CN105534596B - A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe - Google Patents
A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe Download PDFInfo
- Publication number
- CN105534596B CN105534596B CN201511028170.1A CN201511028170A CN105534596B CN 105534596 B CN105534596 B CN 105534596B CN 201511028170 A CN201511028170 A CN 201511028170A CN 105534596 B CN105534596 B CN 105534596B
- Authority
- CN
- China
- Prior art keywords
- probe
- wire body
- body mould
- ultrasonic
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention provides a kind of for locus is calibrated between binocular optical probe and Ultrasonic-B probe method and target wire body mould, comprise the steps：(1) position of Ultrasonic-B probe is adjusted according to B ultrasound image and target wire body mould so that the relative position of Ultrasonic-B probe and target wire body mould determines；(2) standard calibration masterplate is placed in the specified location of target wire body mould so that the relative position of standard calibration masterplate and target wire body mould is fixed；The target recognized according to binocular optical probe obtains the coordinate (x y z 1) that each in the first coordinate system O is putT；And the coordinate (x ' y ' z ' 1) of each point in the second coordinate system o ' is obtained according to the relative position of standard calibration masterplate and target wire body mouldT；And according to coordinate (x y z 1)TWith coordinate (x ' y ' z ' 1)TObtain the transformation matrix of coordinates M between the first coordinate system O and the second coordinate system o '；(3) position relationship between binocular optical probe and Ultrasonic-B probe is calculated according to the relative position of transformation matrix of coordinates M and Ultrasonic-B probe and target wire body mould.The present invention can be accurately positioned the relative position relation of the two.
Description
Technical field
The invention belongs to optical binocular optical technical field, is used for binocular optical probe and B more particularly, to one kind
The method and target wire body mould that locus is calibrated between super probe.
Background technology
B ultrasound is imaged very effective medicine equipment as a kind of to human body soft tissue, is widely used.In B ultrasound image
Punctured under guiding, be pierced into inside of human body using apparatuses such as puncture needle, cell taking guns, injected or biopsy, be a kind of micro-
Wound and effective modus operandi.The guiding puncture device used earliest is mechanical puncture supporter, and its principle is on Ultrasonic-B probe
A mechanical device is fixed, the mechanical device carries thinner passage, and the piercing portion that can accommodate puncture instrument passes through.Pass through limit
The mode that puncture instrument processed can only advance along passage, mechanical puncture supporter can mark the position of passage in advance on B ultrasound screen
Put, so as to realize guiding puncture.
Mechanical puncture supporter, which strictly limits puncture instrument, to advance along pre-set passage, greatly limit
The free degree of puncture, while puncture instrument, after human body is pierced into, Ultrasonic-B probe, as an entirety, can not just move, nothing with it
Whether method assesses piercing position by observing the tissue around piercing position correct, and to closing on the degree of risk at position.
So after the appearance of mechanical puncture supporter, with the development of electronic technology, occurs the puncture navigation system of non-mechanical again
System, has two major class technologies, one kind is the navigation based on electromagnetism, and one kind is to be based on optical navigation.
In based on optical puncture airmanship, conventional art is that one group of binocular light is placed in the operating space of puncture
Probe is learned, while reflective marker bead is respectively mounted on Ultrasonic-B probe and puncture instrument, reflective marker bead can be by incident light edge
Incident direction reflection, it is unrelated with incident angle.Binocular optical probe is furnished with near-infrared light compensating apparatus, sends infrared light, illuminates
Reflective marker bead, the locus of reflective marker bead is identified by binocular optical probe, and thus calculate Ultrasonic-B probe with
The relative tertiary location of puncture instrument, so as to mark the position of puncture instrument in the image of B ultrasound, realize navigation feature.
Above-mentioned traditional based in optical puncture airmanship, binocular optical probe needs to calculate B ultrasound spy respectively
Head, relative to the coordinate of optic probe, then draws the relative tertiary location of the two relative to the coordinate and puncture instrument of optic probe
Relation, realize navigation feature.
Calculating for relative position between Ultrasonic-B probe and binocular optical probe, can be in production according to design
Drawing is decided, and can also be calibrated after dispatching from the factory.The relative position of the two is determined according to design drawing in production
Put there are problems that it is following some：
(1) there is error in production and assembling, it is difficult to strictly be accurately positioned.
(2) Ultrasonic-B probe and binocular optical probe are in most cases dismountable structures, therefore repeated disassembled and assembled is easy
Cause the abrasion of the two connecting portion so that deviation occurs for positioning.
(3) the two determines relative position in production, it is necessary to carry out collaborative design, therefore binocular optical probe can only
With corresponding a few money Ultrasonic-B probes, the application of universality can not be realized.
The content of the invention
The defects of for prior art, it is an object of the invention to provide one kind to be used for binocular optical probe and Ultrasonic-B probe
Between locus calibrate method, it is intended to solution be difficult to pinpoint technical problem in the prior art.
The invention provides a kind of for the method that locus is calibrated between binocular optical probe and Ultrasonic-B probe, including
Following step：
(1) position of Ultrasonic-B probe is adjusted according to B ultrasound image and target wire body mould so that the Ultrasonic-B probe with it is described
The relative position of target wire body mould determines；
(2) standard calibration masterplate is placed on the front fixed bit or side fixed bit of target wire body mould so that the mark
The relative position of quasi- calibration masterplate and the target wire body mould is fixed；The target recognized according to binocular optical probe obtains first and sat
The coordinate (x y z 1) that each in mark system O is putT；And obtain the according to the relative position of standard calibration masterplate and target wire body mould
The coordinate (x ' y ' z ' 1) that each in two coordinate system o ' is putT；And according to coordinate (x y z 1)TAnd coordinate（x′ y′ z′ 1
)TObtain the transformation matrix of coordinates M between the first coordinate system O and the second coordinate system O '；
Wherein, specified location refers to the front fixed bit or side fixed bit of target wire body mould.
(3) calculated according to the transformation matrix of coordinates M and the Ultrasonic-B probe and the target wire body mould relative position double
Position relationship between mesh optic probe and Ultrasonic-B probe.
Further, in step (1), following principle need to be met by adjusting the position of the Ultrasonic-B probe：(a) target wire body mould
Interior a plurality of target line is respectively positioned in the B ultrasound plane of scanning motion, i.e., in X ' Y ' planes；(b) the expectation position of the image of target line and target line
Put coincidence.
Further, the first coordinate system O be using optic probe as origin, using binocular optical pop one's head in line direction as
X-axis, is Y-axis perpendicular to line direction, and optic probe detection direction is the space coordinates that Z axis is established；Second coordinate system
O ' is using distal probe center as the origin of coordinates, and the horizontal direction along the B ultrasound plane of scanning motion is X ' axles, along hanging down for the B ultrasound plane of scanning motion
Nogata is the space coordinates O ' that Z ' axles are established perpendicular to the direction of the B ultrasound plane of scanning motion to for Y ' axles.
Further, the target wire body mould is that the velocity of sound that inner containment has the velocity of sound close with the velocity of sound of tissue matches
The container of liquid, is provided with least 3 target lines being generally aligned in the same plane in the container, the target line have to ultrasonic wave compared with
Strong albedo；In use, Ultrasonic-B probe distal end needs to be completely immersed in the velocity of sound matching liquid of target wire body mould.
Further, there are front fixed bit and side fixed bit on the target wire body mould, can be respectively by standard calibration mould
Domain picture is fixed on the front or side of target wire body mould.
Further, the velocity of sound matching liquid can use gel to replace.
Further, using improved nonlinear least square method obtain the first coordinate system O and the second coordinate system O ' it
Between transformation matrix of coordinates M, be specially：
(2.1) it is spatial translation is vectorial (a b c)T, Space Rotating vectorMerge into same object vectorAnd it is initialized as k0=(0 0000 0)T；
(2.2) Jacobian matrix calculates：
For the object vector k of ith iterationiIf i ＞ Max, iteration ends, failure is calculated；Otherwise current sit is obtained
Mark transformation matrix Mi, and calculate the coordinate after one group of current conversion
For the coordinate (x ' after each group of conversionki y′ki z′ki 1)TWith actual coordinate (x 'i y′i z′i 1)T, calculate
Its Euclidean distance
The d of all characteristic pointskiValue composition evaluation vector di=(d1i d2i … dni)T；
For the object vector k of ith iterationi, to vectorial dkiDifferential is done, obtains Jacobian matrix
(2.3) judge iterated conditional and calculate iteration direction：
For current goal vector kiWith Jacobian matrix Ji, calculate second order norm | | Jiki| |, if | | Jiki| | ＜ ε,
So iteration termination, kiThe as final least square solution of object vector；Otherwise iteration direction is calculatedSuch as
Fruit iteration direction diSix components, the absolute value of each is both less than minimum iteration step length Step, then iteration termination, kiI.e.
For the final least square solution of object vector；
(2.4) iterative cycles：
Material calculation penalty coefficient Mul, initial Mul=1；As i=Max/4, make penalty coefficient Mul=0.1 and keep；
As i=Max/2, make penalty coefficient Mul=0.01 and keep；As i=Max*3/4, penalty coefficient Mul=0.001 is made simultaneously
Keep；
Object vector is iterated, makes ki+1=ki+di* Mul, and go to step (2.2).
By above-mentioned steps (2.1)-(2.4), the object vector k for meeting required precision can be calculated, is sat so as to calculate
Mark transition matrix M；
Wherein, ε is the iteration precision set, and Max is maximum iteration, and Step is minimum iteration step length.
Further, the standard calibration masterplate is gridiron pattern masterplate, dot matrix masterplate or other kinds of calibrating die
Version.
Further, after step (3), when binocular optical probe recognizes puncture instrument, according to puncture instrument
On the space coordinates (x y z 1) popped one's head in relative to binocular optical of each characteristic pointT, obtain characteristic point and visited relative to B ultrasound
The space coordinates (x ' y ' z ' 1) of headT=M* (x y z 1)T, and according to this coordinate on B ultrasound image to the position of puncture instrument
Put and be labeled, realize navigation.
Present invention also offers a kind of target wire body mould, target wire body mould is that the velocity of sound that inner containment has the velocity of sound and tissue connects
The container of near velocity of sound matching liquid, at least 3 target lines being generally aligned in the same plane, the target line pair are provided with the container
Ultrasonic wave has stronger albedo；There are front fixed bit and side fixed bit on the target wire body mould, can be respectively by standard
Calibration template image is fixed on the front or side of target wire body mould.
Binocular optical is popped one's head in and is fixed together with Ultrasonic-B probe by the present invention；Binocular optical is popped one's head in and the phase between Ultrasonic-B probe
Rigid registrations are needed to position, for carrying out accurate calibration to the relative position between binocular optical probe and Ultrasonic-B probe.
Brief description of the drawings
Fig. 1 is located in the Ultrasonic-B probe schematic diagram in target wire body mould；
Fig. 2 is the mark schematic diagram on B ultrasound image；
Fig. 3 is two kinds of placement location schematic diagrames of standard calibrating die domain picture on target wire body mould；Fig. 3 (a) is that B ultrasound scanning is flat
The placement location schematic diagram of the quasi- calibration masterplate of navigational time scale is punctured in face, Fig. 3 (b) is to puncture navigational time scale outside the B ultrasound plane of scanning motion
The placement location schematic diagram of quasi- calibration masterplate.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention is fixed together by the way that binocular optical is popped one's head in Ultrasonic-B probe, and to binocular optical probe and Ultrasonic-B probe
Between relative position calibrated.Puncture under being guided due to B ultrasound generally only occur near Ultrasonic-B probe 20cm distances with
It is interior, therefore in the present invention, when binocular optical probe is fixed on Ultrasonic-B probe, due to binocular optical probe and Ultrasonic-B probe
Position is relatively fixed, then only needs to detect the position of puncture instrument by binocular optical probe, it is possible to calculate B ultrasound
The relative tertiary location of probe and puncture instrument.
The present invention proposes a kind of method for locus calibration between binocular optical probe and Ultrasonic-B probe, used in double
Mesh optic probe is fixed together with Ultrasonic-B probe, in the usage scenario for carrying out B ultrasound Conducted Puncture navigation, for being accurately positioned
The relative position relation of the two.
Before method proposed by the present invention for locus calibration between binocular optical probe and Ultrasonic-B probe is based on
The condition of carrying is：Binocular optical, which is popped one's head in, itself have been completed to calibrate, and the relative position between binocular determines completely, while pops one's head in itself
Distortion has been corrected.
Method provided in an embodiment of the present invention for locus calibration between binocular optical probe and Ultrasonic-B probe, tool
Body includes following 3 steps：
Step S1：Locus between binocular optical probe and Ultrasonic-B probe is adjusted；
Specifically, the binocular optical being fixed together probe and Ultrasonic-B probe can be put by B ultrasound image and target wire body mould
Put in target wire body mould, adjustment position so that on the position and B ultrasound image that the target line in target wire body mould is shown on B ultrasound image
The target line desired locations marked overlap；Wherein, the structure of target wire body mould is as shown in figure 1, target wire body mould 03 is one deeper
Container, inside can be put into velocity of sound matching liquid (or gel), such as the water of 55 degrees centigrades so that in target wire body mould 03
The velocity of sound (1540m/s) of the velocity of sound and tissue in the velocity of sound matching liquid that portion accommodates is close.
Step S2：Standard calibration template image is placed on target wire body mould front fixed bit or side fixed bit, with target
Wire body mould rigidly fixes, shooting calibration image；
Step S3：The image photographed according to binocular optical probe, calculate between binocular optical probe and Ultrasonic-B probe
Relative tertiary location.
It is used for space between binocular optical probe and Ultrasonic-B probe in order to which further description is provided in an embodiment of the present invention
Specific embodiments of the present invention are described in detail by the method for position correction below in conjunction with the accompanying drawings.
First, step S1 is specially：
Fig. 1 is located in the Ultrasonic-B probe schematic diagram in target wire body mould.In Fig. 1,01 is Ultrasonic-B probe, and 02 is to be fixed on B ultrasound
Binocular optical probe on probe, 03 is target wire body mould, and target wire body mould 03 is a deeper container, and inside can be put into the velocity of sound
Matching liquid (or gel), such as the water of 55 degrees centigrades so that the velocity of sound matching liquid of the inner containment of target wire body mould 03
In the velocity of sound and tissue the velocity of sound (1540m/s) it is close.In use, the distal end of Ultrasonic-B probe 01 needs to be completely immersed in target wire body
In the velocity of sound matching liquid of mould 03, the liquid level position of 04 expression velocity of sound matching liquid in figure.Have inside target wire body mould 03 a plurality of
Fixed target line (is no less than 3), and in all target lines are generally aligned in the same plane, target line has stronger albedo to ultrasonic wave,
The schematic diagram of 3 target lines, respectively 051,052,053 are depicted in Fig. 1.Locus of the target line in target wire body mould 03 is
Know.There are front fixed bit and side fixed bit on target wire body mould 03, standard calibration template image can be fixed on target wire body respectively
The front or side of mould.
After binocular optical, which is popped one's head in, itself completes calibration, using the optic probe of wherein side as origin, space coordinates is established
It is O, line direction is popped one's head in as X-axis using binocular optical, vertical direction is Y-axis, and optic probe detection direction is Z axis.Binocular optical
The arbitrary target that probe recognizes, its coordinate is all the coordinate in space coordinates O.
Ultrasonic-B probe itself establishes space coordinates O ' using distal probe center as the origin of coordinates, along the B ultrasound plane of scanning motion
Horizontal direction is X ' axles, vertical direction Y ' axles, is Z ' axles perpendicular to the direction of the B ultrasound plane of scanning motion.Recognized in B ultrasound image
Arbitrary target, its coordinate are all the coordinates of X ' Y ' planes in space coordinates O '.
After Ultrasonic-B probe is put into the velocity of sound matching liquid of target wire body mould 03, the figure of target line can be seen on B ultrasound image
Picture.Puncturing navigation system main frame is needed to gather B ultrasound image, and the desired locations of target line, the desired locations are marked on B ultrasound image
Determined according to the display multiplication factor of the position of each bar target line and B ultrasound image in target wire body mould, bid is done on B ultrasound image
Note.Fig. 2 is the mark schematic diagram on B ultrasound image, is shown in figure and punctures the B ultrasound image that navigation system main frame collects, and schemed
As the desired locations of upper labels targets line.In Fig. 2 06 be B ultrasound sectoring region；Solid line 061,062,063 is three target lines
The image that (051,052,053) is presented under B ultrasound；071,072,073, dotted line is the desired locations of three target lines.Then adjust
The position of Ultrasonic-B probe, it is following 2 points until meeting：
(1) a plurality of target line in target wire body mould 03 is respectively positioned in the B ultrasound plane of scanning motion, i.e., in X ' Y ' planes；
(2) image of target line overlaps with the desired locations of target line.
So far, the relative position of Ultrasonic-B probe and target wire body mould determines, therefore any one consolidates with target wire body mould relative position
Fixed target, its coordinate in space coordinates O ' determine simultaneously.
In embodiments of the present invention, desired locations refer to several lines (dotted line 071 drawn in advance on B ultrasound image
Deng), dotted line remains stationary as；Several target lines can be imaged in the picture simultaneously, show several lines (solid line 061 etc.), and solid line can be with
Moved with target line relative to the movement of Ultrasonic-B probe.In addition, calibration operation needs to move Ultrasonic-B probe so that solid line and dotted line weight
Close, when both overlap, be referred to as reaching " desired locations ".
Secondly, step S2 is specially：
Standard calibration template image is placed in the specified location of target wire body mould, the relative position rigidity with target wire body mould
It is fixed.Standard calibration masterplate can be gridiron pattern masterplate, dot matrix masterplate or other kinds of calibration masterplate.
For any point on standard calibration masterplate, it has coordinate (x y z) in the first coordinate system OT, in coordinate system
There is coordinate (x ' y ' z ') in O 'T, the position relationship between binocular optical probe and Ultrasonic-B probe is calculated, exactly needs to obtain this
Transformation matrix of coordinates M between the two.Two coordinates are written respectively as homogeneous coordinates form (x y z 1) T and (x ' y ' z ' 1)T
Afterwards, there is equation below：
... (formula 1)
There is the intersecting characteristic point of n black and white on standard calibration masterplate, for this n o'clock homogeneous seat in two coordinate systems
Mark, can be written as form：
... (formula 2)
Wherein because coordinate system O and O ' are orthogonal coordinate systems, and its unit length is identical, therefore matrix M is put down by 3-dimensional
Move plus 3-dimensional rotation composition, without other special affine transformations.If spatial translation vector is (a b c)T, Space Rotating to
Measure and beSo M is 4 rank square formations of following form：
... (formula 3)
In formula 2, (the x y z 1) of each pointTCoordinate can be popped one's head in by binocular optical and optically be obtained；Often
(X ' y ' z ' 1) of one pointTCoordinate can be obtained by the relative position of standard calibration masterplate and target wire body mould.Therefore it is right
It is vectorial (a b c) in spatial translationT, Space Rotating vectorSolve problems just asked as an over-determined systems
The problem of solution.Solved in the present invention using the method for improved non-linear least square, other alternative manners can also be used
Solve.The improved nonlinear least square method step that the present invention uses has 4 steps, as follows：
Step S21：Initialization.By spatial translation vector (a b c）T, Space Rotating vectorMerging is written as same
One object vectorIt is initialized as k0=(0 0000 0)T.The required precision of iteration is set
ε, and maximum iteration Max, minimum iteration step length Step.
Step S22：Jacobian matrix calculates.For the object vector k of ith iterationiIf i ＞ Max, then exceed
Maximum iteration, iteration ends, calculate failure；Otherwise it can obtain changing coordinates transformation matrix Mi, then calculate current
One group of conversion after coordinate, have equation below：
... (formula 4)
For the coordinate (x ' k after each group of conversioni y′ki z′ki 1)TWith actual coordinate (x 'i y′i z′i 1)T, calculate
Its Euclidean distance dki：
... (formula 5)
The d of all characteristic pointskiValue composition evaluation vector di=(d1i d2i … dni)T。
In current kiPoint, to vectorial dkiDifferential is done, obtains following Jacobian matrix：
Step S23：Judge iterated conditional and calculate iteration direction.
For current goal vector kiWith Jacobian matrix Ji, judge stopping criterion for iteration：
Condition T1：Calculate second order norm | | Jiki| |, if | | Jiki| | ＜ ε, then iteration termination, kiAs object vector
Final least square solution；
Otherwise iteration direction is calculated
Condition T2：If iteration direction diSix components, the absolute value of each is both less than minimum iteration step length Step,
So iteration termination, kiThe as final least square solution of object vector；
Standard least-squares take longer for without this step, iteration, more slowly；The least square method of the present invention and standard
Compare, iteration time section.
Step S24：Iterative cycles.
First according to the increase of iterative cycles number, additional penalty coefficient, for reducing the vibration of calculating process.Calculate step
Long penalty coefficient Mul, initial Mul=1；As i=Max/4, make penalty coefficient Mul=0.1 and keep；As i=Max/2,
Make penalty coefficient Mul=0.01 and keep；As i=Max*3/4, make penalty coefficient Mul=0.001 and keep.
Standard least-squares easily produce larger vibration without this coefficient in iteration.The present invention and standard are most
Small square law is compared, it is not easy to larger vibration is produced in iteration, iteration precision is high.
Object vector is iterated, made：ki+1=ki+di* Mul, and go to step S22.
By above-mentioned S21-S24 steps, the object vector k for meeting required precision can be calculated, is turned so as to calculate coordinate
Change matrix M.This coordinate conversion matrix M is storable in after primary calibration to be punctured on navigation system main frame.As long as binocular optical is visited
The fixed position relative of head and Ultrasonic-B probe does not change, then this coordinate conversion matrix M can be with use；And once two
The fixed position relative of person is changed, then only needs to re-execute step S1 and step S2, and coordinates computed turns again
Change matrix M.
Finally, step S3 is specially：
3rd step S3 is fairly simple, each on puncture instrument when binocular optical probe recognizes puncture instrument
Individual characteristic point has the space coordinates (x y z 1) popped one's head in relative to binocular opticalT, simple multiplying can obtain characteristic point
Relative to the space coordinates (x ' y ' z ' 1) of Ultrasonic-B probeT=M* (x y z 1)T.Then can be according to this coordinate on B ultrasound image
The position of puncture instrument is labeled, realizes navigation.
Puncturing navigation can have puncture in the B ultrasound plane of scanning motion to navigate and puncture navigation outside the B ultrasound plane of scanning motion.Correspond to therewith,
Binocular optical, which is popped one's head in, can be fixed on the front and side of Ultrasonic-B probe, and standard calibration template image during calibration can also be fixed
In the front and side of target wire body mould.
Fig. 3 is two kinds of placement location schematic diagrames of standard calibrating die domain picture on target wire body mould.Wherein Fig. 3 (a) is that B ultrasound is swept
The placement location schematic diagram that the quasi- calibration masterplate of navigational time scale is punctured in plane is retouched, 08 is located in the standard school of Ultrasonic-B probe side
Quasi-mode version；Fig. 3 (b) is the placement location schematic diagram that the quasi- calibration masterplate of navigational time scale is punctured outside the B ultrasound plane of scanning motion, and 09 is located in
The positive standard calibration masterplate of Ultrasonic-B probe
In embodiments of the present invention, there is the target wire body mould of a plurality of fixed target line, standard calibration masterplate can be fixed on target
On wire body mould, while velocity of sound matching liquid is put into inside body mould.Meanwhile standard calibration masterplate can have two kinds of fixed forms, one
Kind is punctures navigation in the B ultrasound plane of scanning motion when, Ultrasonic-B probe side is fixed on, another kind is that the B ultrasound plane of scanning motion punctures navigation outside
When, it is fixed on Ultrasonic-B probe front.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (9)
- A kind of 1. method for locus calibration between binocular optical probe and Ultrasonic-B probe, it is characterised in that including following Step：(1) position of Ultrasonic-B probe is adjusted according to B ultrasound image and target wire body mould so that the Ultrasonic-B probe and the target line The relative position of body mould determines；(2) standard calibration masterplate is placed in the specified location of target wire body mould so that the standard calibration masterplate and the target The relative position of wire body mould is fixed；The target recognized according to binocular optical probe obtains what each in the first coordinate system O was put Coordinate (x y z 1)T；And each in the second coordinate system O ' is obtained according to the relative position of standard calibration masterplate and target wire body mould The coordinate (x ' y ' z ' 1) of pointT；And according to coordinate (x y z 1)TWith coordinate (x ' y ' z ' 1)TObtain the first coordinate system O with Transformation matrix of coordinates M between second coordinate system O '；(3) binocular light is calculated according to the transformation matrix of coordinates M and the Ultrasonic-B probe and the target wire body mould relative position Learn the position relationship between probe and Ultrasonic-B probe；Transformation matrix of coordinates between first coordinate system O and the second coordinate system O ' is obtained using improved nonlinear least square method M, it is specially：(2.1) it is spatial translation is vectorial (a b c)T, Space Rotating vectorMerge into same object vectorAnd it is initialized as k0=(0 0000 0)T；(2.2) Jacobian matrix calculates：For the object vector k of ith iterationiIf i ＞ Max, iteration ends, failure is calculated；Otherwise changing coordinates are obtained to become Change matrix Mi, and calculate the coordinate after one group of current conversionFor the coordinate (x ' after each group of conversionki y′ki z′ki 1)TWith actual coordinate (x 'i y′i z′i 1)T, calculate its Europe Formula distanceThe d of all characteristic pointskiValue composition evaluation vector di=(d1i d2i ... dni)T；For the object vector k of ith iterationi, to vectorial dkiDifferential is done, obtains Jacobian matrix(2.3) judge iterated conditional and calculate iteration direction：For current goal vector kiWith Jacobian matrix Ji, calculate second order norm | | Jiki| |, if | | Jiki| | ＜ ε, then Iteration termination, kiThe as final least square solution of object vector；Otherwise iteration direction is calculatedIf repeatedly For direction diSix components, the absolute value of each is both less than minimum iteration step length Step, then iteration termination, kiAs mesh Mark the final least square solution of vector；(2.4) iterative cycles：Material calculation penalty coefficient Mul, initial Mul=1；As i=Max/4, make penalty coefficient Mul=0.1 and keep；Work as i During=Max/2, make penalty coefficient Mul=0.01 and keep；As i=Max*3/4, make penalty coefficient Mul=0.001 and protect Hold；Object vector is iterated, makes ki+1=ki+di* Mul, and go to step (2.2)；By above-mentioned steps (2.1)-(2.4), the object vector k for meeting required precision can be calculated, is turned so as to calculate coordinate Change matrix M；Wherein, ε is the iteration precision set, and Max is maximum iteration, and Step is minimum iteration step length.
- 2. the method as described in claim 1, it is characterised in that in step (1), adjusting the position of the Ultrasonic-B probe needs to meet Following principle：(a) a plurality of target line in target wire body mould is respectively positioned in the B ultrasound plane of scanning motion, i.e., in X'Y' planes；(b) target line Image overlapped with the desired locations of target line.
- 3. the method as described in claim 1, it is characterised in that the first coordinate system O is using optic probe as origin, with double Mesh optic probe line direction is X-axis, is Y-axis perpendicular to line direction, and optic probe detection direction is that the space that Z axis is established is sat Mark system；The second coordinate system O ' is using distal probe center as the origin of coordinates, and the horizontal direction along the B ultrasound plane of scanning motion is X ' Axle, the vertical direction along the B ultrasound plane of scanning motion are Y ' axles, are the space coordinates that Z ' axles are established perpendicular to the direction of the B ultrasound plane of scanning motion It is O '.
- 4. the method as described in claim 1, it is characterised in that the target wire body mould is that inner containment has the velocity of sound and tissue The close velocity of sound matching liquid of the velocity of sound container, at least 3 target lines being generally aligned in the same plane, institute are provided with the container State target line has stronger albedo to ultrasonic wave；In use, Ultrasonic-B probe distal end needs to be completely immersed in the velocity of sound of target wire body mould In matching liquid.
- 5. the method as described in claim 1, it is characterised in that there is front fixed bit and side to fix on the target wire body mould Position, standard calibration template image can be fixed on to the front or side of target wire body mould respectively.
- 6. method as claimed in claim 4, it is characterised in that the velocity of sound matching liquid is replaced using gel.
- 7. the method as described in claim 1, it is characterised in that the standard calibration masterplate is gridiron pattern masterplate, dot matrix masterplate Or other kinds of calibration masterplate.
- 8. the method as described in claim any one of 1-7, it is characterised in that after step (3), pop one's head in and know when binocular optical When being clipped to puncture instrument, space coordinates (the x y z that are popped one's head according to each characteristic point on puncture instrument relative to binocular optical 1)T, obtain space coordinates (x ' y ' z ' 1) of the characteristic point relative to Ultrasonic-B probeT=M* (x y z 1)T, and according to this coordinate The position of puncture instrument is labeled on B ultrasound image, realizes navigation.
- 9. the target wire body mould in a kind of method for described in claim 1, it is characterised in that the target wire body mould holds to be internal Receive the container of the velocity of sound matching liquid for having the velocity of sound of the velocity of sound and tissue close, at least 3 positions are provided with the container In conplane target line, the target line has stronger albedo to ultrasonic wave；There is positive fixation on the target wire body mould Position and side fixed bit, standard calibration template image can be fixed on to the front or side of target wire body mould respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028170.1A CN105534596B (en) | 2015-12-31 | 2015-12-31 | A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511028170.1A CN105534596B (en) | 2015-12-31 | 2015-12-31 | A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105534596A CN105534596A (en) | 2016-05-04 |
| CN105534596B true CN105534596B (en) | 2018-03-09 |
Family
ID=55814537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511028170.1A Active CN105534596B (en) | 2015-12-31 | 2015-12-31 | A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105534596B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107669293B (en) * | 2017-08-10 | 2021-02-12 | 上海交通大学 | Device and method for registering target point and ultrasonic irradiation point in B ultrasonic image |
| CN112677395B (en) * | 2020-12-08 | 2022-05-27 | 华中科技大学鄂州工业技术研究院 | Tissue phantom manufacturing process and manufacturing mold |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108140A (en) * | 2007-09-05 | 2008-01-23 | 新奥博为技术有限公司 | Calibration mould used for image navigation operation system and calibration method thereof |
| CN102846378A (en) * | 2012-07-31 | 2013-01-02 | 安徽皖仪科技股份有限公司 | Positioning device and method of three-dimensional imaging ultrasonic diagnosis probe |
| CN102988024A (en) * | 2011-09-09 | 2013-03-27 | 佳能株式会社 | Photoacoustic matching material |
| CN103099678A (en) * | 2013-03-04 | 2013-05-15 | 江苏亚达科技集团有限公司 | Three-dimensional ultrasonic positioning and surgery navigation system as well as image processing method thereof |
| CN103110429A (en) * | 2012-06-11 | 2013-05-22 | 大连理工大学 | Optical calibration method of ultrasonic probe |
| CN202982047U (en) * | 2012-06-11 | 2013-06-12 | 大连理工大学 | Optical calibration device of ultrasonic probe |
| CN103230283A (en) * | 2013-04-16 | 2013-08-07 | 清华大学 | Method for optimizing ultrasonic probe imaging plane space position calibration |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006122490A (en) * | 2004-10-29 | 2006-05-18 | Shimadzu Corp | Ultrasonic diagnostic apparatus |
| JP6139234B2 (en) * | 2013-04-15 | 2017-05-31 | 株式会社アドバンテスト | Photoacoustic wave measuring instrument |
-
2015
- 2015-12-31 CN CN201511028170.1A patent/CN105534596B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101108140A (en) * | 2007-09-05 | 2008-01-23 | 新奥博为技术有限公司 | Calibration mould used for image navigation operation system and calibration method thereof |
| CN102988024A (en) * | 2011-09-09 | 2013-03-27 | 佳能株式会社 | Photoacoustic matching material |
| CN103110429A (en) * | 2012-06-11 | 2013-05-22 | 大连理工大学 | Optical calibration method of ultrasonic probe |
| CN202982047U (en) * | 2012-06-11 | 2013-06-12 | 大连理工大学 | Optical calibration device of ultrasonic probe |
| CN102846378A (en) * | 2012-07-31 | 2013-01-02 | 安徽皖仪科技股份有限公司 | Positioning device and method of three-dimensional imaging ultrasonic diagnosis probe |
| CN103099678A (en) * | 2013-03-04 | 2013-05-15 | 江苏亚达科技集团有限公司 | Three-dimensional ultrasonic positioning and surgery navigation system as well as image processing method thereof |
| CN103230283A (en) * | 2013-04-16 | 2013-08-07 | 清华大学 | Method for optimizing ultrasonic probe imaging plane space position calibration |
Non-Patent Citations (3)
| Title |
|---|
| "一种B超图像和探头空间相对位置的测试方法";吕俊明等;《中国医学物理学杂志》;20120131;第29卷(第1期);第3163-3165页 * |
| "一种基于光学定位的超声探头标定方法";任亮等;《中国生物医学工程学报》;20131031;第32卷(第5期);第526-531页 * |
| "基于磁定位器的手动三维超声图像标定";罗杨宇等;《中国生物医学工程学报》;20080430;第27卷(第2期);第250-254页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105534596A (en) | 2016-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104574329B (en) | Ultrasonic fusion of imaging method, ultrasonic fusion of imaging navigation system | |
| US10095815B2 (en) | System and a method for mapping a magnetic field | |
| CN104039260B (en) | Position determining means | |
| US20220175461A1 (en) | Systems and methods for aiming and aligning of a treatment tool within an x-ray device or an ultrasound device environment | |
| CN101868737A (en) | Interventional navigation using 3d contrast-enhanced ultrasound | |
| US11344180B2 (en) | System, apparatus, and method for calibrating oblique-viewing rigid endoscope | |
| CN101099673A (en) | Surgical instrument positioning method using infrared reflecting ball as symbolic point | |
| CN105534596B (en) | A kind of method and target wire body mould for locus calibration between binocular optical probe and Ultrasonic-B probe | |
| KR20170084435A (en) | Ultrasound imaging apparatus and control method for the same | |
| JP5207167B2 (en) | Projection system calibration equipment | |
| CN106580473A (en) | Operation appliance calibration method applied to operation navigation system | |
| Aalamifar et al. | Robot-assisted automatic ultrasound calibration | |
| US20140050306A1 (en) | Method for quickly and precisely calibrating medical imaging component after position change | |
| Bergmeir et al. | Comparing calibration approaches for 3D ultrasound probes | |
| Sun et al. | 6-DOF probe tracking via skin mapping for freehand 3D ultrasound | |
| Zheng et al. | A Simultaneous Ultrasound-Robot Calibration Approach for Dual-Robot Intervention by Solving the AXP= YCQ Problem | |
| Wein et al. | Image-based method for in-vivo freehand ultrasound calibration | |
| CN102871685A (en) | Method, device and system for correcting geometric parameters of ultrasonic probe | |
| Lei et al. | Robotic needle insertion with 2d ultrasound–3d ct fusion guidance | |
| Vagdargi et al. | Robot-assisted ventriculoscopic 3D reconstruction for guidance of deep-brain stimulation surgery | |
| Beitone et al. | Towards real‐time free‐hand biopsy navigation | |
| Marcadent et al. | 3-d freehand ultrasound calibration using a tissue-mimicking phantom with parallel wires | |
| TWI577344B (en) | Calibrating method and system for three dimensional scanning | |
| Xie et al. | Stabilized ultrasound imaging of a moving object using 2D B-mode images and convolutional neural network | |
| Koo et al. | Actuator‐Assisted Calibration of Freehand 3D Ultrasound System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210114 Address after: 430014 room 205, 2nd floor, Guoyao building, building A21, biological innovation park, 666 Gaoxin Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Jingwei Zhiyuan medical technology (Wuhan) Co.,Ltd. Address before: Room 619, building A4, overseas talents building, future science and Technology City, 999 Gaoxin Avenue, Donghu Development Zone, Wuhan City, Hubei Province, 430075 Patentee before: JINGWEI SHIDA MEDICAL TECHNOLOGY (WUHAN) Co.,Ltd. |
|
| TR01 | Transfer of patent right |