A three-dimensional volume data display method and related device

Abstract

The application discloses a three-dimensional body data display method, and relates to the field of three-dimensional data imaging. The method comprises the following steps: pre-processing original body data according to a clipping region corresponding to the original body data, so as to obtain target body data; receiving an adjusting instruction for the target body data in the same space, and determining a change matrix corresponding to the target body data based on the adjusting instruction; when a merging instruction is received, merging the corresponding target body data based on the change matrix, so as to obtain merged body data; and rendering and displaying the merged body data. The method can realize the merging and rendering display of multiple original body data, improve the display effect, and maintain the use experience. The application also discloses a three-dimensional body data display device, a terminal equipment and a computer readable storage medium, which have the above beneficial effects.

Description

Technical Field

[0001] This application relates to the field of three-dimensional data imaging, and in particular to a three-dimensional volume data display method, a three-dimensional volume data display device, a terminal device, and a computer-readable storage medium. Background Technology

[0002] In ultrasound 3D imaging, a series of 2D images are first acquired, and then 3D data is obtained by reconstructing these 2D images. Finally, 3D rendering is performed using either volume rendering or surface rendering.

[0003] In related technologies, due to hardware limitations or data acquisition limitations, there are situations where multiple volumetric data points are acquired for the same or multiple objects, making it impossible to render these multiple volumetric data points uniformly during the final rendering process. For example, ultrasound probes have limited scanning range, with a relatively small scanning area at any given time. Therefore, when scanning multiple tissues that are far apart or large, it is impossible to scan them all at once, requiring multiple scans to acquire different volumetric data points. However, because there are differences between the volumetric data points from multiple scans, they cannot be rendered and displayed uniformly. Users need to switch back and forth between different volumetric data points to view them, reducing the effectiveness of 3D data display and the user experience.

[0004] Therefore, how to improve the display of multiple three-dimensional volume data is a key issue of concern to those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a three-dimensional volume data display method, a three-dimensional volume data display device, a terminal device, and a computer-readable storage medium, so as to realize the merging and rendering of multiple original volume data, improve the display effect, and maintain the user experience.

[0006] To address the aforementioned technical problems, this application provides a method for displaying three-dimensional volumetric data, comprising:

[0007] The original body data is preprocessed based on the cropping regions corresponding to multiple original body data to obtain multiple target body data;

[0008] The system receives adjustment instructions for the target body data in the same space and determines the change matrix corresponding to the target body data based on the adjustment instructions.

[0009] When a merge instruction is received, the corresponding target data is merged based on the change matrix to obtain merged data;

[0010] The merged data is then rendered and displayed.

[0011] Optionally, when a merge instruction is received, merging the corresponding target data based on the change matrix to obtain merged data includes:

[0012] When a merge instruction for at least two target data is received, the at least two target data are merged based on the change matrix of the at least two target data to obtain the first merged data.

[0013] When a merge instruction is received for the first merged data and the third target data, the first merged data and the third target data are merged based on the change matrix of the third target data to obtain the corresponding second merged data; wherein, the third target data is different from the at least two target data.

[0014] Accordingly, rendering and displaying the merged data includes:

[0015] When the third target data is the last unmerged target data, the second merged data is rendered and displayed.

[0016] Optionally, after obtaining the first merged data, the following may also be included:

[0017] Determine the display area of ​​the merged image corresponding to the first merged data;

[0018] When the display area of ​​the merged image does not match the display area of ​​the display screen, the display size of the merged image is adjusted, and the first merged data is adjusted based on the adjustment of the display size to obtain the adjusted first merged data;

[0019] Accordingly, the merging of the first merged data and the third target data based on the change matrix of the third target data to obtain the corresponding second merged data includes:

[0020] Based on the change matrix of the third target body data, the third target body data and the adjusted first merged body data are merged to obtain the corresponding second merged body data.

[0021] Optionally, the adjustment commands include one or more of the following: rotation adjustment commands, translation adjustment commands, scaling adjustment commands, and angle adjustment commands;

[0022] Accordingly, receiving adjustment instructions for the target volume data in the same space, and determining the change matrix corresponding to the target volume data based on the adjustment instructions, includes:

[0023] The system receives adjustment instructions for the target image corresponding to the target body data in the same space, and performs rotation, translation, scaling and / or angle adjustment on the target image based on the adjustment instructions.

[0024] The change matrix corresponding to the target volume data is determined based on the change in the position of the target image in the same space before and after adjustment.

[0025] Optionally, receiving adjustment instructions for the target volume data in the same space and determining the change matrix corresponding to the target volume data based on the adjustment instructions includes:

[0026] When the first target data is activated, the image corresponding to the first target data is added to the first region within the adjustment space;

[0027] When the second target data is activated, the image corresponding to the second target data is added to the area within the adjustment space that does not completely overlap with the first area;

[0028] Receive adjustment instructions for the images corresponding to the first target data and / or the second target data, and determine the corresponding change matrix based on the adjustment instructions.

[0029] Optionally, receiving adjustment instructions for the target volume data in the same space includes:

[0030] When a batch processing trigger command is received, the batch processing phase begins.

[0031] The target body data is adjusted based on the received batch adjustment instructions to obtain the adjusted target body data; wherein, the batch adjustment instructions include one or more of the following: rotation adjustment instructions, translation adjustment instructions, scaling adjustment instructions, and angle adjustment instructions;

[0032] When a certain adjusted target body data is activated, the corresponding adjusted activated target body data is added to the adjustment space, and adjustment instructions for the adjusted activated target body data are received.

[0033] Optionally, the preprocessing of the original volume data based on the cropping regions corresponding to the multiple original volume data to obtain multiple target volume data includes:

[0034] Multiple raw body data corresponding to multiple imaging regions of the object being tested are acquired by one or more ultrasonic probes.

[0035] The image corresponding to each of the original body data is displayed in a different candidate window, and each of the original body data is set to be activated by default.

[0036] When a candidate window is selected, the original volume data corresponding to the candidate window is activated, and the original image corresponding to the activated original volume data is displayed in the adjustment window; the adjustment window and each candidate window are located in different display areas of the display screen;

[0037] Based on the region selection instruction for the original image, the corresponding cropping region is determined, and the activated original volume data is cropped based on the cropping region to obtain the target volume data corresponding to the activated original volume data.

[0038] Optionally, determining the corresponding cropping region based on the region selection instruction for the original image includes:

[0039] When the region selection instruction is an instruction corresponding to a mouse tracing operation, multiple corresponding mouse tracing points are determined based on the mouse tracing operation, and the region enclosed by the multiple mouse tracing points is determined as the clipping region.

[0040] When the region selection instruction is the instruction corresponding to the rectangular box operation, the rectangular box region corresponding to the rectangular box operation is determined as the clipping region;

[0041] When the region selection instruction is the instruction corresponding to the eraser operation, the region covered by the eraser operation is determined as the cutting region.

[0042] Optionally, determining the corresponding cropping region based on the region selection instruction for the original image, and cropping the activated original volume data based on the cropping region, includes:

[0043] When the target object in the activated original data is occluded by an interfering object, the first ray between the screen point and the view point of the target object is obtained, and the second ray between the screen point and the view point of the interfering object is obtained.

[0044] The activated original volume data is rotated based on the received rotation adjustment command so that the first ray and the second ray do not overlap.

[0045] Determine the screen points that constitute the cropping area;

[0046] Determine the ray between the screen point and the viewpoint of each cropping region, and delete all volume data points through which the ray passes in the activated original volume data to obtain the corresponding target volume data.

[0047] This application also provides a three-dimensional volumetric data display device, including:

[0048] The original volume data processing module is used to preprocess the corresponding original volume data according to the cropping area corresponding to each original volume data displayed on the screen, so as to obtain multiple volume data.

[0049] A volume data adjustment module is used to receive adjustment instructions for each volume data in the same space, and determine the corresponding change matrix based on the adjustment instructions;

[0050] The volume data merging module is used to merge the multiple volume data based on the current change matrix of each volume data when a merging instruction is received, to obtain merged volume data;

[0051] The merged display module is used to render and display the merged data.

[0052] This application also provides an electronic device, including:

[0053] Memory, used to store computer programs;

[0054] A processor is configured to execute the computer program to implement the steps of the three-dimensional volume display method as described above.

[0055] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the three-dimensional volume display method described above.

[0056] This application provides a three-dimensional volume display method, comprising: preprocessing the original volume data according to the clipping regions corresponding to multiple original volume data to obtain multiple target volume data; receiving adjustment instructions for the target volume data in the same space, and determining the change matrix corresponding to the target volume data based on the adjustment instructions; when a merging instruction is received, merging the corresponding target volume data based on the change matrix to obtain merged volume data; and rendering and displaying the merged volume data.

[0057] By first preprocessing multiple original volume data to obtain multiple volume data, then determining the corresponding change matrix based on the obtained adjustment instructions, and finally merging the multiple volume data based on the change matrix corresponding to each volume data to obtain merged volume data, the merged volume data is then rendered and displayed. This achieves unified rendering and display of multiple original volume data after adjustment, allowing for a comprehensive view of all volume data instead of viewing each original volume data separately, thus improving the viewing experience and efficiency of volume data.

[0058] This application also provides a three-dimensional volumetric data display device, a terminal device, and a computer-readable storage medium, which have the above-mentioned beneficial effects, and will not be elaborated here. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0060] Figure 1 A flowchart illustrating a three-dimensional volume data display method provided in this application embodiment;

[0061] Figure 2 A flowchart illustrating another three-dimensional volume display method provided in this application embodiment;

[0062] Figure 3 A schematic diagram of the three-dimensional processing flow of another three-dimensional volume data display method provided in an embodiment of this application;

[0063] Figure 4 This is a schematic diagram of the first original volume data clipping for another three-dimensional volume data display method provided in the embodiments of this application;

[0064] Figure 5 This is a schematic diagram of the second original volume data clipping for another three-dimensional volume data display method provided in the embodiments of this application;

[0065] Figure 6 Add a schematic diagram to the first volume data of another three-dimensional volume data display method provided in the embodiments of this application;

[0066] Figure 7 Add a schematic diagram to the second volume data of another three-dimensional volume data display method provided in the embodiments of this application;

[0067] Figure 8 This is a schematic diagram of the second volume data adjustment in another three-dimensional volume data display method provided in the embodiments of this application;

[0068] Figure 9 Add a schematic diagram to the third-body data of another three-dimensional volume display method provided in the embodiments of this application;

[0069] Figure 10 This is a schematic diagram of third-body data adjustment for another three-dimensional volume display method provided in an embodiment of this application;

[0070] Figure 11 A schematic diagram of a first camera for a three-dimensional volumetric data display method provided in an embodiment of this application;

[0071] Figure 12A schematic diagram of a second camera for a three-dimensional volumetric data display method provided in an embodiment of this application;

[0072] Figure 13 This is a schematic diagram of the structure of a three-dimensional volumetric data display device provided in an embodiment of this application;

[0073] Figure 14 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0074] The core of this application is to provide a three-dimensional volume data display method, a three-dimensional volume data display device, a terminal device, and a computer-readable storage medium, so as to realize the merging and rendering of multiple original volume data, improve the display effect, and maintain the user experience.

[0075] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0076] In related technologies, due to hardware limitations or data acquisition limitations, there are situations where multiple volumetric data points are acquired for the same or multiple objects, making it impossible to render these multiple volumetric data points uniformly during the final rendering process. For example, ultrasound probes have limited scanning range, with a relatively small scanning area at any given time. Therefore, when scanning multiple tissues that are far apart or large, it is impossible to scan them all at once, requiring multiple scans to acquire different volumetric data points. However, because there are differences between the volumetric data points from multiple scans, they cannot be rendered and displayed uniformly. Users need to switch back and forth between different volumetric data points to view them, reducing the effectiveness of 3D data display and the user experience.

[0077] Therefore, this application provides a three-dimensional volume data display method. This method involves preprocessing multiple original volume data to obtain multiple volume data sets, then determining the corresponding change matrix based on the acquired adjustment instructions, and finally merging the multiple volume data sets based on the change matrix corresponding to each volume data set to obtain merged volume data. Finally, the merged volume data is rendered and displayed. This method achieves unified rendering and display of multiple original volume data sets after adjustment, allowing for a comprehensive view of all volume data rather than viewing each original volume data set separately, thus improving the viewing experience and efficiency.

[0078] This application's embodiments can be applied to the process of ultrasonic three-dimensional imaging. In actual operation, the user can operate the corresponding ultrasonic equipment to first acquire a series of two-dimensional images, and then perform three-dimensional reconstruction based on these two-dimensional images to obtain the corresponding three-dimensional data. Then, three-dimensional rendering and display are performed through volume rendering or surface rendering. The ultrasonic equipment is not limited; any ultrasonic equipment provided by existing technology can be used. Furthermore, the probe corresponding to the ultrasonic equipment is also not limited; it can be any probe provided by existing technology.

[0079] Furthermore, this technology can be applied to the process of 3D imaging of the fetus. First, a series of 2D images of the fetus are acquired using an ultrasound probe. Then, based on these 2D images, 3D reconstruction is performed to obtain corresponding 3D data, i.e., volume data. Since the probe acquires data from different moments, the 3D reconstruction will obtain volume data for different parts of the fetus. Specifically, it will acquire volume data representing the fetal head and upper body, volume data representing the fetal torso, and volume data representing the fetal lower body. Generally, in existing technologies, technicians switch between these three different volume data sets when viewing a 3D model of the fetus, which reduces efficiency.

[0080] Therefore, in this embodiment, the original body data is preprocessed according to the cropping regions corresponding to multiple original body data to obtain multiple target body data; then, adjustment instructions for the target body data are received in the same space, and a change matrix corresponding to the target body data is determined based on the adjustment instructions; when a merging instruction is received, the corresponding target body data are merged based on the change matrix to obtain merged body data; finally, the merged body data is rendered and displayed. This achieves the merged display of multiple body data related to the fetus, rather than displaying them separately, improving the efficiency of user viewing.

[0081] The following embodiment illustrates a three-dimensional volume display method provided in this application.

[0082] Please refer to Figure 1 , Figure 1 This is a flowchart of a three-dimensional volume display method provided in an embodiment of this application.

[0083] The execution subject in this embodiment can be an ultrasound device, a terminal device for displaying volume data, or a terminal device for modifying volume data. Therefore, the execution subject in this embodiment is not unique and is not specifically limited here.

[0084] In this embodiment, the method may include:

[0085] S11, preprocess the original volume data according to the clipping regions corresponding to multiple original volume data to obtain multiple target volume data;

[0086] As can be seen, this step aims to preprocess the received raw body data to obtain the corresponding body data. In ultrasound scanning, due to hardware limitations or the need to scan multiple tissues, multiple raw body data sets are acquired, each displaying a different image. Therefore, in existing technologies, technicians need to constantly switch between different raw body data sets when viewing the raw body data, which is inefficient. Therefore, this embodiment preprocesses each raw body data set to obtain the corresponding target body data, which is then merged and rendered to improve the rendering effect and further enhance the efficiency of the operation.

[0087] The original volume data refers to the data collected after volumetric scanning.

[0088] The preprocessing of the original volume data can involve cropping redundant content from the original volume data based on the cropping region to obtain the corresponding volume data. Furthermore, this preprocessing can also include image denoising and image filtering. The image denoising and image filtering processes primarily process the target volume data portion of the original volume data, rather than preprocessing the region to be cropped.

[0089] The cropping area can be determined by a technician observing the original data displayed on the screen and then operating a corresponding selected operation command. In this embodiment, the device determines the cropping area based on the received selected operation command and then performs cropping processing based on that area.

[0090] Furthermore, the cropping region can also be defined by framing the original body data based on the corresponding cropping template, then determining the original body data points outside the template as the cropping region, and then performing cropping processing based on the cropping region.

[0091] Furthermore, the cropping area can also be one or more cropping areas to be confirmed obtained by the device in this embodiment after identifying the original body data based on an artificial intelligence model. The technician selects from all the cropping areas to be confirmed and merges the selected one or more cropping areas to be confirmed into the cropping area.

[0092] Furthermore, to improve the accuracy of cropping the original data and maintain the cropping effect, S11 may include:

[0093] S111, acquire multiple raw body data corresponding to multiple imaging regions of the object being tested through one or more ultrasonic probes;

[0094] S112, Display the image corresponding to each raw body data in a different candidate window and set each raw body data to be activated by default;

[0095] S113, when a candidate window is selected, the original volume data corresponding to the candidate window is activated, and the original image corresponding to the activated original volume data is displayed in the adjustment window; the adjustment window and each candidate window are located in different display areas of the display screen;

[0096] S114, determine the corresponding cropping region based on the region selection instruction for the original image, and crop the activated original volume data based on the cropping region to obtain the target volume data corresponding to the activated original volume data.

[0097] As can be seen, this optional solution mainly explains how to perform pretreatment based on the clipped area. In this optional solution, multiple raw body data corresponding to multiple imaging regions of the object being tested are acquired through one or more ultrasonic probes. That is to say, these multiple raw body data can be multiple raw body data corresponding to multiple imaging regions acquired by a single ultrasonic probe at different times, or multiple raw body data corresponding to multiple imaging regions acquired by multiple ultrasonic probes. Each of the multiple ultrasonic probes can also acquire multiple raw body data corresponding to multiple imaging regions; this is not limited here.

[0098] Furthermore, the different primitive data can be primitive data corresponding to different regions of the object being examined. Taking fetal ultrasound images as an example, these primitive data can be primitive data corresponding to the fetal head, abdomen, and legs. Optionally, an ultrasound probe is oriented towards a first location at a first moment to acquire first primitive data, towards a second location at a second moment to acquire second primitive data, towards a third location at a third moment to acquire third primitive data, and so on, to obtain all primitive data, which are then displayed on the screen.

[0099] Furthermore, each raw data entry is displayed in a different candidate window, and each raw data entry is set to an inactive state by default, so that technicians or users can activate the corresponding raw data entry and perform the corresponding operation when they see the raw data entry on the screen.

[0100] Furthermore, when a candidate window is selected, the corresponding raw volume data is activated, and the original image corresponding to the activated raw volume data is displayed in the adjustment window; the adjustment window and each candidate window are located in different display areas of the screen. In other words, selecting the raw volume data to be operated on and then displaying that raw volume data in the adjustment window for operation essentially switches the raw volume data from the candidate window to the adjustment window, where adjustments are made. Therefore, this optional solution switches the raw volume data from the candidate window to the adjustment window for adjustment, rather than adjusting it within the same space, thus improving the efficiency of the operation.

[0101] Finally, based on the region selection instructions for the original image, the corresponding cropping region is determined, and the activated original volume data is cropped based on the cropping region to obtain the target volume data corresponding to the activated original volume data. The cropping process can involve determining the volume data points to be deleted from the original volume data based on the cropping region, and then deleting these volume data points to obtain the processed target volume data.

[0102] Furthermore, the process of determining the corresponding cropping region based on the region selection instruction for the original image in the previous alternative scheme may include:

[0103] When the region selection command corresponds to a mouse tracing operation, multiple mouse tracing points are determined based on the mouse tracing operation, and the area enclosed by these multiple mouse tracing points is defined as the clipping region. In other words, multiple mouse tracing points are determined based on the mouse tracing operation, and the area enclosed and combined by these tracing points is the clipping region determined by the mouse tracing operation.

[0104] When the region selection command is the command corresponding to a rectangular box operation, the rectangular box region corresponding to the rectangular box operation is determined as the clipping region. That is, the region selected by the rectangular box operation is used as the clipping region, and the range of the rectangular box operation selection can be determined as a rectangular area.

[0105] When the region selection command corresponds to the eraser operation, the area covered by the eraser operation is determined as the clipping region. That is, the region or volume data points traversed by the eraser operation are used as the clipping region. The region traversed by the eraser operation can be the selected region, or the region defined by the eraser operation can be the selected region.

[0106] Furthermore, in this optional solution, S114 may include:

[0107] S1141, when the target object in the activated original data is occluded by an interfering object, the first ray between the screen point and the view point of the target object is obtained, and the second ray between the screen point and the view point of the interfering object is obtained.

[0108] S1142, based on the received rotation adjustment command, the activated original body data is rotated so that the first ray and the second ray do not overlap;

[0109] S1143, Determine the screen points that constitute the clipping area;

[0110] S1144, determine the light rays between the screen point and the viewpoint of each clipping region, delete all volume data points through which the light rays pass in the activated original volume data, and obtain the corresponding target volume data.

[0111] As can be seen, this optional solution primarily determines the volume data points to be deleted based on the light rays between screen points and viewpoints within the clipping area. Here, screen points are the points displayed on the screen, and viewpoints are the camera positions during 3D display. The camera position can refer to the location of the ultrasonic probe. By accurately determining the volume data points to be deleted through the connection between screen points and viewpoints in this embodiment, the accuracy of clipping is improved.

[0112] S12, receive adjustment instructions for target volume data in the same space, and determine the change matrix corresponding to the target volume data based on the adjustment instructions;

[0113] Building upon S11, this step aims to receive adjustment instructions for the target volume data within the same space and determine the corresponding transformation matrix based on these instructions. In other words, it determines the transformation matrix for altering the target volume data based on the received adjustment instructions. Here, "same space" refers to the space where all target volume data is operated upon. This space is equipped with a unified world coordinate system to ensure consistent adjustment operations are performed on all target volume data based on this world coordinate system, maintaining the reliability of the transformation matrix.

[0114] The adjustment command is a command received by the device to adjust the volume data displayed on the screen. Further, the actual adjustment process involves receiving the adjustment command, transforming the volume data based on the command to obtain transformed volume data, and then re-rendering the transformed volume data onto the screen to obtain the adjusted volume data. The matrix calculated based on the changes in the volume data before and after is the transformation matrix.

[0115] Furthermore, to improve the efficiency of volume data adjustment and achieve precise adjustment for each volume data point, this step may include:

[0116] S121, when the first target data is activated, the image corresponding to the first target data is added to the first region within the adjustment space;

[0117] S122, when the second target data is activated, the image corresponding to the second target data is added to the area in the adjustment space that does not completely overlap with the first area;

[0118] S123, receive adjustment instructions for the images corresponding to the first target data and / or the second target data, and determine the corresponding change matrix based on the adjustment instructions.

[0119] As can be seen, this optional solution mainly describes how to receive adjustment instructions for the target volume data and determine the transformation matrix. In this optional solution, multiple volume data points are first placed in the world coordinate system. This can be done either by placing the volume data in the world coordinate system using the default method, or by adjusting the volume data before placing it in the world coordinate system. For example, the volume data can be uniformly scaled to the same size and then placed in the world coordinate system, or all volume data can be scaled to the same proportion before being placed in the world coordinate system. It is clear that the placement method is not unique and is not specifically limited here.

[0120] Furthermore, when a target data is activated, the processing flow for that target data is initiated. This involves receiving adjustment instructions for each target data, displaying the corresponding adjustment results in real time, and determining the corresponding change matrix.

[0121] Furthermore, the adjustment commands in this optional scheme include one or more of the following: rotation adjustment command, translation adjustment command, scaling adjustment command, and angle adjustment command.

[0122] Furthermore, based on the previous optional solution, in order to improve processing efficiency, the process of receiving adjustment instructions for target body data in the same space in this embodiment may include:

[0123] S1201: When a batch processing trigger command is received, the batch processing stage is entered.

[0124] S1202, adjust the data of each target body based on the received batch adjustment instructions to obtain the adjusted target body data; wherein, the batch adjustment instructions include one or more of the following: rotation adjustment instructions, translation adjustment instructions, scaling adjustment instructions, and angle adjustment instructions;

[0125] S1203: When a certain adjusted target body data is activated, the corresponding adjusted activated target body data is added to the adjustment space, and adjustment instructions for the adjusted activated target body data are received.

[0126] As can be seen, each volume data can be adjusted in batches, and then the batch-adjusted volume data can be added to the world coordinate system to improve the efficiency of placing target volume data.

[0127] S13, When a merge instruction is received, the corresponding target data is merged based on the change matrix to obtain merged data;

[0128] Building upon S12, this step aims to merge the corresponding target volume data based on the transformation matrix when a merge instruction is received, thereby obtaining the merged volume data. In other words, all target volume data are calculated based on the corresponding transformation matrix to obtain the overall volume data, which is the merged volume data.

[0129] The calculation based on the transformation matrix can be performed using any of the existing technologies, and no specific limitation is made here.

[0130] S14, render and display the merged data.

[0131] Building upon S13, this step aims to render and display the merged body data. In other words, it renders the merged body data that combines multiple original body data, thus achieving unified rendering of objects with multiple original body data, instead of rendering them separately in scattered locations.

[0132] Furthermore, S13 in this embodiment may include:

[0133] S131, when a merging instruction for at least two target body data is received, the at least two target body data are merged based on the change matrix of the at least two target body data to obtain the first merged body data;

[0134] S132, when a merging instruction for the first merged body data and the third target body data is received, the first merged body data and the third target body data are merged based on the change matrix of the third target body data to obtain the corresponding second merged body data; wherein, the third target body data is different from at least two target body data.

[0135] As can be seen, this optional solution primarily involves batch merging when dealing with at least two target data sets, rather than merging all target data sets at once, thus improving the display efficiency of the merged target data. First, the adjusted target data sets are merged, and the merging effect is displayed promptly, allowing technicians to make timely adjustments and improving adjustment efficiency.

[0136] Furthermore, by analogy, when there are N target body data, the adjusted target body data is first merged with the previous control body data. The previous control body data can be either the target body data or the merged body data from the previous control.

[0137] Accordingly, S14, based on S13, may include:

[0138] When the third target data is the last unmerged target data, the second merged data will be rendered and displayed.

[0139] In other words, based on the batch merging approach of the previous optional solution, in this optional solution, when the third target body data is the last unmerged target body data, the second merged body data will be rendered and displayed. That is, when merging reaches the last target body data, the merged body data will be rendered and displayed.

[0140] Furthermore, based on the previous optional scheme, after obtaining the first merged data, it also includes:

[0141] S1311, Determine the display area of ​​the merged image corresponding to the first merged data;

[0142] S1312, when the display area of ​​the merged image does not match the display area of ​​the display screen, adjust the display size of the merged image, and adjust the first merged data based on the adjustment of the display size to obtain the adjusted first merged data.

[0143] In other words, when the first merged data is obtained, the data may not display well, making it difficult to display properly on the screen and reducing the efficiency of technicians. Therefore, this optional solution determines the display area of ​​the merged image corresponding to the first merged data; when the display area of ​​the merged image does not match the display area of ​​the screen, the display size of the merged image is adjusted, and the first merged data is adjusted based on the adjustment of the display size to obtain the adjusted first merged data. That is, when there is a display area mismatch problem, the display size is adjusted to optimize the display effect of the first merged data and improve the efficiency of technicians.

[0144] The operation of adjusting the display size of the merged image includes: scaling the display size and enlarging the display size. When the display area of ​​the merged image is larger than the display area of ​​the screen, a scaling operation is performed. When the display area of ​​the merged image is smaller than the display area of ​​the screen, an enlarging operation is performed.

[0145] Accordingly, based on the change matrix of the third target body data, the first merged body data and the third target body data are merged to obtain the corresponding second merged body data, including:

[0146] Based on the change matrix of the third target body data, the third target body data and the adjusted first merged body data are merged to obtain the corresponding second merged body data. In other words, based on the previous alternative scheme, the adjusted first merged body data is merged to obtain the corresponding second merged body data.

[0147] Furthermore, the adjustment commands can include one or more of the following: rotation adjustment commands, translation adjustment commands, scaling adjustment commands, and angle adjustment commands. In other words, the commands used for adjustment are not limited to one or more of these adjustment commands.

[0148] Correspondingly, the process of receiving adjustment instructions for target volume data in the same space and determining the corresponding change matrix for the target volume data based on the adjustment instructions may include:

[0149] The system receives adjustment instructions for the target image corresponding to the target volume data in the same space, and performs rotation, translation, scaling and / or angle adjustment on the target image based on the adjustment instructions; then, it determines the change matrix corresponding to the target volume data based on the position change of the target image in the same space before and after adjustment.

[0150] Among them, the rotation adjustment command is an adjustment command that rotates the corresponding target data as a whole in the world coordinate system; the translation adjustment command is an adjustment command that translates the corresponding target data in the world coordinate system; the scaling adjustment command is an adjustment command that scales the corresponding target data in the world coordinate system; and the angle adjustment command is an adjustment command that adjusts the angle of the corresponding target data in the world coordinate system.

[0151] In summary, this embodiment first preprocesses multiple original volume data to obtain multiple volume data, then determines the corresponding change matrix based on the obtained adjustment instructions, and finally merges the multiple volume data based on the change matrix corresponding to each volume data to obtain merged volume data. Finally, the merged volume data is rendered and displayed, realizing the unified rendering and display of multiple original volume data after adjustment. This allows for the statistical viewing of all volume data, rather than viewing each original volume data separately, thus improving the viewing experience and efficiency of volume data.

[0152] The following specific embodiment will further illustrate a three-dimensional volume display method provided in this application.

[0153] Please refer to Figure 2 , Figure 2 A flowchart of another three-dimensional volume display method provided in an embodiment of this application.

[0154] In this embodiment, the method may include:

[0155] S21, using a single ultrasonic probe to acquire data at multiple different times, obtaining multiple raw volume data. The ultrasonic probe can be a two-dimensional probe, a volumetric probe, or an area array probe, etc.

[0156] S22, preprocess the collected raw body data.

[0157] In other words, the collected raw volume data is imported into the 3D processing flow for preprocessing operations such as cropping, leaving the required raw volume data as volume data.

[0158] The purpose of 3D cropping is to display a 3D image of the remaining volumetric data after cropping on a 3D image area. Therefore, the volumetric data to be cropped is first determined. The cropping area on the screen, consisting of multiple screen points, can be determined by mouse tracing, box operations, or eraser operations.

[0159] Then, a ray is determined from each screen point and viewpoint in the clipping area on the screen, passing through the volume data. Each volume data point that the ray passes through is clipped out. Finally, all unnecessary volume data points are clipped out to obtain the preprocessed volume data.

[0160] Please refer to Figure 3 , Figure 3 This is a schematic diagram of the three-dimensional processing flow of another three-dimensional volume display method provided in an embodiment of this application.

[0161] visible, Figure 3 The upper half shows the raw body data currently being processed, namely the upper half of the fetus's body tissue, while the lower half shows the image sequence formed by all the raw body data collected, namely the body tissue of different parts acquired by the ultrasound probe at multiple times.

[0162] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the first original volume data clipping for another three-dimensional volume data display method provided in the embodiments of this application.

[0163] visible, Figure 4 The upper half shows a 3D image of the original body data currently being cropped. The area selected by the dashed line is the cropping region, and the volume data points in this region are the volume data points that need to be deleted. The lower half shows an image sequence formed by all the acquired original body data, that is, body tissues at different locations acquired by the ultrasound probe at multiple times.

[0164] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the second original volume data clipping for another three-dimensional volume data display method provided in the embodiments of this application.

[0165] visible, Figure 5The upper half shows a 3D image of the raw body data currently being cropped, indicating the transition from the current raw body data to the next. The area selected by the dashed line is the cropping region, and the volume data points within this region are the data points to be deleted. The lower half displays an image sequence formed by all the acquired raw body data, representing body tissues at different locations captured by the ultrasound probe at multiple time points.

[0166] Furthermore, through Figure 4 and Figure 5 As can be seen, in order to quickly and easily determine the cropping area, the orientation of the original volume data can be adjusted so that the corresponding cropping area can be accurately selected on the screen, avoiding the selection of the required volume data points in the cropping area, thus improving the efficiency of cropping.

[0167] S23, merge the preprocessed volume data to obtain merged volume data.

[0168] Furthermore, the preprocessed volume data can be added to the merge space separately, that is, added to the world coordinate system. The placement process can begin by performing rotation, translation, and other operations on the preprocessed volume data, and then placing it at a selected position in the merge space. Then, during the merging process, a world coordinate system is established, and the transformation matrix between the merged volume data and each individual volume data is determined by analyzing the coordinate changes of the objects in the world coordinate system.

[0169] For example, after the scanning is completed and multiple original volume data are cropped to obtain multiple volume data, multiple volume data are selected to form an image sequence, and the subsequent merging process is as follows:

[0170] First, select the first body data, that is, add object one to the processing flow.

[0171] Please refer to Figure 6 , Figure 6 A schematic diagram is added to the first volume data of another three-dimensional volume data display method provided in the embodiments of this application.

[0172] visible, Figure 6 The upper half shows the 3D image of the first volume data selected, which is then added to the processing flow. The lower half displays the image sequence formed by all the selected volume data, representing body tissues at different locations acquired by the ultrasound probe at multiple time points.

[0173] Then, the second volume data is selected. During processing, volume data can be activated individually to perform operations such as translation, rotation, and scaling. That is, the user inputs adjustment commands, and the corresponding change matrix is ​​recorded. The 3D image under these changes is then rendered and displayed. Activating volume data means that operations on the target volume data begin at this point; all adjustment commands input at this time are commands that operate on the target volume data and have no effect on other volume data.

[0174] Please refer to Figure 7 , Figure 7 A schematic diagram of the second volume data is added for another three-dimensional volume data display method provided in the embodiments of this application.

[0175] visible, Figure 7 The upper half displays a 3D image of the currently selected second-body data, which is then added to the processing flow. However, while the first and second-body data are spatially dispersed, the actual ultrasound data is viewed in conjunction with them. This results in a poor user experience. The lower half shows an image sequence formed by all selected body data, representing body tissues acquired by the ultrasound probe at multiple times.

[0176] Please refer to Figure 8 , Figure 8 This is a schematic diagram of the second volume data adjustment for another three-dimensional volume data display method provided in an embodiment of this application.

[0177] visible, Figure 8 The upper half shows 3D images of the currently selected first and second volume data, which are adjusted to merge the first and second volume data into a single image. The lower half displays an image sequence formed by all selected volume data, representing body tissues at different locations acquired by the ultrasound probe at multiple times.

[0178] It is conceivable that while adjusting the second body data, the first body data can also be activated for adjustment. Furthermore, in this case, the first and second body data can be merged first to form new body data, which can then be merged with subsequent body data.

[0179] Next, select the third-body data. During the processing, the volume data can be activated separately to perform operations such as translation, rotation, and scaling. At this time, the corresponding transformation matrix is ​​recorded, and the 3D image under this transformation is rendered and displayed.

[0180] Please refer to Figure 9 , Figure 9 A schematic diagram is added for the third-body data of another three-dimensional volume display method provided in the embodiments of this application.

[0181] visible, Figure 9 The upper half displays a 3D image of the currently selected third-body data, which is then added to the processing flow. However, this third-body data is spatially dispersed from other body data, yet the actual ultrasound data is viewed in a correlated manner. This results in a poor user experience. The lower half shows an image sequence formed by all selected body data, representing body tissues acquired by the ultrasound probe at multiple times.

[0182] Please refer to Figure 10 , Figure 10 This is a schematic diagram of third-body data adjustment for another three-dimensional volume display method provided in an embodiment of this application.

[0183] visible, Figure 10 The upper half of the image shows the 3D images of the currently selected third-body data and other volumetric data, which are adjusted to integrate the third-body data with the other volumetric data. The lower half displays the image sequence formed by all the selected volumetric data, that is, the body tissues at different locations acquired by the ultrasound probe at multiple times.

[0184] Finally, once you've moved to the appropriate position, you can press the merge button. This will perform matrix calculations based on the change matrix of each volume data point, merging the data. You can also continue adding volume data for further processing.

[0185] S24, perform 3D rendering and display of the merged data.

[0186] As can be seen, this embodiment first preprocesses multiple original volume data to obtain multiple volume data, then determines the corresponding change matrix based on the obtained adjustment instructions, and finally merges the multiple volume data based on the change matrix corresponding to each volume data to obtain merged volume data. Finally, the merged volume data is rendered and displayed, realizing the unified rendering and display of multiple original volume data after adjustment. This allows for the statistical viewing of all volume data, rather than viewing each original volume data separately, thus improving the viewing experience and efficiency of volume data.

[0187] In addition, matrix calculations can be performed in this embodiment based on the following method.

[0188] The translation transformation matrix and its inverse transformation are as follows:

[0189] and Where tx, ty, and tz are the translation amounts in the x, y, and z axes, respectively.

[0190] The scaling transformation matrix and its inverse transformation are as follows:

[0191] and Where sx, sy, and sz are the scaling factors in the x, y, and z axes, respectively.

[0192] The rotation transformation and its inverse matrix (-θ) are as follows:

[0193] x-axis rotation:

[0194]

[0195] Where θ is the rotation angle.

[0196] y-axis rotation:

[0197]

[0198] z-axis rotation:

[0199]

[0200] The perspective projection transformation is as follows:

[0201]

[0202] Where r, l, b, t, f, and n represent the right, left, bottom, top, far, and near edges of the camera's field of view, respectively.

[0203] Please refer to the following: Figure 11 , Figure 11 This is a schematic diagram of a first camera for a three-dimensional volumetric data display method provided in an embodiment of this application.

[0204] The parallel projection transformation is as follows:

[0205]

[0206] Where r, l, b, t, f, and n represent the right, left, bottom, top, far, and near edges of the camera's field of view, respectively.

[0207] Please refer to the following: Figure 12 , Figure 12 This is a schematic diagram of a second camera for a three-dimensional volumetric data display method provided in an embodiment of this application.

[0208] The following describes the three-dimensional volume display device provided in the embodiments of this application. The three-dimensional volume display device described below can be referred to in correspondence with the three-dimensional volume display method described above.

[0209] Please refer to Figure 13 , Figure 13This is a schematic diagram of the structure of a three-dimensional volumetric data display device provided in an embodiment of this application.

[0210] In this embodiment, the device may include: a raw volume data processing module 100, used to preprocess the raw volume data according to the clipping regions corresponding to multiple raw volume data to obtain multiple target volume data; a volume data adjustment module 200, used to receive adjustment instructions for the target volume data in the same space, and determine the change matrix corresponding to the target volume data based on the adjustment instructions; a volume data merging module 300, used to merge the corresponding target volume data based on the change matrix when a merging instruction is received to obtain merged volume data; and a merged display module 400, used to render and display the merged volume data.

[0211] Optionally, the volume data merging module 300 is specifically used to merge at least two target volume data based on the change matrix of the at least two target volume data when a merging instruction for at least two target volume data is received, to obtain a first merged volume data; and to merge the first merged volume data and the third target volume data based on the change matrix of the third target volume data when a merging instruction for the first merged volume data and the third target volume data is received, to obtain a corresponding second merged volume data; wherein the third target volume data is different from the at least two target volume data; correspondingly, the merged display module 400 is specifically used to render and display the second merged volume data when the third target volume data is the last unmerged target volume data.

[0212] Optionally, after obtaining the first merged body data, the body data merging module 300 is further configured to: determine the display area of ​​the merged image corresponding to the first merged body data; when the display area of ​​the merged image does not match the display area of ​​the display screen, adjust the display size of the merged image, and adjust the first merged body data based on the adjustment of the display size to obtain the adjusted first merged body data; correspondingly, the process of merging the first merged body data and the third target body data based on the change matrix of the third target body data to obtain the corresponding second merged body data includes: merging the third target body data and the adjusted first merged body data based on the change matrix of the third target body data to obtain the corresponding second merged body data.

[0213] Optionally, the adjustment command includes one or more of rotation adjustment commands, translation adjustment commands, scaling adjustment commands, and angle adjustment commands; correspondingly, the process of receiving adjustment commands for target volume data in the same space and determining the change matrix corresponding to the target volume data based on the adjustment commands includes: receiving adjustment commands for the target image corresponding to the target volume data in the same space, and performing rotation, translation, scaling, and / or angle adjustment on the target image based on the adjustment commands; and determining the change matrix corresponding to the target volume data based on the position change of the target image in the same space before and after adjustment.

[0214] Optionally, the volume data adjustment module 200 is specifically used to add the image corresponding to the first target volume data to the first region within the adjustment space when the first target volume data is activated; and to add the image corresponding to the second target volume data to the region within the adjustment space that does not completely overlap with the first region when the second target volume data is activated; to receive adjustment instructions for the images corresponding to the first target volume data and / or the second target volume data, and to determine the corresponding change matrix based on the adjustment instructions.

[0215] Optionally, the process of receiving adjustment instructions for target volume data in the same space includes: entering the batch processing stage when a batch processing trigger instruction is received; adjusting each target volume data based on the received batch adjustment instructions to obtain adjusted target volume data; wherein, the batch adjustment instructions include one or more of rotation adjustment instructions, translation adjustment instructions, scaling adjustment instructions, and angle adjustment instructions; when a certain adjusted target volume data is activated, adding the corresponding adjusted activated target volume data to the adjustment space, and receiving adjustment instructions for the adjusted activated target volume data.

[0216] Optionally, the raw body data processing module 100 is specifically used to acquire multiple raw body data corresponding to multiple imaging regions of the object being tested through one or more ultrasound probes; display the image corresponding to each raw body data in different candidate windows and set each raw body data to be activated by default; when a candidate window is selected, activate the raw body data corresponding to the candidate window and display the raw image corresponding to the activated raw body data in an adjustment window; the adjustment window and each candidate window are located in different display areas of the display screen; determine the corresponding cropping area based on the region selection instruction for the raw image, and crop the activated raw body data based on the cropping area to obtain the target body data corresponding to the activated raw body data.

[0217] Optionally, the process of determining the corresponding cropping region based on the region selection instruction for the original image includes: when the region selection instruction is an instruction corresponding to a mouse tracing operation, determining multiple mouse tracing points based on the mouse tracing operation, and determining the region enclosed by the multiple mouse tracing points as the cropping region; when the region selection instruction is an instruction corresponding to a rectangular box operation, determining the rectangular box region corresponding to the rectangular box operation as the cropping region; when the region selection instruction is an instruction corresponding to an eraser operation, determining the region covered by the eraser operation as the cropping region.

[0218] Optionally, the process of determining the corresponding cropping region based on the region selection instruction for the original image and cropping the activated original volume data based on the cropping region includes: when the target object in the activated original volume data is occluded by an interfering object, acquiring a first ray between the screen point and the viewpoint of the target object, and acquiring a second ray between the screen point and the viewpoint of the interfering object; rotating the activated original volume data based on the received rotation adjustment instruction so that the first ray and the second ray do not overlap; determining the screen point constituting the cropping region; determining the ray between the screen point and the viewpoint of each cropping region, deleting all volume data points through which the ray passes in the activated original volume data, and obtaining the corresponding target volume data.

[0219] This application also provides a terminal device, please refer to... Figure 14 , Figure 14 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. The terminal device may include: a memory for storing computer programs; and a processor for executing the computer programs to implement the steps of any of the three-dimensional volume display methods described above.

[0220] like Figure 14 The diagram shows the structural composition of a terminal device, which may include a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, memory 11, and communication interface 12 all communicate with each other through the communication bus 13.

[0221] In this embodiment, the processor 10 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic devices.

[0222] The processor 10 can call the program stored in the memory 11. Specifically, the processor 10 can execute the operations in the embodiments of the three-dimensional volume display method.

[0223] The memory 11 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment, the memory 11 stores at least a program for implementing the following functions:

[0224] The original volume data is preprocessed based on the clipping regions corresponding to multiple original volume data to obtain multiple target volume data; adjustment instructions for the target volume data are received in the same space, and the transformation matrix corresponding to the target volume data is determined based on the adjustment instructions; when a merging instruction is received, the corresponding target volume data are merged based on the transformation matrix to obtain merged volume data; the merged volume data is then rendered and displayed.

[0225] In one possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0226] In addition, memory 11 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0227] Communication interface 12 can be an interface for the communication module, used to connect with other devices or systems.

[0228] Of course, it should be noted that, Figure 14 The structure shown does not constitute a limitation on the terminal device in the embodiments of this application. In practical applications, the terminal device may include more than Figure 3 More or fewer components as shown, or combinations of certain components.

[0229] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps of any of the three-dimensional volume display methods described above.

[0230] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0231] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0232] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0233] Those skilled in the art will further 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, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. 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.

[0234] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0235] The foregoing has provided a detailed description of a three-dimensional volumetric data display method, a three-dimensional volumetric data display device, a terminal device, and a computer-readable storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A method for displaying three-dimensional volumetric data, characterized in that, include: The original body data is preprocessed based on the cropping regions corresponding to multiple original body data to obtain multiple target body data; In the same space, an adjustment instruction for the target body data is received, the target body data is transformed based on the adjustment instruction to obtain the transformed target body data, and the change matrix corresponding to the target body data is calculated based on the changes of the target body data before and after the transformation. When a merge instruction is received, the corresponding target data is merged based on the change matrix to obtain merged data; The merged data is then rendered and displayed.

2. The three-dimensional volumetric data display method according to claim 1, characterized in that, When a merge instruction is received, the corresponding target data is merged based on the change matrix to obtain merged data, including: When a merge instruction for at least two target data is received, the at least two target data are merged based on the change matrix of the at least two target data to obtain the first merged data. When a merge instruction is received for the first merged data and the third target data, the first merged data and the third target data are merged based on the change matrix of the third target data to obtain the corresponding second merged data; wherein, the third target data is different from the at least two target data. Accordingly, rendering and displaying the merged data includes: When the third target data is the last unmerged target data, the second merged data is rendered and displayed.

3. The three-dimensional volumetric data display method according to claim 2, characterized in that, After obtaining the first merged data, it also includes: Determine the display area of ​​the merged image corresponding to the first merged data; When the display area of ​​the merged image does not match the display area of ​​the display screen, the display size of the merged image is adjusted, and the first merged data is adjusted based on the adjustment of the display size to obtain the adjusted first merged data; Accordingly, the merging of the first merged data and the third target data based on the change matrix of the third target data to obtain the corresponding second merged data includes: Based on the change matrix of the third target body data, the third target body data and the adjusted first merged body data are merged to obtain the corresponding second merged body data.

4. The three-dimensional volumetric data display method according to claim 1, characterized in that, The adjustment commands include one or more of the following: rotation adjustment commands, translation adjustment commands, scaling adjustment commands, and angle adjustment commands; Accordingly, receiving adjustment instructions for the target volume data in the same space, and determining the change matrix corresponding to the target volume data based on the adjustment instructions, includes: The system receives adjustment instructions for the target image corresponding to the target body data in the same space, and performs rotation, translation, scaling and / or angle adjustment on the target image based on the adjustment instructions. The change matrix corresponding to the target volume data is determined based on the change in the position of the target image in the same space before and after adjustment.

5. The three-dimensional volumetric data display method according to any one of claims 1 to 4, characterized in that, The step of receiving adjustment instructions for the target volume data in the same space and determining the change matrix corresponding to the target volume data based on the adjustment instructions includes: When the first target data is activated, the image corresponding to the first target data is added to the first region within the adjustment space; When the second target data is activated, the image corresponding to the second target data is added to the area within the adjustment space that does not completely overlap with the first area; Receive adjustment instructions for the images corresponding to the first target data and / or the second target data, and determine the corresponding change matrix based on the adjustment instructions.

6. The three-dimensional volumetric data display method according to claim 5, characterized in that, Receiving adjustment instructions for the target body data in the same space includes: When a batch processing trigger command is received, the batch processing phase begins. The target body data is adjusted based on the received batch adjustment instructions to obtain the adjusted target body data; wherein, the batch adjustment instructions include one or more of the following: rotation adjustment instructions, translation adjustment instructions, scaling adjustment instructions, and angle adjustment instructions; When a certain adjusted target body data is activated, the corresponding adjusted activated target body data is added to the adjustment space, and adjustment instructions for the adjusted activated target body data are received.

7. The three-dimensional volumetric data display method according to claim 1, 2, 3, 4 or 6, characterized in that, The preprocessing of the original volume data based on the cropping regions corresponding to multiple original volume data results in multiple target volume data, including: Multiple raw body data corresponding to multiple imaging regions of the object being tested are acquired by one or more ultrasonic probes. The image corresponding to each of the original body data is displayed in a different candidate window, and each of the original body data is set to be activated by default. When a candidate window is selected, the original volume data corresponding to the candidate window is activated, and the original image corresponding to the activated original volume data is displayed in the adjustment window; the adjustment window and each candidate window are located in different display areas of the display screen; Based on the region selection instruction for the original image, the corresponding cropping region is determined, and the activated original volume data is cropped based on the cropping region to obtain the target volume data corresponding to the activated original volume data.

8. The three-dimensional volumetric data display method according to claim 7, characterized in that, The step of determining the corresponding cropping region based on the region selection instruction for the original image includes: When the region selection instruction is an instruction corresponding to a mouse tracing operation, multiple corresponding mouse tracing points are determined based on the mouse tracing operation, and the region enclosed by the multiple mouse tracing points is determined as the clipping region. When the region selection instruction is the instruction corresponding to the rectangular box operation, the rectangular box region corresponding to the rectangular box operation is determined as the clipping region; When the region selection instruction is the instruction corresponding to the eraser operation, the region covered by the eraser operation is determined as the cutting region.

9. The three-dimensional volumetric data display method according to claim 7, characterized in that, The step of determining the corresponding cropping region based on the region selection instruction for the original image, and cropping the activated original volume data based on the cropping region, includes: When the target object in the activated original data is occluded by an interfering object, the first ray between the screen point and the view point of the target object is obtained, and the second ray between the screen point and the view point of the interfering object is obtained. The activated original volume data is rotated based on the received rotation adjustment command so that the first ray and the second ray do not overlap. Determine the screen points that constitute the cropping area; Determine the ray between the screen point and the viewpoint of each cropping region, and delete all volume data points through which the ray passes in the activated original volume data to obtain the corresponding target volume data.

10. A three-dimensional volumetric data display device, characterized in that, include: The raw body data processing module is used to preprocess the corresponding raw body data according to the cropping area corresponding to each raw body data displayed on the screen, so as to obtain multiple target body data. The volume data adjustment module is used to receive adjustment instructions for each volume data in the same space, transform the target volume data based on the adjustment instructions to obtain the transformed target volume data, and calculate the change matrix corresponding to the target volume data based on the changes of the target volume data before and after the transformation. The volume data merging module is used to merge the multiple volume data based on the current change matrix of each volume data when a merging instruction is received, to obtain merged volume data; The merged display module is used to render and display the merged data.

11. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the three-dimensional volume display method as described in any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the three-dimensional volume display method as described in any one of claims 1 to 9.

Images