Three-dimensional display method and ultrasonic imaging system

Abstract

A three-dimensional display method and an ultrasonic imaging system, the method comprising: acquiring an ultrasonic image collected for a lesion, registering the ultrasonic image with a three-dimensional image containing the lesion; segmenting the lesion in the three-dimensional image, and displaying a three-dimensional model of the lesion in a three-dimensional display window based on the registration and segmentation results; displaying a three-dimensional model of the ablation focus in the three-dimensional display window according to the registration result and the acquired ablation parameters; determining an ablation area according to the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus; when the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition, automatically rotating the current view from the current viewing angle to a target viewing angle where the ablation area meets the predetermined requirements for ablation of the lesion, and displaying the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle. The system comprises: an ultrasonic probe (110), a transmitting circuit (112), a receiving circuit (114), a processor (118), and a display (120). The three-dimensional display scheme can automatically rotate the viewing angle of observing the three-dimensional model of the lesion and the three-dimensional model of the ablation focus, which is convenient for user operation.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic imaging technology, and more specifically to a three-dimensional display method and an ultrasonic imaging system. Background Art

[0002] Real-time ultrasound-guided percutaneous tumor ablation interventional treatment has the advantages of high efficacy, low invasiveness, and rapid postoperative recovery, and its position in tumor treatment is becoming increasingly important. At present, tumor ablation interventional treatment is mainly based on two-dimensional ultrasound image guidance, that is, doctors use real-time ultrasound images or ultrasound angiography images to find the approximate location of the tumor area, and roughly estimate the two-dimensional surface where the maximum diameter of the tumor is located. Based on the two-dimensional image, the ablation plan is formulated to guide the ablation.

[0003] With the development of new technologies, it is now possible to use computer 3D reconstruction software and image processing technology to reconstruct the collected 2D images in 3D, and draw the target structures such as tumors in the 3D images, thereby realizing the 3D visualization of the target structures. The 3D visualized stereoscopic structural images can provide areas that are difficult to display in 2D images and obtain objective anatomical information. The images are accurate, vivid, and realistic, and can intuitively, clearly, and at any angle display the positional relationship between the tumor and the surrounding tissues. Based on the real-time ultrasound image and the position information of the ablation needle provided by the positioning device, after the real-time ultrasound image, the ablation needle and the 3D image are registered and mapped to the same space, the 3D visualization display window objectively and accurately displays the positional relationship between the tumor and the ablation needle as well as the ablation status of the current ablation target on the lesion as the positioning device moves, so that doctors can intuitively plan the surgery for the tumor, optimize the surgery plan, and improve the surgical skills, thereby improving the safety of the surgery.

[0004] However, in actual operations, doctors can only see the ablation status of the three-dimensional tumor displayed at the current angle when performing tumor ablation, and cannot see the ablation images of the back of the tumor and other angles. After the doctor has completely ablated the tumor at the current angle or a certain angle, he needs to manually rotate to find the next angle suitable for ablation, which will cause inconvenience in clinical applications. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] An embodiment of the present invention provides a three-dimensional display method, the method comprising:

[0007] Acquire ultrasound images of the lesion;

[0008] registering the ultrasound image with a pre-acquired three-dimensional image containing the lesion;

[0009] Segmenting the lesion in the three-dimensional image containing the lesion, and displaying a three-dimensional model of the lesion in a three-dimensional display window based on the registration result and the segmentation result;

[0010] Acquiring ablation parameters of the ablation lesion, and displaying a three-dimensional model of the ablation lesion in the three-dimensional display window according to the registration result and the acquired ablation parameters;

[0011] determining an ablation area according to a spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus; and

[0012] When the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition, the current view of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window is automatically rotated from the current viewing angle to the target viewing angle in which the ablation area meets the predetermined requirements for the ablation lesion, and the three-dimensional model of the lesion and the three-dimensional model of the ablation focus are displayed under the target viewing angle.

[0013] Another aspect of the present application provides a three-dimensional display method, the method comprising:

[0014] Displaying two or more three-dimensional display windows on the display interface;

[0015] Displaying a current view in one of the two or more three-dimensional display windows, wherein the current view includes a three-dimensional model of the lesion and a three-dimensional model of the ablation focus at a current viewing angle;

[0016] The remaining three-dimensional display windows of the two or more windows display views from other viewing angles, and the views from other viewing angles include the three-dimensional model of the lesion and the three-dimensional model of the ablation focus from other viewing angles.

[0017] Another aspect of the embodiments of the present invention provides an ultrasonic imaging system, the ultrasonic imaging system comprising:

[0018] Ultrasound probe;

[0019] A transmitting circuit, used for stimulating the ultrasonic probe to transmit ultrasonic waves toward the lesion;

[0020] A receiving circuit, used for controlling the ultrasonic probe to receive the ultrasonic echo returned from the lesion to obtain an ultrasonic echo signal;

[0021] Processor for:

[0022] Processing the ultrasonic echo signal to obtain an ultrasonic image;

[0023] registering the ultrasound image with a pre-acquired three-dimensional image containing the lesion;

[0024] Segmenting the lesion in the three-dimensional image containing the lesion, and displaying a three-dimensional model of the lesion in a three-dimensional display window of a display based on the result of the registration and the result of the segmentation;

[0025] Acquiring ablation parameters of the ablation lesion, and displaying a three-dimensional model of the ablation lesion in the three-dimensional display window according to the registration result and the acquired ablation parameters;

[0026] Determining an ablation area according to a spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus;

[0027] When the rotation condition is met, the current view of the three-dimensional display window is rotated from the current viewing angle to a target viewing angle where the ablation region meets the predetermined requirement for ablating the lesion, and the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle are displayed;

[0028] The display is used to display the three-dimensional model of the lesion and the three-dimensional model of the ablation focus.

[0029] The three-dimensional display solution of the present application can automatically rotate the viewing angles of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus, greatly facilitating the ablation surgery operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0031] In the attached picture:

[0032] Figure 1 A schematic block diagram of an ultrasound imaging system according to an embodiment of the present invention is shown;

[0033] Figure 2 A schematic flow chart showing a three-dimensional display method according to an embodiment of the present invention;

[0034] Figure 3 A schematic diagram showing space transformation in a three-dimensional display method according to an embodiment of the present invention;

[0035] Figure 4 A schematic diagram showing a three-dimensional display window in a three-dimensional display method according to an embodiment of the present invention;

[0036] Figure 5 A schematic diagram showing a main window and an auxiliary window in a three-dimensional display method according to an embodiment of the present invention;

[0037] Figure 6 The present invention is shown in FIG. Figure 5 The interface shown is a schematic diagram after the viewing angle is rotated;

[0038] Figure 7 A schematic flow chart showing a three-dimensional display method according to another embodiment of the present invention;

[0039] Figure 8 A schematic diagram showing a display interface in a three-dimensional display method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0041] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.

[0042] It should be understood that the present application can be implemented in different forms and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0043] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0044] In order to thoroughly understand the present application, a detailed structure will be proposed in the following description to illustrate the technical solution proposed by the present application. The optional embodiments of the present application are described in detail as follows, but in addition to these detailed descriptions, the present application may also have other implementation methods.

[0045] Next, first refer to Figure 1 An ultrasound imaging system according to an embodiment of the present application is described. Figure 1 A schematic structural block diagram of an ultrasound imaging system 100 according to an embodiment of the present application is shown.

[0046] like Figure 1 As shown, the ultrasound imaging system 100 includes an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 118, and a display 120. Further, the ultrasound imaging system may also include a beamforming circuit 116 and a transmitting / receiving selection switch 122, and the transmitting circuit 112 and the receiving circuit 114 may be connected to the ultrasound probe 110 through the transmitting / receiving selection switch 122.

[0047] The ultrasonic probe 110 includes an array of multiple transducer elements, which are used to transmit ultrasonic waves according to electrical signals, or convert received ultrasonic echoes into electrical signals. Multiple transducers can be arranged in a row to form a linear array, or arranged in a two-dimensional matrix to form a surface array. Multiple transducers can also form a convex array, a phased array, etc. The embodiment of the present application does not limit the arrangement of multiple transducer elements.

[0048] The transducer can transmit ultrasonic waves according to the excitation electrical signal, or convert the received ultrasonic waves into electrical signals, so each transducer can be used to transmit ultrasonic waves to the tissue of the target area, and can also be used to receive ultrasonic echoes returned by the tissue. When performing ultrasonic measurement, the transmitting circuit 112 and the receiving circuit 114 can be used to control which transducers are used to transmit ultrasonic waves and which transducers are used to receive ultrasonic waves, or control the transducers to transmit ultrasonic waves or receive ultrasonic echoes in time slots. All transducers participating in ultrasonic emission can be excited by electrical signals at the same time, thereby transmitting ultrasonic waves at the same time; or the transducers participating in ultrasonic emission can also be excited by several electrical signals with a certain time interval, thereby continuously transmitting ultrasonic waves with a certain time interval.

[0049] The ultrasound probe 110 is provided with a positioning sensor. When the ultrasound probe 110 moves, the specific position of the current ultrasound sector can be known according to the coordinate changes of the positioning sensor. In some embodiments, a puncture frame is installed on the ultrasound probe 110 to fix the ablation needle during the ablation operation. The angle and position of the ablation needle can be known based on the angle of the puncture frame and the depth of the ablation needle. In some embodiments, a positioning sensor (Vtrax) is provided on the ablation needle. When the ablation needle moves, the angle and position of the ablation needle can be known according to the coordinate changes of the positioning sensor.

[0050] During the ultrasonic imaging process, the transmitting circuit 112 sends the delayed focused transmitting pulse to the ultrasonic probe 110 through the transmitting / receiving selection switch 122. The ultrasonic probe 110 is stimulated by the transmitting pulse to transmit an ultrasonic beam to the target area of ​​the object to be measured, and receives the ultrasonic echo with tissue information reflected from the target area after a certain delay, and reconverts the ultrasonic echo into an electrical signal. The receiving circuit 114 receives the electrical signal converted and generated by the ultrasonic probe 110, obtains the ultrasonic echo signal, and sends these ultrasonic echo signals to the beam synthesis circuit 116. The beam synthesis circuit performs focusing delay, weighting and channel summing on the ultrasonic echo data, and then sends it to the processor 118. The processor 118 performs signal detection, signal enhancement, data conversion, logarithmic compression and other processing on the ultrasonic echo data to form an ultrasonic image. The ultrasonic image obtained by the processor 118 can be displayed on the display 120 or stored in the memory.

[0051] Optionally, the processor 118 may be implemented as software, hardware, firmware or any combination thereof, and may use a single or multiple application specific integrated circuits (ASICs), a single or multiple general purpose integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or any combination of the aforementioned circuits and / or devices, or other suitable circuits or devices. Furthermore, the processor 118 may control other components in the ultrasound imaging system 100 to execute the corresponding steps of the methods in various embodiments of the present specification.

[0052] The display 120 is connected to the processor 118, and the display 120 may be a touch screen, a liquid crystal display, etc.; or the display 120 may be an independent display device such as a liquid crystal display, a television, etc., which is independent of the ultrasound imaging system 100; or the display 120 may be a display screen of an electronic device such as a smart phone or a tablet computer, etc. The number of the displays 120 may be one or more. For example, the display 120 may include a main screen and a touch screen, wherein the main screen is mainly used to display ultrasound images, and the touch screen is mainly used for human-computer interaction.

[0053] The display 120 can display the ultrasound image obtained by the processor 118. In addition, while displaying the ultrasound image, the display 120 can also provide the user with a graphical interface for human-computer interaction. One or more controlled objects are set on the graphical interface, and the user is provided with an operation instruction to control these controlled objects by using a human-computer interaction device, so as to perform corresponding control operations. For example, an icon is displayed on the graphical interface, and the icon can be operated by using the human-computer interaction device to perform a specific function, such as rotating the viewing angle of the current view.

[0054] Optionally, the ultrasound imaging system 100 may further include other human-computer interaction devices in addition to the display 120, which are connected to the processor 118. For example, the processor 118 may be connected to the human-computer interaction device via an external input / output port, and the external input / output port may be a wireless communication module, or a wired communication module, or a combination of the two. The external input / output port may also be implemented based on USB, bus protocols such as CAN, and / or wired network protocols.

[0055] The human-computer interaction device may include an input device for detecting user input information, which may be, for example, a control instruction for ultrasonic transmission / reception timing, an operation input instruction for drawing points, lines or frames on an ultrasonic image, or other instruction types. The input device may include a keyboard, a mouse, a scroll wheel, a trackball, a mobile input device (such as a mobile device with a touch screen, a mobile phone, etc.), a multi-function knob, etc., or a combination of multiple thereof. The human-computer interaction device may also include an output device such as a printer.

[0056] The ultrasound imaging system 100 may also include a memory for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, etc. The memory may be a flash memory card, a solid-state memory, a hard disk, etc. It may be a volatile memory and / or a non-volatile memory, a removable memory and / or a non-removable memory, etc.

[0057] It should be understood that Figure 1 The components included in the ultrasonic imaging system 100 are only exemplary, and the ultrasonic imaging system 100 may include more or fewer components, and the present application is not limited thereto.

[0058] Next, we will refer to Figure 2 A three-dimensional display method according to an embodiment of the present application is described. Figure 2 3D display method 200 of the embodiment of the present application is a schematic flow chart. The 3D display method 200 of the embodiment of the present application can be used for surgical planning of percutaneous puncture ablation surgery.

[0059] like Figure 2 As shown, the three-dimensional display method 200 of the embodiment of the present application includes the following steps:

[0060] Step S210, acquiring an ultrasonic image of the lesion.

[0061] Among them, the lesion is the lesion area of ​​the target part of the measured object. The measured object can be a patient who needs to undergo ablation surgery, the target part of the measured object can be the liver, and the lesion area can be the liver tumor area; the target part of the measured object can also be other parts of the human body such as the prostate, thyroid, breast, etc., and the lesion area is the lesion area of ​​the above parts. In the following, the three-dimensional display scheme of the present application is mainly described by taking the liver as the target part as an example, but it should be understood that this is only exemplary, and the three-dimensional display scheme of the present application can also be used for any other part.

[0062] For example, in combination Figure 1 In step S210, the transmit / receive selection switch 122 may stimulate the ultrasonic probe 110 to transmit ultrasonic waves to the target part of the object to be measured via the transmitting circuit 112 at a fixed time, and the ultrasonic probe 110 may receive the ultrasonic echo returned from the target part of the object to be measured via the receiving circuit 114 and convert it into an ultrasonic echo signal. The beamforming module 116 may perform signal processing, and then send the beamformed ultrasonic echo data to the processor 118 for related processing, so as to obtain an ultrasonic image.

[0063] Depending on the imaging mode required by the user, the processor 118 can process the ultrasonic echo signal differently to obtain ultrasonic data of different modes, and then form ultrasonic images of different modes through logarithmic compression, dynamic range adjustment, digital scan conversion and other processing, such as two-dimensional ultrasonic images including B images, C images, D images, etc.

[0064] In practical applications, an operator may use an ultrasonic probe to scan a target part of the object under test. When the anatomical structure of the lesion appears in the scanned image, the ultrasonic image may be frozen to obtain an ultrasonic image collected specifically for the lesion.

[0065] Step S220: registering the ultrasound image with a pre-acquired three-dimensional image containing the lesion.

[0066] As an example, the operator may import the three-dimensional image containing the lesion into the ultrasound imaging system before starting the ultrasound measurement. The importing method includes but is not limited to importing through storage media such as a USB flash drive or a CD or importing through network transmission.

[0067] The three-dimensional image containing the lesion can be obtained by medical imaging equipment such as computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), digital X-ray imaging, ultrasound, digital subtraction angiography (DSA), and optical imaging. Since three-dimensional reconstruction takes a long time, the three-dimensional image containing the lesion is acquired in advance before the operation. The registration of the three-dimensional image acquired before the operation with the ultrasound image can utilize the spatial information of the three-dimensional image while also having the real-time nature of the ultrasound image.

[0068] The registration of the ultrasound image and the three-dimensional image is to find the spatial transformation relationship between the ultrasound image and the three-dimensional image so that the geometric relationship of the corresponding points of the ultrasound image and the three-dimensional image is one-to-one. The registration can include rigid registration or non-rigid registration.

[0069] In one embodiment, a positioning sensor fixed on the ultrasound probe can continuously provide position information as the ultrasound probe moves, and the 6-DOF spatial orientation of the ultrasound probe can be obtained through a magnetic positioning controller. The ultrasound image and the three-dimensional image can be registered and fused using the image information and the magnetic positioning information. The processor can be connected to the positioning sensor disposed on the ultrasound probe by wire or wirelessly to obtain the probe position information. The positioning sensor can use any type of structure or principle such as an optical positioning sensor or a magnetic field positioning sensor to position the ultrasound probe.

[0070] The spatial transformation relationship between general ultrasound images and three-dimensional images is as follows: Figure 3 As shown, it can be expressed in the form of formula:

[0071] X sec =P·R probe ·A·X us

[0072] Among them, X us is the coordinate of the point in the ultrasound image space, X sec is the coordinate of the corresponding point in the three-dimensional image space; A is the ultrasound image space (coordinates are expressed as X us , Y us , Z us ) to the positioning sensor space (coordinates are expressed as X sensor , Y sensor , Z sensor ), R probe It is to locate the sensor space to the world coordinate space (coordinates are expressed as XMG , Y MG , Z MG ), P is the transformation matrix from the world coordinate system to the three-dimensional image space. During the ultrasonic measurement process, the positioning sensor is fixed on the ultrasonic probe. When the model of the ultrasonic probe remains unchanged, A remains unchanged. A can be determined by calibration before registration. R probe Directly read by the magnetic positioning controller, as the ultrasound probe moves, R probe P is calculated by the registration result, that is, the image registration result in ultrasound space and three-dimensional image space is M, then:

[0073] P=M·A -1 ·R probe -1 ; M = P·A·R probe

[0074] The registration method adopted in the embodiment of the present application may include automatic registration, interactive registration, manual registration, or any combination of the above three methods. Registration may include registration based on anatomical features or registration based on geometric features, registration based on pixel grayscale correlation, registration based on external positioning marks, etc. Registration may also include any other suitable registration method.

[0075] In one embodiment, registering the ultrasound image with the three-dimensional image specifically includes: aligning the ultrasound image with the corresponding section in the three-dimensional image, and determining a coordinate transformation matrix from the ultrasound image space to the three-dimensional image space according to the coordinates of the points in the ultrasound image and the coordinates of the corresponding points in the three-dimensional image. The above alignment operation can be performed manually by the user, that is, receiving the manual alignment operation of the user, so as to align the ultrasound image with the corresponding section in the three-dimensional image.

[0076] In another embodiment, the same tissues in the ultrasound image and the three-dimensional image may be identified for automatic alignment. When the target site is the liver, the identified same tissues are, for example, blood vessels, liver capsule, etc. After the ultrasound image and the three-dimensional image are aligned, the spatial transformation matrix may be calculated based on the coordinates of the overlapping points.

[0077] In other embodiments, feature points in the ultrasound image and the three-dimensional image may be determined first. Feature points generally have certain properties such as translation invariance, rotation invariance, scale invariance, insensitivity to illumination, and insensitivity to modality. The properties of the feature points are determined by the feature point extraction method. The features of the feature points are then extracted. The features may be generated by neighborhood gradient histograms, neighborhood autocorrelation, grayscale, etc. Afterwards, the feature points of the ultrasound image are matched with the feature points of the three-dimensional ultrasound image, and the spatial transformation matrix is ​​calculated based on the matched feature points.

[0078] In addition, the imaging position of the external marker in the three-dimensional image can be identified, and the position of the external marker in the space of the ultrasound image can be determined based on magnetic navigation for automatic alignment. The external marker is, for example, one or more metal markers set on the patient's body surface, which will form an obvious light spot in the three-dimensional image, and then the position of the marker is obtained. In the process of scanning the ultrasound image, the ultrasound probe is equipped with a sensor, and the position of the metal marker can be obtained through the sensor. The marker in the three-dimensional ultrasound image and the marker in the ultrasound image are aligned, so as to realize the registration of the ultrasound image and the three-dimensional image.

[0079] When the three-dimensional image of the lesion area is a three-dimensional ultrasound image, if it has its own position information, it can be automatically aligned based on the ultrasound image and the position information of the three-dimensional ultrasound image. The three-dimensional image can be acquired by a volume probe, or it can be reconstructed by a convex array or linear array probe with a magnetic navigation device based on the Freehand three-dimensional ultrasound reconstruction technology, or it can be scanned by a planar array probe. The three-dimensional ultrasound image reconstructed based on the magnetic navigation position information can be a reconstructed three-dimensional ultrasound image obtained by scanning a section of ultrasound film with positioning information on site by Freehand. The position information can be obtained during the scanning, so the P matrix mentioned above can be automatically obtained.

[0080] In one embodiment, in ablation surgery for soft tissues in the liver, lungs, and other abdominal areas, the position of the soft tissues and lesions is shifted due to the influence of the patient's breathing movement, so a breathing correction function is introduced in the registration process to perform breathing correction. Figure 3 As shown, the added T(t) is a spatial mapping method for breathing correction. T(t) changes with time, and the spatial transformation relationship between the ultrasound image and the three-dimensional image is expressed in the form of a formula:

[0081] X Sec =T(t)·P·R probe ·A·X us

[0082] In addition, the position deviation caused by respiratory movement can also be corrected by making the patient breathe steadily.

[0083] In one embodiment, the ultrasound image and the three-dimensional image may be fused according to the correspondence between the ultrasound image and the three-dimensional image obtained in step S220, and the fused image of the ultrasound image and the three-dimensional image may be displayed in the fusion display window of the display. Specifically, the ultrasound image space coordinate system may be mapped to the three-dimensional image space coordinate system based on the registration relationship matrix. Since the positioning sensor is installed on the ultrasound probe, when the ultrasound probe moves, the specific position relationship between the current ultrasound sector and the lesion located in the three-dimensional image space coordinate system may be known according to the coordinate change of the positioning sensor.

[0084] Step S230, segmenting the lesion in the three-dimensional image containing the lesion, and displaying the three-dimensional model of the lesion in a three-dimensional display window based on the registration result and the segmentation result. For example, a three-dimensional display window is set on the display interface of the display to display the three-dimensional model of the lesion and the three-dimensional model of the ablation focus described below.

[0085] As an example, first, the three-dimensional contour of the lesion is segmented in the three-dimensional image. In an embodiment of the present application, any suitable method can be used to segment the lesion in the three-dimensional image, including but not limited to automatic segmentation, manual segmentation or interactive segmentation. Exemplarily, the automatic segmentation method can use one or more of the methods such as random walk model, region growing, graph cut algorithm, pattern recognition, Markov field, adaptive threshold, etc. Manual segmentation includes the user outlining the edge of the lesion on multiple two-dimensional slices of three-dimensional data, and interpolating between each two layers of edges, or outlining the edge of the lesion on each two-dimensional slice, and then generating a three-dimensional contour of the lesion based on these two-dimensional edges. The interactive segmentation method adds user interaction as algorithm input during the segmentation process, so that objects with high-level semantics in the image can be completely extracted. For example, the user can box out a preliminary segmentation range; then, the three-dimensional contour of the lesion is automatically segmented within the preliminary segmentation range. For example, the user can draw some points or lines within the preliminary segmentation range, and the interactive segmentation algorithm obtains the points or lines drawn by the user as input, and automatically establishes a weighted graph of the similarity between each pixel point and the foreground or background, and distinguishes the foreground and background by solving the minimum cut, thereby determining the three-dimensional contour of the lesion.

[0086] Next, surface reconstruction is performed based on the three-dimensional contour obtained by segmentation to generate a three-dimensional model of the lesion, such as Figure 4 A three-dimensional model 401 of the lesion is shown in FIG.

[0087] Among them, the surface rendering method can be used to first reconstruct the surface of the three-dimensional target structure from the three-dimensional data, that is, to reconstruct the surface of the object according to the segmentation results and the contour lines, and then use a reasonable illumination model and texture mapping method to generate a realistic three-dimensional entity. It can be understood that since the image displayed on the display is still a two-dimensional plane, the surface rendering is actually a projection of the three-dimensional object on the two-dimensional plane, similar to when the viewing angle is at a certain point, the three-dimensional object is "photographed" from that point, and the three-dimensional object image displayed on the photo.

[0088] Afterwards, according to the coordinates of the three-dimensional contour of the lesion in the three-dimensional image, and according to the registration relationship between the ultrasound image and the three-dimensional image obtained in step S220, the three-dimensional model of the lesion is displayed at a certain position (such as the middle position) of the three-dimensional display window, and based on the registration relationship between the ultrasound image and the three-dimensional image obtained in step S220, the ultrasound image can be displayed in the three-dimensional display window, and the three-dimensional model of the lesion is displayed at the position of the lesion in the ultrasound image. The positional relationship between the reconstructed three-dimensional model of the lesion and the real-time ultrasound image can reflect the position, size, geometry and relationship of the lesion with the surrounding tissue. Specifically, the coordinates X of the lesion in the three-dimensional image are determined. sec_tumor Then, the coordinates X of the lesion position in the real-time ultrasound image are calculated based on the registration matrix of the three-dimensional image and the ultrasound image. us_tumor , and superimpose the 3D model of the lesion at the corresponding position in the 3D display window.

[0089] X us_tumor =M -1 ·X sec_tumor =(P·R probe A) -1 X sec_tumor .

[0090] Step S240, obtain the ablation parameters of the ablation focus, and display the three-dimensional model of the ablation focus at the corresponding position in the three-dimensional display window according to the obtained ablation parameters and the registration result obtained in step S220, and the corresponding position is the location of the ablation focus determined according to the registration result and the obtained ablation parameters. The embodiment of the present application does not limit the execution order of step S230 and step S240. Through these two steps, the three-dimensional model of the lesion and the three-dimensional model of the ablation focus can be displayed in the same image space, so as to facilitate the display of the positional relationship between the lesion and the ablation focus in the same image space to the user. According to the registration result, the image space of the three-dimensional display window can be the image space corresponding to the three-dimensional image, the image space corresponding to the ultrasound image, or any other image space, as long as the three-dimensional model of the lesion and the three-dimensional model of the ablation focus are displayed in the same image space. In the example of the present application, the example of displaying two three-dimensional models in the image space of the three-dimensional image is used for explanation.

[0091] The three-dimensional model of the ablation focus includes a single-needle ablation model or a multi-needle combined ablation model. Among them, the single-needle ablation model is a three-dimensional model of the ablation focus displayed in the three-dimensional display window according to a single ablation needle inserted into the lesion based on the above-mentioned registration results and the obtained ablation parameters. The multi-needle combined ablation model is a three-dimensional model of the ablation focus displayed in the three-dimensional display window according to at least two ablation needles inserted into the lesion sequentially or simultaneously based on the above-mentioned registration results and the obtained ablation parameters. For example, when the shape of the ablation focus is an ellipsoid, the single-needle ablation model of the ablation focus displayed in the three-dimensional display window is a single ellipsoid, and the multi-needle combined ablation model includes multiple ellipsoids. As an example, the three-dimensional model of the ablation focus can be displayed in a different color from the three-dimensional model of the lesion to facilitate the distinction between the two. In some embodiments, the three-dimensional model of the ablation focus and the three-dimensional model of the lesion can both be displayed as translucent graphics to facilitate observation of the overlapping area between the two. Figure 4 A three-dimensional model 402 of an ablation lesion in one embodiment is shown.

[0092] According to the three-dimensional model of the ablation focus displayed on the display interface and the three-dimensional model of the lesion as described above, the operator can intuitively determine the ablation area, that is, the overlapping area of ​​the three-dimensional model of the ablation focus and the three-dimensional model of the lesion. As an example, the overlapping area can be displayed in a different color from the three-dimensional model of the ablation focus and the three-dimensional model of the lesion.

[0093] Among them, illustratively, the coordinates of the center of the ablation lesion in the ultrasound image can be first determined, and the coordinates of the center of the ablation lesion in the three-dimensional image can be determined according to the coordinate transformation matrix from the ultrasound image space to the three-dimensional image space; then, according to the coordinates of the center of the ablation lesion in the three-dimensional image and the size of the ablation lesion, the three-dimensional model of the ablation lesion is drawn in the image space of the three-dimensional image. When a puncture frame is installed on the ultrasound probe, the coordinates of the center of the ablation lesion in the ultrasound image can be determined according to the angle of the puncture frame and the depth of the ablation path. When the three-dimensional model of the ablation lesion is a multi-needle combined ablation model, the coordinates of the center of the ablation lesion can be set separately for each ablation model.

[0094] In addition to the coordinates of the center of the ablation lesion, the ultrasound imaging system also needs to obtain some ablation parameters set by the operator. For example, the operator needs to set the power and duration of the ablation needle, and obtain the ablation range of the ablation needle to ensure that the ablation area includes the three-dimensional model of the entire lesion and its safety boundary. The safety boundary refers to the requirement that the ablation lesion cover the edge of the lesion and extend outward a certain distance during the ablation process to ensure complete ablation of the entire lesion.

[0095] In this step, the operator can input the given power and ablation duration of the ablation surgery, and obtain the range size of the ablation area according to the above working parameters. The operator can also first set the range of the required ablation area, that is, preset the ablation range, and select the corresponding given power and ablation duration and other working parameters according to the set range of the ablation area. Since the ablation range of the ablation needle is usually an ellipsoid, in this step, when setting the range of the ablation area, it is only necessary to set the major axis length and minor axis length of the ellipsoid. It should be noted that the shape of the ablation focus is not limited to the ellipsoid, but can also include a sphere or a cylinder. The operator can set the shape of the ablation focus according to the shape of the lesion, and set different parameters according to the shape of the ablation focus.

[0096] The drawing method of the three-dimensional model of the ablation focus can also be surface drawing. Assuming that the shape of the ablation focus is an ellipsoid, the operator can set the long diameter, short diameter, needle tip distance, path depth, etc. of the ablation focus according to the actual ablation needle model used. The system uses these parameters to draw the surface of the ablation focus at the coordinate origin, where the needle tip distance is the distance between the heat source of the ablation needle and the needle tip, and the center point of the ablation focus is the path depth of the ablation needle puncture minus the needle tip distance. If the ablation needle is used for puncture based on the puncture stand set on the ultrasound probe, it is necessary to first set the puncture stand angle β, and use the set puncture stand angle β and path depth d to calculate the position T of the ablation focus in the current ultrasound sector. us_ablate , that is (x us_ablate ,y us_ablate ),in:

[0097] x us_ablate =d·sinβ

[0098] y us_ablate =d·cosβ

[0099] In another embodiment, the coordinates of the center of the ablation lesion in the ultrasound image may be determined based on a positioning sensor disposed on the ablation needle.

[0100] Specifically, when the operator performs puncture based on the positioning sensor installed on the ablation needle, the angle and depth of the ablation lesion are obtained based on the coordinate change of the positioning sensor, that is, the coordinates of the ablation lesion in the positioning sensor space are determined according to the positioning sensor, and converted to the ultrasound image space according to the transformation matrix from the positioning sensor to the ultrasound image space, and finally the coordinates of the ablation lesion are mapped to the three-dimensional image space according to the registration matrix between the ultrasound image space and the three-dimensional image space to achieve three-dimensional visualization. Assume that the coordinates of the ablation lesion in the ultrasound space are T us_ablate , then in the three-dimensional image space, its coordinates are:

[0101] T sec_ablate =M·T us_ablate =P·R probe·A·T us_ablate

[0102] When the ultrasound probe is equipped with a puncture stand, the operator moves the ultrasound probe equipped with a positioning sensor, and the position of the ablation lesion in the three-dimensional image space will follow the R in the mapping relationship matrix. probe As an example, if the operator is satisfied with the current position of the ablation lesion, he can click Save, which means that the position of the current ablation lesion is considered to be ablated.

[0103] In one embodiment, two or more three-dimensional display windows may be displayed on the display interface, wherein one window displays the current view and the remaining windows display views from other perspectives, so that the operator can observe the lesions and ablation lesions from multiple perspectives simultaneously.

[0104] Specifically, see Figure 5 The two or more 3D display windows include a main window 501 and an auxiliary window 502, wherein the main window 501 is used to display the current view, and the auxiliary window 502 is used to display views from other perspectives. In some embodiments, without blocking the 3D model of the lesion and the 3D model of the ablation focus, the auxiliary window 502 can be as follows: Figure 5 The overlay shown is displayed at the corner of the main window 501 to save layout. Of course, the auxiliary window 502 can also be displayed side by side with the main window 501. Generally speaking, the size of the main window 501 is larger than the size of the auxiliary window 502, but it is not limited to this, and the sizes of the two can also be the same.

[0105] As an example, at least one of the other viewing angles displayed in the auxiliary window includes a reverse viewing angle of the current viewing angle displayed in the main window. Figure 5 The main window 501 in the figure shows the perspective of the front side of the lesion, and the auxiliary window 502 shows the perspective of the back side of the lesion. In addition, auxiliary windows for displaying other perspectives such as the left side, right side, and bottom side of the lesion can also be set to enable the operator to have a more comprehensive understanding of the ablation situation of the lesion at different angles. As an example, the angle relationship between the main window and the auxiliary window can be preset, and the perspective of the auxiliary window can be determined according to the perspective of the main window and the angle relationship. For example, the angle relationship between the main window and the auxiliary window is preset to be an angle difference of 30° in the clockwise direction, and the auxiliary window displays the view at the perspective after rotating 30° clockwise relative to the main window. As an example, the other perspectives displayed in the auxiliary window are the target perspectives described below. When there are multiple target perspectives and one auxiliary window, the view at the perspective with the largest unablated area can be displayed in the auxiliary window, or the view at the perspective with the smallest rotation angle can be displayed. When there are multiple target perspectives and multiple auxiliary windows, the corresponding views at each perspective can be displayed in multiple auxiliary windows in sequence according to the size of the unablated area or the size of the rotation angle.

[0106] Step S250: determining an ablation area according to the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus.

[0107] As an implementation method, the ablation area is the overlapping area of ​​the three-dimensional model of the lesion and the three-dimensional model of the ablation focus. The three-dimensional model of the lesion and the three-dimensional model of the ablation focus can be mapped to the same image space based on the above-mentioned registration result, and the overlapping area of ​​the three-dimensional model of the lesion and the three-dimensional model of the ablation focus can be calculated, and the overlapping area can be determined as the ablation area. Specifically, in the same image space, it can be judged whether each coordinate point of the three-dimensional model of the lesion falls within the range of the three-dimensional model of the ablation focus. The position of the lesion that falls within the range of the three-dimensional model of the ablation focus is considered to have been ablated, and the position of the lesion that falls outside the range of the three-dimensional model of the ablation focus is considered to have not been ablated. The set of coordinate points that fall within the range of the three-dimensional model of the ablation focus is determined as the ablated area. The coordinate area of ​​the ablated lesion {P1, P2, ...} and the coordinate area of ​​the non-ablated lesion {N1, N2, ...} can be calculated by traversal, calculation of coordinate connected domains, and other methods. Since the z-axis size of the tumor coordinates displayed in the current view and the current plane in the model drawing is different from the z-size in other views, the ablation ratio of the current front in the current view and the maximum ablation connected area can be determined based on the z-axis size of the ablated coordinate area and the non-ablated coordinate area. It can be understood that in other embodiments, since the ablation area is the overlapping area of ​​the three-dimensional model of the lesion and the three-dimensional model of the ablation focus, based on similar principles, the ablation area can also be determined by judging whether each coordinate point of the three-dimensional model of the ablation focus falls within the range of the three-dimensional model of the lesion.

[0108] Step S260, when the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition, the current view of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window is automatically rotated from the current viewing angle to the target viewing angle in the ablation area that meets the predetermined requirements for the ablation lesion, and the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle are displayed.

[0109] In one embodiment, the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies the rotation condition, including: in the three-dimensional display window, the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle meets the preset condition. For example, it can be determined by judging whether the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle reaches a certain ratio, and when the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at other viewing angles reaches a certain ratio, it is determined that the rotation condition is satisfied. Alternatively, it can be determined by judging whether the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle are mutually inclusive, so as to determine whether the rotation condition is satisfied. For example, if the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at other viewing angles do not contain each other, it is determined that the rotation condition is satisfied. Alternatively, it can be determined by judging whether there is an object of interest in the mutually inclusive part of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle, and if there is an object of interest (such as a tissue of a specific morphology), it is determined that the rotation condition is satisfied.

[0110] In one embodiment, whether the rotation condition is met is determined based on the projection area of ​​the ablation area at the current viewing angle. The projection area described herein refers to the display area of ​​the display view of the three-dimensional model displayed on the display window of the display at the current viewing angle, and the projection is a graphic of the three-dimensional model at any viewing angle mapped to the plane where the three-dimensional display window is located. As described above, since the image displayed on the display is a two-dimensional plane observed at a certain viewing angle, it is possible that most of the lesion area has been ablated at the current viewing angle, while there are still large unablated areas at other viewing angles. If the observation continues at the current viewing angle, it will be detrimental to the subsequent ablation operation, and it will be difficult to determine whether the lesion has been ablated. Therefore, when most of the lesion area has been ablated at the current viewing angle, it can be determined that the rotation condition is met, thereby triggering automatic rotation to rotate to a viewing angle with a larger unablated area of ​​the lesion to facilitate continued ablation.

[0111] Among them, the projection area of ​​the ablation area at the current viewing angle can be compared with the projection area of ​​the three-dimensional model of the lesion to determine whether most of the lesion area at the current viewing angle has been ablated. That is, if the proportion of the projection area of ​​the ablation area in the projection area of ​​the three-dimensional model of the lesion exceeds a predetermined threshold, it is determined that the rotation condition is met.

[0112] In addition, since the actual ablation area is the overlapping area between the lesion and the ablation focus, it is also possible to judge whether most of the lesion area at the current viewing angle has been ablated by comparing the projection area of ​​the ablation area at the current viewing angle with the projection area of ​​the three-dimensional model of the ablation focus. In other words, if the proportion of the projection area of ​​the ablation area in the projection area of ​​the three-dimensional model of the ablation focus exceeds a predetermined threshold, it is determined that the rotation condition is met.

[0113] In some cases, after performing at least one ablation, that is, after generating a three-dimensional model of an ablation focus, the ablation area seen from the current viewing angle is still too small, or the ablation area cannot be seen from the current viewing angle, which means that the overlapping area between the ablation focus and the lesion area may be located in the opposite direction of the current viewing angle or in other different directions. Therefore, it is necessary to rotate the viewing angle of the current view to better observe the ablation area. Specifically, after displaying the three-dimensional model of at least one ablation focus, if the projection area of ​​the ablation area in the projection area of ​​the three-dimensional model of the lesion is less than a predetermined threshold, or the proportion of the projection area of ​​the ablation area in the projection area of ​​the three-dimensional model of the ablation focus is less than a predetermined threshold, then it is determined that the rotation condition is met.

[0114] In some embodiments, the user may also determine whether the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition. When the user determines that the view angle needs to be rotated, the rotation of the view angle may be triggered by manually clicking the automatic rotation function key.

[0115] After determining that the rotation condition is met, a rotation operation is performed to rotate the current view to a target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion, so as to better observe the ablation effect. The target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion can be a viewing angle that is conducive to the user observing the ablation region to ablate the lesion.

[0116] Among them, the target viewing angle can be a viewing angle with a smaller projection area of ​​the ablation region. As an implementation method, the projection area of ​​the ablation region can be compared with the projection area of ​​the three-dimensional model of the lesion, that is, the target viewing angle is the viewing angle with the smallest ratio of the projection area of ​​the ablation region to the projection area of ​​the three-dimensional model of the lesion, that is, the current view is rotated to the target viewing angle with the largest unablated area. Alternatively, at least one viewing angle can be first determined for which the ratio of the projection area of ​​the ablation region to the projection area of ​​the three-dimensional model of the lesion is less than or equal to a predetermined threshold. When there is one viewing angle, the viewing angle is used as the target viewing angle with the largest unablated area. When there are more than one viewing angle, one viewing angle can be selected from the more than one viewing angles as the target viewing angle with the largest unablated area. For example, the viewing angle with the smallest required rotation angle can be selected.

[0117] As another implementation method, the projection area of ​​the ablation zone can also be compared with the projection area of ​​the three-dimensional model of the ablation focus to find a viewing angle at which the projection area of ​​the ablation zone is smaller, that is, the target viewing angle is a viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is the smallest, or the target viewing angle is a viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is less than or equal to a predetermined threshold.

[0118] After determining the target viewing angle, the angle between the current viewing angle and the target viewing angle is calculated as the rotation angle of the view, and the viewing angle of the view is rotated according to the calculated rotation angle.

[0119] Specifically, the coordinates of the projection of the non-ablated area of ​​the three-dimensional model of the lesion in the current view can be obtained by traversing the coordinate depth of the three-dimensional model of the lesion, and then the first coordinate (x 1 ,y 1 ). Based on a similar method, the second coordinate (x 2 ,y 2 ), calculate the first coordinate (x 1 ,y 1 ) and the origin of the coordinate system and the second coordinate (x 2 ,y 2 ), and the angle α is used as the rotation angle, where:

[0120] tanα=(x 1 y 2 -x 2 y 1 ) / (x 1 x 2 +y 1 y 2 )

[0121] α=tan(arctanα)

[0122] The above method uses the line between the coordinate origin and the center point of the unablated area as the starting and ending points of the rotation. As another method, the line between the coordinate origin and the center point of the lesion projection can also be used as the starting and ending points of the rotation. Specifically, the third coordinate of the center position of the projection of the three-dimensional model of the lesion under the current viewing angle is determined, and the second coordinate of the center position of the projection of the unablated area of ​​the three-dimensional model of the lesion under the target viewing angle is determined; the angle between the line connecting the third coordinate and the coordinate origin and the line connecting the second coordinate and the coordinate origin is calculated, and the angle is used as the rotation angle of the rotation.

[0123] In practical applications, there may be multiple viewing angles that meet the predetermined requirements. When there are multiple viewing angles that meet the predetermined requirements, the viewing angle with the smallest required rotation angle may be determined as the target viewing angle.

[0124] Referring to the above, in some embodiments, two or more three-dimensional display windows are displayed on the display interface, and one of the windows (such as the main window) displays the current view under the current viewing angle; in one example, when the current view rotates, the views in the other windows rotate synchronously. Figure 5 As shown, the main window 501 displays the perspective of the front side of the lesion, and the auxiliary window displays the perspective of the back side of the lesion. If the perspective in the main window 501 is rotated to the back side of the lesion, the perspective in the auxiliary window 502 will be rotated to the front side of the lesion. Figure 6 If the viewing angle in the main window 501 is rotated to the left side of the lesion, the viewing angle in the auxiliary window 502 will be rotated to the right side of the lesion accordingly.

[0125] In other examples, when the current view rotates, the views under other viewing angles may also remain fixed. For example, if the viewing angle in the main window 501 rotates to the left side of the lesion, the viewing angle in the auxiliary window may continue to remain behind the lesion.

[0126] Afterwards, step S240 to step S260 may be repeatedly performed to continue generating ablation lesions based on the rotated view until the lesions are completely ablated.

[0127] In summary, the three-dimensional display method 200 of the embodiment of the present invention can automatically rotate the viewing angles of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus, greatly facilitating the ablation surgery operation.

[0128] Reference Figure 7 Another aspect of the present application embodiment provides a three-dimensional display method 700, the method comprising:

[0129] In step S710, two or more three-dimensional display windows are displayed on the display interface;

[0130] In step S720, a current view is displayed in one of the two or more three-dimensional display windows, wherein the current view includes a three-dimensional model of the lesion and a three-dimensional model of the ablation focus at a current viewing angle;

[0131] In step S730, the remaining windows of the two or more windows display views from other perspectives, where the views from other perspectives include the three-dimensional model of the lesion and the three-dimensional model of the ablation focus from the other perspectives.

[0132] In one embodiment, the current view also includes an ultrasound image, and the ultrasound image, the three-dimensional model of the lesion, and the three-dimensional model of the ablation focus in the same three-dimensional display window are in the same image space, for example, they can be in the image space of the ultrasound image or in the image space of the three-dimensional image. Similarly, the view from other viewing angles may also include an ultrasound image, and the three-dimensional model of the lesion, the three-dimensional model of the ablation focus, and the ultrasound image from other viewing angles are also in the same image space.

[0133] Further, refer to Figure 8 , Figure 8 A schematic diagram of a display interface 800 of a three-dimensional display method 700 according to an embodiment of the present invention is shown. In this embodiment, in addition to a first three-dimensional display window 801 that displays the current view and a second three-dimensional display window 802 that displays views from other viewing angles on the display interface 800, an ultrasound window 803 and a fusion display window 804 are also displayed. The ultrasound window 803 is used to display an ultrasound image, such as a real-time ultrasound image, and the fusion display window 804 is used to display a fusion image of the ultrasound image and the three-dimensional image containing the lesion. Figure 8 In addition to the layout shown, the first three-dimensional display window 801, the second three-dimensional display window 802, the ultrasound window 803 and the fusion display window 804 may also adopt other suitable layouts.

[0134] The three-dimensional display method 700 according to the embodiment of the present invention adopts a multi-viewing angle display mode of two or more windows, which is helpful for the user to better understand the ablation conditions at different viewing angles.

[0135] Now re-refer to Figure 1 The embodiment of the present invention further provides an ultrasound imaging system 100, which can be used to implement the above-mentioned three-dimensional display method 200. The ultrasound imaging system 100 may include an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a beamforming circuit 116, a processor 118, a display 120, a transmitting / receiving selection switch 122, and some or all of the components in a memory 124. The relevant description of each component can refer to the above. The following only describes the main functions of the ultrasound imaging system 100, and omits the details described above.

[0136] Specifically, the transmitting circuit 112 is used to excite the ultrasonic probe 110 to transmit ultrasonic waves to the lesion; the receiving circuit 114 is used to control the ultrasonic probe to receive the ultrasonic echo returned from the lesion to obtain an ultrasonic echo signal; the processor 118 is used to: process the ultrasonic echo signal to obtain an ultrasonic image; align the ultrasonic image with a pre-acquired three-dimensional image containing the lesion; segment the lesion in the three-dimensional image containing the lesion, and display a three-dimensional model of the lesion in a three-dimensional display window of the display 120 based on the result of the alignment and the result of the segmentation; obtain the ablation parameters of the ablation focus, and display the three-dimensional model of the ablation focus in the three-dimensional display window according to the result of the alignment and the acquired ablation parameters; determine the ablation area according to the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus; when the rotation condition is met, automatically rotate the current view of the three-dimensional display window from the current viewing angle to the target viewing angle where the ablation area meets the predetermined requirements of the ablation lesion, and display the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle.

[0137] In one embodiment, the ablation area is an overlapping area between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus.

[0138] In one embodiment, satisfying the rotation condition includes: the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies the rotation condition, or a rotation instruction input by a user is received.

[0139] In one embodiment, the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies the rotation condition, including: within the three-dimensional display window, the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle meets a preset condition.

[0140] In one embodiment, the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies a rotation condition, including: at the current viewing angle, the projection area of ​​the ablation region in the three-dimensional display window and the projection area of ​​the three-dimensional model of the lesion or the projection area of ​​the ablation focus meet a preset condition.

[0141] In one embodiment, satisfying the preset conditions includes: the proportion of the projection area of ​​the ablation zone in the projection area of ​​the three-dimensional model of the lesion exceeds a predetermined threshold, or the proportion of the projection area of ​​the ablation zone in the projection area of ​​the three-dimensional model of the ablation focus exceeds a predetermined threshold.

[0142] In one embodiment, the target viewing angle at which the ablation zone meets the predetermined requirements for ablation of the lesion includes: the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the lesion is minimized, or the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the lesion is lower than a predetermined threshold; or, the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is minimized, or the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is lower than a predetermined threshold.

[0143] In one embodiment, the current view is rotated from the current viewing angle to a target viewing angle where the projection of the ablation area meets predetermined requirements, including: determining a first coordinate of the center position of the unablated area of ​​the three-dimensional model of the lesion at the current viewing angle; determining a second coordinate of the center position of the unablated area of ​​the three-dimensional model of the lesion at the target viewing angle; determining an angle between a line connecting the first coordinate and the origin of the coordinate system and a line connecting the second coordinate and the origin of the coordinate system, and using the angle as a rotation angle.

[0144] In one embodiment, the current view is rotated from the current viewing angle to a target viewing angle where the projection of the ablation area meets predetermined requirements, including: determining a third coordinate of the center position of the three-dimensional model of the lesion at the current viewing angle; determining a second coordinate of the center position of the non-ablated area of ​​the three-dimensional model of the lesion at the target viewing angle; determining an angle between a line connecting the third coordinate and the origin of the coordinate system and a line connecting the second coordinate and the origin of the coordinate system, and using the angle as a rotation angle.

[0145] In one embodiment, the processor 118 is further configured to display two or more three-dimensional display windows on the display interface of the display 120 , wherein one window displays the current view and the remaining windows display views from other perspectives.

[0146] Exemplarily, the two or more windows include a main window and an auxiliary window, wherein the main window is used to display a current view, and the auxiliary window is used to display views from other perspectives, and the size of the main window may be larger than that of the auxiliary window.

[0147] Exemplarily, when the current view rotates, the views at other viewing angles remain unchanged, or the views at other viewing angles may also rotate synchronously therewith.

[0148] In addition, according to an embodiment of the present application, a computer storage medium is also provided, on which program instructions are stored, and when the program instructions are executed by a computer or a processor, the corresponding steps of the three-dimensional display method 200 of the embodiment of the present application are executed. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0149] In addition, according to an embodiment of the present application, a computer program is also provided, which can be stored in a cloud or local storage medium. When the computer program is run by a computer or a processor, it is used to execute the corresponding steps of the three-dimensional display method of the embodiment of the present application.

[0150] Based on the above description, the three-dimensional display method and ultrasound imaging system according to the embodiments of the present application can automatically rotate the viewing angles of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus, greatly facilitating the doctor's surgical operation.

[0151] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0152] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0154] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0155] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0156] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0157] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0158] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0159] It should be noted that the above embodiments illustrate rather than limit the present application, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0160] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A three-dimensional display method, characterized in that: The method comprises: Acquire ultrasound images of the lesion; registering the ultrasound image with a pre-acquired three-dimensional image containing the lesion; Segmenting the lesion in the three-dimensional image containing the lesion, and displaying a three-dimensional model of the lesion in a three-dimensional display window according to the registration result and the segmentation result; Acquiring ablation parameters of the ablation lesion, and displaying a three-dimensional model of the ablation lesion in the three-dimensional display window according to the registration result and the acquired ablation parameters; determining an ablation area according to a spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus; and When the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition, the current view of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window is automatically rotated from the current viewing angle to the target viewing angle of the ablation area that meets the predetermined requirements for ablation of the lesion, and the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle are displayed.

2. The method according to claim 1, characterized in that The ablation area is an overlapping area between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus.

3. The method according to claim 2, characterized in that Determining the ablation area includes: Based on the registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation focus are mapped to the same image space, the overlapping area of ​​the three-dimensional model of the lesion and the three-dimensional model of the ablation focus is calculated, and the overlapping area is determined as the ablation area.

4. The method according to claim 3, characterized in that The calculation of the overlapping area of ​​the three-dimensional model of the lesion and the three-dimensional model of the ablation focus includes: In the same image space, it is determined whether each coordinate point of the three-dimensional model of the lesion falls within the range of the three-dimensional model of the ablation focus, and the set of the coordinate points falling within the range of the three-dimensional model of the ablation focus is determined as the ablation area.

5. The method according to claim 1, characterized in that The rotation condition is satisfied as follows: In the three-dimensional display window, the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle meets a preset condition.

6. The method according to claim 1, characterized in that The rotation condition is satisfied as follows: At the current viewing angle, the projection area of ​​the ablation region in the three-dimensional display window and the projection area of ​​the three-dimensional model of the lesion, or the projection area of ​​the ablation region and the projection area of ​​the ablation focus meet a preset condition.

7. The method according to claim 6, characterized in that The projection area of ​​the ablation region in the three-dimensional display window and the projection area of ​​the three-dimensional model of the lesion, or the projection area of ​​the ablation region and the projection area of ​​the ablation lesion meet a preset condition, including: The proportion of the projection area of ​​the ablation zone in the projection area of ​​the three-dimensional model of the lesion exceeds a predetermined threshold.

8. The method according to claim 6, characterized in that The projection area of ​​the ablation region in the three-dimensional display window and the projection area of ​​the three-dimensional model of the lesion, or the projection area of ​​the ablation region and the projection area of ​​the ablation lesion meet a preset condition, including: The proportion of the projection area of ​​the ablation region in the projection area of ​​the three-dimensional model of the ablation lesion exceeds a predetermined threshold.

9. The method according to claim 1, characterized in that: The three-dimensional model of the ablation lesion is at least one of a single-needle ablation model and a multi-needle combined ablation model.

10. The method according to claim 9, characterized in that The single-needle ablation model is a three-dimensional model of the ablation focus displayed in the three-dimensional display window according to a single ablation needle inserted into the lesion based on the registration result and the ablation parameters.

11. The method according to claim 9, characterized in that The multi-needle combined ablation model is a three-dimensional model of the ablation focus displayed in the three-dimensional display window according to at least two ablation needles inserted into the lesion sequentially or simultaneously based on the registration result and the ablation parameters.

12. The method according to claim 1, characterized in that The target viewing angles of the ablation region that meet the predetermined requirements for ablation of the lesion include: The viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the lesion is minimum, or the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the lesion is lower than a predetermined threshold.

13. The method according to claim 1, characterized in that The target viewing angles of the ablation region that meet the predetermined requirements for ablation of the lesion include: The viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is minimum, or the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is lower than a predetermined threshold.

14. The method according to claim 1, characterized in that When multiple viewing angles meet the predetermined requirement, the target viewing angle is the viewing angle with the smallest required rotation angle.

15. The method according to claim 1, characterized in that The step of automatically rotating the current views of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window from the current viewing angle to a target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion comprises: Determine a first coordinate of a projection center position of an unablated area of ​​the three-dimensional model of the lesion at the current viewing angle; Determine a second coordinate of a projection center position of an unablated region of the three-dimensional model of the lesion under the target viewing angle; An angle between a line connecting the first coordinate and the origin of the coordinate and a line connecting the second coordinate and the origin of the coordinate is determined, and the angle is used as a rotation angle of the rotation.

16. The method according to claim 1, characterized in that The step of automatically rotating the current views of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window from the current viewing angle to a target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion comprises: Determine a third coordinate of a projection center position of the three-dimensional model of the lesion at the current viewing angle; Determine a second coordinate of a projection center position of an unablated region of the three-dimensional model of the lesion under the target viewing angle; An angle between a line connecting the third coordinate and the coordinate origin and a line connecting the second coordinate and the coordinate origin is determined, and the angle is used as a rotation angle of the rotation.

17. The method according to claim 1, characterized in that The registration includes: Aligning the ultrasound image with a corresponding slice in the three-dimensional image; A coordinate transformation matrix from the ultrasound image space to the three-dimensional image space is determined according to the coordinates of the points in the ultrasound image and the coordinates of the corresponding points in the three-dimensional image.

18. The method according to claim 17, characterized in that The alignment includes at least one of the following: Receive manual alignment from user; identifying the same tissue in the ultrasound image and the three-dimensional image for automatic alignment; or The imaged position of the external marker in the three-dimensional image is identified, and the position of the external marker in the space of the ultrasound image is determined based on magnetic navigation for automatic alignment.

19. The method according to claim 1, characterized in that When the three-dimensional image is a three-dimensional ultrasound image reconstructed based on magnetic navigation position information, the registration includes: automatically registering the ultrasound image based on the position information of the three-dimensional ultrasound image.

20. The method according to claim 1, characterized in that The acquired ablation parameters include parameters reflecting the shape and position of the ablation lesion.

21. The method according to claim 20, characterized in that The parameters reflecting the shape and position of the ablation lesion include at least one of the following: The major and minor diameters of the ellipsoidal ablation lesion, the location of the heat source, the depth of the ablation path, and the angle of the puncture frame.

22. The method according to claim 1, characterized in that The step of displaying the three-dimensional model of the ablation lesion in the three-dimensional display window according to the registration result and the acquired ablation parameters includes: Determine the coordinates of the center of the ablation lesion in the ultrasound image, and determine the coordinates of the center of the ablation lesion in the three-dimensional image according to a registration matrix from the ultrasound image to the three-dimensional image; A three-dimensional model of the ablation focus is drawn in the three-dimensional image space according to the coordinates of the center of the ablation focus in the three-dimensional image and the size of the ablation focus.

23. The method according to claim 22, characterized in that Determining the coordinates of the center of the ablation lesion in the ultrasound image comprises: The coordinates of the center of the ablation lesion in the ultrasound image are determined according to the puncture frame angle and the ablation path depth.

24. The method according to claim 22, characterized in that Determining the coordinates of the center of the ablation lesion in the ultrasound image comprises: The coordinates of the center of the ablation focus in the ultrasound image are determined according to a positioning sensor arranged on the ablation needle.

25. The method according to claim 1, characterized in that The shape of the three-dimensional model of the ablation focus includes an ellipsoid, a sphere or a cylinder.

26. The method according to claim 1, characterized in that The method further comprises: Two or more three-dimensional display windows are displayed on the display interface, wherein one of the three-dimensional display windows displays the current view, and the remaining three-dimensional display windows display views from other viewing angles.

27. The method according to claim 26, characterized in that The two or more three-dimensional display windows include a main window and an auxiliary window, the main window is used to display the current view, the auxiliary window is used to display the views from other perspectives, and the size of the main window is larger than the size of the auxiliary window.

28. The method according to claim 27, characterized in that The auxiliary window is displayed superimposed on a corner of the main window.

29. The method according to claim 26, characterized in that The other viewing angles include a reverse viewing angle of the current viewing angle.

30. The method according to claim 26, characterized in that When the current view is rotated, the views at other viewing angles remain fixed.

31. The method according to claim 26, characterized in that When the current view rotates, the views under other viewing angles rotate synchronously therewith.

32. The method according to claim 1, characterized in that The displaying of the three-dimensional model of the lesion in the three-dimensional display window comprises: Segmenting a three-dimensional contour of the lesion in the three-dimensional image; Performing surface reconstruction according to the three-dimensional contour obtained by segmentation to generate a three-dimensional model of the lesion; The three-dimensional model of the lesion is displayed in the three-dimensional display window according to the coordinates of the three-dimensional outline of the lesion in the three-dimensional image.

33. An ultrasonic imaging system, characterized in that: include: Ultrasound probe; A transmitting circuit, used for stimulating the ultrasonic probe to transmit ultrasonic waves toward the lesion; A receiving circuit, used for controlling the ultrasonic probe to receive the ultrasonic echo returned from the lesion to obtain an ultrasonic echo signal; Processor for: Processing the ultrasonic echo signal to obtain an ultrasonic image; registering the ultrasound image with a pre-acquired three-dimensional image containing the lesion; Segmenting the lesion in the three-dimensional image containing the lesion, and displaying a three-dimensional model of the lesion in a three-dimensional display window of a display based on the result of the registration and the result of the segmentation; Acquiring ablation parameters of the ablation lesion, and displaying a three-dimensional model of the ablation lesion in the three-dimensional display window according to the registration result and the acquired ablation parameters; Determining an ablation area according to a spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus; When the spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus meets the rotation condition, the current views of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window are automatically rotated from the current viewing angle to a target viewing angle in which the ablation area meets the predetermined requirements for ablation of the lesion; The display is used to display the three-dimensional model of the lesion and the three-dimensional model of the ablation focus under the target viewing angle.

34. The ultrasound imaging system according to claim 33, characterized in that: The ablation area is an overlapping area between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus.

35. The ultrasound imaging system according to claim 33, wherein: The spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies the rotation condition including: In the three-dimensional display window, the inclusion of the spatial position of the three-dimensional model of the lesion and the spatial position of the three-dimensional model of the ablation focus at any viewing angle meets a preset condition.

36. The ultrasound imaging system according to claim 33, characterized in that The spatial relationship between the three-dimensional model of the lesion and the three-dimensional model of the ablation focus satisfies the rotation condition, including: At the current viewing angle, the projection area of ​​the ablation region in the three-dimensional display window and the projection area of ​​the three-dimensional model of the lesion, or the projection area of ​​the ablation region and the projection area of ​​the ablation focus meet a preset condition.

37. The ultrasound imaging system according to claim 36, characterized in that: The satisfying of the preset conditions includes: The proportion of the projection area of ​​the ablation zone in the projection area of ​​the three-dimensional model of the lesion exceeds a predetermined threshold, or The proportion of the projection area of ​​the ablation region in the projection area of ​​the three-dimensional model of the ablation lesion exceeds a predetermined threshold.

38. The ultrasound imaging system according to claim 33, wherein: The target viewing angles of the ablation region that meet the predetermined requirements for ablation of the lesion include: a viewing angle at which the ratio of the projection area of ​​the ablation region to the projection area of ​​the three-dimensional model of the lesion is minimum, or a viewing angle at which the ratio of the projection area of ​​the ablation region to the projection area of ​​the three-dimensional model of the lesion is lower than a predetermined threshold; Alternatively, the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is minimum, or the viewing angle at which the ratio of the projection area of ​​the ablation zone to the projection area of ​​the three-dimensional model of the ablation focus is lower than a predetermined threshold.

39. The ultrasound imaging system according to claim 33, wherein: The processor automatically rotates the current views of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window from the current viewing angle to a target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion, including: Determine a first coordinate of a projection center position of an unablated area of ​​the three-dimensional model of the lesion at the current viewing angle; Determine a second coordinate of a projection center position of an unablated region of the three-dimensional model of the lesion under the target viewing angle; An angle between a line connecting the first coordinate and the origin of the coordinate and a line connecting the second coordinate and the origin of the coordinate is determined, and the angle is used as a rotation angle of the rotation.

40. The ultrasound imaging system according to claim 33, wherein: The processor automatically rotates the current views of the three-dimensional model of the lesion and the three-dimensional model of the ablation focus in the three-dimensional display window from the current viewing angle to a target viewing angle where the ablation region meets the predetermined requirements for ablation of the lesion, including: Determine a third coordinate of a projection center position of the three-dimensional model of the lesion at the current viewing angle; Determine a second coordinate of a projection center position of an unablated region of the three-dimensional model of the lesion under the target viewing angle; An angle between a line connecting the third coordinate and the coordinate origin and a line connecting the second coordinate and the coordinate origin is determined, and the angle is used as a rotation angle of the rotation.

41. The ultrasound imaging system according to claim 33, wherein: The processor is further configured to: Two or more three-dimensional display windows are displayed on the display interface of the display, wherein one of the three-dimensional display windows displays the current view, and the remaining three-dimensional display windows display views from other viewing angles.

42. The ultrasound imaging system according to claim 41, characterized in that The two or more three-dimensional display windows include a main window and an auxiliary window, the main window is used to display the current view, the auxiliary window is used to display the views from other perspectives, and the size of the main window is larger than the size of the auxiliary window.

43. The ultrasound imaging system according to claim 41, characterized in that When the current view rotates, the views at other viewing angles remain fixed, or the views at other viewing angles rotate synchronously therewith.

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