WO2020093299A1 - Procédé d'imagerie par ultrasons, appareil d'imagerie par ultrasons et support d'enregistrement - Google Patents

Procédé d'imagerie par ultrasons, appareil d'imagerie par ultrasons et support d'enregistrement 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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PCT/CN2018/114492
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English (en)
Chinese (zh)
Inventor
丛龙飞
王勃
安兴
刘羽西
Original Assignee
深圳迈瑞生物医疗电子股份有限公司
深圳迈瑞科技有限公司
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Application filed by 深圳迈瑞生物医疗电子股份有限公司, 深圳迈瑞科技有限公司 filed Critical 深圳迈瑞生物医疗电子股份有限公司
Priority to CN201880097451.8A priority Critical patent/CN112672692A/zh
Priority to PCT/CN2018/114492 priority patent/WO2020093299A1/fr
Publication of WO2020093299A1 publication Critical patent/WO2020093299A1/fr

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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.

Abstract

L'invention concerne un procédé d'imagerie par ultrasons, consistant à : déterminer un système de coordonnées de référence (S201) ; réaliser une imagerie par ultrasons sur un tissu cible au moyen d'une sonde à ultrasons, de façon à obtenir une image ultrasonore du tissu cible et à obtenir des informations de position de la sonde à ultrasons (S202) ; déterminer des premières informations de position du tissu cible selon l'image ultrasonore (S203) ; déterminer des informations de position tissulaire du tissu cible dans le système de coordonnées de référence selon les premières informations de position et les informations de position de la sonde à ultrasons (S204) ; déterminer, dans le système de coordonnées de référence, des informations de position humaine par rapport au tissu cible (S205) ; et afficher, dans le système de coordonnées de référence, les informations de position tissulaire et les informations de position humaine (S206). L'invention concerne en outre un appareil d'imagerie par ultrasons et un support d'enregistrement lisible par ordinateur.
PCT/CN2018/114492 2018-11-08 2018-11-08 Procédé d'imagerie par ultrasons, appareil d'imagerie par ultrasons et support d'enregistrement WO2020093299A1 (fr)

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CN201880097451.8A CN112672692A (zh) 2018-11-08 2018-11-08 一种超声成像方法、超声成像设备及存储介质
PCT/CN2018/114492 WO2020093299A1 (fr) 2018-11-08 2018-11-08 Procédé d'imagerie par ultrasons, appareil d'imagerie par ultrasons et support d'enregistrement

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