Ablation effect display method and ultrasonic imaging system

Abstract

The invention discloses an ablation effect display method and an ultrasonic imaging system, and the method comprises the steps: controlling an ultrasonic probe with a space positioning device to emit ultrasonic waves to a focus, receiving an ultrasonic echo signal, and obtaining a two-dimensional ultrasonic image according to the ultrasonic echo signal; registering the two-dimensional ultrasonic image with the preoperative three-dimensional image of the focus to obtain a first registration result; obtaining a three-dimensional model of the focus according to the preoperative three-dimensional image; after the ablation lesion is generated, an ultrasonic probe is controlled to carry out three-dimensional ultrasonic imaging on the ablation lesion, so that a postoperative three-dimensional ultrasonic image is obtained; registering the post-operation three-dimensional ultrasonic image and a two-dimensional ultrasonic image acquired in real time after ablation according to positioning information acquired by the spatial positioning device to obtain a second registration result; obtaining a three-dimensional model of the ablation focus according to the post-operation three-dimensional ultrasonic image; and based on the first registration result and the second registration result, mapping the three-dimensional models of the lesion and the ablation lesion to the same image space for display. The ablation effect can be presented in a three-dimensional mode.

Description

[0001] This application is a divisional application of the patent application with application number 202111235684X, application date October 22, 2021, and title "Display method of ablation effect and ultrasonic imaging system". TECHNICAL FIELD

[0002] The present application relates to the technical field of ultrasonic imaging, and more particularly to a display method of ablation effect and an ultrasonic imaging system. BACKGROUND

[0003] Real-time ultrasound-guided percutaneous puncture tumor ablation interventional therapy has the advantages of high curative effect, small invasion, and fast postoperative recovery, and its position in tumor treatment is becoming increasingly important. The key to tumor interventional ablation therapy is to make the ablation heat field completely cover the tumor in three-dimensional space, while not damaging the surrounding important structures (bile duct, large blood vessels, gastrointestinal tract, etc.), so the clinical curative effect is closely related to the ablation accuracy. To obtain good clinical curative effect, preoperative scientific planning, intraoperative precise positioning, and postoperative accurate evaluation are the three key steps indispensable in the whole thermal ablation treatment, and the three steps are interrelated, intertransferred, and interfed back.

[0004] The prior art realizes preoperative scientific planning and intraoperative precise positioning, but the current postoperative evaluation mainly determines whether there is residual through enhanced scanning of CT / MRI. At present, the postoperative evaluation based on ultrasound is mostly obtained by the doctor scanning the 3D contrast ultrasonic image of the tumor site after operation and registering with the preoperative 3D image, but since the image features in the 3D contrast ultrasonic image will change after operation, the success rate of registration with the preoperative image will be affected. At the same time, the above scheme is time-consuming, and even if the tumor non-ablation area is found after operation, it cannot be timely and accurately supplemented and ablated based on the original navigation information for the tumor non-ablation area. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and even less to try to determine the protection scope of the claimed technical solution.

[0006] The first aspect of the embodiment of the present application provides a display method of ablation effect, the method comprises: controlling an ultrasonic probe to emit ultrasonic waves to a lesion and receiving ultrasonic echo signals, and obtaining a two-dimensional ultrasonic image according to the ultrasonic echo signals, wherein the ultrasonic probe has a spatial positioning device; registering the two-dimensional ultrasonic image with a pre-acquired preoperative three-dimensional image of the lesion to obtain a first registration result; obtaining a three-dimensional model of the lesion according to the preoperative three-dimensional image; after ablation is performed on the lesion to generate an ablation lesion, controlling the ultrasonic probe to perform three-dimensional ultrasonic imaging on the ablation lesion to obtain a postoperative three-dimensional ultrasonic image; performing real-time registration on the postoperative three-dimensional ultrasonic image and a two-dimensional ultrasonic image collected in real time after ablation according to positioning information obtained by the spatial positioning device to obtain a second registration result; obtaining a three-dimensional model of the ablation lesion according to the postoperative three-dimensional ultrasonic image; and mapping the three-dimensional model of the lesion, the three-dimensional model of the ablation lesion and the two-dimensional ultrasonic image collected in real time to the same image space for display based on the first registration result and the second registration result.

[0007] In one embodiment, the first registration result comprises a first transformation relationship between a space of the preoperative three-dimensional image and a world coordinate space, the second registration result comprises a second transformation relationship between a space of the postoperative three-dimensional ultrasonic image and the world coordinate space, and the mapping of the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space for display comprises: obtaining a third transformation relationship from the space of the preoperative three-dimensional image to the space of the postoperative three-dimensional ultrasonic image according to the first transformation relationship and the second transformation relationship, and mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space for display according to the third transformation relationship.

[0008] In one embodiment, the registration of the two-dimensional ultrasonic image with the pre-acquired preoperative three-dimensional image of the lesion comprises: obtaining a coordinate transformation relationship between the two-dimensional ultrasonic image and the preoperative three-dimensional image; obtaining a spatial transformation relationship between a space of the two-dimensional ultrasonic image and a world coordinate space according to the spatial positioning device; and obtaining the first transformation relationship according to the coordinate transformation relationship between the two-dimensional ultrasonic image and the preoperative three-dimensional image and the spatial transformation relationship between the space of the two-dimensional ultrasonic image and the world coordinate space.

[0009] In an embodiment, the transformation relationship between the space of the two-dimensional ultrasound image and the world coordinate space is obtained according to the spatial positioning device, comprising: obtaining a transformation relationship between the space of the two-dimensional ultrasound image and the space of the spatial positioning device, and a transformation relationship between the space of the spatial positioning device and the world coordinate space; and obtaining the transformation relationship between the space of the two-dimensional ultrasound image and the world coordinate space according to the spatial transformation relationship between the space of the two-dimensional ultrasound image and the space of the spatial positioning device, and the spatial transformation relationship between the space of the spatial positioning device and the world coordinate space.

[0010] In an embodiment, the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image is obtained by matching the two-dimensional ultrasound image with a two-dimensional section in the preoperative three-dimensional image to obtain a matching section of the two-dimensional ultrasound image in the preoperative three-dimensional image, and obtaining the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image according to the coordinates of the same feature points in the two-dimensional ultrasound image and the matching section.

[0011] In an embodiment, the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image is obtained based on an extracorporeal marker.

[0012] In an embodiment, the preoperative three-dimensional image comprises a preoperative three-dimensional ultrasound image obtained by three-dimensional ultrasound imaging of the lesion using the ultrasound probe, and the second transformation relationship between the space of the postoperative three-dimensional ultrasound image and the world coordinate space is obtained according to the positioning information obtained by the spatial positioning device.

[0013] In an embodiment, the method further comprises correcting the first registration result and / or the second registration result according to a respiratory correction function.

[0014] In an embodiment, the three-dimensional model of the ablation lesion is obtained according to the postoperative three-dimensional ultrasound image, comprising: segmenting an ablation lesion region in the postoperative three-dimensional ultrasound image; and performing surface rendering or volume rendering on the ablation lesion region to obtain the three-dimensional model of the ablation lesion.

[0015] In an embodiment, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space for display, comprising: displaying the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion in different viewing angles in at least two display windows of the same display interface, respectively.

[0016] In one embodiment, the different view angles include at least two opposite view angles.

[0017] In one embodiment, the same image space includes at least one of a three-dimensional space corresponding to the preoperative three-dimensional image, a three-dimensional space corresponding to the postoperative three-dimensional ultrasound image, and a three-dimensional space corresponding to the real-time acquired two-dimensional ultrasound image.

[0018] In one embodiment, the method further includes: if there is an ablation residue after ablation, distinguishing and displaying a region where the ablation residue is located to prompt a user to supplement the region where the ablation residue is located.

[0019] The second aspect of the embodiments of the present application provides a display method of ablation effect, the method comprising: controlling an ultrasonic probe to emit ultrasonic waves to a lesion and receiving ultrasonic echo signals, and obtaining a two-dimensional ultrasound image according to the ultrasonic echo signals, wherein the ultrasonic probe has a spatial positioning device; registering the two-dimensional ultrasound image with a pre-acquired preoperative three-dimensional image of the lesion to obtain a first registration result; obtaining a three-dimensional model of the lesion according to the preoperative three-dimensional image; after ablation is performed on the lesion to generate an ablation lesion, controlling the ultrasonic probe to perform three-dimensional ultrasonic imaging on the ablation lesion to obtain a postoperative three-dimensional ultrasound image; obtaining a three-dimensional model of the ablation lesion according to the postoperative three-dimensional ultrasound image; and mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space for display according to positioning information obtained by the spatial positioning device and the first registration result.

[0020] The third aspect of the embodiments of the present application provides an ultrasonic imaging system, comprising: an ultrasonic probe; a transmitting circuit configured to excite the ultrasonic probe to emit ultrasonic waves to target tissue; a receiving circuit configured to control the ultrasonic probe to receive echoes of the ultrasonic waves to obtain echo signals of the ultrasonic waves; and a processor configured to perform steps of the display method of ablation effect as described above.

[0021] The display method of ablation effect and the ultrasonic imaging system according to the embodiments of the present application perform three-dimensional ultrasonic imaging on the ablation lesion after ablation, can timely and accurately register the preoperative three-dimensional ultrasound image with the preoperative three-dimensional image of the lesion, superimpose the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion, intuitively present the ablation residue, facilitate the user to supplement the ablation residue in time, and improve the effect of the ablation operation. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings described below only show some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative effort based on these drawings should fall within the protection scope of the present application.

[0023] In the drawings:

[0024] Figure 1 A schematic block diagram of an ultrasound imaging system according to an embodiment of the present application is shown;

[0025] Figure 2 A schematic flow chart of a display method of ablation effect according to an embodiment of the present application is shown;

[0026] Figure 3 A schematic diagram of a spatial transformation relationship according to an embodiment of the present application is shown;

[0027] Figure 4 A schematic diagram of a spatial transformation relationship according to another embodiment of the present application is shown;

[0028] Figure 5 A schematic diagram of a display interface according to an embodiment of the present application is shown;

[0029] Figure 6 A schematic flow chart of a display method of ablation effect according to another embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of the present application more apparent, the following will describe the example embodiments according to the present application in detail with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0031] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid obscuring the present application, some technical features known in the art are not described.

[0032] It is to be understood that the application can assume various alternative embodiments, and should not be limited to the examples described herein. In other words, the above description should not be construed as limiting the application, but merely as describing specific embodiments. Those skilled in the art will envision other modifications apparent within the scope of the application.

[0033] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. As used herein the term "and / or" includes any and all combinations of associated items.

[0034] For a thorough understanding of the application, reference will be made to the following detailed description, taken in conjunction with the accompanying drawings, in which:

[0035] Below, reference will first be made to Figure 1 An ultrasound imaging system according to an embodiment of the application is described, Figure 1 A schematic block diagram of an ultrasound imaging system 100 according to an embodiment of the application is shown.

[0036] As Figure 1 is shown, the ultrasound imaging system 100 comprises an ultrasound probe 110, a transmit circuit 112, a receive circuit 114, a processor 116 and a display 118. Further, the ultrasound imaging system can also comprise a transmit / receive selection switch 120 and a beamformer 122, the transmit circuit 112 and the receive circuit 114 can be connected to the ultrasound probe 110 via the transmit / receive selection switch 120.

[0037] The ultrasound probe 110 includes a plurality of transducer elements, which can be arranged in a linear array, a two-dimensional array, or a convex array. The transducer elements are used to emit ultrasound waves according to excitation electrical signals, or to convert received ultrasound waves into electrical signals, and thus each transducer element can be used to implement mutual conversion between electrical pulse signals and ultrasound waves, so as to emit ultrasound waves to the tissue of the target region of the measured object, and also to receive ultrasound echo waves reflected by the tissue. During ultrasound detection, it can be controlled by a transmission sequence and a receiving sequence which transducer elements are used to emit ultrasound waves, which transducer elements are used to receive ultrasound waves, or which transducer elements are used to emit ultrasound waves or receive echo waves in time slots. The transducer elements participating in ultrasound wave emission can be excited by electrical signals at the same time, so as to emit ultrasound waves at the same time; or the transducer elements participating in ultrasound beam emission can also be excited by several electrical signals with a certain time interval, so as to continuously emit ultrasound waves with a certain time interval. The ultrasound probe 110 has a spatial positioning device, for example, a positioning sensor bound to the ultrasound probe 110. Based on the spatial positioning device, positioning information can be obtained, and then a coordinate transformation relationship between the ultrasound space and the world coordinate space can be obtained.

[0038] During ultrasound imaging, the transmission circuit 112 sends a transmission pulse with a delay focus to the ultrasound probe 110 through the transmission / reception selection switch 120. The ultrasound probe 110 is excited by the transmission pulse to emit an ultrasound beam to the tissue of the target region of the measured object, receives an ultrasound echo wave with tissue information reflected from the tissue of the target region after a certain delay, and converts the ultrasound echo wave into an electrical signal. The receiving circuit 114 receives the electrical signal converted by the ultrasound probe 110, obtains an ultrasound echo signal, and sends the ultrasound echo signal to the beam synthesis module 122. The beam synthesis module 122 performs focus delay, weighting, and channel summation on the ultrasound echo data, and then sends the ultrasound echo data to the processor 116. The processor 116 performs signal detection, signal enhancement, data conversion, logarithmic compression, and other processing on the ultrasound echo signal to form an ultrasound image. The ultrasound image obtained by the processor 116 can be displayed on the display 118, or stored in the memory 124.

[0039] Optionally, the processor 116 can be implemented as software, hardware, firmware or any combination thereof and can be used in a single or multi-processor circuit, a single or multi-core processor, a single or multi-processor system, or any combination thereof. Also, the processor 116 can control other components in the ultrasound imaging system 100 to perform the corresponding steps of the methods in various embodiments in this specification.

[0040] The display 118 is connected with the processor 116, and the display 118 can be a touch display screen, a liquid crystal display screen, etc. Alternatively, the display 118 can be a liquid crystal display, a television, etc. independent display which is independent of the ultrasound imaging system 100. Alternatively, the display 118 can be a display screen of a smart phone, a tablet computer, etc. electronic device, etc. The number of the display 118 can be one or more.

[0041] The display 118 can display the ultrasound image obtained by the processor 116. In addition, the display 118 can provide a graphical interface for the user to perform human-computer interaction while displaying the ultrasound image, set one or more controlled objects on the graphical interface, and provide the user with an input operation instruction to control the controlled objects by using a human-computer interaction device, so as to perform a corresponding control operation. For example, an icon is displayed on the graphical interface, and the icon can be operated by using the human-computer interaction device to perform a specific function, such as drawing a region of interest frame on the ultrasound image, etc.

[0042] Optionally, the ultrasound imaging system 100 can further include other human-computer interaction devices which are independent of the display 118 and are connected with the processor 116. For example, the processor 116 can be connected with the human-computer interaction device through an external input / output port. The external input / output port can be a wireless communication module, a wired communication module, or a combination of the two. The external input / output port can also be implemented based on a USB, a bus protocol such as CAN, a wired network protocol, etc.

[0043] The human-computer interaction device can include an input device for detecting input information of the user. The input information can be, for example, a control instruction for the ultrasound wave emission / reception timing, an operation input instruction for drawing a point, a line or a frame, etc. on the ultrasound image, or can further include other instruction types. The input device can include one or a combination of a keyboard, a mouse, a scroll wheel, a trackball, a mobile input device (such as a mobile device with a touch display screen, a mobile phone, etc.), a multifunction knob, etc. The human-computer interaction device can also include an output device such as a printer.

[0044] The ultrasound imaging system 100 may also include a memory 124 for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, etc. The memory may be a flash memory card, solid-state memory, hard disk, etc. It may be volatile and / or non-volatile memory, removable memory and / or non-removable memory, etc.

[0045] It should be understood that Figure 1 The components included in the ultrasound imaging system 100 shown are merely illustrative and may include more or fewer components. This application is not limiting in this regard.

[0046] The following reference Figure 2 This application describes a method for displaying the ablation effect according to embodiments. Figure 2 This is a schematic flowchart of a method 200 for displaying the ablation effect according to an embodiment of this application. Specifically, the method 200 for displaying the ablation effect according to an embodiment of this application includes the following steps:

[0047] In step S210, the ultrasound probe is controlled to emit ultrasound waves toward the lesion and receive ultrasound echo signals, and a two-dimensional ultrasound image is obtained based on the ultrasound echo signals, wherein the ultrasound probe has a spatial positioning device.

[0048] In step S220, the two-dimensional ultrasound image is registered with the pre-acquired preoperative three-dimensional image of the lesion to obtain a first registration result;

[0049] In step S230, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image;

[0050] In step S240, after ablation of the lesion to generate an ablation foci, the ultrasound probe is controlled to perform three-dimensional ultrasound imaging of the ablation foci to obtain a postoperative three-dimensional ultrasound image.

[0051] In step S250, the postoperative three-dimensional ultrasound image and the two-dimensional ultrasound image acquired in real time after ablation are registered in real time according to the positioning information obtained by the spatial positioning device to obtain a second registration result.

[0052] In step S260, a three-dimensional model of the ablation lesion is obtained based on the postoperative three-dimensional ultrasound image;

[0053] In step S270, based on the first registration result and the second registration result, the three-dimensional model of the lesion, the three-dimensional model of the ablation lesion, and the real-time acquired two-dimensional ultrasound image are mapped to the same image space for display.

[0054] The ablation effect display method 200 of this application is based on the registration of preoperative three-dimensional images, postoperative three-dimensional ultrasound images, and real-time two-dimensional ultrasound images. The principle of image registration is to establish a spatial mapping relationship between the real-time two-dimensional ultrasound image and the pre-acquired three-dimensional image through the spatial positioning device of the ultrasound probe. After image registration, it is necessary to achieve three-dimensional visualization of the three-dimensional model of the lesion and the three-dimensional model of the ablation site in the same spatial coordinate system.

[0055] Steps S210 to S230 involve the fusion of preoperative three-dimensional images and real-time two-dimensional ultrasound images. In step S210, before the ablation procedure, an ultrasound probe equipped with a spatial positioning device is used to scan the lesion to obtain a two-dimensional ultrasound image. The spatial positioning device is, for example, a positioning sensor attached to the ultrasound probe. The lesion can be a tumor in the target tissue, the subject is a patient requiring ablation surgery, and the target tissue can be various diseased organs such as the liver, stomach, lungs, pancreas, thyroid, breast, and intestines.

[0056] For example, combined Figure 1 In step S210, the transmit / receive selection switch 120 can activate the ultrasound probe 110 to periodically emit ultrasound waves to the lesion of the object under test via the transmitting circuit 112. The ultrasound probe 110 receives the ultrasound echoes returning from the lesion of the object under test via the receiving circuit 114 and converts them into ultrasound echo signals. The beamforming module 122 performs beamforming processing on the ultrasound echo signals, including focusing delay, weighting, and channel summation. Then, the beamformed ultrasound echo data is sent to the processor 118 for signal detection, signal enhancement, data conversion, logarithmic compression, and other processing to obtain a two-dimensional ultrasound image. This two-dimensional ultrasound image is a grayscale image, i.e., a B-mode ultrasound image.

[0057] In step S220, the two-dimensional ultrasound image obtained in step S210 is registered with the preoperative three-dimensional image of the lesion to obtain the first registration result.

[0058] Preoperative three-dimensional images of the lesion can be acquired using medical imaging equipment such as computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), digital X-ray imaging, ultrasound, digital subtraction angiography (DSA), and optical imaging equipment. Because three-dimensional reconstruction is time-consuming, preoperative three-dimensional images of the lesion are acquired before surgery.

[0059] For example, users can import preoperative three-dimensional images of lesions into the ultrasound imaging system before starting ultrasound imaging. Import methods include, but are not limited to, importing via storage media such as USB flash drives or CDs, or importing via network transmission.

[0060] Registering a preoperatively acquired 3D image of the lesion with a real-time acquired 2D ultrasound image allows for the utilization of the spatial information of the 3D image while retaining the real-time capability of the 2D ultrasound image. Registering a 2D ultrasound image with a preoperative 3D image involves finding the spatial transformation relationship between the two images, ensuring a one-to-one geometric correspondence between corresponding points. Registration can include rigid body registration or non-rigid body registration.

[0061] For example, the first registration result may include the transformation relationship between the space of the preoperative 3D image and the space of the real-time acquired 2D ultrasound image. Subsequently, the transformation relationship between the space of the postoperative 3D image and the space of the real-time acquired 2D ultrasound image can be obtained, thereby mapping the preoperative and postoperative 3D images to the same image space for display. The first registration result may also include the transformation relationship between the space of the preoperative 3D image and the world coordinate space. When the first registration result is the transformation relationship between the space of the preoperative 3D image and the world coordinate space, registering the preoperative 3D image and the 2D ultrasound image includes: obtaining the coordinate transformation relationship between the 2D ultrasound image and the preoperative 3D image; obtaining the spatial transformation relationship between the space of the 2D ultrasound image and the world coordinate space based on the spatial positioning device of the ultrasound probe; and obtaining the first transformation relationship between the space of the preoperative 3D image and the world coordinate space based on the coordinate transformation relationship between the 2D ultrasound image and the preoperative 3D image, and the spatial transformation relationship between the space of the 2D ultrasound image and the world coordinate space. Since the world coordinate space is fixed, a second transformation relationship between the space of the postoperative 3D ultrasound image and the world coordinate space can be obtained subsequently, thereby mapping the preoperative and postoperative 3D images to the same image space for display.

[0062] Specifically, during ultrasound scanning, a spatial positioning device fixed to the ultrasound probe continuously provides position information as the probe moves. A magnetic positioning controller obtains the 6-DOF spatial orientation of the ultrasound probe. Using image information and magnetic positioning information, the two-dimensional ultrasound image and the preoperative 3D image can be registered. The processor can be connected to the spatial positioning device on the ultrasound probe via wired or wireless means to acquire the probe's position information. The spatial positioning device can employ any type of structure or principle, such as an optical positioning sensor or a magnetic field positioning sensor, to position the ultrasound probe.

[0063] The spatial transformation relationship between two-dimensional ultrasound images and preoperative three-dimensional images is as follows: Figure 3 As shown, it can be expressed as a formula:

[0064] T sec =P·R probe ·A·T us (Formula 1)

[0065] Among them, T us It is the coordinate of a point in the ultrasound image space, T sec A represents the coordinates of the corresponding point in the preoperative three-dimensional image space; A is the ultrasound image space (coordinates are represented as X). us Y us Z us ) to the space of the spatial positioning device (coordinates represented as X) sensor Y sensor Z sensor The coordinate transformation relationship of R probe It is a spatial positioning device that maps space to world coordinate space (coordinates are represented as X). MG Y MG Z MG The coordinate transformation relationship is given by P, where P is the coordinate transformation relationship from the world coordinate system to the preoperative 3D image. During ultrasound imaging, the spatial positioning device is fixed to the ultrasound probe. When the ultrasound probe model remains unchanged, A is fixed and can be determined by calibration before registration. probe The readings are directly obtained from the magnetic positioning controller; as the ultrasound probe moves, R... probe The value P is constantly changing. It needs to be calculated using the image registration result (i.e., the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image). If the image registration result between the two-dimensional ultrasound image space and the preoperative three-dimensional image is M, then:

[0066] P = M·A -1 ·R probe -1 (Formula 2)

[0067] The image registration methods used in the embodiments of this application may include automatic registration, interactive registration, manual registration, or any combination of the above three methods. Registration may include registration based on anatomical features or geometric features, registration based on pixel grayscale correlation, registration based on external positioning markers, etc. Registration may also include any other suitable registration methods.

[0068] In one embodiment, registering a two-dimensional ultrasound image with a three-dimensional image specifically includes: matching a two-dimensional section of the two-dimensional ultrasound image with a two-dimensional section of the preoperative three-dimensional image to obtain a matching section of the two-dimensional ultrasound image in the preoperative three-dimensional image; and obtaining the coordinate transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image based on the coordinates of the same feature points in the two-dimensional ultrasound image and the coordinates in the matching section. The alignment operation can be performed manually by the user; that is, the system receives the user's manual alignment command to align the two-dimensional ultrasound image with the corresponding section of the preoperative three-dimensional image.

[0069] In another embodiment, identical tissues in the two-dimensional ultrasound image and the preoperative three-dimensional image can be identified for automatic alignment. When the target site is the liver, the identified identical tissues include, for example, blood vessels and the liver capsule. After aligning the two-dimensional ultrasound image with the preoperative three-dimensional image, the coordinate transformation relationship can be calculated based on the coordinates of the overlapping points.

[0070] In other embodiments, feature points in the two-dimensional ultrasound image and the preoperative three-dimensional image can be determined first. These feature points generally possess certain properties such as translation invariance, rotation invariance, scale invariance, insensitivity to illumination, and modal invariance. The properties of the feature points are determined by the feature point extraction method. Subsequently, features of the feature points are extracted. These features can be generated using neighborhood gradient histograms, neighborhood autocorrelation, grayscale, etc. Then, the feature points of the two-dimensional ultrasound image are matched with the feature points of the preoperative three-dimensional ultrasound image, and the coordinate transformation relationship is calculated based on the matched feature points.

[0071] In addition, it can identify the location of external markers in preoperative 3D images and determine their spatial position in 2D ultrasound images based on magnetic navigation for automatic alignment. External markers, such as one or more metallic markers placed on the patient's body surface, will form a distinct light spot in the preoperative 3D image, thus revealing their position. During ultrasound image scanning, a positioning sensor is installed on the ultrasound probe to obtain the position of the metallic markers. By aligning the markers in the preoperative 3D ultrasound image with those in the 2D ultrasound image, registration between the 2D and preoperative 3D ultrasound images can be achieved.

[0072] When the preoperative 3D image is a 3D ultrasound image, if it contains its own positional information, automatic registration can be performed based on the positional information inherent in the 2D ultrasound image and the preoperative 3D ultrasound image. The preoperative 3D image can be acquired by a volumetric probe, reconstructed using Freehand 3D ultrasound reconstruction technology by a convex array or linear array probe equipped with magnetic navigation, or scanned by a planar array probe. The preoperative 3D ultrasound image reconstructed based on magnetic navigation positional information can be obtained by on-site Freehand scanning of an ultrasound film containing positioning information. Positional information is obtained during scanning, thus the P relationship mentioned above can be automatically obtained.

[0073] In one embodiment, during ablation surgery of abdominal soft tissues such as the liver and lungs, the position of the soft tissues and lesions may shift due to the patient's respiratory movements. Therefore, a respiratory correction function is introduced during the registration process to correct for this shift. For example... Figure 3 As shown, the added T(t) is the spatial mapping method used for respiratory correction. T(t) changes over time. The spatial transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image can be expressed by the following formula:

[0074] T Sec =T(t)·P·R probe ·A·T us (Formula 3)

[0075] In addition, methods such as helping the patient breathe steadily can be used to correct positional shifts caused by respiratory movements.

[0076] In practice, the doctor first imports the preoperative three-dimensional image into the ultrasound imaging system before registration. Then, the doctor uses an ultrasound probe to scan the target tissue. If a lesion appears in the scanned image, the ultrasound image can be frozen. Then, a two-dimensional section corresponding to the two-dimensional ultrasound image is found in the preoperative three-dimensional image. The frozen ultrasound image is then registered with the two-dimensional section of the selected preoperative three-dimensional image.

[0077] In step S230, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image. Exemplarily, step S230 can be performed before step S210 or step S220, that is, before performing ultrasound imaging on the lesion, a three-dimensional model of the lesion is obtained in advance based on the preoperative three-dimensional image.

[0078] In this embodiment, any suitable method can be used to segment lesions in preoperative 3D images, and a 3D model of the lesion can be reconstructed based on the segmentation results. Segmentation methods include, but are not limited to, automatic segmentation, manual segmentation, or interactive segmentation. For example, automatic segmentation methods can employ one or more of the following: random walk model, region growing, graph cut algorithm, pattern recognition, Markov field, adaptive thresholding, etc. Manual segmentation involves the user outlining the edges of the lesion on multiple 2D sections of the preoperative 3D image and interpolating between every two edge layers, or outlining the edges of the lesion on each 2D section and then generating a 3D contour of the lesion based on these 2D edges. Interactive segmentation methods incorporate user interaction as algorithm input during the segmentation process, enabling objects with high-level semantics in the image to be completely extracted. For example, the user can select an initial segmentation area; then, the 3D contour of the lesion is automatically segmented within the initial segmentation area. For example, users can draw some points or lines within the initial segmentation range. The interactive segmentation algorithm can then obtain the user-drawn points or lines as input and automatically create a weighted map of the similarity between each pixel and the foreground or background. By solving for the minimum cut, the foreground and background can be distinguished, thereby determining the three-dimensional contour of the lesion.

[0079] Next, surface reconstruction is performed based on the segmented 3D contours to generate a 3D model of the lesion. A surface rendering method can be used. First, the lesion's structural surface is reconstructed from the 3D data, i.e., the lesion's structural surface is reconstructed based on the segmentation results and contour lines. Then, a realistic 3D lesion entity is generated using a suitable lighting model and texture mapping method. The surface rendering algorithm can employ the Marching Cube algorithm, which essentially treats a series of two-dimensional slice data as a 3D data field, extracting materials with certain threshold values ​​and connecting them into triangular facets in a certain topological form. The basic idea of ​​the Marching Cube algorithm is to process each volume element in the volume data field one by one, and determine the construction form of the isosurfaces inside the volume element based on the values ​​of each vertex of the volume element. During the algorithm implementation, the construction of isosurfaces within the volume element involves the following calculations: calculation of the approximation of isosurfaces by triangular facets in the volume element; calculation of the normal vectors of each vertex of the triangular facets. After calculating the vertex value, the vertex energy value is compared with the set energy threshold. If the vertex value is less than the threshold, it is set as an external point 1. If the vertex value is greater than the threshold, it means that the point is inside the ellipsoid and is set as 0.

[0080] Volume rendering is a technique that directly generates two-dimensional images on a screen from a three-dimensional data field. A digital image corresponds to a two-dimensional array describing the color and intensity of data elements; these elements are called pixels. Similarly, a three-dimensional data field can be described by a three-dimensional array with corresponding values, called voxels. Similar to a two-dimensional raster in a digital image, a volume data field can be viewed as a three-dimensional raster. A typical three-dimensional data field is a medical image three-dimensional data field. After obtaining a series of medical image slice data, these slice data are regularized according to position and angle information, forming a regular data field in three-dimensional space composed of a uniform grid. Each node on the grid is a voxel, describing the object's density and other attributes. The biggest advantage of volume rendering technology is its ability to explore the internal structure of objects and describe highly shaped objects, such as muscles. Surface rendering is weaker in these aspects, but it is faster than volume rendering. Therefore, to improve imaging speed, surface rendering methods can be used to generate three-dimensional models of lesions.

[0081] Since the 3D model of the lesion is reconstructed based on the lesion region in the preoperative 3D image, and the spatial coordinate system of the 3D model is the same as that of the preoperative 3D image, after obtaining the 3D model of the lesion and the first registration result between the preoperative 3D image and the 2D ultrasound image, the 3D model of the lesion can be displayed in the 2D ultrasound image at the location of the lesion, based on the coordinates of the 3D model of the lesion in the preoperative 3D image and the registration relationship between the 2D ultrasound image and the preoperative 3D image. The positional relationship between the reconstructed 3D model of the lesion and the real-time 2D ultrasound image can reflect the location, size, geometry, and relationship with surrounding tissues of the lesion.

[0082] In step S240, after ablation of the lesion to create an ablation zone, the ultrasound probe is controlled to perform three-dimensional ultrasound imaging of the ablation zone to obtain a postoperative three-dimensional ultrasound image. During the ablation process, the ablation can be guided by real-time two-dimensional ultrasound images and a three-dimensional model of the lesion. The ablation procedure involves inserting an ablation needle into the lesion, where heat generated by the needle causes the lesion cells to coagulate and die. Depending on the actual situation, one or more ablation needles can be used, as one or more ablation zones can be obtained.

[0083] This application embodiment utilizes freehand 3D ultrasound imaging to obtain postoperative 3D ultrasound images, enabling real-time acquisition of 3D images of the ablation lesion and registration with real-time 2D ultrasound images. Freehand 3D ultrasound imaging employs traditional 2D ultrasound scanning equipment combined with spatial positioning devices (including but not limited to optical or magnetic positioning systems). Through freehand scanning, a series of 2D ultrasound images and corresponding spatial position information are obtained, based on which 3D ultrasound volume data is reconstructed. Finally, the reconstructed 3D volume data is rendered and displayed. In freehand scanning, the operator holds an ultrasound probe equipped with a spatial positioning device and scans the target tissue in a relatively free manner and in a specific order. The position and angle of the acquired images are relatively arbitrary. From a clinical application perspective, freehand scanning is easier to integrate with ablation surgical instruments.

[0084] Freehand 3D ultrasound imaging comprises three stages: acquisition of 2D ultrasound images, reconstruction of 3D volume data, and 3D rendering and display. 3D volume data reconstruction is one of the key technical aspects of achieving high-precision Freehand 3D ultrasound imaging. Depending on the reconstruction objective, 3D volume data reconstruction can be divided into two main categories: surface-based reconstruction methods and volume data-based reconstruction methods. Surface-based reconstruction methods require precise contour segmentation of tissues and organs, and cannot display internal tissue structures. Therefore, this application primarily employs volume data-based reconstruction methods, which use a certain number of voxels arranged according to their corresponding spatial positions to construct a 3D image. This method can reconstruct all tissue information of the human body structure.

[0085] The reconstruction process of Freehand 3D ultrasound volume data mainly includes three steps: volume data structure construction, sampled pixel reallocation, and voxel value calculation in the volume data. The first step in 3D ultrasound reconstruction is to determine the size specifications of the reconstructed volume data based on the 2D ultrasound image information, specifically including the origin of the volume data coordinates, the dimension, and the physical intervals between voxels. The size of the reconstructed volume data structure can be determined using methods such as image keyframes or principal component analysis, or the size of the reconstruction region can be quickly determined based on bounding box technology, without needing to pre-determine or limit the area of ​​the reconstruction scan. The bounding box is completely determined only by its minimum point (Xmin, Ymin, Zmin) and maximum point (Xmax, Ymax, Zmax). The second step in 3D ultrasound reconstruction is to reallocate the pixels on the 2D plane, that is, to traverse every pixel point on the 2D ultrasound plane and map the pixels to the 3D volume data according to the transformation relationship of their position information. If more than one pixel falls into the same voxel, it is necessary to select appropriate values ​​according to certain rules (such as average value, maximum value, first or last arriving value, etc.).

[0086] Because the sampling data of Freehand 3D ultrasound imaging is sparse, blank areas will inevitably remain in the reconstructed volume data after pixel allocation. Therefore, the third step in the reconstruction process is to fill in the blank volume data areas (hole-filling). Various interpolation methods based on known data can be used for hole-filling, the basic principle of which is to use the known pixel values ​​of the surrounding area to interpolate the unknown voxel values ​​in the voxel grid.

[0087] In step S250, the postoperative three-dimensional ultrasound image and the real-time acquired two-dimensional ultrasound image after ablation are registered in real time based on the positioning information obtained by the spatial positioning device to obtain a second registration result. Registering the postoperative three-dimensional ultrasound image with the real-time acquired two-dimensional ultrasound image utilizes the spatial information of the three-dimensional ultrasound image while also retaining the real-time capability of the two-dimensional ultrasound image. Registering the two-dimensional ultrasound image with the postoperative three-dimensional ultrasound image involves finding the spatial transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image, ensuring a one-to-one geometric correspondence between corresponding points in the two-dimensional ultrasound image and the preoperative three-dimensional image.

[0088] In one embodiment, the second registration result includes a second transformation relationship between the postoperative 3D ultrasound space and the world coordinate space. Based on the first and second transformation relationships obtained above, a third transformation relationship can be obtained from the space of the preoperative 3D image to the space of the postoperative 3D ultrasound image. According to the third transformation relationship, the 3D model of the lesion and the 3D model of the ablation lesion can be mapped to the same image space for display. For example, the 3D model of the lesion can be mapped to the 3D space corresponding to the postoperative 3D image, or the 3D model of the ablation lesion can be mapped to the image space corresponding to the preoperative 3D image. For example, see... Figure 4 Based on the first registration result, the coordinate transformation relationship P1 between the preoperative 3D image space and the world coordinate space is obtained. Based on the positioning information obtained by the spatial positioning device, the coordinate transformation relationship P2 between the postoperative 3D image space and the world coordinate space is obtained. Therefore, the coordinate transformation relationship F from the preoperative 3D image space to the postoperative 3D ultrasound image space can be obtained, where F = P2 × P1. -1 .

[0089] In this embodiment, since the postoperative three-dimensional ultrasound image is obtained based on the Freehand three-dimensional ultrasound imaging method, and the principle of Freehand three-dimensional ultrasound imaging is based on the reconstruction of three-dimensional ultrasound volume data from two-dimensional ultrasound images and corresponding spatial position information, the transformation relationship from the world coordinate system to the postoperative three-dimensional ultrasound image space is known. Therefore, it is unnecessary to first match image coordinate points and then perform registration based on the matching results as in step S220, greatly reducing registration time and enabling real-time registration during ultrasound imaging. Furthermore, the transformation relationship from the world coordinate system to the postoperative three-dimensional ultrasound image space, the transformation relationship A from the ultrasound image space to the spatial positioning device space, and the transformation relationship Rprob from the spatial positioning device space to the world coordinate space are known. e Furthermore, it is possible to directly derive the coordinate transformation relationship between the coordinates of the same point in the two-dimensional ultrasound image space and the coordinates in the postoperative three-dimensional ultrasound image space.

[0090] In addition, the second registration result can be corrected according to the breathing correction function. The specific correction method is the same as the method for correcting the first registration result according to the breathing correction function.

[0091] In step S260, a three-dimensional model of the ablation lesion is obtained based on the postoperative three-dimensional ultrasound image. The execution order of steps S250 and S260 is not limited. For example, the three-dimensional model of the ablation lesion can be obtained first based on the postoperative three-dimensional ultrasound image, and then the postoperative three-dimensional image can be registered with the real-time acquired two-dimensional ultrasound image.

[0092] The method for obtaining a three-dimensional model of the ablation lesion based on postoperative three-dimensional ultrasound images is similar to the method for obtaining a three-dimensional model of the lesion based on preoperative three-dimensional images. First, the ablation lesion in the postoperative three-dimensional ultrasound image is segmented. Then, surface reconstruction is performed based on the segmented three-dimensional contour to generate a three-dimensional model of the ablation lesion. Specific segmentation and surface reconstruction methods can be found in the relevant description in step S230.

[0093] In step S270, based on the first registration result and the second registration result, the three-dimensional model of the lesion, the three-dimensional model of the ablation lesion, and the real-time acquired two-dimensional ultrasound image are mapped to the same image space for display. In one embodiment, the first registration result includes the transformation relationship between the three-dimensional space corresponding to the preoperative three-dimensional image and the three-dimensional space corresponding to the real-time acquired two-dimensional ultrasound image, and the second registration result includes the transformation relationship between the three-dimensional space corresponding to the postoperative three-dimensional image and the three-dimensional space corresponding to the real-time acquired two-dimensional ultrasound image. According to the first registration result and the second registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion can be mapped to the same image space for display, for example, mapped to at least one of the three-dimensional space corresponding to the preoperative three-dimensional image, the three-dimensional space corresponding to the postoperative three-dimensional ultrasound image, and the three-dimensional space corresponding to the real-time acquired two-dimensional ultrasound image. In another embodiment, the first registration result includes the spatial transformation relationship between the two-dimensional ultrasound image and the preoperative three-dimensional image, i.e., the spatial transformation relationship between the two-dimensional ultrasound image and the three-dimensional model of the lesion. The second registration result includes the spatial transformation relationship between the postoperative three-dimensional image and the two-dimensional ultrasound image, i.e., the spatial mapping relationship between the three-dimensional model of the ablation lesion and the two-dimensional ultrasound image. Thus, the spatial mapping relationship between the three-dimensional model of the ablation lesion and the three-dimensional model of the lesion can be obtained, and then both can be mapped to the same image space and superimposed on the real-time acquired two-dimensional ultrasound image for display. Based on the superimposed three-dimensional model of the ablation lesion and the three-dimensional model of the lesion, the user can intuitively understand the ablation effect. Furthermore, since the two-dimensional ultrasound image is a real-time postoperative image, if the unablated area is determined based on the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion, timely and accurate supplementary needle ablation can be performed on the unablated area based on the original navigation information during the ablation process. For example, the three-dimensional model of the lesion, the three-dimensional model of the ablation site, and the real-time acquired two-dimensional ultrasound image can be simultaneously mapped to at least two image spaces, such as simultaneously mapped to the three-dimensional space corresponding to the preoperative three-dimensional image or the three-dimensional space corresponding to the two-dimensional ultrasound image, and the views of different image spaces can be displayed in different windows.

[0094] See Figure 5This application embodiment can display three-dimensional models of the lesion and the ablation site from different perspectives in at least two display windows on the same display interface, allowing doctors to have a more comprehensive understanding of the ablation status of the lesion from different angles. Exemplarily, the different perspectives include at least two opposing perspectives. For example, the three-dimensional display window 503 is used to display the main view, reflecting the view information from the front of the lesion, wherein the three-dimensional model 501 of the lesion and the three-dimensional model 502 of the ablation site are superimposed on the two-dimensional ultrasound image 505; the three-dimensional display window 504 is used to display the auxiliary view, reflecting the view information from the back of the lesion. When the user rotates the viewing angle of the three-dimensional display window 503, the three-dimensional display window 504 rotates accordingly. In some embodiments, the three-dimensional display window used to display the auxiliary view can also be implemented as a small window, superimposed on the corner of the three-dimensional display window used to display the main view.

[0095] In some embodiments, if ablation residue exists after ablation, the area containing the residue can be displayed differently to prompt the user to perform additional needle insertion in that area. The area containing the residue is the portion of the lesion's 3D model not covered by the ablation site's 3D model. Distinguishing the area containing the residue includes, but is not limited to, displaying it in a different color than the rest of the lesion's 3D model. Since the 3D model of the ablation site in this embodiment is generated in real-time after ablation, the residue can be displayed in real-time, facilitating timely additional needle insertion based on navigation information during the ablation process.

[0096] In summary, the ablation effect display method 200 of this application embodiment performs three-dimensional ultrasound imaging on the ablation lesion after ablation, which can timely and accurately register the preoperative three-dimensional ultrasound image with the preoperative three-dimensional image of the lesion, and overlay the three-dimensional model of the lesion with the three-dimensional model of the ablation lesion to present the ablation residue intuitively. This makes it convenient for users to perform timely needle replacement on the ablation residue and improve the effect of the ablation surgery.

[0097] Below, we will refer to Figure 6 A method for displaying the ablation effect according to another embodiment of this application is described. Figure 6 This is a schematic flowchart of a method 600 for displaying the ablation effect according to an embodiment of this application. Figure 6 As shown, the method 600 for displaying the ablation effect according to an embodiment of this application includes the following steps:

[0098] In step S610, the ultrasound probe is controlled to emit ultrasound waves toward the lesion and receive ultrasound echo signals, and a two-dimensional ultrasound image is obtained based on the ultrasound echo signals, wherein the ultrasound probe has a spatial positioning device.

[0099] In step S620, the two-dimensional ultrasound image is registered with the pre-acquired preoperative three-dimensional image of the lesion to obtain a first registration result;

[0100] In step S630, a three-dimensional model of the lesion is obtained based on the preoperative three-dimensional image;

[0101] In step S640, after ablation of the lesion to generate an ablation foci, the ultrasound probe is controlled to perform three-dimensional ultrasound imaging of the ablation foci to obtain a postoperative three-dimensional ultrasound image.

[0102] In step S650, a three-dimensional model of the ablation lesion is obtained based on the postoperative three-dimensional ultrasound image;

[0103] In step S660, based on the positioning information obtained by the spatial positioning device and the first registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space for display.

[0104] The method 600 for displaying the ablation effect in this embodiment is generally similar to the method 200 for displaying the ablation effect described above. The difference lies in that step S660 of the method 600 does not limit the display to mapping the three-dimensional model of the lesion, the three-dimensional model of the ablation site, and the two-dimensional ultrasound image to the same image space; it is sufficient to map the three-dimensional model of the lesion and the three-dimensional model of the ablation site to the same image space. For example, based on the first registration result, the coordinate transformation relationship P1 between the preoperative three-dimensional image space and the world coordinate space is obtained; based on the positioning information obtained by the spatial positioning device, the coordinate transformation relationship P2 between the postoperative three-dimensional image space and the world coordinate space is obtained; thus, the coordinate transformation relationship F from the preoperative three-dimensional image space to the postoperative three-dimensional ultrasound image space can be obtained, where F = P2 × P1. -1 This allows the 3D model of the lesion to be mapped onto the image space of the 3D model of the ablation site, and then overlaid on the 3D model of the ablation site for display; alternatively, the 3D model of the ablation site can be mapped onto the image space of the 3D model of the lesion, and then overlaid on the 3D model of the lesion for display. By simply overlaying the 3D model of the lesion with the 3D model of the ablation site, the ablation effect can be presented to the user.

[0105] Other specific details of the ablation effect display method 600 can be found in the relevant description in the ablation effect display method 200, and will not be repeated here.

[0106] Another aspect of this application provides an ultrasound imaging system for displaying the ablation effect using the above-described method 200 or method 600 for displaying the ablation effect. This ultrasound imaging system includes an ultrasound probe, a transmitting circuit, a receiving circuit, a processor, and a display. (Refer to previous section) Figure 1 This ultrasound imaging system can achieve the following: Figure 1The ultrasound imaging system 100 shown may include an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116, and a display 118. Optionally, the ultrasound imaging system 100 may also include a transmit / receive selection switch 120 and a beamforming module 122. The transmitting circuit 112 and the receiving circuit 114 can be connected to the ultrasound probe 110 through the transmit / receive selection switch 120. The relevant descriptions of each component can be referred to the relevant descriptions above, and will not be repeated here.

[0107] The ultrasound imaging system of this application embodiment can perform three-dimensional ultrasound imaging of the ablation lesion after ablation. It can promptly and accurately register the preoperative three-dimensional ultrasound image with the preoperative three-dimensional image of the lesion, and overlay the three-dimensional model of the lesion with the three-dimensional model of the ablation lesion to present the ablation residue intuitively. This allows the user to promptly perform additional needle insertion on the ablation residue and improve the effect of the ablation surgery.

[0108] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0109] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0110] In the several embodiments provided in this application, 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 instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0111] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0112] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0113] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0114] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0115] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application 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, provided on a carrier signal, or provided in any other form.

[0116] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0117] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A method for displaying ablation effects, characterized in that, The method includes: The ultrasound probe is controlled to emit ultrasound waves toward the lesion and receive ultrasound echo signals, and a two-dimensional ultrasound image is obtained based on the ultrasound echo signals, wherein the ultrasound probe has a spatial positioning device. The two-dimensional ultrasound image is registered with the pre-acquired preoperative three-dimensional image of the lesion to obtain a first registration result; A three-dimensional model of the lesion was obtained based on the preoperative three-dimensional image; The ultrasound probe is controlled to perform three-dimensional ultrasound imaging on the ablation site to obtain postoperative three-dimensional ultrasound images; A three-dimensional model of the ablation lesion was obtained based on the postoperative three-dimensional ultrasound images; Based on the positioning information obtained by the spatial positioning device and the first registration result, the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion are mapped to the same image space for display.

2. The method as described in claim 1, characterized in that, The step of mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation lesion to the same image space for display based on the positioning information obtained by the spatial positioning device and the first registration result includes: Based on the positioning information, a second coordinate transformation relationship between the postoperative three-dimensional image space and the world coordinate space is obtained; Based on the first registration result, the first coordinate transformation relationship between the preoperative three-dimensional image space and the world coordinate space is obtained; Based on the second coordinate transformation relationship and the first coordinate transformation relationship, the target coordinate transformation relationship from the preoperative three-dimensional image space to the postoperative three-dimensional ultrasound image space is obtained. According to the target coordinate transformation relationship, the three-dimensional model of the lesion and the three-dimensional model of the ablation site are mapped to the same image space for display.

3. The method according to claim 1, characterized in that, It also includes correcting the first registration result based on the breathing correction function.

4. The method according to claim 1, characterized in that, The process of obtaining a three-dimensional model of the ablation lesion based on the postoperative three-dimensional ultrasound image includes: The ablation zone was segmented from the postoperative three-dimensional ultrasound image; The ablation zone is rendered using surface or volume drawing to obtain a three-dimensional model of the ablation zone.

5. The method according to claim 1, characterized in that, The step of mapping the three-dimensional model of the lesion and the three-dimensional model of the ablation site to the same image space for display includes: The lesion and the ablation zone are displayed in at least two display windows on the same display interface from different perspectives.

6. The method according to claim 5, characterized in that, The different perspectives include at least two perspectives in opposite directions.

7. The method according to claim 1, characterized in that, The method further includes: If ablation residue remains after ablation, the area containing the ablation residue will be displayed separately to prompt the user to have the area treated with additional needles.

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