Three-dimensional ultrasonic volume data rotation method, device, equipment and medium
By automatically determining the target rotation parameters of the three-dimensional ultrasonic body data rotation, the automatic rotation of the three-dimensional ultrasonic image is achieved, solving the problems of cumbersome and time-consuming manual operations in the prior art, and improving the rotation efficiency and reliability.
Patent Information
- Application Number
- CN202311027283.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-14
- Publication Date
- 2025-02-25
AI Technical Summary
The existing three-dimensional ultrasonic image rotation method relies on manual operation, which leads to cumbersome and time-consuming operations, increases labor costs, and the rotation process is not reliable enough.
By determining the current orientation based on the target key information on the target to be rotated in the three-dimensional ultrasonic body data, the target rotation parameters are determined using the positional relationship between the current orientation and the target orientation, and then automatically rotate the target to be rotated to the target orientation.
It improves rotation efficiency, reduces labor and time costs, ensures rotation reliability, and reduces dependence on operator experience.
Smart Images
Figure CN119515689A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of ultrasonic image technology, and in particular to a three-dimensional ultrasonic volume data rotation method, device, equipment and medium. Background Art
[0002] At present, an interactive rotation method is mainly used when rotating a three-dimensional ultrasound image. The interactive rotation method mainly refers to an operator manually operating the rotation function of an ultrasound machine to realize the rotation of a three-dimensional ultrasound image.
[0003] The manual rotation method by the operator is too dependent on personal experience and the rotation process is cumbersome. In addition, since a large number of three-dimensional ultrasound images need to be rotated during the display stage, different parts will result in different rotation directions. Therefore, a lot of prior knowledge is required to adjust the rotation repeatedly. It can be seen that the manual rotation method by the operator is cumbersome, time-consuming, and increases labor costs.
[0004] Therefore, how to reduce the labor cost and time cost of the three-dimensional ultrasound image during the rotation process and ensure the reliability of the rotation is an urgent problem to be solved in this field. Summary of the invention
[0005] In view of this, the purpose of the present invention is to provide a three-dimensional ultrasound volume data rotation method, device, equipment and medium, which can improve the efficiency of rotation, reduce labor costs and time costs, and ensure the reliability of rotation. The specific scheme is as follows:
[0006] In a first aspect, the present application discloses a three-dimensional ultrasound volume data rotation method, comprising:
[0007] Determining the current position of the target to be rotated based on target key information on the target to be rotated in the three-dimensional ultrasound volume data;
[0008] Determining a target rotation parameter using a positional relationship between the current orientation and the target orientation;
[0009] The target to be rotated is rotated from the current orientation to the target orientation based on the target rotation parameter to obtain a rotated target.
[0010] Optionally, determining the current position of the target to be rotated based on target key information on the target to be rotated in the three-dimensional ultrasonic volume data includes:
[0011] Determining a plurality of direction vectors based on target key information on the target to be rotated;
[0012] Determining the current orientation of the target to be rotated according to the plurality of direction vectors;
[0013] The current orientation is determined based on the current orientation and a preset center point.
[0014] Optionally, the determining a plurality of direction vectors based on the target key information on the target to be rotated includes:
[0015] Determine a direction vector based on target key information on the target to be rotated;
[0016] Correspondingly, determining the current orientation of the target to be rotated according to the plurality of direction vectors includes:
[0017] The current orientation of the object to be rotated is determined according to the one direction vector.
[0018] Optionally, before determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation, the method further includes:
[0019] Preconfiguring a target direction, and determining the target direction as the target orientation of the object to be rotated after the rotation is completed;
[0020] The target orientation is determined based on the target orientation and the preset center point.
[0021] Optionally, determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation includes:
[0022] Determine a corresponding total rotation angle using a positional relationship between the current orientation and the target orientation;
[0023] The total rotation angle and the coordinates of a preset rotation center point are determined as the target rotation parameters.
[0024] Optionally, rotating the target to be rotated from the current orientation to the target orientation based on the target rotation parameter includes:
[0025] Using the target rotation parameters, each coordinate point on the target to be rotated is rotated respectively, so as to rotate the target to be rotated from the current orientation to the target orientation;
[0026] Or, the current position of the target to be rotated is rotated using the target rotation parameter, so as to rotate the target to be rotated as a whole from the current position to the target position.
[0027] Optionally, the determining a plurality of direction vectors based on the target key information on the target to be rotated includes:
[0028] Determine three direction vectors based on the target key information on the target to be rotated; wherein the three direction vectors include a sagittal plane direction vector, a transverse plane direction vector and a coronal plane direction vector of the target to be rotated;
[0029] Correspondingly, determining the current orientation of the target to be rotated according to the plurality of direction vectors includes:
[0030] A spatial coordinate system where the target to be rotated is located is constructed according to the three direction vectors to obtain a current orientation of the target to be rotated.
[0031] Optionally, the determining three direction vectors based on the target key information on the target to be rotated includes:
[0032] Determine the normal vector of the target to be rotated to obtain a sagittal plane direction vector;
[0033] Identifying target key points on the target to be rotated, and determining a cross-sectional direction vector based on a line connecting the target key points;
[0034] A coronal plane direction vector is obtained based on the sagittal plane direction vector and the transverse plane direction vector.
[0035] Optionally, before determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation, the method further includes:
[0036] Preconfigure three target directions corresponding to the three direction vectors respectively;
[0037] Determining the target orientation of the target to be rotated after the rotation is completed based on the three target directions;
[0038] The target orientation is determined based on the target orientation and the preset center point.
[0039] Optionally, determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation includes:
[0040] Determine a first direction vector and a second direction vector from the three direction vectors corresponding to the current position;
[0041] Determine a first angle between the first direction vector and a target plane; the target plane is a plane determined based on a first target direction and a second target direction, the first target direction and the second target direction are the target directions corresponding to the first direction vector and the second direction vector respectively;
[0042] Determine a second angle between a projection direction of the first direction vector on the target plane and the first target direction;
[0043] Calculating a third angle between the second direction vector and the second target direction after the target to be rotated is rotated based on the first angle and the second angle;
[0044] The first angle, the second angle, the third angle and the coordinates of a preset rotation center point are determined as the target rotation parameters.
[0045] In a second aspect, the present application discloses a three-dimensional ultrasound volume data rotation device, comprising:
[0046] A current position determination module, used for determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasonic volume data;
[0047] A target rotation parameter determination module, used to determine the target rotation parameter by using the positional relationship between the current orientation and the target orientation;
[0048] A rotation module is used to rotate the target to be rotated from the current orientation to the target orientation based on the target rotation parameter to obtain a rotated target.
[0049] In a third aspect, the present application discloses an electronic device, comprising:
[0050] Memory, used to store computer programs;
[0051] The processor is used to execute the computer program to implement the three-dimensional ultrasound volume data rotation method disclosed above.
[0052] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the three-dimensional ultrasound volume data rotation method disclosed above is implemented.
[0053] It can be seen that the present application provides a three-dimensional ultrasound volume data rotation method, including: determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasound volume data; determining the target rotation parameter using the positional relationship between the current position and the target position; rotating the target to be rotated from the current position to the target position based on the target rotation parameter to obtain the rotated target. In summary, the present application first determines the current position of the target to be rotated based on the key information on the target to be rotated in the three-dimensional ultrasound volume data, and then determines the target rotation parameter using the positional relationship between the current position and the target position, wherein the target position is also the position of the target to be rotated after rotation, and further, the target to be rotated is rotated from the current position to the target position based on the target rotation parameter. In other words, the present application is to automatically rotate the target to be rotated based on the target rotation parameter. In this way, the present application does not require the operator to manually rotate the target to be rotated frequently according to prior knowledge, thereby reducing the manpower cost and time cost of the target to be rotated during the rotation process, improving the rotation efficiency, and ensuring the reliability of the rotation. BRIEF DESCRIPTION OF THE DRAWINGS
[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.
[0055] Figure 1 A flow chart of a three-dimensional ultrasound volume data rotation method disclosed in this application;
[0056] Figure 2 A schematic diagram of three-dimensional ultrasound volume data disclosed in the present application in a spatial coordinate system;
[0057] Figure 3 A schematic diagram of a facial contour disclosed in the present application in a spatial coordinate system;
[0058] Figure 4 A schematic diagram of various direction vectors of a facial contour disclosed in the present application;
[0059] Figure 5 This is a flow chart of another three-dimensional ultrasound volume data rotation method disclosed in this application;
[0060] Figure 6 A flow chart of another three-dimensional ultrasound volume data rotation method disclosed in the present application;
[0061] Figure 7This is a schematic diagram of the structure of a three-dimensional ultrasound volume data rotation device disclosed in this application;
[0062] Figure 8 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION
[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0064] The method of manually rotating the three-dimensional ultrasound image by the operator is too dependent on personal experience, and the rotation process is cumbersome, time-consuming, and increases labor costs, and the reliability of the rotation cannot be guaranteed.
[0065] To this end, the embodiment of the present application proposes a three-dimensional ultrasound volume data rotation solution, which can ensure the reliability of rotation, improve the efficiency of rotation, and reduce labor costs and time costs.
[0066] The present application discloses a method for rotating three-dimensional ultrasound volume data. Figure 1 As shown, the method includes:
[0067] Step S11: determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasound volume data.
[0068] With the rapid development of computer technology, three-dimensional ultrasound imaging technology has made great progress and is widely used in cardiovascular and obstetric fields, such as the diagnosis of congenital heart disease and prenatal screening of fetal malformations.
[0069] In this embodiment, the three-dimensional ultrasound volume data is three-dimensional data collected based on three-dimensional ultrasound imaging technology, such as fetal volume data, heart volume data, etc. Taking fetal volume data as an example, the target to be rotated can be the fetal head, fetal face, limbs, etc.
[0070] It can be understood that the current position of the target to be rotated includes the current position information and the current direction information of the target to be rotated. In a specific implementation, the current position information of the target to be rotated is determined by: firstly, the three-dimensional size information in the geometric space of the three-dimensional ultrasound volume data is converted into the coordinate information of the three-dimensional ultrasound volume data, that is, the three-dimensional size information of the three-dimensional ultrasound volume data is coordinateized. Figure 2As shown, the three-dimensional size information of the three-dimensional ultrasound volume data in the geometric space can be expressed as (D, H, W) = volume.size(), where D represents the depth direction, that is, the Z-axis direction in the geometric space, H represents the height direction, that is, the Y-axis direction in the geometric space, and W represents the width direction, that is, the X-axis direction in the geometric space. This embodiment converts the three-dimensional ultrasound volume data in the geometric space into the three-dimensional ultrasound volume data in the form of a coordinate system, thereby obtaining the coordinate information of the three-dimensional ultrasound volume data, and also obtaining the coordinate information of the target to be rotated. Take the facial contour of the fetus as an example, Figure 3 Schematic diagram of facial contour in the spatial coordinate system.
[0071] In a specific implementation, the current direction information of the target to be rotated is determined in the following manner: a number of direction vectors are determined based on the target key information on the target to be rotated, and the current orientation of the target to be rotated is determined according to the number of direction vectors, and the current orientation of the target to be rotated can be used to represent the current direction information of the target to be rotated. Among them, the number of can be more than one. Since the target to be rotated is three-dimensional data, the current orientation of the target to be rotated can be determined based on the multiple direction vectors of the target to be rotated. For example, the current orientation of the target to be rotated can be determined based on the three direction vectors of the target to be rotated. Specifically, the three direction vectors include a sagittal plane direction vector, a transverse plane direction vector, and a coronal plane direction vector. Referring to Figure 4, the sagittal plane direction vector is a vector L, the transverse plane direction vector is a vector M, and the coronal plane direction vector is a vector N that is perpendicular to the vector L and the vector M in pairs. After the three direction vectors are determined, the spatial coordinate system where the target to be rotated is located is constructed based on the three direction vectors to obtain the current orientation of the target to be rotated.
[0072] In some embodiments, the above-mentioned determination of three direction vectors based on the target key information on the target to be rotated includes: determining the normal vector of the target to be rotated to obtain the sagittal plane direction vector; identifying the target key points on the target to be rotated, and determining the transverse direction vector based on the connecting line of the target key points; and obtaining the coronal plane direction vector based on the sagittal plane direction vector and the transverse direction vector. The target key points may be at least two, such as the coordinates of both eyes of the fetus, and the coronal plane direction vector is a vector perpendicular to the sagittal plane direction vector and the transverse direction vector.
[0073] After determining the coordinate information and current orientation of the target to be rotated, based on the coordinate information, the current orientation and Figure 2The preset center point in the coordinate system determines the current position of the object to be rotated. It should be noted that the preset center point can be any point on the object to be rotated, or any point outside the object to be rotated. For example, the preset center point can be the midpoint of the two eyes of the facial contour, or the origin (0,0,0).
[0074] Step S12: Determine the target rotation parameter using the positional relationship between the current orientation and the target orientation.
[0075] In this embodiment, the target orientation is the orientation of the target to be rotated after the rotation. In a specific implementation, the target orientation can be determined by pre-configuring three target directions corresponding to the three direction vectors, and then determining the target orientation of the target to be rotated after the rotation is completed based on the three target directions, and determining the target orientation based on the target orientation and the preset center point, wherein the three target directions are Figure 2 The three coordinate axis directions of the coordinate system shown.
[0076] In a specific implementation, this embodiment corresponds the sagittal plane direction vector of the target to be rotated to the X-axis of the coordinate system, corresponds the cross-sectional direction vector of the target to be rotated to the Y-axis of the coordinate system, and corresponds the coronal plane direction vector of the target to be rotated to the Z-axis of the coordinate system. Further, when the target to be rotated is rotated until the three direction vectors are parallel to the three target directions corresponding to each other, the orientation of the target to be rotated is the target orientation of the target to be rotated, and the orientation determined based on the target orientation and the preset center point is the target orientation. That is, when the target to be rotated is rotated until the sagittal plane direction vector is parallel to the X-axis direction, the cross-sectional direction vector is parallel to the Y-axis direction, and the target to be rotated is rotated until the coronal plane direction vector is parallel to the Z-axis direction, the orientation of the target to be rotated is the target orientation of the target to be rotated, and the orientation determined based on the target orientation and the preset center point is the target orientation.
[0077] It can be understood that the target rotation parameters are parameters required to rotate the target to be rotated from the current orientation to the target orientation. Therefore, after determining the target orientation, the target rotation parameters are determined using the positional relationship between the current orientation and the target orientation.
[0078] In a specific implementation, determining the target rotation parameter comprises the following steps:
[0079] (1) Determine a first direction vector and a second direction vector from the three direction vectors corresponding to the current orientation, and determine a first angle between the first direction vector and a target plane, wherein the target plane is a plane determined based on the first target direction and the second target direction, and the first target direction and the second target direction are the target directions corresponding to the first direction vector and the second direction vector, respectively. Exemplarily, the sagittal plane direction vector is determined as the first direction vector, and the transverse direction is determined as the second direction vector, and then the plane determined based on the sagittal plane direction vector and the transverse direction vector is set as the target plane, and finally, the first angle between the sagittal plane direction vector, that is, the vector L and the target plane is determined to be φ1.
[0080] (2) Determine a second angle between the projection direction of the first direction vector on the target plane and the first target direction. Exemplarily, when the sagittal plane direction vector corresponds to the X-axis of the spatial coordinate system, the second angle between the sagittal plane direction vector, that is, the vector L and the X-axis is determined to be φ2.
[0081] (3) Calculating a third angle between the second direction vector and the second target direction after the target to be rotated is rotated based on the first angle and the second angle. Exemplarily, when the cross-sectional direction vector corresponds to the Y axis of the spatial coordinate system, the third angle between the cross-sectional direction vector, that is, the vector M and the Y axis is determined to be φ3.
[0082] Finally, the first angle φ1, the second angle φ2, the third angle φ3 and the coordinates of the preset rotation center point are determined as the target rotation parameters.
[0083] Step S13: rotating the target to be rotated from the current orientation to the target orientation based on the target rotation parameters to obtain a rotated target.
[0084] It can be understood that, in the process of rotating the target to be rotated from the current orientation to the target orientation based on the target rotation parameters, the target to be rotated can be rotated in sequence according to the target order, the preset rotation center point and the above three angles to obtain the rotated target.
[0085] In a specific embodiment, the target to be rotated is the facial contour of a fetus. The midpoint of the two eyes can be used as the preset rotation center point, and φ1 can be used as the rotation angle for the first rotation around the axis; the midpoint of the two eyes can be used as the preset rotation center point, and φ2 can be used as the rotation angle for the second rotation around the axis; the midpoint of the two eyes can be used as the preset rotation center point, and φ3 can be used as the rotation angle for the third rotation around the axis. After three rotations, the facial contour of the rotated fetus is obtained.
[0086] In summary, it can be seen that in this embodiment, multiple plane rotations are used to rotate the target to be rotated from the current orientation to the target orientation, thereby realizing the automation of the rotation process. The rotation process can be implemented through tools such as opencv, which ensures the reliability of the rotation of the target to be rotated and reduces the manpower and time costs of the target to be rotated during the rotation process.
[0087] It can be seen that the present application provides a three-dimensional ultrasound volume data rotation method, including: determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasound volume data; determining the target rotation parameter using the positional relationship between the current position and the target position; rotating the target to be rotated from the current position to the target position based on the target rotation parameter to obtain the rotated target. In summary, the present application first determines the current position of the target to be rotated based on the key information on the target to be rotated in the three-dimensional ultrasound volume data, and then determines the target rotation parameter using the positional relationship between the current position and the target position, wherein the target position is also the position of the target to be rotated after rotation, and further, the target to be rotated is rotated from the current position to the target position based on the target rotation parameter. In other words, the present application is to automatically rotate the target to be rotated based on the target rotation parameter. In this way, the present application does not require the operator to manually rotate the target to be rotated frequently according to prior knowledge, thereby reducing the manpower cost and time cost of the target to be rotated during the rotation process, improving the rotation efficiency, and ensuring the reliability of the rotation.
[0088] See also Figure 5 As shown, compared with the previous embodiment, this embodiment also includes the following contents:
[0089] Step S21: determining a direction vector based on the target key information on the target to be rotated, determining the current orientation of the target to be rotated according to the direction vector, and determining the current orientation based on the current orientation and the preset center point.
[0090] In a first specific implementation, the sagittal plane direction vector of the target to be rotated is determined as the current orientation of the target to be rotated, and further, the current orientation is determined based on the sagittal plane direction vector and the preset center point.
[0091] In a second specific implementation, the cross-sectional direction vector of the target to be rotated is determined as the current orientation of the target to be rotated, and further, the current orientation is determined based on the cross-sectional direction vector and the preset center point.
[0092] In a third specific implementation, the coronal plane direction vector of the target to be rotated is determined as the current orientation of the target to be rotated, and further, the current orientation is determined based on the coronal plane direction vector and the preset center point.
[0093] In a fourth specific implementation, other section direction vectors of the target to be rotated are determined as the current orientation of the target to be rotated, and further, the current orientation is determined based on the other section direction vectors and the preset center point.
[0094] Step S22: pre-configure a target direction, and determine the target direction as the target orientation of the target to be rotated after the rotation is completed, and determine the target orientation based on the target orientation and the preset center point.
[0095] In a first specific implementation, the pre-configuration Figure 2 The X-axis direction of the coordinate system is the target direction, and the X-axis direction is determined as the target orientation of the target to be rotated after the rotation is completed; the target orientation is determined based on the X-axis direction and the preset center point.
[0096] In a second specific implementation, the Y-axis direction of the coordinate system is pre-configured as the target direction, and the Y-axis direction is determined as the target orientation of the target to be rotated after the rotation is completed; the target orientation is determined based on the Y-axis direction and the preset center point.
[0097] In a third specific implementation, the Z-axis direction of the coordinate system is pre-configured as the target direction, and the Z-axis direction is determined as the target orientation of the target to be rotated after the rotation is completed; the target orientation is determined based on the Z-axis direction and the preset center point.
[0098] In a fourth specific implementation, any other direction of the coordinate system is pre-configured as the target direction, and the other arbitrary direction is determined as the target orientation of the target to be rotated after the rotation is completed; the target orientation is determined based on the other arbitrary direction and the preset center point.
[0099] Step S23: Determine a corresponding total rotation angle using the positional relationship between the current orientation and the target orientation, and determine the total rotation angle and the coordinates of a preset rotation center point as the target rotation parameters.
[0100] In this embodiment, the current orientation and the target orientation are used to determine a corresponding total rotation angle, and the total rotation angle is also the rotation angle required to rotate the object to be rotated from the current orientation to the target orientation.
[0101] Assuming that the current orientation is an orientation determined based on the sagittal plane direction vector, and the target orientation is an orientation determined based on the X-axis direction, then the total rotation angle is the rotation angle required to rotate the object to be rotated from the sagittal plane direction vector to the X-axis direction, and the target rotation parameter is a parameter determined based on the total rotation angle and the coordinates of the preset rotation center point.
[0102] Step S24: using the target rotation parameters to respectively rotate each coordinate point on the target to be rotated, so as to rotate the target to be rotated from the current orientation to the target orientation.
[0103] After determining the target rotation parameters, the target rotation parameters can be used to rotate each coordinate point on the target to be rotated, so as to rotate the target to be rotated from the current position to the target position. That is, in this embodiment, the target to be rotated can be rotated from the current position to the target position by rotating the coordinate points, thereby realizing the automation of the rotation process, ensuring the reliability of the rotation of the target to be rotated, and reducing the labor cost and time cost of the target to be rotated during the rotation process.
[0104] Step S25: using the target rotation parameter to rotate the current position of the target to be rotated, so as to rotate the target to be rotated as a whole from the current position to the target position.
[0105] After determining the target rotation parameters, the target rotation parameters can be used to rotate the target to be rotated as a whole, so as to rotate the target to be rotated as a whole from the current position to the target position. That is, in this embodiment, the target to be rotated as a whole can be rotated from the current position to the target position, thereby realizing the automation of the rotation process, ensuring the reliability of the rotation of the target to be rotated, and reducing the labor cost and time cost of the target to be rotated during the rotation process.
[0106] It can be seen that the present application proposes a three-dimensional ultrasound volume data rotation method, including: determining a direction vector based on the target key information on the target to be rotated, determining the current orientation of the target to be rotated according to the direction vector, and determining the current position based on the current orientation and the preset center point; pre-configuring a target direction, and determining the target direction as the target orientation of the target to be rotated after the rotation is completed, and determining the target position based on the target orientation and the preset center point; determining the corresponding total rotation angle using the positional relationship between the current position and the target position, and determining the total rotation angle and the coordinates of the preset rotation center point as the target rotation parameters; rotating each coordinate point on the target to be rotated respectively using the target rotation parameters to rotate the target to be rotated from the current orientation to the target orientation; rotating the current orientation of the target to be rotated using the target rotation parameters to rotate the target to be rotated as a whole from the current orientation to the target orientation. In summary, the present application first determines the current position of the target to be rotated based on the key information on the three-dimensional ultrasound volume data, and then determines the target rotation parameters using the positional relationship between the current position and the target position, wherein the target position is also the position of the target to be rotated after rotation, and further, the target to be rotated is rotated from the current position to the target position based on the target rotation parameters. In other words, the present application automatically rotates the target to be rotated based on the target rotation parameters, so that the present application does not require the operator to manually rotate the target to be rotated frequently based on prior knowledge, thereby reducing the manpower cost and time cost of the target to be rotated during the rotation process, improving the rotation efficiency, and ensuring the reliability of the rotation.
[0107] See also Figure 6 As shown, Figure 6The present invention discloses a flow chart of facial contour rotation. First, a complete three-dimensional ultrasound volume data is given, and the three-dimensional ultrasound volume data in the geometric space is converted into three-dimensional ultrasound volume data in the form of a coordinate system, that is, the three-dimensional ultrasound volume data is coordinateized in pixel position so that each pixel position has a unique coordinate value. Then, the converted three-dimensional ultrasound volume data is modeled to determine the rotation parameters. Finally, the rotation operation is performed according to the rotation parameters to obtain the rotated volume data. In addition, during the rotation process, the three-dimensional ultrasound volume data can be rotated in a plane, or the three-dimensional ultrasound volume data can be rotated as a whole, or the three-dimensional ultrasound volume data can be rotated in coordinate points. That is to say, the present invention provides a variety of automatic rotation methods of overall rotation, plane rotation and coordinate point rotation. Furthermore, during the actual rotation process, a suitable automatic rotation method can be selected according to actual needs to quickly rotate the three-dimensional ultrasound volume data from the current direction to the target direction. In summary, the present application automatically rotates the three-dimensional ultrasound volume data based on the rotation parameters. In this way, the present application does not require the operator to frequently manually rotate the three-dimensional ultrasound volume data based on prior knowledge, thereby reducing the labor cost and time cost of the three-dimensional ultrasound volume data during the rotation process, improving the rotation efficiency, and ensuring the reliability of the rotation.
[0108] Correspondingly, the present application also discloses a three-dimensional ultrasound volume data rotation device, see Figure 7 As shown, the device comprises:
[0109] A current orientation determining module 11 is used to determine the current orientation of the target to be rotated based on target key information on the target to be rotated in the three-dimensional ultrasound volume data;
[0110] A target rotation parameter determination module 12, configured to determine a target rotation parameter using a positional relationship between the current orientation and the target orientation;
[0111] The rotation module 13 is used to rotate the target to be rotated from the current orientation to the target orientation based on the target rotation parameter to obtain a rotated target.
[0112] Among them, for more specific working processes of the above-mentioned modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.
[0113] It can be seen that the present application provides a three-dimensional ultrasound volume data rotation method, including: determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasound volume data; determining the target rotation parameter using the positional relationship between the current position and the target position; rotating the target to be rotated from the current position to the target position based on the target rotation parameter to obtain the rotated target. In summary, the present application first determines the current position of the target to be rotated based on the key information on the target to be rotated in the three-dimensional ultrasound volume data, and then determines the target rotation parameter using the positional relationship between the current position and the target position, wherein the target position is also the position of the target to be rotated after rotation, and further, the target to be rotated is rotated from the current position to the target position based on the target rotation parameter. In other words, the present application is to automatically rotate the target to be rotated based on the target rotation parameter. In this way, the present application does not require the operator to manually rotate the target to be rotated frequently according to prior knowledge, thereby reducing the manpower cost and time cost of the target to be rotated during the rotation process, improving the rotation efficiency, and ensuring the reliability of the rotation.
[0114] Furthermore, an embodiment of the present application also provides an electronic device. Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.
[0115] Figure 8 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in a three-dimensional ultrasound volume data rotation method disclosed in any of the above embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.
[0116] In this embodiment, the power supply 26 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 24 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.
[0117] In addition, the memory 22, as a carrier for storing resources, may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include a computer program 221, and the storage method may be temporary storage or permanent storage. In addition to including a computer program that can be used to complete a three-dimensional ultrasound volume data rotation method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 221 may further include a computer program that can be used to complete other specific tasks.
[0118] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the three-dimensional ultrasound volume data rotation method disclosed above is implemented.
[0119] For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.
[0120] The various embodiments in this application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.
[0121] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0122] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0123] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
[0124] The above is a detailed introduction to a three-dimensional ultrasound volume data rotation method, device, equipment, and storage medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.
Claims
1. A three-dimensional ultrasound volume data rotation method, characterized in that: include: Determining the current position of the target to be rotated based on target key information on the target to be rotated in the three-dimensional ultrasound volume data; Determining a target rotation parameter using a positional relationship between the current orientation and the target orientation; The target to be rotated is rotated from the current orientation to the target orientation based on the target rotation parameter to obtain a rotated target.
2. The three-dimensional ultrasound volume data rotation method according to claim 1, characterized in that: The determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasonic volume data includes: Determining a plurality of direction vectors based on target key information on the target to be rotated; Determining the current orientation of the target to be rotated according to the plurality of direction vectors; The current orientation is determined based on the current orientation and a preset center point.
3. The three-dimensional ultrasound volume data rotation method according to claim 2, characterized in that: The determining of a plurality of direction vectors based on the target key information on the target to be rotated includes: Determine a direction vector based on target key information on the target to be rotated; Correspondingly, determining the current orientation of the target to be rotated according to the plurality of direction vectors includes: The current orientation of the object to be rotated is determined according to the one direction vector.
4. The three-dimensional ultrasound volume data rotation method according to claim 3, characterized in that: Before determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation, the method further includes: Preconfiguring a target direction, and determining the target direction as the target orientation of the object to be rotated after the rotation is completed; The target orientation is determined based on the target orientation and the preset center point.
5. The three-dimensional ultrasound volume data rotation method according to claim 4, characterized in that: Determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation includes: Determine a corresponding total rotation angle using a positional relationship between the current orientation and the target orientation; The total rotation angle and the coordinates of a preset rotation center point are determined as the target rotation parameters.
6. The three-dimensional ultrasound volume data rotation method according to claim 5, characterized in that: The step of rotating the target to be rotated from the current position to the target position based on the target rotation parameter includes: Using the target rotation parameters, each coordinate point on the target to be rotated is rotated respectively, so as to rotate the target to be rotated from the current orientation to the target orientation; Or, the current position of the target to be rotated is rotated using the target rotation parameter, so as to rotate the target to be rotated as a whole from the current position to the target position.
7. The three-dimensional ultrasound volume data rotation method according to claim 2, characterized in that: The determining of a plurality of direction vectors based on the target key information on the target to be rotated includes: Determine three direction vectors based on the target key information on the target to be rotated; wherein the three direction vectors include a sagittal plane direction vector, a transverse plane direction vector and a coronal plane direction vector of the target to be rotated; Correspondingly, determining the current orientation of the target to be rotated according to the plurality of direction vectors includes: A space coordinate system where the target to be rotated is located is constructed according to the three direction vectors to obtain a current orientation of the target to be rotated.
8. The three-dimensional ultrasound volume data rotation method according to claim 7, characterized in that: The determining of three direction vectors based on the target key information on the target to be rotated includes: Determine the normal vector of the target to be rotated to obtain a sagittal plane direction vector; Identifying target key points on the target to be rotated, and determining a cross-sectional direction vector based on a line connecting the target key points; A coronal plane direction vector is obtained based on the sagittal plane direction vector and the transverse plane direction vector.
9. The three-dimensional ultrasound volume data rotation method according to claim 7, characterized in that: Before determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation, the method further includes: Preconfigure three target directions corresponding to the three direction vectors respectively; Determining the target orientation of the target to be rotated after the rotation is completed based on the three target directions; The target orientation is determined based on the target orientation and the preset center point.
10. The three-dimensional ultrasound volume data rotation method according to claim 9, characterized in that: Determining the target rotation parameter by using the positional relationship between the current orientation and the target orientation includes: Determine a first direction vector and a second direction vector from the three direction vectors corresponding to the current position; Determine a first angle between the first direction vector and a target plane; the target plane is a plane determined based on a first target direction and a second target direction, the first target direction and the second target direction are the target directions corresponding to the first direction vector and the second direction vector respectively; Determine a second angle between a projection direction of the first direction vector on the target plane and the first target direction; Calculating a third angle between the second direction vector and the second target direction after the target to be rotated is rotated based on the first angle and the second angle; The first angle, the second angle, the third angle and the coordinates of a preset rotation center point are determined as the target rotation parameters.
11. A three-dimensional ultrasound volume data rotation device, characterized in that: include: A current position determination module, used for determining the current position of the target to be rotated based on the target key information on the target to be rotated in the three-dimensional ultrasonic volume data; A target rotation parameter determination module, used to determine the target rotation parameter by using the positional relationship between the current orientation and the target orientation; A rotation module is used to rotate the target to be rotated from the current orientation to the target orientation based on the target rotation parameter to obtain a rotated target.
12. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the three-dimensional ultrasound volume data rotation method according to any one of claims 1 to 10.
13. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the three-dimensional ultrasound volume data rotation method according to any one of claims 1 to 10 is implemented.