WO2021169086A1

WO2021169086A1 - Method, apparatus and device for generating four-dimensional radiographic image, and storage medium

Info

Publication number: WO2021169086A1
Application number: PCT/CN2020/096260
Authority: WO
Inventors: 黄文政; 刘旭江; 唐艳红
Original assignee: 深圳开立生物医疗科技股份有限公司
Priority date: 2020-02-28
Filing date: 2020-06-16
Publication date: 2021-09-02
Also published as: CN111358492A

Abstract

A method, an apparatus and a device for generating a four-dimensional radiographic image, and a computer-readable storage medium. Said method comprises: obtaining radiographic data of the current frame of a target site (S110); and determining, according to positioning information of an ultrasonic probe, whether a swing of the ultrasonic probe reaches a preset correction condition (S120): if so, correcting the radiographic data, and generating a four-dimensional time rendered image on the basis of the corrected radiographic data (S130), and if not, generating a four-dimensional time rendered image on the basis of the radiographic data (S140). The method and apparatus can effectively avoid the problem of a swing of an ultrasonic probe causing an image offset, which leads to disordered colours of the time-imaged rendered result. In addition, there is no need to perform a time-consuming and inefficient three-dimensional feature matching operation to implement the adjustment with respect to radiographic image offset, thereby improving the generation efficiency of a four-dimensional radiographic image.

Description

Method, device, equipment and storage medium for generating four-dimensional contrast image

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on February 28, 2020, the application number is 202010129489.8, and the invention title is "a method, device, equipment, and storage medium for generating four-dimensional radiography images", and its entire contents Incorporated in this application by reference.

Technical field

This application relates to the field of image processing technology, and in particular to a method, device, equipment, and storage medium for generating a four-dimensional contrast image.

Background technique

With the advancement of medical technology, imaging technology has gradually developed. In radiology, radiography is to take in substances containing elements with high atomic number, and then take radiographs in the body to be diagnosed for medical diagnosis. For structures or organs lacking natural contrast, a substance with a density higher or lower than that of the structure or organ, that is, a contrast agent, can be introduced into the organ or the space around it to produce a contrast image.

In order to visually observe the method and process of the contrast agent flow, it is possible to use multiple color pseudo-colors during the imaging process to correspond the flow of the contrast agent over time to the color one-to-one. However, if the ultrasound probe swings too much during the image acquisition process, it will be difficult to effectively match the three-dimensional image and the rendering color will be disordered.

Summary of the invention

The purpose of this application is to provide a method, device, equipment and storage medium for generating a four-dimensional contrast image, so as to avoid the problem of color confusion in the generated four-dimensional contrast image.

In order to solve the above technical problems, this application provides the following technical solutions:

A method for generating four-dimensional contrast images, including:

Obtain the contrast data of the current frame of the target part;

According to the positioning information of the ultrasound probe, determine whether the swing of the ultrasound probe reaches a preset correction condition;

If it is determined that the swing of the ultrasound probe reaches the preset correction condition, correct the contrast data, and generate a four-dimensional time-rendered image based on the corrected contrast data;

If it is determined that the swing of the ultrasound probe does not reach the preset correction condition, the four-dimensional time-rendered image is generated based on the contrast data.

In a specific implementation of the present application, a positioning device is provided on the ultrasound probe, and the determining whether the swing of the ultrasound probe reaches a preset correction condition according to the positioning information of the ultrasound probe includes:

Determine the spatial position of the ultrasound probe in the current frame according to the positioning information of the ultrasound probe;

Comparing the spatial position of the ultrasound probe in the current frame with the spatial position of the ultrasound probe in the first frame obtained in advance to determine the spatial rotation angle and translation distance of the ultrasound probe;

According to the spatial rotation angle and the translation distance, it is determined whether the swing of the ultrasonic probe reaches a preset correction condition.

In a specific implementation manner of the present application, the determining whether the swing of the ultrasonic probe reaches a preset correction condition according to the spatial rotation angle and translation distance includes:

If the spatial rotation angle is greater than the preset angle threshold and/or the translation distance is greater than the preset distance threshold, it is determined that the swing of the ultrasound probe reaches the preset correction condition.

In a specific implementation manner of the present application, the positioning device is an electromagnetic positioning device, and the correction of the imaging data includes:

Determine the electromagnetic positioning coordinate system as the world coordinate system;

Converting the ultrasound image coordinate system to the electromagnetic positioning coordinate system;

Determining the affine matrix of the ultrasonic probe swing;

In combination with the affine matrix, coordinate transformation is performed on the contrast data on the electromagnetic positioning coordinate system and converted back to the ultrasound image coordinate system to obtain the corrected contrast data.

In a specific implementation of the present application, after the acquisition of the contrast data of the current frame of the target part, and before the determining whether the oscillation of the ultrasound probe reaches the preset correction condition according to the positioning information of the ultrasound probe, the method further includes :

Determine whether each voxel in the contrast data is a noise point;

The noise points are eliminated from the contrast data.

In a specific implementation manner of the present application, the determining whether each voxel in the contrast data is a noise point includes:

Determining a gray average value corresponding to each voxel in the contrast data;

The voxels whose corresponding gray-level average value is less than the preset gray-level threshold are determined as noise points.

In a specific implementation manner of the present application, the determining the average gray value corresponding to each voxel in the contrast data includes:

Determining the gray scale sum of the voxels in the area of the set size corresponding to each voxel in the contrast data;

The ratio of the gray scale corresponding to each voxel to the number of voxels in the corresponding area is determined as the mean gray scale corresponding to each voxel.

In a specific implementation of the present application, in the case of performing post-processing on the obtained complete angiography data of the target part, before the generating a four-dimensional time-rendered image, the method further includes:

Based on the tissue characteristics of the target part, the target part is segmented from the complete angiography data of the target part according to a three-dimensional region growth method.

A four-dimensional contrast image generating device, including:

An imaging data obtaining module, which is used to obtain the imaging data of the current frame of the target part;

A judging module, configured to determine whether the swing of the ultrasonic probe reaches a preset correction condition according to the positioning information of the ultrasonic probe;

An contrast data correction module, configured to correct the contrast data when it is determined that the swing of the ultrasound probe reaches the preset correction condition;

An angiographic image generating module, configured to generate a four-dimensional time-rendered image based on the corrected angiographic data;

The contrast image generation module is further configured to generate the four-dimensional time-rendered image based on the contrast data when it is determined that the swing of the ultrasound probe does not reach the preset correction condition.

A four-dimensional radiography image generating device, including:

Memory, used to store computer programs;

The processor is configured to implement the steps of any one of the four-dimensional contrast image generation methods described above when the computer program is executed.

A computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, realizes the steps of any one of the above-mentioned four-dimensional image generation methods.

Applying the technical solutions provided by the embodiments of this application, after obtaining the contrast data of the current frame of the target part, according to the spatial position of the ultrasound probe of the current frame, it is determined whether the oscillation of the ultrasound probe reaches the preset correction condition. If it reaches, the contrast data can be compared Perform correction and generate a four-dimensional contrast image based on the corrected contrast data. If it does not reach, then generate a four-dimensional contrast image based on the contrast data. When the swing of the ultrasound probe reaches the correction condition, the contrast data of the current frame is corrected and then the four-dimensional contrast image is generated. This can effectively avoid the image shift caused by the swing of the ultrasound probe, resulting in the problem of color confusion in the rendering result of time imaging At the same time, there is no need to perform time-consuming and inefficient three-dimensional feature matching operations to realize the adjustment of the contrast image offset, which improves the efficiency of four-dimensional contrast image generation.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is an implementation flowchart of a method for generating a four-dimensional contrast image in an embodiment of the application;

2 is a comparison diagram of images before and after three-dimensional affine transformation in an embodiment of the application;

FIG. 3 is a comparison diagram before and after preprocessing the angiography data in an embodiment of the application; FIG.

4 is a comparison diagram before and after segmentation of a target part in an embodiment of the application;

FIG. 5 is a schematic structural diagram of a four-dimensional contrast image generating device in an embodiment of the application;

Fig. 6 is a schematic structural diagram of a four-dimensional contrast image generating device in an embodiment of the application.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the application, the application will be further described in detail below with reference to the accompanying drawings and specific implementations. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

Referring to FIG. 1, an implementation flowchart of a method for generating a four-dimensional angiography image provided by an embodiment of this application. The method may include the following steps:

S110: Obtain the contrast data of the current frame of the target part.

The target part is the part in the body to be diagnosed, such as the uterus and fallopian tubes. A bolus of contrast agent can be injected to the target site to obtain contrast data. In the process of bolus injection of the contrast agent to the target part, the contrast of the target part can be scanned to obtain the contrast data of the current frame. The contrast data may be a three-dimensional contrast image.

S120: According to the positioning information of the ultrasound probe, determine whether the swing of the ultrasound probe reaches a preset correction condition.

Contrast data can be collected by an ultrasound probe. While obtaining the contrast data of the current frame of the target part, the positioning information of the ultrasound probe can be obtained. Specifically, the probe positioning technology can be used to obtain the positioning information of the ultrasound probe. Through the positioning information, the spatial position of the ultrasound probe in the current frame can be determined.

At present, the commonly used spatial positioning technologies mainly include optical positioning and electromagnetic positioning. Electromagnetic positioning technology has the advantages of high accuracy, convenient and flexible operation, and no line of sight obstruction. The electromagnetic positioning system mainly includes an electromagnetic transmitter and a probe receiver. The electromagnetic transmitter collects the positioning information of the ultrasonic probe through the feedback signal of the probe receiver.

According to the positioning information of the ultrasound probe, it can be determined whether the swing of the ultrasound probe is too large and whether the preset correction condition is reached. The preset correction conditions can be set and adjusted according to actual conditions.

Because the swing of the ultrasound probe will cause the image to shift, which causes the color of the rendering result of the time imaging to be disordered. Therefore, in the embodiment of the present application, when the swing of the ultrasound probe reaches the preset correction condition, the operation of step S130 can be continued to correct the contrast data of the current frame. If the swing of the ultrasound probe does not reach the preset correction condition, Then, the contrast data of the current frame may not be corrected, and the operation of step S140 is performed, and the contrast data of the current frame is directly used to generate a four-dimensional time-rendered image.

S130: If it is determined that the swing of the ultrasound probe reaches the preset correction condition, correct the contrast data, and generate a four-dimensional time-rendered image based on the corrected contrast data.

According to the positioning information of the ultrasound probe, it can be determined whether the swing of the ultrasound probe is too large and whether the preset correction condition is reached. If it is determined that the swing of the ultrasound probe reaches the preset correction condition, the contrast data of the current frame can be corrected. For example, the angiographic data of the current frame can be corrected by means of spatial coordinate transformation.

After the angiography data is corrected, a four-dimensional time contrast image can be generated based on the corrected angiography data. Specifically, the corrected contrast data of the current frame can be compared with the contrast data of the previous frame to obtain a new contrast area, and fill the corresponding color in the newly appeared contrast area to generate a four-dimensional time rendered image. Here, the contrast data of the previous frame may be the contrast data of the previous frame that does not require correction processing, or the contrast data of the previous frame that has undergone correction processing.

S140: If it is determined that the swing of the ultrasound probe does not meet the correction condition, generate a four-dimensional time-rendered image based on the contrast data.

When it is determined that the swing of the ultrasound probe has not reached the correction condition, there is no need to perform correction processing on the contrast data of the current frame, and a four-dimensional time-rendered image can be generated directly based on the contrast data of the current frame. Similarly, the contrast data of the current frame can be compared with the contrast data of the previous frame to obtain a new contrast area, fill the corresponding color in the newly appeared contrast area, and generate a four-dimensional time-rendered image. The contrast area corresponding to different times can correspond to different colors. Here, the contrast data of the previous frame may be the contrast data of the previous frame that does not require correction processing, or the contrast data of the previous frame that has undergone correction processing.

In the process of generating a four-dimensional time-rendered image, multiple color pseudo colors can be used to correspond the flow of the contrast agent over time to the color one-to-one. Through the four-dimensional time-rendered image, it is convenient to visually observe the direction and process of the flow of the contrast agent.

For each frame of angiographic data of the target part, follow the above steps to obtain the final four-dimensional time-rendered image of the target part.

Of course, in actual applications, it is possible to first determine whether to correct each frame of angiographic data, and when it is determined that it needs to be corrected, correct it. Finally, based on the finally obtained angiographic data for the target part, a four-dimensional time-rendered image is generated.

Applying the method provided in the embodiments of the present application, after obtaining the contrast data of the current frame of the target part, according to the positioning information of the ultrasound probe, it is determined whether the swing of the ultrasound probe reaches the preset correction condition, and if it is reached, the contrast data can be corrected. And based on the corrected angiography data, generate a four-dimensional time-rendered image, if it does not reach, then generate a four-dimensional time-rendered image based on the angiography data. Because the swing of the ultrasound probe will cause the image to shift, if the swing of the ultrasound probe is too large, the amplitude of the image shift will be large, which will cause the color of the rendering result of the time imaging to be disordered. When the swing of the ultrasound probe is too large and the preset correction conditions are reached, after correcting the contrast data of the current frame, a four-dimensional time-rendered image is generated based on the corrected contrast data, which can effectively avoid the image shift caused by the swing of the ultrasound probe. This leads to the problem of color confusion in the rendering result of the time imaging, and at the same time, there is no need to perform a time-consuming and inefficient three-dimensional feature matching operation to realize the adjustment of the contrast image offset, which improves the generation efficiency of the four-dimensional time rendering image.

In practical applications, during the process of injecting a contrast agent into the target part, the contrast data of each frame of the target part can be obtained in real time, and the contrast data of each frame can be processed in real time to generate a four-dimensional time rendered image. You can also record relevant data, such as contrast data, positioning information of ultrasound probes, etc. during the process of injecting contrast agent into the target site. When the generation of four-dimensional time-rendered images is required in the later stage, the target can be obtained based on the recorded relevant data. The imaging data of each frame of the part, and the steps of this application are executed for each frame of the imaging data to generate a four-dimensional time-rendered image. In the process of injecting contrast agent into the target part, the contrast data of each frame of the target part can be obtained in real time, and the contrast data of each frame can be processed in real time, and relevant data, such as contrast data that does not need to be processed, are recorded. , Processed angiography data, etc., when the generation of a four-dimensional time-rendered image is required in the later stage, a four-dimensional time-rendered image is generated based on the recorded related data.

In an embodiment of the present application, a positioning device is provided on the ultrasound probe, and step S120 may include the following steps:

Step 1: Determine the spatial position of the ultrasound probe in the current frame according to the positioning information of the ultrasound probe;

Step 2: Compare the spatial position of the ultrasound probe in the current frame with the spatial position of the ultrasound probe in the first frame obtained in advance to determine the spatial rotation angle and translation distance of the ultrasound probe;

Step 3: Determine whether the swing of the ultrasonic probe reaches the preset correction condition according to the spatial rotation angle and translation distance.

For ease of description, the above three steps are combined for description.

In the embodiments of the present application, a positioning device may be provided on the ultrasonic probe, and the positioning device may be a probe receiver in an electromagnetic positioning system. The electromagnetic transmitter of the electromagnetic positioning system can collect and obtain the ultrasonic probe through the feedback signal of the probe receiver. Location information.

In practical applications, the spatial position of the ultrasound probe of the first frame can be obtained in advance through the electromagnetic positioning system. When obtaining the contrast data of the current frame of the target part, the spatial position of the ultrasound probe of the current frame can be determined according to the positioning information of the ultrasound probe.

The spatial position of the ultrasound probe of the current frame is compared with the spatial position of the ultrasound probe of the first frame, and the spatial rotation angle and translation distance of the ultrasound probe can be determined according to the comparison result. That is, the spatial position of the ultrasound probe in the first frame is used as a reference to determine the spatial rotation angle and translation distance of the ultrasound probe in the current frame.

According to the determined spatial rotation angle and translation distance, it can be determined whether the swing of the ultrasonic probe reaches the preset correction condition. Specifically, if the spatial rotation angle is greater than the preset angle threshold and/or the translation distance is greater than the preset distance threshold, it can be determined that the swing of the ultrasound probe reaches the preset correction condition. The angle threshold and distance threshold can be set and adjusted according to the actual situation.

That is, when the spatial rotation angle of the ultrasound probe is greater than the preset angle threshold and/or the translation distance is greater than the preset distance threshold, it can be considered that the swing of the ultrasound probe is too large, which will cause the image to shift and cause the color of the rendering result of the time imaging to be disordered. In this case, it can be determined that the swing of the ultrasonic probe has reached the preset correction condition.

By comparing the spatial position of the ultrasound probe in the current frame with the spatial position of the ultrasound probe in the first frame obtained in advance, the spatial rotation angle and translation distance of the ultrasound probe are determined, so that the ultrasound probe can be accurately determined according to the spatial rotation angle and translation distance. Whether the swing reaches the preset correction condition.

In an embodiment of the present application, step S130 to correct the angiographic data may include the following steps:

The first step: Determine the electromagnetic positioning coordinate system as the world coordinate system;

The second step: Convert the ultrasound image coordinate system to the electromagnetic positioning coordinate system;

The third step: determine the affine matrix of the ultrasonic probe swing;

The fourth step: Combining the affine matrix, perform coordinate transformation on the contrast data in the electromagnetic positioning coordinate system, and convert it back to the ultrasound image coordinate system to obtain the corrected contrast data.

For ease of description, the above four steps are combined for description.

In the embodiment of the present application, an electromagnetic positioning system may be used to perform positioning information of the ultrasound probe. The position of the electromagnetic transmitter in the electromagnetic positioning system is not moving, and the electromagnetic positioning coordinate system can be determined as the world coordinate system. When it is determined that the swing of the ultrasound probe reaches the preset correction condition, the contrast data can be corrected. The swing of the ultrasound probe is in the electromagnetic positioning coordinate system, and the ultrasound image coordinate system can be converted to the electromagnetic positioning coordinate system first, and then the affine matrix of the ultrasound probe swing can be determined.

Combined with the affine matrix, the contrast data is transformed on the electromagnetic positioning coordinate system and converted back to the ultrasound image coordinate system to obtain the corrected contrast data.

For example, the three-dimensional affine matrix of the ultrasound probe obtained by calculation is as follows:

The transformation relationship between pixels P ₁ (x ₁ , y ₁ , z ₁ ) and P ₂ (x ₂ , y ₂ , z ₂ ) is: P ₂ =M·P ₁ . The image comparison before and after the transformation is shown in Figure 2.

In an embodiment of the present application, after step S110 obtains the contrast data of the current frame of the target part and before step S120 determines whether the oscillation of the ultrasound probe reaches the preset correction condition according to the positioning information of the ultrasound probe, the method may further include the following step:

Step 1: Determine whether each voxel in the angiographic data is a noise point;

Step 2: Eliminate noise points in the angiographic data.

For ease of description, the above two steps are combined for description.

In the embodiment of the present application, after obtaining the contrast data of the current frame of the target part, the contrast data may be preprocessed such as noise reduction first.

When preprocessing the contrast data, you can first determine whether each voxel in the contrast data is a noise point. Specifically, the average gray value corresponding to each voxel in the contrast data may be determined first, and the voxels with the corresponding gray average value less than the preset gray threshold value may be determined as noise points.

That is, for each voxel in the contrast data, the gray level average value corresponding to the voxel can be determined first. If the gray level average value corresponding to the voxel is greater than or equal to the preset gray level threshold, the voxel can be determined to be non-noise If the average gray value corresponding to the voxel is less than the preset gray threshold, it can be determined that the voxel is a noise point. For each voxel in the contrast data, the noise point can be determined in this way. The gray-scale threshold can be set and adjusted according to actual conditions, which is not limited in the embodiment of the present application.

When determining the average gray value of each voxel in the contrast data, you can first determine the gray sum of the voxels in the set size area corresponding to each voxel in the contrast data, and then calculate the gray value corresponding to each voxel. The ratio of sum to the number of voxels in the corresponding area is determined as the mean gray level corresponding to each voxel.

That is, for each voxel in the contrast data, determine the gray scale sum of the voxel in the area of the set size corresponding to the voxel, and determine the ratio of the gray scale sum to the number of voxels in the area as the volume The gray mean value corresponding to the element. The setting size can be set and adjusted according to the actual situation, and a uniform standard can be used when determining the noise point.

Each voxel has its own corresponding gray-level mean, and then based on the gray-level mean, it is determined whether each voxel is a noise point.

After the noise points are determined for each voxel in the contrast data, the noise points can be eliminated from the contrast data to obtain the reduced noise contrast data, and further operations, such as corrections, can be performed on the reduced noise contrast data. Finally, a four-dimensional time-rendered image is generated. This pre-processing method for noise reduction is different from traditional filtering operations and will not affect the resolution of the image region of interest. As shown in Figure 3, it is a comparison chart before and after pretreatment.

For ease of understanding, an example is given.

Assuming the contrast data I(x,y,z) of the current frame, the area of the set size is (a,b,c), for each voxel I(x ₀ ,y ₀ ,z ₀ ) in the contrast data, you can Calculate the gray scale sum of the voxel in the area of the set size corresponding to the voxel:

Then calculate the ratio of the gray level corresponding to the voxel to the number of voxels in the region, and determine the ratio as the average gray level corresponding to the voxel.

If the average gray value is greater than or equal to the preset gray threshold, the voxel can be determined to be a non-noise point, and I(x ₀ , y ₀ , z ₀ ) can remain unchanged. If the average gray value is less than the preset If the gray threshold is set, the voxel can be determined to be a noise point, and I(x ₀ ,y ₀ ,z ₀ )=0.

Before correcting the angiography data and generating the four-dimensional time-rendered image, perform preprocessing such as noise reduction on the angiographic data first, which can reduce the noise in the angiographic data and avoid the color of the final generated four-dimensional time-rendered image. problem.

In an embodiment of the present application, in the case of performing post-processing on the complete angiographic data of the obtained target part, before generating the four-dimensional time-rendered image, the method may further include the following steps:

Based on the tissue characteristics of the target part, the target part is segmented from the complete angiographic data of the target part according to the three-dimensional region growing method.

In the embodiment of the present application, the complete angiography data of the target part can be obtained first, and then the complete angiography data is called back to generate a four-dimensional time-rendered image. In the case of post-processing the obtained complete angiographic data of the target part, before generating the four-dimensional time-rendered image, the target part can be segmented from the angiographic data based on the tissue characteristics of the target part. Specifically, the target part can be segmented from the complete angiography data of the target part according to the three-dimensional region growing method. This can effectively remove noise and speed up the calculation speed of subsequent operations.

Taking the target site as the uterus and fallopian tubes as an example, because the uterus and fallopian tubes have obvious tissue features such as shape and grayscale features, the three-dimensional region growth method can be used to segment the uterus and fallopian tubes. Using the three-dimensional region growth method to segment the uterus and fallopian tubes mainly uses the three-dimensional connected domain labeling method, which is fast and convenient for calculation. Specifically, sorting can be performed according to the size of the connected regions to obtain the first n regions with the largest region volume. It can be seen from the tissue characteristics that the uterus and fallopian tubes are generally one or several large connected areas, while noise is a small scattered area, so the uterus and fallopian tubes and noise can be distinguished by the size of the connected area. Among them, the volume of the connected area can be calculated by the number of voxels in the connected area. In practical applications, the value of n can be obtained through subsequent clinical images to obtain a more appropriate value, or it can be adjusted according to the actual situation.

The target part is segmented from the angiography data, that is, the area of the non-target part is removed from the angiography data, and the noise in the angiography data is further reduced. Figure 4 shows the comparison of the target part before and after segmentation. The generated contrast data of the target part is subjected to a four-dimensional time-rendered image generation operation, which can speed up the calculation speed.

Corresponding to the above method embodiments, the embodiments of the present application also provide a four-dimensional angiography image generation device. The four-dimensional angiography image generation device described below and the four-dimensional angiography image generation method described above can be referred to each other.

As shown in Figure 5, the device may include the following modules:

An angiography data obtaining module 510, configured to obtain angiography data of the current frame of the target part;

The judging module 520 is configured to determine whether the swing of the ultrasonic probe reaches the preset correction condition according to the positioning information of the ultrasonic probe;

The contrast data correction module 530 is used to correct the contrast data when it is determined that the swing of the ultrasound probe reaches the preset correction condition;

An angiographic image generating module 540, configured to generate a four-dimensional time-rendered image based on the corrected angiographic data;

The contrast image generation module 540 is also used to generate a four-dimensional time-rendered image based on the contrast data when it is determined that the swing of the ultrasound probe has not reached the preset correction condition.

Using the device provided by the embodiment of the present application, after obtaining the contrast data of the current frame of the target part, according to the positioning information of the ultrasound probe, it is determined whether the swing of the ultrasound probe reaches the preset correction condition, and if it is reached, the contrast data can be corrected. And based on the corrected angiography data, generate a four-dimensional time-rendered image, if it does not reach, then generate a four-dimensional time-rendered image based on the angiography data. Because the swing of the ultrasound probe will cause the image to shift, if the swing of the ultrasound probe is too large, the amplitude of the image shift will be larger, which will cause the color of the rendering result of the time imaging to be disordered. When the swing of the ultrasound probe is too large and the preset correction conditions are reached, the contrast data of the current frame is corrected, and then a four-dimensional time-rendered image is generated based on the corrected contrast data, which can effectively avoid the image shift caused by the swing of the ultrasound probe. As a result, the rendering result of the temporal imaging is caused by color disorder. At the same time, there is no need to perform a time-consuming and inefficient three-dimensional feature matching operation to realize the adjustment of the contrast image offset, which improves the generation efficiency of the four-dimensional temporal rendering image.

In a specific implementation of the present application, a positioning device is provided on the ultrasonic probe, and the judgment module 520 is used for:

Compare the spatial position of the ultrasound probe in the current frame with the spatial position of the ultrasound probe in the first frame obtained in advance to determine the spatial rotation angle and translation distance of the ultrasound probe;

According to the spatial rotation angle and translation distance, it is determined whether the swing of the ultrasonic probe reaches the preset correction condition.

In a specific implementation manner of the present application, the judgment module 520 is configured to:

In a specific implementation of the present application, the angiography data correction module 530 is used to:

Convert the ultrasound image coordinate system to the electromagnetic positioning coordinate system;

Determine the affine matrix of the ultrasonic probe swing;

In a specific implementation manner of this application, it further includes a preprocessing module for:

After obtaining the contrast data of the current frame of the target part, and before determining whether the swing of the ultrasound probe reaches the preset correction condition according to the positioning information of the ultrasound probe, determine whether each voxel in the contrast data is a noise point;

Eliminate noise points in the angiographic data.

In a specific implementation manner of this application, the preprocessing module is used to:

Determine the gray mean value corresponding to each voxel in the angiographic data;

Determine the gray scale sum of the voxels in the area of the set size corresponding to each voxel in the contrast data;

In a specific implementation manner of this application, it further includes a segmentation module for:

In the case of post-processing the obtained complete angiography data of the target part, before generating the four-dimensional time rendering image, based on the tissue characteristics of the target part, the target part is segmented from the complete angiography data of the target part according to the three-dimensional region growing method .

Corresponding to the above method embodiment, an embodiment of the present application also provides a four-dimensional contrast image generation device, including:

Memory, used to store computer programs;

The processor is used to implement the steps of the above-mentioned four-dimensional contrast image generation method when the computer program is executed.

As shown in FIG. 6, it is a schematic diagram of the composition structure of a four-dimensional radiography image generating device. The four-dimensional radiography image generating device may include a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, the memory 11, and the communication interface 12 all communicate with each other through the communication bus 13.

In the embodiment of the present application, the processor 10 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic devices.

The processor 10 may call a program stored in the memory 11, and specifically, the processor 10 may perform operations in the embodiment of the method for generating a four-dimensional angiography image.

The memory 11 is used to store one or more programs, the programs may include program codes, and the program codes include computer operation instructions. In the embodiment of the present application, the memory 11 stores at least programs for implementing the following functions:

Obtain the contrast data of the current frame of the target part;

According to the positioning information of the ultrasound probe, determine whether the swing of the ultrasound probe reaches the preset correction condition;

If it is determined that the swing of the ultrasound probe reaches the preset correction condition, the contrast data is corrected, and a four-dimensional time rendering image is generated based on the corrected contrast data;

If it is determined that the swing of the ultrasound probe has not reached the preset correction condition, a four-dimensional time-rendered image is generated based on the contrast data.

In a possible implementation manner, the memory 11 may include a program storage area and a data storage area, where the program storage area may store an operating system and an application program required by at least one function (such as a data processing function and an image generation function). Etc.; the data storage area can store data created during use, such as angiography data, correction data, etc.

In addition, the memory 11 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device or other volatile solid-state storage devices.

The communication interface 13 may be an interface of a communication module for connecting with other devices or systems.

Of course, it should be noted that the structure shown in FIG. 6 does not constitute a limitation on the four-dimensional contrast image generating device in the embodiment of the present application. In practical applications, the four-dimensional contrast image generating device may include more or more than that shown in FIG. 6 Few parts, or a combination of some parts.

Corresponding to the above method embodiment, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned four-dimensional contrast image generation method are implemented. .

The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

Professionals may further realize that the units and algorithm steps of the examples described in the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, in the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

The steps of the method or algorithm described in the embodiments disclosed in this document can be directly implemented by hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or all areas in the technical field. Any other known storage media.

Specific examples are used in this article to describe the principles and implementations of the present application, and the description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

A method for generating four-dimensional contrast images, which is characterized in that it comprises:

Obtain the contrast data of the current frame of the target part;

According to the positioning information of the ultrasound probe, determine whether the swing of the ultrasound probe reaches a preset correction condition;

If it is determined that the swing of the ultrasound probe reaches the preset correction condition, correct the contrast data, and generate a four-dimensional time-rendered image based on the corrected contrast data;

If it is determined that the swing of the ultrasound probe does not reach the preset correction condition, the four-dimensional time-rendered image is generated based on the contrast data.
The method according to claim 1, wherein the ultrasonic probe is provided with a positioning device, and the determining whether the swing of the ultrasonic probe reaches a preset correction condition according to the positioning information of the ultrasonic probe comprises:

Determine the spatial position of the ultrasound probe in the current frame according to the positioning information of the ultrasound probe;

Comparing the spatial position of the ultrasound probe in the current frame with the spatial position of the ultrasound probe in the first frame obtained in advance to determine the spatial rotation angle and translation distance of the ultrasound probe;

According to the spatial rotation angle and the translation distance, it is determined whether the swing of the ultrasonic probe reaches a preset correction condition.
The method according to claim 2, wherein the determining whether the swing of the ultrasonic probe reaches a preset correction condition according to the spatial rotation angle and translation distance comprises:

If the spatial rotation angle is greater than the preset angle threshold and/or the translation distance is greater than the preset distance threshold, it is determined that the swing of the ultrasound probe reaches the preset correction condition.
The method according to claim 2, wherein the positioning device is an electromagnetic positioning device, and the correcting the imaging data comprises:

Determine the electromagnetic positioning coordinate system as the world coordinate system;

Converting the ultrasound image coordinate system to the electromagnetic positioning coordinate system;

Determining the affine matrix of the ultrasonic probe swing;

In combination with the affine matrix, coordinate transformation is performed on the contrast data on the electromagnetic positioning coordinate system and converted back to the ultrasound image coordinate system to obtain the corrected contrast data.
The method according to claim 1, wherein after said obtaining the contrast data of the current frame of the target part and before said determining whether the oscillation of the ultrasound probe reaches a preset correction condition according to the positioning information of the ultrasound probe, Also includes:

Determine whether each voxel in the contrast data is a noise point;

The noise points are eliminated from the contrast data.
The method according to claim 5, wherein the determining whether each voxel in the contrast data is a noise point comprises:

Determining a gray average value corresponding to each voxel in the contrast data;

The voxels whose corresponding gray-level average value is less than the preset gray-level threshold are determined as noise points.
The method according to claim 6, wherein the determining the gray-level mean value corresponding to each voxel in the contrast data comprises:

Determining the gray scale sum of the voxels in the area of the set size corresponding to each voxel in the contrast data;

The ratio of the gray scale corresponding to each voxel to the number of voxels in the corresponding area is determined as the mean gray scale corresponding to each voxel.
The method according to any one of claims 1 to 7, characterized in that, in the case of performing post-processing on the obtained complete angiographic data of the target part, before said generating a four-dimensional temporally rendered image, Also includes:

Based on the tissue characteristics of the target part, the target part is segmented from the complete angiography data of the target part according to a three-dimensional region growth method.
A four-dimensional contrast image generating device, which is characterized in that it comprises:

An imaging data obtaining module, which is used to obtain the imaging data of the current frame of the target part;

A judging module, configured to determine whether the swing of the ultrasonic probe reaches a preset correction condition according to the positioning information of the ultrasonic probe;

An contrast data correction module, configured to correct the contrast data when it is determined that the swing of the ultrasound probe reaches the preset correction condition;

An angiographic image generating module, configured to generate a four-dimensional time-rendered image based on the corrected angiographic data;

The contrast image generation module is further configured to generate the four-dimensional time-rendered image based on the contrast data when it is determined that the swing of the ultrasound probe does not reach the preset correction condition.
A four-dimensional radiography image generating device, which is characterized in that it comprises:

Memory, used to store computer programs;

The processor is configured to implement the steps of the four-dimensional contrast image generation method according to any one of claims 1 to 8 when the computer program is executed.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the four-dimensional angiography image generation according to any one of claims 1 to 8 is realized Method steps.