Ultrasonic ring-down image registration method and system

Abstract

The application provides an ultrasonic ring scanning image registration method and system, and the method comprises the following steps: setting a marker based on an endoscope shell, obtaining ultrasonic data through ultrasonic probe ring scanning; determining an amplitude lower limit value, constructing a registration condition, and screening out a first data group meeting the registration condition through iteration; demarcating each group of image frame heads and image frame tails in the original ultrasonic data based on the positions of two adjacent first data groups, and the data between each group of image frame heads and image frame tails is exactly the data collected through one round of ultrasonic probe ring scanning; and performing ultrasonic image reconstruction on the data between one group of image frame head and image frame tail, so that one frame of ultrasonic ring scanning sectional image is obtained. The scheme improves the imaging registration accuracy of the ultrasonic ring scanning endoscope by setting a marker on the endoscope, ensures that each frame of image contains exactly the data collected through one round of ultrasonic probe ring scanning, avoids information loss and information redundancy, and eliminates the misalignment at the joint of the frame head and the frame tail.

Description

Technical Field

[0001] This invention relates to the field of medical imaging equipment, and more specifically, to an ultrasound circumferential scanning image registration method and system. Background Technology

[0002] An circumferential endoscopic ultrasound (CEUS) examination is performed when the ultrasound scanning plane is perpendicular to the long axis of the endoscope. This method allows for a 360° circumferential scan of body cavities and is suitable for fields such as the digestive tract, cardiovascular (coronary) arteries, and trachea / bronchus. Compared to longitudinal endoscopic ultrasound, it offers a wider scanning range, is easier to master, has a smaller probe size, and a longer scanning distance, making it widely applicable.

[0003] To simplify structure and reduce costs, ultrasonic circumferential scanning endoscopes often employ non-coded motors to directly or indirectly drive the ultrasonic probe for rotational scanning. The raw data acquired by the ultrasonic probe itself does not contain circular spatial information; post-construction based on parameters such as sampling frequency and sound velocity is necessary to obtain a more intuitive and visual circular image. To present a complete circumferential scan image, the acquisition time for each frame must equal the time it takes for the ultrasonic probe to rotate one revolution; that is, the acquisition speed of each frame must be matched to the rotational speed.

[0004] Because the rotational speed of a non-coded motor cannot reach an absolutely uniform speed, and the speed is easily affected by the load, the host computer of the endoscopic equipment system cannot obtain real-time feedback on the motor's rotational speed. Therefore, it is impossible to ensure that the rotational speed of the ultrasound probe matches its data acquisition speed, resulting in two types of image distortion:

[0005] (1) When the ultrasound probe rotates faster than the data acquisition speed, it will have completed more than one revolution by the time it acquires a specified frame of data. The resulting image will show more than one revolution of tissue information, rather than a precise one revolution. Furthermore, because the scan start and end points are not at the same location, misalignment will occur at the image's junction. Additionally, due to the inclusion of redundant data, tissue features such as lesions (lesions, lymph nodes, veins, etc.) will be compressed and deformed, and their relative positions in the image will change. A comparison between a normal image and an image containing more than one revolution of data is provided in the instruction manual. Figure 1 As shown in the image, the shape of the lesion is compressed and deformed, and its relative position in the image has changed.

[0006] (2) If the ultrasound probe rotates slower than the data acquisition speed, it will not have completed one full rotation before acquiring the specified frame of data. This results in the reconstructed image containing less than one full rotation of tissue information, leading to information loss. Furthermore, lesions and other tissue features will be stretched and deformed, altering their relative positions in the image. A comparison between a normal image and an image with less than one full rotation is provided in the instruction manual. Figure 2 As shown in the image, the shape of the lesion is stretched and deformed, and its relative position in the image has changed.

[0007] Currently, there is no solution to this defect in existing technology. Developers mostly try to approximate the ultrasound data acquisition speed by improving the rotational accuracy of the electric motor, thereby reducing the mismatch and improving image quality. Therefore, the phenomenon of mismatch between the start and end points of the scan in the image has always existed in clinical ultrasound examinations. Summary of the Invention

[0008] To address the problems existing in current technologies, this invention provides an ultrasonic circumferential scanning image registration method and system. The specific solution is as follows:

[0009] The first part of this invention proposes an ultrasonic circumferential scanning image registration method, which includes the following:

[0010] A marker is placed on the housing of the endoscope, which is within the scanning range of the ultrasonic probe. Raw ultrasonic data containing the echo of the marker is obtained by scanning the area around the probe.

[0011] The lower limit of the amplitude is determined based on the difference between the ultrasonic echo amplitude range of the endoscope housing and the ultrasonic echo amplitude range of the marker echo area.

[0012] Based on the lower limit of amplitude, registration conditions are constructed, and all data groups located in the echo region of the marker in the original ultrasound data are traversed. Data groups that meet the registration conditions are selected as the first data group.

[0013] Based on the positions of two adjacent first data groups, the image frame headers and image frame tails of each group in the original ultrasound data are defined, and the data between the image frame headers and image frame tails of each group is determined to be the data collected by the ultrasound probe in one circumferential scan.

[0014] By reconstructing the ultrasound image from the data between the beginning and end of each pair of image frames, a single frame of ultrasound circumferential cross-sectional image can be obtained.

[0015] In one specific embodiment, a marker echo region is obtained by placing a marker on the inner or outer side of the endoscope housing;

[0016] Record the location of the echo region of the marker and the amplitude of the ultrasonic echo;

[0017] Based on the difference in ultrasonic echo amplitude between the endoscope housing and the marker, the echo region of the marker is identified.

[0018] In one specific embodiment, a low-echoic filling medium is pre-installed between the endoscopic device housing and the ultrasonic probe to reduce the attenuation of the acoustic signal;

[0019] The ultrasonic echo amplitude of the filling medium is much smaller than the ultrasonic echo amplitudes of the marker and the endoscopic device housing.

[0020] In a specific embodiment, the registration conditions include:

[0021] The mean value of the ultrasonic echo amplitudes of the data group of the marker echo region is greater than the amplitude lower limit value;

[0022] The ratio between the amplitude lower limit value and any natural number greater than or equal to 1 constitutes the lower limit score value, and the mean values of the data groups on both sides of the marker echo region are less than the lower limit score value.

[0023] In a specific embodiment, assume that the marker echo region is an array W of x rows and y columns;

[0024] Traverse and search for the data groups that meet the registration conditions in the original ultrasonic data;

[0025] There is a data group Z of z1 rows and z2 columns, where z1 < x and z2 < y. If the data group Z meets:

[0026] Condition 1: The mean value average_value of the echo amplitude of the data group is greater than the amplitude lower limit value m;

[0027] Condition 2: The mean value of the data group W1 of x1 rows and y1 columns on the left side of the marker echo region is less than m / p, and the mean value of the data group W2 of x2 rows and y2 columns on the right side of the marker echo region is less than m / p;

[0028] where, x1 ≤ x, y1 ≤ y, x2 ≤ x, y2 ≤ y, p ≥ 1;

[0029] Then the data group Z is included in the marker echo region and belongs to the first data group.

[0030] In a specific embodiment, set the row and column dimensions of the data group, and the row and column dimensions are less than the number of rows and columns of the array corresponding to the marker echo region;

[0031] Divide the original ultrasonic data into multiple data groups and sort them, and traverse and search for the first data group according to the serial number of the data group.

[0032] In a specific embodiment, convert the data volume collected by the ultrasonic probe sweeping around one week into the number of data groups to obtain an auto-increment column number, and the auto-increment column number is not less than the number of columns of the marker echo region;

[0033] After each traversal to a first data group is completed, increase the serial number of the data group by the auto-increment column number in terms of the number of columns to obtain the starting data group for the next traversal.

[0034] In the second part, the present invention provides an ultrasonic circumferential scanning image registration system for implementing the image registration method described in any one of the first parts; the image registration system includes an endoscopic device;

[0035] The endoscopic device includes an ultrasonic probe, an endoscopic device housing, markers, and a filling medium;

[0036] The ultrasound probe is located in the endoscope housing, and the filling medium is accommodated between the ultrasound probe and the endoscope housing;

[0037] The filling medium is used to reduce the attenuation of acoustic signals;

[0038] The marker is located on the housing of the endoscope and is within the scanning range of the ultrasound probe;

[0039] The ultrasonic probe is used to perform a circumferential scan to obtain raw ultrasonic data of the region where the echo of the marker is recorded.

[0040] In one specific embodiment, the marker is located inside or outside the housing of the endoscope device;

[0041] The ultrasonic echo amplitude of the marker is much greater than that of the filling medium.

[0042] In one specific embodiment, the filling medium is a low-echo material, which may be in solid, liquid or gaseous state;

[0043] The ultrasonic echo amplitude of the filling medium is much smaller than that of the ultrasonic echo amplitude of the endoscope housing.

[0044] Beneficial effects:

[0045] This invention provides an ultrasound circumferential scanning image registration method and system. By setting markers on the endoscopic device, the imaging registration accuracy of the ultrasound circumferential scanning endoscope is improved. Data groups that meet the registration conditions in the echo region of the markers are selected as the image frame header and image frame tail. This ensures that the information contained in each image frame is exactly the data collected by the ultrasound probe in one circumferential scan, avoiding information loss and redundancy. It effectively solves the defect of mismatch between the scanning start and end points in ultrasound circumferential scanning images, eliminates misalignment at the junction of the frame header and frame tail, and improves the deformation of tissue features such as lesions in the image and the change of the relative position of lesions.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is an image rendering of the scanning effect of the present invention, which involves scanning more than one circle.

[0049] Figure 2 This is an image rendering of the scanning effect of the present invention, which is less than one circle.

[0050] Figure 3 This is a flowchart illustrating the image registration method provided by the present invention;

[0051] Figure 4 This is a schematic diagram of the endoscopic device structure provided by the present invention;

[0052] Figure 5 This is an ultrasonic echo amplitude distribution diagram of the marker, endoscope housing, and filling medium provided by the present invention;

[0053] Figure 6 This is an example diagram illustrating the positional relationship of each data group provided by the present invention;

[0054] Figure 7 This is a schematic diagram of the registration principle process provided by the present invention.

[0055] Reference numerals: 1-Marker; 2-Ultrasonic probe; 3-Filling medium; 4-Endoscopic device housing. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0057] Reconstructing images from an ultrasound circumferential scanning endoscope requires the frame header and frame tail to be fixed in the same position. If the frame header and frame tail data are acquired from different locations within the lumen, significant misalignment, or mismatch, will occur at the junction of the frame header and frame tail due to differences in the hierarchical structure of different lumen locations. Besides causing obvious misalignment at the junction of the frame header and frame tail, this mismatch can also distort tissue features and lesion shapes in the image. In real-time image display, mismatch can also cause changes in the lesion's position within the image area, meaning the same lesion may appear inconsistently in consecutively displayed images, making image information reading and diagnosis difficult.

[0058] In this invention, circumferential scanning refers to scanning by rotating the probe. One full circumferential scan is equivalent to a 360° rotation. Among the scanned data, column data characterizes the main image data; therefore, reconstructing ultrasound data primarily involves reconstructing the column data within the ultrasound dataset.

[0059] Example 1

[0060] This embodiment proposes an ultrasonic circumferential scanning image registration method, which uses the echo region of markers to solve the problem of mismatch between the scanning start and end points in images obtained by ultrasonic circumferential scanning endoscopes. The flowchart of the image registration method is attached to the specification. Figure 3 As shown, the specific solution is as follows:

[0061] An ultrasound circumferential scanning image registration method includes the following steps:

[0062] 101. Based on the endoscope housing, a marker echo region is set. This marker echo region is within the scanning range of the ultrasonic probe. The original ultrasonic data recording the marker echo region is obtained by circumferential scanning with the ultrasonic probe, and the axial position of the marker echo in the ultrasonic data is determined.

[0063] 102. Determine the lower limit of the amplitude based on the difference between the ultrasonic echo amplitude range of the endoscopic device housing and the ultrasonic echo amplitude range of the marker echo area;

[0064] 103. Based on the lower limit of amplitude, construct registration conditions, traverse all data groups located in the echo region of the marker in the original ultrasound data, and select the data group that meets the registration conditions as the first data group;

[0065] 104. Based on the positions of two adjacent first data groups, the image frame headers and image frame tails of each group in the original ultrasound data are defined. The data between the image frame header and image frame tail of each group is exactly the data collected by the ultrasound probe in one circumferential scan.

[0066] 105. By performing ultrasound image reconstruction on the data between each pair of image frame headers and image frame tails, a frame of ultrasound circumferential cross-sectional image can be obtained.

[0067] This embodiment constructs a marker echo region as a marker to accurately obtain the image frame header and image frame tail. The marker echo region is essentially a region whose ultrasonic echo amplitude differs from that of the endoscope housing, exhibiting specificity in the ultrasound image. Alternatively, a marker echo region can be used by detecting inherent, imaging-specific components within the imaging device. In the ultrasound data obtained from a circumferential scan, the marker echo region and non-marker echo regions are clearly distinguishable. By setting a specific region, and selecting the image frame header and image frame tail within that region, it is ensured that the frame header and tail match, and that the data between the frame header and tail corresponds exactly to the data obtained in one circumferential scan. Preferably, a marker is placed on the inner or outer side of the endoscope housing to obtain the marker echo region; wherein, the ultrasonic echo amplitude of the marker differs from that of the endoscope housing, exhibiting specificity in the original ultrasound data. A marker is an objectively existing "part" of an endoscope that needs to be assembled (set) at a certain position on the endoscope to cooperate with the corresponding algorithm to complete the desired registration function; the marker echo region is the area occupied by the ultrasound image (bright spot) of the marker.

[0068] The echo region of a marker is the area occupied by the marker in an ultrasound image. Specifically, it refers to the area occupied by a bright spot in the ultrasound image of the marker. For example, if there is a bright spot approximately in rows 100-150 and columns 500-530, this area is called the echo region of the marker. Ultrasonic echo amplitude refers to the amplitude of the reflected ultrasound signal after it strikes an object. This reflected signal is converted into an electrical signal according to its strength, and the value of this electrical signal is the ultrasonic echo amplitude. The amplitude of ultrasonic echoes varies depending on the medium, and this difference can be used to identify markers.

[0069] The marker can be located either inside or outside the endoscope housing, as long as it is within the scanning range of the ultrasound probe. The circumferential ultrasound probe performs a 360° rotation scan, and the image information of the marker is ultimately recorded onto the raw ultrasound data.

[0070] The original ultrasonic data can be understood as a large matrix, including rows and columns. The solution of this embodiment divides the elements in the original ultrasonic data into multiple data groups in units of groups, determines the image frame header and frame tail in units of data groups, and facilitates finding the first data group. Therefore, after step 102, it further includes setting the row and column dimensions of the data group. The row and column dimensions of the data group must be smaller than the marker echo area. For example, if the marker echo area is an array of x rows and y columns, the number of rows of the data group must be less than x, and the number of columns must be less than y. The original ultrasonic data is divided into multiple data groups and sorted, and the first data group is searched by traversing according to the serial number of the data group, which facilitates quickly performing the second traversal after the first round of traversal. There is already an order in the original ultrasonic data, such as the row number and column number. After being divided into data groups, the serial number of the data group can also be determined according to the row and column numbers of the elements. The number of rows and columns of the data group can be set according to specific accuracy requirements and efficiency requirements.

[0071] The accompanying Figure 4 shows a schematic structural diagram of the endoscopic device when the marker is located inside the endoscopic device housing. Among them, the marker echo area is directly determined by the size of the marker, and the marker echo area also needs to meet certain conditions, neither too large nor too small. Being too large will increase the difficulty of finding the first data group subsequently, and being too small will make it difficult to cover a data group. In practical applications, there are multiple data groups in the marker echo area, and the solution of this embodiment only needs to identify one data group that meets the registration conditions as the first data group. The marker echo area is essentially also a relatively large data group. If the marker echo area is an array W of x rows and y columns, and the data group is set with z1 rows and z2 columns as the standard, then z1 < x and z2 < y.

[0072] Specifically, a low-echogenic filling medium is preset between the endoscopic device housing and the ultrasonic probe to reduce the attenuation of the acoustic signal; the ultrasonic echo amplitude of the filling medium is much smaller than the ultrasonic echo amplitudes of the marker and the endoscopic device housing. The filling medium can be a liquid, a solid or a gas.

[0073] Generally, a low-echogenic material is usually selected as the filling medium to reduce the attenuation of the acoustic signal. Therefore, in the original ultrasonic data, the ultrasonic echo amplitude of the filling medium is significantly smaller than the ultrasonic echo amplitudes of the marker and the endoscopic device housing. Assuming that the ultrasonic echo amplitude of the endoscopic device housing is approximately a, the marker echo amplitude is approximately b, and the echo amplitude of the filling medium is approximately c, then a >> c (much greater than), b >> c, and the distribution of the three echo amplitudes is as Figure 5As shown. For the selected endoscope device housing material and marker material, the ultrasonic echo amplitude range is always measurable, assumed to be m ≤ a ≤ n, m ≤ b ≤ n, while the echo amplitude c of the filling medium is obviously much smaller than m. m is the lower limit value of the amplitude, n is the upper limit value of the amplitude, and m and n are determined comprehensively according to the ultrasonic echo amplitude range of the endoscope device housing and the marker echo amplitude range.

[0074] Specifically, register the data group of the marker echo area, and screen the first data group as the frame header and frame tail. The registration conditions include: the average value of the ultrasonic echo amplitude of the data group of the marker echo area is greater than the lower limit value of the amplitude; construct a lower limit score based on the lower limit value of the amplitude, and the average value of the data groups on both sides outside the marker echo area is less than the lower limit score. Among them, the ratio between the lower limit value of the amplitude and any natural number greater than or equal to 1 constitutes the lower limit score.

[0075] Suppose the marker echo area is an array W of x rows and y columns; traverse and search for the data group that meets the registration conditions in the original ultrasonic data;

[0076] There is a data group Z of z1 rows and z2 columns, z1 < x and z2 < y. If the data group Z meets:

[0077] Condition 1: The average value average_value of the echo amplitude of the data group is greater than the lower limit value m of the amplitude;

[0078] Condition 2: The average value of the data group W1 of x1 rows and y1 columns on the left side of the marker echo area is less than m / p, and the average value of the data group W2 of x2 rows and y2 columns on the right side of the marker echo area is less than m / p; p is a fixed value, which can be specifically set according to the average value of W1 and m. The average values of W1 and W2 must be less than m.

[0079] Among them, x1 ≤ x, y1 ≤ y, x2 ≤ x, y2 ≤ y, p ≥ 1;

[0080] Then the data group Z is included in the marker echo area, is a part of the marker, and belongs to the first data group.

[0081] The positional relationship among Z, W1, and W2 is as shown in the attached Figure 6 description.

[0082] After detecting a data group that meets the traversal conditions, one round of traversal is completed. The traversal search range will increment by f (f > y), and continue to search for the next data group that meets the traversal conditions. In this way, the positions of the detected Z data groups are the frame header and frame tail of the image. Reconstruct the ultrasonic image of the data between two adjacent Z data groups, and a series of ultrasonic circumferential scanning images containing a complete circle of information can be obtained. The principle of the registration method is as shown in the attached Figure 7 description.

[0083] After finding a first data group, the amount of data collected by the ultrasound probe in one circumferential scan is converted into the number of data groups, resulting in an incrementing column number. This incrementing column number is not less than the number of columns in the marker echo region. After each traversal of a first data group, the data group's index is incremented by the incrementing column number to obtain the starting data group for the next traversal, which is still located within the marker echo region. Since the amount of data in each circumferential scan is basically fixed or within a certain range, the amount of data that can be obtained in one circumferential scan is preset based on the actual situation of the probe. This data amount is then converted into the number of data groups. After taking into account factors such as errors, an incrementing column number is obtained. Increasing the incrementing column number based on the index of the first data group yields the starting data group for the next traversal, which is also guaranteed to be located within the marker echo region. This significantly improves the search speed for frame beginnings and end.

[0084] After finding the first data group, the image frame header and image frame tail are determined based on the positions of the two adjacent first data groups. Figure 6 In this model, data group Z is the first data group, and the image frame header also starts from the first data group. The next adjacent first data group is the image frame tail. The data between the image frame header and the image frame tail exactly corresponds to the data obtained from one circumferential scan of the ultrasound probe. There is no missing or redundant data, effectively solving the defect of mismatch between the scanning start and end points in ultrasound circumferential scanning, eliminating misalignment at the junction of the frame header and the frame tail, and improving the deformation of tissue features such as lesions in the image and the change in the relative position of lesions. Each image frame header corresponds to one image frame tail, and reconstructing a set of data between the image frame header and the image frame tail yields one frame of ultrasound array image.

[0085] In this embodiment, the ultrasound probe includes a single-element ultrasound probe or an array ultrasound probe. The image registration method is applicable to both single-element ultrasound probe circumferential scanning imaging and array ultrasound probe imaging. Furthermore, the image registration method of this application is applicable not only to ultrasound endoscopes but also to other ultrasound imaging devices requiring circumferential scanning.

[0086] This embodiment proposes an ultrasound circumferential scanning image registration method. By setting markers on the endoscopic device, the imaging registration accuracy of the ultrasound circumferential scanning endoscope is improved. Data groups meeting the registration conditions within the marker echo region are selected as the image frame header and frame tail, ensuring that each image frame contains exactly the information acquired during one circumferential scan of the ultrasound probe, avoiding information loss and redundancy. This effectively solves the defect of mismatch between the scanning start and end points in ultrasound circumferential scanning images, eliminates misalignment at the junction of frame headers and tails, and improves the distortion of tissue features such as lesions and changes in the relative position of lesions in the image.

[0087] Example 2

[0088] This embodiment provides an ultrasonic circumferential scanning image registration system for implementing the image registration method of Embodiment 1. The specific scheme is as follows:

[0089] An ultrasonic circumferential scanning image registration system includes an endoscope. The endoscope includes an ultrasonic probe 2, an endoscope housing 4, a marker 1, and a filling medium 3. The ultrasonic probe 2 is located within the endoscope housing 4, and the filling medium 3 is accommodated between the ultrasonic probe 2 and the endoscope housing 4. The filling medium 3 is used to reduce acoustic signal attenuation. The marker 1 is located on the endoscope housing 4 and is within the scanning range of the ultrasonic probe 2. The ultrasonic probe 2 acquires ultrasonic data through circumferential scanning. A schematic diagram of the endoscope is attached to the instruction manual. Figure 4 As shown

[0090] The marker 1 is located inside or outside the endoscope housing 4; the ultrasonic echo amplitude of the marker 1 is much greater than that of the filling medium 3. The filling medium 3 is a low-echo material, and its form includes solid, liquid or gaseous; the ultrasonic echo amplitude of the filling medium 3 is much smaller than that of the endoscope housing 4.

[0091] In the ultrasound data obtained from the circumferential scan, the range of marker 1 and the range of non-marker 1 are significantly different and easily distinguishable. By setting a special region, and selecting the image frame header and image frame tail within that special region, it is ensured that the frame header and frame tail can match, and that the data between the frame header and frame tail exactly corresponds to the data obtained in one circumferential scan.

[0092] This invention provides a method and system for registering ultrasound circumferential scanning images. By setting markers on the endoscopic device, the accuracy of imaging registration in ultrasound circumferential scanning endoscopy is improved. Data sets meeting the registration conditions within the echo region of the markers are selected as the image frame header and frame tail, ensuring that each image frame contains exactly the information acquired during one circumferential scan of the ultrasound probe, avoiding information loss and redundancy. This effectively solves the defect of mismatch between the start and end points of ultrasound circumferential scanning images, eliminates misalignment at the junction of frame headers and tails, and improves the distortion of tissue features such as lesions and the change in the relative position of lesions in the image.

[0093] Those skilled in the art will understand that the modules of the present invention described above can be implemented using general-purpose computing systems. They can be centralized on a single computing system or distributed across a network of multiple computing systems. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage system for execution by the computing system. Alternatively, they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0094] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

[0095] The above-disclosed examples are only a few specific implementation scenarios of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A method for registering ultrasonic circumferential scan images, characterized in that, The following are included: A marker is set based on the endoscope device housing, and this marker is within the scanning range of the ultrasonic probe. Original ultrasonic data recording the echo of the marker is obtained through circumferential scanning by the ultrasonic probe. According to the difference between the ultrasonic echo amplitude range of the endoscope device housing and the ultrasonic echo amplitude range of the marker echo region, the lower amplitude value is determined. Based on the lower amplitude value, registration conditions are constructed, and all data groups located in the marker echo region in the original ultrasonic data are traversed, and the data groups that meet the registration conditions are selected as the first data groups. Based on the positions of two adjacent first data groups, the image frame headers and image frame tails in the original ultrasonic data are demarcated, and the data between each group of image frame headers and image frame tails is determined to be the data collected when the ultrasonic probe circumferentially scans once. For each pair of data between an image frame header and an image frame tail, ultrasonic image reconstruction is performed, and then an ultrasonic circumferential scanning cross-sectional image can be obtained. Among them, the registration conditions include: the mean value of the ultrasonic echo amplitudes of the data groups in the marker echo region is greater than the lower amplitude value; the ratio between the lower amplitude value and any natural number greater than or equal to 1 constitutes a lower score value, and the mean values of the data groups on both sides of the marker echo region are less than the lower score value.

2. The ultrasonic circumferential scanning image registration method according to claim 1, characterized in that, By setting a marker on the inner or outer side of the endoscope device housing, a marker echo region is obtained. Record the position and ultrasonic echo amplitude of the marker echo region. Based on the difference in ultrasonic echo amplitudes between the endoscope device housing and the marker, the marker echo region is identified.

3. The ultrasonic circumferential scanning image registration method according to claim 2, characterized in that, A low-echogenic filling medium is preset between the endoscope device housing and the ultrasonic probe to reduce the attenuation of acoustic signals. The ultrasonic echo amplitude of the filling medium is much smaller than the ultrasonic echo amplitudes of the marker and the endoscope device housing.

4. The ultrasonic circumferential scanning image registration method according to claim 3, characterized in that, Suppose the marker echo region is an array W of x rows and y columns. Traverse and search for data groups that meet the registration conditions in the original ultrasonic data. There is a data group Z of z1 rows and z2 columns, where z1 < x and z2 < y. If the data group Z meets: Condition 1: The mean value average_value of the echo amplitudes of the data group is greater than the lower amplitude value m. Condition 2: The mean value of the data group W1 of x1 rows and y1 columns on the left side of the marker echo region is less than m / p, and the mean value of the data group W2 of x2 rows and y2 columns on the right side of the marker echo region is less than m / p. Among them, x1 ≤ x, y1 ≤ y, x2 ≤ x, y2 ≤ y, p ≥ 1, and p is a natural number. Then the data group Z is included in the marker echo region and belongs to the first data group.

5. The ultrasonic circumferential scanning image registration method according to claim 1, characterized in that, Set the row and column dimensions of the data group, and the row and column dimensions are less than the number of rows and columns of the array corresponding to the marker echo region. The original ultrasonic data is demarcated into multiple data groups and sorted, and the first data groups are searched by traversing according to the serial numbers of the data groups.

6. The ultrasonic circumferential scanning image registration method according to claim 1, characterized in that, Convert the data volume collected when the ultrasonic probe circumferentially scans once into the number of data groups to obtain an increment column number, and the increment column number is not less than the number of columns of the marker echo region. After each traversal to a first data group is completed, increase the serial number of the data group by the increment column number in terms of the number of columns to obtain the starting data group for the next traversal.

7. An ultrasonic circumferential scanning image registration system, characterized in that, The system is used to implement the ultrasonic circumferential scanning image registration method according to any one of claims 1-5; the image registration system includes an endoscopic device; The endoscopic device includes an ultrasonic probe, an endoscopic device housing, markers, and a filling medium; The ultrasound probe is located in the endoscope housing, and the filling medium is accommodated between the ultrasound probe and the endoscope housing; The filling medium is used to reduce the attenuation of acoustic signals; The marker is located on the housing of the endoscope and is within the scanning range of the ultrasound probe; The ultrasonic probe is used to perform a circumferential scan to obtain raw ultrasonic data of the region where the echo of the marker is recorded.

8. The ultrasonic circumferential scanning image registration system according to claim 7, characterized in that, The marker is located inside or outside the housing of the endoscope; The ultrasonic echo amplitude of the marker is much greater than that of the filling medium.

9. The ultrasonic circumferential scanning image registration system according to claim 7, characterized in that, The filling medium is a low-echo material, and its form includes solid, liquid or gaseous; The ultrasonic echo amplitude of the filling medium is much smaller than that of the ultrasonic echo amplitude of the endoscope housing.

Images