Ultrasonic detection imaging method, system, equipment and medium

Abstract

The invention provides an ultrasonic detection imaging method, system and device and a medium. The method comprises the steps that magnetic markers are arranged in an ultrasonic probe and in a target area; performing magnetic positioning on the ultrasonic probe, and tracking spatial information of the ultrasonic probe in real time; based on magnetic control, controlling the ultrasonic probe to carry out multi-angle shooting in the target area so as to obtain three-dimensional ultrasonic image data of the target area; synchronizing the space information of the ultrasonic probe with the ultrasonic image data, and performing real-time linkage on the contrast image and the ultrasonic image data to generate an ultrasonic fusion image; acquiring focus ultrasonic fusion information in the target area based on the ultrasonic fusion image; and performing PSA detection on the lesion ultrasonic fusion information, and determining a lesion treatment range based on a PSA detection result. The clinical application value of surgical ultrasonic imaging can be improved, and more accurate and safer diagnosis and treatment schemes are provided for patients.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and more particularly, to an ultrasonic detection imaging method, system, medium, and computing device. Background Art

[0002] In existing medical imaging technologies, ultrasonic imaging is a commonly used diagnostic method. It emits and receives ultrasonic waves through an ultrasonic probe to obtain images of the internal structure of the human body. Although ultrasonic imaging technology has advantages such as non-invasive, real-time, and relatively low cost, there are still certain limitations in terms of accuracy and three-dimensional perception.

[0003] Ultrasonic imaging technology is based on the propagation speed and reflection characteristics of ultrasonic waves in different tissues. Ultrasonic waves are emitted by the probe and pass through human tissues. When encountering tissue interfaces with different densities, part of the sound waves will be reflected back and received by the probe. According to the time and intensity of the reflected sound waves, an image of the internal structure can be generated. However, traditional ultrasonic imaging usually only provides two-dimensional images, which are difficult to comprehensively reflect the three-dimensional structure of the target area, and the accuracy and stability of the images may be affected by the operator's skills and the performance of the equipment.

[0004] In the process of implementing the embodiments of the present invention, the inventors found that there are at least the following problems or defects in the prior art: 1. Lack of precise spatial positioning: In the prior art, the position and direction of the ultrasonic probe usually rely on the operator's experience and manual adjustment, which may lead to inaccurate spatial positioning of the image data.

[0005] 2. Insufficient three-dimensional perception: Traditional ultrasonic imaging is mostly single-angle imaging, which is difficult to provide three-dimensional images of the target area and limits the comprehensive evaluation of complex structures.

[0006] 3. Limited image fusion technology: When existing ultrasonic imaging technology is fused with other imaging technologies such as CT and MR, there may be difficulties in time synchronization and spatial registration, which affects the quality of the fused image and the accuracy of diagnosis.

[0007] 4. Insufficient analysis of lesion characteristics: The prior art may have limitations in extracting and analyzing the tissue characteristics of lesions, and it is difficult to comprehensively evaluate the biochemical characteristics and malignancy of lesions. Summary of the Invention

[0008] The present invention provides an ultrasonic detection imaging method, system, medium, and computing device.

[0009] In the first aspect of the present invention, an ultrasonic detection imaging method is provided, including: Setting magnetic markers inside the ultrasonic probe and in the target area; Perform magnetic positioning on the ultrasonic probe to track the spatial information of the ultrasonic probe in real time, where the spatial information includes the position and orientation of the ultrasonic probe; Based on magnetic control, control the ultrasonic probe to perform multi-angle shooting in the target area to obtain three-dimensional ultrasonic image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are Plane A, Plane B, and Plane C, where Plane A, Plane B, and Plane C respectively correspond to three mutually perpendicular planes of the target area; Synchronize the spatial information of the ultrasonic probe with the ultrasonic image data, and perform real-time linkage between the contrast image and the ultrasonic image data to generate an ultrasonic fusion image, where the contrast image includes CT, MR, and US contrast images; Based on the ultrasonic fusion image, obtain lesion ultrasonic fusion information in the target area, where the lesion ultrasonic fusion information includes the tissue characteristics of the lesion, and the tissue characteristics include position, size, and shape; Perform PSA detection on the lesion ultrasonic fusion information, and determine the lesion treatment range based on the PSA detection result.

[0010] In some embodiments, performing magnetic positioning on the ultrasonic probe to track the spatial information of the ultrasonic probe in real time includes: Use a magnetic sensor array to monitor the position and orientation of the magnetic marker; Calculate the spatial information of the ultrasonic probe based on the data obtained by the magnetic sensor array; Transmit the calculated spatial information to the ultrasonic imaging device in real time; Continuously adjust the positioning of the ultrasonic probe through real-time data update of the magnetic sensor array to ensure the accuracy of the ultrasonic image data.

[0011] In some embodiments, the controlling the ultrasonic probe to perform multi-angle shooting in the target area based on magnetic control includes: Set the initial position and orientation of the ultrasonic probe; According to the preset multi-angle shooting plan, control the ultrasonic probe to perform multi-angle scanning in the target area through the magnetic positioning system; Obtain ultrasonic image data at each preset angle; Perform spatial registration on the obtained multi-angle ultrasonic image data, and generate three-dimensional ultrasonic image data of the target area through image fusion technology.

[0012] In some embodiments, synchronizing the spatial information of the ultrasonic probe with the ultrasonic image data includes: Perform timestamp matching on the spatial information of the ultrasonic probe with the ultrasonic image data and the contrast image respectively; Perform a spatial transformation on the ultrasonic image data based on the data of magnetic positioning of the ultrasonic probe to ensure their spatial consistency; Adjust the geometric transformation parameters of the ultrasonic image data until the predetermined registration accuracy is achieved; Correspond each pixel point in the ultrasonic fusion image to the spatial information of the corresponding ultrasonic probe; Perform spatial registration on the ultrasonic image data and the contrast-enhanced image data; Fuse the registered contrast-enhanced image data with the ultrasonic image data to generate an ultrasonic fusion image containing detailed information of the lesion.

[0013] In some embodiments, the obtaining of the ultrasonic fusion information of the lesion in the target area based on the ultrasonic fusion image includes: Preprocess the ultrasonic fusion image to increase the contrast around the lesion area; Extract the contour of the lesion area through a threshold segmentation algorithm; Perform texture analysis on the contour of the lesion area to obtain the tissue characteristics of the lesion, and the tissue characteristics include the echo intensity, edge features, and internal structure of the lesion.

[0014] In some embodiments, performing PSA detection on the ultrasonic fusion information of the lesion and determining the treatment range of the lesion based on the PSA detection result includes: Extract the image data of the lesion area from the ultrasonic fusion image; Use PSA detection technology to analyze the extracted image data to evaluate the biochemical characteristics of the lesion; According to the PSA detection result, combined with the ultrasonic fusion information of the lesion, evaluate the malignancy degree and the spread range of the lesion; Based on the malignancy degree and the spread range of the lesion, determine the boundary of the treatment area.

[0015] In some embodiments, the magnetic markers include: ferrite, superparamagnetic iron oxide nanoparticles, magnetic nanoparticles, magnetic microspheres, and magnetic nanocomposites.

[0016] In the second aspect of the present invention, an ultrasonic detection imaging system is provided, including: A setting module for setting magnetic markers inside the ultrasonic probe and in the target area; A positioning module for performing magnetic positioning on the ultrasonic probe and real-time tracking the spatial information of the ultrasonic probe, and the spatial information includes the position and orientation of the ultrasonic probe; A magnetic control module, configured to control an ultrasonic probe to perform multi-angle shooting in a target area based on magnetic control, so as to obtain three-dimensional ultrasonic image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are plane A, plane B, and plane C, wherein plane A, plane B, and plane C respectively correspond to three mutually perpendicular planes of the target area; A fusion module, configured to synchronize the spatial information of the ultrasonic probe with the ultrasonic image data, and perform real-time linkage between the contrast image and the ultrasonic image data to generate an ultrasonic fusion image, where the contrast image includes CT, MR, and US contrast images; An acquisition module, configured to acquire lesion ultrasonic fusion information in the target area based on the ultrasonic fusion image, where the lesion ultrasonic fusion information includes the tissue characteristics of the lesion, and the tissue characteristics include position, size, and shape; A PSA module, configured to perform PSA detection on the lesion ultrasonic fusion information, and determine the lesion treatment range based on the PSA detection result.

[0017] In a third aspect of the present invention, an electronic device is provided, and the electronic device includes: at least one processor, a memory, and an input-output unit; wherein, the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the method described in any one of the first aspect.

[0018] In a fourth aspect of the present invention, a computer-readable storage medium is provided, which includes instructions that, when running on a computer, cause the computer to execute the method described in any one of the first aspect.

[0019] According to the above embodiments of the present invention, at least the following beneficial effects are achieved: The ultrasonic detection imaging method of the present invention can significantly improve the spatial positioning accuracy and three-dimensional perception ability of ultrasonic images through innovative magnetic positioning technology and multi-angle shooting. By using magnetic markers and magnetic sensor arrays, precise positioning and real-time tracking of the ultrasonic probe are achieved, thereby ensuring the high accuracy of ultrasonic image data. Through the application of multi-angle shooting technology, ultrasonic images obtained from different directions can be synthesized into three-dimensional images, providing doctors with more comprehensive organizational structure information. In addition, the present invention generates an ultrasonic fusion image containing detailed lesion information through the real-time fusion of ultrasonic images with contrast images such as CT, MR, and US, greatly enhancing the diagnostic value of the images. It also provides a powerful tool for evaluating the biochemical characteristics, malignancy degree, and spread range of lesions by combining the acquisition of lesion ultrasonic fusion information and PSA detection technology, which helps to more accurately determine the treatment range. The integration of these technologies not only improves the accuracy and efficiency of diagnosis but also brings a safer and more effective treatment plan for patients. Description of the Drawings

[0020] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become readily understandable. In the drawings, several embodiments of the present invention are shown in an exemplary rather than restrictive manner, where: Figure 1 It is a schematic flow chart of an ultrasonic detection imaging method provided by an embodiment of the present invention; Figure 2 It is a schematic structural diagram of an ultrasonic detection imaging system provided by an embodiment of the present invention; Figure 3 Schematically shows a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0021] The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and then implement the present invention, rather than limiting the scope of the present invention in any way. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to be able to fully convey the scope of the present invention to those skilled in the art.

[0022] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, device, equipment, method, or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: completely hardware, completely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0023] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0024] Next, refer to Figure 1 , Figure 1 It is a schematic flow chart of an ultrasonic detection imaging method provided by an embodiment of the present invention. As Figure 1 shown, an ultrasonic detection imaging method 100 includes: S101, setting magnetic markers inside the ultrasonic probe and in the target area; S102, performing magnetic positioning on the ultrasonic probe to real-time track the spatial information of the ultrasonic probe, where the spatial information includes the position and direction of the ultrasonic probe; S103, based on magnetic control, controlling the ultrasonic probe to perform multi-angle shooting in the target area to obtain three-dimensional ultrasonic image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are the A plane, the B plane, and the C plane, where the A plane, the B plane, and the C plane respectively correspond to three mutually perpendicular planes of the target area; S104. Synchronize the spatial information of the ultrasound probe with the ultrasound image data, and perform real-time linkage between the contrast image and the ultrasound image data to generate an ultrasound fusion image, where the contrast image includes CT, MR, and US contrast images. S105. Based on the ultrasound fusion image, obtain lesion ultrasound fusion information in the target area, where the lesion ultrasound fusion information includes the tissue characteristics of the lesion, and the tissue characteristics include position, size, and shape. S106. Perform PSA detection on the lesion ultrasound fusion information, and determine the lesion treatment range based on the PSA detection result.

[0025] In a specific embodiment of the present invention, the selection and application of magnetic markers can include a variety of magnetic materials, including ferrites, superparamagnetic iron oxide nanoparticles, magnetic nanoparticles, magnetic microspheres, and magnetic nanocomposites. Each material is optimized according to its unique physical properties and biocompatibility. Ferrites are integrated into the ultrasound probe due to their cost-effectiveness and high magnetization intensity, providing a stable magnetic field source for magnetic positioning. Superparamagnetic iron oxide nanoparticles, due to their superparamagnetic properties and small size, are particularly suitable as biological markers. They are prepared by chemical co-precipitation or sol-gel methods and surface-modified to improve stability and biocompatibility, and are used for enhancing ultrasound imaging or targeted drug delivery.

[0026] The surface modification of magnetic nanoparticles further enhances their stability and targeting ability in vivo. By coating polymers, antibodies, or other biomolecules, non-specific adsorption is reduced, and the contrast in ultrasound imaging is enhanced. Magnetic microspheres, as stable indicators of the ultrasound probe position, have adjustable magnetic properties and sizes to adapt to different magnetic positioning systems. Finally, magnetic nanocomposites, by combining magnetic nanoparticles and other functional nanomaterials, provide the possibility of multimodal imaging or multiple therapies. Their preparation takes into account the distribution, metabolism, and clearance pathways in vivo, ensuring safety and effectiveness. The application of these magnetic markers provides highly accurate positioning and imaging capabilities for the ultrasound detection imaging method of the present invention.

[0027] In some embodiments, magnetic markers are arranged inside the ultrasound probe and in the target area to assist in achieving precise positioning and tracking of the ultrasound probe.

[0028] The target area refers to a specific body part or tissue area that needs to be particularly concerned about and imaged during ultrasound imaging. For example, in the application of urology, it can refer to structures such as the kidney, bladder, prostate, or other related urinary tract structures. This area may require detailed examination due to diseases, injuries, or other medical concerns. For example, in the diagnosis of prostate cancer, the prostate is the target area.

[0029] The lesion area refers to the area of specific lesions or pathological changes found within the target area. This may include tumors, cysts, inflammation, or other abnormal tissue structures. In ultrasound imaging, the lesion area is a key focus for diagnosis and treatment planning. For example, if the target area is the prostate, the lesion area may be a tumor or area of abnormal hyperplasia found in the prostate.

[0030] Preferably, the distribution and quantity of magnetic markers are optimized according to the specific location and size of the target area to ensure the accuracy and stability of the ultrasound probe during multi-angle imaging.

[0031] In some embodiments, the position and orientation of the magnetic markers are monitored by a magnetic sensor array to achieve real-time magnetic positioning of the ultrasound probe.

[0032] Specifically, the magnetic sensor array can be arranged according to the dynamic range and accuracy requirements of the probe movement to obtain the most accurate spatial information.

[0033] Preferably, the magnetic positioning system can also include a data processing unit for calculating and updating the spatial information of the ultrasound probe in real time in response to small changes in the probe or patient position.

[0034] Through magnetic control technology, the ultrasound probe is controlled to perform multi-angle imaging in the target area to obtain three-dimensional ultrasound image data. Specifically, the multi-angle imaging plan is customized according to the anatomical structure and clinical needs of the target area to ensure coverage of all important observation angles.

[0035] Preferably, in addition to the three basic mutually perpendicular planes of plane A, plane B, and plane C, additional imaging angles can be added as needed to provide more comprehensive image information.

[0036] In some embodiments, the spatial information of the ultrasound probe is synchronized with the ultrasound image data and is linked in real time with the contrast image to generate an ultrasound fusion image.

[0037] Specifically, the real-time linkage is achieved through high-speed data transmission and efficient image processing algorithms to ensure the precise matching between the ultrasound image and CT, MR, and US contrast images.

[0038] Preferably, the fusion algorithm can adjust the weights and fusion strategies according to different types of contrast images to optimize the quality and diagnostic value of the fusion image.

[0039] In some embodiments, based on the ultrasound fusion image, ultrasound fusion information of the lesion in the target area is obtained, including the tissue characteristics of the lesion.

[0040] Specifically, the tissue characteristics of the lesion can be quantified by image analysis software, including parameters such as the position, size, and shape of the lesion.

[0041] Preferably, the acquisition of ultrasonic fusion information also includes in-depth analysis of the internal structure of the lesion, such as echo pattern, edge characteristics, etc., to assist clinicians in making more accurate diagnoses.

[0042] In some embodiments, PSA (prostate-specific antigen) testing is performed on the acquired ultrasonic fusion information of the lesion to determine the treatment scope of the lesion.

[0043] Specifically, PSA testing can be carried out through the image data of the lesion area extracted from the ultrasonic fusion image, and known PSA distribution patterns are used for matching and analysis.

[0044] Preferably, the PSA test results combined with other ultrasonic characteristics of the lesion, such as hemodynamic parameters, can provide more comprehensive decision-making support for treatment planning.

[0045] Furthermore, magnetic positioning of the ultrasonic probe is performed, and the real-time tracking of the spatial information of the ultrasonic probe includes: Using a magnetic sensor array to monitor the position and orientation of the magnetic marker; Calculating the spatial information of the ultrasonic probe based on the data obtained by the magnetic sensor array; Transmitting the calculated spatial information to the ultrasonic imaging device in real time; Continuously adjusting the positioning of the ultrasonic probe through real-time data update of the magnetic sensor array to ensure the accuracy of the ultrasonic image data.

[0046] In some embodiments, the magnetic positioning process ensures that the precise position and orientation of the ultrasonic probe in three-dimensional space can be monitored in real time, which is crucial for subsequent image data synchronization and fusion. Magnetic positioning involves the use of multiple high-precision magnetic sensors, which can detect the magnetic field changes generated by the magnetic marker inside the ultrasonic probe. The layout design of the magnetic sensor array should ensure full coverage to achieve 360-degree capture of spatial information.

[0047] Preferably, the configuration of the magnetic sensor array can be adjusted according to different clinical needs and operating environments. For example, during complex surgeries, a higher density of sensor layouts may be required to improve positioning accuracy.

[0048] In some embodiments, the magnetic sensor array can accurately capture the six-degree-of-freedom (position and orientation) information of the ultrasonic probe relative to the marker in the patient's body.

[0049] Specifically, the magnetic sensor array consists of multiple sensor units, each of which can independently measure one component of the magnetic field, and algorithms can be used to synthesize this data to determine the position and orientation of the probe.

[0050] Preferably, the data acquisition frequency of the sensor array can be adjusted to adapt to different operation speeds and accuracy requirements, ensuring real-time and accurate data even during rapid movement.

[0051] In some embodiments, the raw data obtained from the magnetic sensor array needs to be processed computationally to obtain the precise spatial information of the ultrasound probe. The computational process may involve mathematical models such as Kalman filtering or particle filtering, which can provide optimal estimates of the probe's position and orientation.

[0052] Preferably, the computational process can be integrated into the built-in software of the ultrasound imaging device to achieve immediate data processing and feedback, reducing processing latency and improving the system's response speed.

[0053] In some embodiments, the calculated spatial information of the ultrasound probe needs to be transmitted in real time to the ultrasound imaging device via a high-speed communication interface for synchronization and fusion of image data.

[0054] Specifically, wireless communication technologies such as Wi-Fi or Bluetooth may be used in the transmission process to reduce cable constraints and improve operational flexibility.

[0055] Preferably, the transmission protocol can be designed to support high data throughput and low latency, ensuring real-time performance even in the case of large amounts of data.

[0056] In some embodiments, the magnetic sensor array is not only used for initial positioning but also for real-time monitoring of the position changes of the ultrasound probe during operation to enable dynamic adjustment.

[0057] Specifically, real-time data updates can trigger the built-in feedback mechanism of the ultrasound imaging device to automatically adjust the position or angle of the probe to compensate for deviations caused by patient movement or other factors.

[0058] Preferably, the system can be designed to have adaptive learning capabilities to optimize the probe positioning adjustment strategy based on the operator's behavior pattern and feedback during the surgical process, improving the accuracy and efficiency of the surgery.

[0059] Furthermore, the magnetic control for controlling the ultrasound probe to perform multi-angle shooting in the target area includes: Setting the initial position and orientation of the ultrasound probe; Controlling the ultrasound probe to perform multi-angle scanning in the target area via the magnetic positioning system according to a preset multi-angle shooting plan; Acquiring ultrasound image data at each preset angle; Performing spatial registration on the acquired multi-angle ultrasound image data and generating three-dimensional ultrasound image data of the target area through image fusion technology.

[0060] In some embodiments, setting the initial position and orientation is the starting step of the ultrasound imaging process to ensure that the ultrasound probe can effectively image the target area. The initial position can be determined by a pre-set reference point or by using known features of the patient's anatomical structure, while the initial orientation is set according to the imaging requirements and the geometric characteristics of the target area. The setting of the initial position and orientation can be manually input through the user interface or automatically calculated by an automated algorithm based on the patient's scan data.

[0061] The multi-angle shooting plan is pre-designed according to clinical needs and the specific situation of the target area to ensure comprehensive image data is obtained from different angles.

[0062] Specifically, the multi-angle shooting plan can include a series of pre-set angles and positions, and the magnetic positioning system automatically adjusts the ultrasound probe according to these presets to achieve precise control.

[0063] Preferably, the multi-angle shooting plan can be dynamically adjustable and optimized according to the real-time feedback of the imaging quality and other surgical parameters.

[0064] In some embodiments, after the ultrasound probe stabilizes at each pre-set angle, the imaging system captures the ultrasound image data at that angle. The process of acquiring image data may include adjusting parameters such as the emission frequency and reception sensitivity of the ultrasound probe to adapt to the imaging conditions at different angles.

[0065] Preferably, the ultrasound probe can be equipped with a high-sensitivity receiver that can capture high-quality image data at each angle and maintain image clarity even in a complex in-vivo environment.

[0066] In some embodiments, spatial registration is the process of aligning the ultrasound image data obtained from different angles to the same coordinate system, providing a basis for image fusion.

[0067] Specifically, spatial registration can be achieved by calculating the spatial transformation relationships between the image data, and these transformation relationships can be determined based on anatomical landmarks or feature points.

[0068] Preferably, image fusion technology can adopt various algorithms, such as intensity-based fusion, feature-based fusion, or model-based fusion, to generate more accurate and detailed three-dimensional ultrasound image data.

[0069] Furthermore, synchronizing the spatial information of the ultrasound probe with the ultrasound image data includes: Performing timestamp matching of the spatial information of the ultrasound probe with the ultrasound image data and the contrast image respectively; Perform a spatial transformation on the ultrasonic image data based on the data of magnetic positioning of the ultrasonic probe to ensure their spatial consistency; Adjust the geometric transformation parameters of the ultrasonic image data until the predetermined registration accuracy is achieved; Correspond each pixel point in the ultrasonic fusion image to the spatial information of the corresponding ultrasonic probe; Perform spatial registration on the ultrasonic image data and the contrast image data; Fuse the registered contrast image data with the ultrasonic image data to generate an ultrasonic fusion image containing detailed information about the lesion.

[0070] In some embodiments, to ensure the synchronization of the spatial information of the ultrasonic probe with the ultrasonic image data and the contrast image, timestamp matching is first performed to ensure the consistency of data acquisition.

[0071] Specifically, each ultrasonic image frame and contrast image frame will be assigned a timestamp, which reflects the exact moment when the data is acquired.

[0072] Preferably, timestamp matching can be achieved by a central processing unit, which is responsible for coordinating different data streams and ensuring their time consistency.

[0073] In some embodiments, the magnetic positioning data is used to determine the exact position and orientation of the ultrasonic probe, and this data is subsequently used to apply a spatial transformation to the ultrasonic image data.

[0074] Specifically, the spatial transformation may include operations such as rotation, translation, and scaling to ensure the alignment of the ultrasonic image data with the spatial information of the probe.

[0075] Preferably, the spatial transformation parameters can be calculated in real time by an automated algorithm in response to any minor changes in the position of the probe or the patient.

[0076] In some embodiments, the registration accuracy of the image is optimized by adjusting the geometric transformation parameters of the ultrasonic image data, such as the rotation angle, translation distance, and scaling ratio. The registration accuracy can be evaluated through error analysis and a feedback mechanism to ensure that the spatial consistency of the image data meets the clinical requirements.

[0077] Preferably, the evaluation of the registration accuracy can be achieved by an automated quality control algorithm, which can monitor and adjust the transformation parameters in real time.

[0078] Ensure that each pixel point in the ultrasonic fusion image can accurately reflect its actual position in the patient's body, which requires precise spatial mapping. The position information of each pixel point can be determined by a spatial transformation matrix, which maps the ultrasonic image coordinates to the patient's anatomical coordinate system.

[0079] Preferably, the spatial mapping can be enhanced by advanced image processing techniques, such as using deep learning algorithms to optimize the correspondence between pixel points and spatial information.

[0080] In some embodiments, the ultrasound image data and the contrast agent image data need to be precisely spatially registered in order to combine the advantages of the two images. The spatial registration can be achieved through techniques such as feature matching and gray-level cross-correlation to ensure the spatial alignment of the two image data. The spatial registration process can also be adaptive, dynamically adjusting the registration strategy according to the complexity and difference of the image content.

[0081] The registered contrast agent image data and the ultrasound image data are combined through a specific fusion algorithm to generate a fused image, which provides more comprehensive lesion information.

[0082] Specifically, the fusion algorithm may include pixel-based weighting, feature-based fusion, or region-based fusion techniques to optimize the image quality and information integration.

[0083] Preferably, the generation of the fused image can include steps of user interaction, allowing the operator to adjust the fusion parameters according to clinical needs to highlight specific lesion features or anatomical structures.

[0084] Furthermore, based on the ultrasound fused image, obtaining the ultrasound fusion information of the lesion in the target area includes: Preprocessing the ultrasound fused image to increase the contrast around the lesion area; Extracting the contour of the lesion area through a threshold segmentation algorithm; Performing texture analysis on the contour of the lesion area to obtain the tissue characteristics of the lesion, and the tissue characteristics include the echo intensity, edge features, and internal structure of the lesion.

[0085] Furthermore, based on the ultrasound fused image, obtaining the ultrasound fusion information of the lesion in the target area includes: Preprocessing the ultrasound fused image to increase the contrast around the lesion area; Extracting the contour of the lesion area through a threshold segmentation algorithm; Performing texture analysis on the contour of the lesion area to obtain the tissue characteristics of the lesion, and the tissue characteristics include the echo intensity, edge features, and internal structure of the lesion.

[0086] In some embodiments, first preprocess the ultrasound fused image to enhance the visibility of the lesion area. This may include adjusting the contrast, brightness, and sharpness of the image.

[0087] Specifically, by applying image enhancement algorithms such as histogram equalization or contrast-limited adaptive histogram equalization (CLAHE), the contrast around the lesion area can be increased, making the distinction between the lesion and the surrounding tissues more obvious.

[0088] Preferably, the preprocessing step further includes noise reduction to remove any background noise that may be introduced during the acquisition process and improve the accuracy of subsequent segmentation and analysis.

[0089] Next, the contour of the lesion area is extracted through a threshold segmentation algorithm. This step is crucial for automatically segmenting the lesion area.

[0090] Specifically, according to the echo characteristics of the lesion, such as its intensity relative to the surrounding tissues, a suitable threshold is selected to separate the lesion area from the background.

[0091] Preferably, a multi-threshold method or adaptive threshold technique can be adopted to meet the segmentation requirements under different image conditions and ensure accurate extraction of the lesion contour even in complex or non-uniform ultrasound images.

[0092] After the contour of the lesion area is extracted, texture analysis is performed to obtain the tissue characteristics of the lesion. Texture analysis can reveal the internal structural information of the lesion and provide important clues for diagnosis.

[0093] Specifically, the gray-level co-occurrence matrix (GLCM) features, run-length matrix (RLM) features, or gray-level difference matrix (GDM) features within the lesion area can be calculated, and these features reflect the texture roughness, directionality, uniformity, and complexity of the lesion area.

[0094] Preferably, the texture analysis results can be combined with the echo intensity and edge features of the lesion to provide a comprehensive description of the lesion characteristics for the doctor and help evaluate the malignancy degree and spread range of the lesion.

[0095] Furthermore, the PSA detection of the ultrasound fusion information of the lesion and determining the treatment range of the lesion based on the PSA detection results include: Extracting the image data of the lesion area from the ultrasound fusion image; Using the PSA detection technology to analyze the extracted image data to evaluate the biochemical characteristics of the lesion; According to the PSA detection results and in combination with the ultrasound fusion information of the lesion, evaluating the malignancy degree and spread range of the lesion; Based on the malignancy degree and spread range of the lesion, determining the boundary of the treatment area.

[0096] In some embodiments, the ultrasound fusion image provides detailed morphological and structural information of the lesion, and extracting the lesion area is the first step for PSA detection.

[0097] Specifically, the extraction process can be achieved through image segmentation algorithms, such as threshold-based segmentation, edge detection, or more advanced machine learning techniques, to distinguish the lesion area from the surrounding normal tissues.

[0098] Preferably, the extraction algorithm can be customized according to specific features of the lesion, such as shape, size, or echo characteristics, to improve the accuracy and repeatability of extraction. The PSA detection technique utilizes the data extracted from the ultrasound fusion image to evaluate the biochemical characteristics of the lesion, such as PSA density or distribution.

[0099] Specifically, PSA detection can be performed by analyzing specific echo characteristics of the lesion area, which are related to the presence and activity of PSA.

[0100] Preferably, PSA detection can be combined with multimodal imaging data, such as MRI or CT, to provide a more comprehensive evaluation of biochemical characteristics.

[0101] Combining the PSA detection results with the ultrasound fusion image data provides important information for evaluating the malignancy degree and the spread range of the lesion.

[0102] Specifically, the evaluation process can be carried out by calculating the average PSA value, distribution pattern in the lesion area, or the association with other malignancy indicators.

[0103] Preferably, the evaluation can adopt automated image analysis tools, combined with clinical guidelines and expert knowledge bases, to improve the accuracy and reliability of the evaluation.

[0104] The malignancy degree and the spread range of the lesion are key factors in determining the boundary of the treatment area.

[0105] Specifically, the boundary of the treatment area can be determined by analyzing the edge characteristics, spread pattern of the lesion, and PSA detection results, ensuring that all potential malignant tissues are covered.

[0106] Preferably, the boundary determination process can include a safety margin to ensure that the treatment area is sufficient to cover possible micro-spread while avoiding unnecessary damage to the surrounding normal tissues.

[0107] The following are the steps of a specific PSA detection example: The first sub-step is to use an ultrasound imaging system to obtain the ultrasound fusion image of the target area, ensuring that the image contains sufficient information for subsequent PSA detection.

[0108] The second sub-step is to preprocess the collected ultrasound fusion image. By applying image enhancement techniques such as histogram equalization, the contrast of the lesion area is improved, making the boundary between the lesion and the surrounding tissues clearer.

[0109] The third sub-step is to use a threshold segmentation algorithm to determine the segmentation threshold according to the echo characteristics of the lesion and automatically extract the contour of the lesion area. During this process, it may be necessary to adjust the threshold to adapt to different image conditions to ensure accurate segmentation of the lesion area.

[0110] The fourth sub-step is to perform texture analysis on the segmented lesion area, calculate its texture features, such as gray-level co-occurrence matrix (GLCM) parameters, to evaluate the internal structure and tissue characteristics of the lesion.

[0111] The fifth sub-step is to calculate the PSA density according to the echo intensity distribution of the lesion area. This step may involve statistical analysis of the pixel values in the lesion area to determine the presence and distribution of PSA.

[0112] The sixth sub-step is to fuse the ultrasonic image data with the data obtained from other imaging modalities such as CT and MRI to obtain a more comprehensive description of the lesion characteristics.

[0113] The seventh sub-step is to perform clinical analysis by combining the results of PSA density measurement and texture features to evaluate the malignancy degree and spread range of the lesion.

[0114] The above embodiments of the present invention have the following beneficial effects: The ultrasonic detection imaging method of the present invention realizes precise control of the ultrasonic probe in the target area by setting magnetic markers inside the ultrasonic probe and in the target area and using magnetic positioning technology to real-time track the spatial information of the ultrasonic probe, including its position and direction. This method not only improves the accuracy of ultrasonic imaging, but also enhances the comprehensive observation ability of the target area by obtaining three-dimensional ultrasonic image data through multi-angle shooting. In particular, by setting at least three different shooting angles, it is ensured that the target area is observed from different directions, which helps doctors to more comprehensively understand the shape and position of the lesion and provides important information for diagnosis and treatment.

[0115] In addition, the present invention synchronizes the spatial information of the ultrasonic probe with the ultrasonic image data and performs real-time linkage with the contrast image to generate an ultrasonic fusion image. This innovative step significantly improves the diagnostic value of the image. The ultrasonic fusion image not only contains the information of contrast images such as CT, MR, and US, but also provides richer tissue characteristic information through fusion with the ultrasonic image, including the position, size, and shape of the lesion, etc. The application of this fusion technology enables doctors to obtain multi-dimensional diagnostic information in a unified view, thereby more accurately evaluating the lesion characteristics and providing a solid foundation for formulating treatment plans. By further determining the treatment range of the lesion through PSA detection, the implementation of this method will undoubtedly improve the diagnostic and treatment effects of surgical diseases.

[0116] Such as Figure 2As shown, an ultrasonic detection imaging system 200 of some embodiments, the system 200 includes: A setting module 201, configured to set magnetic markers inside the ultrasonic probe and in the target area; A positioning module 202, configured to perform magnetic positioning on the ultrasonic probe and track the spatial information of the ultrasonic probe in real time, where the spatial information includes the position and orientation of the ultrasonic probe; A magnetic control module 203, configured to control the ultrasonic probe to perform multi-angle shooting in the target area based on magnetic control to obtain three-dimensional ultrasonic image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are plane A, plane B, and plane C, where plane A, plane B, and plane C respectively correspond to three mutually perpendicular planes of the target area; A fusion module 204, configured to synchronize the spatial information of the ultrasonic probe with the ultrasonic image data, and perform real-time linkage between the contrast image and the ultrasonic image data to generate an ultrasonic fusion image, where the contrast image includes CT, MR, and US contrast images; An acquisition module 205, configured to acquire lesion ultrasonic fusion information in the target area based on the ultrasonic fusion image, where the lesion ultrasonic fusion information includes the tissue characteristics of the lesion, and the tissue characteristics include position, size, and shape; A PSA module 206, configured to perform PSA detection on the lesion ultrasonic fusion information and determine the lesion treatment range based on the PSA detection result.

[0117] It can be understood that the various modules described in the ultrasonic detection imaging system 200 correspond to the respective steps in the ultrasonic detection imaging method described in the reference Figure 1 description. Thus, the operations, features, and beneficial effects described above for the ultrasonic detection imaging method also apply to the ultrasonic detection imaging system 200 and the modules included therein, and will not be elaborated herein.

[0118] Next, referring to Figure 3 , which shows a schematic structural diagram of a structure 300 of an electronic device suitable for implementing some embodiments of the present invention. The electronic device in some embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The terminal device shown is only an example and should not impose any limitations on the functions and usage ranges of the embodiments of the present invention.

[0119] As Figure 3As shown, the electronic device 300 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 301, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0120] Generally, the following devices may be connected to the I / O interface 305: an input device 306 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 308 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 309. The communication device 309 may allow the electronic device 300 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 3 an electronic device 300 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices may be implemented or had alternatively. Figure 3 Each block shown in the figure may represent a device or, as needed, multiple devices.

[0121] Furthermore, the storage medium of the embodiments of the present application stores program instructions capable of implementing all the above methods. Among them, the program instructions may be stored in the above storage medium in the form of a software product, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. And the foregoing storage medium includes: various media that can store program codes such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, or a terminal device such as a computer, a server, a mobile phone, a tablet, etc.

[0122] The above description is only some preferred embodiments of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present invention is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the embodiments of the present invention.

Claims

1. An ultrasonic detection imaging method, characterized in that: The following steps are involved: Setting magnetic markers inside the ultrasound probe and at the target area; Perform magnetic positioning on the ultrasound probe and track the spatial information of the ultrasound probe in real time, wherein the spatial information includes the position and direction of the ultrasound probe; Based on magnetic control, the ultrasound probe is controlled to perform multi-angle shooting in the target area to obtain stereoscopic ultrasound image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are plane A, plane B and plane C, wherein plane A, plane B and plane C correspond to three mutually perpendicular planes of the target area respectively; Synchronize the spatial information of the ultrasound probe with the ultrasound image data, link the contrast image with the ultrasound image data in real time, and generate an ultrasound fusion image, wherein the contrast image includes CT, MR, and US contrast images; Based on the ultrasound fusion image, acquiring ultrasound fusion information of the lesion in the target area, wherein the ultrasound fusion information of the lesion includes tissue characteristics of the lesion, and the tissue characteristics include position, size, and shape; PSA test is performed on the ultrasound fusion information of the lesion, and the treatment range of the lesion is determined based on the PSA test results.

2. The ultrasonic detection imaging method according to claim 1, characterized in that: Magnetic positioning of the ultrasound probe and real-time tracking of the ultrasound probe’s spatial information include: Using a magnetic sensor array to monitor the position and orientation of a magnetic marker; Calculate the spatial information of the ultrasound probe using data acquired by the magnetic sensor array; The calculated spatial information is transmitted to the ultrasonic imaging device in real time; Through real-time data updates from the magnetic sensor array, the positioning of the ultrasound probe is continuously adjusted to ensure the accuracy of the ultrasound image data.

3. The ultrasonic detection imaging method according to claim 1, characterized in that: The method of controlling the ultrasound probe to perform multi-angle shooting in the target area based on magnetic control includes: Set the initial position and direction of the ultrasound probe; According to the preset multi-angle shooting plan, the magnetic positioning system controls the ultrasound probe to perform multi-angle scanning in the target area; Acquire ultrasound image data at each preset angle; The acquired multi-angle ultrasound image data are spatially registered, and the stereoscopic ultrasound image data of the target area are generated through image fusion technology.

4. The ultrasonic detection imaging method according to claim 1, characterized in that: Synchronizing the spatial information of the ultrasound probe with the ultrasound image data, comprising: Perform time stamp matching on the spatial information of the ultrasound probe and the ultrasound image data and the contrast image respectively; Based on the data of magnetic positioning of the ultrasound probe, the ultrasound image data is spatially transformed to ensure the spatial consistency of the two; Adjusting geometric transformation parameters of ultrasound image data until a predetermined registration accuracy is achieved; Each pixel point in the ultrasound fusion image corresponds to the spatial information of the corresponding ultrasound probe; spatially registering the ultrasound image data with the contrast image data; The registered angiographic image data is fused with the ultrasound image data to generate an ultrasound fusion image containing detailed information of the lesion.

5. The ultrasonic detection imaging method according to claim 1, characterized in that: The step of acquiring ultrasound fusion information of lesions in the target area based on the ultrasound fusion image includes: Preprocess the ultrasound fusion image to increase the contrast around the lesion area; The contour of the lesion area is extracted by using a threshold segmentation algorithm; Texture analysis is performed on the contour of the lesion area to obtain tissue characteristics of the lesion, which include the echo intensity, edge characteristics and internal structure of the lesion.

6. The ultrasonic detection imaging method according to claim 1, characterized in that: PSA test is performed on the ultrasound fusion information of the lesion. The treatment range of the lesion is determined based on the PSA test results, including: Extracting image data of the lesion area from the ultrasound fusion image; The extracted image data were analyzed using PSA detection technology to evaluate the biochemical characteristics of the lesions; According to the PSA test results, combined with the ultrasound fusion information of the lesion, the malignancy and spread of the lesion are evaluated; The boundaries of the treatment area are determined based on the malignancy and spread of the lesion.

7. The ultrasonic detection imaging method according to claim 1, characterized in that: The magnetic markers include: ferrite, superparamagnetic ferrite nanoparticles, magnetic nanoparticles, magnetic microspheres and magnetic nanocomposite materials.

8. An ultrasonic detection imaging system, characterized in that: The system includes: A setting module, used for setting magnetic markers inside the ultrasound probe and in the target area; A positioning module, used to magnetically locate the ultrasound probe and track the spatial information of the ultrasound probe in real time, wherein the spatial information includes the position and direction of the ultrasound probe; A magnetic control module, for controlling the ultrasound probe to perform multi-angle shooting in the target area based on magnetic control, so as to obtain stereoscopic ultrasound image data of the target area; the multi-angle shooting includes at least three different shooting angles, and the at least three different shooting angles are plane A, plane B and plane C, wherein plane A, plane B and plane C correspond to three mutually perpendicular planes of the target area respectively; A fusion module is used to synchronize the spatial information of the ultrasound probe with the ultrasound image data, link the contrast image with the ultrasound image data in real time, and generate an ultrasound fusion image, wherein the contrast image includes CT, MR, and US contrast images; An acquisition module, used for acquiring ultrasound fusion information of lesions in a target area based on the ultrasound fusion image, wherein the ultrasound fusion information of the lesions includes tissue characteristics of the lesions, and the tissue characteristics include position, size, and shape; The PSA module is used to perform PSA detection on the lesion ultrasound fusion information and determine the lesion treatment range based on the PSA detection results.

9. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the method according to any one of claims 1 to 7.

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