Medical ultrasonic data reality visualization method and system based on half-angle segmentation

Abstract

The invention discloses a medical ultrasonic data reality visualization method and system based on half-angle segmentation, and belongs to the technical field of computer images. Comprising the following steps: acquiring medical ultrasonic body data, and processing the medical ultrasonic body data through a half-angle segmentation algorithm to acquire a two-dimensional slice set; introducing a light source into the visual scene, calculating indirect illumination, direct illumination, highlight and ambient light of each two-dimensional slice in the two-dimensional slice set, and synthesizing a global illumination item so as to render the two-dimensional slices; and synthesizing the rendered two-dimensional slices according to the light source direction and the view angle direction to obtain a synthesized image. A rendering result can have real skin texture and shadow, and diagnosis of a doctor is facilitated; the problem that an existing visual image cannot give better depth and space perception to a doctor is solved.

Description

Technical Field

[0001] The present invention relates to the field of computer image technology, and in particular to a method and system for realistic visualization of medical ultrasound data based on half-angle segmentation. Background Art

[0002] The statements in this section merely mention background art related to the present invention and do not necessarily constitute prior art.

[0003] Ultrasound data collected in medical applications often have the characteristics of low signal-to-noise ratio. Data understanding is the core difficulty in ultrasound technology. Doctors often need a lot of training to make accurate medical diagnoses from 2D ultrasound images. This has a high learning cost and increases the difficulty of doctor-patient communication.

[0004] With the rapid development of hardware equipment, existing advanced ultrasound equipment can support real-time acquisition and reconstruction of 3D / 4D data, bringing more possibilities for ultrasound data analysis. As the spatiotemporal resolution of ultrasound acquisition has approached the physical limit, the focus of ultrasound technology development has gradually shifted to data visualization technology. Advanced visualization technology can convert complex ultrasound data into images in real time, which can not only reduce the learning cost of diagnosis, but also enhance the user's spatial perception and understanding of the overall structure of ultrasound data by combining realistic lighting information.

[0005] At present, the visualization results presented by the traditional 3D ultrasound mode do not take into account the light and shadow of the scene and the subsurface scattering effect of the interaction between the skin and light, resulting in a lack of real skin texture and light and shadow details. It cannot give doctors a better depth and spatial perception, and it is difficult to facilitate communication between doctors and patients. Summary of the invention

[0006] In order to address the deficiencies of the prior art, the present invention provides a method, system, electronic device, computer-readable storage medium and computer program product for realistic visualization of medical ultrasound data based on half-angle segmentation, which introduces a light source into the visualization scene of medical ultrasound data to perform lighting calculations, and uses the calculated lighting information through a half-angle segmentation algorithm to synthesize the final rendering result, so that the rendering result has realistic skin texture and shadows.

[0007] In a first aspect, the present invention provides a method for realistic visualization of medical ultrasound data based on half-angle segmentation; A realistic visualization method for medical ultrasound data based on half-angle segmentation, comprising: Acquire medical ultrasound volume data, and process the medical ultrasound volume data by a half-angle segmentation algorithm to acquire a two-dimensional slice set; Introducing a light source into a visualization scene, calculating indirect illumination, direct illumination, highlight illumination and ambient illumination of each two-dimensional slice in the set of two-dimensional slices and synthesizing a global illumination item to render the two-dimensional slices; The rendered two-dimensional slices are synthesized according to the light source direction and the viewing angle direction to obtain a synthesized image.

[0008] In some embodiments, it further comprises: The isosurface value and the thickness of the contour gradient area to be displayed are obtained, and the opacity corresponding to each voxel in the synthesized image is determined according to the isosurface value and the thickness of the contour gradient area, so as to perform contour rendering on the synthesized image.

[0009] In some implementations, the processing of the medical ultrasound volume data by a half-angle segmentation algorithm to obtain a two-dimensional slice set specifically includes: Calculate the half-distance vector between the light source direction and the viewing angle direction; According to the half-distance vector and the volume data bounding box, the edge stepping order and spacing of the slice are determined; according to the edge stepping order and spacing of the slice, the stepping length of the slice is determined to perform stepping slicing and store a two-dimensional slice vertex set.

[0010] In some embodiments, when calculating the indirect illumination of each two-dimensional slice, filtering is performed by a random sampling method based on a perturbed texture and scaling of the filter kernel.

[0011] In some implementations, when synthesizing the rendered two-dimensional slice, a sampling point of each voxel on the two-dimensional slice is offset along the viewing angle direction according to the noise texture pixel value.

[0012] In some implementations, when synthesizing the rendered two-dimensional slices, adjacent two-dimensional slices are fused using a temporal supersampling method.

[0013] In a second aspect, the present invention provides a medical ultrasound data realistic visualization system based on half-angle segmentation; A medical ultrasound data realistic visualization system based on half-angle segmentation, comprising: A half-angle segmentation module is configured to: acquire medical ultrasound volume data, process the medical ultrasound volume data by a half-angle segmentation algorithm, and acquire a two-dimensional slice set; The lighting calculation module is configured to: introduce a light source into a visualization scene, calculate indirect lighting, direct lighting, highlight lighting and ambient lighting of each two-dimensional slice in the two-dimensional slice set, and synthesize a global lighting item to render the two-dimensional slice; The rendering and synthesis module is configured to synthesize the rendered two-dimensional slices according to the light source direction and the viewing angle direction to obtain a synthesized image.

[0014] In a third aspect, the present invention provides an electronic device; An electronic device comprises a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium; A computer-readable storage medium stores a computer program / instruction thereon, which, when executed by a processor, implements the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation.

[0016] In a fifth aspect, the present invention provides a computer program product; A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The technical solution provided by the present invention introduces light sources into the visualization scene of medical ultrasound data, realizes soft shadows, color diffusion, subsurface scattering and other effects by simulating multiple scattering of light, and synthesizes the final rendering result using the calculated lighting information through a half-angle segmentation algorithm, so that the rendering result has realistic skin texture and shadows.

[0018] 2. The technical solution provided by the present invention proposes a special contour rendering mode, which only renders the internal and external tissue contours of the data, thereby highlighting the abnormalities in the development of tissue structure and facilitating the doctor's diagnosis.

[0019] 3. The technical solution provided by the present invention can maintain high performance in controlling the softness and hardness of shadows through random sampling technology based on disturbed textures, and reduce wood grain defects in static and dynamic images through time supersampling technology and random dithering technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 A schematic flow chart of a method for realistic visualization of medical ultrasound data based on half-angle segmentation provided by an embodiment of the present invention, wherein: Indicates addition, Indicates multiplication; Figure 2A schematic diagram of the updating process of indirect lighting provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0025] Embodiment 1 The existing visualization images of medical ultrasound data lack realism, which is not conducive to doctors' diagnosis; therefore, the present invention provides a realistic visualization method of medical ultrasound data based on half-angle segmentation, which realizes the rendering and synthesis of medical ultrasound data by combining the illumination calculation model and the half-angle segmentation algorithm.

[0026] Next, combine Figure 1-Figure 2 , a method for realistic visualization of medical ultrasound data based on half-angle segmentation disclosed in this embodiment is described in detail. The method for realistic visualization of medical ultrasound data based on half-angle segmentation comprises the following steps: S1. Obtain medical ultrasound volume data, process the medical ultrasound volume data using a half-angle segmentation algorithm, and obtain a two-dimensional slice set.

[0027] In this embodiment, the medical ultrasound volume data is represented by a set of proxy polygons through a half-angle segmentation algorithm, and each polygon represents a half-angle slice. As an implementation method, S1 specifically includes: S101. Obtaining the direction of the light source and viewing direction , calculate the light source direction and viewing direction The halfway vector between .

[0028] Here, the light source direction and viewing direction For user input; specifically, calculate the light source direction and viewing direction The two unit vectors are then added and normalized to get the light source direction. and viewing direction The halfway vector between .

[0029] S102, use the half-angle segmentation algorithm to calculate the half-distance vector and ultrasound volume data Processing is performed to calculate a set of vertices of a two-dimensional slice .

[0030] Specifically, the half-angle segmentation process can be summarized as: The intersection of the bounding box. The bounding box is centered at the origin. First, the coordinates of the eight vertices of the bounding box are respectively intersected with the half-distance vector Do the dot product to get each vertex The projection distance relative to the origin in the direction, record the closest and farthest distances. Since it is the distance relative to the origin, the closest distance is a negative number. Use the farthest distance minus the closest distance and divide it by the number of slices to get the spacing of the slices. Next, find the volume data Each edge of the bounding box is at the halfway vector Projection in the direction to obtain the possible intersection range of each edge and slice, and calculate the slice spacing Projection on each edge to get the step length of the slice on each edge ; Finally, according to the step length Start stepping through the slices, and determine which edges each slice intersects with, and use Store all intersection points resulting from this slice.

[0031] S2. Introduce the light source into the visualization scene, calculate the indirect lighting, direct lighting, highlight and ambient light of each two-dimensional slice in the two-dimensional slice set, and synthesize the global lighting item to render the two-dimensional slice.

[0032] Among them, indirect lighting and direct lighting are stored through two different shadow maps, and highlights and ambient light are calculated in real time during the synthesis of global illumination items.

[0033] In order to restore the real texture of the skin and the lighting and shadow details, the lighting information is calculated. As an implementation method, S2 specifically includes: S201. Obtain the softness or hardness of the shadow, voxel opacity, and colored light attenuation coefficient, and calculate indirect lighting.

[0034] Since the tissue structure in the human body is very complex, after light enters the skin, it will change the propagation path multiple times and finally leave the skin to reach the viewpoint, which is subsurface scattering; therefore, in this embodiment, indirect lighting is used to color the volume data and achieve multiple scattering and soft shadow effects.

[0035] Specifically, a set of constant colored light attenuation coefficients are used In the process of light propagation, the RGB color components of the light are attenuated to different degrees to simulate this phenomenon, and the color diffusion effect is enhanced by filtering the opacity of the volume data to obtain the color information and attenuation information of the light in the propagation process.

[0036] A shadow map is used to store the color and attenuation information of light during its propagation process. Each color component of colored light will attenuate to varying degrees as it moves forward. The first three channels of the shadow map are used to store the color information of the light after attenuation during its forward movement. The opacity of the volume data is filtered to enhance the color diffusion effect. The fourth channel of the shadow map is used to store the opacity of the filtered volume data. The forward scattering process of light is simulated by blurring the light color to approximate the subsurface scattering effect. The diffusion of the shadow color is enhanced by blurring the attenuation coefficient of the light.

[0037] Among them, the color information of light during propagation is expressed as: ; The attenuation information of light during propagation is expressed as: ; in, Indicates the viewing direction, Indicates the direction of the light source, Indicates the spacing between slices, Represents the RGB channels of the indirect lighting shadow map, The alpha channel representing indirect lighting, Indicates After the update, the indirect lighting shadow map is at point Color / attenuation information at represents the convolution operation, represents the filter kernel, represents the previously mentioned constant colored light attenuation coefficient, Indicates at point The opacity of the volume data, Indicates The indirect lighting shadow map after the last update is at point The color / attenuation information at , which will be used in the next update, that is, to calculate .

[0038] In the calculation of indirect lighting, in order to simulate the effect of forward scattering, in this embodiment, the result of subsurface scattering is approximated by the average light intensity, that is, the lighting information is blurred during the light propagation process; in order to freely control the softness and hardness of the shadow and the degree of color diffusion, in this embodiment, the size of the filter kernel of the blurred lighting information is adjusted.

[0039] Furthermore, in order to ensure the same performance for different degrees of shadow hardness, a random sampling method based on perturbation texture was selected for filtering.

[0040] Specifically, a dual-channel 512x512 noise texture is generated, that is, a disturbance texture. Each pixel in the disturbance texture is a two-dimensional offset, and each component of the two-dimensional offset ranges from When blurring the indirect lighting shadow map, first randomly sample the disturbance texture (the coordinates of the randomly sampled disturbance texture are , Subscript for the current sample, For this voxel Texture coordinates), offset the coordinates of the current shadow map according to the result of randomly sampling the perturbation texture, sampling indirect lighting samples (currently 8), using the filter kernel size mentioned above Scaling offset. The weights of the samples are chosen as follows: the initial sample weight is 1.0, and all subsequent samples weight is 0.8.

[0041] Filter kernel size The calculation formula is as follows: ; in, Indicates the spacing of slices, Indicates the softness or hardness of the shadow, which is determined by the user.

[0042] Here, the shadow map resolution used is 1024×512.

[0043] S202, calculate direct lighting and store it in a shadow map.

[0044] Light starts from the light source and reaches the viewpoint after one scattering, which is single scattering. Direct lighting is responsible for realizing hard shadows and providing light intensity information for the calculation of highlight items. A shadow map needs to be maintained to record the intensity attenuation of light, but there is no need to record the color information of the light.

[0045] Specifically, the shadow map of direct illumination can be understood as parallel rays passing through the volume data and being absorbed by the volume data. Assuming that the light is along the direction From point Propagate to point , then its attenuated intensity can be expressed as: ; In the formula, Indicates that the light Propagate to point The light intensity at It is called the optical depth. When the spacing of the volume data is small enough, the exponential term can be approximated as , that is, the transparency of the volume data, where For point The opacity of the voxels at represents the extinction term, which is the probability of light being scattered or absorbed; represents the integration variable.

[0046] Each time the shadow map of direct lighting is updated, it is only necessary to multiply the original light intensity by the transparency of the volume data for attenuation calculation.

[0047] Here, the shadow map resolution used is 1024×512.

[0048] S203, calculate highlights.

[0049] Part of the light hitting the skin surface is directly reflected back to the viewpoint, which is called highlight reflection. Highlight can add a smooth and moist feeling to the skin and enhance the edge perception of the structure. Highlight also belongs to the category of single scattering, so it is linked to the light intensity of direct light. In this embodiment, the calculation of highlight is approximated by the Blinn-phong model, which is expressed as: ; in, Indicate point The light intensity stored in the corresponding direct lighting shadow map, Represents the half-distance vector between the viewing direction and the light source direction, Indicate point The normal vector at , is approximated using the gradient vector, Represents the highlight coefficient. A larger highlight coefficient corresponds to a narrower highlight range, and a smaller highlight corresponds to a wider highlight range.

[0050] S204: Calculate ambient light. The specific process is as follows: In the two-dimensional slice space, each sample projects light in several directions around it, and the light has an artificially specified initial intensity. First, take several sample steps and calculate the attenuation of the light intensity according to the following formula: ; in, represents the sample position, Represents the final intensity of a single ray after attenuation. Represents the sample distance From The direction is artificially specified with constant light intensity, Represents the step length of the light, here we take , Represents a constant exponent that adjusts the opacity of voxels, i.e., a hyperparameter. Choose an appropriate Adjusting the voxel sample intensity can better control the display effect of ambient light. Tips The opacity of the voxel at .

[0051] In this embodiment, =0.75.

[0052] Finally, the average of the light intensity is taken, and in order to highlight the edge features of the volume data, the average intensity is taken The second power is taken as the ambient light term, that is: ; Pick , , , , take samples and decay in four directions of x, -x, y, -y in the slice space.

[0053] S205, linearly combine the indirect lighting, direct lighting, highlight and ambient light to synthesize the global lighting item, and render the two-dimensional slice.

[0054] Among them, the global illumination term is expressed as: ; in, For point The albedo at is the ratio of direct to indirect illumination. is the indirect lighting term, is the direct lighting term, is the highlight item, To control the weight of highlight brightness, is the ambient light item.

[0055] Then, the base reflectance color of the 2D slice voxel Multiplying with the global illumination term gives the final shading of the slice, expressed as: .

[0056] S3. Synthesize the rendered two-dimensional slices according to the light source direction and the viewing angle direction to obtain a synthesized image.

[0057] When a slice is rendered, it needs to be synthesized with the previously rendered slice. There are two main synthesis methods depending on the direction of the light source and the viewing angle.

[0058] Specifically, when the angle between the light source direction and the viewing angle direction is an acute angle, the backward synthesis method is used, which is expressed as: ; ; In the formula, Indicates Updated color, Indicates The opacity of the update. represents the base reflectance color of the 2D slice voxels, Indicate point The opacity of Indicates times, that is, the color of the last update, Indicates times, which is the opacity of the last update.

[0059] When the angle between the light source direction and the viewing angle is an obtuse angle, that is, when the light source is behind the volume data, the forward synthesis method is used, which is expressed as: ; ; Here, and It is obtained by calculating the transfer function. The transfer function used is a simple linear function, expressed as: ; ; in, is the voxel intensity of the original 2D slice, The color reflected by the skin, , Respectively represent constants.

[0060] In the slice-based rendering method, the number of slices is equivalent to the sampling rate. A lower number of slices, that is, a lower sampling rate, will cause severe wavy aliasing in volume rendering, also known as wood grain defects. In order to eliminate wood grain defects, when rendering each frame of 2D slices, whether it is a dynamic scene or a static scene, random dithering technology is used in the synthesis of global illumination to reduce wood grain defects; if it is a static scene, the two most recent frames are combined with temporal supersampling technology to further eliminate wood grain defects.

[0061] In order to effectively increase the sampling rate to eliminate wood grain without increasing performance overhead, as an implementation method, a temporal supersampling technology and a random dithering technology are combined to eliminate wood grain defects in static images. Specifically, when the picture is still, that is, when no parameters change, two frames are accumulated and fused. The first frame is rendered with regular parameters, and the second frame offsets the slice position to the midpoint between the two slices in the first frame, thereby sampling the volume data position that was not sampled in the first frame. The two rendering results are fused in proportion, which can eliminate most of the visible wood grain and obtain high-quality results.

[0062] Temporal supersampling technology can eliminate wood grain defects in most static images, but user interaction is a dynamic scene, and temporal supersampling technology is not suitable for eliminating wood grain defects in dynamic scenes. As an implementation method, only random dithering technology is used to eliminate wood grain defects in dynamic images.

[0063] Specifically, a noise texture is used and tiled on each half-angle slice. Each voxel on the half-angle slice is sampled at an offset along the viewing direction according to the value of the corresponding noise texture pixel (it is necessary to ensure that the jitter amount of the same pixel on the slice is consistent during one rendering process). By offsetting the sampling point, the regular wood grain can be broken up and turned into noise with better visual effects. In this way, a large performance overhead is avoided and noise is introduced to improve the quality of the rendering result.

[0064] Currently, a 32×32 noise texture is tiled in the screen space to jitter each pixel. The random number range of the noise texture is , That is, the random jitter coefficient.

[0065] In order to render the contours of different structures contained in the ultrasound volume data, in some embodiments, it also includes: obtaining the isosurface values ​​and contour gradient area thicknesses that need to be displayed, and determining the opacity corresponding to each voxel in the composite image based on the isosurface values ​​and contour gradient area thicknesses, so as to render the contours of the composite image.

[0066] Specifically, iso-density surfaces or iso-value surfaces can be used to represent the surface information of volume data. By adjusting the opacity of each voxel in the volume data, the opacity of voxels that are far from the iso-value surface value is lowered, and the opacity of voxels that are close to the iso-value surface value is increased, so that a specific value in the volume data can be The corresponding contours of the isosurface are all displayed. At the same time, it is also necessary to Add an opacity gradient to avoid isosurface confusion and jagged issues caused by data accuracy.

[0067] Where opacity is expressed as: ; In the formula, Indicates the opacity of the outline. Indicates the equivalent surface value to be displayed. Indicates the required thickness of the contour gradient area. All three can be freely set according to needs; Indicate point The gradient vector magnitude at , Representative Points The voxel opacity at Representative Points The original density of the volume data at .

[0068] Embodiment 2 This embodiment discloses a medical ultrasound data realistic visualization system based on half-angle segmentation, including: A half-angle segmentation module is configured to: acquire medical ultrasound volume data, process the medical ultrasound volume data by a half-angle segmentation algorithm, and acquire a two-dimensional slice set; The lighting calculation module is configured to: introduce a light source into a visualization scene, calculate indirect lighting, direct lighting, highlight lighting and ambient lighting of each two-dimensional slice in the two-dimensional slice set, and synthesize a global lighting item to render the two-dimensional slice; The rendering and synthesis module is configured to synthesize the rendered two-dimensional slices according to the light source direction and the viewing angle direction to obtain a synthesized image.

[0069] It should be noted that the above-mentioned half-angle segmentation module, illumination calculation module and rendering synthesis module correspond to the steps in Embodiment 1, and the examples and application scenarios implemented by the above-mentioned modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned Embodiment 1. It should be noted that the above-mentioned modules as part of the system can be executed in a computer system such as a set of computer executable instructions.

[0070] Embodiment 3 Embodiment 3 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and executed on the processor. When the computer instructions are executed by the processor, the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation are completed.

[0071] Embodiment 4 Embodiment 4 of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation are completed.

[0072] Embodiment 5 Embodiment 5 of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for realistic visualization of medical ultrasound data based on half-angle segmentation.

[0073] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] The description of each embodiment in the above embodiments has different emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A realistic visualization method for medical ultrasound data based on half-angle segmentation, characterized in that: include: Acquire medical ultrasound volume data, and process the medical ultrasound volume data by a half-angle segmentation algorithm to acquire a two-dimensional slice set; Introducing a light source into a visualization scene, calculating indirect illumination, direct illumination, highlight illumination and ambient illumination of each two-dimensional slice in the set of two-dimensional slices and synthesizing a global illumination item to render the two-dimensional slices; The rendered two-dimensional slices are synthesized according to the light source direction and the viewing angle direction to obtain a synthesized image.

2. The method for realistic visualization of medical ultrasound data based on half-angle segmentation according to claim 1, characterized in that: Also includes: The isosurface value and the thickness of the contour gradient area to be displayed are obtained, and the opacity corresponding to each voxel in the synthesized image is determined according to the isosurface value and the thickness of the contour gradient area, so as to perform contour rendering on the synthesized image.

3. The method for realistic visualization of medical ultrasound data based on half-angle segmentation according to claim 1, characterized in that: The processing of the medical ultrasound volume data by using a half-angle segmentation algorithm to obtain a two-dimensional slice set specifically includes: Calculate the half-distance vector between the light source direction and the viewing angle direction; According to the half-distance vector and the volume data bounding box, the edge stepping order and spacing of the slice are determined; according to the edge stepping order and spacing of the slice, the stepping length of the slice is determined to perform stepping slicing and store a two-dimensional slice vertex set.

4. The method for realistic visualization of medical ultrasound data based on half-angle segmentation according to claim 1, characterized in that: When calculating the indirect lighting of each 2D slice, filtering is performed through a random sampling method based on a perturbed texture and scaling of the filter kernel.

5. The method for realistic visualization of medical ultrasound data based on half-angle segmentation according to claim 1, characterized in that: When synthesizing the rendered two-dimensional slice, a sampling point of each voxel on the two-dimensional slice is offset along the viewing angle direction according to the noise texture pixel value.

6. The method for realistic visualization of medical ultrasound data based on half-angle segmentation according to claim 1, characterized in that: When synthesizing the rendered two-dimensional slices, adjacent two-dimensional slices are fused by a temporal supersampling method.

7. A medical ultrasound data realistic visualization system based on half-angle segmentation, characterized in that: include: A half-angle segmentation module is configured to: acquire medical ultrasound volume data, process the medical ultrasound volume data by a half-angle segmentation algorithm, and acquire a two-dimensional slice set; The lighting calculation module is configured to: introduce a light source into a visualization scene, calculate indirect lighting, direct lighting, highlight lighting and ambient lighting of each two-dimensional slice in the two-dimensional slice set, and synthesize a global lighting item to render the two-dimensional slice; The rendering and synthesis module is configured to synthesize the rendered two-dimensional slices according to the light source direction and the viewing angle direction to obtain a synthesized image.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method for realistic visualization of medical ultrasound data based on half-angle segmentation according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the method for realistic visualization of medical ultrasound data based on half-angle segmentation as described in any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the method for realistic visualization of medical ultrasound data based on half-angle segmentation as described in any one of claims 1 to 6 are implemented.

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