ,
  • the third mapping relationship is the mapping relationship between the positioning device coordinate system and the world coordinate system; according to the second mapping relationship, the third-party position information is mapped to determine the tissue orientation information .
  • the processor is specifically configured to acquire the position information of the reference body in the world coordinate system according to the position information of the reference body; according to the position of the reference body in the world coordinate system Position information to determine the second mapping relationship.
  • the processor is further configured to map the orientation information of the ultrasound probe according to the second mapping relationship to determine the orientation information of the ultrasound probe in the reference volume coordinate system;
  • the display is also used to display position information of the ultrasound probe in the reference volume coordinate system.
  • the display is specifically configured to display the tissue orientation information and the human body orientation information in the reference volume coordinate system according to at least one of color, shape, and icon.
  • the display is specifically used to display the reference body coordinate system in a multi-dimensional model or virtual reality VR, and display the tissue orientation information and the human body orientation information in the reference body coordinate system .
  • the display is specifically used to highlight the tissue orientation information and the human body orientation information in the reference volume coordinate system in a highlighted manner;
  • tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system, and areas other than the tissue orientation information and the human body orientation information are hidden.
  • the display is specifically configured to display the orientation information of the ultrasound probe in the reference volume coordinate system according to at least one of color, shape, and icon.
  • the display is specifically used to display the reference volume coordinate system in a multi-dimensional model or virtual reality VR, and display the position information of the ultrasound probe in the reference volume coordinate system in real time.
  • the ultrasound image is a two-dimensional ultrasound image
  • the processor is specifically configured to determine a feature point corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; The position information corresponding to the point is determined as the first position information.
  • the ultrasound image includes a multi-dimensional ultrasound image
  • the processor is specifically configured to determine an image area corresponding to the target tissue in the multi-dimensional ultrasound image according to a preset recognition algorithm; correspond to the image area
  • the location information of is determined as the first location information.
  • the equipment is also externally attached with a positioning device
  • the processor is configured to collect the orientation information of the reference body through the fitting positioning device, wherein the fitting positioning device is fitted to any orientation of the reference body in a stable state;
  • the processor is further configured to acquire the orientation information of the ultrasound probe through the probe positioning device, and determine the orientation information of the ultrasound probe as the orientation information of the reference body, wherein the ultrasound probe is placed in The reference body is in any position in a stable state.
  • the processor is specifically configured to obtain a correspondence between the human body position information and the reference body position information; determine the human body position information in the reference body coordinate system according to the correspondence relationship .
  • An embodiment of the present invention provides a computer-readable storage medium that stores an ultrasound imaging program, and the ultrasound imaging program may be executed by a processor to implement the above-mentioned ultrasound imaging method.
  • the reference volume coordinate system is determined; the ultrasound imaging of the target tissue is performed by the ultrasound probe to obtain the ultrasound image of the target tissue, and the orientation information of the ultrasound probe is obtained; The first orientation information of the target tissue; determine the tissue orientation information of the target tissue in the reference body coordinate system based on the first orientation information and the orientation information of the ultrasound probe; determine the human body orientation information where the current target tissue is located in the reference body coordinate system; The tissue orientation information and human body orientation information are displayed in the reference volume coordinate system.
  • the technical solution provided by the embodiments of the present invention can set a reference volume coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue under the reference volume coordinate system, so as to accurately determine the target The orientation of the tissue relative to the human body to guide the operator to perform relevant operations on the target tissue.
  • FIG. 1 is a schematic structural diagram of an ultrasound imaging device according to an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of an ultrasound imaging method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram 1 of a coordinate system for determining a reference volume provided by an embodiment of the present invention
  • FIG. 4 is a second schematic diagram of determining a reference volume coordinate system provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a mapping relationship provided by an embodiment of the present invention.
  • FIG. 6 is an exemplary schematic diagram of displaying tissue orientation information and human body orientation information in a reference volume coordinate system according to an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of an ultrasound imaging device according to an embodiment of the present invention.
  • the ultrasound imaging apparatus 10 includes: an ultrasound probe 101, a probe positioning device 102 built in or externally fixed to the ultrasound probe 101; a transmission / reception selection switch 103, a transmission / reception sequence controller 104, a processor 105 and The display 106.
  • the transmission / reception sequence controller 104 can excite the ultrasound probe 102 to transmit ultrasound waves to the target tissue through the transmission / reception selection switch 103, and can also control the ultrasound probe 101 to receive ultrasound waves returned from the target tissue Echo, thereby obtaining ultrasonic echo signals / data.
  • the processor 105 processes the ultrasound echo signal / data to obtain an ultrasound image of the target tissue.
  • the probe positioning device 102 may be an inertial navigation device, that is, a micro-electromechanical inertial measurement unit, which is usually composed of a three-axis accelerometer and a three-axis gyroscope, and some may also include a magnetic
  • the intensity meter can also be more accelerometers and gyroscope devices.
  • the inertial navigation device can be built-in and fixed on the board inside the ultrasound probe, or inside the ultrasound probe shell. At the same time, the inertial navigation device is connected to the processor 105 through the ultrasound probe cable, and transmits the real-time attitude information of the ultrasound probe to the processor 105.
  • the ultrasound imaging device may further include: a memory 107, the ultrasound image obtained by the processor 105 may be stored in the memory 107, and the ultrasound image may be displayed on the display 106.
  • the display 106 of the aforementioned ultrasonic imaging device 10 may be a touch display screen, a liquid crystal display screen, etc., or an independent display device such as a liquid crystal display or a television set independent of the ultrasonic imaging device 10, or It can be a display screen on electronic devices such as mobile phones and tablet computers.
  • the foregoing memory 107 of the ultrasound imaging apparatus 10 may be a flash memory card, a solid-state memory, a hard disk, or the like.
  • An embodiment of the present invention also provides a computer-readable storage medium that stores an ultrasound imaging program, which can be executed by the processor 105 to implement the ultrasound imaging method of the present invention.
  • the computer-readable storage medium may be the memory 107, which may be a non-volatile storage medium such as a flash memory card, solid state memory, or hard disk.
  • the processor 105 of the aforementioned ultrasound imaging system device 10 may be implemented by software, hardware, firmware, or a combination thereof, and may use circuits, single or multiple application specific integrated circuits (application specific integrated circuits (ASIC), Single or multiple general-purpose integrated circuits, single or multiple microprocessors, single or multiple programmable logic devices, or a combination of the aforementioned circuits or devices, or other suitable circuits or devices, so that the processor 105 can execute various The corresponding steps of the ultrasound imaging method in the embodiment.
  • ASIC application specific integrated circuits
  • the ultrasound imaging method in the present invention will be described in detail below based on the above-mentioned ultrasound imaging apparatus 10.
  • FIG. 2 is a schematic flowchart of an ultrasound imaging method according to an embodiment of the present invention. As shown in Figure 2, it mainly includes the following steps:
  • the processor 105 of the ultrasound imaging apparatus 10 may determine the reference volume coordinate system.
  • the processor 105 determining the reference volume coordinate system includes: determining the reference volume orientation information; and determining the reference volume coordinate system according to the reference volume orientation information.
  • the reference body is a human body or a bed where the human body is located, and the orientation information of the reference body represents any one of the orientation information of the reference body in a stable state.
  • the reference body may be a human body or a bed where the human body is located.
  • the reference body being a human body, since the human sternum is in the center and close to the throat, it is not affected by human breathing, so , The position information at this location can be determined as the position information of the reference body.
  • the specific reference body orientation information is not limited in this embodiment of the present invention.
  • the processor 105 determines the position information of the reference body, it can not only determine the reference body coordinate system according to the position information of the reference body, but also determine the world coordinates according to the position information of the reference body The mapping relationship between the system and the reference volume coordinate system.
  • the ultrasound probe 101 since the ultrasound probe 101 is built-in or externally fixed with the probe positioning device 102, the ultrasound probe 101 can be directly placed to a position of the reference body that can characterize its stable state, by The probe positioning device 102 obtains the orientation information of the reference body in the world coordinate system.
  • the ultrasound imaging apparatus 10 may also be externally connected with a fitting positioning device 11 to acquire the orientation information of the reference body through the fitting positioning device 11, wherein the fitting positioning device 11 is fitted to any orientation of the reference body in a stable state.
  • the fitting positioning device 11 may be connected to the ultrasound imaging device 10 through a wire, or may be wirelessly connected to the ultrasound imaging device 10, and the specific fitting positioning device 11 and the ultrasound imaging device 10
  • the connection mode is not limited in the embodiment of the present invention.
  • FIG. 3 is a schematic diagram 1 of determining a reference volume coordinate system according to an embodiment of the present invention.
  • the reference body is a human body
  • the ultrasound imaging device 10 is externally attached to the fitting positioning device 11, and the fitting positioning device 11 is attached to the center of the human sternum, close to the throat, that is, it can be directly collected by the fitting positioning device
  • x, y and z represent the human body's position information in the world coordinate system
  • a, b and c respectively represent the human body's Euler angle in the world coordinate system, specifically: pitch angle, off-track angle and roll angle
  • m is the mapping matrix of the positioning device coordinate system to the world coordinate system when the fitting positioning device 11 is at the current position.
  • the processor 105 After the processor 105 obtains the position information of the human body in the world coordinate system, it actually rotates the world coordinate system according to the obtained Euler angle, and then moves the origin of the rotated world coordinate system to the fitting positioning device 11 ,
  • the obtained coordinate system is the human body coordinate system, which is the reference volume coordinate system, and the mapping matrix m is the mapping relationship between the world coordinate system and the reference volume coordinate system.
  • FIG. 4 is a schematic diagram 2 of determining a reference volume coordinate system according to an embodiment of the present invention.
  • the ultrasound probe 101 is placed in the middle of the human sternum, close to the throat, and the probe positioning device 102 configured by the ultrasound probe 101 can also obtain the position information of the human body in the world coordinate system (m, x, y) , Z, a, b, c), and store the orientation information, m is the mapping matrix of the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is at the current position.
  • the processor 105 After the processor 105 obtains the position information of the human body in the world coordinate system, it actually rotates the world coordinate system according to the obtained Euler angle, and then moves the origin of the rotated world coordinate system to the position where the ultrasound probe 101 is located ,
  • the obtained coordinate system is the human body coordinate system, which is the reference volume coordinate system, and the mapping matrix m is the mapping relationship between the world coordinate system and the reference volume coordinate system.
  • the z-axis can represent the direction of the human body.
  • S202 Perform ultrasound imaging on the target tissue through the ultrasound probe to obtain an ultrasound image of the target tissue, and obtain position information of the ultrasound probe.
  • the ultrasound probe 101 can perform ultrasound imaging on the target tissue, that is, send ultrasound waves and receive ultrasound echoes, and the processor 105 can generate ultrasound images of the target tissue based on the ultrasound probe 101 receiving the ultrasound echoes .
  • the probe positioning device 102 is configured on the ultrasound probe 101, so when the ultrasound probe 101 transmits ultrasound waves to the target tissue, the probe positioning device 102 can directly obtain the orientation information of the ultrasound probe 101.
  • the ultrasound probe 101 when it performs ultrasound imaging on the target tissue, it can transmit ultrasound waves to the target tissue and receive ultrasound echoes in different positions and in different directions, and the processor 105 can determine the difference The ultrasonic echo generates multiple ultrasound images of different sections.
  • the specific ultrasound image is not limited in the embodiments of the present invention.
  • the ultrasound probe 101 performs ultrasound imaging on the target tissue
  • the ultrasound probe 101 is provided with a probe positioning device when the ultrasound is transmitted to the target tissue at different positions and in different directions and the ultrasound echo is received. 102 can acquire the position information of the corresponding ultrasound probe 101 in each position and direction.
  • the target tissue is the heart
  • the ultrasound probe 101 can transmit ultrasound waves to the target tissue at different positions and different angles to the heart and receive ultrasound echoes
  • the processor 105 can generate the heart according to the ultrasound echoes Standard 2-cavity, 3-cavity and 4-cavity ultrasound images, where the ultrasound probe 101 sends ultrasound to the heart for generating 2-cavity ultrasound images in the first orientation
  • the probe positioning device 102 acquires the ultrasound probe 101 first orientation information (m1, x1, y1, z1, a1, b1, c1)
  • the first orientation information is in the world coordinate system when the ultrasound probe 101 sends ultrasonic waves used to generate a 2-chamber cardiac ultrasound image to the heart
  • x1, y1, and z1 are azimuth information
  • a1, b1, and c1 are Euler angles
  • m1 is the mapping matrix of the positioning device coordinate system to the world coordinate system in the first orientation.
  • the probe positioning device 102 acquires the second orientation information (m2, x2, y2, z2, a2, b2) of the ultrasound probe 101 , C2), when the ultrasound probe 101 sends the ultrasound used to generate the 4-chamber cardiac ultrasound image to the heart at a third-party position, the probe positioning device 102 acquires the third-party information of the ultrasound probe 101 (m3, x3, y3, z3, a3, b3, c3).
  • the processor 105 can thus obtain the first orientation information of the ultrasound probe 101 corresponding to the 2-chamber cardiac ultrasound image, the second orientation information of the ultrasound probe 101 corresponding to the 3-chamber cardiac ultrasound image, and the ultrasound probe 101 corresponding to the 4-chamber cardiac ultrasound image. Third-party information.
  • the ultrasound probe 101 may be a different type of probe, such as a 2D probe or a 4D probe. Ultrasound imaging is performed based on different types of probes.
  • the ultrasound image generated by the processor 105 may be of different dimensions .
  • S203 Determine first orientation information of the target tissue from the ultrasound image.
  • the processor 105 may determine the first orientation information of the target tissue from the ultrasound image.
  • the ultrasound image is a two-dimensional ultrasound image
  • the processor 105 determines the first orientation information of the target tissue from the ultrasound image, including: determining the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm Corresponding feature points; determine the orientation information corresponding to the feature points as the first orientation information.
  • the ultrasound imaging device 10 stores a preset recognition algorithm, for example, a deep learning convolutional neural network technology is used to learn on a large number of ultrasound images to obtain a recognition algorithm, Use this recognition algorithm as the preset recognition algorithm.
  • a preset recognition algorithm for example, a deep learning convolutional neural network technology is used to learn on a large number of ultrasound images to obtain a recognition algorithm, Use this recognition algorithm as the preset recognition algorithm.
  • the specific preset recognition algorithm is not limited in this embodiment of the present invention.
  • the heart when the heart mitral valve needs to be positioned, the heart is transmitted through the ultrasound probe 101 according to different positions and directions to transmit ultrasound waves and receive ultrasound echoes, and the processor 105 may be based on different ultrasound waves.
  • the echo generates the standard 2-chamber ultrasound image and 4-chamber ultrasound image of the heart.
  • the 2-chamber ultrasound image and 4-chamber ultrasound image are both ultrasound images of the target tissue and are two-dimensional ultrasound images. Due to the distinctive structural features of the mitral valve, the processor 105 can recognize the two endpoints of the mitral valve annulus P1 and P2 in the 2-chamber cardiac ultrasound image according to a preset recognition algorithm.
  • the processor 105 recognizes 4-chamber The two end points P3 and P4 of the mitral annulus in the cardiac ultrasound image, where P1, P2, P3 and P4 are the points in the ultrasound image, the processor 105 can directly obtain the corresponding coordinates in the ultrasound image coordinate system, The orientation information of these four points is determined as the first orientation information.
  • the ultrasound probe 101 may perform ultrasound imaging on the target tissue only once to obtain a two-dimensional ultrasound image. At this time, if the processor 105 determines the two-dimensional When the feature points corresponding to the target tissue in the ultrasound image are identified, if fewer feature points are identified, some feature points can also be determined in a predictive manner.
  • the mitral valve of the heart when the mitral valve of the heart needs to be positioned, the heart is transmitted through the ultrasound probe 101 at a fixed position and direction to transmit ultrasound waves and receive ultrasound echoes, and the processor 105 according to the ultrasound echoes, Only the ultrasound images of any one of the 4-chamber heart, 3-chamber heart and 2-chamber heart were generated, that is, a two-dimensional ultrasound image.
  • the processor 105 determines only two end points of the mitral annulus according to a preset recognition algorithm, namely two feature points P1 and P2. Therefore, assuming that the mitral annulus is perpendicular to the cut plane displayed by the ultrasound image, P1 and P2 is a diameter ring.
  • the ultrasound image is a multi-dimensional ultrasound image
  • the processor 105 determines the first orientation information of the target tissue from the ultrasound image, including: according to a preset recognition algorithm, determining the corresponding multi-dimensional ultrasound image of the target tissue Image area; determine the orientation information corresponding to the image area as the first orientation information.
  • the ultrasound probe 101 when the ultrasound probe 101 is a 4D probe, when the heart mitral valve needs to be positioned, when the ultrasound imaging is performed on the heart through the ultrasound probe 101, the ultrasound echo characterizes the 4D ultrasound data and processes
  • the device 105 determines the ultrasound image of the target tissue according to the ultrasound echo, which can be directly a 4D ultrasound image. Therefore, the processor 105 can determine the image area corresponding to the mitral valve annulus in the multi-dimensional ultrasound image according to a preset recognition algorithm, without identifying the feature points such as the endpoint of the mitral valve annulus, and the processor 105 can directly obtain the image area at The corresponding orientation information in the ultrasound image coordinate system determines the orientation information of the area as the first orientation information.
  • S204 Determine the tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasound probe.
  • the processor 105 may determine the tissue orientation information of the target tissue in the reference volume coordinate system according to the first orientation information and the orientation information of the ultrasound probe.
  • the processor 105 before performing the following step S204, the processor 105 also needs to perform the following steps: acquiring a first mapping relationship and a second mapping relationship, where the first mapping relationship is an ultrasound image coordinate system
  • the second mapping relationship is the mapping relationship between the world coordinate system and the reference volume coordinate system.
  • the processor 105 acquiring the second mapping relationship includes: acquiring the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body; and according to the orientation information of the reference body in the world coordinate system, Determine the second mapping relationship.
  • the mapping matrix of the corresponding positioning device coordinate system to the world coordinate system for example, when the position information of the reference body in the world coordinate system is acquired by the probe positioning device 102, the reference body is in the world coordinate system
  • the orientation information in includes the mapping matrix of the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is at the current position.
  • the reference body is The position information in the world coordinate system includes the mapping matrix of the positioning device coordinate system to the world coordinate system when the positioning device 11 is at the current position. Since the processor 105 is specifically based on the position information of the reference body in the world coordinate system, As a reference for the reference volume coordinate system, therefore, the mapping matrix can actually represent the reference volume coordinate system to Sector mapping between the coordinate system, the processor 105 may directly determine the mapping matrix to a second mapping relationship, i.e., mapping relationship between the world coordinate system and the body coordinate reference system. In other words, the processor 105 can determine the second mapping relationship during the process of establishing the reference volume coordinate system.
  • a second mapping relationship i.e., mapping relationship between the world coordinate system and the body coordinate reference system.
  • the mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system is fixed, which is actually the ultrasound image coordinate system and the probe positioning device 102 , That is, used for acquiring the orientation information of the ultrasound probe during ultrasound imaging, the mapping relationship of the coordinate system established by the positioning device configured on the ultrasound probe 101 itself is stored in the ultrasound imaging device 10 in advance, therefore, the processor 105 directly obtains That's it.
  • FIG. 5 is a schematic diagram of a mapping relationship provided by an embodiment of the present invention.
  • the first mapping relationship is A, which is fixed
  • the second mapping relationship that is, the mapping relationship between the world coordinate system and the reference volume coordinate system
  • step S201 the mapping relationship between the world coordinate system and the reference volume coordinate system
  • the fitting positioning device 11 is placed at the target position to obtain the orientation information of the reference body in the world coordinate system
  • the probe positioning device 102 or the fitting positioning device 11 included in the orientation information is at the current position, the corresponding positioning device
  • the processor 105 determines the tissue orientation information of the target tissue in the reference volume coordinate system according to the first orientation information and the orientation information of the ultrasound probe includes: performing the first orientation information according to the first mapping relationship Mapping to determine the second orientation information of the target tissue in the positioning device coordinate system; determine the third mapping relationship according to the orientation information of the ultrasound probe, and map the second orientation information according to the third mapping relationship to determine the target organization in the world coordinate system
  • the third mapping relationship is the mapping relationship between the positioning device coordinate system and the world coordinate system; according to the second mapping relationship, the third-party position information is mapped to determine the organization position information.
  • the heart when the heart mitral valve needs to be positioned, the heart is transmitted through the ultrasound probe 101 according to different positions and directions to transmit ultrasound waves and receive ultrasound echoes, and the processor 105 may respond to different ultrasound echoes.
  • Generate standard 2-cavity cardiac ultrasound images and 4-cavity cardiac ultrasound images of the heart identify the two mitral annulus endpoints P1 and P2 from the 2-cavity cardiac ultrasound images, and identify the two mitral annulus from 4-cavity cardiac ultrasound images
  • the position information of the endpoints P3 and P4, P1, P2, P3 and P4 in the ultrasound image coordinate system is the first position information
  • the processor 105 first according to the first mapping relationship, that is, between the ultrasound image coordinate system and the positioning device coordinate system
  • the mapping relationship maps the azimuth information of these four points to determine the second azimuth information of the four points in the positioning device coordinate system, where the second azimuth information of P1 is Q1 and the second azimuth information of P2 is Q2 , P3 second orientation information is Q
  • the processor 105 determines the third mapping relationship according to the orientation information of the ultrasound probe 101, wherein, since two ultrasound images are obtained, actually two orientation information of the ultrasound probe 101, namely the first orientation information and the first Two azimuth information, the first azimuth information includes the first mapping matrix of the positioning device coordinate system of the ultrasound probe 101 in the first azimuth to the world coordinate system, and the second azimuth information includes the positioning device coordinate system of the ultrasound probe 101 in the second azimuth to the world.
  • the first orientation is the orientation of the ultrasound probe when imaging the 2-chamber ultrasound image
  • the second orientation is the orientation of the ultrasound probe when imaging the 4-chamber ultrasound image.
  • the processor 105 may determine the first mapping matrix and the second mapping matrix as the third mapping relationship, and then map the second orientation information according to the third mapping relationship to determine the third-party position information of the target organization in the world coordinate system, where , Mapping Q1 and Q2 according to the first mapping matrix to obtain third-party bit information R1 and R2, mapping Q3 and Q4 according to the second mapping matrix to obtain third-party bit information R3 and R4, R1, R2, R3 and R4 Both are position information in the world coordinate system. Finally, according to the second mapping relationship, that is, the mapping relationship between the world coordinate system and the reference volume coordinate system determined in step S201, R1, R2, R3, and R4 are mapped to determine the target tissue in the reference volume coordinate system. Organizational location information.
  • the processor 105 generates a 2-chamber cardiac ultrasound image and recognizes the two end points of the mitral annulus (P1, P2), and the corresponding first orientation information of the ultrasound probe is (m1, x1, y1, z1, a1, b1, c1), the processor 105 generates a 4-chamber cardiac ultrasound image, and recognizes the two end points of the mitral annulus (P3, P4).
  • the corresponding second orientation information of the ultrasound probe is ( m2, x2, y2, z2, a2, b2, c2)
  • the first mapping relationship is specifically the mapping matrix A of the ultrasound image coordinate system to the positioning device coordinate system
  • the second mapping relationship is specifically the reference volume coordinate system to the world coordinate system
  • the mapping matrix m therefore, (m1 ⁇ A ⁇ P1, m1 ⁇ A ⁇ P2, m2 ⁇ A ⁇ P3, m2 ⁇ A ⁇ P4) represent the third-party position information of the heart mitral annulus in the world coordinate system, (m -1 ⁇ m1 ⁇ A ⁇ P1, m -1 ⁇ m1 ⁇ A ⁇ P2, m -1 ⁇ m 2 ⁇ A ⁇ P3, m -1 ⁇ m 2 ⁇ A ⁇ P4) means that the mitral annulus is at the reference body coordinates Organizational position information in the department.
  • S205 Determine the position information of the human body where the current target tissue is located in the reference volume coordinate system.
  • the processor 105 may also determine the human body orientation information in which the current target tissue is located in the reference volume coordinate system.
  • the processor 105 determines the human body orientation information where the current target tissue is located in the reference volume coordinate system, including: acquiring the correspondence between the human body orientation information and the reference volume orientation information; The position information of the human body is determined in the volume coordinate system.
  • the target tissue is located inside the human body
  • the human body orientation information is the human body orientation information where the target tissue is located.
  • the human body orientation information in a certain coordinate system can be directly obtained through the probe positioning device 102, or the human body orientation information in a certain coordinate system can also be obtained through the fitting positioning device 11.
  • the acquired human body position information is the position information in the world coordinate system
  • m is the world coordinate system and the reference body coordinate system Therefore, you can directly call m as the correspondence between the human body position information and the reference body position information, so that according to the corresponding relationship, the human body position information in the world coordinate system can be mapped to the reference body coordinate system, that is The human body orientation information is determined in the reference volume coordinate system.
  • the corresponding relationship between the other coordinate systems and the reference body coordinate system can also be obtained, and the corresponding relationship is determined as the correspondence between the human body position information and the reference body position information Relationship, according to the corresponding relationship, the human body orientation information in the other coordinate system is mapped to the reference body coordinate system, and the human body orientation information in the reference body coordinate system is obtained.
  • the corresponding relationship between the specific human body position information and the reference body position information and the acquisition method are not limited in this embodiment of the present invention.
  • the display 106 displays the reference volume coordinate system The tissue position information and human body position information are displayed in.
  • the display 106 displaying the tissue orientation information and the human body orientation information in the reference volume coordinate system includes: displaying the tissue orientation information in the reference volume coordinate system according to at least one of color, shape, and icon And body position information.
  • the tissue orientation information and the human body orientation information are marked in the reference volume coordinate system by a special color
  • the tissue orientation information and the human body are marked in the coordinate volume coordinate system by dots, small triangles, etc.
  • Orientation information, for example, directly through an icon the icon can be an icon that approximates the target tissue structure, or an alternative icon of the target tissue to mark the tissue orientation information in the reference volume coordinate system.
  • the entire reference volume coordinate system can also be displayed through a multi-dimensional model, and the tissue orientation information and human body orientation information can be displayed in the reference volume coordinate system.
  • the tissue orientation information can be displayed in at least one of color, shape and icon And human body position information, not specifically limited here.
  • the entire reference volume coordinate system can be displayed in a virtual reality (VR) manner. Under this reference volume coordinate system, the structural characteristics and orientation relationships of each organization can be clearly seen.
  • VR virtual reality
  • the positioning device can be used to guide the switching from one ultrasound slice to another ultrasound slice, or from one ultrasound stereogram to another ultrasound stereogram, and display in real time .
  • the reference volume coordinate system when the reference volume coordinate system is displayed through the multi-dimensional model or VR, and the tissue orientation information and the human body orientation information are displayed in the reference volume coordinate system, it may be specifically highlighted. Mark the position of the tissue orientation information and the human body orientation information in the reference volume coordinate system, or draw the boundary line of the tissue orientation information and the human body orientation information in the reference volume coordinate system in a thick line, or, in the reference In the body coordinate system, only the tissue orientation information and the human body orientation information are displayed, and other areas other than the tissue orientation information and the human body orientation information are hidden, so as to meet different needs of doctors when performing examination operations.
  • the orientation information of the ultrasound probe in the reference volume coordinate system may be displayed in any of the above display modes. The doctor can select different display modes according to actual needs, and the specific display mode is not limited by the embodiment of the present invention.
  • the orientation information of the ultrasound probe 101 may be coordinates in the world coordinate system. Therefore, the processor 105 may map the orientation information of the ultrasound probe 101 according to the second mapping relationship to determine the ultrasound For the orientation information of the probe 101 in the reference volume coordinate system, the display 106 can display the orientation information of the ultrasound probe 101 in the reference volume coordinate system according to at least one of color, shape, and icon.
  • FIG. 6 is an exemplary schematic diagram of displaying tissue orientation information and human body orientation information in a reference volume coordinate system according to an embodiment of the present invention.
  • the azimuth relationship between the human body, the mitral annulus and the ultrasound probe can be displayed, where cylinder 1 represents the direction of the human body, three-dimensional pie 2 represents the mitral annulus, and figure 3 represents the ultrasound Probe 101.
  • steps S201 to S205 are a standard ultrasonic imaging method, and the mapping process therein can also be adjusted according to the actual positioning device.
  • Embodiments of the present invention provide an ultrasound imaging method to determine a reference volume coordinate system; perform ultrasound imaging on a target tissue through an ultrasound probe to obtain an ultrasound image of the target tissue and obtain orientation information of the ultrasound probe; determine the target tissue from the ultrasound image The first position information of the target body; determine the tissue position information of the target tissue in the reference body coordinate system based on the first position information and the position information of the ultrasound probe; determine the body position information of the current target tissue in the reference body coordinate system; The coordinate system displays tissue orientation information and human body orientation information.
  • the technical solution provided by the embodiments of the present invention can set a reference volume coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue under the reference volume coordinate system, so as to accurately determine the target The orientation of the tissue relative to the human body to guide the operator to perform relevant operations on the target tissue.
  • the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer usable program code.
  • a computer usable storage media including but not limited to disk storage and optical storage, etc.
  • These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable signal processing device to produce a machine that enables the generation of instructions executed by the processor of the computer or other programmable signal processing device
  • These computer program instructions may also be stored in a computer readable memory that can guide a computer or other programmable signal processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, the instructions The device implements the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.
  • These computer program instructions can also be loaded onto a computer or other programmable signal processing device, so that a series of operation steps are performed on the computer or other programmable device to generate computer-implemented processing, which is executed on the computer or other programmable device
  • the instructions provide steps for implementing the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.
  • the ultrasound imaging device determines the reference body coordinate system; performs ultrasound imaging on the target tissue through the ultrasound probe to obtain the ultrasound image of the target tissue and obtain the orientation information of the ultrasound probe; and determines the target from the ultrasound image
  • the first orientation information of the tissue determine the tissue orientation information of the target tissue in the reference body coordinate system based on the first orientation information and the orientation information of the ultrasound probe; determine the human body orientation information where the current target tissue is located in the reference body coordinate system;
  • the body coordinate system displays tissue orientation information and human body orientation information.
  • the technical solution provided by the embodiments of the present invention can set a reference volume coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information of the target tissue under the reference volume coordinate system, so as to accurately determine the target The orientation of the tissue relative to the human body to guide the operator to perform relevant operations on the target tissue.

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Abstract

一种超声成像方法，包括确定参照体坐标系(S201)；通过超声探头对目标组织进行超声成像以获取目标组织的超声图像，并获取超声探头的方位信息(S202)；从超声图像中确定目标组织的第一方位信息(S203)；根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息(S204)；在参照体坐标系中确定当前目标组织所在的人体方位信息(S205)；在参照体坐标系中显示组织方位信息和人体方位信息(S206)。还公开了一种超声成像设备(10)和计算机可读存储介质。

Description

一种超声成像方法、超声成像设备及存储介质 技术领域
本发明实施例涉及图像处理技术领域，尤其涉及一种超声成像方法、超声成像设备及存储介质。
背景技术
在心脏换瓣膜外科手术或者放射介入治疗之前，医生需要获知目标组织相对于人体的方向位置，即病人心脏的位置，以及心脏瓣膜和瓣口相对于人体的方向位置，以选择手术切口位置。
目前，临床中通常采用数字减影血管造影(Digital Subtraction Angiograpahy，DSA)、数字化直接成像系统(Digital Radiography，DR)等对人体进行投影成像，医生再基于投影的图像大致估计目标组织相对于人体的方向位置。此外，还可以采用超声对心脏进行成像，医生根据探头的方向大致估计目标组织相对于人体的方向位置。
然而，上述方法均为医生基于经验进行的主观判断，确定的目标组织相对于人体的方向位置不准确。
发明内容
为解决上述技术问题，本发明实施例期望提供一种超声成像方法、超声成像设备及存储介质，能够在参照体坐标系中显示目标组织的组织方位信息和目标组织所在的人体方位信息，从而准确的确定出目标组织相对于人体的方向位置。
本发明实施例的技术方案可以如下实现：
本发明实施例提供了一种超声成像方法，所述方法包括：
确定参照体坐标系；
通过超声探头对目标组织进行超声成像以获取所述目标组织的超声图像，并获取所述超声探头的方位信息；
从所述超声图像中确定所述目标组织的第一方位信息；
根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息；
在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息；
在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述方案中，所述确定参照体坐标系，包括：
确定参照体的方位信息，其中，所述参照体为人体或者人体所在的床位，所述参照体的方位信息表征所述参照体处于稳定状态的任意一个方位信息；
根据所述参照体的方位信息确定所述参照体坐标系。
在上述方案中，所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息之前，所述方法还包括：
获取第一映射关系和第二映射关系，其中，所述第一映射关系为超声图像坐标系和定位装置坐标系之间的映射关系，所述第二映射关系为世界坐标系与所述参照体坐标系之间的映射关系。
在上述方案中，所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息包括：
根据所述第一映射关系对所述第一方位信息进行映射，确定所述目标组织在所述定位装置坐标系中的第二方位信息；
根据所述超声探头的方位信息确定第三映射关系，并根据所述第三映射关系对所述第二方位信息进行映射，确定所述目标组织在所述世界坐标系中的第三方位信息，其中，所述第三映射关系为所述定位装置坐标系和所述世界坐标系之间的映射关系；
根据所述第二映射关系，对所述第三方位信息进行映射，确定所述组织方位信息。
在上述方案中，所述获取第二映射关系包括：
根据所述参照体的方位信息获取所述参照体在所述世界坐标系中的方位信息；
根据所述参照体在所述世界坐标系中的方位信息，确定所述第二映射关系。
在上述方案中，所述方法还包括：
根据所述第二映射关系对所述超声探头的方位信息进行映射，确定所述超声探头在所述参照体坐标系中的方位信息；
显示所述超声探头在所述参照体坐标系中的方位信息。
在上述方案中，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
根据颜色、形状和图标中的至少一种方式在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述方案中，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述方案中，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
以高亮的方式在所述参照体坐标系中标记所述组织方位信息和所述人体方位信息；
或者，以粗线的方式在所述参照体坐标系中描绘所述组织方位信息和所述人体方位信息的边界线；
或者，在所述参照体坐标系中只显示所述组织方位信息和所述人体 方位信息，将所述组织方位信息和所述人体方位信息以外的其他区域隐藏。
在上述方案中，所述显示所述超声探头在所述参照体坐标系中的方位信息包括：
根据颜色、形状和图标中的至少一种方式显示所述超声探头在所述参照体坐标系中的方位信息。
在上述方案中，所述显示所述超声探头在所述参照体坐标系中的方位信息包括：
通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并实时显示所述超声探头在所述参照体坐标系中的方位信息。
在上述方案中，所述超声图像为二维超声图像，所述从所述超声图像中确定所述目标组织的第一方位信息，包括：
按照预设识别算法，确定所述二维超声图像中所述目标组织对应的特征点；
将所述特征点对应的方位信息确定为所述第一方位信息。
在上述方案中，所述超声图像包括多维超声图像，所述从所述超声图像中确定所述目标组织的第一方位信息，包括：
按照预设识别算法，确定所述多维超声图像中所述目标组织对应的图像区域；
将所述图像区域对应的方位信息确定为所述第一方位信息。
在上述方案中，所述确定参照体的方位信息包括：
通过贴合定位装置采集到所述参照体的方位信息，其中，所述贴合定位装置贴合到所述参照体处于稳定状态的任意一个方位；
获取所述超声探头的方位信息，并将所述超声探头的方位信息确定为所述参照体的方位信息，其中，所述超声探头放置到所述参照体处于稳定状态的任意一个方位。
在上述方案中，所述在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息，包括：
获取所述人体方位信息与所述参照体的方位信息的对应关系；
根据所述对应关系在所述参照体坐标系中确定所述人体方位信息。
本发明实施例提供了一种超声成像设备，所述超声成像设备包括：
超声探头；
内置或外部固定于所述超声探头的探头定位装置；
发射/接收选择开关；
发射/接收序列控制器，所述发射/接收序列控制器通过所述发射/接收选择开关激励所述超声探头向目标组织发射超声波，控制所述超声探头接收从所述目标组织返回的超声回波；
处理器，所述处理器用于执行以下步骤：
确定参照体坐标系；通过所述超声探头对目标组织进行超声成像以获取所述目标组织的超声图像，并通过所述探头定位装置获取所述超声探头的方位信息；从所述超声图像中确定所述目标组织的第一方位信息；根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息；在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息；
显示器，所述显示器用于在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述设备中，所述处理器，具体用于确定参照体的方位信息，其中，所述参照体为人体或者人体所在的床位，所述参照体的方位信息表征所述参照体处于稳定状态的任意一个方位信息；根据所述参照体的方位信息确定所述参照体坐标系。
在上述设备中，所述处理器，在所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方 位信息之前，还用于获取第一映射关系和第二映射关系，其中，所述第一映射关系为超声图像坐标系和定位装置坐标系之间的映射关系，所述第二映射关系为世界坐标系与所述参照体坐标系之间的映射关系。
在上述设备中，所述处理器，具体用于根据所述第一映射关系对所述第一方位信息进行映射，确定所述目标组织在所述定位装置坐标系中的第二方位信息；根据所述超声探头的方位信息确定第三映射关系，并根据所述第三映射关系对所述第二方位信息进行映射，确定所述目标组织在所述世界坐标系中的第三方位信息，其中，所述第三映射关系为所述定位装置坐标系和所述世界坐标系之间的映射关系；根据所述第二映射关系，对所述第三方位信息进行映射，确定所述组织方位信息。
在上述设备中，所述处理器，具体用于根据所述参照体的方位信息获取所述参照体在所述世界坐标系中的方位信息；根据所述参照体在所述世界坐标系中的方位信息，确定所述第二映射关系。
在上述设备中，所述处理器，还用于根据所述第二映射关系对所述超声探头的方位信息进行映射，确定所述超声探头在所述参照体坐标系中的方位信息；
所述显示器，还用于显示所述超声探头在所述参照体坐标系中的方位信息。
在上述设备中，所述显示器，具体用于根据颜色、形状和图标中的至少一种方式在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述设备中，所述显示器，具体用于通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
在上述设备中，所述显示器，具体用于以高亮的方式在所述参照体坐标系中标记所述组织方位信息和所述人体方位信息；
或者，以粗线的方式在所述参照体坐标系中描绘所述组织方位信息和所述人体方位信息的边界线；
或者，在所述参照体坐标系中只显示所述组织方位信息和所述人体方位信息，将所述组织方位信息和所述人体方位信息以外的其他区域隐藏。
在上述设备中，所述显示器，具体用于根据颜色、形状和图标中的至少一种方式显示所述超声探头在所述参照体坐标系中的方位信息。
在上述设备中，所述显示器，具体用于通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并实时显示所述超声探头在所述参照体坐标系中的方位信息。
在上述设备中，所述超声图像为二维超声图像，所述处理器，具体用于按照预设识别算法，确定所述二维超声图像中所述目标组织对应的特征点；将所述特征点对应的方位信息确定为所述第一方位信息。
在上述设备中，所述超声图像包括多维超声图像，所述处理器，具体用于按照预设识别算法，确定所述多维超声图像中所述目标组织对应的图像区域；将所述图像区域对应的方位信息确定为所述第一方位信息。
在上述设备中，所述设备还外接贴合定位装置；
所述处理器，用于通过所述贴合定位装置采集到所述参照体的方位信息，其中，所述贴合定位装置贴合到所述参照体处于稳定状态的任意一个方位；
所述处理器，还用于通过所述探头定位装置获取所述超声探头的方位信息，并将所述超声探头的方位信息确定为所述参照体的方位信息，其中，所述超声探头放置到所述参照体处于稳定状态的任意一个方位。
在上述设备中，所述处理器，具体用于获取所述人体方位信息与所述参照体的方位信息的对应关系；根据所述对应关系在所述参照体坐标系中确定所述人体方位信息。
本发明实施例提供了一种计算机可读存储介质，所述计算机可读存储介质存储有超声成像程序，所述超声成像程序可以被处理器执行，以实现上述超声成像方法。
由此可见，在本发明实施例的技术方案中，确定参照体坐标系；通过超声探头对目标组织进行超声成像以获取目标组织的超声图像，并获取超声探头的方位信息；从超声图像中确定目标组织的第一方位信息；根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息；在参照体坐标系中确定当前目标组织所在的人体方位信息；在参照体坐标系中显示组织方位信息和人体方位信息。也就是说，本发明实施例提供的技术方案，能够设定参照体坐标系，并在参照体坐标系下显示目标组织的组织方位信息和目标组织所在的人体方位信息，从而准确的确定出目标组织相对于人体的方向位置，以引导操作人员针对目标组织进行相关操作。
附图说明
图1为本发明实施例提供的一种超声成像设备的结构示意图；
图2为本发明实施例提供的一种超声成像方法的流程示意图；
图3为本发明实施例提供的一种确定参照体坐标系的示意图一；
图4为本发明实施例提供的一种确定参照体坐标系的示意图二；
图5为本发明实施例提供的一种映射关系的示意图；
图6为本发明实施例提供的一种示例性的在参照体坐标系中显示组织方位信息和人体方位信息的示意图。
具体实施方式
为了能够更加详尽地了解本发明实施例的特点与技术内容，下面结合附图对本发明实施例的实现进行详细阐述，所附附图仅供参考说明之用， 并非用来限定本发明实施例。
本发明实施例提供一种超声成像方法，该方法应用于超声成像设备。图1为本发明实施例提供的一种超声成像设备的结构示意图。如图1所示，该超声成像设备10包括：超声探头101、内置或外部固定于超声探头101的探头定位装置102；发射/接收选择开关103、发射/接收序列控制器104、处理器105和显示器106。
需要说明的是，在本发明实施例中，发射/接收序列控制器104可以通过发射/接收选择开关103激励超声探头102向目标组织发射超声波，还可以控制超声探头101接收从目标组织返回的超声回波，从而获得超声回波信号/数据。处理器105对该超声回波信号/数据进行处理，以获得目标组织的超声图像。
需要说明的是，在本发明实施例中，探头定位装置102可以为惯性导航装置，即微机电惯性测量单元，通常由一个三轴加速度计和一个三轴陀螺仪组成，有的还包含一个磁场强度计，也可以是更多的加速度计和陀螺仪装置。惯性导航装置可以内置固定在超声探头内部的板卡上，或者超声探头壳内部。同时惯性导航装置通过超声探头缆线，与处理器105相连，把超声探头的实时姿态信息传递给处理器105。
需要说明的是，在本发明实施例中，超声成像设备还可以包括：存储器107，处理器105获得的超声图像可以存储于存储器107中，超声图像可以在显示器106上显示。
在本发明实施例中，前述的超声成像设备10的显示器106可为触摸显示屏、液晶显示屏等，也可以是独立于超声成像设备10之外的液晶显示器、电视机等独立显示设备，也可为手机、平板电脑等电子设备上的显示屏。
在本发明实施例中，前述的超声成像设备10的存储器107可为闪存卡、固态存储器、硬盘等。
本发明实施例还提供一种计算机可读存储介质，该计算机可读存储介 质存储超声成像程序，该超声成像程序可以被处理器105执行，以实现本发明的超声成像方法。
一个实施例中，该计算机可读存储介质可为存储器107，其可以是闪存卡、固态存储器、硬盘等非易失性存储介质。
在本发明实施例中，前述的超声成像系设备10的处理器105可以通过软件、硬件、固件或者其组合实现，可以使用电路、单个或多个专用集成电路(application specific integrated circuits，ASIC)、单个或多个通用集成电路、单个或多个微处理器、单个或多个可编程逻辑器件、或者前述电路或器件的组合、或者其他适合的电路或器件，从而使得该处理器105可以执行各个实施例中超声成像方法的相应步骤。
下面基于上述超声成像设备10，对本发明中的超声成像方法进行详细描述。
图2为本发明实施例提供的一种超声成像方法的流程示意图。如图2所示，主要包括以下步骤：
S201、确定参照体坐标系。
在本发明实施例中，超声成像设备10的处理器105可以确定参照体坐标系。
具体的，在本发明实施例中，处理器105确定参照体坐标系包括：确定参照体的方位信息；根据参照体的方位信息确定参照体坐标系。其中，参照体为人体或者人体所在的床位，参照体的方位信息表征参照体处于稳定状态的任意一个方位信息。
需要说明的是，在本发明实施例中，参照体可以为人体或人体所在的床位，对于参照体为人体的情况下，由于人体胸骨正中，靠近咽喉处的位置，不受人体呼吸影响，因此，可以将该处的方位信息确定为参照体的方位信息。具体的参照体方位信息本发明实施例不作限定。
具体的，在本发明实施例中，处理器105确定参照体的方位信息之 后，不仅可以根据参照体的方位信息，确定参照体坐标系，此外，还可以根据参照体的方位信息，确定世界坐标系与参照体坐标系之间的映射关系。
需要说明的是，在本发明实施例中，由于超声探头101内置或外部固定探头定位装置102，因此，可以直接将超声探头101放置到参照体的某一能够表征其处于稳定状态的位置，通过探头定位装置102获得参照体在世界坐标系中的方位信息。此外，超声成像设备10还可以外接贴合定位装置11，通过贴合定位装置11采集到参照体的方位信息，其中，贴合定位装置11贴合到参照体处于稳定状态的任意一个方位。
需要说明的是，在本发明实施例中，贴合定位装置11可以通过导线与超声成像设备10连接，也可以与超声成像设备10无线连接，具体的贴合定位装置11与超声成像设备10的连接方式本发明实施例不作限定。
图3为本发明实施例提供的一种确定参照体坐标系的示意图一。如图3所示，参照体为人体，超声成像设备10外接贴合定位装置11，将贴合定位装置11贴合在人体胸骨正中，靠近咽喉位置处，即可以直接通过贴合定位装置11采集到人体在世界坐标系中的方位信息(m，x，y，z，a，b，c)。其中，x、y和z分别表示人体在世界坐标系中的方位信息，a、b和c分别表示人体在世界坐标系下的欧拉角，具体为：俯仰角、偏轨角和翻滚角，可以表征人体的方向信息，m为贴合定位装置11在当前位置时，定位装置坐标系到世界坐标系的映射矩阵。处理器105获取到人体在世界坐标系中的方位信息之后，实际上就是将世界坐标系按照获得的欧拉角进行旋转，再将旋转后的世界坐标系的原点移动的贴合定位装置11所在的位置，获得的坐标系即为人体坐标系，即参照体坐标系，而映射矩阵m，即为世界坐标系与参照体坐标系之间的映射关系。
图4为本发明实施例提供的一种确定参照体坐标系的示意图二。如图4所示，将超声探头101放置在人体胸骨正中，靠近咽喉的位置，通 过超声探头101配置的探头定位装置102，同样可以获取人体在世界坐标系中的方位信息(m，x，y，z，a，b，c)，并存储该方位信息，m为探头定位装置102在当前位置时，定位装置坐标系到世界坐标系的映射矩阵。处理器105获取到人体在世界坐标系中的方位信息之后，实际上就是将世界坐标系按照获得的欧拉角进行旋转，再将旋转后的世界坐标系的原点移动到超声探头101所在的位置，获得的坐标系即为人体坐标系，即参照体坐标系，而映射矩阵m，即为世界坐标系与参照体坐标系之间的映射关系。
可以理解的是，在本发明实施例中，参照体坐标系中的一个轴，实际上就是z轴即可表示人体方向。
S202、通过超声探头对目标组织进行超声成像以获取目标组织的超声图像，并获取超声探头的方位信息。
具体的，在本发明实施例中，超声探头101可以对目标组织进行超声成像，即发送超声波和接收超声回波，处理器105基于超声探头101接收到超声回波，可以生成目标组织的超声图像。
具体的，在本发明实施例中，超声探头101上配置有探头定位装置102，因此，在超声探头101向目标组织发射超声波时，探头定位装置102可以直接获取到超声探头101的方位信息。
需要说明的是，在本发明实施例中，超声探头101对目标组织进行超声成像时，可以以不同位置，不同方向对目标组织发射超声波并接收超声回波，处理器105可以根据接收到的不同的超声回波，生成多个不同切面的超声图像。具体的超声图像本发明实施例不作限定。
需要说明的是，在本发明实施例中，若超声探头101对目标组织进行超声成像时，以不同位置，不同方向对目标组织发射超声波并接收超声回波时，超声探头101配置的探头定位装置102可以获取每一个位置和方向下对应的超声探头101的方位信息。
示例性的，在本发明实施例中，目标组织为心脏，超声探头101对心脏可以以不同位置，不同角度对目标组织发射超声波并接收超声回波，处理器105根据超声回波，可以生成心脏的标准2腔心、3腔心和4腔心等切面的超声图像，其中，超声探头101以第一方位向心脏发送用于生成2腔心超声图像的超声波时，探头定位装置102获取超声探头101的第一方位信息(m1，x1，y1，z1，a1，b1，c1)，该第一方位信息为超声探头101向心脏发送用于生成2腔心超声图像的超声波时在世界坐标系中的方位信息和欧拉角，x1、y1和z1为方位信息，a1、b1和c1为欧拉角，m1为第一方位下定位装置坐标系到世界坐标系的映射矩阵。同理，超声探头101以第二方位向心脏发送用于生成3腔心超声图像的超声波时，探头定位装置102获取超声探头101的第二方位信息(m2，x2，y2，z2，a2，b2，c2)，超声探头101以第三方位向心脏发送用于生成4腔心超声图像的超声波时，探头定位装置102获取超声探头101的第三方位信息(m3，x3，y3，z3，a3，b3，c3)。处理器105从而可以获得：2腔心超声图像对应的超声探头101的第一方位信息，3腔心超声图像对应的超声探头101的第二方位信息，4腔心超声图像对应的超声探头101的第三方位信息。
需要说明的是，在本发明实施例中，超声探头101可能为不同类型的探头，例如2D探头或4D探头，基于不同类型的探头进行超声成像，处理器105生成的超声图像可以为不同维度的。
S203、从超声图像中确定目标组织的第一方位信息。
在本发明实施例中，处理器105在获得超声图像之后，可以从超声图像中确定目标组织的第一方位信息。
具体的，在本发明实施例中，超声图像为二维超声图像，处理器105从超声图像中确定目标组织的第一方位信息，包括：按照预设识别算法，确定二维超声图像中目标组织对应的特征点；将特征点对应的方位信息 确定为第一方位信息。
需要说明的是，在本发明实施例中，超声成像设备10存储有预设识别算法，例如，采用深度学习的卷积神经网络技术，在大量的超声图像上进行学习，可以获得一个识别算法，将该识别算法作为预设识别算法。具体的预设识别算法本发明实施例不作限定。
示例性的，在本发明实施例中，在需要对心脏二尖瓣定位时，通过超声探头101对心脏，按照不同位置，不同方向发射超声波和接收超声回波，处理器105可以根据不同的超声回波生成心脏的标准2腔心超声图像和4腔心超声图像，2腔心超声图像和4腔心超声图像均为目标组织的超声图像，且为二维超声图像。由于二尖瓣位置结构特征鲜明，处理器105按照预设识别算法，可以在2腔心超声图像中，识别出二尖瓣环的两个端点P1和P2，同理，处理器105识别4腔心超声图像中二尖瓣环的两个端点P3和P4，其中，P1、P2、P3和P4为超声图像中的点，处理器105可以直接获取其在超声图像坐标系中对应的坐标，将这四个点的方位信息确定为第一方位信息。
需要说明的是，在本发明实施例中，超声探头101可能仅对目标组织进行了一次超声成像，获得了一个二维超声图像，此时，若处理器105按照预设识别算法，确定二维超声图像中目标组织对应的特征点时，如果识别出的特征点较少，还可以以预测的方式，确定一些特征点。
示例性的，在本发明实施例中，在需要对心脏二尖瓣定位时，通过超声探头101对心脏，以一个固定位置和方向发射超声波和接收超声回波，处理器105根据超声回波，仅生成了4腔心、3腔心和2腔心中任意一个切面的超声图像，即一个二维超声图像。处理器105按照预设识别算法，仅确定出两个二尖瓣环端点，即两个特征点P1和P2，因此，假设二尖瓣环是垂直于该超声图像所显示的切面，以P1和P2为直径的圆环，获取P1和P2在超声坐标系下的坐标，即方位信息，分别为P1(A1，B1， C1)，P2(A2，B2，C2)，则判定二尖瓣环上存在一点P3((A1+A2)/2，(B1+B2)/2，(C1+C2)/2+Dis/2)其中，Dis为P1和P2之间的距离，将P1、P2和P3确定为第一方位信息。
具体的，在本发明实施例中，超声图像为多维超声图像，处理器105从超声图像中确定目标组织的第一方位信息，包括：按照预设识别算法，确定多维超声图像中目标组织对应的图像区域；将图像区域对应的方位信息确定为第一方位信息。
示例性的，在本发明实施例中，超声探头101为4D探头时，在需要对心脏二尖瓣定位时，通过超声探头101对心脏进行超声成像时，超声回波表征了4D超声数据，处理器105根据超声回波确定目标组织的超声图像，就可以直接为4D超声图像。因此，处理器105按照预设识别算法，可以确定多维超声图像中二尖瓣环对应的图像区域，而不需要去识别二尖瓣环的端点等特征点，处理器105可以直接获取图像区域在超声图像坐标系中对应的方位信息，将该区域的方位信息确定为第一方位信息。
S204、根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息。
在本发明实施例中，处理器105在确定目标组织的第一方位信息之后，可以根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息。
需要说明的是，在本发明实施例中，处理器105在执行以下步骤S204之前，还需要执行以下步骤：获取第一映射关系和第二映射关系，其中，第一映射关系为超声图像坐标系和定位装置坐标系之间的映射关系，第二映射关系为世界坐标系与参照体坐标系之间的映射关系。
具体的，在本发明实施例中，处理器105获取第二映射关系包括：根据参照体的方位信息获取参照体在世界坐标系中的方位信息；根据参照体在世界坐标系中的方位信息，确定第二映射关系。
需要说明的是，在本发明实施例中，在步骤S201中进行参照体坐标系建立时，已经获取参照体在世界坐标系中的方位信息，获取参照体在世界坐标系中的方位信息时，采用的定位装置在当时位置下时，对应的定位装置坐标系到世界坐标系的映射矩阵，例如，通过探头定位装置102获取参照体在世界坐标系中的方位信息时，参照体在世界坐标系中的方位信息中包括了探头定位装置102在当时位置时，定位装置坐标系到世界坐标系的映射矩阵，通过贴合定位装置11获取参照体在世界坐标系中的方位信息时，参照体在世界坐标系中的方位信息中包括了贴合定位装置11在当时位置时，定位装置坐标系到世界坐标系的映射矩阵，由于处理器105具体是基于参照体在世界坐标系中的方位信息，作为参照体坐标系的基准，因此，该映射矩阵实际上可以表征参照体坐标系到世界坐标系的映射关系，处理器105可以将该映射矩阵直接确定为第二映射关系，即世界坐标系与参照体坐标系之间的映射关系。也就是说，处理器105在建立参照体坐标系的过程中，即可确定第二映射关系。
需要说明的是，在本发明实施例中，对于第一映射关系，超声图像坐标系和定位装置坐标系之间的映射关系为固定不变的，实际上为超声图像坐标系与探头定位装置102，即超声成像时获取超声探头的方位信息时使用的，配置在超声探头101上的定位装置自身建立的坐标系的映射关系，其预先存储在超声成像设备10中，因此，处理器105直接获取即可。
图5为本发明实施例提供的一种映射关系的示意图。如图5所示，第一映射关系为A，固定不变，第二映射关系，即世界坐标系与参照体坐标系之间的映射关系，实际上就是步骤S201中，通过探头定位装置102或贴合定位装置11放置在目标位置，以获取参照体在世界坐标系中的方位信息时，该方位信息中包括的探头定位装置102或贴合定位装置11在当时位置下时，对应的定位装置坐标系到世界坐标系的映射矩阵m。
具体的，在本发明实施例中，处理器105根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息包括：根据第一映射关系对第一方位信息进行映射，确定目标组织在定位装置坐标系中的第二方位信息；根据超声探头的方位信息确定第三映射关系，并根据第三映射关系对第二方位信息进行映射，确定目标组织在世界坐标系中的第三方位信息，其中，第三映射关系为定位装置坐标系和世界坐标系之间的映射关系；根据第二映射关系，对第三方位信息进行映射，确定组织方位信息。
具体的，在本发明实施例中，在需要对心脏二尖瓣定位时，通过超声探头101对心脏，按照不同位置，不同方向发射超声波和接收超声回波，处理器105可以根据不同的超声回波生成心脏的标准2腔心超声图像和4腔心超声图像，根据2腔心超声图像识别出两个二尖瓣环端点P1和P2，根据4腔心超声图像识别出两个二尖瓣环端点P3和P4，P1、P2、P3和P4在超声图像坐标系中的方位信息为第一方位信息，处理器105首先根据第一映射关系，即超声图像坐标系和定位装置坐标系之间的映射关系对这个四个点的方位信息进行映射，确定出这四个点在定位装置坐标系中的第二方位信息，其中，P1的第二方位信息为Q1，P2的第二方位信息为Q2，P3第二方位信息为Q3，P4第二方位信息为Q4。其次，处理器105根据超声探头101的方位信息确定第三映射关系，其中，由于获得了两个超声图像，因此，实际上获得了超声探头101的两个方位信息，即第一方位信息和第二方位信息，第一方位信息包括超声探头101处于第一方位下定位装置坐标系到世界坐标系的第一映射矩阵，第二方位信息包括超声探头101处于第二方位下定位装置坐标系到世界坐标系的第二映射矩阵，第一方位为超声探头进行2腔心超声图像成像时的方位，第二方位为超声探头进行4腔心超声图像成像时的方位。处理器105可以将第一映射矩阵和第二映射矩阵确定为第三映射关系，再根据第三 映射关系对第二方位信息进行映射，确定目标组织在世界坐标系中的第三方位信息，其中，根据第一映射矩阵对Q1和Q2进行映射，获得第三方位信息R1和R2，根据第二映射矩阵对Q3和Q4进行映射，获得第三方位信息R3和R4，R1、R2、R3和R4均为世界坐标系下的方位信息。最后，根据第二映射关系，即步骤S201中确定的世界坐标系与参照体坐标系之间的映射关系，对R1、R2、R3和R4进行映射，确定出目标组织在参照体坐标系中的组织方位信息。
示例性的，在本发明实施例中，处理器105生成2腔心超声图像，并识别出二尖瓣环两个端点(P1，P2)，对应的超声探头的第一方位信息为(m1，x1，y1，z1，a1，b1，c1)，处理器105生成4腔心超声图像，并识别出二尖瓣环两个端点(P3，P4)，对应的超声探头的第二方位信息为(m2，x2，y2，z2，a2，b2，c2)，第一映射关系具体为超声图像坐标系到定位装置坐标系的映射矩阵A，第二映射关系具体为参照体坐标系到世界坐标系的映射矩阵m，因此，(m1×A×P1，m1×A×P2，m2×A×P3，m2×A×P4)表示心脏二尖瓣环在世界坐标系中的第三方位信息，(m -1×m1×A×P1，m -1×m1×A×P2，m -1×m 2×A×P3，m -1×m 2×A×P4)表示二尖瓣环在参照体坐标系中的组织方位信息。
S205、在参照体坐标系中确定当前目标组织所在的人体方位信息。
在本发明实施例中，处理器105在确定目标组织在参照体坐标系中的组织方位信息之后，还可以在参照体坐标系中确定当前目标组织所在的人体方位信息。
具体的，在本发明实施例中，处理器105在参照体坐标系中确定当前目标组织所在的人体方位信息，包括：获取人体方位信息与参照体的方位信息的对应关系；根据对应关系在参照体坐标系中确定人体方位信息。
可以理解的是，在本发明实施例中，为了明确体现组织方位信息和 人体方位信息的方位关系，不仅需要确定目标组织在参照体坐标系中的组织方位信息，还需要进一步在参照体坐标系中确定当前目标组织所在的人体方位信息，从而在参照体坐标系中最终显示组织方位信息时同时显示人体方位信息，医生即可明确两者的方位关系，执行相关检查操作。
可以理解的是，在本发明实施例中，目标组织位于人体内部，人体方位信息即为目标组织所处的人体的方位信息。
需要说明的是，在本发明实施例中，可以直接通过探头定位装置102获取某一坐标系中的人体方位信息，也可以通过贴合定位装置11获取某一坐标系中的人体方位信息。如果获取的人体方位信息为世界坐标系中的方位信息，由于在参照体的方位信息(m，x，y，z，a，b，c)中，m为世界坐标系与参照体坐标系之间的映射关系，因此，可以直接调用m作为人体方位信息与参照体的方位信息的对应关系，从而可以根据该对应关系，将世界坐标系中的人体方位信息映射到参照体坐标系中，即在参照体坐标系中确定了人体方位信息。当然，如果获得人体方位信息为其它坐标系中的人体方位信息，那么同样可以获取其它坐标系与参照体坐标系的对应关系，将该对应关系确定为人体方位信息与参照体的方位信息的对应关系，根据该对应关系，将其它坐标系中的人体方位信息映射到参照体坐标系中，获得了参照体坐标系中的人体方位信息。具体的人体方位信息与参照体的方位信息的对应关系，以及获取方式本发明实施例不作限定。
S206、在参照体坐标系中显示组织方位信息和人体方位信息。
在本发明实施例中，处理器105在确定目标组织在参照体坐标系中的组织方位信息，并在参照体坐标系中确定当前目标组织所在的人体方位信息之后，显示器106在参照体坐标系中显示组织方位信息和人体方位信息。
具体的，在本发明实施例中，显示器106在参照体坐标系中显示组织方位信息和人体方位信息包括：根据颜色、形状和图标中的至少一种方式在参照体坐标系中显示组织方位信息和人体方位信息。例如，通过 某个特殊的颜色在该参照体坐标系中标记该组织方位信息和人体方位信息，又如，通过圆点，小三角等形状在该坐标体坐标系中标记该组织方位信息和人体方位信息，又如，直接通过某个图标，该图标可以是近似目标组织结构的一个图标，或者是目标组织的一个替代图标来在该参照体坐标系中标记该组织方位信息，同样，也可以直接通过某一图标在该参照体坐标系中标记人体方位信息。
当然，还可以通过多维模型显示整个参照体坐标系，在该参照体坐标系中显示该组织方位信息和人体方位信息，具体可以通过颜色，形状和图标中的至少一种方式显示该组织方位信息和人体方位信息，此处不做具体限定。或者，还可以以虚拟现实(virtual reality，VR)的方式真实地显示整个参照体坐标系，在这个参照体坐标系下，可以清晰地看到每个组织的结构特征以及方位关系，进一步地，在该参照体坐标系下，清晰地标记出该组织方位信息和人体方位信息，以便医生清晰地观察到目标组织和人体/病床等参照体坐标系之间的位置关系，当然，还可以在该参照体坐标系下显示超声探头的方位信息或者姿态信息，以便医生清晰地观察到超声探头，目标组织和人体/病床等参照体坐标系之间的位置关系，从而便于医生进行检查操作。进一步地，可以在VR参照体坐标系下，通过定位装置指导从一个超声切面到另一个超声切面之间的切换，或者，从一个超声立体图到另一个超声立体图之间的切换，并进行实时显示。
需要说明的是，在本发明实施例中，在通过多维模型或者VR的显示参照体坐标系，并在参照体坐标系中显示该组织方位信息和人体方位信息时，具体可以以高亮的方式在该参照体坐标系中标记位置该组织方位信息和人体方位信息，或者，以粗线的方式在该参照体坐标系中描绘该组织方位信息和人体方位信息的边界线，或者，在该参照体坐标系中只显示该组织方位信息和人体方位信息，将该组织方位信息和人体方位信息以外的其他区域隐藏，从而满足医生进行检查操作时的不同需求。同 样的，也可以以上述显示方式中的任意一种显示方式显示超声探头在参照体坐标系中的方位信息。医生可以根据实际需求选择不同的显示方式，具体的显示方式本发明实施例不作限定。
需要说明的是，在本发明实施例中，超声探头101的方位信息可以为世界坐标系下的坐标，因此，处理器105可以根据第二映射关系对超声探头101的方位信息进行映射，确定超声探头101在参照体坐标系中的方位信息，显示器106即可根据颜色、形状和图标中的至少一种方式显示超声探头101在参照体坐标系中的方位信息。
图6为本发明实施例提供的一种示例性的在参照体坐标系中显示组织方位信息和人体方位信息的示意图。如图6所示，在参照体坐标系中，可以显示人体、二尖瓣环和超声探头的方位关系，其中，圆柱1表示人体方向，三维圆饼2表示二尖瓣环，图形3表示超声探头101。
需要说明的是，上述步骤S201～S205为一种标准的超声成像方法，其中的映射过程，还可以根据实际的定位装置进行调整。
本发明实施例提供了一种超声成像方法，确定参照体坐标系；通过超声探头对目标组织进行超声成像以获取目标组织的超声图像，并获取超声探头的方位信息；从超声图像中确定目标组织的第一方位信息；根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息；在参照体坐标系中确定当前目标组织所在的人体方位信息；在参照体坐标系中显示组织方位信息和人体方位信息。也就是说，本发明实施例提供的技术方案，能够设定参照体坐标系，并在参照体坐标系下显示目标组织的组织方位信息和目标组织所在的人体方位信息，从而准确的确定出目标组织相对于人体的方向位置，以引导操作人员针对目标组织进行相关操作。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用硬件实施例、软件实施例、或结 合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器和光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程信号处理设备的处理器以产生一个机器，使得通过计算机或其他可编程信号处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程信号处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程信号处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述，仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。
工业实用性
在本发明实施例的技术方案中，超声成像设备确定参照体坐标系；通过超声探头对目标组织进行超声成像以获取目标组织的超声图像，并获取 超声探头的方位信息；从超声图像中确定目标组织的第一方位信息；根据第一方位信息和超声探头的方位信息确定目标组织在参照体坐标系中的组织方位信息；在参照体坐标系中确定当前目标组织所在的人体方位信息；在参照体坐标系中显示组织方位信息和人体方位信息。也就是说，本发明实施例提供的技术方案，能够设定参照体坐标系，并在参照体坐标系下显示目标组织的组织方位信息和目标组织所在的人体方位信息，从而准确的确定出目标组织相对于人体的方向位置，以引导操作人员针对目标组织进行相关操作。

Claims (31)

  1. 一种超声成像方法，其特征在于，所述方法包括：
    确定参照体坐标系；
    通过超声探头对目标组织进行超声成像以获取所述目标组织的超声图像，并获取所述超声探头的方位信息；
    从所述超声图像中确定所述目标组织的第一方位信息；
    根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息；
    在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息；
    在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  2. 根据权利要求1所述的方法，其特征在于，所述确定参照体坐标系，包括：
    确定参照体的方位信息，其中，所述参照体为人体或者人体所在的床位，所述参照体的方位信息表征所述参照体处于稳定状态的任意一个方位信息；
    根据所述参照体的方位信息确定所述参照体坐标系。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息之前，所述方法还包括：
    获取第一映射关系和第二映射关系，其中，所述第一映射关系为超声图像坐标系和定位装置坐标系之间的映射关系，所述第二映射关系为世界坐标系与所述参照体坐标系之间的映射关系。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息包括：
    根据所述第一映射关系对所述第一方位信息进行映射，确定所述目标组织在所述定位装置坐标系中的第二方位信息；
    根据所述超声探头的方位信息确定第三映射关系，并根据所述第三映射关系对所述第二方位信息进行映射，确定所述目标组织在所述世界坐标系中的第三方位信息，其中，所述第三映射关系为所述定位装置坐标系和所述世界坐标系之间的映射关系；
    根据所述第二映射关系，对所述第三方位信息进行映射，确定所述组织方位信息。
  5. 根据权利要求3所述的方法，其特征在于，所述获取第二映射关系包括：
    根据所述参照体的方位信息获取所述参照体在所述世界坐标系中的方位信息；
    根据所述参照体在所述世界坐标系中的方位信息，确定所述第二映射关系。
  6. 根据权利要求3至5任一项所述的方法，其特征在于，所述方法还包括：
    根据所述第二映射关系对所述超声探头的方位信息进行映射，确定所述超声探头在所述参照体坐标系中的方位信息；
    显示所述超声探头在所述参照体坐标系中的方位信息。
  7. 根据权利要求1至6任一项所述的方法，其特征在于，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
    根据颜色、形状和图标中的至少一种方式在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  8. 根据权利要求1至6任一项所述的方法，其特征在于，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
    通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并在 所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  9. 根据权利要求8所述的方法，其特征在于，所述在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息包括：
    以高亮的方式在所述参照体坐标系中标记所述组织方位信息和所述人体方位信息；
    或者，以粗线的方式在所述参照体坐标系中描绘所述组织方位信息和所述人体方位信息的边界线；
    或者，在所述参照体坐标系中只显示所述组织方位信息和所述人体方位信息，将所述组织方位信息和所述人体方位信息以外的其他区域隐藏。
  10. 根据权利要求6所述的方法，其特征在于，所述显示所述超声探头在所述参照体坐标系中的方位信息包括：
    根据颜色、形状和图标中的至少一种方式显示所述超声探头在所述参照体坐标系中的方位信息。
  11. 根据权利要求10所述的方法，其特征在于，所述显示所述超声探头在所述参照体坐标系中的方位信息包括：
    通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并实时显示所述超声探头在所述参照体坐标系中的方位信息。
  12. 根据权利要求1至11任一项所述的方法，其特征在于，所述超声图像为二维超声图像，所述从所述超声图像中确定所述目标组织的第一方位信息，包括：
    按照预设识别算法，确定所述二维超声图像中所述目标组织对应的特征点；
    将所述特征点对应的方位信息确定为所述第一方位信息。
  13. 根据权利要求1至11任一项所述的方法，其特征在于，所述超声图像包括多维超声图像，所述从所述超声图像中确定所述目标组织的 第一方位信息，包括：
    按照预设识别算法，确定所述多维超声图像中所述目标组织对应的图像区域；
    将所述图像区域对应的方位信息确定为所述第一方位信息。
  14. 根据权利要求2至13任一项所述的方法，其特征在于，所述确定参照体的方位信息包括：
    通过贴合定位装置采集到所述参照体的方位信息，其中，所述贴合定位装置贴合到所述参照体处于稳定状态的任意一个方位；
    获取所述超声探头的方位信息，并将所述超声探头的方位信息确定为所述参照体的方位信息，其中，所述超声探头放置到所述参照体处于稳定状态的任意一个方位。
  15. 根据权利要求14所述的方法，其特征在于，所述在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息，包括：
    获取所述人体方位信息与所述参照体的方位信息的对应关系；
    根据所述对应关系在所述参照体坐标系中确定所述人体方位信息。
  16. 一种超声成像设备，其特征在于，所述超声成像设备包括：
    超声探头；
    内置或外部固定于所述超声探头的探头定位装置；
    发射/接收选择开关；
    发射/接收序列控制器，所述发射/接收序列控制器通过所述发射/接收选择开关激励所述超声探头向目标组织发射超声波，控制所述超声探头接收从所述目标组织返回的超声回波；
    处理器，所述处理器用于执行以下步骤：
    确定参照体坐标系；通过所述超声探头对目标组织进行超声成像以获取所述目标组织的超声图像，并通过所述探头定位装置获取所述超声探头的方位信息；从所述超声图像中确定所述目标组织的第一方位信息； 根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息；在所述参照体坐标系中确定当前所述目标组织所在的人体方位信息；
    显示器，所述显示器用于在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  17. 根据权利要求16所述的设备，其特征在于，
    所述处理器，具体用于确定参照体的方位信息，其中，所述参照体为人体或者人体所在的床位，所述参照体的方位信息表征所述参照体处于稳定状态的任意一个方位信息；根据所述参照体的方位信息确定所述参照体坐标系。
  18. 根据权利要求16或17所述的设备，其特征在于，
    所述处理器，在所述根据所述第一方位信息和所述超声探头的方位信息确定所述目标组织在所述参照体坐标系中的组织方位信息之前，还用于获取第一映射关系和第二映射关系，其中，所述第一映射关系为超声图像坐标系和定位装置坐标系之间的映射关系，所述第二映射关系为世界坐标系与所述参照体坐标系之间的映射关系。
  19. 根据权利要求18所述的设备，其特征在于，
    所述处理器，具体用于根据所述第一映射关系对所述第一方位信息进行映射，确定所述目标组织在所述定位装置坐标系中的第二方位信息；根据所述超声探头的方位信息确定第三映射关系，并根据所述第三映射关系对所述第二方位信息进行映射，确定所述目标组织在所述世界坐标系中的第三方位信息，其中，所述第三映射关系为所述定位装置坐标系和所述世界坐标系之间的映射关系；根据所述第二映射关系，对所述第三方位信息进行映射，确定所述组织方位信息。
  20. 根据权利要求18所述的设备，其特征在于，
    所述处理器，具体用于根据所述参照体的方位信息获取所述参照体 在所述世界坐标系中的方位信息，根据所述参照体在所述世界坐标系中的方位信息，确定所述第二映射关系。
  21. 根据权利要求18至20任一项所述的设备，其特征在于，
    所述处理器，还用于根据所述第二映射关系对所述超声探头的方位信息进行映射，确定所述超声探头在所述参照体坐标系中的方位信息；
    所述显示器，还用于显示所述超声探头在所述参照体坐标系中的方位信息。
  22. 根据权利要求16至21任一项所述的设备，其特征在于，
    所述显示器，具体用于根据颜色、形状和图标中的至少一种方式在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  23. 根据权利要求16至21任一项所述的设备，其特征在于，
    所述显示器，具体用于通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并在所述参照体坐标系中显示所述组织方位信息和所述人体方位信息。
  24. 根据权利要求23所述的设备，其特征在于，
    所述显示器，具体用于以高亮的方式在所述参照体坐标系中标记所述组织方位信息和所述人体方位信息；
    或者，以粗线的方式在所述参照体坐标系中描绘所述组织方位信息和所述人体方位信息的边界线；
    或者，在所述参照体坐标系中只显示所述组织方位信息和所述人体方位信息，将所述组织方位信息和所述人体方位信息以外的其他区域隐藏。
  25. 根据权利要求21所述的设备，其特征在于，
    所述显示器，具体用于根据颜色、形状和图标中的至少一种方式显示所述超声探头在所述参照体坐标系中的方位信息。
  26. 根据权利要求25所述的设备，其特征在于，
    所述显示器，具体用于通过多维模型或者虚拟现实VR的方式显示所述参照体坐标系，并实时显示所述超声探头在所述参照体坐标系中的方位信息。
  27. 根据权利要求16至26任一项所述的设备，其特征在于，所述超声图像为二维超声图像，所述处理器，具体用于按照预设识别算法，确定所述二维超声图像中所述目标组织对应的特征点；将所述特征点对应的方位信息确定为所述第一方位信息。
  28. 根据权利要求16至26任一项所述的设备，其特征在于，所述超声图像包括多维超声图像，所述处理器，具体用于按照预设识别算法，确定所述多维超声图像中所述目标组织对应的图像区域；将所述图像区域对应的方位信息确定为所述第一方位信息。
  29. 根据权利要求17至28任一项所述的设备，其特征在于，所述设备还外接贴合定位装置；
    所述处理器，用于通过所述贴合定位装置采集到所述参照体的方位信息，其中，所述贴合定位装置贴合到所述参照体处于稳定状态的任意一个方位；
    所述处理器，还用于通过所述探头定位装置获取所述超声探头的方位信息，并将所述超声探头的方位信息确定为所述参照体的方位信息，其中，所述超声探头放置到所述参照体处于稳定状态的任意一个方位。
  30. 根据权利要求29所述的设备，其特征在于，
    所述处理器，具体用于获取所述人体方位信息与所述参照体的方位信息的对应关系；根据所述对应关系在所述参照体坐标系中确定所述人体方位信息。
  31. 一种计算机可读存储介质，所述计算机可读存储介质存储有超声成像程序，所述超声成像程序可以被处理器执行，以实现权利要求1-15任一项所述的超声成像方法。
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