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WO2009132520A1 - Système d'imagerie acoustique tridimensionnelle - Google Patents

Système d'imagerie acoustique tridimensionnelle Download PDF

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Publication number
WO2009132520A1
WO2009132520A1 PCT/CN2009/000469 CN2009000469W WO2009132520A1 WO 2009132520 A1 WO2009132520 A1 WO 2009132520A1 CN 2009000469 W CN2009000469 W CN 2009000469W WO 2009132520 A1 WO2009132520 A1 WO 2009132520A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
positioning
imaging system
dimensional
ultrasonic imaging
Prior art date
Application number
PCT/CN2009/000469
Other languages
English (en)
Chinese (zh)
Inventor
郑永平
张忠伟
何俊峰
陈昕
Original Assignee
香港理工大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 香港理工大学 filed Critical 香港理工大学
Publication of WO2009132520A1 publication Critical patent/WO2009132520A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data

Definitions

  • the present invention relates to a three-dimensional ultrasound imaging system. Background technique
  • 3D ultrasound is a low-cost solution for acquiring stereoscopic imaging.
  • its operation does not require centralized training and radiation protection.
  • its hardware is detachable and potentially portable.
  • Three-dimensional ultrasound imaging has been widely used for the examination or diagnosis of abnormal fetal, lymph node and heart diseases.
  • the ultrasonic transducer is rotated or mobilized to acquire position data by a stepping motor located at the scanning head.
  • the obtained B ultrasonic waves can be arranged into a series of parallel segments by linear movement, and the obtained B ultrasonic waves are arranged in a wedge shape by tilting movement, and the obtained B ultrasonic waves are arranged into a cone shape by rotational movement or Cylindrical, thus providing high accuracy for position measurement, but the range of motion of the mechanical scanning method is limited by the scanning device.
  • orientation sensing device Compared to mechanical scanning methods, clinicians are less restricted in their ability to manipulate ultrasound probes on their body surfaces.
  • the position and orientation of the probe can be recorded using an orientation sensing device and used to reconstruct a 3D data set.
  • Many different orientation sensors are available, including electromagnetic inductive devices, pulsed ultrasonic positioning, articulated arms, and optical sensors. These devices are expensive, bulky or inaccurate.
  • the present invention is directed to a three-dimensional ultrasound imaging system that has measurement accuracy, simple steps, and low cost.
  • the present invention provides a three-dimensional ultrasonic imaging system including an ultrasonic probe, at least one first camera, a positioning module, an ultrasonic scanner, and a calculation module, wherein the camera is attached to the ultrasonic probe, and the positioning module is placed in the Within the framing range of the camera, the ultrasound scanner provides corresponding ultrasound images of various parts of the body, while the camera provides real-time video.
  • the calculation module simultaneously collects the scanned images and video and performs corresponding calculations to generate three-dimensional images.
  • the camera is a black and white camera, a color camera or an infrared camera.
  • a three-dimensional ultrasonic imaging system according to a preferred embodiment of the present invention, wherein a lighting unit is added to the camera or the positioning module.
  • the camera is integrated with an ultrasonic probe.
  • the ultrasonic probe has a button for setting an initial frame of the live video.
  • a three-dimensional ultrasonic imaging system according to a preferred embodiment of the present invention, further comprising a second camera for observing the various parts of the body to determine the movement of the respective parts of the body and correcting the movement of the obtained ultrasonic probe.
  • the positioning module includes a set of positioning identifiers
  • the group positioning identifier includes two line segments that are vertically halved and four identification blocks at the line ends, and the four The identification blocks have a known area and a center
  • the calculation module calculates and generates a three-dimensional image according to the relative relationship between the current positioning identifier and the initial positioning identifier.
  • the line segment and the identification block in the positioning identifier have their specific codes.
  • the calculation module determines the displacement of the scan in the plane according to the distance between the intersection of the current line segment and the intersection of the initial line segments in a plane.
  • the calculation module determines a rotation angle of scanning within the plane based on an angle between a current line segment and an initial line segment in a plane.
  • the calculation module determines a displacement scanned in the direction based on a ratio of a length of a current line segment and an initial line segment perpendicular to the direction in one direction.
  • the calculation module determines, according to a ratio of a current area of the identification blocks on both sides of the shaft when the axis is rotated in a direction, the direction is the axis The angle of rotation.
  • the calculation module determines that the current intersection of the line segment is on a line segment perpendicular to the axis when the axis is rotated in a direction, and the direction is the axis. The angle of rotation.
  • the positioning module includes a plurality of sets of positioning identifiers continuously arranged in one direction, and the tracking for the positioning identifiers is transferred from using the current group positioning identifier to the movement of the camera. The next set of positioning identifiers.
  • the positioning module includes a plurality of sets of positioning identifiers arranged along a matrix of two mutually perpendicular directions, and the tracking for the positioning identifiers is transferred from the use of the current group positioning identifiers with the movement of the camera. Go to the next set of positioning identifiers.
  • a three-dimensional ultrasonic imaging method includes the following steps: 1) acquiring a real-time video image of the positioning module by using a camera located on the ultrasonic probe; 2) simultaneously obtaining an ultrasonic image corresponding to each part of the body through the ultrasonic probe by using the ultrasonic scanner; Using the calculation module to obtain the movement and rotation amount of the ultrasonic probe by comparing the positions, angles, and areas of the units of the positioning module in the continuous real-time video image; 4) repeating the above operation to obtain a series of ultrasonic images And obtaining the ultrasonic probe and the direction when the corresponding ultrasound image is obtained; 5) calculating the module using the obtained data to perform corresponding Calculate and generate a three-dimensional image.
  • the invention has the advantages of low cost and improved accuracy of three-dimensional ultrasonic imaging space tracking.
  • Figure 1 is a schematic illustration of a three-dimensional ultrasound imaging system in accordance with the present invention.
  • Figure 2 shows a typical set of initial positioning marks
  • Figure 3 shows the positioning identification and initial identification of the camera after transformation in the xy plane
  • Figure 4 shows the positioning identification and initial identification of the camera after transformation in the z direction
  • Figure 5 shows the positioning identification and initial identification of the camera after rotation in the xy plane
  • Figure 6 shows the positioning mark and initial identification of the camera after rotating in the xz plane
  • Figure 7 shows the positioning mark and initial identification of the camera after rotating in the yz plane
  • Figure 8 shows the complex moving position identification and initial identification of the camera ;
  • Figure 9 shows a plurality of sets of positioning marks continuously arranged in one direction
  • Figure 10 shows a plurality of sets of positioning marks continuously arranged in two mutually perpendicular directions.
  • the present invention is a three-dimensional ultrasonic imaging system.
  • the principle of the system is to construct a three-dimensional ultrasonic imaging by attaching a video camera to the ultrasonic probe as an orientation sensing device and a positioning identification map.
  • the system includes an ultrasonic probe, a video generating module, an ultrasonic scanner, and a computer, wherein the ultrasonic scanner can provide corresponding ultrasonic images of various parts of the body, and the video generating module includes a camera. And a positioning module, the camera is attached to the ultrasonic probe, and the positioning module is placed in a framing range of the camera, so the video generating module can provide a real-time video stream, and the computing module simultaneously collects the scanned image and the video stream and executes Corresponding calculations generate a three-dimensional image.
  • the camera has one or more, the positioning module can actively emit light, and the camera is integrated with an ultrasonic probe, and the ultrasonic probe is used for two-dimensional or three-dimensional imaging.
  • the ultrasound scanner When the ultrasound probe moves along various parts of the body, the ultrasound scanner provides a corresponding ultrasound image of each part of the body.
  • the camera can provide real-time based on the positioning identification chart. Video stream.
  • the computer can simultaneously collect B ultrasound scan images and video streams and perform corresponding calculations.
  • the position and orientation of the video camera can be calculated based on the content of the video image. Since the camera is fixed to the ultrasonic probe, the position and orientation of the probe can also be obtained. Therefore, the position and direction of each B ultrasonic image can be correspondingly generated simultaneously to generate a three-dimensional image, and at the same time, each part of the body is observed by the second camera to determine the movement of each part of the corresponding body and the obtained result is obtained for the obtained object. The movement of the ultrasonic probe is corrected.
  • Figure 2 shows a typical set of positioning markers.
  • A, B, C, and D are four positioning identification blocks, each having a known area and center.
  • Line segment a is a known line segment with the center point of the positioning identification block A and the positioning identification block C as the end point.
  • Line segment b is a known line segment with the center point of the positioning identification block B and the positioning identification block D as the end point.
  • O is the intersection of line segments a and b.
  • the image of the positioning marker can be acquired in real time through the video camera.
  • the ultrasonic probe has a button for setting an initial frame of the real-time video, and by pressing the button, the computer records the identifier blocks A, B, C, D and their positions in the first frame image, thereby Calculating an initial area of each of the identification blocks and a distance therebetween, each of the positioning identification blocks and the line segments of the positioning module has a specific code so that the image recognition can identify which cells exist in the current image and their specific positions .
  • the camera changes in multiple directions or rotates in multiple planes.
  • Figure 3-7 shows the different situations and describes how to calculate the transformation and rotation.
  • Figure 3 shows the location identification and initial identification of the camera after it has been transformed in the x-y plane.
  • the exact displacement in the X and y directions can be calculated from the position of the initial line intersection "0" and the current line intersection "Ol".
  • Figure 4 shows the location identification and initial identification of the camera after it has been transformed in the z direction.
  • the displacement in the z direction can be calculated from the distance between the blocks and the change in the dimensions of the block.
  • the ratio of line segment a2/a to line segment b2/b can be used to calculate the displacement by scaling, where a2, b2 are the current line segments and a, b are the initial line segments which can be determined prior to measurement.
  • Figure 5 shows the positioning identification and initial identification of the camera after it has been rotated in the xy plane.
  • the exact angle of the rotation can be calculated based on the change in the direction of the line a or b, also That is, the angle from the initial line segment a to the current line segment a3 or the angle from the initial line segment b to the current line segment b3.
  • Figure 6 shows the positioning mark and initial identification of the camera after it has been rotated in the x-z plane.
  • the amount of rotation can be calculated by the area ratio of the current identification block B4 and the current identification block D4 or the repositioning of the current intersection 04 on the current line segment a4. In this case, there is no rotation in the y-z direction. Therefore, the areas of the current identification blocks A4 and C4 are the same.
  • Figure 7 shows the location identification and initial identification of the camera after it has been rotated in the y-z plane.
  • the amount of rotation can be calculated by the area ratio of the current identification block A5 and the current identification block C5 or the repositioning of the current point 05 on the current line segment b5. In this case, there is no rotation in the X-Z direction. Therefore, the areas of the current identification blocks B5 and D5 are the same.
  • Figure 8 shows the complex moving position identification and initial identification of the camera.
  • the movement combines all of the transformations and rotations of Figures 3-7. It has transformations in the x, y, and z directions, in the xy, xz, and yz planes.
  • the transformation and rotation can be calculated based on the method described in Figures 3-7.
  • the method detailed in Figure 3-8 also works for relatively small movements. In order to be suitable for a large amount of movement, a plurality of sets of positioning marks can be employed.
  • Figure 9 shows multiple sets of positioning marks extending in one direction and a larger range of movement in this direction.
  • a set of positioning marks begins to disappear from the viewing range of the camera, another set of positioning marks appears within the viewing range.
  • the tracking of the location identifier will be transferred from the first set of location identifiers to the second set of location identifiers. The process can be continued to achieve a larger viewing range in one direction.
  • multiple sets of positioning marks arranged in two mutually perpendicular directions may be used, as shown in FIG. Similar to the case of one direction extension, when a set of positioning indicators begins to disappear from the camera's viewing range, the tracking of the positioning indicators can be transmitted from one set of positioning indicators to another.
  • the positioning indicator can be printed on paper or on a plastic sheet. As long as you can use the camera to take It can be attached to a table, roof, human body or other surface. At the same time, the position identification of different shapes and shapes can be used. Moreover, different colors can be used for different positioning marks for identification.
  • the positioning identifier may be passive or active illumination, that is, relying on reflective illumination or autoluminescence. In addition, to improve accuracy, multiple cameras can be used to calculate the movement and combine the results.
  • the present invention provides another three-dimensional ultrasonic imaging method, comprising the following steps: 1) acquiring a real-time video image of the positioning module by using a camera located on the ultrasonic probe; 2) simultaneously using an ultrasonic scanner The ultrasonic probe obtains corresponding ultrasonic images of various parts of the body; 3) using the calculation module to obtain the movement and rotation of the ultrasonic probe by comparing the positions, angles and areas of the units of the positioning module in the continuous real-time video image 4)
  • the ultrasonic probe and direction are obtained by repeating the above operations to obtain a series of ultrasonic images and obtaining corresponding ultrasonic images; the calculation module performs corresponding calculations using the obtained data to generate a three-dimensional image.
  • the three-dimensional ultrasonic imaging system proposed by the invention is low in cost and can improve the accuracy of spatial tracking of three-dimensional ultrasonic imaging.

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  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
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Abstract

L'invention porte sur un système d'imagerie acoustique tridimensionnelle. Le système comporte une sonde ultrasonique, une caméra, un module de positionnement, un appareil d’échographie et un module d'ordinateur. La caméra est fixée à la sonde ultrasonique. Le module de positionnement se trouve dans la zone de vision de la caméra. L’appareil d’échographie produit des images ultrasonores de la zone de corps correspondante, et la caméra produit une vidéo instantanée. Le module d'ordinateur rassemble les images de balayage et la vidéo de façon synchrone, et exécute un calcul correspondant pour produire les images ultrasonores tridimensionnelles. Le système de l'invention est de faible coût et pourrait améliorer la véracité d'un suivi d'espace d'imagerie acoustique tridimensionnelle.
PCT/CN2009/000469 2008-04-29 2009-04-29 Système d'imagerie acoustique tridimensionnelle WO2009132520A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN200810094381.9 2008-04-29
CN2008100943819A CN101569541B (zh) 2008-04-29 2008-04-29 三维超声波成像系统

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Cited By (3)

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CN104257399A (zh) * 2014-09-29 2015-01-07 苏州佳世达电通有限公司 超音波扫描系统、超音波扫描方法及超音波探头
WO2015044255A1 (fr) * 2013-09-30 2015-04-02 Siemens Aktiengesellschaft Système à ultrasons avec rendu de volume en trois dimensions
CN111789630A (zh) * 2019-04-08 2020-10-20 中慧医学成像有限公司 超声探头三维空间信息测量装置

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CN102499762B (zh) * 2011-11-23 2014-06-04 东南大学 医用超声探头相对于检查部位的三维空间定位系统及方法
CN104224229A (zh) * 2013-06-21 2014-12-24 Ge医疗系统环球技术有限公司 一种记录超声探头的体表位置的设备和方法及超声机
CN104434217A (zh) * 2014-11-19 2015-03-25 成都迅德科技有限公司 超声探头
CN104915924B (zh) * 2015-05-14 2018-01-26 常州迪正雅合电子科技有限公司 一种自动实现三维超声图像定标的方法
CN104902232B (zh) * 2015-05-22 2018-07-06 广州杰赛科技股份有限公司 环境侦测装置以及环境侦测系统
CN106913357A (zh) * 2015-12-25 2017-07-04 通用电气公司 关节超声成像系统及其方法
JP6960939B2 (ja) * 2016-04-18 2021-11-05 コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. 超音波システム及び非一時的コンピュータ可読媒体
CN106139423B (zh) * 2016-08-04 2020-03-27 梁月强 一种基于摄像头的图像引导粒子植入系统
CN106580367A (zh) * 2016-11-14 2017-04-26 吉林大学 一种超声组合式检查诊断装置
CN110997066B (zh) * 2017-06-21 2022-08-05 香港理工大学 用于超声脊髓刺激的设备和方法
CN109223030B (zh) * 2017-07-11 2022-02-18 中慧医学成像有限公司 一种掌上式三维超声成像系统和方法
EP3528210A1 (fr) * 2018-02-14 2019-08-21 Koninklijke Philips N.V. Système et procédé d'imagerie par piquage d'images multiples
CN110368027B (zh) * 2018-04-13 2022-02-18 北京柏惠维康科技有限公司 一种图像融合方法和装置
CN111487320B (zh) * 2019-01-29 2023-07-21 中慧医学成像有限公司 基于三维光学成像传感器的三维超声成像方法和系统
CN110432928B (zh) * 2019-08-22 2021-11-26 深圳瀚维智能医疗科技有限公司 超声图像扫查方法、装置及设备
CN112568935B (zh) * 2019-09-29 2024-06-25 中慧医学成像有限公司 基于三维追踪相机的三维超声成像方法和系统
CN112704514B (zh) * 2020-12-24 2021-11-02 重庆海扶医疗科技股份有限公司 病灶定位方法及病灶定位系统
CN112617902A (zh) * 2020-12-31 2021-04-09 上海联影医疗科技股份有限公司 一种三维成像系统及成像方法
WO2024090190A1 (fr) * 2022-10-26 2024-05-02 ソニーグループ株式会社 Dispositif d'inspection ultrasonore, procédé d'inspection et programme
CN117918795B (zh) * 2024-03-21 2024-05-31 汕头市超声仪器研究所股份有限公司 一种优化的实时三维结构剪切波成像方法

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CN104257399A (zh) * 2014-09-29 2015-01-07 苏州佳世达电通有限公司 超音波扫描系统、超音波扫描方法及超音波探头
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CN111789630B (zh) * 2019-04-08 2023-06-20 中慧医学成像有限公司 超声探头三维空间信息测量装置

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