Ultrasonic three-dimensional model construction method and ultrasonic scanning method and device

Abstract

The invention relates to an ultrasonic three-dimensional model construction method and an ultrasonic scanning method and device. Updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to an ultrasonic blood flow image in the scanning process of the target part to obtain a middle three-dimensional tissue model and a middle three-dimensional blood flow model; performing fusion rendering on the middle three-dimensional blood flow model and the middle three-dimensional tissue model to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used for assisting in obtaining a target section image of the target part. In the embodiment of the invention, the three-dimensional model of the target part can provide the position information of the target part in the space, the position information between tissues and blood vessels and the like, and more abundant information can be provided for a scanner through the three-dimensional model to assist the scanner in acquiring the target section image of the target part; the method does not need to depend on the experience of a scanner, and improves the accuracy of obtaining the target section image of the target part.

Description

Technical Field

[0001] The present application relates to the field of ultrasound, and in particular to an ultrasound three-dimensional model construction method, an ultrasound scanning method and a device. Background Art

[0002] In the medical field, two-dimensional cross-sectional images play an extremely important role. They can provide doctors with rich anatomical and pathological information, which is helpful for the diagnosis and treatment of diseases. However, due to the special position and complex structure of the heart, it is difficult to match the cross-sectional images with the actual anatomical relationship during clinical scanning. The selection of cross-sectional images during scanning strongly depends on the experience of the scanner. For primary care doctors, young doctors or doctors in some clinical departments, it is very difficult to match two-dimensional cardiac ultrasound images with a more realistic three-dimensional heart.

[0003] Therefore, how to provide a three-dimensional model of the target part to be scanned to assist the scanner in obtaining the required cross-sectional images is a technical problem that urgently needs to be solved in this field. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasonic three-dimensional model construction method, an ultrasonic scanning method and a device that can assist the scanner in obtaining the required cross-sectional images in order to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for constructing an ultrasound three-dimensional model, comprising:

[0006] According to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model;

[0007] The intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

[0008] In one embodiment, the updating of the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model includes:

[0009] Identifying the ultrasonic blood flow image to obtain tissue structure information and blood vessel structure information;

[0010] updating the initial three-dimensional tissue model according to the tissue structure information to obtain the intermediate three-dimensional tissue model;

[0011] The initial three-dimensional blood flow model is updated according to the blood vessel structure information to obtain the intermediate three-dimensional blood flow model.

[0012] In one embodiment, the tissue structure information includes a first tissue region in the ultrasonic blood flow image; and updating the initial three-dimensional tissue model according to the tissue structure information to obtain the intermediate three-dimensional tissue model includes:

[0013] The initial three-dimensional tissue model is deformed according to the first tissue region to obtain the intermediate three-dimensional tissue model.

[0014] In one embodiment, the first tissue region includes a plurality of first tissue regions with different sections; applying deformation to the initial three-dimensional tissue model according to the first tissue region to obtain the intermediate three-dimensional tissue model includes:

[0015] The initial three-dimensional tissue model is deformed according to each of the first tissue regions to obtain the intermediate three-dimensional tissue model.

[0016] In one embodiment, the vascular structure information includes a first blood flow region in the ultrasonic blood flow image; and updating the initial three-dimensional blood flow model according to the vascular structure information to obtain the intermediate three-dimensional blood flow model includes:

[0017] The initial three-dimensional blood flow model is deformed according to the first blood flow region to obtain an intermediate three-dimensional blood flow model.

[0018] In one embodiment, the step of fusing and rendering the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain the three-dimensional model of the target site includes:

[0019] fusing the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a model to be rendered;

[0020] The model to be rendered is rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image and / or according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain the three-dimensional model; the blood flow information includes at least one of the blood flow velocity and the blood flow direction.

[0021] In one embodiment, the method further comprises:

[0022] For each of the historical ultrasonic blood flow images, segmenting the historical ultrasonic blood flow images to obtain a second tissue region and a second blood flow region of each of the historical ultrasonic blood flow images;

[0023] Reconstructing the second tissue region of each of the historical ultrasonic blood flow images to obtain the initial three-dimensional tissue model;

[0024] The second blood flow region of each of the historical ultrasonic blood flow images is reconstructed to obtain the initial three-dimensional blood flow model.

[0025] In a second aspect, the present application also provides an ultrasonic scanning method, the method comprising:

[0026] According to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model;

[0027] The intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain a three-dimensional model of the target part;

[0028] The three-dimensional model is displayed, and auxiliary scanning is performed based on the three-dimensional model to obtain a target section image of the target part.

[0029] In a second aspect, the present application also provides an ultrasonic three-dimensional model construction device, comprising:

[0030] A model updating module, used for updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part, and obtaining the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model;

[0031] A rendering module is used to fuse and render the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

[0032] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the method steps provided in the first and second aspects above when executing the computer program.

[0033] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method steps provided in the first and second aspects above are implemented.

[0034] In a sixth aspect, the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the method steps provided in the first and second aspects above.

[0035] The above-mentioned ultrasonic three-dimensional model construction method, ultrasonic scanning method and device update the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain the three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining the target section image of the target part. In the embodiment of the present application, the three-dimensional model of the target part can provide the position information of the target part in space, as well as the position information between the tissue and the blood vessel, etc. The three-dimensional model can provide the scanner with more abundant information to assist the scanner in obtaining the target section image of the target part, without relying on the experience of the scanner, thereby improving the accuracy of obtaining the target section image of the target part. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A diagram of an application environment of a method for constructing an ultrasound three-dimensional model in an embodiment;

[0038] Figure 2 A schematic diagram of a process of constructing an ultrasound three-dimensional model in one embodiment;

[0039] Figure 3 A schematic diagram of a flow chart of a method for determining an intermediate three-dimensional tissue model and an intermediate three-dimensional blood flow model in one embodiment;

[0040] Figure 4 A schematic diagram of a flow chart of a method for determining a three-dimensional model in one embodiment;

[0041] Figure 5 A schematic diagram of a flow chart of a method for determining an initial three-dimensional blood flow model and an initial three-dimensional tissue model in one embodiment;

[0042] Figure 6 A schematic diagram of a process of constructing an ultrasound three-dimensional model in another embodiment;

[0043] Figure 7 It is a structural block diagram of an ultrasonic three-dimensional model building device in one embodiment;

[0044] Figure 8 It is a structural block diagram of an ultrasonic three-dimensional model building device in another embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0046] The ultrasonic three-dimensional model construction method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in FIG. 1 , the application environment includes a computer device, which may be a server, and its internal structure diagram may be as shown in FIG. Figure 1 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data for the construction of an ultrasonic three-dimensional model. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for constructing an ultrasonic three-dimensional model is implemented. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0047] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0048] In an exemplary embodiment, Figure 2 As shown, a method for constructing an ultrasonic three-dimensional model is provided, and the method is applied to Figure 1 The computer device in the example is used for explanation, including the following S201 to S202. Among them:

[0049] S201, updating an initial three-dimensional tissue model and an initial three-dimensional blood flow model according to an ultrasonic blood flow image during scanning of a target part, and obtaining an intermediate three-dimensional tissue model and an intermediate three-dimensional blood flow model.

[0050] Among them, the target site can be the heart, lungs, etc.

[0051] Optionally, the ultrasonic blood flow image includes but is not limited to a Color image, a Doppler blood flow image and a micro blood flow image.

[0052] The ultrasonic blood flow image is a real-time image during the scanning process. Optionally, the ultrasonic blood flow image can be a real-time image including only one section, or a real-time image including multiple different sections.

[0053] In the embodiment of the present application, the ultrasonic blood flow image during the scanning process of the target part can be identified to obtain the tissue structure information and vascular structure information of the ultrasonic blood flow image, and the initial three-dimensional tissue model can be updated using the tissue structure information to obtain an intermediate tissue model, and the initial three-dimensional blood flow model can be updated using the vascular structure information to obtain an intermediate three-dimensional blood flow model. For example, taking the target part as the lung as an example, the tissue structure information can be the size of the alveoli and bronchi, and the vascular structure information can be the blood flow area of ​​the pulmonary artery and pulmonary vein, etc.

[0054] In a possible implementation, the ultrasonic blood flow image can also be enhanced, and the enhanced ultrasonic blood flow image can be identified to obtain tissue structure information and vascular structure information of the enhanced ultrasonic blood flow image. Thus, the initial three-dimensional tissue model is updated based on the tissue structure information to obtain an intermediate three-dimensional tissue model, and the initial three-dimensional blood flow model is updated using the vascular structure information to obtain an intermediate three-dimensional blood flow model.

[0055] In another possible implementation, the difference results between the ultrasonic blood flow image and each historical ultrasonic blood flow image can be obtained, and the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated based on the difference results to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model.

[0056] S202, fusing and rendering the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

[0057] In the embodiment of the present application, the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model can be fused through Boolean operations, mesh stitching, point cloud registration, implicit surface reconstruction, and deep learning methods, and the fused three-dimensional model can be rendered to obtain a three-dimensional model of the target part to obtain a more realistic and vivid effect. The three-dimensional model of the target part can provide real-time prompts of the actual spatial position information of the target part currently being scanned, the anatomical structure and blood flow distribution of each adjacent sub-part of the target part, and other information. Through the prompt information of the three-dimensional model, the scanner can be assisted in obtaining the target section image of the target part.

[0058] In the above-mentioned ultrasonic three-dimensional model construction method, according to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain the three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining the target section image of the target part. In the embodiment of the present application, the three-dimensional model of the target part can provide the position information of the target part in space, as well as the position information between the tissue and the blood vessel, etc. The three-dimensional model can provide the scanner with more abundant information to assist the scanner in obtaining the target section image of the target part, without relying on the experience of the scanner, thereby improving the accuracy of obtaining the target section image of the target part.

[0059] Figure 3 FIG. 1 is a flow chart of a method for determining an intermediate three-dimensional tissue model and an intermediate three-dimensional blood flow model in one embodiment. Figure 3 As shown, the embodiment of the present application relates to a possible implementation method of how to update the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model, including the following steps:

[0060] S301, identifying the ultrasonic blood flow image to obtain tissue structure information and blood vessel structure information.

[0061] In the embodiment of the present application, machine learning, deep learning, convolutional neural network, transfer learning, etc. can be used to identify the ultrasonic blood flow image to obtain tissue structure information and vascular structure information. Optionally, the tissue structure information may include the first tissue area (i.e., the contour of the tissue), the center of gravity of the tissue, the main component direction of the tissue contour, etc.; the vascular structure information includes the first blood flow area, the topological structure of the blood vessel, etc.

[0062] For example, a segmentation algorithm may be used to identify a first blood flow region and a first tissue region in an ultrasound blood flow image.

[0063] S302: updating the initial three-dimensional tissue model according to the tissue structure information to obtain an intermediate three-dimensional tissue model.

[0064] In an embodiment of the present application, the ultrasonic blood flow image may include a real-time image of a section, and a deformation is applied to the initial three-dimensional tissue model based on the first tissue region to obtain an intermediate three-dimensional tissue model. Alternatively, the initial three-dimensional tissue model is deformed using the first tissue region and the center of gravity of the tissue to obtain an intermediate three-dimensional tissue model. That is, the initial three-dimensional tissue model is deformed using two-dimensional tissue structure information to obtain an intermediate three-dimensional tissue model.

[0065] In a possible implementation, since the ultrasonic blood flow image may include real-time images of multiple different sections, the tissue structure information may also include tissue structure information of different sections, and the initial three-dimensional tissue model is updated according to the tissue structure information of different sections to obtain an intermediate three-dimensional tissue model. That is, the initial three-dimensional tissue model is deformed using the three-dimensional tissue structure information to obtain the intermediate three-dimensional tissue model.

[0066] S303: updating the initial three-dimensional blood flow model according to the vascular structure information to obtain an intermediate three-dimensional blood flow model.

[0067] In the embodiment of the present application, a deformation may be applied to the initial three-dimensional blood flow model based on the first blood flow region, and the initial three-dimensional model may be updated to obtain an intermediate three-dimensional blood flow model.

[0068] In a possible implementation, deformation may be applied to the initial three-dimensional blood flow model based on the topological structure of the blood vessel to obtain an intermediate three-dimensional blood flow model.

[0069] Similarly, the initial three-dimensional blood flow model may be updated using the vascular structure information of one section or using the vascular structure information of multiple different sections.

[0070] In an embodiment of the present application, an ultrasonic blood flow image is identified to obtain tissue structure information and vascular structure information, and an initial three-dimensional tissue model is updated according to the tissue structure information to obtain an intermediate three-dimensional tissue model. The initial three-dimensional blood flow model is updated according to the vascular structure information to obtain an intermediate three-dimensional blood flow model, thereby laying a foundation for subsequently constructing a three-dimensional model of the target part based on the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model.

[0071] In one embodiment, updating the initial three-dimensional tissue model according to the tissue structure information to obtain the intermediate three-dimensional tissue model includes: applying deformation to the initial three-dimensional tissue model according to the first tissue region to obtain the intermediate three-dimensional tissue model.

[0072] In an embodiment of the present application, the tissue structure information includes a first tissue region in an ultrasonic blood flow image, and a deformation is applied to the initial three-dimensional tissue model based on the first tissue region, and the initial three-dimensional tissue model is updated to obtain an intermediate three-dimensional tissue model, so that the initial three-dimensional tissue model contracts and expands as the target site contracts and expands.

[0073] In a possible implementation, the first tissue region includes a plurality of sub-regions that are not connected to each other, and deformation is applied to the initial three-dimensional tissue model according to each sub-region to obtain an intermediate three-dimensional tissue model.

[0074] Furthermore, the first tissue region includes a plurality of first tissue regions with different sections; applying deformation to the initial three-dimensional tissue model according to the first tissue regions to obtain an intermediate three-dimensional tissue model includes: applying deformation to the initial three-dimensional tissue model according to each first tissue region to obtain an intermediate three-dimensional tissue model.

[0075] In an embodiment of the present application, the first tissue region includes first tissue regions of multiple sections, and deformation is applied to the initial three-dimensional tissue model according to the first tissue regions of different sections to obtain an intermediate three-dimensional tissue model. The initial three-dimensional tissue model is updated from multiple fields of view, so that the obtained intermediate three-dimensional tissue model is more in line with the actual situation of the target part, thereby improving the accuracy of determining the intermediate three-dimensional tissue model.

[0076] In one embodiment, the vascular structure information includes a first blood flow area in an ultrasonic blood flow image; updating the initial three-dimensional blood flow model according to the vascular structure information to obtain an intermediate three-dimensional blood flow model includes: applying deformation to the initial three-dimensional blood flow model according to the first blood flow area to obtain an intermediate three-dimensional blood flow model.

[0077] In the embodiment of the present application, a deformation is applied to the initial three-dimensional blood flow model according to the first blood flow area, and the initial three-dimensional blood flow model is updated in real time, so that the initial three-dimensional blood flow model is pumped and filled with blood as the target part contracts and relaxes.

[0078] Figure 4 FIG. 1 is a flow chart of a method for determining a three-dimensional model in an embodiment. Figure 4 As shown, the embodiment of the present application relates to a possible implementation method of how to fuse and render the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part, including the following steps:

[0079] S401, fusing the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a model to be rendered.

[0080] S402, rendering the model to be rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image and / or according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain a three-dimensional model; the blood flow information includes at least one of a blood flow velocity and a blood flow direction.

[0081] In the embodiment of the present application, blood flow in different directions in the model to be rendered can be rendered in different colors according to the direction of blood flow. For example, if the blood flow direction is toward the ultrasound probe, the blood flow is rendered in red; if the blood flow direction is away from the ultrasound probe, the blood flow is rendered in blue.

[0082] The blood flow of different flow rates in the model to be rendered can also be rendered with different intensities according to the blood flow rate. For example, when the blood flow rate is low, the blood flow is rendered with a darker color; when the blood flow rate is high, the blood flow is rendered with a brighter color.

[0083] In a possible implementation, the tissues in the to-be-rendered model may be rendered in different colors according to the elasticity information of the tissues.

[0084] In an embodiment of the present application, the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused to obtain a model to be rendered, and the model to be rendered is rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image, and / or according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain a three-dimensional model. In an embodiment of the present application, a three-dimensional model is determined based on the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model, and the model to be rendered is rendered based on the blood flow velocity, blood flow direction and elasticity information on the basis of the fused model to be rendered, so that the obtained three-dimensional model can provide richer and more vivid blood flow information and tissue information.

[0085] Figure 5 FIG. 1 is a flow chart of a method for determining an initial three-dimensional blood flow model and an initial three-dimensional tissue model in one embodiment. Figure 5 As shown, the following steps are included:

[0086] S501 , for each historical ultrasonic blood flow image, segment the historical ultrasonic blood flow image to obtain a second tissue region and a second blood flow region of each historical ultrasonic blood flow image.

[0087] Optionally, the historical ultrasonic blood flow images of different sections may be ultrasonic blood flow images at the same moment, or may be ultrasonic blood flow images at multiple different moments.

[0088] In the embodiment of the present application, in order to reconstruct a three-dimensional image (ie, an initial three-dimensional blood flow model and an initial three-dimensional tissue model) from a two-dimensional historical ultrasound blood flow image, it is necessary to obtain multiple sets of historical ultrasound blood flow images of different sections.

[0089] Since the historical ultrasonic blood flow image is usually obtained by combining the tissue image and the blood flow image and outputting it through the ultrasonic device, it is first necessary to divide the historical ultrasonic blood flow image into the second blood flow region and the second tissue region through a segmentation algorithm.

[0090] The second blood flow region and the second tissue region are the tissue contour and the blood vessel contour of the historical ultrasonic blood flow image.

[0091] Optionally, the image segmentation algorithm may include a deep learning-based segmentation algorithm, a threshold-based segmentation method, an edge detection-based segmentation method, a clustering-based segmentation algorithm. For example, common deep learning models include Convolutional Neural Networks (CNN), U-Net, etc.

[0092] S502: Reconstruct the second tissue region of each historical ultrasonic blood flow image to obtain an initial three-dimensional tissue model.

[0093] S503: Reconstruct the second blood flow region of each historical ultrasonic blood flow image to obtain an initial three-dimensional blood flow model.

[0094] In an embodiment of the present application, a three-dimensional reconstruction method can be used to reconstruct the second tissue region to obtain an initial three-dimensional tissue model, and a three-dimensional reconstruction method can be used to reconstruct the second blood flow region to obtain an initial three-dimensional blood flow model. The three-dimensional reconstruction method can include a visual geometry method and a deep learning method.

[0095] For example, representative feature points, such as corner points and edge points, are detected in each second tissue region, and feature descriptors are used to match feature points at the same position in different second tissue regions to obtain feature point matching results. Based on the feature point matching results, the relative posture of the ultrasound probe in each second tissue region is obtained, and the three-dimensional coordinates of the feature points are calculated using the triangulation principle according to the matched feature points and relative posture. The three-dimensional coordinates of all feature points are collected to obtain an initial three-dimensional tissue model.

[0096] In a possible implementation, before acquiring the feature points, deformation correction may be performed on each second tissue region, and an initial three-dimensional tissue model may be determined based on each corrected second tissue region.

[0097] Likewise, the above method can also be used when reconstructing based on the second blood flow region to obtain an initial three-dimensional blood flow model.

[0098] In an embodiment of the present application, for each historical ultrasonic blood flow image, the historical ultrasonic blood flow image is segmented to obtain a second tissue region and a second blood flow region of each historical ultrasonic blood flow image, the second tissue region of each historical ultrasonic blood flow image is reconstructed to obtain an initial three-dimensional tissue model, and the second blood flow region of each historical ultrasonic blood flow image is reconstructed to obtain an initial three-dimensional blood flow model, which simplifies the construction method of the initial three-dimensional tissue model and the initial three-dimensional blood flow model and improves the construction efficiency of the initial three-dimensional tissue model and the initial three-dimensional blood flow model.

[0099] In one embodiment, an ultrasonic scanning method is also provided, the method comprising:

[0100] According to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain the three-dimensional model of the target part; the three-dimensional model is displayed, and auxiliary scanning is performed based on the three-dimensional model to obtain the target section image of the target part.

[0101] In an embodiment of the present application, after obtaining the three-dimensional model, the three-dimensional model is displayed on a display, and the scanner can perform an ultrasonic scan on the patient based on the displayed three-dimensional model to obtain a target section image of the target part, thereby improving the accuracy and convenience of acquiring the target section image.

[0102] Figure 6 FIG. 1 is a flow chart of a method for constructing an ultrasound three-dimensional model in another embodiment. Figure 6 As shown, the following steps are included:

[0103] S601, for each historical ultrasonic blood flow image, segment the historical ultrasonic blood flow image to obtain a second tissue region and a second blood flow region of each historical ultrasonic blood flow image;

[0104] S602, reconstructing the second tissue region of each historical ultrasonic blood flow image to obtain an initial three-dimensional tissue model;

[0105] S603, reconstructing the second blood flow region of each historical ultrasonic blood flow image to obtain an initial three-dimensional blood flow model;

[0106] S604, identifying the ultrasonic blood flow image to obtain tissue structure information and blood vessel structure information; the tissue structure information includes the first tissue region in the ultrasonic blood flow image; the blood vessel structure information includes the first blood flow region in the ultrasonic blood flow image;

[0107] S605, applying deformation to the initial three-dimensional tissue model according to the first tissue region to obtain an intermediate three-dimensional tissue model;

[0108] S606, applying deformation to the initial three-dimensional blood flow model according to the first blood flow region to obtain an intermediate three-dimensional blood flow model;

[0109] S607, fusing the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a model to be rendered;

[0110] S608, rendering the model to be rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image and / or according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain a three-dimensional model; the blood flow information includes at least one of a blood flow velocity and a blood flow direction.

[0111] In the embodiment of the present application, the three-dimensional model of the target part can provide the position information of the target part in space, as well as the position information between tissues and blood vessels, etc. The three-dimensional model can provide the scanner with more abundant information to assist the scanner in obtaining the cross-sectional image of the target part without relying on the scanner's experience, thereby improving the accuracy of obtaining the cross-sectional image of the target part.

[0112] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiment of the present application also provides an ultrasonic three-dimensional model construction device for implementing the ultrasonic three-dimensional model construction method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more ultrasonic three-dimensional model construction device embodiments provided below can refer to the limitations of the ultrasonic three-dimensional model construction method above, and will not be repeated here.

[0114] In an exemplary embodiment, Figure 7 As shown, an ultrasonic three-dimensional model construction device is provided, comprising: a model updating module and a rendering module, wherein:

[0115] A model updating module, used for updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part, and obtaining the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model;

[0116] The rendering module is used to fuse and render the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

[0117] In one embodiment, the model updating module is specifically used to identify the ultrasonic blood flow image to obtain tissue structure information and vascular structure information (the model updating module in this embodiment can also be used Figure 8 ); updating the initial three-dimensional tissue model according to the tissue structure information to obtain an intermediate three-dimensional tissue model; updating the initial three-dimensional blood flow model according to the vascular structure information to obtain an intermediate three-dimensional blood flow model.

[0118] In one embodiment, the model updating module is specifically configured to apply deformation to the initial three-dimensional tissue model according to the first tissue region to obtain an intermediate three-dimensional tissue model.

[0119] In one embodiment, the model updating module is specifically configured to apply deformation to the initial three-dimensional tissue model according to each first tissue region to obtain an intermediate three-dimensional tissue model.

[0120] In one embodiment, the model updating module is specifically used to apply deformation to the initial three-dimensional blood flow model according to the first blood flow area to obtain an intermediate three-dimensional blood flow model. Figure 8 The deformation module is implemented in .

[0121] In one embodiment, the rendering module is specifically used to fuse the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a model to be rendered; render the three-dimensional blood flow model to be rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image, and / or render the three-dimensional blood flow model to be rendered according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain a three-dimensional model; the blood flow information includes at least one of blood flow velocity and blood flow direction.

[0122] In one embodiment, the apparatus further comprises:

[0123] A segmentation module is used to segment each historical ultrasonic blood flow image to obtain a second tissue region and a second blood flow region of each historical ultrasonic blood flow image;

[0124] A first three-dimensional reconstruction module is used to reconstruct the second tissue region of each historical ultrasonic blood flow image to obtain an initial three-dimensional tissue model;

[0125] The second three-dimensional reconstruction module is used to reconstruct the second blood flow area of ​​each historical ultrasonic blood flow image to obtain an initial three-dimensional blood flow model.

[0126] in, Figure 8 The three-dimensional reconstruction module shown in includes the first three-dimensional reconstruction module and the second three-dimensional reconstruction module in this application. The ultrasonic blood flow image C is the historical ultrasonic blood flow image in this application, and the ultrasonic blood flow image Cr is the ultrasonic blood flow image in this application; the three-dimensional blood flow model Vb is the initial three-dimensional blood flow model in this application, and the three-dimensional blood flow model Vt is the initial three-dimensional tissue model in this application; the blood flow area B is the second blood flow area in this application, and the tissue area T is the second tissue area in this application; the blood flow area Br is the first blood flow area in this application, and the tissue area Tr is the first tissue area in this application.

[0127] In one embodiment, the present application further provides an ultrasonic scanning device, comprising:

[0128] A model updating module, used for updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part, and obtaining the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model;

[0129] A rendering module, used for fusing and rendering the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part;

[0130] The display module is used to display the three-dimensional model and perform auxiliary scanning based on the three-dimensional model to obtain the target section image of the target part.

[0131] Each module in the above-mentioned ultrasonic three-dimensional model building device / ultrasonic scanning device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0132] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of any of the above method embodiments when executing the computer program.

[0133] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0134] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of any of the above method embodiments when executed by a processor.

[0135] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0136] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0137] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0138] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for constructing an ultrasonic three-dimensional model, characterized in that: The method comprises: According to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; The intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model are fused and rendered to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

2. The method according to claim 1, characterized in that The method of updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model includes: Identifying the ultrasonic blood flow image to obtain tissue structure information and blood vessel structure information; updating the initial three-dimensional tissue model according to the tissue structure information to obtain the intermediate three-dimensional tissue model; The initial three-dimensional blood flow model is updated according to the blood vessel structure information to obtain the intermediate three-dimensional blood flow model.

3. The method according to claim 2, characterized in that The tissue structure information includes a first tissue region in the ultrasonic blood flow image; and updating the initial three-dimensional tissue model according to the tissue structure information to obtain the intermediate three-dimensional tissue model includes: The initial three-dimensional tissue model is deformed according to the first tissue region to obtain the intermediate three-dimensional tissue model.

4. The method according to claim 3, characterized in that The first tissue region includes a plurality of first tissue regions with different sections; and applying deformation to the initial three-dimensional tissue model according to the first tissue region to obtain the intermediate three-dimensional tissue model includes: The initial three-dimensional tissue model is deformed according to each of the first tissue regions to obtain the intermediate three-dimensional tissue model.

5. The method according to claim 2, characterized in that: The vascular structure information includes a first blood flow region in the ultrasonic blood flow image; and updating the initial three-dimensional blood flow model according to the vascular structure information to obtain the intermediate three-dimensional blood flow model includes: The initial three-dimensional blood flow model is deformed according to the first blood flow area to obtain the intermediate three-dimensional blood flow model.

6. The method according to claim 1, characterized in that The step of fusing and rendering the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain the three-dimensional model of the target part includes: fusing the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a model to be rendered; The model to be rendered is rendered according to the blood flow information of the blood vessels in the ultrasonic blood flow image and / or according to the elasticity information of the tissue in the ultrasonic blood flow image to obtain the three-dimensional model; the blood flow information includes at least one of the blood flow velocity and the blood flow direction.

7. The method according to claim 1, characterized in that The method further comprises: For each of the historical ultrasonic blood flow images, segmenting the historical ultrasonic blood flow images to obtain a second tissue region and a second blood flow region of each of the historical ultrasonic blood flow images; Reconstructing the second tissue region of each of the historical ultrasonic blood flow images to obtain the initial three-dimensional tissue model; The second blood flow region of each of the historical ultrasonic blood flow images is reconstructed to obtain the initial three-dimensional blood flow model.

8. An ultrasonic scanning method, characterized in that: The method comprises: According to the ultrasonic blood flow image during the scanning process of the target part, the initial three-dimensional tissue model and the initial three-dimensional blood flow model are updated to obtain the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; fusing and rendering the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target site; The three-dimensional model is displayed, and auxiliary scanning is performed based on the three-dimensional model to obtain a target section image of the target part.

9. An ultrasonic three-dimensional model construction device, characterized in that: The device comprises: A model updating module, used for updating the initial three-dimensional tissue model and the initial three-dimensional blood flow model according to the ultrasonic blood flow image during the scanning process of the target part, and obtaining the intermediate three-dimensional tissue model and the intermediate three-dimensional blood flow model; A rendering module is used to fuse and render the intermediate three-dimensional blood flow model and the intermediate three-dimensional tissue model to obtain a three-dimensional model of the target part; the three-dimensional model of the target part is used to assist in obtaining a target section image of the target part.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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