Dual-plane free-arm 3D reconstruction method and its application

Abstract

The present invention relates to the field of ultrasonic detection, and in particular to a dual-plane free-arm three-dimensional reconstruction method and its application. The following technical solution is adopted: by rotating the dual-plane probe and controlling the A scanning array and the B scanning array to perform image acquisition, the relative displacement of the probe between each frame of the image is calculated based on the previous and next frames of the obtained multiple frames of A-surface images and / or B-surface images, and the obtained multiple frames of A-surface images and / or B-surface images are three-dimensionally converted according to the relative displacement to obtain a three-dimensional body of the scanned object, and the method is applied to prostate detection. The advantages are: by using the dual-plane free-arm three-dimensional reconstruction method to perform image detection on the prostate and construct a three-dimensional data image, the probe shape is a conventional internal probe, which can reduce the discomfort of the patient during the examination process, reduce the cost of the probe itself and the requirements for the host, and reduce the examination cost; at the same time, the movement of the patient during the examination process can be compensated, effectively improving the accuracy of the reconstructed body data and the examination.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic testing, and in particular to a dual-plane free-arm three-dimensional reconstruction method and application thereof. Background Art

[0002] Three-dimensional prostate reconstruction is of great significance for subsequent prostate clinical practice. Leveraging the real-time nature of ultrasound images and the high-resolution nature of MRI imaging, the two can be combined to locate lesions in real time. This is crucial for preoperative diagnosis, surgical and biopsy puncture planning, intraoperative positioning, and postoperative examinations.

[0003] Existing ultrasound 3D reconstruction methods are mainly divided into three categories: 1) direct 3D scanning and reconstruction based on 2D array probes; 2) 2D image sequence sampling and 3D reconstruction based on a motor-driven 1D probe; 3) 2D image sequence sampling and 3D reconstruction based on a 1D probe with a position sensor. Among them, 1) has high equipment cost and places high demands on both the probe and the host; 2) the motor and drive control circuit need to be integrated into the probe. In addition to the high cost of the probe, the probe is also larger than conventional probes, which can cause discomfort or pain to the patient during image acquisition; 3) a position sensor is required. Currently, the commonly used position sensors are electromagnetic and optical types, which have certain limitations in accuracy and also increase additional costs. At the same time, in both 1) and 2) methods, the patient cannot move during image acquisition, otherwise the imaging effect will be affected. 3) It is greatly affected by the environment. Summary of the Invention

[0004] The purpose of the present invention is to disclose a dual-plane free-arm three-dimensional reconstruction method and its application, specifically to disclose a method for using a conventional dual-plane probe to acquire images and achieve accurate three-dimensional data reconstruction, and the application of this method in prostate three-dimensional reconstruction.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a dual-plane free-arm three-dimensional reconstruction method, wherein the two scanning arrays of the dual-plane probe are denoted as A and B, the planar image obtained by the A scanning array is the A surface, and the planar image obtained by the B scanning array is the B surface; by rotating the dual-plane probe and controlling the A scanning array and the B scanning array to acquire images at a certain frequency, the relative displacement of the probe between each frame of the obtained multi-frame A surface image and / or B surface image is calculated based on the previous and next frames, and the obtained multi-frame A surface image and / or B surface image is three-dimensionally converted based on the calculated relative displacement, thereby obtaining a three-dimensional body of the scanned object.

[0006] Specifically, when calculating the relative displacement of the probe between each frame of the obtained multiple frames of A-side images and / or B-side images, the relative displacement is calculated using the preceding and following frames of the A-side image or B-side image. Specifically, a data point area is first selected on the preceding frame A-side image or B-side image, and then the preceding frame A-side image or B-side image is superimposed and compared with the corresponding subsequent frame A-side image or B-side image. Finally, the relative displacement of the probe between the preceding and following frames is calculated based on the relative displacement of the data point area on the preceding and following frames A-side image or B-side image.

[0007] In another scheme, when calculating the relative displacement of the probe between each frame of the obtained multiple frames of A-side images and / or B-side images, the relative displacement is calculated using the front and back frames of the A-side image and the B-side image. Specifically, the relative displacement is calculated using the front and back frames of the A-side image and the front and back frames of the B-side image, respectively, and then the relative displacement calculated using the A-side image and the relative displacement calculated using the B-side image are comprehensively calculated to obtain the relative displacement of the probe.

[0008] Specifically, when using the A scanning array and the B scanning array to acquire images, a time-sharing method is used to acquire images in an alternating order, and the acquired images are grouped and processed according to the A scanning array and the B scanning array.

[0009] An application of the above-mentioned dual-plane free-arm three-dimensional reconstruction method utilizes the above-mentioned dual-plane free-arm three-dimensional reconstruction method to perform three-dimensional reconstruction of the prostate, thereby locating the position of the prostate lesion in real time.

[0010] The advantages of the present invention are: by using the dual-plane free-arm three-dimensional reconstruction method to perform image detection of the prostate and construct a three-dimensional data image, since the probe shape is a conventional internal probe, the discomfort of the patient during the examination process can be reduced, and the cost of the probe itself and the requirements for the host can be reduced, thereby reducing the examination cost; at the same time, the movement of the patient during the examination process can be compensated, effectively improving the accuracy of the examination. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Attachment Figure 1 Schematic diagram of the dual-plane convex array probe and scanning surface. DETAILED DESCRIPTION

[0012] A dual-plane free-arm 3D reconstruction method is described. The two scanning arrays of the dual-plane probe are designated A and B. The planar image obtained by the A scanning array is designated as surface A, and the planar image obtained by the B scanning array is designated as surface B. The dual-plane probe is rotated and the A and B scanning arrays are controlled to acquire images at a certain frequency. The relative displacement of the probe between each frame is calculated based on the preceding and following frames of the obtained multi-frame A and / or B surface images. The obtained multi-frame A and / or B surface images are then 3D-transformed based on the calculated relative displacement to obtain a 3D volume of the scanned object. The dual-plane probe can be a dual-plane convex array probe, a dual-plane linear array probe, or a dual-plane convex linear probe.

[0013] The three-dimensional reconstruction method disclosed in the present invention can calculate the displacement of the probe relative to the scanned object using images captured by one or both scanning arrays A and B. Based on the calculated probe displacement information, a three-dimensional image of the scanned object is constructed using images captured by one or both scanning arrays A and B. The probe displacement information includes both the displacement generated by active probe rotation and the passive displacement generated by patient movement. Active probe rotation enables scanning arrays A and B to capture images of the scanned object from multiple angles and planes, thereby enabling the A-surface images and B-surface images captured by scanning arrays A and B to be used to construct a three-dimensional data image of the scanned object.

[0014] Example 1. In this embodiment, when calculating the relative displacement of the probe between each frame of the obtained multiple frames of A-side images and / or B-side images, the relative displacement is calculated using the previous and next frames of the A-side image or B-side image. Specifically, a data point area is first selected on the previous frame A-side image or B-side image, and then the previous frame A-side image or B-side image is superimposed and compared with the corresponding subsequent frame A-side image or B-side image. Finally, the relative displacement of the probe between the previous and next frame images is calculated based on the relative displacement of the data point area on the previous and next frame A-side images or B-side images.

[0015] In this embodiment, one set of images, from the A-side image and the B-side image, can be used to calculate the relative displacement of the probe, while the other set of images is used to construct a three-dimensional data image of the scanned object. For example, the B-side image is used to calculate the relative displacement, while the A-side image is used to reconstruct the three-dimensional data image of the scanned object. This embodiment is particularly suitable for situations where the patient rarely moves during the examination, that is, the relative displacement between the probe and the scanned object is only caused by the rotation of the probe itself.

[0016] Example 2. In this embodiment, when calculating the relative displacement of the probe between each frame of the image based on the previous and next frames of the obtained multiple frames of A-side image and / or B-side image, the relative displacement is calculated using the previous and next frames of the A-side image and the B-side image. Specifically, the relative displacement is calculated using the previous and next frames of the A-side image and the previous and next frames of the B-side image, respectively. Then, the relative displacement calculated using the A-side image and the relative displacement calculated using the B-side image are comprehensively calculated to obtain the relative displacement of the probe.

[0017] Specifically, when using the A scanning array and the B scanning array to acquire images, a time-sharing method can be used to acquire images in an alternating order, and the acquired images are grouped and processed according to the A scanning array and the B scanning array.

[0018] In this embodiment, since both the A-side image and the B-side image are used to calculate the relative displacement of the probe, not only can the relative displacement of the active rotation of the probe relative to the scanned object be accurately detected, but the relative displacement between the probe and the scanned object caused by patient movement can also be detected and compensated, thereby improving the accuracy of the three-dimensional data image reconstruction of the scanned object.

[0019] Example 3, an application of the aforementioned dual-plane free-arm 3D reconstruction method, utilizes the dual-plane free-arm 3D reconstruction method described in Example 1 or 2 to perform 3D reconstruction of the prostate, thereby locating the prostate lesion in real time. By using this dual-plane free-arm 3D reconstruction method to image the prostate and construct a 3D data image, the probe's conventional internal probe shape can reduce patient discomfort during the examination, while also lowering the cost of the probe itself and the requirements for the host computer, thereby reducing the cost of the examination. Furthermore, compensation for patient movement during the examination can be achieved, effectively improving examination accuracy.

[0020] Of course, the above are only preferred embodiments of the present invention and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes based on the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dual-plane free-arm 3D reconstruction method, characterized by: The two scanning arrays of the dual-plane probe are denoted as A and B, the plane image obtained by the A scanning array is the A side, and the plane image obtained by the B scanning array is the B side; by rotating the dual-plane probe and controlling the A scanning array and the B scanning array to perform image acquisition at a certain frequency, the relative displacement of the probe between each frame of the image is calculated based on the front and back frames of the obtained multiple frames of the A side image and the B side image, and the obtained multiple frames of the A side image and / or the B side image are three-dimensionally transformed based on the calculated relative displacement, so as to obtain a three-dimensional body of the scanned object; when calculating the relative displacement of the probe between each frame of the image based on the front and back frames of the obtained multiple frames of the A side image and the B side image, specifically, the relative displacement is calculated using the front and back frames of the A side image and the front and back frames of the B side image respectively, and then the relative displacement calculated by the A side image and the relative displacement calculated by the B side image are comprehensively calculated to obtain the relative displacement of the probe; when using the A scanning array and the B scanning array for image acquisition, a time-sharing method is adopted to perform image acquisition in an alternating order, and the acquired images are grouped and processed according to the A scanning array and the B scanning array.

2. An application of the dual-plane free-arm 3D reconstruction method according to claim 1, characterized in that: The dual-plane free-arm three-dimensional reconstruction method is used to perform three-dimensional reconstruction of the prostate, thereby locating the lesion position of the prostate in real time.

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