An ultrasound image registration method, system and imaging device

Abstract

The application provides an ultrasound image registration method, system and imaging device, and the method comprises the following steps: obtaining original ultrasound data through ultrasound probe ring scanning, wherein the original ultrasound data contains a plurality of sequentially arranged sampling data; opening the original ultrasound data in an m-row n-column format to restore the relative physical position of each sampling data; performing correlation calculation and comparison between columns on the sampling data in units of column data to determine each group of image frame heads and image frame tails matched with the image frame heads; and reconstructing a frame of ultrasound ring scanning sectional image based on the column data between each group of image frame heads and image frame tails. The application calculates and compares the correlation of the original ultrasound data to obtain the frame tail matched with the frame head, ensures that each frame of image contains exactly the data collected by the ultrasound probe ring scanning for one round, avoids information loss and redundancy, and effectively solves the problem that the scanning starting point and ending point in the ultrasound ring scanning image are not matched.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging equipment, in particular to an ultrasound image registration method, system and imaging equipment. BACKGROUND

[0002] The examination method in which the ultrasound scanning plane is perpendicular to the long axis of the endoscope is called a ring scanning endoscopic ultrasound examination. This examination method can perform 360° ring scanning on a body cavity, and is suitable for the fields of digestive tract, cardiovascular (coronary artery), and trachea / bronchus, etc. The scanning range is wider than that of longitudinal axis endoscopic ultrasound, it is easier to master, the probe volume is smaller, the scanning distance is far, and the application is wide.

[0003] The ultrasound ring scanning endoscopic device often uses a non-coding motor to directly or indirectly drive the ultrasound probe to rotate and scan for the purpose of simplifying the structure and reducing the cost. The original data collected by the ultrasound probe itself does not contain ring-shaped spatial information, and the original data needs to be reconstructed according to parameters such as sampling frequency and sound speed to obtain a more intuitive ring-shaped image. In order to present a complete one-week ring scanning picture on the image, the collection time of each frame of data must be equal to the time for the ultrasound probe to rotate one circle, that is, the collection speed of each frame of data matches the rotation speed.

[0004] Since the rotation speed of the non-coding motor cannot reach absolute uniform speed, and the rotation speed is easily affected by the load, the host computer of the endoscopic device system cannot obtain the real-time feedback of the motor rotation speed, so it cannot ensure the matching between the rotation speed of the ultrasound probe and the data collection speed, thereby causing the distortion of two types of images:

[0005] (1) The rotation speed of the ultrasound probe is greater than the data collection speed. When the ultrasound probe collects a specified frame of data, the rotation distance of the ultrasound probe has exceeded one circle, and after the frame of data is reconstructed into an image, more than one circle of tissue information will be displayed, instead of strictly one circle. Since the starting point and the ending point of scanning are not the same position, the image will be misaligned at the joint of the head and the tail. In addition, since the image contains redundant data, the tissue features such as lesions will be squeezed and deformed, and the relative position in the image will also change. The comparison between the normal image effect diagram and the image effect diagram containing more than one circle of data is shown in the accompanying drawings. Figure 1 As can be seen from the drawings, the shape of the lesion is squeezed and deformed, and the relative position in the image is also changed.

[0006] (2) The rotation speed of the ultrasound probe is less than the data collection speed. When the ultrasound probe collects a specified frame of data, the ultrasound probe has not rotated a full circle, resulting in that the reconstructed image contains less than one circle of tissue information, causing information loss, and the tissue features such as lesions will be stretched and deformed, and the relative position in the image will also change. The comparison between the normal image effect diagram and the image effect diagram with less than one circle of scanning is shown in the accompanying drawings.Figure 2 As can be seen from the figure, the shape of the lesion is stretched and deformed, and its relative position in the image has also changed.

[0007] In the prior art, there is no solution to this defect, and developers mostly approximate the ultrasound data acquisition speed by improving the rotation accuracy of the electric motor to reduce the degree of mismatch and improve the image quality. Therefore, the phenomenon of mismatch between the starting point and the ending point of scanning in the image has existed in clinical ultrasound examination. SUMMARY

[0008] Based on the problems in the prior art, the present application provides an ultrasound image registration method, system and imaging device. The specific scheme is as follows:

[0009] Firstly, the present application provides an ultrasound image registration method, which comprises the following steps:

[0010] Obtaining original ultrasound data by ring scanning of an ultrasound probe, wherein the original ultrasound data contains a plurality of sequentially arranged sampling data;

[0011] Opening the original ultrasound data in the format of m rows and n columns to restore the relative physical positions of each sampling data; wherein the number of rows represents the imaging depth, the number of columns represents the ring scanning circumference, and m and n are both natural numbers greater than 0;

[0012] Calculating and comparing the correlation between columns of sampling data to determine each group of image frame heads and image frame tails matched with the image frame heads, so as to ensure that each frame of reconstructed ultrasound ring scanning cross-sectional image contains exactly the data obtained by one round of ring scanning of the ultrasound probe;

[0013] Reconstructing a frame of ultrasound ring scanning cross-sectional image based on the column data between each group of image frame heads and image frame tails.

[0014] In one specific embodiment, the process of obtaining each group of image frame heads and image frame tails comprises:

[0015] Selecting a column data as an image frame head of an image frame;

[0016] Setting a range of variation of the number of columns;

[0017] Calculating the correlation coefficient between the column data in the range of variation and the image frame head, respectively;

[0018] Selecting a column data as the image frame tail corresponding to the image frame head based on the correlation coefficient, and reconstructing the column data between the image frame head and the image frame tail to obtain a complete frame of ultrasound ring scanning cross-sectional image.

[0019] In one embodiment, the correlation coefficient between the column data in the range and the corresponding image frame header is compared;

[0020] The column data with the largest correlation coefficient is selected, and the previous column data of the column data is taken as the image frame tail matched with the image frame header.

[0021] The column data with the largest correlation coefficient is taken as the image frame header of the next frame of ultrasonic ring scan cross-section image.

[0022] In one embodiment, the number of columns of data collected in one ring scan is in the range [a, b], the column data collected at the initial time of the ultrasonic probe is denoted as data(:, 1), the column data collected at the time t is denoted as data(:, a), and the column data collected at the time t is denoted as data(:, b). a b

[0023] The correlation between data(:, 1) and data(:, a), data(:, a+1)…data(:, b) is calculated in sequence, and the correlation coefficients P a , P a+1 …P b are obtained respectively.

[0024] P a , P a+1 …P b are compared, and if the column data data(:, max) corresponding to the maximum value P max (a≤max≤b) has the maximum correlation with the column data data(:, 1) collected at the initial time, the column data data(:, max-1) is taken as the image frame tail.

[0025] The data sequences data(:, 1), data(:, 2)…data(:, max-1) are the data collected by the ultrasonic probe in one ring scan.

[0026] In one embodiment, the expression for correlation calculation is:

[0027]

[0028] Wherein, x(n), y(n) are two columns of discrete signals respectively, n represents the position, and P represents the correlation coefficient.

[0029] In one embodiment, the ultrasonic probe includes a single-element ultrasonic probe or an array ultrasonic probe.

[0030] In the second part, the application provides an ultrasonic image registration system, which comprises the following:

[0031] ​​The acquisition unit is configured to obtain raw ultrasound data by means of a ring scan of an ultrasound probe, the raw ultrasound data containing a plurality of sequentially arranged sample data;

[0032] The format processing unit is configured to open the raw ultrasound data in an m-row n-column format to restore the relative physical position of each sample data, wherein the number of rows represents the imaging depth and the number of columns represents the ring scan circumference, and m and n are both natural numbers greater than 0.

[0033] The registration unit is configured to perform correlation calculation and comparison between column data to determine each group of image frame heads and image frame tails matched with the image frame heads, so as to ensure that each frame of reconstructed ultrasound cross-sectional image contains the sample data contained in the ultrasound ring scan cross-sectional image.

[0034] The reconstruction unit is configured to reconstruct a frame of ultrasound cross-sectional image based on the column data between each group of image frame heads and image frame tails.

[0035] In one specific embodiment, the registration unit specifically comprises:

[0036] The frame head determination module is configured to select a column data as an image frame head of an image frame.

[0037] The range setting module is configured to set a variation range of the number of columns of the data collected in one ring scan.

[0038] The correlation calculation module is configured to calculate the correlation coefficient between the column data in the variation range and the image frame head.

[0039] The frame tail determination module is configured to select a column data as an image frame tail corresponding to the image frame head based on the correlation coefficient, and reconstruct the column data between the image frame head and the image frame tail to obtain a complete frame of ultrasound ring scan cross-sectional image.

[0040] In one specific embodiment, the frame tail determination module specifically comprises:

[0041] The correlation coefficient between the column data in the variation range and the corresponding image frame head is compared.

[0042] The column data with the largest correlation coefficient is selected, and the previous column data of the column data is selected as the image frame tail matched with the image frame head.

[0043] The column data with the largest correlation coefficient is selected as the image frame head of the next frame of ultrasound ring scan cross-sectional image.

[0044] The third part discloses an ultrasound imaging device integrating an ultrasound probe and an image registration device.

[0045] The ultrasound probe acquires ultrasound data by ring scanning;

[0046] The image registration device is configured to perform the image registration method of any one of the first part on the ultrasound data acquired by the ultrasound probe.

[0047] Advantages:

[0048] The present application provides an ultrasound image registration method, system and imaging device, by calculating and comparing the correlation of the original ultrasound data, the frame tail matched with the frame head is obtained, ensuring that each frame of image contains exactly the data acquired by the ultrasound probe in one ring scanning, avoiding information loss and redundancy. Effectively solve the defect that the scanning starting point and ending point in the ultrasound ring scanning image do not match, eliminate the misalignment at the junction of the frame head and the frame tail, improve the deformation problem of the lesion and other tissue characteristics in the image and the change problem of the relative position of the lesion.

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0051] Figure 1 is the image effect diagram of the present application scanning more than one circle;

[0052] Figure 2 is the image effect diagram of the present application scanning less than one circle;

[0053] Figure 3 is the flowchart of the image registration method of the embodiment of the present application;

[0054] Figure 4 is the flowchart of the acquisition of the frame head and the frame tail in the embodiment of the present application;

[0055] Figure 5 is the example diagram of the junction of the frame head and the frame tail provided by the present application;

[0056] Figure 6 is the example diagram of the junction of the frame head and the frame tail after using the registration method provided by the present application;

[0057] Figure 7 is the example diagram of the shape of the dark area feature provided by the present application;

[0058] Figure 8 is an example of a dark area feature shape after using the registration method provided by the present application;

[0059] Figure 9 is a schematic diagram of a module of an image registration system according to an embodiment of the present application.

[0060] Reference signs: 1-acquisition unit; 2-format processing unit; 3-registration unit; 4-reconstruction unit; 31-frame header determination module; 32-range setting module; 33-correlation calculation module; 34-frame tail determination module. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0062] The reconstruction of the image of the ultrasonic ring scanning endoscope device requires that the frame header and the frame tail are finally fixed at the same position. If the data of the frame header and the data of the frame tail are respectively collected from different positions of the lumen, due to the difference in the hierarchical structure of the different lumen positions, there will be obvious misalignment, i.e. mismatch, at the junction of the frame header and the frame tail. In addition to causing obvious misalignment at the junction of the frame header and the frame tail, the mismatch will also cause distortion of the shapes of the tissue features and lesions in the image; in real-time image display, the mismatch will also cause changes in the lesions on the image area, i.e. the same lesion has different positions in the continuously displayed images, which brings difficulties to image information reading and diagnosis.

[0063] The ring scanning in the present application refers to scanning in the form of rotational acquisition. One round of ring scanning is a scan of 360° rotation.

[0064] The column data in the present application refers to all the data in a column, i.e. a column vector. The similarity comparison can be understood as the comparison between two column vectors on the same row data. The “:” in the column data data(:,1) represents the row data of the column vector. Since the column vector is used as the unit, there is no need to determine the number of rows and the “:” is used to represent the data of all rows of the column vector.

[0065] Embodiment 1

[0066] The present embodiment proposes an ultrasonic image registration method for solving the problem of mismatch between the scanning starting point and the scanning ending point in the image obtained by the ultrasonic ring scanning endoscope device. The flowchart of the image registration method is shown in the description accompanying drawings Figure 3 The specific scheme is as follows:

[0067] An ultrasound image registration method, comprising the following steps:

[0068] 101. Obtain raw ultrasound data by ultrasonic probe ring scanning, the raw ultrasound data containing a plurality of sequentially arranged sampling data;

[0069] 102. Open the raw ultrasound data in the format of m rows and n columns to restore the relative physical position of each sampling data; wherein the number of rows represents the imaging depth, and the number of columns represents the ring scanning circumference, and m and n are both natural numbers greater than 0;

[0070] 103. Calculate and compare the correlation between columns of sampling data to determine a plurality of image frame heads and image frame tails matched with the image frame heads, so as to ensure that each frame of reconstructed ultrasonic ring scanning cross-sectional image contains exactly the data obtained by one round of ultrasonic probe ring scanning;

[0071] 104. Reconstruct a frame of ultrasonic ring scanning cross-sectional image based on the column data between each group of image frame head and image frame tail.

[0072] The image registration method of the embodiment is optimized for ultrasonic segmentation, and the application range is not limited to the digestive tract. It can also be applied to the structures of body cavities such as blood vessels, trachea, urethra, and vagina, as long as the tissues in the body cavities are suitable for ring scanning and need to be segmented and reconstructed. By calculating and comparing the original ultrasound data, the frame tail matched with the frame head is obtained, and the information contained in each frame of image is exactly the data obtained by one round of ultrasonic probe ring scanning, effectively solving the problem of deformation and position change of lesion and other tissue characteristics caused by the mismatch of the starting point and the ending point of ultrasonic ring scanning.

[0073] Specifically, the ultrasonic probe is driven by the motor to perform 360° ring rotation scanning to obtain raw scanning data. The raw scanning data itself does not include ring-shaped spatial information. The reconstruction of the image of the ultrasonic ring scanning endoscope device needs to perform coordinate transformation on the raw ultrasound data according to the sampling frequency, sound speed and other parameters, and finally become ring-distributed pixel points, so as to restore the tubular structure of the human body cavity and obtain a more intuitive ring image (ultrasonic ring scanning cross-sectional image).

[0074] The raw ultrasound data is composed of a plurality of sampling data, which are sequentially sorted in time sequence. Before processing the ultrasound data, the ultrasound data needs to be opened in the format of m rows and n columns to restore the relative physical position of each sampling data. The number of rows represents the imaging depth, which can also be understood as a time parameter. The number of columns represents the ring scanning circumference. When performing data registration, the correlation between columns is calculated and compared in units of column vectors. The column vector is the column data, which is a vector composed of each column element in the sampling data.

[0075] Specifically, the acquisition process of a group of image frame head and image frame tail is as shown in the schematic diagram of FIG. 2.Figure 4 The method comprises: selecting one column data as an image frame header of a frame image; setting a change range of column numbers, screening each sampling data other than the image frame header and located in the change range as initial column data; calculating a correlation coefficient between each initial column data and the image frame header; selecting one initial column data as an image frame tail corresponding to the image frame header based on the correlation coefficient, and reconstructing column data between the image frame header and the image frame tail to obtain a complete ultrasonic ring scanning cross-sectional image.

[0076] The ultrasonic probe ring scanning speed is not absolutely uniform, that is, the column number of the ultrasonic data collected when the ultrasonic probe scans a circle is constantly changing, but the change range is measurable. For example, the change range of the column number of the data collected in a ring scanning circle is [a, b], and the column data from the a-th column to the b-th column is the initial column data, and the frame tail is in the region. The image registration method of the present application limits the change range of the column number, which not only eliminates abnormal data, but also effectively improves the acquisition efficiency of the image frame tail.

[0077] In theory, the correlation between the column data at a certain moment and the column data at the initial moment is the largest, and then the probe returns to the position at the initial moment. To avoid data repetition, the column data at the previous moment of the moment is taken as the frame tail, so that the scanning positions and scanning column data between the frame header and the frame tail are different. In this embodiment, the correlation between the column data is calculated to screen the frame tail with the same scanning position as the frame header. Preferably, the correlation coefficients of the initial column data are compared; the initial column data with the largest correlation coefficient is selected, and the previous initial column data of the initial column data is taken as the image frame tail matched with the image frame header; at the same time, the initial column data with the largest correlation coefficient is taken as the image frame header of the next frame ultrasonic ring scanning cross-sectional image.

[0078] Suppose the change range of the column number of the data collected in a ring scanning circle is [a, b], the column data collected at the initial moment of the ultrasonic probe is denoted as data(:, 1), t a The column data collected at the a-th moment is denoted as data(:, a), t b The column data at the b-th moment is denoted as data(:, b); data(:, 1) is taken as the image frame header, and the correlation calculation is sequentially performed with data(:, a), data(:, a+1), …, data(:, b) to obtain correlation coefficients P a , P a+1 ……P b ; P a , P a+1 ……P b , and the maximum value P maxThe column data data(:, max) corresponding to (a≤max≤b) has the strongest correlation with the column data data(:, 1) collected at the initial time. Theoretically, the ultrasound probe at t max The timeline has returned to its initial position, meaning that data(:,1) and data(:,max) are data collected from the same location scanned by the ultrasound probe, and data(:,max) can be considered equivalent to data(:,1). The column data data(:,max-1) represents the end of the image frame; the data sequence data(:,1), data(:,2)...data(:,max-1) represents the data collected by the ultrasound probe during a complete circumferential scan.

[0079] exist Figure 4 In the process, the column data at the initial time is first used as the image frame header Z. start Set the data calculation range, calculate the correlation between each column of data and the image frame header, compare the correlation coefficients, and find the column number L corresponding to the maximum correlation coefficient. max Then determine the frame tail Z end For L max-1 This determines the data contained in a single image frame. Next, L... max Assign the value to the frame header Z of the next frame image start This process is repeated to ensure that the data from multiple scans of the probe are divided into complete image data.

[0080] Preferably, the expression for correlation calculation is:

[0081]

[0082] Here, x(n) and y(n) are two discrete signals, n represents the position, and P represents the correlation coefficient. Mathematically, it can be proven that the magnitude of the numerator is smaller than that of the denominator, that is, the magnitude of the correlation coefficient P will not be greater than 1, and the larger P is, the stronger the correlation.

[0083] 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.

[0084] Imaging experiments have verified that the image registration method in this embodiment can effectively solve the problem of tissue feature deformation and relative position change caused by the mismatch between the scanning start and end points in ultrasonic circumferential scanning. Figure 5 Images reconstructed using methods not found in existing technologies, Figure 6 The image is the image reconstructed using the image registration method of this embodiment. Figure 5The misalignment of the joint can be clearly seen, and the hierarchy of the joint is not aligned. Figure 6 In the embodiment, the joint is well connected and no misalignment is observed. Figure 7 and Figure 8 The low echo features at the joint of the two image frames are compared, Figure 7 is an image reconstructed without using the image registration method, Figure 8 is an image reconstructed using the image registration method of the embodiment. It can be clearly seen that Figure 7 The low echo features at the joint of the two image frames are compared, Figure 8 The low echo features at the joint of the two image frames are compared,

[0085] The embodiment provides an ultrasound image registration method. By calculating and comparing the correlation of original ultrasound data, the image frame tail matched with the image frame head is obtained, so that each image frame contains exactly the data collected by one round of ultrasound probe scanning, and information loss and information redundancy are avoided. The defects of mismatching of the scanning start point and the scanning end point in the ultrasound scanning image are effectively solved, the misalignment of the joint of the image frame head and the image frame tail is eliminated, and the deformation of the lesion and other tissue features in the image and the change of the relative position of the lesion are improved.

[0086] Embodiment 2

[0087] The embodiment provides an ultrasound image registration system, which systematizes the ultrasound image registration method of the embodiment 1. The block diagram of the image registration system is shown in the accompanying drawings, and the specific scheme is as follows. Figure 9

[0088] The ultrasound image registration system comprises the following:

[0089] The acquisition unit 1 is used to obtain original ultrasound data by ultrasound probe scanning, and the original ultrasound data contains a plurality of sequentially arranged sampling data;

[0090] The format processing unit 2 is used to open the original ultrasound data in the format of m rows and n columns, so as to restore the relative physical positions of each sampling data; wherein the number of rows represents the imaging depth, and the number of columns represents the scanning circumference, and m and n are both natural numbers greater than 0;

[0091] The registration unit 3 is used to calculate and compare the correlation between columns of sampling data, determine a plurality of image frame heads and image frame tails matched with the image frame heads, and ensure that each reconstructed ultrasound scanning cross-sectional image contains exactly the data collected by one round of ultrasound probe scanning;

[0092] The reconstruction unit 4 reconstructs one frame of ultrasound scanning cross-sectional image based on the column data between each group of image frame head and image frame tail.​

[0093] The registration unit 3 specifically comprises:

[0094] The frame header determination module 31 is configured to select one column data as an image frame header of a frame image.

[0095] The range setting module 32 is configured to set a variation range of column numbers, and screen out each sampling data other than the image frame header and located in the variation range as initial column data.

[0096] The correlation calculation module 33 is configured to calculate a correlation coefficient between each initial column data and the image frame header.

[0097] The frame tail determination module 34 is configured to select one initial column data as an image frame tail corresponding to the image frame header based on the correlation coefficient, and reconstruct column data between the image frame header and the image frame tail to obtain a complete ultrasonic ring scan cross-section image of the frame.

[0098] The frame tail determination module 34 specifically comprises: comparing the correlation coefficients of the initial column data; selecting the initial column data with the largest correlation coefficient, and taking the previous initial column data of the initial column data as the image frame tail matched with the image frame header; and taking the initial column data with the largest correlation coefficient as the image frame header of the next frame ultrasonic ring scan cross-section image.

[0099] The embodiment provides an ultrasonic image registration system, which systematizes the image registration method of embodiment 1, and makes the image registration method more practical.

[0100] Embodiment 3

[0101] The embodiment provides an ultrasonic imaging device, which applies the image registration method of embodiment 1 to a specific device. The specific scheme is as follows

[0102] An ultrasonic imaging device integrates an ultrasonic probe and an image registration device; the ultrasonic probe collects ultrasonic data through ring scanning; and the image registration device is configured to perform the image registration method of embodiment 1 on the ultrasonic data collected by the ultrasonic probe.

[0103] The application provides an ultrasonic image registration method, system and imaging device, which calculates and compares the correlation of original ultrasonic data, obtains a frame tail matched with a frame header, ensures that each frame image contains exactly the data collected by the ultrasonic probe in one ring scanning, and avoids information loss and information redundancy. The application effectively solves the defect that the scanning start point and the scanning end point do not match in the ultrasonic ring scan image, eliminates the misalignment at the joint of the frame header and the frame tail, improves the deformation problem of the lesion and other tissue features in the image and the problem of the change of the relative position of the lesion.

[0104] Those skilled in the art will appreciate that the modules of the application described above can be implemented with general computing systems, which can be centralized on a single computing system or distributed across a network of multiple computing systems. Alternatively, they can be implemented with computer system executable program code, which can be stored in a storage system and executed by a computing system, or they can be implemented as individual integrated circuit modules, or multiple modules or steps can be implemented as a single integrated circuit module. Thus, the application is not limited to any particular combination of hardware and software.

[0105] Note that the above only describes the preferred embodiments of the application and the principles of the applied technology. Those skilled in the art will understand that the application is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made without departing from the scope of the application. Therefore, although the application has been described in detail through the above embodiments, the application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the application, and the scope of the application is determined by the appended claims.

[0106] The above only discloses several specific implementation scenarios of the application, but the application is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the protection scope of the application.

Claims

1. An ultrasound image registration method, characterized in that, Including the following: Raw ultrasound data is obtained by scanning around the ultrasound probe, and the raw ultrasound data contains multiple sequentially arranged sample data. Open the raw ultrasound data in an m x n format to restore the relative physical position of each sampled data; where the number of rows represents the imaging depth, the number of columns represents the circumference of the ring scan, and m and n are both natural numbers greater than 0. Using column data as the unit, the correlation between columns of the sampled data is calculated and compared to determine the image frame header and the image frame tail that matches the image frame header, so as to ensure that the sampled data contained in each frame of the reconstructed ultrasonic circumferential cross-sectional image is exactly the data collected by the ultrasonic probe in one circumferential scan. Based on the column data between the image frame header and the image frame tail of each group, an ultrasonic circumferential cross-sectional image is reconstructed.

2. The ultrasound image registration method according to claim 1, characterized in that, The process of obtaining the header and tail of each image frame includes: Select a column of data as the image frame header for one frame of the image; Set the range of column number variations; Calculate the correlation coefficient between the column data within the range of variation and the image frame header respectively; Based on the correlation coefficient, a column of data is selected as the image frame tail corresponding to the image frame header. By reconstructing the column data between the image frame header and the image frame tail, a complete ultrasonic circumferential cross-sectional image can be obtained.

3. The ultrasound image registration method according to claim 2, characterized in that, Compare the correlation coefficients between the column data within the range of variation and the corresponding image frame headers; Select the column with the highest correlation coefficient and use the column preceding it as the image frame tail to match the image frame header; The column with the highest correlation coefficient is used as the image frame header of the next frame of the ultrasonic circumferential scan image.

4. The ultrasound image registration method according to claim 3, characterized in that, Let the range of the number of columns in the data collected during one circumferential scan be [a, b], and let the column data collected by the ultrasound probe at the initial moment be denoted as data(:, 1). The column data collected at any given time is denoted as data(:, a). The time value is data(:, b); Using data(:,1) as the image frame header, correlation calculations are performed sequentially with data(:,a), data(:,a+1)...data(:,b) to obtain the correlation coefficients. , ... ; Compare , ... If the maximum value The column data data(:,max) corresponding to (a≤max≤b) has the greatest correlation with the column data data(:,1) collected at the initial time. Therefore, the column data data(:,max-1) is taken as the end of the image frame. The data sequence data(:,1), data(:,2)……data(:,max-1) represents the data collected by the ultrasound probe during a circumferential scan.

5. The ultrasound image registration method according to claim 2, characterized in that, The expression for correlation calculation is: Where x(n) and y(n) are two discrete signals, n represents the position, and P represents the correlation coefficient.

6. The ultrasound image registration method according to claim 1, characterized in that, The ultrasonic probe includes a single-element ultrasonic probe or an array ultrasonic probe.

7. An ultrasound image registration system, characterized in that, Including the following: The acquisition unit is used to obtain raw ultrasound data by scanning around with an ultrasound probe. The raw ultrasound data contains multiple sequentially arranged sample data. The format processing unit is used to open the raw ultrasound data in an m-row n-column format to restore the relative physical position of each sampled data; where the number of rows represents the imaging depth, the number of columns represents the circumferential scan circumference, and m and n are both natural numbers greater than 0. The registration unit is used to perform correlation calculation and comparison between columns of the sampled data, on a column-by-column basis, to determine the image frame header and the image frame tail that matches the image frame header, so as to ensure that the sampled data contained in each frame of the reconstructed ultrasonic circumferential cross-sectional image is exactly the data collected by the ultrasonic probe in one circumferential scan. The reconstruction unit is used to reconstruct a frame of ultrasound circumferential cross-sectional image based on the column data between the image frame header and the image frame tail of each group.

8. The ultrasound image registration system according to claim 7, characterized in that, The registration unit specifically includes: The frame header determination module is used to select a column of data as the image frame header of a frame image. The range setting module is used to set the range of changes in the number of columns of data collected in one circular scan. The correlation calculation module is used to calculate the correlation coefficient between the column data within the range of change and the image frame header; The frame tail determination module is used to select a column of data as the image frame tail corresponding to the image frame header based on the correlation coefficient. By reconstructing the column data between the image frame header and the image frame tail, a complete ultrasonic circumferential cross-sectional image can be obtained.

9. The ultrasound image registration system according to claim 8, characterized in that, The frame end determination module specifically includes: Compare the correlation coefficients between the column data within the range of variation and the corresponding image frame headers; Select the column with the highest correlation coefficient and use the column preceding it as the image frame tail to match the image frame header; The column with the highest correlation coefficient is used as the image frame header of the next frame of the ultrasonic circumferential scan image.

10. An ultrasonic imaging device, characterized in that, It integrates an ultrasonic probe and an image registration device; The ultrasonic probe acquires ultrasonic data via circumferential scanning. The image registration device is used to perform the ultrasound image registration method according to any one of claims 1-6 on the ultrasound data acquired by the ultrasound probe.

Images