Method and device for viewing intravascular ultrasound images through cross-sectional images

Abstract

The present invention provides a method and apparatus for viewing intravascular ultrasound images via cross-sectional views, applicable to an intravascular ultrasound system. The method comprises: obtaining a series of intravascular ultrasound images and information about the position of a cross-sectional line within the series, the series comprising multiple frames of intravascular ultrasound images; determining the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and determining the cross-sectional image corresponding to the series of intravascular ultrasound images based on the multiple image grayscale values. This method automatically determines the cross-sectional image corresponding to the intravascular ultrasound image. Using the cross-sectional image, a physician can effectively visualize the approximate location of the entire series of vascular ultrasound images, thereby intelligently assisting the physician in locating the coronal image of the lesion, enhancing the physician's experience.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a method and device for viewing intravascular ultrasonic images through cross-sectional images. Background Art

[0002] Intravascular ultrasound (IVUS) imaging is an effective aid for physicians in observing vascular lesions. In clinical surgical applications, IVUS images can help preoperatively locate lesions, assess the degree of stenosis in the vascular lumen, and analyze the nature of lesions. They can also provide important information on the radius and size of vascular stents, facilitating appropriate stent selection.

[0003] Currently, an intravascular ultrasound transducer collects and records images of the lesion site and obtains a series of more than a thousand frames of intravascular ultrasound images (i.e., intravascular coronal images). Existing technology usually automatically plays all series and stops playback immediately when the doctor observes an abnormality. The doctor can also manually mark the intravascular cross-sectional image of the lesion site through the touch screen.

[0004] However, automatically playing all series takes a long time, hindering doctors' image reading efficiency. Manually marking lesion sites on intravascular cross-sectional images is also not intelligent enough. Manually marking lesion sites on intravascular ultrasound images using the touchscreen is neither intelligent nor convenient, reducing the doctor's experience. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method and device for viewing intravascular ultrasound images through cross-sectional images, so as to automatically determine the cross-sectional image corresponding to the intravascular ultrasound image series. Doctors can effectively observe the approximate position of the entire vascular ultrasound image series in combination with the cross-sectional image, thereby intelligently helping doctors find the intravascular ultrasound image of the lesion site and improving the doctor's experience.

[0006] In a first aspect, an embodiment of the present invention provides a method for viewing an intravascular ultrasound image through a cross-sectional view, which is applied to an intravascular ultrasound system. The method includes: obtaining an intravascular ultrasound image series and cross-sectional line position information of the intravascular ultrasound image series, where the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images; determining the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and determining a cross-sectional image corresponding to the intravascular ultrasound image series based on the multiple image grayscale values.

[0007] In an optional embodiment of the present application, the above-mentioned intravascular ultrasound system includes: a host, a motor driver, a catheter, a drive shaft and an ultrasonic transducer, the drive shaft and the ultrasonic transducer are located in the catheter, and the ultrasonic transducer is fixed at the end of the drive shaft; the steps of obtaining a series of intravascular ultrasound images include: the host controls the motor driver to rotate so as to drive the ultrasonic transducer to rotate relative to the catheter through the drive shaft, the ultrasonic transducer transmits an ultrasonic signal, and the host receives the ultrasonic signal; the host controls the motor driver to drive the ultrasonic transducer to move axially relative to the catheter through the drive shaft, and obtains multiple frames of intravascular ultrasound images based on multiple ultrasound signals received by the host.

[0008] In an optional embodiment of the present application, the above-mentioned step of determining the image grayscale value of each frame of the intravascular ultrasound image at the section line position includes: obtaining the image grayscale value of each frame of the intravascular ultrasound image; establishing a coordinate axis with the center point of each frame of the intravascular ultrasound image as the origin; determining multiple section line coordinate points of each frame of the intravascular ultrasound image based on the section line position information; and determining the image grayscale values ​​of the multiple section line coordinate points based on each frame of the intravascular ultrasound image.

[0009] In an optional embodiment of the present application, after the above-mentioned step of determining the cross-sectional image corresponding to the series of intravascular ultrasound images based on multiple image grayscale values, the method further includes: determining a target intravascular ultrasound image representing the lesion area based on the cross-sectional image; and marking the target intravascular ultrasound image.

[0010] In an optional embodiment of the present application, the above-mentioned step of determining a target intravascular ultrasound image representing the lesion area based on the cross-sectional image includes: determining a first target coordinate point and a second target coordinate point of each frame of the intravascular ultrasound image based on the image grayscale values ​​of multiple cross-sectional line coordinate points, the first target coordinate point and the second target coordinate point being the minimum coordinate points on both sides of the origin corresponding to when the image grayscale value reaches a preset grayscale threshold in a coordinate axis established with the center point of each frame of the intravascular ultrasound image as the origin; determining the distance between the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image; and determining the target intravascular ultrasound image representing the lesion area based on the multiple distances.

[0011] In an optional embodiment of the present application, the above-mentioned step of determining a target intravascular ultrasound image representing the lesion area based on multiple distances includes: determining an average value of the multiple distances, determining a deviation value between each distance and the average value; determining multiple target distances whose deviation values ​​are greater than a preset deviation threshold, and dividing the multiple target distances into at least one class; determining the intravascular ultrasound image at the center position among the intravascular ultrasound images corresponding to at least one target distance included in each class; and using the intravascular ultrasound image at the center sequence position corresponding to each class as the target intravascular ultrasound image representing the lesion area.

[0012] In an optional embodiment of the present application, the above-mentioned step of dividing multiple target distances into at least one category includes: determining the serial numbers of multiple frames of intravascular ultrasound images in sequence along the axial direction of the catheter; when the difference in serial numbers between the first intravascular ultrasound image and the second intravascular ultrasound image is less than a preset position threshold, the target distance corresponding to the first intravascular ultrasound image and the target distance corresponding to the second intravascular ultrasound image are divided into the same category; wherein, the intravascular ultrasound images corresponding to the target distances in the intravascular ultrasound image series are the first intravascular ultrasound image and the second intravascular ultrasound image.

[0013] In an optional embodiment of the present application, the above-mentioned intravascular ultrasound system includes: a display; the method also includes: displaying a cross-sectional image; and / or determining a first target intravascular ultrasound image from the marked target intravascular ultrasound image, and displaying the first target intravascular ultrasound image on the display.

[0014] In an optional embodiment of the present application, the above-mentioned intravascular ultrasound system also includes: a binocular component; the step of determining a first target intravascular ultrasound image from the marked target intravascular ultrasound image includes: recognizing the doctor's gesture operation through the binocular component, and determining the first target intravascular ultrasound image from the marked target intravascular ultrasound image based on the gesture operation.

[0015] In a second aspect, an embodiment of the present invention further provides a device for viewing intravascular ultrasound images through a cross-sectional view, which is applied to an intravascular ultrasound system. The device includes: an intravascular ultrasound image acquisition module, used to acquire an intravascular ultrasound image series and cross-sectional line position information of the intravascular ultrasound image series, where the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images; an image grayscale value determination module, used to determine the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and a cross-sectional image determination module, used to determine the cross-sectional image corresponding to the intravascular ultrasound image series based on multiple image grayscale values.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] An embodiment of the present invention provides a method and device for viewing intravascular ultrasound images through cross-sectional images, obtaining an intravascular ultrasound image series including multiple frames of intravascular ultrasound images and cross-sectional line position information of the intravascular ultrasound image series; determining the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and determining the cross-sectional image corresponding to the intravascular ultrasound image series based on multiple image grayscale values. Doctors can effectively observe the approximate position of the entire vascular ultrasound image series in combination with the cross-sectional image, thereby intelligently helping doctors find the intravascular ultrasound image of the lesion site and improving the doctor's experience.

[0018] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A flow chart of a method for viewing intravascular ultrasound images through cross-sectional views provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of an intravascular ultrasound image and a cross-sectional image provided by an embodiment of the present invention;

[0023] Figure 3 A flow chart of another method for viewing intravascular ultrasound images through cross-sectional views provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of an intravascular ultrasound system provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a series of intravascular ultrasound images provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of three-dimensional coordinates in a binocular component coordinate system provided by an embodiment of the present invention;

[0027] Figure 7 A schematic structural diagram of a device for viewing intravascular ultrasound images through a cross-sectional view provided by an embodiment of the present invention;

[0028] Figure 8 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] Intravascular ultrasound (IVUS) imaging is an effective aid for physicians in observing vascular lesions. In clinical surgical applications, IVUS images can help preoperatively locate lesions, assess the degree of stenosis in the vascular lumen, and analyze the nature of lesions. They can also provide important information on the radius and size of vascular stents, facilitating appropriate stent selection.

[0031] Currently, existing intravascular ultrasound imaging devices can obtain a series of more than a thousand frames of intravascular ultrasound images after collecting and recording images of the lesion site. All series are usually played automatically, and playback is immediately stopped when the doctor observes an abnormality. The coronal image of the blood vessel at the lesion site can also be manually marked through the touch screen.

[0032] However, automatically playing all series takes a long time, hindering doctors' image reading efficiency. Manually marking lesion sites on intravascular cross-sectional images is also not intelligent enough. Manually marking lesion sites on intravascular ultrasound images using the touchscreen is neither intelligent nor convenient, reducing the doctor's experience.

[0033] Based on this, embodiments of the present invention provide a method and apparatus for viewing intravascular ultrasound images via cross-sectional views. This embodiment automatically determines the cross-sectional view corresponding to an intravascular ultrasound image series (a series of intravascular coronal ultrasound images, i.e., multiple frames of ultrasound images acquired along the axial direction of the vessel). Using this cross-sectional view, physicians can effectively visualize the approximate location of the entire series of vascular ultrasound images, thereby intelligently assisting physicians in locating the intravascular ultrasound image at the lesion site, enhancing the physician's experience.

[0034] This embodiment can also automatically evaluate the cross-sectional images, automatically mark the calculated lesion site, and form a bookmark. The bookmark corresponds to the position of the intravascular ultrasound image in its series, so the doctor can quickly and conveniently view the intravascular ultrasound image corresponding to the bookmark by clicking on the bookmark.

[0035] In the prior art, doctors use touchscreens in operating rooms to operate, making it very inconvenient and difficult to operate. This embodiment also provides a gesture tracking method to facilitate more flexible rotation of the section line. Doctors can quickly rotate the section image and automatically calculate the possible lesion location, improving the efficiency of lesion location location and image analysis.

[0036] To facilitate understanding of this embodiment, a method for viewing an intravascular ultrasound image through a cross-sectional view disclosed in an embodiment of the present invention is first introduced in detail.

[0037] Example 1:

[0038] The embodiment of the present invention provides a method for viewing an intravascular ultrasound image through a cross-sectional view, which is applied to an intravascular ultrasound system. Figure 1 The flowchart of a method for viewing an intravascular ultrasound image through a cross-sectional view includes the following steps:

[0039] Step S102 : Acquire an intravascular ultrasound image series and section line position information of the intravascular ultrasound image series, where the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images.

[0040] The method provided in this embodiment can be applied to an intravascular ultrasound system, whereby a plurality of frames of intravascular ultrasound images are acquired by the intravascular ultrasound system to obtain an intravascular ultrasound image series. A doctor can manually input the section line position information of the intravascular ultrasound image series.

[0041] See also Figure 2 The schematic diagram of an intravascular ultrasound image and a cross-sectional image is shown. In this embodiment, multiple frames of intravascular ultrasound images can be obtained as an intravascular ultrasound image series, and the cross-sectional image can be determined based on the vascular image series and the cross-sectional line position information. The cross-sectional line position information can be Figure 2 The angle between the section line of the cross-sectional image and the horizontal line of the intravascular ultrasound image.

[0042] The intravascular ultrasound system generates a series of intravascular ultrasound images as the ultrasonic transducer retracts from the distal to the proximal end of the vessel. Physicians can manually define a section line perpendicular to the intravascular ultrasound image at any angle, centered on the image center. The section line position information can include the aforementioned angle.

[0043] Step S104 : determining the image grayscale value of each frame of the intravascular ultrasound image at the position of the section line.

[0044] After determining the position information of the section line, this embodiment may determine the image grayscale value corresponding to the section line in each frame of the intravascular ultrasound image.

[0045] Step S106 : determining a cross-sectional image corresponding to the intravascular ultrasound image series based on the multiple image grayscale values.

[0046] After determining the grayscale value of each intravascular ultrasound image frame, the grayscale values ​​of all images at the cross-section line positions within the intravascular ultrasound image series are combined to generate a cross-sectional image. This cross-sectional image allows doctors to effectively visualize the approximate location of the entire series of vascular ultrasound images, intelligently helping them locate lesions within the intravascular ultrasound image and enhancing their experience.

[0047] In addition, in this embodiment, different cross-sectional images can be determined according to different cross-sectional line position information. After determining a cross-sectional image, the doctor can rotate the angle of the cross-sectional line to view cross-sectional images at different positions.

[0048] The rotation angle and direction may be determined by a touch screen or gesture recognition. Taking gesture recognition as an example, in this embodiment, the rotation angle and direction may be determined by tracking the gesture using a binocular vision component. The angle may be the angle between the section line and the horizontal line.

[0049] In summary, this embodiment first obtains the image grayscale value corresponding to the section line from each frame of the intravascular ultrasound image. Second, all image grayscale values ​​from the distal end to the proximal end are combined to generate a cross-sectional image. Finally, the possible lesion locations are automatically calculated and marked in the cross-sectional image. The doctor can view the corresponding intravascular ultrasound image based on the markings, which can serve as bookmarks for the corresponding coronal positions in the cross-sectional image.

[0050] This embodiment can automatically evaluate the cross-sectional image, automatically mark the calculated lesion site, and form a bookmark. The bookmark corresponds to the position of the intravascular ultrasound image in its series, so the doctor can quickly and conveniently view the intravascular ultrasound image corresponding to the bookmark by clicking on the bookmark.

[0051] This embodiment can also enable doctors to rotate the section line more flexibly through gesture recognition. Doctors can quickly rotate the section image and automatically calculate possible lesion sites, thereby improving the efficiency of locating lesion sites and analyzing images.

[0052] An embodiment of the present invention provides a method for viewing intravascular ultrasound images through a cross-sectional view, obtaining multiple frames of intravascular ultrasound images and cross-sectional line position information; obtaining an intravascular ultrasound image series including multiple frames of intravascular ultrasound images and cross-sectional line position information of the intravascular ultrasound image series; determining the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and determining the cross-sectional view image corresponding to the intravascular ultrasound image series based on multiple image grayscale values. Doctors can effectively observe the approximate position of the entire vascular ultrasound image series in combination with the cross-sectional view image, thereby intelligently helping doctors find the intravascular ultrasound image of the lesion site and improving the doctor's experience.

[0053] Example 2

[0054] This embodiment provides another method for viewing intravascular ultrasound images through cross-sectional images. This method is implemented on the basis of the above embodiment. Figure 3 FIG2 is a flow chart of another method for viewing an intravascular ultrasound image through a cross-sectional view. The method for viewing an intravascular ultrasound image through a cross-sectional view in this embodiment includes the following steps:

[0055] Step S302 : Acquire an intravascular ultrasound image series and section line position information of the intravascular ultrasound image series, where the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images.

[0056] In this embodiment, the intravascular ultrasound image (also referred to as a vascular ultrasound image) can be a medical image of a blood vessel obtained using IVUS technology. Specifically, the intravascular ultrasound system in this embodiment includes: a host computer, a motor driver, a catheter, a drive shaft disposed within the catheter, and an ultrasonic transducer; the drive shaft and ultrasonic transducer are located within the catheter, with the ultrasonic transducer fixed to the end of the drive shaft.

[0057] In this embodiment, the host controls the rotation of the motor driver to drive the ultrasonic transducer to rotate relative to the catheter through the transmission shaft. The ultrasonic transducer transmits an ultrasonic signal and the host receives the ultrasonic signal. The host controls the motor driver to drive the ultrasonic transducer to move axially relative to the catheter through the transmission shaft, and obtains multiple frames of intravascular ultrasound images based on multiple ultrasound signals received by the host.

[0058] See also Figure 4 The schematic diagram of an intravascular ultrasound system shown in FIG. 4 is a schematic diagram of an intravascular ultrasound system, which may include a host, a display or touch display, a binocular component, a motor driver, a catheter, a transmission shaft ( Figure 4 The catheter can be implanted into the lesion site in the blood vessel, the transmission shaft and the ultrasonic transducer are arranged in the catheter, and the ultrasonic transducer is arranged at the end of the transmission shaft.

[0059] Among them, the host of ultrasonic image processing can control the motor driver to rotate, drive the ultrasonic transducer to rotate in the catheter through the transmission shaft and emit ultrasonic signals. The host receives the ultrasonic signal to form an intravascular ultrasonic image. The host controls the motor driver to drive the ultrasonic transducer to retract from the distal end to the proximal end relative to the catheter through the transmission shaft. Each frame of the ultrasonic image is recorded during the retraction process, thereby obtaining a series of intravascular ultrasonic images of the target blood vessel segment (i.e., multiple frames of intravascular ultrasonic images) and storing them in the host's hard disk.

[0060] The motor driver has a retraction speed of 0.5 mm / s. To record a series of images within a 4-cm-long blood vessel, 80 seconds of ultrasound transducer data must be collected. Assuming the motor driver rotates at 1200 rpm, or a frame rate of 20 frames / s, 1600 frames of images corresponding to the blood vessel segment can be obtained.

[0061] Step S304 : determining the image grayscale value of each frame of the intravascular ultrasound image at the position of the section line.

[0062] Specifically, this embodiment can obtain the image grayscale value of each frame of the intravascular ultrasound image; establish a coordinate axis with the center point of each frame of the intravascular ultrasound image as the origin; determine multiple profile line coordinate points of each frame of the intravascular ultrasound image based on the profile line position information; and determine the image grayscale values ​​of multiple profile line coordinate points based on each frame of the intravascular ultrasound image.

[0063] First, this embodiment can determine the file containing the intravascular ultrasound image series (i.e., multiple frames of intravascular ultrasound images) in the host and read and parse it to determine the number of intravascular ultrasound images, the width and height of each frame of image data, the number of bits of each data, and other information.

[0064] In an intravascular ultrasound image, a horizontal coordinate axis is established with the center point of the ultrasound image (also called a coronal image) as the origin, the horizontal axis extending horizontally to the right, and the vertical axis extending perpendicularly to the horizontal axis. The section line and the horizontal axis form a certain angle A (0-360°). The section line position information includes the angle between the section line and the horizontal axis. Therefore, the image grayscale value corresponding to the section line in the intravascular ultrasound image can be calculated as shown in the following formula:

[0065]

[0066] The coordinates of the points on the section line in the intravascular ultrasound image can be obtained by the above formula, where P i (x) is the X coordinate of the section line with an included angle of A at the i-th position in the intravascular ultrasound image series, P i (y) is the Y coordinate of the profile line with an included angle of A at the i-th position in the intravascular ultrasound image series, P c(x) and P c (y) is the X-coordinate and Y-coordinate of the center coordinate of the intravascular ultrasound image, w is the width of the intravascular ultrasound image, and h is the height of the intravascular ultrasound image.

[0067] Step S306 : determining a cross-sectional image corresponding to the intravascular ultrasound image series based on the multiple image grayscale values.

[0068] Specifically, this embodiment can determine the serial numbers of multiple frames of intravascular ultrasound images; based on the serial numbers of the multiple frames of intravascular ultrasound images and the image grayscale values ​​of multiple section line coordinate points of each frame of the intravascular ultrasound image, determine the cross-sectional images corresponding to the multiple frames of intravascular ultrasound images.

[0069] See also Figure 5 As shown in the schematic diagram of a series of intravascular ultrasound images, this embodiment can obtain the coordinate values ​​P of n section lines on the corresponding intravascular ultrasound images. i (i=0, 1, 2...n), thereby obtaining the intravascular ultrasound images k and P i The above k is a certain intravascular ultrasound image in the intravascular ultrasound image series, and the number of the preset intravascular ultrasound image series M is m.

[0070] like Figure 5 As shown, the image grayscale value under the cross-section image can be obtained according to the coordinate value of the cross-section line in the corresponding intravascular ultrasound image, and the cross-section image can be obtained by combining the cross-section lines under all the intravascular ultrasound image series. Among them, the width of the cross-section image is m pixels and the height is n pixels. The serial number of each column corresponds to the serial number of the intravascular ultrasound image in the series. Each column of pixel data is the cross-section line image data on the intravascular ultrasound image corresponding to the column number. Therefore, starting from the center point of the intravascular ultrasound image, each column of pixel data can be divided into symmetrical upper and lower parts of the image data, and two groups of pixel combinations Q can be obtained. i 1 and Q i 2. Q i 1 and Q i 2 contains n / 2 image pixels, i = 0, 1, 2...n.

[0071] Step S308 : determining a target intravascular ultrasound image representing the lesion area based on the cross-sectional image; and marking the target intravascular ultrasound image.

[0072] After determining the image grayscale value, this embodiment can also automatically determine the target intravascular ultrasound image representing the lesion area from multiple frames of intravascular ultrasound images, and mark the target intravascular ultrasound image to facilitate doctors to subsequently view the target intravascular ultrasound image.

[0073] Specifically, this embodiment can determine the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image based on the image grayscale values ​​of multiple section line coordinate points, where the first target coordinate point and the second target coordinate point are the minimum coordinate points on both sides of the origin corresponding to when the image grayscale value reaches a preset grayscale threshold in the coordinate axis established with the center point of each frame of the intravascular ultrasound image as the origin; determine the distance between the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image; and determine the target intravascular ultrasound image representing the lesion area based on multiple distances.

[0074] In this embodiment, the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image may be determined first, and the target intravascular ultrasound image may be determined according to the distance between the first target coordinate point and the second target coordinate point.

[0075] When determining the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image, a threshold segmentation method can be used. For example, the multiple cross-section line coordinate points of each frame of the intravascular ultrasound image are divided into cross-section line coordinate points in the upper half and cross-section line coordinate points in the lower half; from the cross-section line coordinate points in the upper half, a first target coordinate point having an image grayscale value greater than a preset grayscale threshold and having the minimum image grayscale value is determined; and from the cross-section line coordinate points in the lower half, a second target coordinate point having an image grayscale value greater than the preset grayscale threshold and having the minimum image grayscale value is determined.

[0076] like Figure 5 As shown, Q i 1 is the upper part, Q i 2 is the lower half. i 1 is threshold segmented, and the preset grayscale threshold G is an empirical value of 120. The coordinates and grayscale values ​​corresponding to the grayscale values ​​higher than the preset grayscale threshold G are placed in a container. By sorting the coordinates, the pixel in the container corresponding to the minimum coordinate value is the first target coordinate point.

[0077] Correspondingly, Q i 2 is threshold segmented, and the preset grayscale threshold G is an empirical value of 120. The coordinates and grayscale values ​​corresponding to the grayscale values ​​higher than the preset grayscale threshold G are placed in a container. By sorting the coordinates, the pixel in the container corresponding to the minimum coordinate value is the second target coordinate point.

[0078] You can get Q i 1 and Q i The two first target coordinate points Q in 2 i 1d and the second target coordinate point Q i 2d, and calculate the first target coordinate point Q i 1d and the second target coordinate point Q i 2d distance Qi d. The above distance calculation is performed on all m intravascular ultrasound images, and a distance set Q of m can be obtained. m d.

[0079] Specifically, this embodiment can determine a target intravascular ultrasound image representing the lesion area based on multiple distances through the following steps: determining an average value of multiple distances, and determining a deviation value between each distance and the average value; determining multiple target distances whose deviation values ​​are greater than a preset deviation threshold, and dividing the multiple target distances into at least one class; determining an intravascular ultrasound image at a center position among the intravascular ultrasound images corresponding to at least one target distance included in each class; and using the intravascular ultrasound image at the center position corresponding to each class as the target intravascular ultrasound image representing the lesion area.

[0080] When acquiring ultrasound images of a blood vessel segment, imaging is first performed at the distal end. During the imaging process, it can be observed that the state of the blood vessel lumen is normal. Then, the ultrasonic transducer is retracted from the distal end to the proximal end under the drive of the motor driver, and the intravascular ultrasound image of the entire retraction process is recorded. Starting from the distal end, a certain length of blood vessel can be used as a reference blood vessel. Assuming that the length of the reference blood vessel is set to 1mm, the number of corresponding intravascular ultrasound images can be calculated to be 40 frames, where the retraction speed of the motor driver is 0.5mm / s and the blood vessel length is 1mm. The acquisition time is 2s, and the image acquisition frame rate is 20 frames / second, so the number of image series corresponding to the blood vessel segment is 40 frames.

[0081] Therefore, the distance set Q m The distance data corresponding to the first 40 frames of d is used as the reference distance, and its average value Mdr can be calculated. Based on the reference distance, the deviation of the distances of other targets in the profile image relative to Mdr can be calculated. If the deviation is greater than a preset deviation threshold (e.g., 10%), the section line location of the lesion can be determined. The location information in the profile image is recorded to obtain the set of suspected lesions Z.

[0082] To eliminate interference points, it is necessary to ensure that the length of the blood vessels corresponding to the number of suspected lesion sets Z is greater than 1 mm, that is, the number of sets Z is required to be greater than the threshold of 40 frames. The position deviation of the set Z is calculated and divided into multiple classes.

[0083] Specifically, this embodiment can determine the serial numbers of multiple frames of intravascular ultrasound images along the axial direction of the catheter; when the difference in serial numbers between the first intravascular ultrasound image and the second intravascular ultrasound image is less than a preset position threshold, the target distance corresponding to the first intravascular ultrasound image and the target distance corresponding to the second intravascular ultrasound image are divided into the same category; wherein, the intravascular ultrasound images corresponding to the target distance in the intravascular ultrasound image series are the first intravascular ultrasound image and the second intravascular ultrasound image.

[0084] For example, target distances with adjacent position deviations less than a preset position threshold (e.g., 3) can be classified into the same category, and finally one or more subsets in the set Z are obtained. The center position O of the subset is obtained, and the position corresponding to the center position O can be determined as the intravascular ultrasound image number where the lesion is located, and marked on the cross-sectional diagram to form a bookmark.

[0085] like Figure 4 As shown, the intravascular ultrasound system includes a display. In this embodiment, the display can display a cross-sectional image; and / or determine a first target intravascular ultrasound image from the marked target intravascular ultrasound images and display the first target intravascular ultrasound image on the display. Therefore, by clicking a bookmark, a doctor automatically obtains the corresponding intravascular ultrasound image from the series of intravascular ultrasound images and displays it on the display for easy viewing.

[0086] like Figure 4 As shown, the intravascular ultrasound system includes: a binocular component; this embodiment can recognize the doctor's gesture operation through the binocular component, and determine the first target intravascular ultrasound image from the marked target intravascular ultrasound images based on the gesture operation.

[0087] This embodiment can use binocular components to obtain the doctor's gesture information. The binocular components can track the gesture movement to obtain the angle and direction of rotation. The direction can be counterclockwise or clockwise. Figure 4 As shown, the binocular component can be located above the display, and the doctor's gesture operations can be effectively acquired within its visual range.

[0088] Among them, the above-mentioned binocular component can be composed of near-infrared binocular cameras, with left and right cameras distributed at both ends of the binocular component. A reflective circular paper that can reflect near-infrared light is pasted on the fingertips of the doctor's fingers, or a reflective ball that can reflect near-infrared light is held in the hand. When the finger or the reflective ball is moved, the binocular component can obtain its three-dimensional coordinates in the binocular component coordinate system.

[0089] See also Figure 6 As shown in the figure, the coordinates of the three-dimensional coordinates in the binocular coordinate system are assuming that the coordinates of the gesture at a certain position are p1(x0, y0, z0), and the coordinates of the gesture moved to another position are p1(x1, y1, z1). Map p1 and p2 to the two-dimensional X coordinates of the binocular system. g O g Y g plane, we can calculate p1, p2 and Q g Connection p1Q g and p2Q g , determine p1Q g 、p2Q gRespectively and O g The included angles A1 and A2 of Xg, if A1 is greater than A2, it is clockwise rotation, otherwise it is counterclockwise rotation. g O g Y g Points and O under the plane g X g The angle between the section line and the horizontal coordinate axis in the intravascular ultrasound image is determined, thereby determining the corresponding cross-sectional image.

[0090] The method provided in this embodiment first obtains the image grayscale value corresponding to the section line from each frame of the intravascular ultrasound image. Secondly, the image grayscale values ​​of all ultrasound images from the distal end to the proximal end are combined to obtain a cross-sectional image. Finally, the possible lesion locations are automatically calculated and marked in the cross-sectional image. The doctor can view the corresponding intravascular ultrasound image based on the markings. The markings can be bookmarks corresponding to the coronal plane positions in the cross-sectional image.

[0091] This embodiment can automatically determine the cross-sectional image corresponding to the intravascular ultrasound image. The doctor can effectively observe the approximate position of the entire vascular ultrasound image sequence series in combination with the cross-sectional image, thereby intelligently helping the doctor find the intravascular ultrasound image of the lesion site and improving the doctor's experience.

[0092] This embodiment can also automatically evaluate the cross-sectional images, automatically mark the calculated lesion sites, and form bookmarks. The bookmarks correspond to the positions of the intravascular ultrasound images of the blood vessels in their series, so the doctor can quickly and conveniently view the intravascular ultrasound images corresponding to the bookmarks by clicking on the bookmarks.

[0093] This embodiment can also enable the doctor to rotate the section line more flexibly by performing gesture tracking through the binocular component. The doctor can quickly rotate the section image and automatically calculate the possible lesion site, thereby improving the efficiency of locating the lesion site and analyzing the image.

[0094] Example 3:

[0095] Corresponding to the above method embodiment, the embodiment of the present invention provides a device for viewing intravascular ultrasound images through cross-sectional images, which is applied to an intravascular ultrasound system, see Figure 7 The schematic diagram of the structure of a device for viewing an intravascular ultrasound image through a cross-sectional view is shown, and the device for viewing an intravascular ultrasound image through a cross-sectional view includes:

[0096] An intravascular ultrasound image acquisition module 71 is configured to acquire an intravascular ultrasound image series and section line position information of the intravascular ultrasound image series, wherein the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images;

[0097] An image grayscale value determination module 72 is used to determine the image grayscale value of each frame of the intravascular ultrasound image at the position of the section line;

[0098] The cross-sectional image determination module 73 is configured to determine the cross-sectional image corresponding to the intravascular ultrasound image series based on a plurality of image grayscale values.

[0099] An embodiment of the present invention provides a device for viewing intravascular ultrasound images through cross-sectional images, obtaining an intravascular ultrasound image series including multiple frames of intravascular ultrasound images and cross-sectional line position information of the intravascular ultrasound image series; determining the image grayscale value of each frame of the intravascular ultrasound image at the cross-sectional line position; and determining the cross-sectional image corresponding to the intravascular ultrasound image series based on multiple image grayscale values. Doctors can effectively observe the approximate position of the entire vascular ultrasound image series in combination with the cross-sectional image, thereby intelligently helping doctors find the intravascular ultrasound image of the lesion site and improving the doctor's experience.

[0100] The above-mentioned intravascular ultrasound system includes: a host, a motor driver, a catheter, a drive shaft and an ultrasonic transducer; the above-mentioned intravascular ultrasound image acquisition module is used by the host to control the rotation of the motor driver to drive the ultrasonic transducer to rotate relative to the catheter via the drive shaft, the ultrasonic transducer transmits an ultrasonic signal, and the host receives the ultrasonic signal; the host controls the motor driver to drive the ultrasonic transducer to move axially relative to the catheter via the drive shaft, and acquires multiple frames of intravascular ultrasound images based on multiple ultrasonic signals received by the host.

[0101] The above-mentioned image grayscale value determination module is used to obtain the image grayscale value of each frame of the intravascular ultrasound image; establish a coordinate axis with the center point of the intravascular ultrasound image as the origin; determine multiple section line coordinate points of each frame of the intravascular ultrasound image based on the section line position information; and determine the image grayscale values ​​of the multiple section line coordinate points based on each frame of the intravascular ultrasound image.

[0102] The above-mentioned device also includes: a target intravascular ultrasound image marking module, which is used to determine the target intravascular ultrasound image representing the lesion area based on the cross-sectional image; and mark the target intravascular ultrasound image.

[0103] The target intravascular ultrasound image marking module is configured to determine, based on the image grayscale values ​​of a plurality of section line coordinate points, a first target coordinate point and a second target coordinate point for each frame of the intravascular ultrasound image, where the first target coordinate point and the second target coordinate point are the minimum coordinate points on either side of a coordinate axis established with the center point of each frame of the intravascular ultrasound image as the origin, corresponding to when the image grayscale value reaches a preset grayscale threshold; determine the distance between the first target coordinate point and the second target coordinate point for each frame of the intravascular ultrasound image; and determine, based on the plurality of distances, a target intravascular ultrasound image representing a lesion area.

[0104] The target intravascular ultrasound image marking module is configured to determine an average value of multiple distances, determine a deviation value between each distance and the average value; determine multiple target distances having deviation values ​​greater than a preset deviation threshold, and classify the multiple target distances into at least one class; determine an intravascular ultrasound image at a center position among the intravascular ultrasound images corresponding to at least one target distance included in each class; and use the intravascular ultrasound image at the center position corresponding to each class as a target intravascular ultrasound image representing a lesion area.

[0105] The target intravascular ultrasound image marking module is configured to sequentially determine the serial numbers of multiple frames of intravascular ultrasound images along the axial direction of the catheter; and when the serial number difference between the first intravascular ultrasound image and the second intravascular ultrasound image is less than a preset position threshold, classify the target distance corresponding to the first intravascular ultrasound image and the target distance corresponding to the second intravascular ultrasound image into the same category.

[0106] The above-mentioned intravascular ultrasound system includes: a display; the above-mentioned device also includes: an image display module for displaying a cross-sectional image; and / or, determining a first target intravascular ultrasound image from the marked target intravascular ultrasound image, and displaying the first target intravascular ultrasound image on the display.

[0107] The above-mentioned intravascular ultrasound system also includes: a binocular component; the above-mentioned image display module, which is used to recognize the doctor's gesture operation through the binocular component and determine the first target intravascular ultrasound image from the marked target intravascular ultrasound images based on the gesture operation.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device for viewing intravascular ultrasound images through cross-sectional views described above can refer to the corresponding process in the aforementioned embodiment of the method for viewing intravascular ultrasound images through cross-sectional views, and will not be repeated here.

[0109] Example 4:

[0110] The embodiment of the present invention further provides an electronic device for executing the above method for viewing an intravascular ultrasound image through a cross-sectional view; Figure 8 A structural schematic diagram of an electronic device is shown, which includes a memory 100 and a processor 101, wherein the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above-mentioned method of viewing intravascular ultrasound images through cross-sectional images.

[0111] Further, Figure 8 The electronic device shown further includes a bus 102 and a communication interface 103 , and the processor 101 , the communication interface 103 and the memory 100 are connected via the bus 102 .

[0112] The memory 100 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 102 may be an ISA bus, a PCI bus, or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0113] The processor 101 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 101 or software instructions. The above processor 101 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or register. The storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0114] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned method of viewing intravascular ultrasound images through cross-sectional images. The specific implementation can be found in the method embodiment and will not be repeated here.

[0115] The method and apparatus for viewing intravascular ultrasound images through cross-sectional views provided in an embodiment of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to the method embodiment and will not be repeated here.

[0116] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working process of the system and / or device described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0117] In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0118] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0119] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0120] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for viewing an intravascular ultrasound image through a cross-sectional view, characterized in that: Applied to an intravascular ultrasound system, the method comprises: Acquiring an intravascular ultrasound image series and section line position information of the intravascular ultrasound image series, wherein the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images; determining an image grayscale value of each frame of the intravascular ultrasound image at the position of the section line; determining a cross-sectional image corresponding to the intravascular ultrasound image series based on a plurality of image grayscale values; The step of determining the image grayscale value of each frame of the intravascular ultrasound image at the position of the section line includes: obtaining the image grayscale value of each frame of the intravascular ultrasound image; establishing a coordinate axis with the center point of each frame of the intravascular ultrasound image as the origin; determining a plurality of section line coordinate points of each frame of the intravascular ultrasound image based on the section line position information; and determining the image grayscale values ​​of the plurality of section line coordinate points based on each frame of the intravascular ultrasound image; After the step of determining a cross-sectional image corresponding to the series of intravascular ultrasound images based on a plurality of image grayscale values, the method further comprises: determining a target intravascular ultrasound image representing a lesion area based on the cross-sectional image; marking the target intravascular ultrasound image; The step of determining a target intravascular ultrasound image representing a lesion area based on the cross-sectional image includes: determining a first target coordinate point and a second target coordinate point of each frame of the intravascular ultrasound image based on the image grayscale values ​​of a plurality of cross-sectional coordinate points; the first target coordinate point and the second target coordinate point being the minimum coordinate points on both sides of a coordinate axis established with a center point of each frame of the intravascular ultrasound image as the origin, corresponding to when the image grayscale value reaches a preset grayscale threshold; determining a distance between the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image; and determining a target intravascular ultrasound image representing the lesion area based on the plurality of distances.

2. The method according to claim 1, characterized in that The intravascular ultrasound system includes: a host, a motor driver, a catheter, a transmission shaft, and an ultrasonic transducer. The transmission shaft and the ultrasonic transducer are located in the catheter, and the ultrasonic transducer is fixed to the end of the transmission shaft. The steps of acquiring a series of intravascular ultrasound images include: The host controls the motor driver to rotate, so as to drive the ultrasonic transducer to rotate relative to the catheter through the transmission shaft, the ultrasonic transducer transmits an ultrasonic signal, and the host receives the ultrasonic signal; The host controls the motor driver to drive the ultrasonic transducer to move axially relative to the catheter through the transmission shaft, and acquires multiple frames of intravascular ultrasonic images based on the multiple ultrasonic signals received by the host.

3. The method according to claim 1, characterized in that The step of determining a target intravascular ultrasound image representing the lesion area based on the multiple distances includes: determining an average value of a plurality of the distances, and determining a deviation value between each of the distances and the average value; determining a plurality of target distances having deviation values ​​greater than a preset deviation threshold, and dividing the plurality of target distances into at least one class; determining an intravascular ultrasound image at a center position among at least one intravascular ultrasound image corresponding to the target distance included in each class; The intravascular ultrasound image at the center position corresponding to each class is used as the target intravascular ultrasound image representing the lesion area.

4. The method according to claim 3, characterized in that The step of classifying the plurality of target distances into at least one class comprises: sequentially determining the sequence numbers of the multiple frames of intravascular ultrasound images along the axial direction of the catheter; When the difference between the sequence numbers of the first intravascular ultrasound image and the second intravascular ultrasound image is less than a preset position threshold, the target distance corresponding to the first intravascular ultrasound image and the target distance corresponding to the second intravascular ultrasound image are classified into the same category; The intravascular ultrasound images corresponding to the target distance in the intravascular ultrasound image series are the first intravascular ultrasound image and the second intravascular ultrasound image.

5. The method according to claim 4, characterized in that The intravascular ultrasound system includes: a display; the method further includes: displaying the cross-sectional image; And / or, determining a first target intravascular ultrasound image from the marked target intravascular ultrasound images, and displaying the first target intravascular ultrasound image on the display.

6. The method according to claim 5, characterized in that The intravascular ultrasound system further includes: a binocular component; and the step of determining a first target intravascular ultrasound image from the marked target intravascular ultrasound image comprises: The doctor's gesture operation is recognized by the binocular component, and a first target intravascular ultrasound image is determined from the marked target intravascular ultrasound images based on the gesture operation.

7. A device for viewing intravascular ultrasound images through cross-sectional images, characterized in that: Applied to an intravascular ultrasound system, the device comprises: an intravascular ultrasound image acquisition module, configured to acquire an intravascular ultrasound image series and section line position information of the intravascular ultrasound image series, wherein the intravascular ultrasound image series includes multiple frames of intravascular ultrasound images; an image grayscale value determination module, configured to determine the image grayscale value of each frame of the intravascular ultrasound image at the position of the section line; a cross-sectional image determining module, configured to determine a cross-sectional image corresponding to the intravascular ultrasound image series based on a plurality of image grayscale values; The image grayscale value determination module is configured to obtain the image grayscale value of each frame of the intravascular ultrasound image; establish a coordinate axis with the center point of each frame of the intravascular ultrasound image as the origin; determine a plurality of section line coordinate points of each frame of the intravascular ultrasound image based on the section line position information; and determine the image grayscale values ​​of the plurality of section line coordinate points based on each frame of the intravascular ultrasound image; a target intravascular ultrasound image marking module, configured to determine a target intravascular ultrasound image representing a lesion area based on the cross-sectional image; and mark the target intravascular ultrasound image; The target intravascular ultrasound image marking module is configured to determine a first target coordinate point and a second target coordinate point of each frame of the intravascular ultrasound image based on the image grayscale values ​​of the plurality of section line coordinate points; the first target coordinate point and the second target coordinate point being the minimum coordinate points on either side of a coordinate axis established with the center point of each frame of the intravascular ultrasound image as the origin, corresponding to when the image grayscale value reaches a preset grayscale threshold; determine a distance between the first target coordinate point and the second target coordinate point of each frame of the intravascular ultrasound image; and determine a target intravascular ultrasound image representing a lesion area based on the plurality of distances.

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