Three-dimensional printing model data generation method and device based on ultrasonic imaging

Abstract

The embodiment of the invention provides a three-dimensional printing model data generation method and device based on ultrasonic imaging. The method comprises the following steps: acquiring target three-dimensional ultrasonic body data of a target object, wherein the target three-dimensional ultrasonic body data comprises a target curved surface and a target back surface opposite to the target curved surface; for each data point on a target curved surface of the target three-dimensional ultrasonic body data, determining a segmentation starting data point with a first voxel value greater than a target segmentation threshold value along a target observation direction from the target curved surface to the target back surface by taking the data point as a starting point; adding support data points on the basis of the segmented initial data points, and assigning values to the support data points to obtain three-dimensional ultrasonic body data added with the support data; and generating target three-dimensional printing model data based on the three-dimensional ultrasonic body data added with the support data. According to the scheme, discrete data points in the three-dimensional ultrasonic body data can be connected, so that it is guaranteed that the connectivity of the printed three-dimensional printing model is good, and a user can observe the three-dimensional printing model conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic image processing. Specifically, the present invention relates to a method for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing method, a device for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing device, an electronic device, a three-dimensional printing device, and a computer-readable storage medium. Background Art

[0002] Three-dimensional printing (hereinafter referred to as 3D printing) is a technology that constructs an object by layer-by-layer printing using powdered metal, plastic, or other bondable materials based on a digital file. 3D printing technology has been applied in various fields such as industrial design, architecture, geographic information systems, and the medical industry. In recent years, with the continuous research and development of printing equipment and materials, the application of this technology in medicine has made great progress. 3D printing technology can quickly and conveniently produce more personalized three-dimensional printing models for different patients. In addition, 3D printing can also be applied to the field of ultrasonic imaging technology. In recent years, with the rapid development of ultrasonic imaging technology and computer technology, the resolution of three-dimensional ultrasonic imaging has become higher and higher, and it can provide more realistic rendered images for users to perform corresponding operations based on the three-dimensional printing model.

[0003] In the related art, ultrasonic 3D printing services generally export 3D printing model data from an ultrasonic device and then hand it over to a 3D printer for printing. Taking the 3D printing model as a fetal model as an example, the existing fetal three-dimensional imaging poses are various, and the 3D printing model data exported from the ultrasonic device has no support structure. Therefore, the printed fetal model only has the image of the front of the fetus, but the back of the fetus looks very messy due to different echoes of the intracranial tissues of the fetus, and some tissues are not connected together. Therefore, the 3D printing effect of this 3D printing model data is not good enough. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed. The present invention provides a method for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing method, a device for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing device, an electronic device, and a computer-readable storage medium.

[0005] According to a first aspect of the present invention, there is provided a method for generating three-dimensional printing model data based on ultrasonic imaging, the method comprising: obtaining target three-dimensional ultrasonic volume data of a target object, the target three-dimensional ultrasonic volume data including a target surface and a target back surface opposite to the target surface; for each data point on the target surface of the target three-dimensional ultrasonic volume data, determining a segmentation start data point whose first voxel value is greater than a target segmentation threshold along a target viewing direction starting from the data point, the target viewing direction being a direction from the target surface to the target back surface; adding support data points based on the segmentation start data point and assigning values to the support data points to obtain three-dimensional ultrasonic volume data with added support data, the support data points including: data points in the region of the target three-dimensional ultrasonic volume data located between the segmentation start data point and the target back surface; generating target three-dimensional printing model data based on the three-dimensional ultrasonic volume data with added support data.

[0006] Exemplarily, obtaining the target three-dimensional ultrasonic volume data of the target object includes: obtaining initial three-dimensional ultrasonic volume data of the target object; determining data points in the initial three-dimensional ultrasonic volume data located in a target region of interest to obtain valid data points of the volume data region; determining the target three-dimensional ultrasonic volume data based on the valid data points of the volume data region; wherein, the target region of interest includes an interested surface and an interested back surface, the target surface is at least part of the interested surface, and the interested back surface is the surface opposite to the interested surface in the target region of interest.

[0007] Exemplarily, determining data points in the initial three-dimensional ultrasonic volume data located in the target region of interest to obtain valid data points of the volume data region includes: constructing valid data points of the region of interest in the target region of interest based on the target viewing direction; converting the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system, wherein the first coordinate system is the coordinate system used by the target region of interest, to obtain the corresponding second coordinates of the valid data points of the region of interest, and the second coordinate system is the coordinate system used by the initial three-dimensional ultrasonic volume data; comparing the corresponding second coordinates of the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasonic volume data in the second coordinate system to determine the valid data points of the volume data region, the valid data points of the volume data region including the valid data points of the region of interest located within the initial three-dimensional ultrasonic volume data.

[0008] Exemplarily, constructing the valid data points of the region of interest in the target region of interest based on the target observation direction includes: determining the data points in the initial region of interest based on the target observation direction, where the initial region of interest is a hexahedron surrounding the target region of interest; assigning all the data points in the initial region of interest to a first value; for each data point on the surface of interest, assigning all the data points from this data point to the back of interest along the target observation direction to a second value; and determining the valid data points of the region of interest in the target region of interest as the data points in the initial region of interest that are assigned the second value.

[0009] Exemplarily, the distance between any two adjacent data points in the target region of interest is determined based on the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data.

[0010] Exemplarily, converting the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest includes: converting the first coordinates of the valid data points of the region of interest based on the inverse model view transformation matrix and the transformation matrix to obtain the corresponding second coordinates of the valid data points of the region of interest.

[0011] Exemplarily, before converting the first coordinates of the valid data points of the region of interest based on the inverse model view transformation matrix and the transformation matrix to obtain the corresponding second coordinates of the valid data points of the region of interest, converting the first coordinates of the valid data points of the region of interest to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest further includes: in response to a user's perspective adjustment operation on the three-dimensional ultrasound image on the display interface, determining the transformation matrix, where the perspective adjustment operation includes any one or more of rotation, translation, and scaling, and the three-dimensional ultrasound image is generated based on the initial three-dimensional ultrasound volume data.

[0012] Exemplarily, determining the target three-dimensional ultrasound volume data based on the valid data points of the volume data region includes: interpolating the valid data points of the volume data region to obtain the target three-dimensional ultrasound volume data, where the target three-dimensional ultrasound volume data includes the interpolated valid data points of the volume data region.

[0013] Exemplarily, before, for each data point on the target surface of the target three-dimensional ultrasound volume data, determining the starting data point of segmentation where the value of the first voxel greater than the target segmentation threshold is determined along the target observation direction starting from this data point, the method further includes: determining the target segmentation threshold based on the voxel values of at least some of the data points in the target three-dimensional ultrasound volume data; or determining the target segmentation threshold based on the threshold setting information input by the user.

[0014] Exemplarily, determining a target segmentation threshold based on the voxel values of at least some of the data points in the target three-dimensional ultrasound volume data includes: calculating the mean of the voxel values of each non-zero data point in the target three-dimensional ultrasound volume data as the target segmentation threshold; or, using the inter-class maximum variance method, calculating the target segmentation threshold based on the voxel values of each data point in the target three-dimensional ultrasound volume data.

[0015] Exemplarily, before, for each data point on the target surface of the target three-dimensional ultrasound volume data, determining a segmentation start data point whose first voxel value is greater than the target segmentation threshold along the target viewing direction starting from this data point, the method further includes: for each data point located on the outermost side in the target three-dimensional ultrasound volume data, adding a first number of data points outside the target three-dimensional ultrasound volume data based on this data point to obtain an updated target three-dimensional ultrasound volume data; wherein, the voxel values of the added first number of data points are set to 0.

[0016] Exemplarily, adding support data points based on the segmentation start data point includes: adding a second number of flat support data points based on the data points on the target back surface; wherein, the second number of flat support data points are used to form a flat plate in the three-dimensional printing model, and the area occupied by the flat support data points includes all the data points on the target back surface, and the support data points further include the second number of flat support data points.

[0017] Exemplarily, generating target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data includes: converting the three-dimensional ultrasound volume data with added support data into initial three-dimensional printing model data; filtering the initial three-dimensional printing model data, and / or, deleting the initial three-dimensional printing model data according to a preset simplification ratio to obtain the target three-dimensional printing model data.

[0018] Exemplarily, after generating the target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data, the method further includes: obtaining three-dimensional printing configuration information, where the three-dimensional printing configuration information includes the output format of the three-dimensional printing model and / or the image rendering information corresponding to the target three-dimensional ultrasound volume data; adding the three-dimensional printing configuration information to the target three-dimensional printing model data.

[0019] According to the second aspect of the present invention, there is also provided a three-dimensional printing method, the method including: obtaining target three-dimensional printing model data generated by using the above-mentioned three-dimensional printing model data generation method based on ultrasonic imaging; performing three-dimensional printing based on the target three-dimensional printing model data.

[0020] According to a third aspect of the present invention, there is also provided a device for generating three-dimensional printing model data based on ultrasonic imaging. The device includes: a first acquisition module for acquiring target three-dimensional ultrasonic volume data of a target object, where the target three-dimensional ultrasonic volume data includes a target curved surface and a target back surface opposite to the target curved surface; a first determination module for, for each data point on the target curved surface of the target three-dimensional ultrasonic volume data, determining a segmentation start data point whose first voxel value is greater than a target segmentation threshold along a target observation direction starting from the data point, where the target observation direction is a direction from the target curved surface to the target back surface; an assignment module for adding support data points based on the segmentation start data point and assigning values to the support data points to obtain three-dimensional ultrasonic volume data with support data added, where the support data points include data points in the region of the target three-dimensional ultrasonic volume data between the segmentation start data point and the target back surface; and a generation module for generating target three-dimensional printing model data based on the three-dimensional ultrasonic volume data with support data added.

[0021] According to a fourth aspect of the present invention, there is also provided a three-dimensional printing device. The device method includes: an acquisition module for acquiring target three-dimensional printing model data generated by using the above-mentioned method for generating three-dimensional printing model data based on ultrasonic imaging; and a three-dimensional printing module for performing three-dimensional printing based on the target three-dimensional printing model data.

[0022] According to a fifth aspect of the present invention, there is also provided an electronic device, including a processor and a memory. It is characterized in that a computer program / instructions are stored in the memory, and the processor executes the computer program / instructions to implement the above-mentioned method for generating three-dimensional printing model data based on ultrasonic imaging.

[0023] Exemplarily, the electronic device is an ultrasonic diagnostic device or an ultrasonic workstation.

[0024] According to a sixth aspect of the present invention, there is also provided a three-dimensional printing device, including a processor and a memory. It is characterized in that a computer program / instructions are stored in the memory, and the processor executes the computer program / instructions to implement the above-mentioned three-dimensional printing method.

[0025] According to a seventh aspect of the present invention, there is also provided a computer-readable storage medium storing computer program / instructions. It is characterized in that when the computer program / instructions are executed by a processor, the above-mentioned method for generating three-dimensional printing model data based on ultrasonic imaging and / or the above-mentioned three-dimensional printing method are implemented.

[0026] A method for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing method, a device for generating three-dimensional printing model data based on ultrasonic imaging, a three-dimensional printing device, an electronic device, a three-dimensional printing device, and a computer-readable storage medium according to an embodiment of the present invention. The method includes obtaining target three-dimensional ultrasonic volume data of a target object. For each data point on the target surface of the target three-dimensional ultrasonic volume data, a segmentation start data point with a first voxel value greater than a target segmentation threshold can be determined along a target observation direction starting from the data point. Then, support data points are added based on the segmentation start data point and the support data points are assigned values to obtain three-dimensional ultrasonic volume data with added support data. The target three-dimensional printing model data is generated based on the three-dimensional ultrasonic volume data with added support data. This solution can determine the segmentation start data point, add support data points based on the segmentation start data point. Through the added support data points, discrete data points in the three-dimensional ultrasonic volume data can be connected, thereby ensuring better connectivity of the three-dimensional printing model printed based on the target three-dimensional printing model data and facilitating user observation. In addition, this solution does not require manual addition of support data points, which can improve the generation efficiency of the three-dimensional printing model data.

[0027] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following specifically describes the embodiments of the present invention. Brief Description of the Drawings

[0028] By describing the embodiments of the present invention in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present invention will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0029] Figure 1 Shows a schematic flowchart of a method for generating three-dimensional printing model data based on ultrasonic imaging according to an embodiment of the present invention;

[0030] Figure 2 Shows a schematic diagram of the output result of a 3D printing model without determining the target region of interest according to an embodiment of the present invention;

[0031] Figure 3 Shows a schematic diagram of the output result of a 3D printing model of the target region of interest according to an embodiment of the present invention;

[0032] Figure 4 Shows a schematic diagram of the target region of interest according to an embodiment of the present invention;

[0033] Figure 5a Shows a schematic diagram of the flat shading effect of the target three-dimensional ultrasound volume data after adding flat support data points according to an embodiment of the present invention;

[0034] Figure 5b Shows a schematic diagram of the mesh display effect of the target three-dimensional ultrasound volume data after adding flat support data points according to an embodiment of the present invention;

[0035] Figure 6 Shows a schematic diagram of edge collapse according to an embodiment of the present invention;

[0036] Figure 7 Shows a comparison diagram of the effects of different preset simplification ratios according to an embodiment of the present invention;

[0037] Figure 8 Shows a schematic flowchart of a method for generating three-dimensional printing model data based on ultrasonic imaging according to an embodiment of the present invention;

[0038] Figure 9 Shows a schematic flowchart of obtaining target three-dimensional ultrasound volume data according to an embodiment of the present invention;

[0039] Figure 10 Shows a schematic flowchart of adding support data points to the target three-dimensional ultrasound volume data according to an embodiment of the present invention;

[0040] Figure 11 Shows a schematic flowchart of a three-dimensional printing method according to an embodiment of the present invention;

[0041] Figure 12 Shows a schematic block diagram of a device for generating three-dimensional printing model data based on ultrasonic imaging according to an embodiment of the present invention;

[0042] Figure 13 Shows a schematic block diagram of a three-dimensional printing device based on ultrasonic imaging according to an embodiment of the present invention;

[0043] Figure 14 Shows a schematic block diagram of an electronic device according to an embodiment of the present invention; and

[0044] Figure 15 Shows a schematic block diagram of a three-dimensional printing device according to an embodiment of the present invention. Detailed implementation manners

[0045] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments described in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] To solve the above technical problems, the present invention provides a method for generating three-dimensional printing model data based on ultrasonic imaging. Figure 1 FIG. shows a schematic flowchart of a method 100 for generating three-dimensional printing model data based on ultrasonic imaging according to an embodiment of the present invention. As Figure 1 shown, the method 100 for generating three-dimensional printing model data based on ultrasonic imaging includes step S110, step S120, step S130, and step S140.

[0047] In step S110, target three-dimensional ultrasonic volume data of a target object is obtained. The target three-dimensional ultrasonic volume data may include a target surface and a target back surface opposite to the target surface.

[0048] Exemplarily, an ultrasound device can be used to collect an ultrasound scan video for a target object (which can be simply referred to as an "ultrasound video"). The target object can be any living organism or any part to be measured in any living organism. The part to be measured can be a certain biological tissue, such as the uterine part of the human body (scanning the uterine part can be equivalent to scanning the fetus), etc. In the following, the target object is mainly described taking the fetus as an example. The ultrasound scan video obtained by scanning contains the target object. The ultrasound scan video can include multiple frames, and each frame can correspond to an ultrasound image, and the ultrasound image can be a two-dimensional or three-dimensional ultrasound image. Optionally, a three-dimensional ultrasound image can also be obtained based on one or more two-dimensional ultrasound images. For example, three-dimensional reconstruction can be performed on any two-dimensional ultrasound image in the ultrasound scan video to obtain the three-dimensional volume data corresponding to the ultrasound image. The image data of the three-dimensional ultrasound image is the three-dimensional volume data. In step S110, for the target object, its corresponding target three-dimensional volume data is obtained. All the three-dimensional volume data corresponding to the three-dimensional ultrasound image collected or generated for the target object can be used as the target three-dimensional volume data, or a part of the three-dimensional volume data corresponding to the three-dimensional ultrasound image collected or generated for the target object (such as the part of the three-dimensional volume data within the region of interest) can be selected as the target three-dimensional volume data. When the target object is a fetus, the target three-dimensional volume data containing the fetus can be obtained according to the ultrasound scan video. For example, for a fetus, an ultrasound scan video of 200 frames is collected, 200 three-dimensional ultrasound images can be obtained, and the 200 three-dimensional ultrasound images can optionally be sorted according to the acquisition order of each frame in the ultrasound scan video. Optionally, after obtaining all the three-dimensional volume data corresponding to the three-dimensional ultrasound image, the three-dimensional volume data can be preprocessed, and at least part of the data in the preprocessed three-dimensional volume data can be used as the target three-dimensional volume data, and subsequent steps (such as the steps starting from step S120 and going backward) can operate on the preprocessed target three-dimensional volume data. Of course, in step S110, the preprocessed target three-dimensional volume data can also be directly obtained. The above preprocessing can include but is not limited to: denoising, smoothing, enhancement, etc. The acquisition of the target three-dimensional volume data can be obtained in real time by the ultrasound device or extracted from the storage device of the ultrasound device. Exemplarily, the ultrasound device can include a volume probe, and the volume probe can be used to collect the three-dimensional volume data. The target three-dimensional volume data can include a target surface and a target back surface opposite to the target surface. The target surface can represent the observation surface, and the target back surface can represent the observation back surface opposite to the observation surface. The target surface can be any surface such as a Bezier surface, a B-spline surface, a Non-Uniform Rational B-Spline (NURBS) surface, an ellipsoidal surface, etc., or a surface formed by splicing multiple surfaces.

[0049] Step S120: For each data point on the target surface of the target three-dimensional ultrasound volume data, determine a segmentation start data point whose first voxel value is greater than the target segmentation threshold along the target observation direction with this data point as the starting point. The target observation direction is the direction from the target surface to the target back surface.

[0050] Exemplarily, for each data point on the target surface of the target three-dimensional ultrasound volume data, for example, the data points start from each point of the smooth surface first, and determine whether the voxel value of each data point is greater than the target segmentation threshold along the target observation direction. The target observation direction is the direction that the current user expects to observe, which can be the view direction of the observation view of the three-dimensional ultrasound image currently presented on the display screen. When the user adjusts the observation perspective of the three-dimensional ultrasound image of the target object, the target observation direction can change accordingly. The target surface can be the starting surface for observation, so the target observation direction can be the direction from the target surface to the target back surface. For the data point whose first voxel value in the target observation direction is greater than the target segmentation threshold, this data point can be used as the segmentation start data point and the position of this segmentation start data point can be recorded. The segmentation start data points corresponding to each data point on the target surface in the target observation direction can be determined in a similar manner.

[0051] Step S130: Add support data points based on the segmentation start data points and assign values to the support data points to obtain the three-dimensional ultrasound volume data with support data added. The support data points include: the data points in the region of the target three-dimensional ultrasound volume data between the segmentation start data point and the target back surface.

[0052] Exemplarily, based on the determined segmentation start data points, support data points can be added. The support data points can include all the data points in the region between the segmentation start data point and the target back surface. In the target observation direction, each segmentation start data point can correspond to multiple support data points, and the voxel values of this part of the support data points can be the same as the voxel values of the corresponding segmentation start data points, or can also be equal to any voxel value. In an embodiment of the present invention, in the target observation direction, the voxel values of the multiple support data points corresponding to each segmentation start data point can be equal to (Surface thresh +ISOOffset), where Surface thresh is the target segmentation threshold and ISOOffset is an empirical value, for example, it can be equal to 30. After assigning values to the support data points, the three-dimensional ultrasound volume data with support data added can be obtained.

[0053] Step S140: Generate target three-dimensional printing model data based on the three-dimensional ultrasound volume data with support data added.

[0054] Exemplarily, based on the three-dimensional ultrasound volume data with support data added, any existing or upcoming algorithms such as the KinectFusion algorithm, Marching Cubes algorithm, etc. can be used to generate target three-dimensional printing (3D printing) model data.

[0055] According to the above technical solution, the target three-dimensional ultrasound volume data of the target object is obtained. For each data point on the target surface of the target three-dimensional ultrasound volume data, the segmentation start data point with the first voxel value greater than the target segmentation threshold can be determined along the target viewing direction starting from this data point. Then, support data points are added based on the segmentation start data point and the support data points are assigned values to obtain the three-dimensional ultrasound volume data with support data added. The target three-dimensional printing model data is generated based on the three-dimensional ultrasound volume data with support data added. This solution can determine the segmentation start data point, add support data points based on the segmentation start data point. Through the added support data points, the discrete data points in the three-dimensional ultrasound volume data can be connected, thereby ensuring that the three-dimensional printing model printed based on the target three-dimensional printing model data has better connectivity and is convenient for the user to observe. In addition, this solution does not require manual addition of support data points, which can improve the generation efficiency of the three-dimensional printing model data.

[0056] Exemplarily, the device for executing the three-dimensional printing model data generation method 100 based on ultrasonic imaging can be an ultrasonic device. In this way, the target three-dimensional printing model data can be integrally generated and output through the ultrasonic device. The output target three-dimensional printing model data can be directly used for three-dimensional printing without the access of a third party, and the printing efficiency is greatly improved.

[0057] Exemplarily, obtaining the target three-dimensional ultrasound volume data of the target object may include: obtaining the initial three-dimensional ultrasound volume data of the target object; determining the data points located in the target region of interest in the initial three-dimensional ultrasound volume data to obtain the valid data points of the volume data region; determining the target three-dimensional ultrasound volume data based on the valid data points of the volume data region; wherein, the target region of interest includes an interested surface and an interested back surface, the target surface is at least part of the interested surface, and the interested back surface is the surface opposite to the interested surface in the target region of interest.

[0058] In one embodiment, the initial three-dimensional ultrasound volume data Vol acquireIt can be obtained through the acquisition method of three-dimensional ultrasonic volume data described in step S110. For the sake of brevity, it will not be elaborated here. The initial three-dimensional ultrasonic volume data can be all the three-dimensional ultrasonic volume data obtained based on three-dimensional ultrasonic images, or the three-dimensional ultrasonic volume data obtained after preprocessing all the three-dimensional ultrasonic volume data. The user can select a partial image area in the three-dimensional ultrasonic image as the target region of interest (ROI), which can also be called the volume of interest. Exemplarily, the target region of interest can be a hexahedron, where the starting observation surface is generally a smooth surface (a plane is a special case), and the other five surfaces are planes. This smooth surface can be a Bezier surface, a B-spline surface, a NURBS (Non-Uniform Rational B-Spline), an ellipsoidal surface, etc., or a surface composed of multiple spliced surfaces. The shape of the target region of interest is only an embodiment of the present invention. The target region of interest can also be other shapes, such as a sector, a sphere, etc. The present invention does not impose any restrictions on this. The ultrasonic tissues within the target region of interest (such as the hand and facial tissues of a fetus) are not necessarily all connected together. The target region of interest can include at least some data points belonging to the initial three-dimensional ultrasonic volume data, for example, including some data points belonging to the initial three-dimensional ultrasonic volume data and some data points not belonging to the initial three-dimensional ultrasonic volume data. The part of the data points in the target region of interest that belong to the initial three-dimensional ultrasonic volume data can be regarded as valid data points in the volume data region, and the region where they are located can be used as the volume data region. Based on the valid data points in the volume data region, the target three-dimensional ultrasonic volume data can be determined.

[0059] Figure 2 Fig. shows a schematic diagram of the output result of a 3D printing model obtained by directly performing 3D printing based on the initial three-dimensional ultrasonic volume data without determining the target region of interest according to an embodiment of the present invention. Figure 3 Fig. shows a schematic diagram of the output result of a 3D printing model obtained by performing 3D printing based on the target three-dimensional ultrasonic volume data after determining the target three-dimensional ultrasonic volume data based on the target region of interest according to an embodiment of the present invention. As Figure 2 shown, in the output result of the 3D printing model without determining the target region of interest, the face of the fetus is blocked. If the user expects to observe the facial information of the fetus, these blocking objects may interfere with the user's observation. While in Figure 3 the output result of the 3D printing model of the target region of interest shown, the face of the fetus is not blocked.

[0060] According to the above technical solution, by determining the data points in the initial three-dimensional ultrasound volume data that are located in the target region of interest, the valid data points in the volume data region can be obtained. Then, based on the valid data points in the volume data region, the target three-dimensional ultrasound volume data is determined. This method can ensure the validity of the obtained target three-dimensional ultrasound volume data. At the same time, by determining the target region of interest, the interference data in the initial three-dimensional ultrasound volume data can be removed, facilitating the user's observation.

[0061] Exemplarily, determining the data points in the initial three-dimensional ultrasound volume data that are located in the target region of interest to obtain the valid data points in the volume data region may include: constructing the valid data points in the region of interest in the target region of interest based on the target observation direction; converting the first coordinates of the valid data points in the region of interest in the first coordinate system to the second coordinate system to obtain the corresponding second coordinates of the valid data points in the region of interest, where the first coordinate system is the coordinate system used by the target region of interest, and the second coordinate system is the coordinate system used by the initial three-dimensional ultrasound volume data; comparing the corresponding second coordinates of the valid data points in the region of interest with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system to determine the valid data points in the volume data region, and the valid data points in the volume data region include the valid data points in the region of interest located within the initial three-dimensional ultrasound volume data.

[0062] In one embodiment, Figure 4 shows a schematic diagram of the target region of interest according to an embodiment of the present invention. As Figure 4 shown, the target region of interest may represent the region corresponding to an irregular polyhedron with a curved upper surface. That is, Figure 4 the region included by some of the gray solid lines and some of the gray dashed lines in the figure. The size of the target region of interest can be expressed as W×H×D, where W represents the width of the target region of interest, H represents the height of the target region of interest, and D represents the depth of the target region of interest. Referring to Figure 4 , the curved surface pointed by the arrow may represent the surface of interest. The target surface in step S110 is a partial surface or the entire surface of the surface of interest. The surface opposite to the surface of interest can be used as the back surface of interest. Based on the target observation direction, the valid data points in the target region of interest can be constructed. The data points within the target region of interest can be obtained by resampling, and the point resolution of the resampled points can be the same as the point resolution of the data points in the initial three-dimensional ultrasound volume data. For example, the size of the resampled volume data can be determined by resampling within the target region of interest or the following initial region of interest, and the resampled volume data Vol resample may include the valid data points corresponding to the target region of interest. Subsequently, the resampled volume data Vol resampleAssign valid data points of the region of interest in it, for example, assign the voxel values of all data points to 255. In the resampled volume data Vol resample When including data points other than the valid data points of the region of interest, these data points can be assigned voxel values different from those of the valid data points of the region of interest. The valid data points of the region of interest have corresponding first coordinates in the first coordinate system. The first coordinate system is the coordinate system used for the target region of interest. Referring again to Figure 4 , taking the lower left corner vertex of the cube space corresponding to the three-dimensional ultrasound volume data as the origin O, taking the direction passing through the origin O and parallel to the lower surface and the front surface of the cube space as the X-axis, taking the direction passing through the origin O and perpendicular to the lower surface of the cube space as the Y-axis, and taking the direction passing through the origin O and perpendicular to the X-axis and the Y-axis respectively as the Z-axis, establish as Figure 4 the three-dimensional coordinate system shown. In an embodiment of the present invention, the starting observation surface faced by the user currently is the surface of interest, and the target observation direction can be the negative direction of the Y-axis. Along the target observation direction (negative direction of the Y-axis), the valid data points of the region of interest can include all data points between the surface of interest and the back surface of interest. The coordinates of these data points are the first coordinates. Convert the first coordinate Pt r (x r , y r , z r ) of the valid data points of the region of interest to the second coordinate system, and the corresponding second coordinate Pt(x, y, z) of the valid data points of the region of interest can be obtained. The second coordinate system is the coordinate system used for the initial three-dimensional ultrasound volume data. Compare the second coordinate corresponding to the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system, and the valid data points of the volume data region can be determined. The valid data points of the volume data region can include the valid data points of the region of interest located within the initial three-dimensional ultrasound volume data. Exemplarily, based on the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system, the coordinate value range of the initial three-dimensional ultrasound volume data in the second coordinate system can be determined. When comparing the second coordinate corresponding to the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system, it can be determined whether the second coordinate of the valid data points of the region of interest falls within the coordinate value range of the initial three-dimensional ultrasound volume data in the second coordinate system. If the second coordinate of any valid data point of the region of interest falls within the coordinate value range of the initial three-dimensional ultrasound volume data in the second coordinate system, it can be determined that the valid data point of the region of interest is the valid data point of the region of interest located within the initial three-dimensional ultrasound volume data, that is, the valid data point of the volume data region.

[0063] According to the above technical solution, the valid data points of the region of interest in the target region of interest are constructed based on the target observation direction. Then, the first coordinates of the valid data points of the region of interest in the first coordinate system are converted to the second coordinate system, and the corresponding second coordinates of the valid data points of the region of interest can be obtained. By comparing the corresponding second coordinates of the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system, the valid data points of the volume data region can be determined. This method can further screen the valid data points of the region of interest in the target region of interest to determine the data points belonging to the initial three-dimensional ultrasound volume data among the valid data points of the region of interest, further ensuring the accuracy of the obtained valid data points of the volume data region.

[0064] Exemplarily, constructing the valid data points of the region of interest in the target region of interest based on the target observation direction may include: determining the data points in the initial region of interest based on the target observation direction, where the initial region of interest is a hexahedron surrounding the target region of interest; assigning all the data points in the initial region of interest to a first value; for each data point on the surface of interest, assigning all the data points from this data point to the back of interest along the target observation direction to a second value; and determining the data points assigned to the second value in the initial region of interest as the valid data points of the region of interest in the target region of interest.

[0065] In one embodiment, the initial region of interest can be determined based on the target observation direction and the data points it contains can be determined. The data points in the initial region of interest can be determined by the above resampling method. The initial region of interest is a hexahedron surrounding the target region of interest, such as Figure 4 the circumscribed hexahedron of the target region of interest shown. The initial region of interest obtained by resampling may include multiple data points, and the distance between every two adjacent data points can be set arbitrarily, for example, it can be equal to or in a preset ratio to the distance between every two adjacent ultrasound volume data points in the target three-dimensional ultrasound volume data. Assign all the data points in the initial region of interest to a first value. The first value can be any value within the range of [0, 255], such as 0, 1, 2, etc. In one embodiment of the present invention, the first value is equal to 0. For each data point on the surface of interest, assign all the data points from this data point to the back of interest along the target observation direction (i.e., the negative Y-axis direction) to a second value. Similar to the first value, the second value can be any value within the range of [0, 255] except the first value. In one embodiment of the present invention, the second value is equal to 255. The data points assigned to the second value in the initial region of interest can be used as the valid data points of the region of interest in the target region of interest. Based on the determined valid data points of the region of interest in the target region of interest, the first coordinates of the valid data points of the region of interest in the first coordinate system can be determined.

[0066] According to the above technical solution, to determine the initial region of interest based on the target observation direction, all data points in the initial region of interest can be assigned a first value first. Then, for each data point in the surface of interest, all data points from this data point to the back of the surface of interest along the target observation direction are assigned a second value. Then, the data points in the initial region of interest that are assigned the second value are determined as the valid data points of the region of interest in the target region of interest. In this way, some invalid data points above the surface of interest in the initial region of interest can be quickly filtered out, ensuring the accuracy of the obtained valid data points of the region of interest.

[0067] Exemplarily, the distance between any two adjacent data points in the target region of interest is determined based on the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data.

[0068] In one embodiment, the distance between any two adjacent data points in the target region of interest can be determined based on the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data. For example, the distance between any two adjacent data points in the target region of interest can be equal to the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data, or can be equal to a multiple of the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data. In this way, it is convenient to convert the first coordinates of the data points in the target region of interest in the first coordinate system into the second coordinates of the data points in the initial three-dimensional ultrasound volume data in the second coordinate system.

[0069] Exemplarily, to convert the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest may include: converting the first coordinates of the valid data points of the region of interest based on the inverse model view transformation matrix and the transformation matrix to obtain the corresponding second coordinates of the valid data points of the region of interest.

[0070] In one embodiment, the first coordinates of the valid data points of the region of interest can be converted to the second coordinates based on the inverse model view transformation matrix and the transformation matrix. For example, through the coordinate transformation formula Pt(x, y, z) = (MVP) -1 *Pt r (x r , y r , z r )*X, the first coordinates Pt r (x r , y r , z r ) of the valid data points of the region of interest are converted to the second coordinates Pt(x, y, z). Wherein, MVP is the model view transformation matrix, (MVP) -1is the inverse matrix of the model view transformation, and X represents the transformation matrix. (MVP) -1 It can be expressed as:

[0071]

[0072] In the inverse matrix of the model view transformation matrix (MVP) -1 Width and Height respectively represent the width and height of the three-dimensional ultrasound image displayed on the current display interface.

[0073] The MVP in the above coordinate transformation formula can be the model view transformation matrix corresponding to when the user observes the 3D ultrasound image from a predetermined perspective (i.e., along a predetermined viewing direction). When the user observes the 3D ultrasound image, operations such as rotation, translation, or scaling may be performed on the 3D ultrasound image, causing the MVP to change. Therefore, the coordinate transformation can be further combined with the transformation matrix.

[0074] According to the above technical solution, the first coordinates of the valid data points of the region of interest are transformed based on the inverse matrix of the model view transformation and the transformation matrix, so that the second coordinates corresponding to the valid data points of the region of interest can be quickly obtained without complex calculations and with high accuracy.

[0075] Exemplarily, before transforming the first coordinates of the valid data points of the region of interest based on the inverse matrix of the model view transformation and the transformation matrix to obtain the second coordinates corresponding to the valid data points of the region of interest, transforming the first coordinates of the valid data points of the region of interest to the second coordinate system and obtaining the second coordinates corresponding to the valid data points of the region of interest may further include: in response to a perspective adjustment operation of the user on the three-dimensional ultrasound image on the display interface, determining the transformation matrix, and the perspective adjustment operation includes any one or more of rotation, translation, and scaling, and the three-dimensional ultrasound image is generated based on the initial three-dimensional ultrasound volume data.

[0076] In one embodiment, the apparatus (such as an ultrasound device) for implementing the method for generating three-dimensional printing model data based on ultrasonic imaging according to the embodiments of the present invention may include an input device and / or an output device. Alternatively, the apparatus for implementing the method for generating three-dimensional printing model data based on ultrasonic imaging may be communicatively connected to the input device and / or the output device. The input device may include one or more of, but is not limited to, a mouse, a keyboard, a trackball, a microphone, a touch screen, etc. The output device may include one or more of, but is not limited to, a display device, a speaker, etc. Taking the output device as a display device as an example, a three-dimensional ultrasonic image may be displayed on the display interface of the display device. For the three-dimensional ultrasonic image displayed on the current display interface, the user may input information such as a rotation angle, a translation distance, a scaling ratio, etc. through the input device to perform corresponding perspective adjustment operations on the three-dimensional ultrasonic image. For example, the user may sequentially input 30° and 1.8 through the keyboard or the mouse, indicating that the current three-dimensional ultrasonic image is rotated 30° in the clockwise direction and magnified to 1.8 times the size of the original three-dimensional ultrasonic image at the same ratio. The scaling operation may also be freely scaled, that is, the scaling ratios corresponding to different coordinate axes are different. It can be understood that perspective adjustment can also be achieved by dragging with a mouse or a trackball. Different perspective adjustment operations have their respective corresponding transformation matrices.

[0077] In one embodiment of the present invention, the translation matrix T corresponding to the translation operation may be expressed as:

[0078]

[0079] where tx, ty, and tz are the translation change amounts along the X-axis, Y-axis, and Z-axis, respectively.

[0080] In one embodiment of the present invention, the scaling matrix S corresponding to the scaling operation may be expressed as:

[0081]

[0082] where s x , s y , s z are the scaling ratios along the X-axis, Y-axis, and Z-axis, respectively.

[0083] In one embodiment of the present invention, the rotation operation may include rotation around the x-axis, rotation around the Y-axis, or rotation around the Z-axis. Rotation around different coordinate axes may correspond to different rotation matrices. The rotation matrix R x (θ) corresponding to rotation around the x-axis, the rotation matrix R y (θ) corresponding to rotation around the Y-axis, and the rotation matrix R z (θ) corresponding to rotation around the Z-axis may be expressed in the following manner, where θ may represent the rotation angle around different coordinate axes.

[0084]

[0085]

[0086]

[0087] According to the above technical solution, the transformation matrix can be determined through the user's operation of adjusting the viewing angle of the three-dimensional ultrasound image on the display interface. In this way, it is convenient for the user to determine the three-dimensional ultrasound image at the desired viewing angle based on the initial three-dimensional ultrasound volume data, and then obtain the 3D printing model at the desired viewing angle to meet the needs of different users or different application scenarios, providing a better user experience.

[0088] Exemplarily, determining the target three-dimensional ultrasound volume data based on the valid data points in the volume data region may include: interpolating the valid data points in the volume data region to obtain the target three-dimensional ultrasound volume data, where the target three-dimensional ultrasound volume data includes the interpolated valid data points in the volume data region.

[0089] In one embodiment, according to the second coordinates Pt(x, y, z) of the valid data points in the volume data region, the valid data points in the volume data region can be interpolated by any interpolation method. Based on the interpolation result, the target three-dimensional ultrasound volume data can be obtained. Exemplarily and not restrictively, the interpolation method may include bicubic interpolation, nearest neighbor interpolation, B-spline interpolation, an interpolation method that combines speed and quality, or trilinear interpolation, etc. In one embodiment of the present invention, trilinear interpolation can be performed by obtaining the voxel values of 8 data points in the neighborhood of the valid data point Pt(x, y, z). The interpolation operation in this embodiment is optional, and the valid data points in the volume data region without interpolation can be directly determined as the data points included in the target three-dimensional ultrasound volume data to obtain the target three-dimensional ultrasound volume data.

[0090] According to the above technical solution, by interpolating the valid data points in the volume data region, the gaps in the volume data region can be filled, and the distance between the data points in the obtained target three-dimensional ultrasound volume data is smaller, and the data information included is relatively rich.

[0091] Exemplarily, before determining, for each data point on the target surface of the target three-dimensional ultrasound volume data, the starting data point of the segmentation where the first voxel value is greater than the target segmentation threshold along the target viewing direction starting from this data point, the method may further include: determining the target segmentation threshold based on the voxel values of at least some data points in the target three-dimensional ultrasound volume data; or determining the target segmentation threshold based on the threshold setting information input by the user.

[0092] Before adding the support data, the target segmentation threshold can be determined, which can be the isosurface value Surface of 3D printing thresh, the surface where the equivalent value is located can be regarded as an isosurface. There are various threshold calculation methods. In one embodiment, an initial segmentation threshold can be determined according to the voxel values corresponding to all or part of the data points in the target three-dimensional ultrasound volume data. For example, the initial segmentation threshold can be the average value of the voxel values corresponding to all the data points in the target three-dimensional ultrasound volume data, or the average value of the voxel values corresponding to the non-zero data points in the target three-dimensional ultrasound volume data, to determine the target segmentation threshold. For another example, the Otsu method can be used to calculate the target segmentation threshold. According to the above technical solution, the target segmentation threshold is determined through the voxel values of at least part of the data points in the target three-dimensional ultrasound volume data. In this way, the target segmentation threshold can be automatically determined without any operation by the user, with high efficiency, and high automation and intelligence.

[0093] In another embodiment, the user can also input threshold setting information through an input device such as a mouse or keyboard. For example, the user can directly input "100", indicating that the current target segmentation threshold is 100. According to the above technical solution, the target segmentation threshold is determined based on the threshold setting information input by the user. In this way, the needs of different users or different application scenarios can be met, and the user experience is better.

[0094] Exemplarily, determining the target segmentation threshold based on the voxel values of at least part of the data points in the target three-dimensional ultrasound volume data may include: calculating the average value of the voxel values of each non-zero data point in the target three-dimensional ultrasound volume data as the target segmentation threshold; or, using the Otsu method, calculating the target segmentation threshold based on the voxel values of each data point in the target three-dimensional ultrasound volume data.

[0095] In one embodiment, the target segmentation threshold can be determined by calculating the average value of the voxel values of each non-zero data point in the target three-dimensional ultrasound volume data. In another embodiment, the target segmentation threshold can also be calculated by the Otsu method based on the voxel values of each data point in the target three-dimensional ultrasound volume data. In this way, the target segmentation threshold can be obtained without complex calculations, and the efficiency is relatively high.

[0096] Exemplarily, before determining the segmentation start data point where the voxel value of the first data point is greater than the target segmentation threshold along the target observation direction with each data point on the target surface of the target three-dimensional ultrasound volume data as the starting point, the method may further include: for each data point located on the outermost side in the target three-dimensional ultrasound volume data, adding a first number of data points outside the target three-dimensional ultrasound volume data with this data point as the reference to obtain the updated target three-dimensional ultrasound volume data; wherein, the voxel values of the added first number of data points are set to 0.

[0097] In one embodiment, for each data point located on the outermost side of the target three-dimensional ultrasound volume data, that is, each data point on the outer surface of the target region of interest, a first number of data points can be added on the outermost side based on this data point. The first number can be equal to any integer, such as 1, 2, or 3, etc. In one embodiment of the present invention, the first number is equal to 2. Exemplarily, values can be assigned to the added data points, for example, assigning them the above-mentioned first value. In one embodiment, the voxel values corresponding to each of the first number of data points are all 0. After adding the first number of data points, the updated target three-dimensional ultrasound volume data can be obtained. The target three-dimensional ultrasound volume data in the step of "for each data point on the target surface of the target three-dimensional ultrasound volume data, determining the segmentation start data point where the voxel value of the first voxel along the target viewing direction is greater than the target segmentation threshold" in the foregoing embodiment can be the updated target three-dimensional ultrasound volume data. The purpose of such processing is to be able to extract the data points at the boundary when the voxel value of the boundary data point of the target three-dimensional ultrasound volume data is greater than the target segmentation threshold.

[0098] According to the above technical solution, by adding a first number of data points outside each data point located on the outermost side of the target three-dimensional ultrasound volume data, the updated target three-dimensional ultrasound volume data is obtained. This can ensure that the data points greater than the target segmentation threshold at the boundary can be extracted.

[0099] Exemplarily, adding support data points based on the segmentation start data point can include: adding a second number of flat support data points based on the data points on the target back surface; wherein, the second number of flat support data points is used to form a flat plate in the three-dimensional printed model, and all the data points on the target back surface are included in the area occupied by the flat support data points. The support data points can also include the second number of flat support data points.

[0100] In one embodiment, a second number of flat support data points can be added on the target back surface. All the data points on the target back surface are included in the area corresponding to the flat support data points. That is to say, the area of the region occupied by the flat support data points is greater than or equal to the area corresponding to the projection of the target back surface. The region occupied by the flat support data points has a certain thickness M. When the area of the region occupied by the flat support data points is equal to the area corresponding to the projection of the target back surface, the overall data size of the flat support data points can be expressed as W×H×M. In one embodiment of the present invention, the size of M can be equal to 2 pixels. Figure 5a Shows a schematic diagram of the flat shading effect of the target three-dimensional ultrasound volume data after adding flat support data points according to one embodiment of the present invention. Figure 5b Shows a schematic diagram of the mesh display effect of the target three-dimensional ultrasound volume data after adding flat support data points according to one embodiment of the present invention. As Figure 5a andFigure 5b As shown, the 3D printed model after adding the flat support data points can be very convenient to place.

[0101] According to the above technical solution, by adding the second quantity of flat support data points, the discrete tissues in the target 3D ultrasound volume data can be connected by the flat plate, so that the 3D printed model is convenient to place and observe.

[0102] The flat support data points are optional. The data points in the region of the target 3D ultrasound volume data located between the segmentation start data point and the target back surface can be called the first type of support data points, and the flat support data points can be called the second type of support data points. The first type of support data points are distributed along the target observation direction, and a certain amount of back surface tissues can also be formed through the first type of support data points, and these back surface tissues can also play a certain supporting role after printing. The flat plate formed by the second type of support data points can be parallel to the target back surface, that is, perpendicular to the target observation direction. The second type of support data points can better connect the back surface tissues formed by the first type of support data points, so as to achieve better support, and can also improve the integrity and regularity of the 3D printed model.

[0103] Exemplarily, generating the target 3D printed model data based on the 3D ultrasound volume data with added support data may include: converting the 3D ultrasound volume data with added support data into initial 3D printed model data; filtering the initial 3D printed model data, and / or deleting the initial 3D printed model data according to a preset simplification ratio to obtain the target 3D printed model data.

[0104] In one embodiment, the Maching Cube algorithm can be used to convert the 3D ultrasound volume data with added support data into initial 3D printed model data. The initial 3D printed model data may include a plurality of triangular meshes. Based on the obtained initial 3D printed model data, the initial 3D printed model data can be filtered and deleted according to a preset simplification ratio to obtain the target 3D printed model data. In another embodiment, only the initial 3D printed model data can be filtered, or deleted according to a preset simplification ratio, to obtain the target 3D printed model data. Exemplarily, the initial 3D printed model data can be filtered by any filtering method such as mean filtering, Laplacian filtering, etc. In one embodiment of the present invention, the mean filtering can be implemented in the following manner:

[0105]

[0106] wherein, v i ’ represents the result of performing mean filtering on the mesh vertex v i and vi Represents any mesh vertex v in the initial 3D printing model data n Represents v i Mesh vertices N within the neighborhood of v Adjacent Represents v i Represents the number of mesh vertices within the neighborhood of v

[0107] In another embodiment of the present invention, the Laplacian operator filtering can be implemented in the following manner:

[0108]

[0109] Wherein, v i ′ represents the result of performing mean filtering on the mesh vertex v i Represents the result of performing mean filtering on the mesh vertex v i Represents any mesh vertex v in the initial 3D printing model data n Represents v i Mesh vertices N within the neighborhood of v Adjacent Represents v i Represents the number of mesh vertices within the neighborhood of v, λ represents the filtering intensity, and w n Represents the normalization weight related to the distance from adjacent vertices

[0110] In one embodiment, the initial 3D printing model data can be trimmed by an edge collapse algorithm based on the quadratic metric error Figure 6 Shows a schematic diagram of edge collapse according to an embodiment of the present invention. As Figure 6 Shown, the edge collapse operation is to move the two vertices of an edge to make them coincide to eliminate an edge. For example, the user expects to collapse the edge uv to delete the meshes A and B on both sides of this edge and replace the mesh U with the mesh V. Among them, the mesh V can be called the collapse target of the mesh U. In one embodiment of the present invention, the minimum error threshold err corresponding to the collapse error can also be set Thresh , when the collapse error Δ(v) is less than the minimum error threshold err Thresh , the current edge can be collapsed. After traversing all the triangular meshes in the initial 3D printing model data until the number of remaining meshes reaches a preset simplification ratio with respect to the initial number of meshes, the target 3D printing model data can be obtained Figure 7 Shows a comparison diagram of the effects of different preset simplification ratios according to an embodiment of the present invention. As Figure 7 Shown, under the mesh display effect, the smaller the preset simplification ratio, the more meshes there are; under the flat shading effect, the smaller the preset simplification ratio, the more detailed information there is in the 3D printing model and the higher the model quality

[0111] According to the above technical solution, after converting the three-dimensional ultrasound volume data with added support data into initial three-dimensional printing model data, the initial three-dimensional printing model data is filtered, so that the mesh corresponding to the obtained target three-dimensional ultrasound printing data can be made smoother. According to a preset simplification ratio, the initial three-dimensional printing model data is deleted, and the mesh included in the initial three-dimensional ultrasound printing data can be simplified to improve the efficiency of three-dimensional printing. At the same time, by selecting different preset simplification ratios, models with different printing qualities can be obtained to meet the needs of different users or application scenarios.

[0112] Exemplarily, after generating the target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data, the method may further include: obtaining three-dimensional printing configuration information, where the three-dimensional printing configuration information includes the output format of the three-dimensional printing model and / or the image rendering information corresponding to the target three-dimensional ultrasound volume data; adding the three-dimensional printing configuration information to the target three-dimensional printing model data.

[0113] In one embodiment, three-dimensional printing configuration information may also be added to the target three-dimensional printing model data. The three-dimensional printing configuration information may include the output format of the three-dimensional printing model or the image rendering information corresponding to the target three-dimensional ultrasound volume data, or may further include the output format of the three-dimensional printing model and the image rendering information corresponding to the target three-dimensional ultrasound volume data. The output format of the three-dimensional printing model includes any format such as OBJ, ply, 3mf, etc. Adding the image rendering information corresponding to the target three-dimensional ultrasound volume data may include performing airbrushing processing on the three-dimensional printing model. Specifically, the data information corresponding to the texture image may be added to the target three-dimensional printing model data. In the target three-dimensional printing model data, the texture coordinates (x textrue , y textrue ) of each mesh vertex can be calculated by the following method:

[0114]

[0115] where ImageW and ImageH are the width and height of the texture image respectively, and Res Pixel represents the ratio of the distance between corresponding screen pixel points in the current display interface to the distance between any two adjacent data points in the target three-dimensional ultrasound volume data.

[0116] According to the above technical solution, by adding the three-dimensional printing configuration information to the target three-dimensional printing model data, the surface of the three-dimensional printing model can be made smoother and the display effect is also better. This can facilitate users to view and improve the user experience.

[0117] Figure 8 shows a schematic flowchart of a method for generating three-dimensional printing model data based on ultrasonic imaging according to an embodiment of the present invention. AsFigure 8 As shown, first obtain the initial three-dimensional ultrasound volume data of the target object, and then determine the data points in the target region of interest in the initial three-dimensional ultrasound volume data to obtain the valid data points of the volume data region. Based on the valid data points of the volume data region, the target three-dimensional ultrasound volume data can be obtained. Support data points are added to the target three-dimensional ultrasound volume data, and the initial three-dimensional ultrasound printing model data is generated based on the target three-dimensional ultrasound volume data with the support data points added. By filtering the three-dimensional ultrasound printing model data and / or deleting it according to a preset simplification ratio, the target three-dimensional printing model data can be obtained. Three-dimensional printing configuration information can also be added to the three-dimensional printing model data after filtering the three-dimensional ultrasound printing model data and / or deleting it according to a preset simplification ratio to obtain the target three-dimensional printing model data.

[0118] Figure 9 FIG. shows a schematic flowchart of obtaining target three-dimensional ultrasound volume data according to an embodiment of the present invention. As Figure 9 shown, based on the initial three-dimensional ultrasound volume data, the valid data points of the region of interest in the target region of interest are determined based on the target viewing direction, and the first coordinates of the valid data points of the region of interest are converted into the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest. The second coordinates corresponding to the valid data points of the region of interest are compared with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system to determine the valid data points of the volume data region. Interpolation is performed on the valid data points of the volume data region to obtain the target three-dimensional ultrasound volume data.

[0119] Figure 10 FIG. shows a schematic flowchart of adding support data points to the target three-dimensional ultrasound volume data according to an embodiment of the present invention. As Figure 10 shown, based on the voxel values of at least some of the data points in the target three-dimensional ultrasound volume data, or based on the threshold setting information input by the user, the target segmentation threshold is determined. A first number of data points are added to the outside of the outermost part of the data points in the target three-dimensional ultrasound volume data to obtain the updated target three-dimensional ultrasound volume data. Support data points are added to the updated target three-dimensional ultrasound volume data.

[0120] According to the second aspect of the present invention, a three-dimensional printing method is further provided. Figure 11 FIG. shows a schematic flowchart of a three-dimensional printing method 1100 according to an embodiment of the present invention. As Figure 11 shown, the method 1100 may include the following steps S1110 and step S1120.

[0121] Step S1110, obtain the target three-dimensional printing model data generated by using the above-mentioned method for generating three-dimensional printing model data based on ultrasonic imaging.

[0122] Step S1120: Perform 3D printing based on the target 3D printing model data.

[0123] Those skilled in the art can understand the implementation manner and beneficial effects of the 3D printing method here by reading the above - related description of the method for generating 3D printing model data based on ultrasonic imaging. For the sake of brevity, it will not be elaborated here.

[0124] According to the third aspect of the present invention, there is also provided a device for generating 3D printing model data based on ultrasonic imaging. Figure 12 FIG. shows a schematic block diagram of a device 1200 for generating 3D printing model data based on ultrasonic imaging according to an embodiment of the present invention. As Figure 12 shown, the device 1200 may include a first acquisition module 1210, a first determination module 1220, an assignment module 1230, and a generation module 1240.

[0125] The first acquisition module 1210 is configured to acquire target three - dimensional ultrasonic volume data of a target object, and the target three - dimensional ultrasonic volume data includes a target surface and a target back surface opposite to the target surface.

[0126] The first determination module 1220 is configured to, for each data point on the target surface of the target three - dimensional ultrasonic volume data, determine a segmentation start data point whose first voxel value is greater than the target segmentation threshold along the target observation direction starting from the data point, and the target observation direction is the direction from the target surface to the target back surface.

[0127] The assignment module 1230 is configured to add support data points based on the segmentation start data point and assign values to the support data points to obtain three - dimensional ultrasonic volume data with support data added. The support data points include: data points in the region between the segmentation start data point and the target back surface in the target three - dimensional ultrasonic volume data.

[0128] The generation module 1240 is configured to generate target 3D printing model data based on the three - dimensional ultrasonic volume data with support data added.

[0129] Those skilled in the art can understand the implementation manner and beneficial effects of the device for generating 3D printing model data based on ultrasonic imaging here by reading the above - related description of the method 100 for generating 3D printing model data based on ultrasonic imaging. For the sake of brevity, it will not be elaborated here.

[0130] Exemplarily, the first acquisition module 1210 may include an acquisition sub-module, a first determination sub-module, and a second determination sub-module. The acquisition sub-module is configured to acquire initial three-dimensional ultrasound volume data of a target object; the first determination sub-module is configured to determine data points located in a target region of interest in the initial three-dimensional ultrasound volume data to obtain valid data points of the volume data region; the second determination sub-module is configured to determine target three-dimensional ultrasound volume data based on the valid data points of the volume data region; wherein, the target region of interest includes an interested surface and an interested back surface, the target surface is at least part of the interested surface, and the interested back surface is the surface opposite to the interested surface in the target region of interest.

[0131] Exemplarily, the first determination sub-module includes a construction unit, a conversion unit, and a comparison unit. The construction unit is configured to construct valid data points of the region of interest in the target region of interest based on the target observation direction; the conversion unit is configured to convert the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system, where the first coordinate system is the coordinate system used by the target region of interest, to obtain the second coordinates corresponding to the valid data points of the region of interest, and the second coordinate system is the coordinate system used by the initial three-dimensional ultrasound volume data; the comparison unit is configured to compare the second coordinates corresponding to the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasound volume data in the second coordinate system to determine the valid data points of the volume data region, and the valid data points of the volume data region include the valid data points of the region of interest located within the initial three-dimensional ultrasound volume data.

[0132] Exemplarily, the construction unit includes a first determination sub-unit, a first assignment sub-unit, a second assignment sub-unit, and a second determination sub-unit. The first determination sub-unit is configured to determine data points in the initial region of interest based on the target observation direction, and the initial region of interest is a hexahedron surrounding the target region of interest; the first assignment sub-unit is configured to assign all data points in the initial region of interest to a first value; the second assignment sub-unit is configured to, for each data point in the interested surface, assign all data points from this data point to the interested back surface along the target observation direction to a second value; the second determination sub-unit is configured to determine the data points assigned to the second value in the initial region of interest as the valid data points of the region of interest in the target region of interest.

[0133] Exemplarily, the second determination sub-module includes an interpolation unit. The interpolation unit is configured to interpolate the valid data points of the volume data region to obtain the target three-dimensional ultrasound volume data, and the target three-dimensional ultrasound volume data includes the interpolated valid data points of the volume data region.

[0134] Exemplarily, the three-dimensional printing model data generation device 1200 based on ultrasonic imaging further includes a second determination module or a third determination module. The second determination module is configured to determine a target segmentation threshold based on voxel values of at least some data points in the target three-dimensional ultrasonic volume data before the first determination module 1220 executes the step of determining, for each data point on the target surface of the target three-dimensional ultrasonic volume data, a segmentation start data point whose first voxel value is greater than the target segmentation threshold in the target viewing direction starting from this data point; or, the third determination module is configured to determine the target segmentation threshold based on threshold setting information input by a user.

[0135] Exemplarily, the third determination module includes a first calculation sub-module or a second calculation sub-module. The first calculation sub-module is configured to calculate the mean value of the voxel values of each non-zero data point in the target three-dimensional ultrasonic volume data as the target segmentation threshold; or, the second calculation sub-module is configured to calculate the target segmentation threshold based on the voxel values of each data point in the target three-dimensional ultrasonic volume data by using the method of maximum between-class variance.

[0136] Exemplarily, the three-dimensional printing model data generation device 1200 based on ultrasonic imaging further includes a first addition module. The first addition module is configured to, before the first determination module 1220 executes the step of determining, for each data point on the target surface of the target three-dimensional ultrasonic volume data, a segmentation start data point whose first voxel value is greater than the target segmentation threshold in the target viewing direction starting from this data point, add a first number of data points to the outside of the target three-dimensional ultrasonic volume data based on each data point located on the outermost side of the target three-dimensional ultrasonic volume data to obtain an updated target three-dimensional ultrasonic volume data; wherein, the voxel values of the added first number of data points are set to 0.

[0137] Exemplarily, the assignment module 1230 further includes an addition sub-module. The addition sub-module is configured to add a second number of flat support data points based on the data points on the target back surface; wherein, the second number of flat support data points are used to form a flat plate in the three-dimensional printing model, the area occupied by the flat support data points includes all the data points on the target back surface, and the support data points further include the second number of flat support data points.

[0138] Exemplarily, the generation module 1240 includes a conversion sub-module and a data acquisition sub-module. The conversion sub-module is configured to convert the three-dimensional ultrasonic volume data with added support data into initial three-dimensional printing model data; the data acquisition sub-module is configured to filter the initial three-dimensional printing model data and / or delete the initial three-dimensional printing model data according to a preset simplification ratio to obtain the target three-dimensional printing model data.

[0139] Exemplarily, the three-dimensional printing model data generation device 1200 based on ultrasonic imaging further includes a second acquisition module and a second addition module. The second acquisition module is configured to acquire three-dimensional printing configuration information after the step of the generation module 1240 executing the generation of the target three-dimensional printing model data based on the support data addition, where the three-dimensional printing configuration information includes the output format of the three-dimensional printing model and / or the image rendering information corresponding to the target three-dimensional ultrasonic volume data; the second addition module is configured to add the three-dimensional printing configuration information to the target three-dimensional printing model data.

[0140] According to a fourth aspect of the present invention, there is also provided a three-dimensional printing device. Figure 13 FIG. shows a schematic block diagram of a three-dimensional printing device 1300 based on ultrasonic imaging according to an embodiment of the present invention. As Figure 13 shown, the device 1300 may include an acquisition module 1310 and a three-dimensional printing module 1320.

[0141] The acquisition module 1310 is configured to acquire the target three-dimensional printing model data generated by the above-mentioned three-dimensional printing model data generation method based on ultrasonic imaging.

[0142] The three-dimensional printing module 1320 is configured to perform three-dimensional printing based on the target three-dimensional printing model data.

[0143] Those skilled in the art can understand the implementation manner and beneficial effects of the three-dimensional printing device here by reading the above relevant description of the three-dimensional printing method 1200. For the sake of brevity, it will not be elaborated here.

[0144] According to a fifth aspect of the present invention, there is also provided an electronic device. Figure 14 FIG. shows a schematic block diagram of an electronic device according to an embodiment of the present invention. As Figure 14 shown, the electronic device includes a processor 1410 and a memory 1420, and a computer program / instructions are stored in the memory 1420, and the processor 1410 executes the computer program / instructions to implement the above-mentioned three-dimensional printing model data generation method based on ultrasonic imaging.

[0145] Exemplarily, the electronic device 1400 may be an ultrasonic diagnostic device (i.e., an ultrasonic device) or an ultrasonic workstation.

[0146] An ultrasonic diagnostic device may include a probe, a first processor, a first memory, a first display, etc. When the electronic device 1400 is an ultrasonic diagnostic device, the processor 1410 may be the first processor, and the memory 1420 may be the first memory. The probe can be used to emit ultrasonic waves to a target object (such as a fetus) and receive the ultrasonic echoes returned from the target object, so as to obtain ultrasonic echo signals. The probe transmits the ultrasonic echo signals to the first processor. The first processor can process the ultrasonic echo signals to obtain three-dimensional ultrasonic volume data and / or three-dimensional ultrasonic images of the target object. The three-dimensional ultrasonic volume data and / or three-dimensional ultrasonic images obtained by the first processor can be stored in the first memory. The three-dimensional ultrasonic images can be optionally displayed on the first display for the user to view. In addition, the first processor can be used to execute the three-dimensional printing model data generation method 100 based on ultrasonic imaging described herein, and can optionally store some processing information generated during the processing in the first memory. The above-mentioned processing information may include intermediate data and / or final results, such as the initial three-dimensional ultrasonic volume data, target three-dimensional ultrasonic volume data, target three-dimensional printing model data, etc. described herein. Optionally, the ultrasonic diagnostic device may further include a first input device, such as one or more of a mouse, a keyboard, and a touch screen, etc., for the user to input information, instructions, etc.

[0147] An ultrasonic workstation may also be referred to as an ultrasonic imaging workstation. An ultrasonic workstation is a device integrating functional modules such as patient registration, image acquisition, diagnostic editing, report printing, image post-processing, medical record query, statistical analysis, etc. The ultrasonic workstation can be communicably connected to the ultrasonic diagnostic device, for example, through any wired or wireless communication method. The ultrasonic diagnostic device can transmit information such as the collected ultrasonic echo signals and / or three-dimensional ultrasonic volume data and / or three-dimensional ultrasonic images to the ultrasonic workstation.

[0148] The ultrasound workstation may include a second processor, a second memory, a second display, etc. When the electronic device 1400 is an ultrasound workstation, the processor 1410 may be the second processor, and the memory 1420 may be the second memory. The second processor may receive ultrasound echo signals and / or three-dimensional ultrasound volume data from an ultrasound diagnostic device through a communication interface, and may obtain a three-dimensional ultrasound image based on the ultrasound echo signals or directly obtain a three-dimensional ultrasound image from the three-dimensional ultrasound volume data. The second processor may store the obtained three-dimensional ultrasound images in the second memory. These three-dimensional ultrasound images may optionally be displayed on the second display for the user to view. In addition, the second processor may be used to execute the three-dimensional printing model data generation method 100 based on ultrasound imaging described herein, and may optionally store some processing information generated during the processing in the second memory. Examples of the processing information may refer to the description above. Optionally, the ultrasound diagnostic device may further include a second input device, such as one or more of a mouse, a keyboard, and a touch screen, etc., for the user to input information, instructions, etc.

[0149] In addition, the ultrasound workstation may further include other functional modules such as a printing device. Through the second processor, the second memory, and various functional modules of the ultrasound workstation, functions such as processing, storing, playing back, printing, statistics, and retrieval of ultrasound images can be completed. The printing device may optionally be a device with three-dimensional printing function, and three-dimensional printing based on the target three-dimensional printing model data can be achieved through the printing device. Optionally, the ultrasound workstation may also transmit the target three-dimensional printing model data to a three-dimensional printing device communicatively connected to the ultrasound workstation for printing. Of course, optionally, the user may also copy the target three-dimensional printing model data from the ultrasound workstation to be printed by an external three-dimensional printing device.

[0150] According to a sixth aspect of the present invention, a three-dimensional printing device is further provided. Figure 15 A schematic block diagram of a three-dimensional printing device according to an embodiment of the present invention is shown. As Figure 15 shown, the three-dimensional printing device includes a processor 1510 and a memory 1520, and a computer program / instructions are stored in the memory 1520. The processor 1510 executes the computer program / instructions to implement the above-mentioned three-dimensional printing method.

[0151] According to a seventh aspect of the present invention, there is also provided a computer-readable storage medium having a computer program / instructions stored thereon, and the computer program / instructions are used to execute the above-described method for generating three-dimensional printing model data based on ultrasonic imaging and / or three-dimensional printing method when running. The computer-readable storage medium may include, for example, a storage component of a tablet computer, a hard disk of a personal computer, an erasable programmable read-only memory (EPROM), a portable read-only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0152] Those of ordinary skill in the art can understand the specific implementation solutions of the above-described electronic device and computer-readable storage medium by reading the above relevant descriptions of the method for generating three-dimensional printing model data based on ultrasonic imaging and / or three-dimensional printing method. For the sake of brevity, they will not be elaborated here.

[0153] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

[0154] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0155] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0156] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0157] Similarly, it should be understood that, for the sake of streamlining the present invention and assisting in understanding one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point lies in that the corresponding technical problems can be solved with features fewer than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, where each claim itself serves as a separate embodiment of the present invention.

[0158] Those skilled in the art can understand that, except for mutual exclusion between features, any combination can be adopted to combine all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device thus disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0159] In addition, those skilled in the art can understand that, although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means that it is within the scope of the present invention and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0160] Each component embodiment of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some of the modules in the three-dimensional printing model data generation device and / or the three-dimensional printing device based on ultrasonic imaging according to the embodiments of the present invention. The present invention can also be implemented as a device program (such as a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0161] It should be noted that the above embodiments are illustrative of the present invention rather than restrictive thereof, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0162] As described above, the above is only a specific embodiment or an illustration of the specific embodiment of the present invention, and the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for generating three-dimensional printing model data based on ultrasonic imaging, characterized in that, The method includes: Obtaining target three-dimensional ultrasonic volume data of a target object, where the target three-dimensional ultrasonic volume data includes a target surface and a target back surface opposite to the target surface; For each data point on the target surface of the target three-dimensional ultrasonic volume data, determining a segmentation start data point whose first voxel value is greater than a target segmentation threshold along a target observation direction starting from this data point, where the target observation direction is the direction from the target surface to the target back surface; Adding support data points based on the segmentation start data point and assigning values to the support data points to obtain three-dimensional ultrasonic volume data with added support data, where the support data points include: data points in the region between the segmentation start data point and the target back surface in the target three-dimensional ultrasonic volume data; Generating target three-dimensional printing model data based on the three-dimensional ultrasonic volume data with added support data.

2. The method according to claim 1, characterized in that The obtaining of the target three-dimensional ultrasonic volume data of the target object includes: Obtaining initial three-dimensional ultrasonic volume data of the target object; Determining data points in the target object that are located in a target region of interest to obtain valid data points of the volume data region; Determining the target three-dimensional ultrasonic volume data based on the valid data points of the volume data region; Wherein, the target region of interest includes an interested surface and an interested back surface, the target surface is at least part of the interested surface, and the interested back surface is the surface opposite to the interested surface in the target region of interest.

3. The method according to claim 2, wherein The determining of data points in the initial three-dimensional ultrasonic volume data that are located in the target region of interest to obtain valid data points of the volume data region includes: Constructing valid data points of the region of interest in the target region of interest based on the target observation direction; Converting the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest, where the first coordinate system is the coordinate system used by the target region of interest, and the second coordinate system is the coordinate system used by the initial three-dimensional ultrasonic volume data; Comparing the corresponding second coordinates of the valid data points of the region of interest with the coordinates of the initial three-dimensional ultrasonic volume data in the second coordinate system to determine the valid data points of the volume data region, where the valid data points of the volume data region include the valid data points of the region of interest located within the initial three-dimensional ultrasonic volume data.

4. The method according to claim 3, wherein The constructing of the valid data points of the region of interest in the target region of interest based on the target observation direction includes: Determining data points in an initial region of interest based on the target observation direction, where the initial region of interest is a hexahedron surrounding the target region of interest; Assigning a first value to all data points in the initial region of interest; For each data point on the interested surface, assigning a second value to all data points between this data point and the interested back surface along the target observation direction; Determining the data points in the initial region of interest assigned with the second value as the valid data points of the region of interest in the target region of interest.

5. The method according to claim 3, wherein The distance between any two adjacent data points within the target region of interest is determined based on the distance between any two adjacent data points in the initial three-dimensional ultrasound volume data.

6. The method according to claim 3, wherein The step of converting the first coordinates of the valid data points of the region of interest in the first coordinate system to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest includes: Converting the first coordinates of the valid data points of the region of interest based on the inverse matrix of the model view transformation and the transformation matrix to obtain the corresponding second coordinates of the valid data points of the region of interest.

7. The method according to claim 6, wherein Before converting the first coordinates of the valid data points of the region of interest based on the inverse matrix of the model view transformation and the transformation matrix to obtain the corresponding second coordinates of the valid data points of the region of interest, the step of converting the first coordinates of the valid data points of the region of interest to the second coordinate system to obtain the corresponding second coordinates of the valid data points of the region of interest further includes: In response to a user's perspective adjustment operation on the three-dimensional ultrasound image on the display interface, determining the transformation matrix, where the perspective adjustment operation includes any one or more of rotation, translation, and scaling, and the three-dimensional ultrasound image is generated based on the initial three-dimensional ultrasound volume data.

8. The method according to claim 2, wherein The step of determining the target three-dimensional ultrasound volume data based on the valid data points of the volume data region includes: Interpolating the valid data points of the volume data region to obtain the target three-dimensional ultrasound volume data, where the target three-dimensional ultrasound volume data includes the interpolated valid data points of the volume data region.

9. The method according to any one of claims 1-8, characterized in that, Before, for each data point on the target surface of the target three-dimensional ultrasound volume data, determining a segmentation start data point whose first voxel value is greater than the target segmentation threshold along the target viewing direction starting from this data point, the method further includes: Determining the target segmentation threshold based on the voxel values of at least some of the data points in the target three-dimensional ultrasound volume data; or, Determining the target segmentation threshold based on threshold setting information input by the user.

10. The method according to claim 9, characterized in that, The step of determining the target segmentation threshold based on the voxel values of at least some of the data points in the target three-dimensional ultrasound volume data includes: Calculating the mean of the voxel values of each non-zero data point in the target three-dimensional ultrasound volume data as the target segmentation threshold; or, Using the method of maximum between-class variance, calculating the target segmentation threshold based on the voxel values of each data point in the target three-dimensional ultrasound volume data.

11. The method according to any one of claims 1 to 8, characterized in that, Before, for each data point on the target surface of the target three-dimensional ultrasound volume data, determining a segmentation start data point whose first voxel value is greater than the target segmentation threshold along the target viewing direction starting from this data point, the method further includes: For each data point located on the outermost side of the target three-dimensional ultrasound volume data, adding a first number of data points outside the target three-dimensional ultrasound volume data based on this data point to obtain the updated target three-dimensional ultrasound volume data; Wherein, the voxel values of the added first number of data points are set to 0.

12. The method according to any one of claims 1-8, characterized in that, The step of adding support data points based on the segmentation start data point includes: Adding a second number of flat support data points based on the data points on the target back surface; Among them, the second quantity of flat support data points are used to form a flat plate in the three-dimensional printing model. All data points on the target back surface are included in the area occupied by the flat support data points. The support data points further include the second quantity of flat support data points.

13. The method according to any one of claims 1-8, characterized in that, Generating the target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data includes: Converting the three-dimensional ultrasound volume data with added support data into initial three-dimensional printing model data; Filtering the initial three-dimensional printing model data, and / or deleting the initial three-dimensional printing model data according to a preset simplification ratio to obtain the target three-dimensional printing model data.

14. The method according to any one of claims 1-8, characterized in that, After generating the target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data, the method further includes: Obtaining three-dimensional printing configuration information, where the three-dimensional printing configuration information includes the output format of the three-dimensional printing model and / or the image rendering information corresponding to the target three-dimensional ultrasound volume data; Adding the three-dimensional printing configuration information to the target three-dimensional printing model data.

15. A three-dimensional printing method, characterized in that, The method includes: Obtaining target three-dimensional printing model data generated by using the method for generating three-dimensional printing model data based on ultrasonic imaging according to any one of claims 1-14; Performing three-dimensional printing based on the target three-dimensional printing model data.

16. A three-dimensional printing model data generation device based on ultrasonic imaging, characterized in that, The device includes: A first acquisition module, configured to acquire target three-dimensional ultrasound volume data of a target object, where the target three-dimensional ultrasound volume data includes a target surface and a target back surface opposite to the target surface; A first determination module, configured to, for each data point on the target surface of the target three-dimensional ultrasound volume data, determine a segmentation start data point whose first voxel value is greater than a target segmentation threshold along a target observation direction starting from the data point, where the target observation direction is the direction from the target surface to the target back surface; An assignment module, configured to add support data points based on the segmentation start data point and assign values to the support data points to obtain three-dimensional ultrasound volume data with added support data. The support data points include: data points in the area between the segmentation start data point and the target back surface in the target three-dimensional ultrasound volume data; A generation module, configured to generate target three-dimensional printing model data based on the three-dimensional ultrasound volume data with added support data.

17. A three-dimensional printing device, characterized in that, The device includes: An acquisition module, configured to acquire target three-dimensional printing model data generated by using the method for generating three-dimensional printing model data based on ultrasonic imaging according to any one of claims 1-14; A three-dimensional printing module, configured to perform three-dimensional printing based on the target three-dimensional printing model data.

18. An electronic device, comprising a processor and a memory, characterized in that, A computer program / instructions are stored in the memory, and the processor executes the computer program / instructions to implement the method for generating three-dimensional printing model data based on ultrasonic imaging according to any one of claims 1-14.

19. The method according to claim 18, wherein The electronic device is an ultrasonic diagnostic device or an ultrasonic workstation.

20. A three-dimensional printing device, comprising a processor and a memory, characterized in that, A computer program / instructions are stored in the memory, and the processor executes the computer program / instructions to implement the three-dimensional printing method according to claim 15.

21. A computer-readable storage medium storing computer programs / instructions, characterized in that, When the computer program / instructions are executed by a processor, they implement the method for generating three-dimensional printing model data based on ultrasonic imaging according to any one of claims 1-14 and / or the three-dimensional printing method according to claim 15.

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