Method of displaying ablation effects and ultrasound imaging system

Abstract

A display method of ablation effect and an ultrasonic imaging system, the method comprises: mapping a three-dimensional model of a lesion and a three-dimensional model of an ablation lesion to the same image space based on a first registration result of a two-dimensional ultrasonic image of an ablation region and a preoperative three-dimensional image of the lesion, and a second registration result of a postoperative three-dimensional ultrasonic image and the two-dimensional ultrasonic image of the ablation region, and obtaining an ablation residue according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion; generating a three-dimensional model of a simulated ablation lesion according to a simulated ablation parameter, and mapping the three-dimensional model of the simulated ablation lesion and the ablation residue to the same image space; obtaining simulated ablation effect evaluation information of the simulated ablation lesion on the ablation residue according to the three-dimensional model of the simulated ablation lesion and the ablation residue; and displaying the three-dimensional model of the simulated ablation lesion and the simulated ablation effect evaluation information. The scheme can evaluate the simulated ablation effect of the simulated ablation parameter on the ablation residue, and facilitate the user to timely supplement the ablation residue.

Description

Technical Field

[0001] This application relates to the field of ultrasound imaging technology, and more specifically to a method for displaying ablation effects and an ultrasound imaging system. Background Technology

[0002] Real-time ultrasound-guided percutaneous ablation therapy is playing an increasingly important role in tumor treatment, offering advantages such as high efficacy, minimal invasiveness, and rapid postoperative recovery. To achieve good clinical results, scientific preoperative planning, precise intraoperative localization, and accurate postoperative assessment are three essential steps in the entire ablation therapy process. These three steps are interconnected, mutually influential, and provide feedback to each other.

[0003] Current ablation interventional treatments are primarily performed under the guidance of two-dimensional ultrasound images. This means that physicians use real-time ultrasound or contrast-enhanced ultrasound images to locate the approximate position of the lesion and roughly estimate the two-dimensional plane containing the lesion's maximum diameter. Based on this two-dimensional image, an ablation plan is developed, guiding the ablation process. Current ultrasound-guided ablation techniques achieve scientific preoperative planning and precise intraoperative positioning. However, postoperative evaluation mainly relies on CT (Computed Tomography), MRI (Magnetic Resonance Imaging), or contrast-enhanced ultrasound to assess the ablation effect. These methods have poor real-time performance; even if unablated areas are found postoperatively, it is impossible to promptly and accurately perform supplementary ablation on these unablated areas based on the existing navigation information. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] The first aspect of this application provides a method for displaying ablation effects, comprising: before ablation, acquiring a two-dimensional ultrasound image of the lesion in real time using an ultrasound probe, and registering the two-dimensional ultrasound image with a preoperative three-dimensional image of the lesion to obtain a first registration result, wherein the ultrasound probe has a first spatial positioning device; after ablation, performing three-dimensional ultrasound imaging on the ablation area using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and registering the two-dimensional ultrasound image of the ablation area with the postoperative three-dimensional ultrasound image to obtain a second registration result; obtaining a three-dimensional model of the lesion based on the preoperative three-dimensional image, and based on the... The three-dimensional model of the ablation lesion is obtained from the postoperative three-dimensional ultrasound image; based on the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion; a three-dimensional model of the simulated ablation lesion is generated according to the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the ablation residue are mapped to the same image space; the simulated ablation effect evaluation information of the simulated ablation lesion on the ablation residue is obtained according to the three-dimensional model of the simulated ablation lesion and the ablation residue; the simulated ablation effect evaluation information is displayed.

[0006] In one embodiment, the method further includes: displaying at least one of a three-dimensional model of the ablation residue and a three-dimensional model of the simulated ablation foci.

[0007] In one embodiment, the method further includes: displaying a three-dimensional model of the ablation site and a three-dimensional model of the lesion, and presenting the ablation residue through the portion of the three-dimensional model of the lesion not covered by the three-dimensional model of the ablation site.

[0008] In one embodiment, the simulated ablation effect evaluation information includes the ratio of the volume of the portion of the ablation residue covered by the simulated ablation foci to the volume of the ablation residue itself.

[0009] In one embodiment, the simulated ablation effect evaluation information includes the distance between the center point of the ablation residue and the center point of the three-dimensional model of the simulated ablation lesion.

[0010] In one embodiment, the ablation residue includes the portion of the lesion's three-dimensional model and the portion of the preset safety boundary that is not covered by the three-dimensional model of the ablation lesion.

[0011] In one embodiment, generating a three-dimensional model of the simulated ablation lesion based on simulated ablation parameters includes: generating a three-dimensional model of the simulated ablation lesion based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth.

[0012] In one embodiment, generating a three-dimensional model of the simulated ablation lesion based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth includes: determining the position of the simulated ablation lesion in the two-dimensional ultrasound image based on the angle of the puncture frame and the simulated ablation depth; obtaining the position of the simulated ablation lesion in the image space where the ablation residue is located based on the transformation relationship between the two-dimensional ultrasound image and the image space where the ablation residue is located; and generating a three-dimensional model of the simulated ablation lesion based on the position of the simulated ablation lesion in the image space where the ablation residue is located.

[0013] In one embodiment, generating a three-dimensional model of the simulated ablation lesion based on simulated ablation parameters includes: determining the position of the simulated ablation lesion based on a second spatial positioning device disposed on the ablation needle, and generating a three-dimensional model of the simulated ablation lesion based on the position of the simulated ablation lesion.

[0014] In one embodiment, determining the position of the simulated ablation site based on the second spatial positioning device disposed on the ablation needle includes: obtaining the position of the simulated ablation site in the space of the second spatial positioning device based on the second spatial positioning device; and determining the position of the simulated ablation site in the image space where the ablation residue is located based on the correspondence between the space of the second spatial positioning device and the world coordinate space, and the correspondence between the world coordinate space and the image space where the ablation residue is located.

[0015] In one embodiment, displaying a three-dimensional model of the simulated ablation lesion includes: displaying the three-dimensional model of the simulated ablation lesion from different perspectives in at least two display windows on the same display interface.

[0016] In one embodiment, registering the two-dimensional ultrasound image of the ablation area with the postoperative three-dimensional ultrasound image includes: performing real-time registration of the postoperative three-dimensional ultrasound image and the two-dimensional ultrasound image based on the positioning information obtained by the first spatial positioning device.

[0017] In one embodiment, the first registration result includes a first transformation relationship between the preoperative three-dimensional image and the world coordinate space, and the second registration result includes a second transformation relationship between the postoperative three-dimensional ultrasound and the world coordinate space. The step of mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space includes: obtaining a third transformation relationship between the preoperative three-dimensional image and the postoperative three-dimensional ultrasound image based on the first transformation relationship and the second transformation relationship, and mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space based on the third transformation relationship.

[0018] In one embodiment, registering the two-dimensional ultrasound image with the preoperative three-dimensional image of the lesion includes: obtaining the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image; obtaining the transformation relationship between the two-dimensional ultrasound image and the world coordinate space according to the first spatial positioning device; and obtaining the first transformation relationship according to the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image and the transformation relationship between the two-dimensional ultrasound image and the world coordinate space.

[0019] In one embodiment, obtaining the transformation relationship between the two-dimensional ultrasound image and the world coordinate space based on the first spatial positioning device includes: acquiring the transformation relationship between the two-dimensional ultrasound image and the space of the first spatial positioning device, and the transformation relationship between the space of the first spatial positioning device and the world coordinate space; and obtaining the transformation relationship between the two-dimensional ultrasound image and the world coordinate space based on the transformation relationship between the two-dimensional ultrasound image and the space of the first spatial positioning device, and the transformation relationship between the space of the first spatial positioning device and the world coordinate space.

[0020] In one embodiment, obtaining the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image includes: matching the two-dimensional ultrasound image with a two-dimensional section in the preoperative three-dimensional image to obtain a matching section of the two-dimensional ultrasound image in the preoperative three-dimensional image; and obtaining the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image based on the coordinates of the same feature points in the two-dimensional ultrasound image and the coordinates in the matching section.

[0021] In one embodiment, the preoperative three-dimensional image includes a preoperative three-dimensional ultrasound image obtained by performing three-dimensional ultrasound imaging on the lesion using the ultrasound probe, and the step of obtaining the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image includes: obtaining the transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional ultrasound image based on the positioning information obtained by the first spatial positioning device.

[0022] In one embodiment, the real-time registration of the postoperative three-dimensional ultrasound image and the two-dimensional ultrasound image based on the positioning information obtained by the first spatial positioning device includes: obtaining the transformation relationship between the two-dimensional ultrasound image and the postoperative three-dimensional ultrasound image based on the positioning information obtained by the first spatial positioning device; and obtaining the transformation relationship between the postoperative three-dimensional ultrasound image and the world coordinate space based on the transformation relationship between the two-dimensional ultrasound image and the postoperative three-dimensional ultrasound image, and the transformation relationship between the two-dimensional ultrasound image and the world coordinate space.

[0023] In one embodiment, the method further includes: performing supplementary needle ablation on the ablation residue based on the simulated ablation foci; performing three-dimensional ultrasound imaging on the supplementary needle ablation foci generated after the supplementary needle ablation to obtain a three-dimensional ultrasound image after the supplementary needle ablation; generating a three-dimensional model of the supplementary needle ablation foci based on the three-dimensional ultrasound image after the supplementary needle ablation; and obtaining evaluation information on the actual simulated ablation effect of the supplementary needle ablation foci on the ablation residue based on the three-dimensional model of the supplementary needle ablation foci and the ablation residue.

[0024] In one embodiment, the method further includes: mapping a two-dimensional ultrasound image of the ablation region and the ablation residue to the same image space, and displaying the ablation residue and the two-dimensional ultrasound image mapped to the same image space.

[0025] A second aspect of this application provides a method for displaying ablation effects. The method includes: after ablation, performing three-dimensional ultrasound imaging on the ablation residue using an ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and obtaining a three-dimensional model of the ablation residue based on the postoperative three-dimensional ultrasound image, wherein the ultrasound probe has a first spatial positioning device; registering the postoperative three-dimensional ultrasound image with a two-dimensional ultrasound image acquired in real time by the ultrasound probe to obtain a registration result; generating a three-dimensional model of a simulated ablation lesion based on simulated ablation parameters, and mapping the three-dimensional model of the simulated ablation lesion and the three-dimensional model of the ablation residue to the same image space based on the registration result; obtaining simulated ablation effect evaluation information of the simulated ablation lesion on the ablation residue based on the three-dimensional model of the simulated ablation lesion and the three-dimensional model of the ablation residue; and displaying the simulated ablation effect evaluation information.

[0026] A third aspect of this application provides a method for displaying ablation effects. The method includes: before ablation, acquiring a two-dimensional ultrasound image of the lesion in real time using an ultrasound probe, and registering the two-dimensional ultrasound image with a preoperative three-dimensional image of the lesion to obtain a first registration result, wherein the ultrasound probe has a first spatial positioning device; after ablation, performing three-dimensional ultrasound imaging on the ablation area using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and registering the two-dimensional ultrasound image of the ablation area with the postoperative three-dimensional ultrasound image to obtain a second registration result; obtaining a three-dimensional model of the lesion based on the preoperative three-dimensional image, and obtaining a three-dimensional model of the ablation lesion based on the postoperative three-dimensional ultrasound image; mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space based on the first registration result and the second registration result, and obtaining ablation residue based on the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion; generating a three-dimensional model of a simulated ablation lesion based on simulated ablation parameters, and displaying the three-dimensional model of the simulated ablation lesion and the ablation residue mapped to the same image space.

[0027] A fourth aspect of this application provides an ultrasound imaging system, comprising: an ultrasound probe; a transmitting circuit for exciting the ultrasound probe to emit ultrasound waves toward a target tissue; a receiving circuit for controlling the ultrasound probe to receive the echo of the ultrasound waves to obtain the echo signal of the ultrasound waves; and a processor for executing the steps of the method for displaying the ablation effect as described above.

[0028] The ablation effect display method and ultrasound imaging system according to the embodiments of this application can register the preoperative three-dimensional image and the postoperative three-dimensional ultrasound image in a timely and accurate manner during the ablation procedure, map the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space, obtain the ablation residue, and overlay the location information of the ablation residue with the real-time two-dimensional ultrasound image and the three-dimensional model of the simulated ablation lesion, thereby enabling real-time evaluation of the ablation effect of the simulated ablation parameters and timely needle ablation of the ablation residue. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] In the attached diagram:

[0031] Figure 1 A schematic block diagram of an ultrasound imaging system according to an embodiment of this application is shown;

[0032] Figure 2 A schematic flowchart illustrating a method for displaying the ablation effect according to an embodiment of this application;

[0033] Figure 3 A schematic diagram illustrating spatial transformation relationships according to an embodiment of this application is shown;

[0034] Figure 4 A schematic diagram showing a display interface according to an embodiment of this application is provided.

[0035] Figure 5 A schematic flowchart illustrating a method for displaying the ablation effect according to another embodiment of this application;

[0036] Figure 6 A schematic flowchart illustrating a method for displaying the ablation effect according to yet another embodiment of this application is shown. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. Based on the embodiments of this application described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this application.

[0038] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0039] It should be understood that this application can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0040] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. When used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising” and / or “including,” when used in this specification, identify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups. When used herein, the term “and / or” includes any and all combinations of the associated listed items.

[0041] To fully understand this application, a detailed structure will be presented in the following description to illustrate the technical solution proposed in this application. Optional embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other implementation methods.

[0042] Below, first refer to Figure 1 An ultrasound imaging system according to an embodiment of this application is described. Figure 1 A schematic structural block diagram of an ultrasound imaging system 100 according to an embodiment of this application is shown.

[0043] like Figure 1As shown, the ultrasound imaging system 100 includes an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116, and a display 118. Further, the ultrasound imaging system may also include a transmit / receive selection switch 120 and a beamforming module 122. The transmitting circuit 112 and the receiving circuit 114 can be connected to the ultrasound probe 110 via the transmit / receive selection switch 120.

[0044] The ultrasonic probe 110 includes multiple transducer elements. These elements can be arranged in a row to form a linear array, or in a two-dimensional matrix to form a planar array. They can also form a convex array. Each transducer element is used to emit ultrasonic waves based on an excitation electrical signal, or to convert received ultrasonic waves into electrical signals. Therefore, each transducer element can be used to achieve the mutual conversion between electrical pulse signals and ultrasonic waves, thereby enabling the emission of ultrasonic waves to the target area of ​​the object being tested, and also to receive ultrasonic wave echoes reflected back from the tissue. During ultrasonic testing, the transmission and reception sequences can be used to control which transducer elements are used to emit ultrasonic waves and which are used to receive ultrasonic waves, or to control the transducer elements to be used in time-slotted manner for emitting ultrasonic waves or receiving ultrasonic wave echoes. Transducer elements participating in ultrasonic wave emission can be simultaneously excited by electrical signals, thus emitting ultrasonic waves simultaneously; alternatively, transducer elements participating in ultrasonic beam emission can be excited by several electrical signals with a certain time interval, thus continuously emitting ultrasonic waves with a certain time interval.

[0045] During ultrasound imaging, the transmitting circuit 112 sends a delayed-focused transmission pulse to the ultrasound probe 110 via the transmit / receive selection switch 120. Excited by the transmission pulse, the ultrasound probe 110 emits an ultrasonic beam towards the tissue of the target area of ​​the object being measured. After a certain delay, it receives the ultrasonic echo reflecting back from the tissue of the target area, carrying tissue information, and converts this ultrasonic echo back into an electrical signal. The receiving circuit 114 receives the electrical signal converted by the ultrasound probe 110, obtains the ultrasonic echo signal, and sends these ultrasonic echo signals to the beamforming module 122. The beamforming module 122 performs focusing delay, weighting, and channel summation on the ultrasonic echo data, and then sends it to the processor 116. The processor 116 performs signal detection, signal enhancement, data conversion, and logarithmic compression on the ultrasonic echo signal to form an ultrasound image. The ultrasound image obtained by the processor 116 can be displayed on the display 118 or stored in the memory 124.

[0046] Optionally, the processor 116 can be implemented as software, hardware, firmware, or any combination thereof, and can use one or more application-specific integrated circuits (ASICs), one or more general-purpose integrated circuits, one or more microprocessors, one or more programmable logic devices, or any combination of the foregoing circuits and / or devices, or other suitable circuits or devices. Furthermore, the processor 116 can control other components in the ultrasound imaging system 100 to perform the corresponding steps of the methods in the various embodiments of this specification.

[0047] The display 118 is connected to the processor 116. The display 118 can be a touch screen, an LCD screen, etc.; or, the display 118 can be an independent display such as an LCD screen or a television, separate from the ultrasound imaging system 100; or, the display 118 can be the screen of an electronic device such as a smartphone or tablet, etc. The number of displays 118 can be one or more.

[0048] The display 118 can display the ultrasound images obtained by the processor 116. Furthermore, while displaying the ultrasound images, the display 118 can also provide a graphical user interface for human-machine interaction. One or more controlled objects can be set on the graphical interface, allowing the user to input operation commands using a human-machine interaction device to control these controlled objects and perform corresponding control operations. For example, icons can be displayed on the graphical interface, and the human-machine interaction device can be used to operate these icons to perform specific functions, such as drawing a region of interest bounding box on the ultrasound image.

[0049] Optionally, the ultrasound imaging system 100 may also include other human-machine interface devices besides the display 118, which are connected to the processor 116. For example, the processor 116 may be connected to the human-machine interface device via an external input / output port, which may be a wireless communication module, a wired communication module, or a combination of both. The external input / output port may also be based on USB, bus protocols such as CAN, and / or wired network protocols.

[0050] The human-computer interaction device may include an input device for detecting user input information. This input information may be, for example, control commands for the timing of ultrasound transmission / reception, operational input commands for drawing points, lines, or boxes on an ultrasound image, or other types of commands. The input device may include one or a combination of several of the following: a keyboard, mouse, scroll wheel, trackball, mobile input device (e.g., a mobile device with a touchscreen, a mobile phone, etc.), a multi-function knob, etc. The human-computer interaction device may also include an output device such as a printer.

[0051] The ultrasound imaging system 100 may also include a memory 124 for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, etc. The memory may be a flash memory card, solid-state memory, hard disk, etc. It may be volatile and / or non-volatile memory, removable memory and / or non-removable memory, etc.

[0052] It should be understood that Figure 1 The components included in the ultrasound imaging system 100 shown are merely illustrative and may include more or fewer components; this application embodiment does not limit this.

[0053] The following reference Figure 2 This application describes a method for displaying the ablation effect according to embodiments. Figure 2 This is a schematic flowchart of a method 200 for displaying the ablation effect according to an embodiment of this application. Specifically, the method 200 for displaying the ablation effect according to an embodiment of this application includes the following steps:

[0054] In step S210, before ablation, a two-dimensional ultrasound image of the lesion is acquired in real time by an ultrasound probe, and the two-dimensional ultrasound image is registered with the preoperative three-dimensional image of the lesion to obtain a first registration result. The ultrasound probe has a first spatial positioning device.

[0055] In step S220, after ablation, the ablation area is subjected to three-dimensional ultrasound imaging using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and the two-dimensional ultrasound image of the ablation area is registered with the postoperative three-dimensional ultrasound image to obtain a second registration result.

[0056] In step S230, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image, and a three-dimensional model of the ablation lesion is obtained based on the postoperative three-dimensional ultrasound image.

[0057] In step S240, based on the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion.

[0058] In step S250, a three-dimensional model of the simulated ablation foci is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation foci and the ablation residue are mapped to the same image space.

[0059] In step S260, the simulated ablation effect evaluation information of the simulated ablation foci on the ablation residue is obtained based on the three-dimensional model of the simulated ablation foci and the ablation residue;

[0060] In step S270, the simulated ablation effect evaluation information is displayed.

[0061] The ablation effect display method 200 of this application embodiment obtains a three-dimensional model of the lesion based on pre-acquired preoperative three-dimensional images and a three-dimensional model of the ablation site based on postoperative three-dimensional images. Image registration maps the three-dimensional models of the lesion and the ablation site to the same image space to obtain the ablation residue. Then, a three-dimensional model of the simulated ablation site is generated based on simulated ablation parameters. The simulated ablation effect is evaluated based on the three-dimensional model of the simulated ablation site mapped to the same image space and the ablation residue. The ablation effect display method 200 of this application embodiment can obtain the ablation residue promptly after ablation and evaluate the ablation effect of the simulated ablation parameters on the ablation residue in real time, enabling users to perform supplementary needle ablation based on the original navigation information during the ablation process.

[0062] Specifically, in step S210, before the ablation procedure, an ultrasound probe equipped with a spatial positioning device is used to scan the lesion to obtain a two-dimensional ultrasound image. The spatial positioning device is, for example, a positioning sensor attached to the ultrasound probe. The lesion can be a tumor in the target tissue, the subject of the test is a patient who needs to undergo ablation, and the target tissue of the subject of the test can be various diseased organs such as the liver, stomach, lungs, pancreas, thyroid, breast, and intestines.

[0063] For example, combined Figure 1 In step S210, the transmit / receive selection switch 120 can activate the ultrasound probe 110 to periodically emit ultrasound waves to the lesion of the object under test via the transmitting circuit 112. The ultrasound probe 110 receives the ultrasound echoes returning from the lesion of the object under test via the receiving circuit 114 and converts them into ultrasound echo signals. The beamforming module 122 performs beamforming processing on the ultrasound echo signals, including focusing delay, weighting, and channel summation. Then, the beamformed ultrasound echo data is sent to the processor 118 for signal detection, signal enhancement, data conversion, logarithmic compression, and other processing to obtain a two-dimensional ultrasound image. This two-dimensional ultrasound image is a grayscale image, i.e., a B-mode ultrasound image.

[0064] After acquiring real-time two-dimensional ultrasound images, the two-dimensional ultrasound images are registered with the preoperative three-dimensional images of the lesion to obtain the registration results.

[0065] Preoperative three-dimensional images of the lesion can be acquired using 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 equipment. Because three-dimensional reconstruction is time-consuming, the three-dimensional images of the lesion are acquired before surgery.

[0066] For example, users can import preoperative three-dimensional images of lesions into the ultrasound imaging system before starting ultrasound imaging. Import methods include, but are not limited to, importing via storage media such as USB flash drives or CDs, or importing via network transmission.

[0067] Registering a preoperatively acquired 3D image of the lesion with a real-time acquired 2D ultrasound image allows for the utilization of the spatial information of the 3D image while retaining the real-time capability of the 2D ultrasound image. Registering a 2D ultrasound image with a preoperative 3D image involves finding the spatial transformation relationship between the two images, ensuring a one-to-one geometric correspondence between corresponding points. Registration can include rigid body registration or non-rigid body registration.

[0068] Specifically, during ultrasound scanning, a first spatial positioning device fixed to the ultrasound probe continuously provides position information as the probe moves. A magnetic positioning controller obtains the 6-DOF spatial orientation of the ultrasound probe. Using image information and magnetic positioning information, the two-dimensional ultrasound image and the preoperative 3D image can be registered. The processor of the ultrasound imaging system can be connected to the first spatial positioning device on the ultrasound probe via wired or wireless means to acquire the probe's position information. The first spatial positioning device can employ any type of structure or principle, such as an optical positioning sensor or a magnetic field positioning sensor, to position the ultrasound probe.

[0069] The spatial transformation relationship between two-dimensional ultrasound images and preoperative three-dimensional images is as follows: Figure 3 As shown, it can be expressed as a formula:

[0070] T sec =P·R probe ·A·T us (Formula 1)

[0071] Among them, T us T represents the coordinates of a point in the space of a two-dimensional ultrasound image. secA represents the coordinates of the corresponding point in the preoperative three-dimensional image space; A is the spatial coordinate of the two-dimensional ultrasound image (represented by X). us Y us Z us The space from the first spatial positioning device (coordinates represented as X) sensor Y sensor Z sensor The coordinate transformation relationship of R probe It is the spatial coordinate space of the spatial positioning device to the world coordinate space (coordinates are represented as X). MG Y MG Z MG The coordinate transformation relationship of P is the coordinate transformation relationship from the world coordinate system to the preoperative three-dimensional image.

[0072] Therefore, the coordinate transformation matrix between the two-dimensional ultrasound image space and the preoperative three-dimensional image space is P·R. probe • A. During ultrasound imaging, the first spatial positioning device is fixed to the ultrasound probe. When the model of the ultrasound probe remains unchanged, A remains constant and can be determined by calibration before registration. R probe The readings are directly obtained from the magnetic positioning controller; as the ultrasound probe moves, R... probe It is constantly changing. Therefore, the spatial positioning information (i.e., R) obtained from the first spatial positioning device can be used as a basis. probe The two-dimensional ultrasound image is registered with the preoperative three-dimensional image of the lesion to obtain the transformation relationship between the space of the two-dimensional ultrasound image and the space of the three-dimensional image.

[0073] In one embodiment, P needs to be calculated using the image registration result (i.e., the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image). If the image registration result between the two-dimensional ultrasound image and the preoperative three-dimensional image is M, then:

[0074] P = M·A -1 ·R probe -1 (Formula 2)

[0075] In other words, to obtain the transformation relationship between the space of a two-dimensional ultrasound image and the space of a three-dimensional image, it is first necessary to match the two-dimensional ultrasound image with a two-dimensional cross-section in the preoperative three-dimensional image to obtain the matching cross-section of the two-dimensional ultrasound image in the preoperative three-dimensional image. Then, based on the coordinates of the same feature points in the two-dimensional ultrasound image and the coordinates in the matching cross-section, the coordinate transformation matrix M between the two-dimensional ultrasound image and the matching cross-section is obtained. Based on the transformation relationship A between the space of the two-dimensional ultrasound image and the space of the first spatial positioning device, and the transformation relationship R between the space of the first spatial positioning device and the world coordinate space... probe The transformation relationship between the spatial representation of a two-dimensional ultrasound image and the world coordinate space (R) can be obtained.probe ·A); Based on the coordinate transformation matrix M and the transformation relationship between the space of the two-dimensional ultrasound image and the world coordinate space, the transformation relationship P between the three-dimensional image space and the world coordinate space can be obtained based on the above formula 2.

[0076] The image registration method used in this application to match two-dimensional ultrasound images with two-dimensional cross-sections in preoperative three-dimensional images can include automatic registration, interactive registration, manual registration, or any combination of the above three methods. Registration can include anatomical feature-based registration, geometric feature-based registration, pixel grayscale correlation-based registration, external positioning marker-based registration, etc. Registration can also include any other suitable registration method.

[0077] In one embodiment, registering a two-dimensional ultrasound image with a three-dimensional image specifically includes: matching the two-dimensional ultrasound image with a two-dimensional cross-section in the preoperative three-dimensional image to obtain a matching cross-section of the two-dimensional ultrasound image in the preoperative three-dimensional image; and obtaining a coordinate transformation matrix between the two-dimensional ultrasound image and the matching cross-section based on the coordinates of the same feature points in the two-dimensional ultrasound image and the coordinates in the matching cross-section. The matching operation can be performed manually by the user, i.e., the user's manual alignment operation can be received to align the two-dimensional ultrasound image with the corresponding cross-section in the preoperative three-dimensional image to obtain a matching cross-section of the two-dimensional ultrasound image in the preoperative three-dimensional image.

[0078] In another embodiment, identical tissues in the two-dimensional ultrasound image and the preoperative three-dimensional image can be identified for automatic alignment. When the target site is the liver, the identified identical tissues include, for example, blood vessels and the liver capsule. After aligning the two-dimensional ultrasound image with the preoperative three-dimensional image, the coordinate transformation relationship can be calculated based on the coordinates of the overlapping points.

[0079] In other embodiments, feature points in the two-dimensional ultrasound image and the preoperative three-dimensional image can be determined first. These feature points generally possess certain properties such as translation invariance, rotation invariance, scale invariance, insensitivity to illumination, and modal invariance. The properties of the feature points are determined by the feature point extraction method. Subsequently, features of the feature points are extracted. These features can be generated using neighborhood gradient histograms, neighborhood autocorrelation, grayscale, etc. Then, the feature points of the two-dimensional ultrasound image are matched with the feature points of the preoperative three-dimensional ultrasound image, and the coordinate transformation relationship is calculated based on the matched feature points.

[0080] In addition, it can identify the location of external markers in preoperative 3D images and determine their spatial position in 2D ultrasound images based on magnetic navigation for automatic alignment. External markers, such as one or more metallic markers placed on the patient's body surface, will form a distinct light spot in the preoperative 3D image, thus revealing their position. During ultrasound image scanning, a positioning sensor is installed on the ultrasound probe to obtain the position of the metallic markers. By aligning the markers in the preoperative 3D ultrasound image with those in the 2D ultrasound image, registration between the 2D and preoperative 3D ultrasound images can be achieved.

[0081] When the preoperative three-dimensional image is a preoperative three-dimensional ultrasound image obtained by freehand three-dimensional ultrasound imaging of the lesion using an ultrasound probe, the two-dimensional ultrasound image is registered with the preoperative three-dimensional image of the lesion. This includes obtaining the transformation relationship P between the space of the two-dimensional ultrasound image and the space of the three-dimensional image based on the positioning information obtained by the first spatial positioning device. Since the position information can be obtained during the freehand three-dimensional ultrasound imaging process, P mentioned above can be obtained automatically, thereby improving the speed of image registration.

[0082] In one embodiment, during ablation surgery of abdominal soft tissues such as the liver and lungs, the position of the soft tissues and lesions may shift due to the patient's respiratory movements. Therefore, a respiratory correction function is introduced during the registration process to correct for this shift. For example... Figure 3 As shown, the added T(t) is the spatial mapping method used for respiratory correction. T(t) changes over time. The spatial transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image can be expressed by the following formula:

[0083] T Sec =T(t)·P·R probe ·A·T us (Formula 3)

[0084] In addition, methods such as helping the patient breathe steadily can be used to correct positional shifts caused by respiratory movements.

[0085] In practice, the doctor first imports the preoperative 3D image into the ultrasound imaging system before registration. Then, the doctor uses an ultrasound probe to scan the target tissue. If a lesion is found in the scanned image, the 2D ultrasound image is frozen. A corresponding 2D section is then located in the preoperative 3D image, and the frozen 2D ultrasound image is registered with the corresponding 2D section of the preoperative 3D image. During ablation, the ablation can be guided by the real-time 2D ultrasound image and the 3D model of the lesion. The ablation procedure involves inserting an ablation needle into the lesion, where heat is generated to coagulate and kill the lesion cells. Depending on the situation, one or more ablation needles can be used, as one or more ablation lesions can be obtained.

[0086] In step S220, after ablation, three-dimensional ultrasound imaging of the ablation area is performed using an ultrasound probe to obtain a postoperative three-dimensional ultrasound image. The two-dimensional ultrasound image of the ablation area is then registered with the postoperative three-dimensional ultrasound image to obtain a second registration result.

[0087] Among these, three-dimensional ultrasound imaging can be freehand three-dimensional ultrasound imaging. Using freehand three-dimensional ultrasound imaging to obtain postoperative three-dimensional ultrasound images allows for real-time acquisition of three-dimensional images of the ablation lesion, which are then registered with real-time two-dimensional ultrasound images. Freehand three-dimensional ultrasound imaging utilizes traditional two-dimensional ultrasound scanning equipment combined with spatial positioning devices (including but not limited to optical or magnetic positioning systems). Through freehand scanning, a series of two-dimensional ultrasound images and corresponding spatial position information are obtained, based on which three-dimensional ultrasound volume data is reconstructed, and finally, the reconstructed three-dimensional volume data is rendered and displayed. In the freehand scanning method, the operator holds an ultrasound probe equipped with a spatial positioning device and scans the target tissue in a relatively free manner and in a specific order. The position and angle of the acquired images are relatively arbitrary. From a clinical application perspective, freehand scanning is easier to integrate with ablation surgical instruments.

[0088] Freehand 3D ultrasound imaging comprises three stages: acquisition of 2D ultrasound images, reconstruction of 3D volume data, and 3D rendering and display. 3D volume data reconstruction is one of the key technical aspects of achieving high-precision Freehand 3D ultrasound imaging. Depending on the reconstruction objective, 3D volume data reconstruction can be divided into two main categories: surface-based reconstruction methods and volume data-based reconstruction methods. Surface-based reconstruction methods require precise contour segmentation of tissues and organs, and cannot display internal tissue structures. Therefore, this application primarily employs a volume data-based reconstruction method, which uses a certain number of voxels arranged according to their corresponding spatial positions to construct a 3D image. This method can reconstruct all tissue information of the human body structure.

[0089] The reconstruction process of Freehand 3D ultrasound volume data mainly includes three steps: volume data structure construction, sampled pixel reallocation, and voxel value calculation in the volume data. The first step in 3D ultrasound reconstruction is to determine the size specifications of the reconstructed volume data based on the 2D ultrasound image information, specifically including the origin of the volume data coordinates, the dimension, and the physical intervals between voxels. The size of the reconstructed volume data structure can be determined using methods such as image keyframes or principal component analysis, or the size of the reconstruction region can be quickly determined based on bounding box technology, without needing to pre-determine or limit the area of ​​the reconstruction scan. The bounding box is completely determined only by its minimum point (Xmin, Ymin, Zmin) and maximum point (Xmax, Ymax, Zmax). The second step in 3D ultrasound reconstruction is to reallocate the pixels on the 2D plane, that is, to traverse every pixel point on the 2D ultrasound plane and map the pixels to the 3D volume data according to the transformation relationship of their position information. If more than one pixel falls into the same voxel, it is necessary to select appropriate values ​​according to certain rules (such as average value, maximum value, first or last arriving value, etc.).

[0090] Because the sampling data of Freehand 3D ultrasound imaging is sparse, blank areas will inevitably remain in the reconstructed volume data after pixel allocation. Therefore, the third step in the reconstruction process is to fill in the blank volume data areas (hole-filling). Various interpolation methods based on known data can be used for hole-filling, the basic principle of which is to use the known pixel values ​​of the surrounding area to interpolate the unknown voxel values ​​in the voxel grid.

[0091] Subsequently, based on the positioning information obtained by the spatial positioning device of the ultrasound probe, the postoperative 3D ultrasound image and the real-time acquired 2D ultrasound image after ablation are registered in real time to obtain a second registration result. Registering the postoperative 3D ultrasound image with the real-time acquired 2D ultrasound image utilizes the spatial information of the 3D ultrasound image while also retaining the real-time capability of the 2D ultrasound image. Registering the 2D ultrasound image with the postoperative 3D ultrasound image involves finding the spatial transformation relationship between the 2D ultrasound image and the preoperative 3D image, ensuring a one-to-one geometric correspondence between corresponding points in the 2D ultrasound image and the preoperative 3D image.

[0092] In one embodiment, the second registration result includes a second transformation relationship between the postoperative three-dimensional ultrasound space and the world coordinate space. In this embodiment, since the postoperative three-dimensional ultrasound image is obtained based on the Freehand three-dimensional ultrasound imaging method, and the principle of Freehand three-dimensional ultrasound imaging is based on the reconstruction of three-dimensional ultrasound volume data from two-dimensional ultrasound images and corresponding spatial position information, the transformation relationship from the world coordinate system to the postoperative three-dimensional ultrasound image space is known. Therefore, there is no need to first match image coordinate points and then perform registration based on the matching results, greatly reducing registration time and enabling real-time registration during ultrasound imaging. Furthermore, the transformation relationship from the world coordinate system to the postoperative three-dimensional ultrasound image space, the transformation relationship A from the ultrasound image space to the spatial positioning device space, and the transformation relationship R from the spatial positioning device space to the world coordinate space are known. probe Furthermore, it is possible to directly obtain the coordinate transformation relationship between the coordinates of the same point in the space of a two-dimensional ultrasound image and the coordinates in the space of a postoperative three-dimensional ultrasound image.

[0093] In addition, the second registration result can be corrected according to the breathing correction function. The specific correction method is the same as the method for correcting the first registration result according to the breathing correction function.

[0094] In step S230, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image, and a three-dimensional model of the ablation site is obtained based on the three-dimensional ultrasound image. Exemplarily, the step of obtaining the three-dimensional model of the lesion based on the preoperative three-dimensional image can be performed before ultrasound imaging of the lesion.

[0095] In this embodiment, any suitable method can be used to segment lesions in preoperative 3D images, and a 3D model of the lesion can be reconstructed based on the segmentation results. Segmentation methods include, but are not limited to, automatic segmentation, manual segmentation, or interactive segmentation. For example, automatic segmentation methods can employ one or more of the following: random walk model, region growing, graph cut algorithm, pattern recognition, Markov field, adaptive thresholding, etc. Manual segmentation involves the user outlining the edges of the lesion on multiple 2D slices of the preoperative 3D image and interpolating between every two layers of edges, or outlining the edges of the lesion on each 2D slice and then generating a 3D contour of the lesion based on these 2D edges. Interactive segmentation methods incorporate user interaction as algorithm input during the segmentation process, enabling objects with high-level semantics in the image to be completely extracted. For example, the user can select an initial segmentation area; then, the 3D contour of the lesion is automatically segmented within the initial segmentation area. For example, users can draw some points or lines within the initial segmentation range. The interactive segmentation algorithm can then obtain the user-drawn points or lines as input and automatically create a weighted map of the similarity between each pixel and the foreground or background. By solving for the minimum cut, the foreground and background can be distinguished, thereby determining the three-dimensional contour of the lesion.

[0096] Next, surface reconstruction is performed based on the segmented 3D contour to generate a 3D model of the lesion. This can be achieved using a surface rendering method. First, the lesion structure surface is reconstructed from the 3D lesion data; that is, the lesion structure surface is reconstructed based on the segmentation results and contour lines. Then, a realistic 3D lesion entity is generated using a suitable lighting model and texture mapping method. The Marching Cube (MC) algorithm is a classic algorithm in surface display algorithms, also known as "isosurface extraction." Essentially, it treats a series of two-dimensional slice data as a 3D data field, extracting materials with certain threshold values ​​and connecting them into triangular facets in a certain topological form. The basic idea of ​​the MC algorithm is to process each volume element in the volume data field one by one, and determine the construction form of the isosurface within the volume element based on the values ​​of each vertex. During the algorithm implementation, the construction of isosurfaces within the volume element involves the following two main calculations: 1. Calculation of the approximation of isosurfaces by triangular facets within the volume element; 2. Calculation of the normal vectors of each vertex of the triangular facets.

[0097] After calculating the vertex values, the vertex energy values ​​are compared with the set energy threshold. If the vertex value is less than the threshold, it is set as an external point 1. If the vertex value is greater than the threshold, it means that the point is inside the ellipsoid and is set as 0.

[0098] It is understandable that, since the image displayed on the monitor is still a two-dimensional plane, surface rendering is actually a projection of the realism of a three-dimensional object onto a two-dimensional plane, similar to taking a "photograph" of a three-dimensional object from a point of view, and the image of the three-dimensional object displayed in the photograph.

[0099] Volume rendering is a technique that directly generates two-dimensional images on a screen from a three-dimensional data field. A digital image corresponds to a two-dimensional array describing the color and intensity of data elements; these elements are called pixels. Similarly, a three-dimensional data field can be described by a three-dimensional array with corresponding values ​​called voxels. Similar to a two-dimensional raster in a digital image, a volume data field can be viewed as a three-dimensional raster. A typical three-dimensional data field is a medical image three-dimensional data field, obtained from a series of medical image slices obtained by CT (computed tomography) or MRI (magnetic resonance imaging) scans. These slice data are regularized according to position and angle information, forming a regular data field in three-dimensional space composed of a uniform grid. Each node on the grid is a voxel, describing the object's density and other attributes. The biggest advantage of volume rendering technology is its ability to explore the internal structure of objects and describe highly shaped objects, such as muscles. Surface rendering is weaker in these aspects, but its rendering speed is slightly slower.

[0100] The method for obtaining a 3D model of the ablation lesion from postoperative 3D ultrasound images is similar to the method for obtaining a 3D model of the lesion from preoperative 3D images. First, the ablation lesion in the postoperative 3D ultrasound image is segmented. Then, surface reconstruction is performed based on the segmented 3D contour to generate a 3D model of the ablation lesion. Specific segmentation and surface reconstruction methods can be found in the description of the 3D lesion model generation section above.

[0101] In step S240, based on the first registration result in step S210 and the second registration result in step S220, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion.

[0102] For example, the first registration result includes a first transformation relationship between the space of the preoperative 3D image and the world coordinate space, and the second registration result includes a second transformation relationship between the space of the postoperative 3D ultrasound and the world coordinate space. Based on the first and second transformation relationships, a third transformation relationship between the space of the preoperative 3D image and the space of the postoperative 3D ultrasound image can be obtained. Based on the third transformation relationship, the 3D model of the lesion and the 3D model of the ablation lesion are mapped to the same image space for display. For example, based on the first registration result, the coordinate transformation relationship P1 between the space of the preoperative 3D image and the world coordinate space is obtained; based on the positioning information obtained by the spatial positioning device, the coordinate transformation relationship P2 between the space of the postoperative 3D image and the world coordinate space is obtained; and the coordinate transformation relationship F between the space of the preoperative 3D image and the space of the postoperative 3D ultrasound image can be obtained, where F = P2 × P1. -1 The spatial location of the lesion's three-dimensional model in the postoperative three-dimensional ultrasound image can be calculated based on the F matrix. Similarly, the inverse matrix F... -1 =P1×P2 -1 The location of the ablation lesion in the preoperative 3D image can be obtained using a 3D model of the ablation site.

[0103] In addition, based on the first registration result or the second registration result, the two-dimensional ultrasound image acquired in real time in the ablation area and the ablation residue can be mapped to the same space for display. Specifically, the ablation residue can be mapped to the image space where the two-dimensional ultrasound image is located, or both the two-dimensional ultrasound image and the ablation residue can be mapped to the same three-dimensional image space.

[0104] After mapping the 3D model of the lesion and the 3D model of the ablation site to the same image space (the space of the preoperative 3D image or the space of the postoperative 3D ultrasound image), the ablation residue can be obtained based on their overlap. The ablation residue represents the part of the lesion that was not ablated. In one embodiment, the ablation residue is the part of the 3D model of the lesion and its preset safety boundary that is not covered by the 3D model of the ablation site. Here, the safety boundary refers to the requirement that the ablation site covers the edge of the lesion and extends outward by a certain distance during the ablation process to ensure complete ablation of the entire lesion. Therefore, if the safety boundary is not covered by the 3D model of the ablation site, it is also considered as the ablation residue.

[0105] In one embodiment, a 3D model of the ablation residue can be generated and displayed based on the 3D model of the lesion and the 3D model of the ablation site. For example, in the mask image containing the 3D model of the lesion and its safety boundary, assuming the label value of the 3D model of the lesion is 1, the label value of the safety boundary is 2, and the label value of the background is 0, when calculating the ablation residue, the label value of the 3D model of the lesion not covered by the 3D model of the ablation site is set to 3, and the label value of the safety boundary not covered by the 3D model of the ablation site is set to 4. The areas with label values ​​of 3 and 4 are displayed as the 3D model of the ablation residue, while the areas with label values ​​of 1 and 2 are hidden. This ensures that only the 3D model of the ablation residue is displayed on the interface, and the non-overlapping parts of the lesion and the ablation site are not displayed, allowing the user to observe the ablation residue more clearly.

[0106] In another embodiment, a 3D model of the ablation site and a 3D model of the lesion can be displayed in the same image space. The ablation residue is represented by the portion of the lesion's 3D model not covered by the ablation site's 3D model. Both the lesion's and ablation site's 3D models have a certain degree of transparency and can be displayed in different colors. The portion of the lesion's 3D model not covered by the ablation site's 3D model can represent the ablation residue. In this embodiment, the ablation residue can be highlighted, but the non-overlapping portions of the lesion's and ablation site's 3D models are also preserved.

[0107] In step S250, a three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the ablation residue are mapped to the same image space.

[0108] Methods for generating simulated ablation foci also include surface rendering or volume rendering. Unlike the 3D model of the ablation foci, the 3D model of the simulated ablation foci is generated based on simulated ablation parameters. It is used to visualize the ablation effect under the current simulated ablation parameters, allowing the user to determine whether to use those parameters for actual ablation. The 3D model of the simulated ablation foci can be a single-needle ablation model or a multi-needle combined ablation model. For example, when the simulated ablation foci is ellipsoidal, the single-needle ablation model is a single ellipsoid, while the multi-needle combined ablation model includes multiple ellipsoids.

[0109] In one embodiment, generating a three-dimensional model of the simulated ablation lesion based on simulated ablation parameters includes: determining the position of the simulated ablation lesion in a two-dimensional ultrasound image based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth; obtaining the position of the simulated ablation lesion in the image space where the ablation residue is located based on the transformation relationship between the space of the two-dimensional ultrasound image and the image space where the ablation residue is located; and generating a three-dimensional model of the simulated ablation lesion based on the position of the simulated ablation lesion in the image space where the ablation residue is located.

[0110] Specifically, the position of the simulated ablation foci in the two-dimensional ultrasound image is obtained based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth. This includes: determining the position of the center point of the simulated ablation foci in the two-dimensional ultrasound image based on the angle of the puncture frame and the simulated ablation depth; and drawing a three-dimensional model of the simulated ablation foci in the space of the two-dimensional ultrasound image based on the position of the center point of the simulated ablation foci in the two-dimensional ultrasound image and the size of the simulated ablation foci. Furthermore, based on the transformation relationship between the space of the two-dimensional ultrasound image and the space of the preoperative or postoperative three-dimensional image, a three-dimensional model of the simulated ablation foci can be drawn in the image space where the ablation residue is located, thereby mapping the three-dimensional model of the simulated ablation foci and the ablation residue to the same image space. When the three-dimensional model of the simulated ablation foci is a multi-needle combined ablation model, the center coordinates of the simulated ablation foci can be set separately for each ablation model.

[0111] In addition to simulating the center coordinates of the ablation lesion, the ultrasound imaging system also needs to acquire 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 size of the ablation range of the ablation needle to ensure that the ablation area includes the entire ablation residue.

[0112] In this step, the operator can input the given power and ablation duration for the ablation procedure, and obtain the size of the ablation area based on the aforementioned parameters. Alternatively, the operator can pre-set the desired ablation area range (i.e., a preset ablation range) and select the corresponding given power and ablation duration parameters based on this range. Since the ablation area of ​​the ablation needle is typically ellipsoidal, in this step, when setting the ablation area range, only the major and minor axis lengths of the ellipsoid need to be set. It should be noted that the shape of the simulated ablation lesion is not limited to an ellipsoid; it can also include a sphere or cylinder. The operator can set the shape of the simulated ablation lesion according to the shape of the lesion and set different parameters accordingly.

[0113] Assuming the simulated ablation site is ellipsoidal, the operator can set the major and minor axes, tip-to-needle distance, and path depth according to the actual ablation needle model used. The ultrasound imaging system uses these parameters to plot the simulated ablation site on the origin of the coordinate system. The tip-to-needle distance is the distance from the heat source of the ablation needle to the needle tip, and the center point of the simulated ablation site is the location of the path depth minus the tip-to-needle distance. If the ablation needle is inserted using a puncture frame mounted on the ultrasound probe, the puncture frame angle β needs to be set first. The position T of the simulated ablation site within the current ultrasound sector is then calculated using the set puncture frame angle β and the path depth d. us_ablate That is (x us_ablate y us_ablate ),in:

[0114] x us_ablate =d·sinβ (Formula 4)

[0115] y us_ablate =d·cosβ (Formula 5)

[0116] In another embodiment, the position of the simulated ablation foci can be determined based on a second spatial positioning device mounted on the ablation needle, and a three-dimensional model of the simulated ablation foci can be generated based on its position. Determining the position of the simulated ablation foci based on the second spatial positioning device includes: obtaining the position of the simulated ablation foci within the space of the second spatial positioning device; determining the position of the simulated ablation foci in the image space containing the ablation residue based on the correspondence between the space of the second spatial positioning device and the world coordinate space, and the correspondence between the world coordinate space and the image space containing the ablation residue; and determining the position of the simulated ablation foci in the space of the two-dimensional ultrasound image based on the correspondence between the space of the second spatial positioning device and the world coordinate space, and the correspondence between the world coordinate space and the space of the two-dimensional ultrasound image.

[0117] Specifically, when the operator performs puncture using a second spatial positioning device (e.g., Vtrax) mounted on the ablation needle, the angle and depth of the simulated ablation lesion are obtained based on the coordinate transformation of the second spatial positioning device. That is, the coordinates of the simulated ablation lesion in the space of the second spatial positioning device are determined according to the second spatial positioning device. Then, the space of the second spatial positioning device is transformed into the space of the two-dimensional ultrasound image using a transformation matrix from the space of the second spatial positioning device. Finally, the coordinates of the simulated ablation lesion are mapped to the space of the three-dimensional image using a registration matrix between the space of the two-dimensional ultrasound image and the space of the three-dimensional image, so that the simulated ablation lesion and the ablation residue are mapped to the same image space. Assume the coordinates of the simulated ablation lesion in the space of the two-dimensional ultrasound image are T. usablate Then, in the image space where the ablation residue is located, its coordinates are:

[0118] T sec_ablate =M·T us_ablate =P·R probe ·A·T us_ablate (Formula 6)

[0119] When a puncture frame is mounted on the ultrasound probe, the operator moves the ultrasound probe equipped with a positioning sensor. The position of the simulated ablation lesion in the image space where the ablation residue is located will change according to the R in the mapping matrix. probe The position changes accordingly. For example, if the operator is satisfied with the current location of the simulated ablation site, they can click "save," indicating that the current location of the simulated ablation site has been ablated. Subsequently, upon receiving confirmation from the user, the ablation needle can be controlled to ablate the lesion at its current location.

[0120] In step S260, the simulated ablation effect evaluation information of the simulated ablation foci on the ablation residue is obtained based on the three-dimensional model of the simulated ablation foci and the ablation residue.

[0121] In one embodiment, the simulated ablation effect evaluation information includes the ratio of the volume of the portion of the ablation residue covered by the 3D model of the simulated ablation lesion to the total volume of the ablation residue. Specifically, within the same image space, it can be determined whether each coordinate point of the ablation residue falls within the range of the 3D model of the simulated ablation lesion. Ablation residues falling within the range of the 3D model of the simulated ablation lesion are considered to be ablated by the simulated ablation lesion, while lesion locations outside the range of the 3D model of the simulated ablation lesion are considered not to be ablated by the simulated ablation lesion. The volume of the portion of the ablation residue to be ablated can be calculated by traversing and calculating the connected components of the coordinates. The ratio of this portion's volume to the total volume of the ablation residue is the simulated ablation effect evaluation information. The higher the ratio, the better the simulated ablation effect and the higher the usability of the simulated ablation parameters.

[0122] In another embodiment, the simulated ablation effect evaluation information includes the distance between the center point of the ablation residue and the center point of the three-dimensional model of the simulated ablation lesion. The closer the center points are, the higher the overlap between the ablation residue and the three-dimensional model of the simulated ablation lesion, and the better the simulated ablation effect.

[0123] In step S270, the simulated ablation effect evaluation information described above is displayed. This information is used to inform the user of the simulated ablation effect of the current simulated ablation parameters. Furthermore, at least one of the three-dimensional model of the ablation residue and the three-dimensional model of the simulated ablation foci can be displayed to guide the user in setting the simulated ablation parameters.

[0124] In one embodiment, see Figure 4 The system can display three-dimensional models of simulated ablation lesions from different perspectives in at least two display windows on the same display interface, allowing doctors to gain a more comprehensive understanding of the ablation status of the ablation residue at different angles. For example, the perspectives in the two display windows can be adjusted independently, or the perspectives in the two display windows can be at a preset angle, so that when the perspective of one display window is adjusted, the perspective of the other display window rotates synchronously. For instance, display window 401 is used to display the main view, i.e., a view perpendicular to the ultrasound sector, reflecting the view information of the front side of the ablation residue, wherein the three-dimensional model 403 of the ablation residue and the three-dimensional model 404 of the simulated ablation lesion are superimposed on the two-dimensional ultrasound image; the three-dimensional display window 402 is used to display an auxiliary view, reflecting the lateral view information of the ablation residue. In some embodiments, the display window for displaying the auxiliary view can also be implemented as a small window, superimposed on the corner of the display window for displaying the main view.

[0125] In summary, the ablation effect display method 200 of this application embodiment can obtain the ablation residue in a timely manner after ablation and evaluate the ablation effect of simulated ablation parameters on the ablation residue in real time, so that users can perform supplementary needle ablation based on the original navigation information during the ablation process.

[0126] Below, we will refer to Figure 5 A method for displaying the ablation effect according to another embodiment of this application is described. Figure 5 This is a schematic flowchart of a method 500 for displaying the ablation effect according to an embodiment of this application. Figure 5 As shown, the method 500 for displaying the ablation effect according to an embodiment of this application includes the following steps:

[0127] In step S510, after ablation, three-dimensional ultrasound imaging is performed on the ablation residue using an ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and a three-dimensional model of the ablation residue is obtained based on the postoperative three-dimensional ultrasound image, wherein the ultrasound probe has a first spatial positioning device.

[0128] In step S520, the postoperative three-dimensional ultrasound image is registered with the two-dimensional ultrasound image acquired in real time by the ultrasound probe to obtain the registration result;

[0129] In step S530, a three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the three-dimensional model of the ablation residue are mapped to the same image space based on the registration result.

[0130] In step S540, the simulated ablation effect evaluation information of the simulated ablation foci on the ablation residue is obtained based on the three-dimensional model of the simulated ablation foci and the three-dimensional model of the ablation residue.

[0131] In step S550, the three-dimensional model of the ablation residue, the three-dimensional model of the simulated ablation foci, and the simulated ablation effect evaluation information are displayed.

[0132] The main difference between the ablation effect display method 500 of this application embodiment and the ablation effect display method 200 described above is that, in the ablation effect display method 500, the ablation residue is not obtained based on the three-dimensional model of the lesion and the three-dimensional model of the ablation site, but rather based on the postoperative three-dimensional ultrasound image obtained by Freehand three-dimensional ultrasound imaging of the ablation area after ablation. Specifically, after obtaining the postoperative three-dimensional ultrasound image, the ablation residue in the postoperative three-dimensional ultrasound image is segmented. Then, surface reconstruction is performed based on the three-dimensional contour of the segmented ablation residue to generate a three-dimensional model of the ablation residue. The specific segmentation method and surface reconstruction method can be referred to the relevant description in step S230 of the ablation effect display method 200.

[0133] Other specific details of the ablation effect display method 500 can be found in the relevant description in the ablation effect display method 200, and will not be repeated here.

[0134] Below, we will refer to Figure 6 A method for displaying the ablation effect according to another embodiment of this application is described. Figure 6 This is a schematic flowchart of a method 600 for displaying the ablation effect according to an embodiment of this application. Figure 6 As shown, the method 600 for displaying the ablation effect according to an embodiment of this application includes the following steps:

[0135] In step S610, before ablation, a two-dimensional ultrasound image of the lesion is acquired in real time by an ultrasound probe, and the two-dimensional ultrasound image is registered with the preoperative three-dimensional image of the lesion to obtain a first registration result. The ultrasound probe has a first spatial positioning device.

[0136] In step S620, after ablation, the ablation area is subjected to three-dimensional ultrasound imaging using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and the two-dimensional ultrasound image of the ablation area is registered with the postoperative three-dimensional ultrasound image to obtain a second registration result.

[0137] In step S630, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image, and a three-dimensional model of the ablation lesion is obtained based on the postoperative three-dimensional ultrasound image.

[0138] In step S640, based on the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion.

[0139] In step S650, a three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the ablation residue are mapped to the same image space for display.

[0140] The main difference between the ablation effect display method 600 of this application embodiment and the ablation effect display method 200 described above is that, in the ablation effect display method 600, the ablation effect is presented to the user by superimposing a three-dimensional model of the simulated ablation foci and the ablation residue, rather than being limited to presenting the simulated ablation effect through simulated ablation effect evaluation information. The user can determine whether to use simulated ablation parameters to perform supplementary needle ablation on the ablation residue based on the proportion of the ablation residue covered by the three-dimensional model of the simulated ablation foci. Other specific details of the ablation effect display method 600 can be found in the relevant description in the ablation effect display method 200, and will not be repeated here.

[0141] Another embodiment of this application provides an ultrasound imaging system for implementing the above-described ablation effect display method 200, ablation effect display method 500, or ablation effect display method 600. This ultrasound imaging system includes an ultrasound probe, a transmitting circuit, a receiving circuit, a processor, and a display. (Refer to previous section) Figure 1 This ultrasound imaging system can achieve the following: Figure 1The ultrasound imaging system 100 shown may include an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116, and a display 118. Optionally, the ultrasound imaging system 100 may also include a transmit / receive selection switch 120 and a beamforming module 122. The transmitting circuit 112 and the receiving circuit 114 can be connected to the ultrasound probe 110 via the transmit / receive selection switch 120. The relevant descriptions of each component can be found in the descriptions above and will not be repeated here. The above only describes the main functions of each component of the ultrasound imaging system; for more details, please refer to the descriptions of the ablation effect display methods 200, 500, and 600.

[0142] The ultrasound imaging system of this application embodiment can evaluate the simulated ablation effect of simulated ablation parameters on ablation residues, making it convenient for users to perform supplementary needle ablation on ablation residues in a timely manner.

[0143] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] 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 merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0146] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0147] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0148] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0149] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0150] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0151] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0152] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. An ultrasound imaging system, characterized in that, include: Ultrasonic probe; A transmitting circuit is used to excite the ultrasound probe to emit ultrasound waves toward the target tissue. A receiving circuit is used to control the ultrasonic probe to receive the echo of the ultrasonic wave in order to obtain the echo signal of the ultrasonic wave. The processor is configured to perform the following steps: before ablation, acquiring a two-dimensional ultrasound image of the lesion in real time using the ultrasound probe, and registering the two-dimensional ultrasound image with a preoperative three-dimensional image of the lesion to obtain a first registration result, wherein the ultrasound probe has a first spatial positioning device; After ablation, the ablation area is subjected to three-dimensional ultrasound imaging using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image. The two-dimensional ultrasound image of the ablation area is then registered with the postoperative three-dimensional ultrasound image to obtain a second registration result. A three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image, and a three-dimensional model of the ablation zone is obtained based on the postoperative three-dimensional ultrasound image. Based on the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion. A three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the ablation residue are mapped to the same image space; Based on the three-dimensional model of the simulated ablation site and the ablation residue, the simulated ablation effect evaluation information of the simulated ablation site on the ablation residue is obtained, wherein the simulated ablation effect evaluation information is used to determine whether to use the simulated ablation parameters to perform supplementary needle ablation on the ablation residue; The simulated ablation effect evaluation information is displayed.

2. The ultrasound imaging system according to claim 1, characterized in that, Also includes: Display at least one of the three-dimensional model of the ablation residue and the three-dimensional model of the simulated ablation foci.

3. The ultrasound imaging system according to claim 1, characterized in that, Also includes: The display shows a three-dimensional model of the ablation site and a three-dimensional model of the lesion, and the ablation residue is presented through the part of the three-dimensional model of the lesion that is not covered by the three-dimensional model of the ablation site.

4. The ultrasound imaging system according to claim 1, characterized in that, The simulated ablation effect evaluation information includes the ratio of the volume of the portion of the ablation residue covered by the three-dimensional model of the simulated ablation foci to the volume of the ablation residue.

5. The ultrasound imaging system according to claim 1, characterized in that, The simulated ablation effect evaluation information includes the distance between the center point of the ablation residue and the center point of the three-dimensional model of the simulated ablation lesion.

6. The ultrasound imaging system according to claim 4 or 5, characterized in that, The ablation residue includes the portion of the lesion's three-dimensional model and its preset safety boundary that is not covered by the three-dimensional model of the ablation lesion.

7. The ultrasound imaging system according to claim 1, characterized in that, The process of generating a three-dimensional model of the simulated ablation lesion based on the simulated ablation parameters includes: A three-dimensional model of the simulated ablation lesion is generated based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth.

8. The ultrasound imaging system according to claim 7, characterized in that, The process of generating a three-dimensional model of the simulated ablation lesion based on the angle of the puncture frame set on the ultrasound probe and the simulated ablation depth includes: The location of the simulated ablation lesion in the two-dimensional ultrasound image is determined based on the angle of the puncture frame and the simulated ablation depth. Based on the transformation relationship between the space of the two-dimensional ultrasound image and the image space where the ablation residue is located, the position of the simulated ablation lesion in the image space where the ablation residue is located is obtained; A three-dimensional model of the simulated ablation site is generated based on the location of the simulated ablation site in the image space where the ablation residue is located.

9. The ultrasound imaging system according to claim 1, characterized in that, The process of generating a three-dimensional model of the simulated ablation lesion based on the simulated ablation parameters includes: The position of the simulated ablation foci is determined by a second spatial positioning device set on the ablation needle, and a three-dimensional model of the simulated ablation foci is generated based on the position of the simulated ablation foci.

10. The ultrasound imaging system according to claim 9, characterized in that, Determining the position of the simulated ablation site based on the second spatial positioning device mounted on the ablation needle includes: The position of the simulated ablation cauldron in the space of the second spatial positioning device is obtained according to the second spatial positioning device; Based on the correspondence between the space of the second spatial positioning device and the world coordinate space, and the correspondence between the world coordinate space and the image space where the ablation residue is located, the position of the simulated ablation lesion in the image space where the ablation residue is located is determined.

11. The ultrasound imaging system according to claim 2, characterized in that, Displaying a three-dimensional model of the simulated ablation lesion, including: The simulated ablation lesion is displayed in at least two display windows on the same display interface from different perspectives.

12. The ultrasound imaging system according to claim 1, characterized in that, The registration of the two-dimensional ultrasound image of the ablation area with the postoperative three-dimensional ultrasound image includes: The postoperative three-dimensional ultrasound image and the two-dimensional ultrasound image are registered in real time based on the positioning information obtained by the first spatial positioning device.

13. The ultrasound imaging system according to claim 12, characterized in that, The first registration result includes a first transformation relationship between the preoperative 3D image space and the world coordinate space; the second registration result includes a second transformation relationship between the postoperative 3D ultrasound space and the world coordinate space; mapping the 3D model of the lesion and the 3D model of the ablation lesion to the same image space includes: Based on the first transformation relationship and the second transformation relationship, a third transformation relationship is obtained between the space of the preoperative three-dimensional image and the space of the postoperative three-dimensional ultrasound image. Based on the third transformation relationship, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space.

14. The ultrasound imaging system according to claim 13, characterized in that, Obtaining the first transformation relationship between the spatial and world coordinate space of the preoperative 3D image includes: Obtain the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image; The transformation relationship between the space of the two-dimensional ultrasound image and the world coordinate space is obtained based on the first spatial positioning device; Based on the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image, and the transformation relationship between the space of the two-dimensional ultrasound image and the world coordinate space, the first transformation relationship between the space of the preoperative three-dimensional image and the world coordinate space is obtained.

15. The ultrasound imaging system according to claim 14, characterized in that, The process of obtaining the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image includes: The two-dimensional ultrasound image is matched with the two-dimensional cross-section in the preoperative three-dimensional image to obtain the matching cross-section of the two-dimensional ultrasound image in the preoperative three-dimensional image; The coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image is obtained by using the coordinates of the same feature points in the two-dimensional ultrasound image and the coordinates in the matching section.

16. The ultrasound imaging system according to claim 14, characterized in that, The preoperative three-dimensional image includes a preoperative three-dimensional ultrasound image obtained by performing three-dimensional ultrasound imaging of the lesion using the ultrasound probe. The step of obtaining the first transformation relationship between the spatial representation of the preoperative three-dimensional image and the world coordinate space includes: The first transformation relationship between the spatial coordinates of the preoperative three-dimensional image and the world coordinate space is obtained based on the positioning information acquired by the first spatial positioning device.

17. The ultrasound imaging system according to claim 13, characterized in that, The step of real-time registration of the postoperative three-dimensional ultrasound image and the two-dimensional ultrasound image based on the positioning information obtained by the first spatial positioning device includes: The transformation relationship between the two-dimensional ultrasound image and the postoperative three-dimensional ultrasound image is obtained based on the positioning information acquired by the first spatial positioning device. Based on the transformation relationship between the two-dimensional ultrasound image and the postoperative three-dimensional ultrasound image, and the transformation relationship between the two-dimensional ultrasound image and the world coordinate space, the transformation relationship between the postoperative three-dimensional ultrasound image and the world coordinate space is obtained.

18. The ultrasound imaging system according to claim 1, characterized in that, Also includes: The ablation residue was ablated using a supplementary needle ablation technique based on the simulated ablation foci. Three-dimensional ultrasound imaging was performed on the ablation lesion generated after the ablation of the needle to obtain a three-dimensional ultrasound image after the needle insertion. A three-dimensional model of the ablation lesion after the needle insertion is generated based on the three-dimensional ultrasound image after the needle insertion. Based on the three-dimensional model of the ablation site and the ablation residue, the actual simulated ablation effect evaluation information of the ablation site on the ablation residue is obtained.

19. The ultrasound imaging system according to claim 1, characterized in that, Also includes: The two-dimensional ultrasound image of the ablation area and the ablation residue are mapped to the same image space, and the ablation residue and the two-dimensional ultrasound image mapped to the same image space are displayed.

20. An ultrasound imaging system, characterized in that, include: Ultrasonic probe; A transmitting circuit is used to excite the ultrasound probe to emit ultrasound waves toward the target tissue. A receiving circuit is used to control the ultrasonic probe to receive the echo of the ultrasonic wave in order to obtain the echo signal of the ultrasonic wave. The processor is configured to perform the following steps: after ablation, performing three-dimensional ultrasound imaging of the ablation area using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image, and obtaining a three-dimensional model of the ablation residue based on the postoperative three-dimensional ultrasound image, wherein the ultrasound probe has a first spatial positioning device. The postoperative three-dimensional ultrasound image is registered with the two-dimensional ultrasound image acquired in real time by the ultrasound probe to obtain the registration result; A three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the three-dimensional model of the ablation residue are mapped to the same image space based on the registration results. Based on the three-dimensional model of the simulated ablation site and the three-dimensional model of the ablation residue, the simulated ablation effect evaluation information of the simulated ablation site on the ablation residue is obtained, wherein the simulated ablation effect evaluation information is used to determine whether to use the simulated ablation parameters to perform supplementary needle ablation on the ablation residue; The simulated ablation effect evaluation information is displayed.

21. An ultrasound imaging system, characterized in that, include: Ultrasonic probe; A transmitting circuit is used to excite the ultrasound probe to emit ultrasound waves toward the target tissue. A receiving circuit is used to control the ultrasonic probe to receive the echo of the ultrasonic wave in order to obtain the echo signal of the ultrasonic wave. The processor is configured to perform the following steps: before ablation, acquiring a two-dimensional ultrasound image of the lesion in real time using the ultrasound probe, and registering the two-dimensional ultrasound image with a preoperative three-dimensional image of the lesion to obtain a first registration result, wherein the ultrasound probe has a first spatial positioning device; After ablation, the ablation area is subjected to three-dimensional ultrasound imaging using the ultrasound probe to obtain a postoperative three-dimensional ultrasound image. The two-dimensional ultrasound image of the ablation area is then registered with the postoperative three-dimensional ultrasound image to obtain a second registration result. A three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image, and a three-dimensional model of the ablation zone is obtained based on the postoperative three-dimensional ultrasound image. Based on the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space, and the ablation residue is obtained according to the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion. A three-dimensional model of the simulated ablation lesion is generated based on the simulated ablation parameters, and the three-dimensional model of the simulated ablation lesion and the ablation residue are mapped to the same image space for display. The three-dimensional model of the simulated ablation lesion and the ablation residue are used to determine whether to use the simulated ablation parameters to perform supplementary needle ablation on the ablation residue.

Images