WO2020133236A1 - Procédé d'imagerie de colonne vertébrale et système d'imagerie ultrasonore - Google Patents

Procédé d'imagerie de colonne vertébrale et système d'imagerie ultrasonore Download PDF

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Publication number
WO2020133236A1
WO2020133236A1 PCT/CN2018/124950 CN2018124950W WO2020133236A1 WO 2020133236 A1 WO2020133236 A1 WO 2020133236A1 CN 2018124950 W CN2018124950 W CN 2018124950W WO 2020133236 A1 WO2020133236 A1 WO 2020133236A1
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WIPO (PCT)
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target
image
volume data
anatomical structure
spine
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PCT/CN2018/124950
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English (en)
Chinese (zh)
Inventor
贾洪飞
梁天柱
林穆清
邹耀贤
陈志杰
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深圳迈瑞生物医疗电子股份有限公司
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Application filed by 深圳迈瑞生物医疗电子股份有限公司 filed Critical 深圳迈瑞生物医疗电子股份有限公司
Priority to CN201880097198.6A priority Critical patent/CN112654301A/zh
Priority to PCT/CN2018/124950 priority patent/WO2020133236A1/fr
Publication of WO2020133236A1 publication Critical patent/WO2020133236A1/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
    • A61B8/13—Tomography
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis

Definitions

  • the present application relates to the field of medical devices, in particular to a spinal imaging method and an ultrasound imaging system.
  • ultrasound examination has a wide range of applications in clinical examination and has become one of the main auxiliary methods for doctors to diagnose diseases.
  • doctors can observe the internal tissue structure of the human body for clinically assisted diagnosis.
  • the spine is a very important structure in fetal development and an important part of prenatal examination.
  • three-dimensional ultrasound has been widely used in fetal spine examination. Its advantage is that it can acquire three-dimensional volume data of the region of interest in one scan, and can display any cut plane in the three-dimensional volume data, and the image is intuitive.
  • the three-dimensional volume data includes three-dimensional volume data of the spine, which can help the doctor locate the abnormal segment of the spine more accurately.
  • the doctor needs to manually rotate and translate the three-dimensional volume data of the spine frequently to achieve a proper observation angle. Then, according to the anatomical structure of the vertebral arch, vertebral body, etc., manually adjust the size and position of the volume of interest (VOI), or use the curved multi-planar reconstruction (CMPR) to manually select the vertebral arch and vertebrae For the body area, obtain standard vertebral arch, vertebral body volume (VR) image or spinal sagittal image. This entire process requires a certain amount of experience from the doctor, which is time-consuming and laborious.
  • VOI volume of interest
  • CMPR curved multi-planar reconstruction
  • Embodiments of the present application provide a spine imaging method and an ultrasound imaging system, which are used to automatically generate and display a target image of a target spine without manual selection, which improves the efficiency and accuracy of ultrasound imaging.
  • An aspect of an embodiment of the present application provides a spinal imaging method, which includes: acquiring three-dimensional volume data of a fetus; identifying a fetal spine image area from the three-dimensional volume data based on the characteristics of the fetal spine Acquiring a target image of the fetal spine according to the image area of the identified fetal spine, wherein the target image includes at least one of a stereoscopic VR image, a two-dimensional slice image, and a multi-surface reconstruction CMPR image; displaying the target image.
  • An aspect of an embodiment of the present application provides a spine imaging method, including: acquiring three-dimensional volume data of a scanning target; determining a predetermined anatomical structure of the target spine from the three-dimensional volume data, wherein the target spine
  • the preset anatomical structure is a partial anatomical structure or all anatomical structures of the target spine; acquiring a target image of the preset anatomical structure, wherein the target image includes a stereoscopic VR image, a two-dimensional slice image, and a multi-surface reconstruction CMPR At least one of the figures; displaying the target image.
  • a spinal imaging method includes: acquiring three-dimensional volume data of a fetus; identifying a spinal cone area from the three-dimensional volume data of the fetus based on the characteristics of the fetal spinal cone; According to the identified spinal cord cone area, the position of the spinal cord cone area is determined; the position of the spinal cord cone area is displayed.
  • An aspect of an embodiment of the present application provides an ultrasound imaging system, including: an ultrasound probe that transmits ultrasound waves to a scanning target and receives ultrasound echoes to obtain ultrasound echo signals; a processor, the processor according to Obtaining the three-dimensional volume data of the target spine by using the ultrasonic echo signal, and determining the preset anatomical structure of the target spine from the three-dimensional volume data, wherein the preset anatomical structure of the target spine is part of the target spine Anatomical structure or all anatomical structures; acquiring a target image of the preset anatomical structure, wherein the target image includes at least one of a stereoscopic VR image, a two-dimensional slice image, and a multi-curved reconstruction CMPR image; a display, the display The target image is displayed.
  • An aspect of an embodiment of the present application provides an ultrasound imaging system, which includes: an ultrasound probe that transmits ultrasound waves to a fetus and receives ultrasound echoes to obtain ultrasound echo signals; a processor, the processing The device obtains the three-dimensional volume data of the fetus according to the ultrasonic echo signal, identifies the spinal cone area from the three-dimensional volume data of the fetus based on the characteristics of the fetal spinal cone, and determines the spinal cone according to the identified spinal cone area The position of the area; a display that displays the position of the spinal cord cone area.
  • An aspect of an embodiment of the present application provides a computer-readable storage medium having instructions stored therein, which when run on a computer, causes the computer to perform the imaging of the spine provided in the first aspect method.
  • the ultrasound imaging system acquires the three-dimensional volume data of the target spine, and determines the preset anatomical structure of the target spine from the three-dimensional volume data, where the preset anatomical structure may be the target spine Part of the anatomical structure may also be the entire structural structure of the target spine.
  • the predetermined anatomical structure may be a vertebral arch or vertebral body in the target spine.
  • the ultrasound imaging system acquires a target image of the preset anatomical structure and displays the target image, where the target image may be a VR image, a two-dimensional standard cross-sectional image, or a CMPR image.
  • the ultrasound imaging system can automatically obtain the target image of the preset anatomical structure of the target spine, and it can be visually displayed without manual selection by the user, improving the efficiency and accuracy of ultrasound imaging, effectively helping the doctor to assist in the diagnosis of the disease, and improving the work effectiveness.
  • FIG. 1 is a schematic structural block diagram of a possible ultrasound imaging system in an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an embodiment of a spinal imaging method in an embodiment of the present application.
  • FIG. 3 is a schematic diagram of an interface display of three-dimensional volume data of a target spine in an embodiment of the present application
  • FIG. 4 is a schematic diagram of an interface display for determining a target spine in three-dimensional volume data in an embodiment of the present application
  • FIG. 5 is a VR diagram of the target spine in the embodiment of the present application.
  • FIG. 6 is a two-dimensional cut-away view of the target spine in an embodiment of the present application.
  • FIG. 7a is a CMPR diagram of the target spine in the embodiment of the present application.
  • FIG. 7b is a CMPR diagram of the vertebral arch in the embodiment of the present application.
  • 7c is a CMPR diagram of the vertebral body in the embodiment of the present application.
  • FIG. 8 is a schematic diagram of the conical region of the spinal cord in the embodiment of the present application.
  • FIG. 1 is a schematic structural block diagram of an ultrasound imaging system 10 in an embodiment of the present application.
  • the ultrasound imaging system 10 may include a probe 100, wherein the probe 100 may be an ultrasound probe, a transmission/reception selection switch 101, a transmission/reception sequence controller 102, a processor 103, and a display 104.
  • the transmission/reception sequence controller 102 can excite the ultrasound probe 100 to transmit ultrasound waves to the target spine, and can also control the ultrasound probe 100 to receive ultrasound echoes returned from the target spine, thereby obtaining ultrasound echo signals/data.
  • the processor 103 processes the ultrasound echo signal/data to obtain tissue-related parameters and ultrasound images of the target spine.
  • the ultrasound images obtained by the processor 103 may be stored in the memory 105, and these ultrasound images may be displayed on the display 104.
  • the ultrasound imaging system 10 may not include the probe 100, the transmission/reception selection switch 101, and the transmission/reception sequence controller 102, and only needs to include the processor 103 and the display 104. That is, the ultrasound image or related parameters of the target spine are acquired directly from the other device through the processor 103 and displayed on the display 104, which is not specifically limited here.
  • the display 104 of the foregoing ultrasound imaging system 10 may be a touch display screen, a liquid crystal display screen, etc., or an independent display device independent of the ultrasound imaging system 10, such as a liquid crystal display, a television, or the like. It is a display screen on electronic devices such as mobile phones and tablet computers.
  • the probe 100 may be a three-dimensional (3-dimension, 3D) ultrasound probe, which may also be called a volume probe, and may receive ultrasound echo data returned from different angles of the target spine to obtain the target spine 3D volume data.
  • 3D three-dimensional
  • the probe 100 can also be a two-dimensional ultrasound probe, and the three-dimensional volume data of the target spine can be obtained by the two-dimensional ultrasound probe.
  • the specific implementation method is to control the two-dimensional ultrasound manually or by a motor or a support arm. The probe moves to obtain three-dimensional data of the target spine.
  • the ultrasound imaging system 10 may further include a mechanical scanning device (not shown in FIG. 1).
  • the mechanical scanning device can drive the probe 100 to move, so that the probe 100 can receive ultrasound echo data returned from different angles of the target spine to obtain three-dimensional volume data of the target spine.
  • the probe 100 may exist independently, or may be provided on a mechanical scanning device, and the mechanical scanning device drives the probe 100 to move.
  • the acoustic head portion of the probe 100 may be an array composed of a plurality of array elements, and the plurality is two or more.
  • the array element can be used to convert electrical signals into ultrasonic waves, send ultrasonic waves, and receive the returned ultrasonic echoes, and convert the ultrasonic echoes into electrical signals to obtain ultrasonic echo data/signals.
  • the shape of the array may be a linear arrangement, a fan arrangement, etc., which may be adjusted according to actual application scenarios.
  • Each array element performs the transmission of ultrasonic waves or the reception of ultrasonic echoes by receiving the transmission signal of the transmission circuit and the reception signal sent by the reception circuit.
  • the foregoing memory 105 of the ultrasound imaging system 10 may be a flash memory card, a solid-state memory, a hard disk, or the like.
  • a computer-readable storage medium stores a plurality of program instructions. After the plurality of program instructions are called and executed by the processor 103, the present application can be executed. In some embodiments, some or all of the steps in the ultrasound imaging method of the spine or any combination thereof.
  • the computer-readable storage medium may be the memory 105, which may be a non-volatile storage medium such as a flash memory card, solid state memory, or hard disk.
  • the aforementioned processor 103 of the ultrasound imaging system 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 103 can Perform the corresponding steps of the ultrasound imaging method of the spine in various embodiments of the present application.
  • ASIC application specific integrated circuits
  • ASIC application specific integrated circuits
  • microprocessors single or multiple programmable logic devices
  • a combination of the aforementioned circuits or devices or other suitable circuits or devices
  • three-dimensional visualization information usually includes cut-plane (or called section, Multiple Planner Rendering, MPR) image display and volume (Rendering, VR) image display.
  • MPR Multiple Planner Rendering
  • VR volume
  • Stereoscopic image refers to the three-dimensional The image obtained by volume data rendering and the cross-sectional image display a plane where the current orientation is located in the three-dimensional volume data.
  • the clinical fetal spine examination needs to observe the standard spine VR image or the spine standard two-dimensional slice view.
  • the doctor needs to adjust the orientation of the three-dimensional volume data of the fetal spine by adjusting the translation and rotation of X, Y, and Z, so that the target spine can be better displayed in this orientation; also, because The VR map is used to render the volume of interest (VOI).
  • VOI volume of interest
  • the doctor also needs to adjust the size and position of the VOI. Therefore, the process of using three-dimensional ultrasound to check the spine often requires a doctor to have a deep understanding of the target spine and three-dimensional ultrasound adjustment. This greatly depends on the experience of the doctor, consumes clinical examination time, and reduces the efficiency of the doctor.
  • the present application provides a method of ultrasonic self-imaging of the spine, which can effectively help doctors diagnose the fetal spine and improve work efficiency.
  • the ultrasound imaging method of the spine in the present application is described in detail below. Please refer to FIG. 2.
  • An ultrasound imaging method of the spine provided by an embodiment of the present application is applied to the ultrasound imaging system 10 shown in FIG.
  • Ultrasound imaging system 10 including a touch display screen that is, using a touch touch display screen to perform input touch screen operations
  • other ultrasound imaging system 10 including a display screen that is, using a mouse, trackball, etc. for input operations, here No specific restrictions.
  • the ultrasound imaging system 10 can generate three-dimensional volume data using ultrasound echo data.
  • the embodiments of the ultrasound imaging method of the spine in the present application include:
  • the ultrasound imaging system can obtain the three-dimensional volume data of the target spine in real time, or can obtain the three-dimensional volume data of the target spine from a local memory or a cloud storage, where the target spine can be any fetus, newborn Waiting for the detection of the spine of the human body, not specifically limited here.
  • acquiring the three-dimensional volume data of the target spine may include: sending ultrasonic waves to the target spine, receiving the ultrasonic echo returned by the target spine, and determining the three-dimensional volume data of the target spine according to the ultrasonic echo.
  • the transmit/receive sequence controller 102 sends a set of delayed focused pulses to the probe 100.
  • the probe 100 transmits ultrasonic waves to the tissue of the body under test (including the target spine), and receives tissue from the body under test after a certain delay. (Including the target spine) Ultrasound echoes with tissue information (including target spine information) reflected back, and this ultrasonic echoes are re-converted into electrical signals.
  • the transmission/reception sequence controller 102 receives these electrical signals and sends these ultrasonic echo signals to the processor 103.
  • the ultrasonic echo signal can obtain the three-dimensional volume data of the target spine after completing the focus delay, weighting and channel summation, and then through signal processing and then through three-dimensional imaging processing.
  • the three-dimensional volume data of the target spine may be obtained by the ultrasound imaging system in FIG. 1 described above, where the probe sends ultrasonic waves to the target spine and receives the ultrasonic echoes returned from the target spine.
  • the probe in the ultrasound imaging system may be a three-dimensional probe including three-dimensional array elements, the three-dimensional probe may directly acquire the ultrasonic echo signal returned from the target spine to obtain three-dimensional volume data of the target spine.
  • the ultrasound imaging system may further include a mechanical scanning device that drives the probe to move, receives ultrasound echo signals returned from the target spine from different angles, and obtains three-dimensional volume data of the target spine.
  • the three-dimensional volume data of the target spine may also be obtained from the memory.
  • the three-dimensional volume data may be that within a preset time period, an ultrasound imaging system or other three-dimensional ultrasound probe in an ultrasound imaging device is used to send ultrasound waves to the target spine and receive ultrasound echoes returned from the target spine to obtain the three-dimensional volume of the target spine.
  • the three-dimensional volume data of the target spine is stored in the memory. Therefore, in the embodiment of the present application, the three-dimensional volume data of the target spine can be read from the memory.
  • the storage may be a local storage, a cloud storage, or a storage in other manners, which is not specifically limited in the embodiments of the present application.
  • the three-dimensional volume data of the target spine can also be obtained by copying from other ultrasound imaging systems.
  • the A ultrasound imaging system obtains the three-dimensional volume data of the target spine from the memory in the B ultrasound imaging system.
  • the three-dimensional volume data may be detected and obtained by the B ultrasound imaging system in real time or obtained and stored by other means, which is not specifically limited here.
  • the ultrasound imaging system After acquiring the three-dimensional volume data of the target spine, the ultrasound imaging system further determines a preset anatomical structure from the three-dimensional volume data, where the preset anatomical structure is a partial anatomical structure or the entire anatomical structure of the target spine.
  • the predetermined anatomical structure may be a partial anatomical structure of the target spine such as a vertebral arch, vertebral body, or spinal cord.
  • the predetermined anatomical structure may also be all anatomical structures corresponding to the target spine, that is, including the vertebral arch, vertebral body, and The entire anatomical structure of the target spine such as the spinal cord. As shown in FIG.
  • the target spine in three-dimensional volume data, wherein the preset anatomical structure is the entire target spine, that is, including all anatomical structures of the vertebral arch, vertebral body, and spinal cord in the target spine.
  • the target spine can be marked by a frame shape. Of course, it can also be marked by one or more combinations of boundary lines, points, colors, and the like, which is not specifically limited here.
  • the method for the ultrasound imaging system to determine the preset anatomical structure from the three-dimensional volume data may be manual or automatic, including but not limited to the following methods:
  • responding to the input operation to the three-dimensional volume data to determine the region of interest may include: receiving an input operation to draw a target frame of the three-dimensional volume data, determining the region of interest according to the drawn target frame; or, receiving the three-dimensional volume The input operation of the points or lines drawn by the data determines the region of interest based on the points or lines drawn.
  • manually determining the preset anatomical structure can refer to the user using a keyboard, mouse, trackball and other tools, through a certain workflow to point and draw lines on the three-dimensional volume data, and the ultrasound imaging system responds to the user's input operation to determine the preset The direction and position of the anatomical structure in the 3D volume data.
  • the ultrasound imaging system can determine the characteristic information of the preset anatomical structure in advance and store it locally, or can obtain the characteristic information of the preset anatomical structure from other cloud storage or other ultrasound imaging systems.
  • the preset information can also be obtained in real time.
  • the characteristic information of the anatomical structure wherein the characteristic information indicates the key differentiating characteristics of the preset anatomical structure, for example, taking the preset anatomical structure as a vertebral arch as an example, the shape of the vertebral arch is an arch, and the echo is a strong echo
  • ultrasound The imaging system can identify the vertebral arch from the three-dimensional volume data through the characteristic information of the vertebral arch.
  • the ultrasound imaging system determines the preset anatomical structure from the three-dimensional volume data according to the characteristic information of the preset anatomical structure.
  • the following examples illustrate several possible implementation methods:
  • a preset learning algorithm may be used to detect the partial anatomy of the vertebral arch or vertebral body or spinal cord in the target spine in the three-dimensional volume data of the target spine.
  • certain data can be collected in advance
  • a number of vertebral arch or vertebral body images called positive samples
  • a certain number of non-vertebral arch or vertebral body images called negative samples
  • design an artificial neural network to determine the vertebral arch or Vertebral body detection model. That is, the detection model of the vertebral arch or vertebral body is used to automatically learn the features that can distinguish the positive sample and the negative sample.
  • the area is calculated as a positive sample.
  • the corresponding anatomical structure of the entire target spine can also be detected from the three-dimensional volume data in the same or similar manner, for example, the key anatomical structures such as the vertebral arch, vertebral body, and spinal cord in the target spine are detected, and then based on All areas corresponding to the vertebral arch, vertebral body and spinal cord determine the target spine.
  • Adaboost algorithm Support Vector Machine (SVM)
  • neural network algorithm convolutional neural network algorithm (Convolutional Neural Networks, CNN), and recurrent neural network algorithm (Recurrent Neural Network Algorithm) Network, RNN), FastRCNN, target detection method (Signal Shot Multiple Detector, SSD), etc.
  • the image segmentation method uses the image segmentation method to perform image segmentation on the three-dimensional volume data to obtain several candidate regions; according to the feature information of the preset anatomical structure and the image features of several candidate regions, determine the probability that several candidate regions are regions of interest, Wherein, the region of interest includes a preset anatomical structure; the preset anatomical structure is determined from the candidate regions whose probability is greater than a preset threshold.
  • the cone segment or the vertebral body or the spinal cord in the target spine can be determined according to the three-dimensional volume data of the target spine through an image segmentation method.
  • the vertebral arch in the target spine usually shows a strong echo-shaped arch structure, and the vertebral arch in the three-dimensional volume data of the target spine can be segmented by image segmentation.
  • the three-dimensional volume data is binary segmented, that is, after performing some necessary morphological operations, many candidate regions can be obtained, and then the image features of each candidate region are determined, and then according to the characteristics of each candidate region, the candidate region is determined as The probability of the vertebral arch is determined from the area with a higher probability.
  • the key structure of the vertebral body or other target spine or the entire target spine can also be determined from the three-dimensional volume data through the image segmentation method.
  • the specific determination process is similar to the process of determining the vertebral arch. For details, please refer to the above description. I will not repeat them here.
  • image segmentation methods can also be used, such as Level Set, Graph Cut, Snake, Random Walker, and some other image segmentation methods in deep learning, such as full Convolutional networks (Fully Convolutional Networks, FCN), unified networks (Unity Networking, UNet), etc., will not repeat them one by one here.
  • full Convolutional networks FCN
  • unified networks UNet
  • the template matching method is used to match the three-dimensional volume data with the preset anatomical structure template; according to the characteristic information of the preset anatomical structure, the region with the highest similarity is determined from the three-dimensional volume data; the region with the highest similarity is determined Preset anatomy.
  • the template matching method may also be used to determine the preset anatomical structure from the three-dimensional volume data of the target spine.
  • the vertebral body in the target spine is usually a short cylinder. You can collect some vertebral body data in the target spine in advance to create a vertebral body template.
  • determining the vertebral body in the three-dimensional volume data of the target spine It is possible to traverse all possible regions in the three-dimensional volume data of the target spine, and perform similarity matching with the preset vertebral body template, and select the region with the highest similarity as the region of interest, and the region of interest includes the vertebral body.
  • the key structure of the vertebral arch or other target spine or the entire target spine can also be determined from the three-dimensional volume data through the template matching method.
  • the specific determination process is similar to the process of determining the vertebral body. For details, please refer to the above description. I will not repeat them here.
  • the target spine can also be determined in other ways, which is not specifically limited here.
  • the position of the vertebral body can also be determined by presetting the spatial distance between the vertebral arch and the vertebral body.
  • the position of the vertebral arch can also be determined by presetting the spatial distance between the vertebral body and the vertebral arch.
  • the position of the entire spine is determined within a preset range through the position of the vertebral arch and vertebral body. There are many specific implementation methods, which will not be repeated here.
  • the target spine determined according to the three-dimensional volume data of the target spine may include the direction and position of the target spine in the three-dimensional volume data, or may be the direction and position in a certain two-dimensional slice, which is not done here Specific restrictions.
  • the manually determined or automatically determined options may be displayed on the display screen of the ultrasound imaging system, and the user may select according to actual needs, for example, through manual options To support the manual determination of the preset anatomical structure, and the automatic option to support the ultrasound imaging system to automatically determine the preset anatomical structure.
  • the target image includes at least one of a three-dimensional VR image, a two-dimensional cross-sectional image, and a multi-planar reconstruction (CMPR) image.
  • CMPR multi-planar reconstruction
  • acquiring the target image of the preset anatomical structure may include: rotating the preset anatomical structure to the target orientation in the three-dimensional volume data; determining the size of the region of interest corresponding to the preset anatomical structure And position; adjust the size and position of the region of interest so that the region of interest surrounds the preset anatomical structure; render the region of interest to obtain a VR image of the preset anatomical structure.
  • a method for determining a VR map of a preset anatomical structure the VR map renders the area within the VOI frame, that is, the area where the preset anatomical structure is located.
  • the VR map renders the area within the VOI frame, that is, the area where the preset anatomical structure is located.
  • it is a VR image of the target spine, that is, taking the preset anatomical structure as the entire target spine as an example, and rendering the entire target spine by highlighting the color to obtain a VR image of the target spine, so that The area where the target spine is located is clearly different from the area other than the target spine.
  • acquiring the target image of the preset anatomical structure may include: selecting at least three target pixels from the preset anatomical structure; generating two according to the positions of the at least three target pixels Dimensional plane; determine a two-dimensional slice corresponding to the two-dimensional plane from the three-dimensional volume data, and determine the two-dimensional slice corresponding to the two-dimensional plane as the two-dimensional slice of the preset anatomical structure.
  • the two-dimensional cross-sectional view of the preset anatomical structure is obtained here, usually referring to the standard two-dimensional cross-sectional view of the preset anatomical structure, referred to as the standard cross-section, the standard cross-section can be the median sagittal plane, the coronal plane, Cross-sectional diagrams and other high-standard cross-sectional diagrams.
  • a preset plane can be generated through the preset anatomical structure detected in the three-dimensional volume data in the previous step, and the plane can be obtained by solving equations or fitting.
  • the plane contains part of the anatomical structure of the target spine such as the vertebral arch, vertebral body or spinal cord.
  • the plane may also contain the entire anatomical structure of the target spine such as the vertebral arch, vertebral body and spinal cord.
  • the mathematical theorem of a plane based on three non-collinear points in space and solve the plane equation; for example, if you know The positions of more than three preset anatomical structures in the standard section can be fitted to a plane equation using the fitting method. There are many fitting methods, such as least square estimation and Hough transform. After the plane equation is obtained, the grayscale image corresponding to the plane can be taken from the three-dimensional volume data, so as to obtain the standard cut plane of the preset anatomical structure.
  • the two-dimensional cutting plane adopts the expression of plane equations, or other equivalent expressions can also be used.
  • a point in space plus a normal vector can also represent a two-dimensional cutting plane.
  • FIG. 6 it is a two-dimensional view of the target spine, that is, the entire anatomical structure of the target spine is determined from the three-dimensional volume data, and the corresponding two-dimensional view is determined from the three-dimensional volume data for the entire anatomical view .
  • acquiring the target image of the preset anatomical structure may include: determining a curve path of the preset anatomical structure from the three-dimensional volume data, and determining the curve from the three-dimensional volume data according to a preset thickness Multiple curved surfaces corresponding to the path, and reconstructing the multiple curved surfaces to obtain a CMPR diagram of the preset anatomical structure.
  • the ultrasound imaging system reconstructs the plurality of curved surfaces to obtain the CMPR map of the preset anatomical structure may include: acquiring pixel values of target pixels on the plurality of curved surfaces, where the target pixels are the multiple curved surfaces respectively For all or part of the pixels corresponding to the target position, determine the target surface of the preset anatomical structure according to the pixel values of the target pixels on the multiple surfaces, and straighten the target surface according to the preset direction to obtain the preset anatomical structure CMPR map, where the preset orientation can be user-defined or system default.
  • multiple curved surfaces integrate a three-dimensional volume data according to a preset thickness, wherein the pixel values of some pixels or all pixel points on each surface can be calculated according to a preset method to obtain a target cut plane The pixel value of the corresponding pixel is determined according to the corresponding pixel value.
  • the three-dimensional volume data includes curved surface 1, curved surface 2, and curved surface 3, where curved surface 1, curved surface 2, and curved surface 3 may be completely coincident or partially coincident, and for the coincident area, select a number of pixels corresponding to each surface at several positions The pixel value of the point, and then calculate the pixel value of the corresponding pixel on each surface to obtain a target surface, in which the pixel value can be calculated by means of averaging or weighted summation. It can be in other ways, which is not specifically limited here.
  • the weighting system corresponding to each pixel in the weighted summation mode may be user-defined or the system default.
  • the calculation process of pixel values is exemplified by means of averaging: it is assumed that the corresponding pixel values of the corresponding pixels in the first vertical direction, second vertical direction, and third vertical direction of the curved surface 1 are a1, a2, and a3, respectively;
  • the corresponding pixel values of the curved surface 2 in the first vertical direction, the second vertical direction, and the third vertical direction are b1, b2, and b3, respectively, and the curved surface 3 is in the first vertical direction and the second vertical direction ,
  • the pixel values of the corresponding pixels in the third vertical direction are c1, c2, and c3, respectively, then the pixel values of the pixels corresponding to the target slice are (a1+b1+c1)/3, (a2+b2+ c2)/3, (a3+b3+c3)/3, that is, multiple surfaces are reconstructed to generate a surface through the calculation of pixel values.
  • there are many pixels corresponding to each curved surface which is only for illustration and is
  • Multi-surface reconstruction (Curved Multi-planar Reconstruction, CMPR) is to select a specific curved path in one dimension, and all voxels (three-dimensional volume data) on the path (Unit) is displayed on the same plane after reconstruction.
  • the curved path may be one or more, may be a curved path corresponding to a partial anatomical structure of a target spine such as a vertebral arch, a vertebral body, or a spinal cord, or may be a curved path corresponding to an entire target spine, which is not specifically limited herein.
  • the CMPR curve path can be selected with different thicknesses.
  • the thickness can be set manually (for example, the user selects different thicknesses when viewing different spinal structures), or it can be automatically set (for example, the ultrasound imaging system 10 can automatically calculate the thickness according to the preset anatomical structure, so that This thickness can enclose the predetermined anatomy).
  • doctors can use the CMPR diagram to display the entire anatomical structure of the target spine (such as the spine cross-section or coronal plane) on a two-dimensional plane to help the doctor observe the structure of the target spine from different angles and different thicknesses.
  • the realization of the CMPR map is to locate the plane corresponding to the curved path of the preset anatomical structure, and then use the plane corresponding to the curved path to automatically obtain the CMPR image of the preset anatomical structure:
  • multiple curved surfaces corresponding to the curved path are determined according to the curvilinear path of the target spine, and the curved surfaces are reconstructed to obtain the CMPR map of the target spine.
  • multiple curved surfaces corresponding to the curved path are determined according to the curved path of the vertebral arch and according to a preset thickness, and the multiple curved surfaces are reconstructed to obtain a CMPR graph of the vertebral arch.
  • multiple curved surfaces corresponding to the curved path are determined according to the curved path of the vertebral body and according to a preset thickness, and the multiple curved surfaces are reconstructed to obtain a CMPR graph of the vertebral body.
  • CMPR diagram for determining the predetermined anatomical structure according to multiple curved surfaces can refer to the above description, and will not be repeated here.
  • the CMPR map may also be pseudo-color marked to obtain a pseudo-color image of the preset anatomical structure, so that the preset anatomical structure displays It is clearer and easier for doctors to observe.
  • the display 104 in the ultrasound imaging system 10 may display at least one of the stereoscopic VR map, the two-dimensional slice map, and the multi-curved surface reconstruction CMPR map obtained through the above steps.
  • the process of displaying the target image can be triggered by the user's key press, or can be directly embedded in the ultrasound system, which is directly opened by default, or can be triggered by other conditions, which is not specifically limited here.
  • the embodiments shown in this application are applicable to both three-dimensional imaging and four-dimensional imaging. Among them, four-dimensional imaging is to dynamically display multiple three-dimensional spine volume data collected in real time through the application process dynamically.
  • the target image when displaying the target image, it may be displayed on the display 104 of the ultrasound imaging system 10 entirely, or the user may choose to display the VR image, two-dimensional slice view, or CMPR image of the target spine.
  • the method may further include: receiving a display instruction for the target image; and displaying the target image according to the display instruction.
  • the display 104 in the ultrasound imaging system 10 may display the target image according to the display instruction.
  • the method may further include: receiving a hiding instruction for the target image; and hiding the target image according to the hiding instruction.
  • the display 104 in the ultrasound imaging system 10 displays the target image, and the user does not need to observe the target image again, the hiding operation can be triggered.
  • the display 104 in the ultrasound imaging system 10 can according to the hiding instruction, Hide the target image.
  • acquiring three-dimensional volume data of a target spine determining a preset anatomical structure from the three-dimensional volume data; acquiring a target image of the preset anatomical structure and displaying the preset anatomical structure, wherein the target image It includes at least one of a three-dimensional VR map, a two-dimensional slice view and a multi-curved reconstruction CMPR map. That is, the ultrasound imaging system can automatically acquire the target image of the target spine, without the user's manual selection, you can intuitively see the stereogram, two-dimensional slice or multi-surface reconstruction of the target spine CMPR map, improve the efficiency and accuracy of ultrasound imaging, Effectively help doctors to carry out auxiliary diagnosis of diseases, improve work efficiency, and save doctors' time and energy.
  • an ultrasound imaging method is provided.
  • the processor can acquire the three-dimensional volume data of the fetus.
  • the three-dimensional volume data of the fetus may be obtained by real-time scanning of the aforementioned ultrasound imaging system, that is, the ultrasound probe transmits ultrasound waves to the fetus and receives ultrasound echoes to obtain ultrasound echo signals, and the processor processes the ultrasound echo signals to obtain fetal Three-dimensional volume data; the three-dimensional volume data of the fetus may also be pre-scanned and stored by the ultrasound imaging device and read in by the processor when the method of this embodiment is needed.
  • the processor may identify the spinal cone region from the fetal three-dimensional volume data based on the characteristics of the fetal spinal cone, determine the position of the spinal cone region according to the identified spinal cone region, and display the position of the spinal cone region.
  • the position of the conical region of the spinal cord can be displayed in various suitable ways, for example, by suitable symbols, colored regions, text, arrows, geometric shapes, and so on.
  • the position of the conical region of the spinal cord can be displayed on the three-dimensional image, it can also be displayed on the two-dimensional image, or it can be displayed on another location.
  • the determined position of the spinal cord cone region may be the position of the end of the spinal cord cone.
  • the position of the end of the spinal cord cone can be determined according to the identified spinal cord cone area, and the position of the end of the spinal cord cone can be displayed.
  • the position of the end of the spinal cord cone can be displayed in a variety of suitable ways, for example, suitable compound, color, dot, line, arrow, number, distance from suitable reference position, and so on.
  • the position of the end of the spinal cord cone can be displayed on a three-dimensional image, it can also be displayed on a two-dimensional image, or it can be displayed on another location.
  • the dotted frame A is the spinal cord cone area.
  • the virtual straight line where the arrow B is located and the virtual straight line where the arrow C is located indicate the end of the spinal cone, which is shown as a small dot in the figure.
  • the conical region of the spinal cord can be identified by the method of target matching.
  • at least two second candidate regions may be determined from the three-dimensional volume data of the fetus, the volume data features of the three-dimensional volume data of each second candidate region may be obtained, and each volume may be determined according to the volume data features of each second candidate region
  • the second degree of matching between the second candidate area and the spinal cord cone, and determining that the second candidate area with the highest second matching degree is the spinal cord cone area.
  • the fetal sagittal plane may be first identified from the three-dimensional volume data of the fetus, and then the spinal cone region may be identified from the sagittal plane image.
  • the sagittal image of the fetal spine can be determined from the three-dimensional volume data of the fetus based on the characteristics of the sagittal surface of the fetal spine, and then based on the characteristics of the spinal cone, in the sagittal image of the fetal spine Determine the spinal cone area.
  • the sagittal plane may be a median sagittal plane and/or a sagittal plane adjacent to the median sagittal plane.
  • the lumbar region can also be identified from the three-dimensional volume data of the fetus, and the position of the spinal cone region can be displayed relative to the lumbar region, so that the user can easily see the relative positional relationship between the spinal cone and the lumbar region .
  • the lumbar spine region can be identified from the three-dimensional volume data of the fetus, an ultrasound image of the lumbar spine region can be displayed, and the spinal cone region (e.g., spinal cone end, etc.) can be displayed relative to the ultrasound image of the lumbar spine region. s position.
  • displaying the position of the spinal cone region with respect to the ultrasound image of the lumbar vertebra region can include a variety of suitable ways, for example, the ultrasound image of the lumbar region and the position of the spinal cone region can be displayed at the same time, so that the user can directly see the relative
  • the positional relationship either by text or coincidence, shows the distance of the spinal cord cone area relative to the lumbar vertebral area, or by the symbols representing the lumbar vertebrae and spinal cord cone area, the relative positional relationship between the two, and so on.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or software function unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present application essentially or part of the contribution to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

L'invention concerne un procédé d'imagerie de colonne vertébrale et un système d'imagerie ultrasonore pour générer et afficher automatiquement une image cible d'une colonne vertébrale cible sans nécessiter une sélection manuelle, de façon à améliorer l'efficacité et la précision de l'imagerie ultrasonore. Le procédé d'imagerie de colonne vertébrale peut comprendre : l'acquisition de données de volume tridimensionnel d'une colonne vertébrale cible ; la détermination d'une structure anatomique prédéfinie de la colonne vertébrale cible à partir des données de volume tridimensionnel, la structure anatomique prédéfinie de la colonne vertébrale cible étant une partie ou la totalité de la structure anatomique de la colonne vertébrale cible ; l'acquisition d'une image cible de la structure anatomique prédéfinie, l'image cible comprenant au moins une image VR stéréoscopique, une image sectionnelle bidimensionnelle ou une image de reconstruction multiplanaire courbe (CMPR) ; et l'affichage de l'image cible.
PCT/CN2018/124950 2018-12-28 2018-12-28 Procédé d'imagerie de colonne vertébrale et système d'imagerie ultrasonore WO2020133236A1 (fr)

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