WO2024027035A1 - 微型多频阵列式超声换能器、多频超声三维成像探头及其成像方法 - Google Patents
微型多频阵列式超声换能器、多频超声三维成像探头及其成像方法 Download PDFInfo
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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
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
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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
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
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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
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- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
- A61B8/4488—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer the transducer being a phased array
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- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
Definitions
- the invention relates to the technical field of medical ultrasonic endoscopic imaging, and in particular to a miniature multi-frequency array ultrasonic transducer, a multi-frequency ultrasonic three-dimensional imaging probe and an imaging method thereof.
- Miniature ultrasound transducers can enter the human body and dynamically display images of blood vessels, digestive tracts, bronchi, etc. in real time, playing an irreplaceable role in clinical practice.
- the two-dimensional ultrasound images obtained by conventional micro-ultrasound transducers do not provide sufficient anatomical and orientation information, and the success of diagnostic or interventional procedures at this time largely depends on the operator's skills and experience in performing these tasks. , to the extent that this is a variable, subjective process that can lead physicians to make irrational decisions when diagnosing, planning, and implementing treatment.
- Ultrasound three-dimensional imaging can fully display the spatial anatomical relationship of tissues, making it easier to obtain the shape and location of lesions, significantly improving the diagnostic accuracy of the disease, and has obvious advantages in intraoperative navigation.
- Common three-dimensional ultrasound imaging methods include: free scanning, two-dimensional array, and mechanical scanning.
- the free scanning method does not require a motorized device.
- the operator can hold the transducer and scan the anatomical structure of the imaging target in a conventional manner. It is easy to operate and low cost, but the operator must carefully move the probe at a constant linear or angular velocity. , to obtain regularly spaced two-dimensional images, so there is no guarantee that the 3D image is geometrically accurate, the accuracy of diagnosis is poor, and there are certain difficulties when used for measurement.
- Two-dimensional array ultrasonic three-dimensional imaging realizes volume scanning of ultrasonic beams through electronic scanning. It has high integration and fast three-dimensional scanning speed.
- the mechanical scanning method is a method of quickly obtaining a series of 2D ultrasound images and performing three-dimensional imaging by using electromechanical equipment to translate, tilt, or rotate the transducer. This method can accurately know the relative position and orientation of each two-dimensional image, and can optimize and minimize the scanning time while fully sampling the volume.
- the obtained three-dimensional image quality has better plane resolution, fewer side lobes and Higher sensitivity.
- the plane wave method is an effective means to achieve rapid acquisition of three-dimensional data. Through concurrent signal excitation, the plane wave penetrates the entire imaging field of view in one emission, and the corresponding image information is obtained through the echo signal reconstruction algorithm. Therefore, it is undoubtedly more operable to achieve three-dimensional scanning imaging of micro-array transducers through mechanical 360° ring scanning combined with plane wave fast data acquisition methods.
- the spatial sampling near the axis is the highest and the spatial sampling far away from the axis is the lowest.
- the radial and vertical resolution of the obtained two-dimensional image is All will decrease with distance from the transducer, resulting in inconsistent spatial distribution of image resolution.
- the combination of these effects will cause the 3D image resolution to change in a complex way, with the highest resolution in the area near the axis position, and the resolution will decrease anywhere away from the axis, which directly reduces the image quality of 3D imaging.
- the first object of the present invention is to provide a miniature multi-frequency array ultrasonic transducer, which includes several columns of transducer line arrays and a support base.
- the array is fixed on the support base, and the operating frequency of each column of the transducer line array is different;
- the transducer line array includes a number of transducer array elements and an isolation shielding layer, and the isolation shielding layer is placed on the corresponding between adjacent transducer array elements.
- an isolation filler is included, and the isolation filler is placed between the adjacent transducer arrays.
- a plurality of acoustic lenses are included, and the acoustic lenses are close to the emission surface of the transducer array element.
- the support base has a triangular prism structure.
- the number of the transducer linear arrays is three, and the transducer linear arrays are respectively fixed on the sides of the support base.
- the number N of transducer array elements in the three-column transducer linear array is an integer number of 8.
- curvature radius R of the acoustic lens is consistent with the flexible axis radius of the probe catheter.
- radius of curvature R of the acoustic lens is adjusted by the following formula:
- f is the focal length of the lens
- c medium and c transmission are the sound speed of the transmission medium and lens material respectively.
- the acoustic lens is a convex lens, and the sound speed of the lens material is smaller than the sound speed of the transmission medium.
- the second object of the present invention is to provide a multi-frequency ultrasonic three-dimensional imaging probe, including the miniature multi-frequency array ultrasonic transducer, a scanning and positioning control device, a sheath, and a probe catheter; the sheath is set on On the micro multi-frequency array ultrasonic transducer, the scanning and positioning control device is connected to the micro multi-frequency array ultrasonic transducer through the probe catheter; the scanning and positioning control device drives the probe The catheter rotates together with the micro multi-frequency array ultrasonic transducer and the sheath to realize a 360° circumferential scan of the micro multi-frequency array ultrasonic transducer.
- the probe catheter includes a sleeve, a flexible shaft, and a number of leads.
- the sleeve is set on the flexible shaft.
- the leads are placed in the flexible shaft.
- One end of the flexible shaft is connected to the flexible shaft.
- the scanning and positioning control device is connected, and the other end of the flexible shaft is connected to the micro multi-frequency array ultrasonic transducer.
- Each transducer element of the micro multi-frequency array ultrasonic transducer passes through the Leads connect to external imaging hardware systems.
- the sheath is provided with a sound-transmitting window, and the sound-transmitting window is located at the miniature multi-frequency array ultrasonic transducer.
- the scanning and positioning control device is a scanning and positioning control handle.
- the scanning and positioning control handle contains a rotating motor and its control system.
- the control system controls the rotating motor to drive the flexible shaft together with the miniature multi-frequency array ultrasonic transducer and the sheath. Make a rotation.
- the third object of the present invention is to provide an imaging method for a multi-frequency ultrasound three-dimensional imaging probe, which includes the following steps:
- the high-frequency signal emission timing control of the ultrasonic three-dimensional imaging system is used. After the signal is processed, the micro multi-frequency array ultrasonic transducer is ultrasonically excited to generate an ultrasonic signal;
- the imaging system uses high-frequency signal reception timing control to collect ultrasonic echo signals. After the collected signals are adjusted, multi-frequency image data corresponding to different scanning positions are obtained;
- ultrasonic excitation of the miniature multi-frequency array ultrasonic transducer includes the steps of: after the signal is coded, transmitted, modulated and power amplified, the transducer is subjected to single-frequency/multi-frequency ultrasonic excitation.
- the method of using the imaging system's high-frequency signal reception timing control to collect ultrasonic echo signals, and after adjusting the collected signals, obtaining multi-frequency image data corresponding to different scanning positions includes the steps of: using the imaging system's high-frequency signal reception Timing control is used to collect single-frequency/multi-frequency ultrasonic echo signals.
- the collected signals undergo anti-aliasing filtering, signal amplification, and dynamic range adjustment to obtain multi-frequency image data corresponding to different scanning positions.
- the imaging system uses high-frequency signal reception timing control to collect single-frequency/multi-frequency ultrasonic echo signals.
- the collected signals undergo anti-aliasing filtering, signal amplification, and dynamic range adjustment to obtain images corresponding to different scanning positions.
- Multi-frequency image data includes the following steps:
- ultrasound imaging is performed by scanning the beam line by line;
- the collection of three-dimensional data is combined with the plane wave fast imaging method.
- the specifically modified plane wave composite ultrafast imaging method is used to improve the image resolution and contrast.
- the concurrent ultrasonic emission signal excitation is used to realize ultrasonic plane wave acoustics in one emission. Penetrates the entire endoscopic imaging field of view and obtains image information of the area of interest through the ultrasonic radio frequency echo signal reconstruction algorithm.
- performing ultrasonic imaging through line-by-line scanning of the beam includes the steps:
- three-dimensional data can be collected by scanning slices at different angles one by one.
- a specifically modified plane wave composite ultrafast imaging method is used to improve image resolution and contrast, and concurrent ultrasonic transmission signals are used to excite in one emission
- a specifically modified plane wave composite ultrafast imaging method is used to improve image resolution and contrast
- concurrent ultrasonic transmission signals are used to excite in one emission
- the vertical plane corresponding to the transducer linear array surface is used as the imaging plane, and the plane wave fast imaging method is used to collect data on the current plane through multi-angle scanning;
- Three-dimensional data collection is completed through 360° rotation of the transducer.
- the three-dimensional visualization processing of the acquired three-dimensional imaging data includes the following steps:
- the single-frequency three-dimensional imaging data is fused with multi-frequency three-dimensional images through a fusion method
- the multi-frequency three-dimensional image data is reconstructed and displayed as a three-dimensional image.
- the display of the three-dimensional image includes the following steps:
- each pixel value in the three-dimensional image is transformed and projected into the volume view to achieve three-dimensional display.
- the invention provides a miniature multi-frequency array ultrasonic transducer, a multi-frequency ultrasonic three-dimensional imaging probe and an imaging method thereof, which can enter the interior of the human body through a natural cavity to perform endoscopic imaging of a target.
- a miniature multi-frequency array ultrasonic transducer a multi-frequency ultrasonic three-dimensional imaging probe and an imaging method thereof, which can enter the interior of the human body through a natural cavity to perform endoscopic imaging of a target.
- Figure 1 is an overall structural diagram of a multi-frequency array transducer with a triangular structure in Embodiment 1;
- Figure 2 is a cross-sectional view of the multi-frequency array transducer with a triangular structure in Embodiment 1;
- Figure 3 is a cross-sectional view of the transducer of the acoustic lens of Embodiment 1;
- Figure 4 is a structural diagram of the multi-frequency ultrasound three-dimensional imaging probe of Embodiment 2;
- Figure 5 is an overall structural diagram of the probe catheter of Embodiment 2.
- Figure 6 is a cross-sectional view of the probe catheter in Embodiment 2.
- Figure 7 is a flow chart of the imaging method of the multi-frequency ultrasound three-dimensional imaging probe of Embodiment 3;
- Figure 8 is a schematic diagram of the line-by-line circular scanning + axial scanning method in Embodiment 3;
- Figure 9 is a schematic diagram of the line-by-line scanning + ring scanning method of the section in Embodiment 3;
- Figure 10 is a quick schematic diagram of multi-angle plane wave + ring scanning in Embodiment 3.
- FIG. 11 is a flow chart of processing three-dimensional image data in Embodiment 3.
- Multi-frequency transducers and their multi-frequency imaging methods are potential solutions to further improve the three-dimensional imaging quality of micro-transducers.
- the multi-frequency ultrasonic transducer can work at different center frequencies and flexibly switch. When working under low-frequency conditions, it can obtain a large detection depth and obtain "rough" information on a larger area. It can switch to high-frequency operation after discovering "suspicious" parts. conditions to obtain detailed pathological information. Using image fusion technology, ultrasound images corresponding to different frequencies can be fused to obtain higher quality images. Multi-frequency ultrasound transducers can greatly enrich the information of ultrasound images and are an important development direction of ultrasound transducers.
- the present invention proposes a micro-array transducer three-dimensional scanning imaging method realized by mechanical 360° ring scanning combined with plane wave fast data collection, and improves the efficiency through triangular-structured multi-frequency array transducers and their multi-frequency imaging technology.
- Three-dimensional imaging quality ultimately realizing a high-quality three-dimensional imaging method with micro-transducers to meet the needs of various interventional ultrasound diagnoses and surgeries.
- a miniature multi-frequency array ultrasonic transducer enters the human body through the natural cavity to perform endoscopic imaging of the target, as shown in Figure 1 and Figure 2. It includes several rows of transducer linear arrays, support seats, and transducers. The linear array is fixed on the support base, and the operating frequency of each column of transducer linear array is different; the transducer linear array includes several transducer array elements and an isolation shielding layer. The isolation shielding layer is placed between adjacent transducer array elements. between.
- isolation fillers are also included, and the isolation fillers are placed between adjacent transducer arrays.
- acoustic lenses are also included, and the acoustic lenses are close to the emitting surface of the transducer element.
- the acoustic lens can focus the beam, thereby reducing the width of the beam and improving image resolution.
- the curvature radius R of the acoustic lens can be consistent with the flexible axis radius of the probe catheter, or can be adjusted by the following formula:
- f is the focal length of the lens
- c medium and c transmission are the sound speed of the transmission medium and lens material respectively.
- the acoustic lens is a convex lens, so the sound speed of the lens material needs to be smaller than the sound speed of the transmission medium.
- the support base has a triangular prism structure
- the number of transducer linear arrays is three
- the transducer linear arrays are respectively fixed on the sides of the support base.
- Each column of transducer linear array has a different operating frequency and can work at three frequencies at the same time.
- the selection of the three frequencies can be selected according to the requirements of imaging depth and imaging resolution.
- Figure 2 shows the operating frequencies of 12MHz, 20MHz, The situation at 30MHz.
- the support base is not limited to a triangular prism structure and can be configured according to actual conditions.
- the number and placement of transducer arrays can also be set according to actual needs.
- a multi-frequency ultrasonic three-dimensional imaging probe includes a micro multi-frequency array ultrasonic transducer, a scanning and positioning control device, a sheath, and a probe guide; the sheath is set in the micro multi-frequency array On the ultrasonic transducer, that is, the miniature multi-frequency array ultrasonic transducer is placed entirely inside the sheath, and the scanning and positioning control device is connected to the miniature multi-frequency array ultrasonic transducer through the probe catheter; the scanning and positioning control device drives The probe catheter, together with the micro multi-frequency array ultrasonic transducer and the sheath, rotates to achieve a 360° circumferential scan of the micro multi-frequency array ultrasonic transducer.
- the miniature multi-frequency array ultrasonic transducer reference may be made to the corresponding description in the above-mentioned embodiment of the miniature multi-frequency array ultrasonic transducer, which will not be described again here.
- the probe catheter includes a casing, a flexible shaft, and a number of leads.
- the casing is set on the flexible shaft for protection and isolation.
- the leads are placed in the flexible shaft, and one end of the flexible shaft is connected to the scanning and positioning control device.
- the other end of the flexible shaft is connected to the miniature multi-frequency array ultrasonic transducer.
- the flexible shaft mainly plays the role of torque transmission; each transducer element of the miniature multi-frequency array ultrasonic transducer communicates with the external imaging through leads.
- the hardware system is connected and plays the role of driving excitation and echo signal transmission.
- the flexible shaft drives the transducer to rotate, and through the rotation, ultrasound scanning of the corresponding three-dimensional area is completed.
- the sound-transmitting window is located at the miniature multi-frequency array ultrasonic transducer to reduce sound waves to meet acoustic matching requirements.
- the scanning and positioning control device is a scanning and positioning control handle.
- the control system controls the rotating motor to drive the flexible shaft to rotate together with the miniature multi-frequency array ultrasonic transducer and sheath, thereby achieving a 360° circumferential scan of the transducer.
- the imaging method of a multi-frequency ultrasound three-dimensional imaging probe in Embodiment 2, as shown in Figure 7, includes the following steps:
- the high-frequency signal emission timing control of the ultrasonic three-dimensional imaging system is used. After the signal is encoded, transmitted, modulated and power amplified, the transducer is excited by single-frequency/multi-frequency ultrasonic. , thereby generating ultrasonic signals;
- the imaging system uses high-frequency signal reception timing control to complete the collection of single-frequency/multi-frequency ultrasonic echo signals.
- the collected signals undergo anti-aliasing filtering, signal amplification, and dynamic range adjustment to obtain a series of multi-frequency images corresponding to different scanning positions. image data.
- data collection can be achieved using traditional ultrasound imaging through line-by-line scanning of the beam.
- the line-by-line ring scanning + axial scanning method is used to collect three-dimensional data by completing the scanning of cross-sections at different positions one by one.
- Figure 9 shows the section line-by-line scanning + ring scanning method, which realizes three-dimensional scanning by completing the scanning of sections in different angle directions one by one.
- Data collection can be done synchronously (several frequencies working at the same time) or asynchronously (several frequencies working at different times).
- the three-dimensional data is collected in conjunction with the plane wave fast imaging method.
- the specifically modified Plane-wave Compounding Ultrafast Imaging (Plane-wave Compounding Ultrafast Imaging) method is used to improve image resolution and contrast, and concurrent ultrasonic emission signal excitation is used.
- the ultrasonic plane wave acoustically penetrates the entire endoscopic imaging field of view in one launch (conventional ultrasound imaging requires multiple launches, and each line needs to be launched once or multiple times), and the area of interest is obtained through the ultrasonic radio frequency echo signal reconstruction algorithm. image information.
- the specific process is:
- the transducer When the transducer radially rotates to a certain position, the vertical plane corresponding to the transducer imaging frequency array surface is used as the imaging plane, and the plane wave fast imaging method is used to achieve rapid data collection on this plane through multi-angle scanning; end After the data collection of this plane, it enters the next angular plane through the radial rotation of the transducer; finally, the three-dimensional data collection of the entire cylinder is completed through the 360° rotation of the transducer.
- the entire process requires accurate radial positioning of data on each plane, laying the foundation for later display and fusion of three-dimensional images.
- the three-dimensional data of three frequencies can be processed synchronously or asynchronously. The process is shown in Figure 10.
- Perform three-dimensional visualization processing on the acquired three-dimensional imaging data includes the following steps:
- Three-dimensional visualization processing of the acquired three-dimensional imaging data includes the following steps:
- the single-frequency three-dimensional imaging data After obtaining the single-frequency three-dimensional imaging data, it is processed through intensity-based weighted image data fusion, wavelet transform-based image data analysis and fusion, morphology-based image fusion, image feature-based fusion, position information-based image data and other fusion methods. It performs fusion of multi-frequency three-dimensional images.
- the three-dimensional display of images can be presented in plan view and volume view.
- Plane view is to visualize any section in the three-dimensional volume image, similar to traditional two-dimensional ultrasound; volume view means that each pixel value in the three-dimensional image is visualized through a specific
- the transformation is projected into the volume view to achieve the effect of three-dimensional display, that is, volume rendering (Volume Rendering) technology.
- volume rendering Volume Rendering
- 3D Rendering three-dimensional volume rendering
- the present invention uses mechanical 360° ring scanning combined with a plane wave fast data acquisition method to achieve three-dimensional scanning imaging, and improves the quality of three-dimensional imaging through a multi-frequency micro-array transducer with a triangular structure and its multi-frequency imaging technology.
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Abstract
微型多频阵列式超声换能器、多频超声三维成像探头及其成像方法，换能器包括若干列换能器线阵、支撑座，换能器线阵固定在支撑座上，每一列换能器线阵的工作频率不同；换能器线阵包括若干换能器阵元、隔离屏蔽层，隔离屏蔽层置于相邻换能器阵元之间；通过自然腔道进入人体内部对目标进行内窥成像，通过机械 360°环扫结合平面波快速数据采集实现微型阵列换能器三维扫描成像，并通过三角结构的多频阵列换能器及其多频成像技术提高三维成像质量，满足各种介入超声诊断和手术的需要。
Description
本发明涉及医学超声内窥成像技术领域，特别涉及微型多频阵列式超声换能器、多频超声三维成像探头及其成像方法。
微型超声换能器能够进入人体内部，实时动态显示血管、消化道、支气管等位置的图像，在临床中发挥着不可替代的作用。然而，常规微型超声换能器所获得的二维超声图像并不能提供足够的解剖和方位信息，此时诊断或介入手术的成功很大程度上取决于操作者在执行这些任务时的技能和经验，某种程度上这是一个可变的、主观的过程，可能导致医生在诊断、计划和实施治疗时做出不合理的决定。而超声三维成像能够充分显示组织的空间解剖关系，使得病变的形状和位置更容易获得，能够显著提高疾病的诊断准确率，在术中导航中优势明显。因此，实现微型换能器的三维成像具有重要临床价值。但是，由于尺寸的限制，微型超声换能器的三维成像仍然是个难题，这限制了超声三维成像技术在介入成像领域的应用，如何实现微型超声换能器的三维成像成为亟需解决的问题。
常见三维超声成像方法有:自由扫描、二维阵列、机械扫描。自由扫描方不需要机动装置，操作者可以手持换能器，并按常规方式对成像目标的解剖结构进行扫描，操作简便，成本低廉，但操作者须小心地以恒定的线速度或角速度移动探头，以获得规律间隔的二维图像，因此无法保证3D图像在几何上是准确的，诊断的准确性较差，用于测量时存在一定困难。二维阵列超声三维成像通过电子扫描实现超声波束的体积扫查，集成度高，具有很快的三维扫描速度，但庞大的阵元数目导致二维阵列换能器的体积普遍较大，与电路集成后很难将其应用于微型换能器之中。机械扫描方法是通过使用电动机械设备来平移、倾斜或旋转换能器快速获得一系列2D超声图像并进行三维成像的方法。这种方法可以准确地知道每个二维图像的相对位置和方向，能够 在充分体积采样的同时优化最小化扫描时间，所获得三维图像质量具有较好的平面分辨率，更少的旁瓣以及更高的灵敏度。
对于微型换能器，旋转机械扫描的方法无疑更适用，这种类型的运动可以通过软轴连接外部驱动机构实现，适合于紧凑的结构，在经食管或经直肠超声换能器的内窥成像中得到了应用。
但是，由于三维数据量庞大，使用旋转机械扫描的方法进行三维成像时，常规逐线扫描的方式无法满足三维图像数据的快速采集需求，导致三维成像速度缓慢，实时性较差，不利于运动目标的成像，因此仍需要一种快速三维数据采集方法。平面波方法是实现三维数据快速采集的有效手段，通过并发的信号激励在一次发射中实现平面波穿透整个成像视场，并通过回波信号重构算法获取相应的图像信息。因此，通过机械360°环扫结合平面波快速数据采集方法实现微型阵列换能器三维扫描成像无疑更具有操作性。
与此同时，由于机械旋转扫描方法采集到的二维图像都是沿轴线相交，因此在轴线附近的空间采样最高，远离轴线的空间采样最低，所获得的二维图像的径向和垂直分辨率都将随着与换能器的距离而降低，从而造成图像分辨率空间分布不一致。这些效果的组合将导致三维图像分辨率以一种复杂的方式变化，轴位置附近区域分辨率最高，而任何一个远离轴的地方分辨率都会降低，这直接降低了三维成像的图像质量。而且，由于换能器中心频率对超声图像的分辨率起着决定性作用，频率越高，越容易获得高质量的图像，但频率的提高会伴随着衰减的增大，导致探测深度的减小，从而限制换能器的成像范围，对临床使用十分不利，这种成像分辨率与成像深度之间的矛盾同样存在于三维成像之中，进一步限制了三维图像质量的提高，对使用不利。如何提高机械旋转扫描方法所获得的三维图像的质量，是实现微型超声换能器的三维成像的关键问题。
发明内容
为了实现根据本发明的上述目的和其他优点，本发明的第一目的是提供一种微型多频阵列式超声换能器，包括若干列换能器线阵、支撑座，所述换能器线阵固定在所述支撑座上，每一列所述换能器线阵的工作频率不同；所 述换能器线阵包括若干换能器阵元、隔离屏蔽层，所述隔离屏蔽层置于相邻所述换能器阵元之间。
进一步地，还包括隔离填充物，所述隔离填充物置于相邻所述换能器线阵之间。
进一步地，还包括若干声透镜，所述声透镜紧贴于所述换能器阵元的发射面。
进一步地，所述支撑座为三棱柱结构。
进一步地，所述换能器线阵的数量为三，所述换能器线阵分别固定在所述支撑座的侧面上。
进一步地，三列所述换能器线阵的换能器阵元数目N、成像区域大小L以及成像阵元尺寸p之间的关系为L＝N*p。
进一步地，三列所述换能器线阵的换能器阵元数目N为8的整数位。
进一步地，所述声透镜的曲率半径R与探头导管的软轴半径一致。
进一步地，所述声透镜的曲率半径R通过以下公式进行调整：
其中，f为透镜焦距，c
介质和c
透分别为传输介质和透镜材料的声速。
进一步地，所述声透镜为凸透镜，所述透镜材料的声速小于所述传输介质的声速。
本发明的第二目的是提供一种多频超声三维成像探头，包括所述的微型多频阵列式超声换能器、扫描与定位控制装置、鞘管、探头导管；所述鞘管套设在所述微型多频阵列式超声换能器上，所述扫描与定位控制装置通过所述探头导管与所述微型多频阵列式超声换能器连接；所述扫描与定位控制装置带动所述探头导管连同所述微型多频阵列式超声换能器和所述鞘管进行旋转，实现微型多频阵列式超声换能器的360°环扫。
进一步地，所述探头导管包括套管、软轴、若干引线，所述套管套设在所述软轴上，所述引线置于所述软轴内，所述软轴的一端与所述扫描与定位控制装置连接，所述软轴的另一端与所述微型多频阵列式超声换能器连接，所述微型多频阵列式超声换能器的每个换能器阵元通过所述引线与外部成像 硬件系统连接。
进一步地，所述鞘管上设有透声窗，所述透声窗位于所述微型多频阵列式超声换能器处。
进一步地，所述扫描与定位控制装置为扫描与定位控制手柄。
进一步地，所述扫描与定位控制手柄内有旋转电机及其控制系统，所述控制系统控制所述旋转电机带动所述软轴连同所述微型多频阵列式超声换能器和所述鞘管进行旋转。
本发明的第三目的是提供一种多频超声三维成像探头的成像方法，包括以下步骤：
通过微型多频阵列式超声换能器的机械旋转扫描，利用超声三维成像系统高频信号发射时序控制，信号经过处理后，对微型多频阵列式超声换能器进行超声激励，产生超声信号；
利用成像系统高频信号接收时序控制，进行超声回波信号的采集，采集的信号经过调整后，获得不同扫描位置对应的多频图像数据；
对获取的三维成像数据进行三维可视化处理。
进一步地，所述信号经过处理后，对微型多频阵列式超声换能器进行超声激励包括步骤：信号经过编码发射、调制以及功率放大后，对换能器进行单频/多频超声激励。
进一步地，所述利用成像系统高频信号接收时序控制，进行超声回波信号的采集，采集的信号经过调整后，获得不同扫描位置对应的多频图像数据包括步骤：利用成像系统高频信号接收时序控制，进行单频/多频超声回波信号的采集，采集的信号经过抗混叠滤波、信号放大、动态范围调整，获得不同扫描位置对应的多频图像数据。
进一步地，所述利用成像系统高频信号接收时序控制，进行单频/多频超声回波信号的采集，采集的信号经过抗混叠滤波、信号放大、动态范围调整，获得不同扫描位置对应的多频图像数据包括以下步骤：
进行二维成像时，通过波束逐线扫描进行超声成像；
进行三维成像时，采用三维数据的采集结合平面波快速成像方法，使用经过针对性修改的平面波复合超快成像方法提高图像分辨率和对比度，利用 并发的超声发射信号激励在一次发射中实现超声平面波声穿透整个内窥成像视场，并通过超声射频回波信号重构算法获得感兴趣区域的图像信息。
进一步地，所述进行二维成像时，通过波束逐线扫描进行超声成像包括步骤：
通过逐线环扫和轴向扫描的方式，对不同位置横截面逐个扫描进行三维数据的采集；
或通过切面逐线扫描和环扫的方式，对不同角度方向切面逐个扫描进行三维数据的采集。
进一步地，所述进行三维成像时，采用三维数据的采集结合平面波快速成像方法，使用经过针对性修改的平面波复合超快成像方法提高图像分辨率和对比度，利用并发的超声发射信号激励在一次发射中实现超声平面波声穿透整个内窥成像视场，并通过超声射频回波信号重构算法获得感兴趣区域的图像信息包括以下步骤：
当换能器径向转动至某一位置时，以对应换能器线阵表面的垂直面作为成像面，利用平面波快速成像方法，通过多角度扫描进行当前平面的数据采集；
结束当前平面的数据采集后，通过换能器的径向转动进入下一角度平面；
通过换能器的360°旋转完成三维数据的采集。
进一步地，所述对获取的三维成像数据进行三维可视化处理包括以下步骤：
获取单频三维成像数据后，通过融合方法对所述单频三维成像数据进行多频三维图像的融合；
获得多频三维图像数据后，对所述多频三维图像数据进行三维图像的重建与显示。
进一步地，所述三维图像的显示包括以下步骤：
通过平面视图的方式对三维体积图像中的任意切面进行可视化；
通过体积视图的方式对三维图像中的每个像素值通过变换投射到体积视图中，实现三维显示。
与现有技术相比，本发明的有益效果是：
本发明提供了一种微型多频阵列式超声换能器、多频超声三维成像探头及其成像方法，通过自然腔道进入人体内部对目标进行内窥成像。通过机械360°环扫结合平面波快速数据采集实现微型阵列换能器三维扫描成像，并通过三角结构的多频阵列换能器及其多频成像技术提高三维成像质量，满足各种介入超声诊断和手术的需要。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明如后。本发明的具体实施方式由以下实施例及其附图详细给出。
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为实施例1的三角结构的多频阵列换能器整体结构图；
图2为实施例1的三角结构的多频阵列换能器截面图；
图3为实施例1的加声透镜的换能器剖面图；
图4为实施例2的多频超声三维成像探头结构图；
图5为实施例2的探头导管整体结构图；
图6为实施例2的探头导管截面图；
图7为实施例3的多频超声三维成像探头的成像方法流程图；
图8为实施例3的逐线环扫+轴向扫描方法示意图；
图9为实施例3的切面逐线扫描+环扫方法示意图；
图10为实施例3的切面多角度平面波+环扫快速示意图；
图11为实施例3的三维图像数据的处理流程图。
下面，结合附图以及具体实施方式，对本发明做进一步描述，需要说明的是，在不相冲突的前提下，以下描述的各实施例之间或各技术特征之间可 以任意组合形成新的实施例。
多频换能器及其多频成像方法是进一步提高微型换能器三维成像质量的潜在解决方法。多频超声换能器能够工作于不同的中心频率并灵活切换，工作于低频条件时，可以得到大探测深度，获得较大区域的“粗略”信息，发现“可疑”部位后切换到高频工作条件获得详细的病理信息。利用图像融合技术之后可将不同频率对应的超声图像融合，从而得到更高质量的图像。多频超声换能器能够较大地丰富超声图像的信息，是超声换能器的一个重要发展方向，目前在血管冠状动脉可视化，超声微泡控制和实时高频成像，以及血管易损斑块的诊断等方面得到了应用。将多频换能器技术应用于超声三维成像之中，有望缓解微型换能器三维成像存在的分辨率空间分布不一致的问题，同时兼顾成像分辨率与成像深度，从而进一步提高成像质量，具有很好的应用潜力。
基于以上分析，本发明提出一种通过机械360°环扫结合平面波快速数据采集实现的微型阵列换能器三维扫描成像方法，并通过三角结构的多频阵列换能器及其多频成像技术提高三维成像质量，最终实现一种微型换能器的高质量三维成像方法，满足各种介入超声诊断和手术的需要。
实施例1
一种微型多频阵列式超声换能器，通过自然腔道进入人体内部对目标进行内窥成像，如图1、图2所示，包括若干列换能器线阵、支撑座，换能器线阵固定在支撑座上，每一列换能器线阵的工作频率不同；换能器线阵包括若干换能器阵元、隔离屏蔽层，隔离屏蔽层置于相邻换能器阵元之间。
如图1-图3所示，还包括隔离填充物，隔离填充物置于相邻换能器线阵之间。
为了进一步提高成像质量，如图3所示，还包括若干声透镜，声透镜紧贴于换能器阵元的发射面。声透镜可以对波束进行聚焦，从而减少波束的宽度，提高图像分辨率。声透镜的曲率半径R可以与探头导管的软轴半径一致，也可以通过以下公式进行调整：
其中，f为透镜焦距，c
介质和c
透分别为传输介质和透镜材料的声速。本实施例中，声透镜为凸透镜，因此透镜材料的声速需要小于传输介质的声速。
[根据细则91更正 07.02.2023]
本实施例中，支撑座为三棱柱结构，换能器线阵的数量为三，换能器线阵分别固定在支撑座的侧面上。每一列换能器线阵的工作频率不同，可以同时工作于三个频率，三个频率的选择可根据成像深度与成像分辨率的需求进行选取，图2所示为工作频率为12MHz、20MHz、30MHz时的情形。三列换能器线阵的阵元数目N、成像区域大小L以及成像阵元尺寸p之间的关系为L＝N*p，为便于成算软硬件的实施，N应为8的整数位为宜。
本实施例中，支撑座为三棱柱结构，换能器线阵的数量为三，换能器线阵分别固定在支撑座的侧面上。每一列换能器线阵的工作频率不同，可以同时工作于三个频率，三个频率的选择可根据成像深度与成像分辨率的需求进行选取，图2所示为工作频率为12MHz、20MHz、30MHz时的情形。三列换能器线阵的阵元数目N、成像区域大小L以及成像阵元尺寸p之间的关系为L＝N*p，为便于成算软硬件的实施，N应为8的整数位为宜。
应当理解的是，支撑座并不限于三棱柱结构，可以根据实际情况进行设置。相应地，换能器线阵的数量及放置位置也可根据实际需求进行设置。
实施例2
一种多频超声三维成像探头，如图4、图5所示，包括微型多频阵列式超声换能器、扫描与定位控制装置、鞘管、探头导管；鞘管套设在微型多频阵列式超声换能器上，即微型多频阵列式超声换能器整体置于鞘管内部，扫描与定位控制装置通过探头导管与微型多频阵列式超声换能器连接；扫描与定位控制装置带动探头导管连同微型多频阵列式超声换能器和鞘管进行旋转，实现微型多频阵列式超声换能器的360°环扫。关于微型多频阵列式超声换能器的详细描述，可以参照上述微型多频阵列式超声换能器实施例中的对应描述，在此不再赘述。
如图6所示，探头导管包括套管、软轴、若干引线，套管套设在软轴上，起保护与隔离作用；引线置于软轴内，软轴的一端与扫描与定位控制装置连接，软轴的另一端与微型多频阵列式超声换能器连接，软轴主要起力矩传递的作用；微型多频阵列式超声换能器的每个换能器阵元通过引线与外部成像硬件系统连接，起驱动激励与回波信号传输的作用。成像时，软轴带动换能器进行旋转，通过旋转完成对应三维区域的超声扫描。
鞘管上设有透声窗，透声窗位于微型多频阵列式超声换能器处，用于减少声波满足声学匹配要求。
本实施例中，扫描与定位控制装置为扫描与定位控制手柄。扫描与定位控制手柄内有旋转电机及其控制系统，控制系统控制旋转电机带动软轴连同 微型多频阵列式超声换能器和鞘管进行旋转，从而实现换能器的360°环扫。
实施例3
实施例2的一种多频超声三维成像探头的成像方法，如图7所示，包括以下步骤：
通过微型多频阵列式超声换能器的机械旋转扫描，利用超声三维成像系统高频信号发射时序控制，信号经过编码发射、调制以及功率放大后，对换能器进行单频/多频超声激励，从而产生超声信号；
利用成像系统高频信号接收时序控制，完成单频/多频超声回波信号的采集，采集的信号经过抗混叠滤波、信号放大、动态范围调整，从而获得一系列不同扫描位置对应的多频图像数据。
进行常规二维成像时，数据采集可以使用传统超声成像通过波束逐线扫描实现，如8所示为逐线环扫+轴向扫描方法，通过逐个完成不同位置横截面的扫描实现三维数据的采集；如图9所示为切面逐线扫描+环扫方法，通过逐个完成不同角度方向切面的扫描实现三维扫描。数据采集时，可同步进行(几种频率同时工作)，也可异步进行(几种频率工作于不同时间)。
进行三维成像时，三维数据的采集结合平面波快速成像方法进行，使用经过针对性修改的平面波复合超快成像(Plane-wave Compounding Ultrafast Imaging)方法提高图像分辨率和对比度，利用并发的超声发射信号激励在一次发射中实现超声平面波声穿透整个内窥成像视场(常规超声成像为多次发射，每一线需要发射一次或多次)，并通过超声射频回波信号重构算法获得感兴趣区域的图像信息。具体过程为：
当换能器径向转动至某一位置时，以对应换能器成像频率阵列表面的垂直面作为成像面，利用平面波快速成像方法，通过多角度扫描，实现这一平面的数据快速采集；结束这一平面的数据采集后，通过换能器的径向转动进入下一角度平面；最终通过换能器的360°旋转完成整个圆柱体三维数据的采集。整个过程需要对每一平面的数据进行径向准确定位，为后期的三维图像的显示与融合奠定基础。三种频率的三维数据可同步进行，也可异步进行，过程如图10所示。
对获取的三维成像数据进行三维可视化处理。具体地，包括以下步骤：
对获取的三维成像数据进行三维可视化处理包括以下步骤：
获取单频三维成像数据后，通过基于强度的加权图像数据融合、基于小波变换的图像数据分析与融合、基于形态学的图像融合、基于图像特征的融合、基于位置信息的图像数据等融合方法对其进行多频三维图像的融合。
获得多频三维图像数据后，对其进行三维可视化处理，即三维图像的重建与显示。图像的三维显示可以通过平面视图和体积视图的方式呈现，平面视图是对三维体积图像中的任意切面进行可视化，与传统二维超声类似；体积视图是指三维图像中的每个像素值通过特定的变换投射到体积视图中，达到三维显示的效果，即体绘制(Volume Rendering)技术，将获得的三维体数据经过三维滤波、平面重构、边缘增强、着色、渲染后，按三维体绘制(3D Rendering)技术进行显示，具体过程如图11所示。
关于多频超声三维成像探头的详细描述，可以参照上述多频超声三维成像探头实施例中的对应描述，在此不再赘述。
本发明利用机械360°环扫结合平面波快速数据采集方法实现三维扫描成像，并通过三角结构的多频微型阵列换能器及其多频成像技术提高三维成像的质量。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。
以上仅为本说明书实施例而已，并不用于限制本说明书一个或多个实施例。对于本领域技术人员来说，本说明书一个或多个实施例可以有各种更改和变换。凡在本说明书一个或多个实施例的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本说明书一个或多个实施例的权利要求范围 之内。本说明书一个或多个实施例本说明书一个或多个实施例本说明书一个或多个实施例本说明书一个或多个实施例。
Claims (23)
- 一种微型多频阵列式超声换能器，其特征在于：包括若干列换能器线阵、支撑座，所述换能器线阵固定在所述支撑座上，每一列所述换能器线阵的工作频率不同；所述换能器线阵包括若干换能器阵元、隔离屏蔽层，所述隔离屏蔽层置于相邻所述换能器阵元之间。
- 根据权利要求1所述的一种微型多频阵列式超声换能器，其特征在于：还包括隔离填充物，所述隔离填充物置于相邻所述换能器线阵之间。
- 根据权利要求1所述的一种微型多频阵列式超声换能器，其特征在于：还包括若干声透镜，所述声透镜紧贴于所述换能器阵元的发射面。
- 根据权利要求1所述的一种微型多频阵列式超声换能器，其特征在于：所述支撑座为三棱柱结构。
- 根据权利要求4所述的一种微型多频阵列式超声换能器，其特征在于：所述换能器线阵的数量为三，所述换能器线阵分别固定在所述支撑座的侧面上。
- 根据权利要求5所述的一种微型多频阵列式超声换能器，其特征在于：三列所述换能器线阵的换能器阵元数目N、成像区域大小L以及成像阵元尺寸p之间的关系为L＝N*p。
- 根据权利要求6所述的一种微型多频阵列式超声换能器，其特征在于：三列所述换能器线阵的换能器阵元数目N为8的整数位。
- 根据权利要求3所述的一种微型多频阵列式超声换能器，其特征在于：所述声透镜的曲率半径R与探头导管的软轴半径一致。
- 根据权利要求3所述的一种微型多频阵列式超声换能器，其特征在于，所述声透镜的曲率半径R通过以下公式进行调整：
其中，f为透镜焦距，c 介质和c 透分别为传输介质和透镜材料的声速。 - 根据权利要求9所述的一种微型多频阵列式超声换能器，其特征在于：所述声透镜为凸透镜，所述透镜材料的声速小于所述传输介质的声速。
- 一种多频超声三维成像探头，其特征在于：包括如权利要求1至10 任一项所述的微型多频阵列式超声换能器、扫描与定位控制装置、鞘管、探头导管；所述鞘管套设在所述微型多频阵列式超声换能器上，所述扫描与定位控制装置通过所述探头导管与所述微型多频阵列式超声换能器连接；所述扫描与定位控制装置带动所述探头导管连同所述微型多频阵列式超声换能器和所述鞘管进行旋转，实现微型多频阵列式超声换能器的360°环扫。
- 根据权利要求11所述的一种多频超声三维成像探头，其特征在于：所述探头导管包括套管、软轴、若干引线，所述套管套设在所述软轴上，所述引线置于所述软轴内，所述软轴的一端与所述扫描与定位控制装置连接，所述软轴的另一端与所述微型多频阵列式超声换能器连接，所述微型多频阵列式超声换能器的每个换能器阵元通过所述引线与外部成像硬件系统连接。
- 根据权利要求11所述的一种多频超声三维成像探头，其特征在于：所述鞘管上设有透声窗，所述透声窗位于所述微型多频阵列式超声换能器处。
- 根据权利要求11所述的一种多频超声三维成像探头，其特征在于：所述扫描与定位控制装置为扫描与定位控制手柄。
- 根据权利要求14所述的一种多频超声三维成像探头，其特征在于：所述扫描与定位控制手柄内有旋转电机及其控制系统，所述控制系统控制所述旋转电机带动所述软轴连同所述微型多频阵列式超声换能器和所述鞘管进行旋转。
- 一种如权利要求11至15任一项所述的多频超声三维成像探头的成像方法，其特征在于，包括以下步骤：通过微型多频阵列式超声换能器的机械旋转扫描，利用超声三维成像系统高频信号发射时序控制，信号经过处理后，对微型多频阵列式超声换能器进行超声激励，产生超声信号；利用成像系统高频信号接收时序控制，进行超声回波信号的采集，采集的信号经过调整后，获得不同扫描位置对应的多频图像数据；对获取的三维成像数据进行三维可视化处理。
- 根据权利要求16所述的一种多频超声三维成像探头的成像方法，其特征在于，所述信号经过处理后，对微型多频阵列式超声换能器进行超声激励包括步骤：信号经过编码发射、调制以及功率放大后，对换能器进行单频/ 多频超声激励。
- 根据权利要求16所述的一种多频超声三维成像探头的成像方法，其特征在于，所述利用成像系统高频信号接收时序控制，进行超声回波信号的采集，采集的信号经过调整后，获得不同扫描位置对应的多频图像数据包括步骤：利用成像系统高频信号接收时序控制，进行单频/多频超声回波信号的采集，采集的信号经过抗混叠滤波、信号放大、动态范围调整，获得不同扫描位置对应的多频图像数据。
- 根据权利要求18所述的一种多频超声三维成像探头的成像方法，其特征在于，所述利用成像系统高频信号接收时序控制，进行单频/多频超声回波信号的采集，采集的信号经过抗混叠滤波、信号放大、动态范围调整，获得不同扫描位置对应的多频图像数据包括以下步骤：进行二维成像时，通过波束逐线扫描进行超声成像；进行三维成像时，采用三维数据的采集结合平面波快速成像方法，使用经过针对性修改的平面波复合超快成像方法提高图像分辨率和对比度，利用并发的超声发射信号激励在一次发射中实现超声平面波声穿透整个内窥成像视场，并通过超声射频回波信号重构算法获得感兴趣区域的图像信息。
- 根据权利要求19所述的一种多频超声三维成像探头的成像方法，其特征在于，所述进行二维成像时，通过波束逐线扫描进行超声成像包括步骤：通过逐线环扫和轴向扫描的方式，对不同位置横截面逐个扫描进行三维数据的采集；或通过切面逐线扫描和环扫的方式，对不同角度方向切面逐个扫描进行三维数据的采集。
- 根据权利要求19所述的一种多频超声三维成像探头的成像方法，其特征在于，所述进行三维成像时，采用三维数据的采集结合平面波快速成像方法，使用经过针对性修改的平面波复合超快成像方法提高图像分辨率和对比度，利用并发的超声发射信号激励在一次发射中实现超声平面波声穿透整个内窥成像视场，并通过超声射频回波信号重构算法获得感兴趣区域的图像信息包括以下步骤：当换能器径向转动至某一位置时，以对应换能器线阵表面的垂直面作为 成像面，利用平面波快速成像方法，通过多角度扫描进行当前平面的数据采集；结束当前平面的数据采集后，通过换能器的径向转动进入下一角度平面；通过换能器的360°旋转完成三维数据的采集。
- 根据权利要求19所述的一种多频超声三维成像探头的成像方法，其特征在于，所述对获取的三维成像数据进行三维可视化处理包括以下步骤：获取单频三维成像数据后，通过融合方法对所述单频三维成像数据进行多频三维图像的融合；获得多频三维图像数据后，对所述多频三维图像数据进行三维图像的重建与显示。
- 根据权利要求22所述的一种多频超声三维成像探头的成像方法，其特征在于：所述三维图像的显示包括以下步骤：通过平面视图的方式对三维体积图像中的任意切面进行可视化；通过体积视图的方式对三维图像中的每个像素值通过变换投射到体积视图中，实现三维显示。
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