CN104095653A - Free-arm three-dimensional ultrasonic imaging system and free-arm three-dimensional ultrasonic imaging method - Google Patents
Free-arm three-dimensional ultrasonic imaging system and free-arm three-dimensional ultrasonic imaging method Download PDFInfo
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Abstract
The invention relates to a free-arm three-dimensional ultrasonic imaging system and a free-arm three-dimensional ultrasonic imaging method. The central plane of a six-axis inertial sensor and a B-ultrasonic imaging point of a B-ultrasonic sector sweeping mechanism at the front end of a probe are positioned in the same plane, and the center of the six-axis inertial sensor and the B-ultrasonic imaging point of the B-ultrasonic sector sweeping mechanism are positioned on the central axis of the B-ultrasonic probe and are spaced at a constant distance; a groove is formed in the position outside the B-ultrasonic probe and above the central plane of the six-axis inertial sensor, a triggering key is arranged at the position of the groove, the six-axis inertial sensor, the B-ultrasonic sector sweeping mechanism and the triggering key are connected with a microprocessor via long cables, the microprocessor is connected with an upper computer via a USB (universal serial bus) interface, and thereby a reasonable scanning model and a reasonable acquisition system are established and detection of movement information of the probe is enabled. The free-arm three-dimensional ultrasonic imaging system and the free-arm three-dimensional ultrasonic imaging method have the advantages that all devices are positioned in a two-dimensional ultrasonic probe without contacting with the outside world, environmental interference to operation is reduced, and precision and stability are improved; concurrent operations are realized via multiple threads, operating rate is increased, and updated three-dimensional reconstruction effect is provided when a new B-ultrasonic image is acquired.
Description
Technical field
The present invention relates to a kind of 3-D imaging system, particularly a kind of freedom-arm, three-D ultrasonic image-forming system and formation method based on inertial sensor.
Background technology
Medical ultrasound diagnosis is one of important component part of modern medical imaging, in the diagnosis of a lot of tissues, has great contribution.Tradition 2D ultrasonic shown be the information of obtaining from scanning probe plane, examiner need to rebuild the three dimensional structure of organizing according to a series of 2D images in brain.This is a time-consuming and difficult process, and easily makes a mistake.Just because of this, clinical in the ultrasonic increase fast of demand of 3D.Common 3D ultrasound scan method has several below: mechanical mechanism controls 2D ultrasonic probe, the 3D ultrasonic probe of built-in controlling organization and free arm 3D scanheads.In above-mentioned 3D scan mode, free arm scan mode can be used ready-made 2D probe, and scanning scope is large, has higher cost performance in cost and ease of use, so obtain extensively, welcomes.But the cost of free arm scanning is also expected to further reduction, and occupation mode is further easy.
Inertial sensor utilizes effect of inertia to obtain the movable information of object, inertial sensor and probe is fixed together, and sets up rational scan model and acquisition system, can detection probe movable information and do not need complicated tracking equipment.For further improving the cost performance of free arm scan mode, provide possibility.
Summary of the invention
The present invention be directed to existing free arm scanning and be widely used, cost performance needs the problem further promoting, and has proposed a kind of freedom-arm, three-D ultrasonic image-forming system and formation method, can further reduce costs, operate easier.
Technical scheme of the present invention is: a kind of freedom-arm, three-D ultrasonic image-forming system, system comprises Ultrasonic-B probe, microprocessor and host computer, and Ultrasonic-B probe comprises outside triggering button, outside groove, the long cable of afterbody, 6 inner axle inertial sensors, inner traditional B ultrasonic fan sweeping mechanism and internal stent; 6 axle inertial sensors are fixed on the support of Ultrasonic-B probe inside, the B ultrasonic imaging point of 6 axle inertial sensor central planes and probe front end B ultrasonic fan sweeping mechanism is in same plane, and 6 axle inertial sensor center YuBChao fan sweeping mechanism B ultrasonic imaging points are all on Ultrasonic-B probe central axis; With 6 axle inertial sensor central planes above, the outer position of Ultrasonic-B probe is provided with groove, groove is parallel with 6 axis-rotating type sensors; Groove is provided with triggering button; 6 axle inertial sensors, B ultrasonic fan sweeping mechanism and triggering button are connected with microprocessor by long cable, and microprocessor connects host computer by USB interface.
I in described microprocessor
2c module and 6 axle inertial sensor intercommunication, be configured and the reading of data sensor; Motor and excitation ultrasonic transducer in the fan sweeping driver module of microprocessor and ultrasonic signal transmitting-receiving Tx/Rx module difference output drive signal DaoBChao fan sweeping mechanism; Trigger button triggering signal input microprocessor.
A formation method for freedom-arm, three-D ultrasonic image-forming system, specifically comprises the steps:
1) take 6 axle inertial sensor centers sets up inertial sensor coordinate system S at central plane as initial point; Take B ultrasonic imaging point as initial point, at 6 axle inertial sensor central planes, set up B ultrasonic imaging coordinate system I; Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L;
2) when user is pressed the triggering button of groove, microprocessor receives 6 axle inertial sensors and B ultrasonic fan sweeping mechanism position and image-forming information, microprocessor coupling B ultrasonic two-dimensional imaging and its positional information, and be passed in host computer by USB oral instructions;
3) initialize: receive described 3D scanning and trigger after the triggering signal of button, the B ultrasonic two dimensional image that first width of take receives is set up world coordinate system R as benchmark, opens up memory space;
4) obtain the relative position relation of follow-up B ultrasonic two dimensional image and the first width B ultrasonic image, for each pixel in described B ultrasonic two dimensional image distributes a thread, and carry out the coordinate system conversion of pixel, the coordinate system conversion formula comprising in thread is as follows:
p R =
p I T S←I T R←S
Wherein
p i =(
x ', y ', 0,1) represent a certain pixel in arbitrary 2D imaging plane (
x ', y ') coordinate,
p r =(
x, y, z, 1) represent the respective coordinates of this pixel in described world coordinate system R;
t s ← I represent that described 2D imaging coordinate system I is to the converting expressing formula of 6 axle inertial sensor coordinate system S, it embodies form and is:
t r ← S represent that 6 axle inertial sensor coordinate system S are to the converting expressing formula of described world coordinate system R, it embodies form and is:
In formula,
x,
y,
z pops one's head in along the x in world coordinate system R, y, and the displacement of z axle translation,
be respectively the x of coordinate system in world coordinate system R, y, the angular displacement that z tri-axles turn over counterclockwise;
5) pixel after coordinate system conversion is stored into the memory space of the world coordinate system R opening up in step 3), and carries out pixel interpolation; Pixel in memory space is carried out to three-dimensional surface rebuilding, and carry out ray cast processing;
6) gather constantly successive image, repeating step 3) to step 5), realize 3D imaging constantly.
Beneficial effect of the present invention is: a kind of freedom-arm, three-D ultrasonic image-forming system of the present invention and formation method, the free arm 3D ultrasound probe of an inertial sensor tracing type is provided, compared with the track sensor of existing optical principle and electromagnetism principle, has had the advantage of price; The free arm 3D ultrasound probe that the invention provides a built-in sensor, all the sensors and imaging device are all placed in 2D ultrasonic probe, by cable, are connected with microprocessor.Owing to there is no large-scale track working sensor station, greatly reduce volume and the price of imaging system, and improved motility and convenience when user operates; The free arm 3D ultrasound probe that inertial sensor provided by the invention is built-in, all devices are all placed in 2D ultrasonic probe, contactless with the external world, have reduced the interference that environment brings operation, have improved precision and stability; Triggering button provided by the invention, allows operator to switch flexibly the ultrasonic and 3D ultrasound mode of 2D, more realistic utilization demand; Three-dimensional reconstruction algorithm unit provided by the invention, adopts multi-threaded parallel operation, has greatly accelerated arithmetic speed, and upgrade voxel information after obtaining the B ultrasonic image that every width is new, and the three-dimensional reconstruction effect of real-time update is provided.
Accompanying drawing explanation
Fig. 1 is freedom-arm, three-D ultrasonic image-forming system structural representation of the present invention;
Fig. 2 is Ultrasonic-B probe structural representation of the present invention;
Fig. 3 is three-dimensional reconstruction algorithm unit schematic diagram of the present invention.
The specific embodiment
Freedom-arm, three-D ultrasonic image-forming system structural representation as shown in Figure 1, system comprises Ultrasonic-B probe 1, microprocessor 2 and host computer 3.
Ultrasonic-B probe structural representation as shown in Figure 2, Ultrasonic-B probe 1, integrated 6 inner axle inertial sensors 11, outside triggering button 12, traditional B ultrasonic fan sweeping mechanism 13, inner support 14, groove 15, the long cable 16 of afterbody.Wherein 6 axle inertial sensors 11 are fixed on the support 14 of Ultrasonic-B probe inside, the B ultrasonic imaging point that 6 axle inertial sensor 11 central planes and probe front end B ultrasonic fan sweeping mechanism 13 determine is in same plane, and 6 axle inertial sensor 11 center YuBChao fan sweeping mechanism 13 B ultrasonic imaging points are all on Ultrasonic-B probe central axis.Take 6 axle inertial sensor 11 centers sets up inertial sensor coordinate system S at central plane as initial point; Take B ultrasonic imaging point as initial point, at 6 axle inertial sensor 11 central planes, set up B ultrasonic imaging coordinate system I; Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L.With 6 axle inertial sensor 11 central planes above, the outer position of Ultrasonic-B probe 1 is provided with groove 15, controls probe, any translation of the hand-holdable probe of user or rotation for user.Groove 15 places are provided with the triggering button 12 that triggers 3D scanning imagery, for user, 2D ultrasonic scanning pattern are switched to 3D ultrasound imaging mode.All leading by long cable 16 and microprocessor 2 UNICOMs.Groove 15 is strict parallel with 6 axis-rotating type sensors 11, make the position of user hand hold transducer and 6 axle shaft core positions of 6 axle sensors 11, the variable quantity of the probe attitude that user causes at this position translation or rotating detector, can directly from 6 axle sensors 11, read out, thereby reduce unnecessary compensation process.With this method operation, the transformation relation that B ultrasonic imaging point is transformed in 6 axle sensor coordinate systems is fixed, for add the distance L between imaging coordinate system I center and 6 axle inertial sensor coordinate system S centers in Y direction.
As depicted in figs. 1 and 2, microprocessor 2, by 6 axle inertial sensors 11 in long cable 16 and Ultrasonic-B probe, triggers button 12HeBChao fan sweeping mechanism 13 and is connected.I in microprocessor 2
2c module 21 is set up and is communicated by letter with 6 axle inertial sensors 11, and sensor is configured and the reading of data.The fan sweeping driver module 22 of microprocessor 2 and ultrasonic signal transmitting-receiving Tx/Rx module 23 drive respectively motor and excitation ultrasonic transducer in B ultrasonic fan sweeping mechanism 13.And obtain B ultrasonic two-dimensional imaging by two dimensional image processing unit.Microprocessor 2 receives and triggers button 12 triggering signals, trigger button 12 and press rear triggering 3D ultrasonic scanning, be that microprocessor starts to mate B ultrasonic two dimensional image and its positional information, and the B ultrasonic two dimensional image that has mated positional information is transferred in host computer 3 by USB interface.Described three-dimensional reconstruction algorithm unit is according to described B ultrasonic image and described positional information real-time reconstruction and show three-dimensional ultrasound pattern.
Three-dimensional reconstruction algorithm unit schematic diagram as shown in Figure 3, inertial sensor coordinate system S and B ultrasonic imaging coordinate system I in same plane, inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L.User is held the groove 15 with top, inertial sensor coordinate system S central horizontal position, can rotate arbitrarily or translation Ultrasonic-B probe 1.When user is pressed the triggering button 12 at low groove 15 places, trigger B ultrasonic two-dimensional imaging pattern and change to 3D ultrasound imaging mode.Microprocessor 2 coupling B ultrasonic two-dimensional imaging and its positional informationes, and be passed in host computer 3 by USB oral instructions.And enter three-dimensional reconstruction algorithm unit, its step is as follows:
S1, initialization: receive described 3D scanning and trigger after the triggering signal of button 12, the B ultrasonic two dimensional image that first width of take receives is set up world coordinate system R as benchmark, opens up memory space 31.
S2, obtain the relative position relation of follow-up B ultrasonic two dimensional image and the first width B ultrasonic image, be that each pixel in described B ultrasonic two dimensional image distributes a thread, and carry out the coordinate system conversion of pixel, the coordinate system conversion formula comprising in thread is as follows:
p R =
p I T S←I T R←S （1）
Wherein
p i =(
x ', y ', 0,1), represent a certain pixel in arbitrary 2D imaging plane (
x ', y ') coordinate,
p r =(
x, y, z, 1) represent the respective coordinates of this pixel in described world coordinate system R.
t s ← I represent that described 2D imaging coordinate system I is to the converting expressing formula of 6 axle inertial sensor coordinate system S, it expresses the geometrical relationship of 2D imaging plane I and described 6 axle inertial sensor coordinate system S, and this geometrical relationship determined by Design of Mechanical Structure, therefore
t s ← I for constant, it embodies form and is:
（2）
t r ← S represent that 6 axle inertial sensor coordinate system S are to the converting expressing formula of described world coordinate system R, it expresses probe 1 that described 6 axle inertial sensors 11 the find out movement locus in three dimensions, and it embodies form and is:
（3）
In formula,
x,
y,
z pops one's head in along the x in world coordinate system R, y, and the displacement of z axle translation,
be respectively the x of coordinate system in world coordinate system R, y, the angular displacement that z tri-axles turn over counterclockwise.
S3, the pixel after coordinate system conversion is stored into the memory space 31 of the world coordinate system R opening up in described S1.And carry out pixel interpolation.Pixel in memory space 31 is carried out to three-dimensional surface rebuilding, and carry out ray cast processing.
S4, gather successive image constantly, repeat S1 to S3, realize 3D imaging constantly.
Claims (3)
1. a freedom-arm, three-D ultrasonic image-forming system, it is characterized in that, system comprises Ultrasonic-B probe, microprocessor and host computer, and Ultrasonic-B probe comprises outside triggering button, outside groove, the long cable of afterbody, 6 inner axle inertial sensors, inner traditional B ultrasonic fan sweeping mechanism and internal stent; 6 axle inertial sensors are fixed on the support of Ultrasonic-B probe inside, the B ultrasonic imaging point of 6 axle inertial sensor central planes and probe front end B ultrasonic fan sweeping mechanism is in same plane, and 6 axle inertial sensor center YuBChao fan sweeping mechanism B ultrasonic imaging points are all on Ultrasonic-B probe central axis; With 6 axle inertial sensor central planes above, the outer position of Ultrasonic-B probe is provided with groove, groove is parallel with 6 axis-rotating type sensors; Groove is provided with triggering button; 6 axle inertial sensors, B ultrasonic fan sweeping mechanism and triggering button are connected with microprocessor by long cable, and microprocessor connects host computer by USB interface.
2. freedom-arm, three-D ultrasonic image-forming system according to claim 1, is characterized in that the I in described microprocessor
2c module and 6 axle inertial sensor intercommunication, be configured and the reading of data sensor; Motor and excitation ultrasonic transducer in the fan sweeping driver module of microprocessor and ultrasonic signal transmitting-receiving Tx/Rx module difference output drive signal DaoBChao fan sweeping mechanism; Trigger button triggering signal input microprocessor.
3. a formation method for system described in claim 2, is characterized in that, specifically comprises the steps:
1) take 6 axle inertial sensor centers sets up inertial sensor coordinate system S at central plane as initial point; Take B ultrasonic imaging point as initial point, at 6 axle inertial sensor central planes, set up B ultrasonic imaging coordinate system I; Inertial sensor coordinate system S center and B ultrasonic imaging coordinate system I center distance L;
2) when user is pressed the triggering button of groove, microprocessor receives 6 axle inertial sensors and B ultrasonic fan sweeping mechanism position and image-forming information, microprocessor coupling B ultrasonic two-dimensional imaging and its positional information, and be passed in host computer by USB oral instructions;
3) initialize: receive described 3D scanning and trigger after the triggering signal of button, the B ultrasonic two dimensional image that first width of take receives is set up world coordinate system R as benchmark, opens up memory space;
4) obtain the relative position relation of follow-up B ultrasonic two dimensional image and the first width B ultrasonic image, for each pixel in described B ultrasonic two dimensional image distributes a thread, and carry out the coordinate system conversion of pixel, the coordinate system conversion formula comprising in thread is as follows:
p R =
p I T S←I T R←S
Wherein
p i =(
x ', y ', 0,1) represent a certain pixel in arbitrary 2D imaging plane (
x ', y ') coordinate,
p r =(
x, y, z, 1) represent the respective coordinates of this pixel in described world coordinate system R;
t s ← I represent that described 2D imaging coordinate system I is to the converting expressing formula of 6 axle inertial sensor coordinate system S, it embodies form and is:
t r ← S represent that 6 axle inertial sensor coordinate system S are to the converting expressing formula of described world coordinate system R, it embodies form and is:
In formula,
x,
y,
z pops one's head in along the x in world coordinate system R, y, and the displacement of z axle translation,
be respectively the x of coordinate system in world coordinate system R, y, the angular displacement that z tri-axles turn over counterclockwise;
5) pixel after coordinate system conversion is stored into the memory space of the world coordinate system R opening up in step 3), and carries out pixel interpolation; Pixel in memory space is carried out to three-dimensional surface rebuilding, and carry out ray cast processing;
6) gather constantly successive image, repeating step 3) to step 5), realize 3D imaging constantly.
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