Brain three-dimensional model correction method and system based on ultrasonic image and computing device

Abstract

The invention discloses a brain three-dimensional model correction method based on an ultrasonic image. The brain three-dimensional model correction method comprises the following steps: determining an ultrasonic positioning point of an ultrasonic tool; obtaining a region of interest of the preoperative brain three-dimensional model according to the ultrasonic positioning points, wherein the region of interest comprises a plurality of first voxels; after the brain deviates, a two-dimensional ultrasonic image obtained by ultrasonic imaging of the brain through an ultrasonic tool and collected ultrasonic position information are obtained, an ultrasonic three-dimensional reconstruction algorithm is utilized, reconstruction is conducted according to the two-dimensional ultrasonic image and the ultrasonic position information, a three-dimensional ultrasonic image is generated, and the three-dimensional ultrasonic image comprises a plurality of second voxels; the size of the second voxel is the same as that of the first voxel; performing feature point matching on the region of interest and the three-dimensional ultrasonic image to construct a correction matrix; and correcting the pre-operative brain three-dimensional model according to a correction matrix to obtain a corrected brain three-dimensional model. According to the invention, the influence of brain drift can be avoided, so that the surgical operation process can be navigated more accurately.

Description

Technical Field

[0001] This invention relates to the field of medical technology, and in particular to a method, system and computing device for correcting a three-dimensional brain model based on ultrasound images. Background Technology

[0002] With the development of medical equipment and computer technology, computer-assisted surgery is being applied more widely and in greater detail in neurosurgical settings. Computers can create a 3D model of the patient based on preoperative medical images such as CT and MRI scans, through image segmentation and reconstruction. This 3D model is then used for surgical planning and localization, leading to diagnosis and surgery. It's worth noting that by creating the 3D model, the computer can display information such as the location of lesions, important functional areas, and vital blood vessels and nerves. This allows surgeons to strategically avoid high-risk areas during preoperative planning. During the surgery, a tracking and navigation device can obtain the patient's 3D coordinates in space to guide the surgical procedure.

[0003] However, during surgery, after the dura mater is cut, cerebrospinal fluid (CSF) flows out. As the CSF drains out, the patient's brain loses its original support, causing it to shift, a condition known medically as brain drift. Currently, computer-assisted neurosurgery primarily assists surgeons in preoperative diagnosis and planning, but its application in intraoperative navigation is not perfect. Furthermore, the impact of brain drift on the accuracy of surgical navigation is not considered, resulting in insufficient precision in the surgical navigation process.

[0004] Therefore, a method for correcting three-dimensional brain models based on ultrasound images is needed to address the problems existing in the above-mentioned technical solutions. Summary of the Invention

[0005] Therefore, the present invention provides a method for correcting a three-dimensional brain model based on ultrasound images, in order to solve or at least alleviate the problems mentioned above.

[0006] According to one aspect of the present invention, a method for correcting a three-dimensional brain model based on ultrasound images is provided, executed in a computing device communicatively connected to an ultrasound tool. The method includes: determining ultrasound positioning points of the ultrasound tool; obtaining a region of interest (ROI) of a preoperative three-dimensional brain model based on the ultrasound positioning points, the ROI comprising multiple first voxels; after brain displacement, acquiring a two-dimensional ultrasound image obtained by ultrasound imaging of the brain using the ultrasound tool and acquired ultrasound position information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information, the three-dimensional ultrasound image comprising multiple second voxels, the second voxels being the same size as the first voxels; performing feature point matching between the ROI and the three-dimensional ultrasound image to construct a correction matrix; and correcting the preoperative three-dimensional brain model based on the correction matrix to obtain a corrected three-dimensional brain model.

[0007] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, obtaining the region of interest of the preoperative three-dimensional brain model according to the ultrasound positioning points includes: obtaining the region of interest of the preoperative three-dimensional brain model in a first imaging space according to the ultrasound positioning points; obtaining a two-dimensional ultrasound image obtained by ultrasound imaging of the brain with an ultrasound tool and the acquired ultrasound position information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information, includes: establishing a second imaging space according to the ultrasound positioning points; obtaining a two-dimensional ultrasound image obtained by ultrasound imaging of the brain with an ultrasound tool and the acquired ultrasound position information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image in the second imaging space based on the two-dimensional ultrasound image and the ultrasound position information.

[0008] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, after the brain is displaced, acquiring a two-dimensional ultrasound image obtained by ultrasound imaging of the brain with an ultrasound tool and the acquired ultrasound position information includes: after the brain is displaced during surgery due to the incision of the dura mater and the outflow of cerebrospinal fluid, acquiring a two-dimensional ultrasound image obtained by ultrasound imaging of the brain with an ultrasound tool and the acquired ultrasound position information.

[0009] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, feature point matching is performed between the region of interest and the three-dimensional ultrasound image to construct a correction matrix. This includes: identifying feature points for each first voxel in the region of interest and each second voxel in the three-dimensional ultrasound image to determine multiple first feature points in the region of interest and multiple second feature points in the three-dimensional ultrasound image, wherein the multiple first feature points are adapted to represent brain features in the region of interest, and the multiple second feature points are adapted to represent brain features in the three-dimensional ultrasound image; performing feature point matching between the multiple first feature points and the multiple second feature points to obtain a matching result, the matching result containing multiple feature pairs, each feature pair containing a first feature point and a corresponding second feature point; and constructing a correction matrix based on the matching result.

[0010] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, the computing device is communicatively connected to a reference frame and a registration pen, respectively; obtaining the region of interest of the preoperative three-dimensional brain model based on the ultrasound positioning points includes: obtaining the position information of the reference frame and establishing a reference coordinate system based on the position information of the reference frame; obtaining the brain point cloud information of the patient collected by the registration pen, and registering the preoperative three-dimensional brain model with the brain point cloud information to obtain first registration information, wherein the first registration information is used to represent the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information; converting the preoperative three-dimensional brain model to the reference coordinate system based on the first registration information to obtain a registered preoperative three-dimensional brain model; and obtaining the region of interest of the registered preoperative three-dimensional brain model based on the position information of the ultrasound positioning points relative to the reference frame.

[0011] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, before obtaining the region of interest of the preoperative three-dimensional brain model according to the ultrasound positioning points, the method includes: performing three-dimensional reconstruction based on the patient's brain image data in a first imaging space to obtain a preoperative three-dimensional brain model.

[0012] Optionally, in the method for correcting a three-dimensional brain model based on ultrasound images according to the present invention, acquiring a two-dimensional ultrasound image obtained by ultrasound imaging of the brain using an ultrasound tool and acquiring ultrasound position information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information, includes: obtaining a two-dimensional ultrasound image by ultrasound imaging of the brain using an ultrasound tool and acquiring ultrasound position information; performing frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image; acquiring the frame-synchronized ultrasound image from the ultrasound tool; and using an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image based on the frame-synchronized ultrasound image.

[0013] According to one aspect of the present invention, a correction system is provided, comprising: an ultrasound tool adapted to perform ultrasound imaging of the brain to obtain a two-dimensional ultrasound image and to acquire ultrasound position information; and a computing device communicatively connected to the ultrasound tool, adapted to perform the method described above to correct a preoperative three-dimensional model of the brain.

[0014] Optionally, in the correction system according to the present invention, the ultrasound tool includes: an ultrasound transducer adapted to perform ultrasound imaging of the brain to obtain a two-dimensional ultrasound image, wherein, by rotating the ultrasound tool, the ultrasound transducer is adapted to generate ultrasound waves in various directions and receive reflected ultrasound echo signals to form two-dimensional ultrasound images in various directions; an ultrasound position sensor adapted to acquire ultrasound position information; and an ultrasound circuit board electrically connected to the ultrasound transducer and the ultrasound position sensor, and communicatively connected to the computing device, adapted to drive the ultrasound transducer to perform ultrasound imaging of the brain to obtain a two-dimensional ultrasound image, and to drive the ultrasound position sensor to acquire ultrasound position information, and adapted to send the two-dimensional ultrasound image and the ultrasound position information to the computing device.

[0015] Optionally, in the correction system according to the present invention, the ultrasonic tool further includes: a working end, on which the ultrasonic transducer and the ultrasonic position sensor are arranged; and a drive handle, detachably connected to the working end, wherein the ultrasonic circuit board is arranged inside the drive handle.

[0016] Optionally, in the correction system according to the present invention, the ultrasound circuit board includes: a driving circuit adapted to drive the ultrasound transducer to emit ultrasound waves to the brain and receive the reflected ultrasound echo signals, and to perform AD conversion on the ultrasound echo signals to obtain a two-dimensional ultrasound image; and adapted to drive the ultrasound position sensor to acquire ultrasound tool position signals, and to perform AD conversion on the ultrasound tool position signals to obtain ultrasound position information; an image preprocessing circuit adapted to perform frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image; and a communication circuit adapted to send the frame-synchronized ultrasound image to a computing device so that the computing device can reconstruct and generate a three-dimensional ultrasound image based on the frame-synchronized ultrasound image.

[0017] Optionally, in the correction system according to the present invention, the ultrasonic transducer and the ultrasonic position sensor are electrically connected to the ultrasonic circuit board via FPC cables.

[0018] Optionally, in the correction system according to the present invention, the ultrasonic transducer is a sector array transducer.

[0019] According to one aspect of the present invention, a computing device is provided, comprising: at least one processor; and a memory storing program instructions, wherein the program instructions are configured to be executed by the at least one processor, the program instructions including instructions for performing the ultrasound image-based three-dimensional brain model correction method as described above.

[0020] According to one aspect of the present invention, a computer program product is provided, comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method as described above.

[0021] According to one aspect of the present invention, a readable storage medium storing program instructions is provided, which, when read and executed by a computing device, causes the computing device to perform the brain three-dimensional model correction method based on ultrasound images as described above.

[0022] According to the technical solution of the present invention, a method and system for correcting a three-dimensional brain model based on ultrasound images are provided. The method involves determining the ultrasound positioning points of an ultrasound tool, obtaining the region of interest (ROI) of the preoperative three-dimensional brain model based on these points, acquiring a two-dimensional ultrasound image of the brain obtained after brain displacement, along with the corresponding ultrasound position information, and reconstructing a three-dimensional ultrasound image using an ultrasound three-dimensional reconstruction algorithm. Then, a correction matrix is ​​constructed by matching feature points between the ROI and the three-dimensional ultrasound image. The preoperative three-dimensional brain model is corrected based on this correction matrix to obtain a corrected three-dimensional brain model. Thus, the corrected three-dimensional brain model obtained according to the present invention can avoid the impact of brain drift on the accuracy of surgical navigation, thereby enabling more accurate and complete navigation of the surgical procedure.

[0023] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0024] To achieve the foregoing and related objectives, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings. These aspects indicate various ways in which the principles disclosed herein may be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The foregoing and other objectives, features, and advantages of this disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings. Throughout this disclosure, the same reference numerals generally refer to the same parts or elements.

[0025] Figure 1 A structural block diagram of a correction system 100 provided according to an embodiment of the present invention is shown;

[0026] Figure 2 A schematic diagram of the structure of an ultrasonic tool 120 according to an embodiment of the present invention is shown;

[0027] Figure 3 A schematic diagram illustrating the working principle of an ultrasonic tool according to an embodiment of the present invention is shown.

[0028] Figure 4 A schematic diagram illustrating the principle of ultrasound imaging according to an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram of a computing device 500 provided according to an embodiment of the present invention is shown;

[0030] Figure 6A flowchart illustrating a method 600 for correcting a three-dimensional brain model based on ultrasound images, according to an embodiment of the present invention, is shown.

[0031] Figure 7 A schematic diagram illustrating the generation of a three-dimensional ultrasound image based on a two-dimensional ultrasound image and ultrasound location information according to some embodiments of the present invention is shown.

[0032] Figure 8 A schematic diagram illustrating the principle of ultrasonic three-dimensional reconstruction according to some embodiments of the present invention is shown. Detailed Implementation

[0033] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0034] It should be noted that during the surgery, after the dura mater of the brain is cut open, cerebrospinal fluid flows out. As the cerebrospinal fluid flows out, the patient's brain loses its original support from the cerebrospinal fluid, causing the brain to shift, which is a relatively common condition known as brain drift.

[0035] To avoid the impact of brain drift on the accuracy of surgical navigation, this invention proposes a method for correcting a three-dimensional brain model based on ultrasound images. By correcting the preoperative three-dimensional brain model, the impact of brain drift on the accuracy of surgical navigation can be avoided, thereby enabling more accurate and complete navigation of the surgical procedure.

[0036] The method for correcting a three-dimensional brain model based on ultrasound images provided by embodiments of the present invention can be implemented in a correction system. The correction system of the present invention will be described first below.

[0037] Figure 1 A structural block diagram of a correction system 100 provided according to an embodiment of the present invention is shown.

[0038] like Figure 1 As shown, the correction system 100 includes an ultrasound tool 120 and a computing device 500. The computing device 500 is communicatively connected to the ultrasound tool 120. The ultrasound tool 120 is used to perform ultrasound imaging on the patient's brain to obtain a two-dimensional ultrasound image and can acquire ultrasound position information.

[0039] According to the correction system 100 of this embodiment, before surgery, a computing device 500 can perform three-dimensional reconstruction based on the patient's brain imaging data to obtain a preoperative three-dimensional brain model. This allows for the identification of lesion areas within the patient's brain and the planning of the target surgical path, thus completing preoperative planning. In some embodiments, the computing device 500 can perform three-dimensional reconstruction based on the patient's brain imaging data in a first imaging space to obtain a preoperative three-dimensional brain model. In some embodiments, the brain imaging data may include CT data and / or MR data. The computing device 500 can utilize image segmentation software to perform image segmentation on the brain imaging data to obtain brain image segmentation results. These results indicate the main vascular regions, neural regions, and functional regions of the brain. Furthermore, three-dimensional reconstruction can be performed in the first imaging space based on the brain image segmentation results to obtain a preoperative three-dimensional brain model. It is noteworthy that when planning the target surgical path based on the preoperative three-dimensional brain model, it is necessary to avoid the main vascular regions, neural regions, and functional regions of the brain.

[0040] According to the correction system 100 of this embodiment, after the brain shifts (its position relative to the reference frame 112) due to the incision of the dura mater and the outflow of cerebrospinal fluid during surgery, an ultrasound tool 120 can be used to perform ultrasound imaging on the patient's brain to obtain a two-dimensional ultrasound image, and the ultrasound tool 120 can also acquire ultrasound position information. The computing device 500 can acquire the two-dimensional ultrasound image obtained by the ultrasound tool 120 performing ultrasound imaging on the patient's brain and the acquired ultrasound position information, and can use an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information. Then, the computing device 500 can correct the preoperative three-dimensional brain model based on the three-dimensional ultrasound image to obtain a corrected three-dimensional brain model, so as to guide the surgical procedure based on the corrected three-dimensional brain model.

[0041] Specifically, the computing device 500 can pre-determine the ultrasound positioning points of the ultrasound tool 120, and obtain the region of interest (ROI) of the preoperative three-dimensional brain model (the preoperative three-dimensional brain model in the first imaging space) based on the ultrasound positioning points. The ROI contains multiple first voxels. After the brain shifts (its position moves relative to the reference frame 112) due to the incision of the dura mater and the outflow of cerebrospinal fluid during the operation, the computing device 500 can acquire the two-dimensional ultrasound image obtained by the ultrasound tool 120 performing ultrasound imaging on the patient's brain, as well as the acquired ultrasound position information. It then uses an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information. In some embodiments, the computing device 500 can establish a second imaging space based on the ultrasound positioning points. Subsequently, it acquires the two-dimensional ultrasound image obtained by the ultrasound tool performing ultrasound imaging on the patient's brain, as well as the acquired ultrasound position information. It then uses an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image in the second imaging space based on the two-dimensional ultrasound image and the ultrasound position information. Furthermore, the computing device 500 can match feature points between the region of interest and the three-dimensional ultrasound image to construct a correction matrix, and correct the preoperative three-dimensional brain model according to the correction matrix to obtain a corrected three-dimensional brain model.

[0042] The corrected three-dimensional brain model obtained according to the embodiments of the present invention can be used to navigate the surgical procedure (including the puncture procedure) and can avoid the influence of brain drift, thereby improving the accuracy of navigation during the surgical procedure.

[0043] In some embodiments, such as Figure 1 As shown, the correction system 100 also includes a reference frame 112 and a registration pen 113. The reference frame 112 and registration pen 113 are communicatively connected to the computing device 500. The reference frame 112 can be fixed to the patient's brain to locate the actual position of the patient's brain. The registration pen 113 is used to mark the surface of the patient's brain to collect point cloud information of the patient's brain.

[0044] Specifically, after completing the preoperative planning, the doctor first fixes the reference frame 112 to the patient's brain (fixed in a position that does not interfere with brain surgery), ensuring that the reference frame 112 and the patient's brain do not move relative to each other. Then, the computing device 500 acquires the position information of the reference frame 112 and establishes a reference coordinate system with the reference frame 112 as the origin. Next, the registration pen 113 collects the patient's brain point cloud information (corresponding to the actual position of the patient's brain). The computing device 500 acquires the patient's brain point cloud information collected by the registration pen 113 and registers the preoperative three-dimensional brain model with the brain point cloud information to obtain first registration information. The first registration information is used to represent the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information. In other words, the computing device 500 can establish the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information by registering the preoperative three-dimensional brain model with the brain point cloud information. Furthermore, the computing device 500 can convert the preoperative three-dimensional brain model to a reference coordinate system based on the first registration information, obtaining a registered preoperative three-dimensional brain model. Based on this, the preoperative three-dimensional brain model can be aligned with the actual position of the patient's brain. Moreover, based on the registered preoperative three-dimensional brain model, the positional information of each voxel in the preoperative three-dimensional brain model relative to the reference frame can be obtained.

[0045] Furthermore, the computing device 500 can obtain the region of interest of the registered preoperative three-dimensional brain model (i.e., the preoperative three-dimensional brain model in the reference coordinate system) based on the position information of the ultrasound positioning point relative to the reference frame, and then execute the subsequent correction process.

[0046] In one specific embodiment, the computing device 500 can obtain a fan-shaped region with a predetermined angle to the axis of the ultrasound tool and a predetermined depth from the registered preoperative three-dimensional brain model as a region of interest, based on the position information of the ultrasound positioning point relative to the reference frame. For example, the predetermined angle can be 60° and the predetermined depth can be 10 mm, but the present invention is not limited thereto.

[0047] In some embodiments, after the ultrasound tool 120 performs ultrasound imaging on the patient's brain to obtain a two-dimensional ultrasound image and acquires ultrasound position information, it can further perform frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image. The computing device 500 can acquire the frame-synchronized ultrasound image from the ultrasound tool 120 and reconstruct a three-dimensional ultrasound image based on the frame-synchronized ultrasound image. That is, the computing device 500 can use the ultrasound tool to perform ultrasound imaging on the patient's brain to obtain a two-dimensional ultrasound image and acquire ultrasound position information, and then use the ultrasound tool to perform frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image. Furthermore, the computing device 500 can acquire the frame-synchronized ultrasound image from the ultrasound tool and use an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the frame-synchronized ultrasound image.

[0048] Figure 2 A schematic diagram of the structure of an ultrasonic tool 120 provided according to an embodiment of the present invention is shown.

[0049] like Figure 1 and Figure 2 As shown, the ultrasound tool 120 includes an ultrasound transducer 122, an ultrasound position sensor 121, and an ultrasound circuit board 123. The ultrasound transducer 122 is used to perform ultrasound imaging of the patient's brain to obtain a two-dimensional ultrasound image. The ultrasound position sensor 121 is used to collect ultrasound position information to determine the corresponding two-dimensional ultrasound image position information. It should be noted that, as... Figure 2 As shown, when the ultrasound tool 120 is in operation, by rotating the ultrasound tool 120, the ultrasound transducer 122 can generate ultrasound waves 129 in various directions and receive the reflected ultrasound echo signals, thereby forming two-dimensional ultrasound images in various directions. Moreover, the ultrasound tool can slide on the surface of the patient's brain to perform ultrasound imaging of the patient's brain at multiple locations to obtain corresponding two-dimensional ultrasound images, and can acquire corresponding ultrasound position information.

[0050] In some embodiments, the ultrasonic transducer 122 may specifically be a sector array transducer.

[0051] Figure 4 A schematic diagram illustrating the principle of ultrasound imaging according to an embodiment of the present invention is shown. Figure 4 As shown, the ultrasound transducer 122 (ultrasound transducer array unit) can form a two-dimensional ultrasound image (two-dimensional ultrasound image in various directions) by emitting ultrasound waves (ultrasound waves in various directions) into the patient's brain and receiving the reflected ultrasound echo signals. Specifically, a two-dimensional ultrasound image can be obtained by performing AD conversion on the ultrasound echo signals.

[0052] like Figure 1As shown, the ultrasound circuit board 123 is electrically connected to the ultrasound transducer 122 and the ultrasound position sensor 121, and is also communicatively connected to the computing device 500. In some embodiments, the ultrasound transducer 122 and the ultrasound position sensor 121 can be electrically connected to the ultrasound circuit board 123 via FPC cables. The ultrasound circuit board 123 is used to drive the ultrasound transducer 122 to perform ultrasound imaging of the patient's brain to obtain a two-dimensional ultrasound image, and to drive the ultrasound position sensor 121 to collect ultrasound position information. Furthermore, the ultrasound circuit board 123 can send the two-dimensional ultrasound image obtained by the ultrasound transducer performing ultrasound imaging of the patient's brain and the ultrasound position information collected by the ultrasound position sensor to the computing device 500.

[0053] In some embodiments, such as Figure 2 As shown, the ultrasonic tool 120 includes a working end 125 (end point) and a drive handle 124. Specifically, the working end 125 and the drive handle 124 are located at opposite ends of the ultrasonic tool, and the drive handle 124 is detachably connected to the working end 125. The working end 125 houses an ultrasonic transducer 122 and an ultrasonic position sensor 121. The drive handle 124 contains an ultrasonic circuit board 123. Figure 2 (Not shown in the image). In one implementation, the working end 125 may be a sterilized, single-use product, and the drive handle 124 may be reusable. The working end 125 is easily replaced by detachably connecting the drive handle 124 to the working end 125 via a quick-release structure.

[0054] In some embodiments, the drive handle 124 (ultrasonic circuit board 123) and the working end 125 (ultrasonic transducer 122 and ultrasonic position sensor 121) can be connected via a gold finger interface.

[0055] In some embodiments, such as Figure 1 As shown, the ultrasound circuit board 123 includes a driving circuit, an image preprocessing circuit, and a communication circuit. The driving circuit drives the ultrasound transducer 122 to emit ultrasound waves towards the patient's brain and receives the reflected ultrasound echo signals. The ultrasound transducer 122 performs an analog-to-digital (AD) conversion on the ultrasound echo signals to obtain a two-dimensional ultrasound image. The driving circuit also drives the ultrasound position sensor 121 to acquire the ultrasound tool's position signal and performs an AD conversion on the ultrasound tool's position signal to obtain ultrasound position information. The image preprocessing circuit performs frame-synchronized processing (fusion) on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image. The communication circuit sends the frame-synchronized ultrasound image to the computing device 500, so that the computing device 500 can reconstruct and generate a three-dimensional ultrasound image based on the frame-synchronized ultrasound image.

[0056] Figure 3 A schematic diagram illustrating the working principle of an ultrasonic tool provided according to an embodiment of the present invention is shown.

[0057] like Figure 3 As shown, the computing device can send ultrasound imaging commands to the communication circuit of the ultrasound tool. The communication circuit can decode the frequency information of the ultrasound imaging commands from the computing device and then send them to the drive circuit. Subsequently, the drive circuit drives the ultrasound transducer 122 (array unit) to emit ultrasound waves (ultrasound waves in all directions) towards the patient's brain according to the decoded commands and receives the reflected ultrasound echo signals through the ultrasound transducer 122. Then, the ultrasound transducer 122 performs AD conversion on the ultrasound echo signals to obtain a two-dimensional ultrasound image (ultrasound digital signal). Specifically, the ultrasound transducer 122 first performs high-precision sampling of the ultrasound echo signals to obtain a sampling signal, then performs signal modulation and shaping (filtering and shaping) on ​​the sampling signal to obtain a shaped signal, and then performs AD conversion on the shaped signal to obtain a two-dimensional ultrasound image, and sends the two-dimensional ultrasound image to the image preprocessing circuit. Simultaneously, the drive circuit can drive the ultrasonic position sensor 121 to acquire the ultrasonic tool position signal according to the decoded instructions, perform AD conversion (sampling and AD conversion) on the ultrasonic tool position signal to obtain ultrasonic position information, and decode the ultrasonic position information to obtain a positioning matrix. The positioning matrix corresponding to the ultrasonic position information is then sent to the image preprocessing circuit. The computing device can also send a frame synchronization signal to the image preprocessing circuit via the ultrasonic tool's communication circuit. The image preprocessing circuit, in response to the frame synchronization signal from the computing device, performs frame synchronization processing on the two-dimensional ultrasonic image and the positioning matrix corresponding to the ultrasonic position information to obtain a frame-synchronized ultrasonic image. This frame-synchronized ultrasonic image is then sent to the computing device 500 via the communication circuit, so that the computing device 500 can reconstruct and generate a three-dimensional ultrasonic image based on the frame-synchronized ultrasonic image. Therefore, the computing device 500 can obtain the frame-synchronized ultrasonic image processed by the image preprocessing circuit from the ultrasonic tool's communication circuit.

[0058] Here, ultrasound can include fixed-frequency ultrasound and / or variable-frequency ultrasound. Fixed-frequency ultrasound can be used to image the surface structures of the brain so that the resulting two-dimensional ultrasound image includes features of the brain surface structures. Variable-frequency ultrasound is used to image tissue at different depths of the brain so that the resulting two-dimensional ultrasound image includes features of vascular tissue at different depths of the brain.

[0059] In some embodiments, the ultrasound tool 120 has a built-in small control system suitable for performing B-mode ultrasound imaging and Doppler imaging. It can emit ultrasound waves with a center frequency of 15 MHz to image static brain tissue, forming B-mode ultrasound images, and can perform Doppler imaging on the vascular structures on the brain surface, forming a Doppler composite image. Based on this, the ultrasound imaging performed by the ultrasound tool 120 can include both B-mode ultrasound imaging and Doppler imaging. The two-dimensional ultrasound image obtained by the ultrasound tool 120 from the patient's brain can include both B-mode ultrasound images and Doppler composite images. After acquiring the two-dimensional ultrasound image obtained by the ultrasound tool from the patient's brain, the computing device 500 can preprocess the two-dimensional ultrasound image (including filtering and enhancement processing) to eliminate noise and enhance edges. Then, it can reconstruct and generate a three-dimensional ultrasound image based on the preprocessed two-dimensional ultrasound image and ultrasound position information.

[0060] In some embodiments, such as Figure 1 As shown, the correction system 100 also includes a magnetic field generator 111. The magnetic field generator 111 is communicatively connected to the computing device 500. The magnetic field generator 111 can establish an excitation coordinate system and generate a magnetic field (including an electromagnetic field or a permanent magnetic field) for magnetic field excitation, so that the ultrasonic position sensor 121 can collect ultrasonic position information in the excitation coordinate system and transmit it to the computing device 500.

[0061] In the above embodiment, the position information of the reference frame 112 acquired by the computing device 500 can be the coordinate information of the reference frame 112 in the excitation coordinate system of the magnetic field generator 111. Furthermore, by establishing a reference coordinate system with the reference frame 112 as the origin, the position information acquired in the excitation coordinate system can be converted to the reference coordinate system for calculation and modeling. Specifically, after acquiring the ultrasonic position information in the excitation coordinate system, the computing device 500 first converts the ultrasonic position information in the excitation coordinate system to the reference coordinate system before performing subsequent reconstruction to generate a three-dimensional ultrasonic image.

[0062] In an embodiment of the present invention, the computing device 500 in the correction system 100 is adapted to perform a three-dimensional brain model correction method 600 based on ultrasound images. The three-dimensional brain model correction method 600 based on ultrasound images of the present invention will be described in detail below.

[0063] Figure 5 A schematic diagram of a computing device 500 according to an embodiment of the present invention is shown. Figure 5As shown, in a basic configuration, computing device 500 includes at least one processing unit 502 and system memory 504. According to one aspect, depending on the configuration and type of computing device 500, the processing unit 502 may be implemented as a processor. System memory 504 includes, but is not limited to, volatile memory (e.g., random access memory), non-volatile memory (e.g., read-only memory), flash memory, or any combination of such memories. According to one aspect, system memory 504 includes an operating system 505.

[0064] According to one aspect, operating system 505 is, for example, suitable for controlling the operation of computing device 500. Furthermore, the example is practiced in conjunction with graphics libraries, other operating systems, or any other applications, and is not limited to any particular application or system. Figure 5 The basic configuration is illustrated by the components within the dashed lines. According to one aspect, the computing device 500 has additional features or functions. For example, according to one aspect, the computing device 500 includes additional data storage devices (removable and / or non-removable), such as disks, optical discs, or magnetic tapes. This additional storage... Figure 5 The middle part is shown by removable storage device 509 and non-removable storage device 510.

[0065] As stated above, according to one aspect, a program module 503 is stored in system memory 504. According to one aspect, program module 503 may include one or more applications. The present invention does not limit the type of application; for example, applications may include: email and contact applications, word processing applications, spreadsheet applications, database applications, slideshow applications, drawing or computer-aided applications, web browser applications, etc.

[0066] In an embodiment of the present invention, program module 503 includes multiple program instructions for executing the ultrasound image-based three-dimensional brain model correction method 600 of the present invention.

[0067] According to one aspect, examples can be practiced on circuits including discrete electronic components, packaged or integrated electronic chips containing logic gates, circuits utilizing microprocessors, or on a single chip containing electronic components or a microprocessor. For example, it can be practiced via wherein... Figure 5Each or many of the components shown can be implemented as an example by integrating a System-on-a-Chip (SOC) on a single integrated circuit. According to one aspect, such an SOC device may include one or more processing units, graphics units, communication units, system virtualization units, and various application functions, all integrated (or “burned in”) as a single integrated circuit onto a chip substrate. When operating via the SOC, the functions described herein can be operated via dedicated logic integrated on a single integrated circuit (chip) with other components of the computing device 500. Embodiments of the invention can also be implemented using other techniques capable of performing logical operations (e.g., AND, OR, and NOT), including but not limited to mechanical, optical, fluid, and quantum technologies. Additionally, embodiments of the invention can be implemented within a general-purpose computer or in any other circuit or system.

[0068] According to one aspect, the computing device 500 may also have one or more input devices 512, such as a keyboard, mouse, pen, voice input device, touch input device, etc. It may also include output devices 514, such as a monitor, speaker, printer, etc. The foregoing devices are examples and other devices may also be used. The computing device 500 may include one or more communication connections 516 that allow communication with other computing devices 500 518. Examples of suitable communication connections 516 include, but are not limited to: RF transmitter, receiver and / or transceiver circuitry; Universal Serial Bus (USB), parallel and / or serial ports.

[0069] As used herein, the term computer-readable medium includes computer storage medium. Computer storage medium can include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information (e.g., computer-readable instructions, data structures, or program modules). System memory 504, removable storage device 509, and non-removable storage device 510 are examples of computer storage media (i.e., memory storage). Computer storage media can include random access memory (RAM), read-only memory (ROM), electrically erasable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape, magnetic tape, disk storage or other magnetic storage devices, or any other article of manufacture that can be used to store information and is accessible by computing device 500. According to one aspect, any such computer storage medium can be part of computing device 500. Computer storage media does not include carrier waves or other transmitted data signals.

[0070] According to one aspect, a communication medium is implemented by computer-readable instructions, data structures, program modules, or other data in a modulated data signal (e.g., a carrier wave or other transmission mechanism), and includes any information transmission medium. According to one aspect, the term "modulated data signal" describes a signal having one or more sets of characteristics or altered in a manner that encodes information in the signal. By way of example and not limitation, a communication medium includes wired media such as wired networks or direct wired connections, and wireless media such as acoustic, radio frequency (RF), infrared, and other wireless media.

[0071] In an embodiment of the present invention, a computing device 500 is configured to perform a method 600 for correcting a three-dimensional brain model based on ultrasound images. The computing device 500 includes one or more processors and one or more readable storage media storing program instructions that, when executed by the one or more processors, cause the computing device 500 to perform the method 600 for correcting a three-dimensional brain model based on ultrasound images according to the present invention, so that the computing device 500 corrects a preoperative three-dimensional brain model by performing the method 600 for correcting a three-dimensional brain model based on ultrasound images according to the present invention.

[0072] The following is a detailed description of the brain three-dimensional model correction method 600 based on ultrasound images in an embodiment of the present invention.

[0073] Figure 6 A schematic flowchart of a method 600 for correcting a three-dimensional brain model based on ultrasound images, according to an embodiment of the present invention, is shown. The method 600 for correcting a three-dimensional brain model based on ultrasound images can be executed in a computing device (e.g., the aforementioned computing device 500). The computing device 500 can be communicatively connected to an ultrasound instrument.

[0074] like Figure 6 As shown, the brain three-dimensional model correction method 600 based on ultrasound images includes the following steps 610-650.

[0075] Step 610: The computing device 500 can determine the ultrasonic positioning point of the ultrasonic tool 120.

[0076] It is worth noting that the ultrasound tool 120 can be calibrated before performing step 610 to ensure the accuracy of the ultrasound tool's positioning function, thereby ensuring the accuracy of the subsequent ultrasound three-dimensional reconstruction and correction process.

[0077] Step 620: The computing device 500 can obtain the region of interest (ROI) of the preoperative three-dimensional brain model based on the ultrasound positioning points. The ROI contains multiple first voxels.

[0078] Step 630: After the brain is shifted, the computing device 500 can acquire the two-dimensional ultrasound image obtained by the ultrasound tool 120 performing ultrasound imaging on the patient's brain and the acquired ultrasound position information, and use the ultrasound three-dimensional reconstruction algorithm to reconstruct (ultrasound three-dimensional reconstruction) to generate a three-dimensional ultrasound image.

[0079] In some embodiments, after the brain is displaced (the position of the brain moves relative to the reference frame 112) due to the incision of the dura mater and the outflow of cerebrospinal fluid during surgery, the computing device 500 can acquire a two-dimensional ultrasound image obtained by ultrasound imaging of the patient's brain by the ultrasound tool 120 and the acquired ultrasound position information. Then, using an ultrasound three-dimensional reconstruction algorithm, a three-dimensional ultrasound image is generated by reconstructing (ultrasound three-dimensional reconstruction) based on the two-dimensional ultrasound image and the ultrasound position information.

[0080] here, Figure 7 A schematic diagram illustrating the reconstruction of a three-dimensional ultrasound image based on a two-dimensional ultrasound image and ultrasound location information according to some embodiments of the present invention is shown. It should be noted that the three-dimensional ultrasound image reconstructed according to the present invention includes multiple second voxels, and the size of the second voxels is the same as the size of the first voxels.

[0081] Step 640: The computing device 500 can perform feature point matching between the region of interest and the three-dimensional ultrasound image to construct a correction matrix.

[0082] In some embodiments, in step 640, the computing device may first perform feature point identification (determining whether each first voxel is a first feature point and determining whether each second voxel is a second feature point) for each first voxel in the region of interest and each second voxel in the three-dimensional ultrasound image, respectively, to determine multiple first feature points in the region of interest and multiple second feature points in the three-dimensional ultrasound image. Here, multiple first feature points can be used to represent brain features in the region of interest, and multiple second feature points can be used to represent brain features in the three-dimensional ultrasound image. Brain features include, for example, brain surface structural features and vascular tissue features, but are not limited to these.

[0083] Furthermore, multiple first feature points can be matched (paired one-to-one) with multiple second feature points to obtain matching results. The matching results contain multiple feature pairs, each containing a first feature point and a corresponding second feature point. Then, a correction matrix can be constructed based on the matching results (the relative positional relationships between each first feature point and its corresponding second feature point).

[0084] In step 650, the computing device 500 corrects the preoperative three-dimensional brain model (the entire preoperative three-dimensional brain model) according to the correction matrix to obtain a corrected three-dimensional brain model. It should be noted that the corrected three-dimensional brain model can be used for navigation during surgical procedures (including puncture procedures).

[0085] According to the embodiment of the present invention, the corrected three-dimensional brain model obtained by correcting the preoperative three-dimensional brain model using the ultrasound image-based three-dimensional brain model can avoid the influence of brain drift, thereby enabling more accurate navigation of the surgical procedure.

[0086] In some embodiments, prior to step 620, the computing device 500 can perform three-dimensional reconstruction based on the patient's brain imaging data in a first imaging space to obtain a preoperative three-dimensional brain model. In step 620, the computing device 500 can obtain the region of interest of the preoperative three-dimensional brain model in the first imaging space based on ultrasound positioning points. In some embodiments, the brain imaging data may include CT data and / or MR data. The computing device 500 can use image segmentation software to perform image segmentation on the brain imaging data to obtain brain image segmentation results, which are used to indicate the main vascular regions, neural regions, and functional regions of the brain. Then, three-dimensional reconstruction can be performed in the first imaging space based on the brain image segmentation results to obtain a preoperative three-dimensional brain model. It is worth noting that when planning the target surgical path based on the preoperative three-dimensional brain model, it is necessary to avoid the main vascular regions, neural regions, and functional regions of the brain.

[0087] In step 630, the computing device 500 can establish a second imaging space based on the ultrasound positioning point. Subsequently, it acquires a two-dimensional ultrasound image obtained by ultrasound imaging of the patient's brain using an ultrasound tool, as well as the acquired ultrasound position information. Then, it uses an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image in the second imaging space based on the two-dimensional ultrasound image and the ultrasound position information.

[0088] In other words, the preoperative three-dimensional model of the brain (including the region of interest) is located in the first imaging space, and the three-dimensional ultrasound image is located in the second imaging space. The voxels in the first imaging space are designated as first voxels, and the voxels in the second imaging space are designated as second voxels.

[0089] In some embodiments, the computing device 500 is communicatively connected to the reference frame 112 and the registration pen 113, respectively. The reference frame 112 can be fixed to the patient's brain to locate the actual position of the patient's brain. The registration pen 113 is used to mark the surface of the patient's brain to collect point cloud information of the patient's brain.

[0090] Specifically, after completing the preoperative planning, the doctor first fixes the reference frame 112 to the patient's brain (fixed in a position that does not interfere with brain surgery), ensuring that the reference frame 112 and the patient's brain do not move relative to each other. Then, the computing device 500 acquires the position information of the reference frame 112 and establishes a reference coordinate system with the reference frame 112 as the origin. Next, the registration pen 113 collects the patient's brain point cloud information (corresponding to the actual position of the patient's brain). The computing device 500 acquires the patient's brain point cloud information collected by the registration pen 113 and registers the preoperative three-dimensional brain model with the brain point cloud information to obtain first registration information. The first registration information is used to represent the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information. In other words, the computing device 500 can establish the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information by registering the preoperative three-dimensional brain model with the brain point cloud information. Furthermore, the computing device 500 can convert the preoperative three-dimensional brain model to a reference coordinate system based on the first registration information, obtaining a registered preoperative three-dimensional brain model. Based on this, the preoperative three-dimensional brain model can be aligned with the actual position of the patient's brain. Moreover, based on the registered preoperative three-dimensional brain model, the positional information of each voxel in the preoperative three-dimensional brain model relative to the reference frame can be obtained.

[0091] Furthermore, in step 620, the computing device 500 can obtain the region of interest of the registered preoperative three-dimensional brain model (i.e., the preoperative three-dimensional brain model in the reference coordinate system) based on the position information of the ultrasound positioning point relative to the reference frame, and then execute subsequent steps 630-650.

[0092] In one specific embodiment, the computing device 500 can obtain a fan-shaped region with a predetermined angle to the axis of the ultrasound tool and a predetermined depth from the registered preoperative three-dimensional brain model as a region of interest, based on the position information of the ultrasound positioning point relative to the reference frame. For example, the predetermined angle can be 60° and the predetermined depth can be 10 mm, but the present invention is not limited thereto.

[0093] In some embodiments, when the ultrasound tool 120 is in operation, by rotating the ultrasound tool 120, the ultrasound transducer 122 can generate ultrasound waves 129 in various directions and receive reflected ultrasound echo signals, thereby forming two-dimensional ultrasound images in various directions. Moreover, the ultrasound tool can slide on the surface of the patient's brain to perform ultrasound imaging of the patient's brain at multiple locations to obtain corresponding two-dimensional ultrasound images, and can acquire corresponding ultrasound position information.

[0094] In step 630, the computing device 500 can acquire multiple two-dimensional ultrasound images (which may include two-dimensional ultrasound images in multiple directions and positions) and corresponding ultrasound position information obtained by ultrasound imaging of the patient's brain using an ultrasound tool, and use an ultrasound three-dimensional reconstruction algorithm to reconstruct and generate a three-dimensional ultrasound image in the second imaging space based on the multiple two-dimensional ultrasound images and the corresponding ultrasound position information.

[0095] In some embodiments, the ultrasound 3D reconstruction algorithm can be a voxel-based 3D reconstruction algorithm. The computing device 500 can traverse each second voxel in the second imaging space, determine one or more pixel values ​​corresponding to the second voxel in the multiple two-dimensional ultrasound images based on the position of the second voxel and the ultrasound position information corresponding to the multiple two-dimensional ultrasound images, and then use an interpolation algorithm to determine the gray value of the second voxel based on the one or more pixel values ​​corresponding to the second voxel, and assign it to the second pixel.

[0096] In some embodiments, the interpolation algorithm can be a distance-weighted algorithm. Specifically, the computing device 500 can traverse each second voxel in the second imaging space, and then, based on the position of the second voxel and the ultrasound position information corresponding to the multiple two-dimensional ultrasound images, determine multiple pixel values ​​in a preset neighborhood of the second voxel in the multiple two-dimensional ultrasound images. Then, it performs a weighted average on the multiple pixel values ​​in the preset neighborhood of the second voxel (the weighting coefficient can be the reciprocal of the distance between the pixel and the voxel) to obtain the grayscale value of the second voxel. It should be noted that the shape of the neighborhood can be a sphere, a cube, but is not limited to these.

[0097] Figure 8 A schematic diagram illustrating the principle of ultrasonic three-dimensional reconstruction according to some embodiments of the present invention (corresponding to a distance-weighted algorithm) is shown. For example... Figure 8 As shown, the computing device 500 can traverse each second voxel in the second imaging space. Then, using the two normals passing through the second voxel, it determines the two two-dimensional ultrasound images (distributed on both sides of the second voxel) that are closest to the second voxel among multiple two-dimensional ultrasound images, and records the intersection point and distance between the two normals and the two two-dimensional ultrasound images. Then, it determines the two pixel values ​​that are closest to the corresponding intersection point among the two two-dimensional ultrasound images, and performs a weighted average of the two pixel values ​​to obtain the gray value of the second voxel.

[0098] In some embodiments, in step 630, the computing device 500 can obtain a two-dimensional ultrasound image by performing ultrasound imaging on the patient's brain using the ultrasound tool 120, and acquire ultrasound location information. It can also perform frame synchronization processing on the two-dimensional ultrasound image and ultrasound location information using the ultrasound tool 120 to obtain a frame-synchronized ultrasound image. The computing device 500 can acquire the frame-synchronized ultrasound image from the ultrasound tool 120 and use an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the frame-synchronized ultrasound image.

[0099] The method 600 for correcting a three-dimensional brain model based on ultrasound images according to the present invention involves determining the ultrasound positioning points of an ultrasound tool, obtaining the region of interest (ROI) of the preoperative three-dimensional brain model based on these points, acquiring a two-dimensional ultrasound image of the brain obtained after brain displacement, along with the corresponding ultrasound position information, and reconstructing a three-dimensional ultrasound image using an ultrasound three-dimensional reconstruction algorithm. Then, a correction matrix is ​​constructed by matching feature points between the ROI and the three-dimensional ultrasound image. The preoperative three-dimensional brain model is corrected based on this correction matrix to obtain a corrected three-dimensional brain model. Thus, the corrected three-dimensional brain model obtained according to the present invention avoids the impact of brain drift on the accuracy of surgical navigation, thereby enabling more accurate and complete navigation of the surgical procedure.

[0100] Furthermore, embodiments of the present invention also disclose: A7. A method as described in any one of A1-A6, wherein acquiring a two-dimensional ultrasound image obtained by ultrasound imaging of the brain using an ultrasound tool and acquiring ultrasound position information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound position information, comprising: obtaining a two-dimensional ultrasound image by ultrasound imaging of the brain using an ultrasound tool and acquiring ultrasound position information; performing frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image; acquiring the frame-synchronized ultrasound image from the ultrasound tool, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the frame-synchronized ultrasound image. B10. A system as described in B9, wherein the ultrasound tool further includes: a working end, on which the ultrasound transducer and the ultrasound position sensor are arranged; a drive handle, detachably connected to the working end, wherein the ultrasound circuit board is arranged inside the drive handle. B11. The system as described in B9, wherein the ultrasound circuit board comprises: a driving circuit adapted to drive the ultrasound transducer to emit ultrasound waves to the brain and receive reflected ultrasound echo signals, and to perform AD conversion on the ultrasound echo signals to obtain a two-dimensional ultrasound image; and adapted to drive the ultrasound position sensor to acquire ultrasound tool position signals, and to perform AD conversion on the ultrasound tool position signals to obtain ultrasound position information; an image preprocessing circuit adapted to perform frame synchronization processing on the two-dimensional ultrasound image and the ultrasound position information to obtain a frame-synchronized ultrasound image; and a communication circuit adapted to send the frame-synchronized ultrasound image to a computing device, so that the computing device can reconstruct and generate a three-dimensional ultrasound image based on the frame-synchronized ultrasound image. B12. The system as described in any one of B9-B11, wherein the ultrasound transducer and the ultrasound position sensor are electrically connected to the ultrasound circuit board via FPC cables. B13. The system as described in any one of B9-B12, wherein the ultrasound transducer is a fan-shaped array transducer. C16. A readable storage medium storing program instructions that, when read and processed by a computing device, cause the computing device to perform the method as described in any one of A1-A7.

[0101] The various techniques described herein can be implemented in combination with hardware or software, or a combination thereof. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, can take the form of program code (i.e., instructions) embedded in a tangible medium, such as a removable hard disk, USB flash drive, floppy disk, CD-ROM, or any other machine-readable storage medium, wherein when the program is loaded into and executed by a machine such as a computer, the machine becomes an apparatus for practicing the present invention.

[0102] When the program code is executed on a programmable computer, the mobile terminal generally includes a processor, a processor-readable storage medium (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. The memory is configured to store program code; the processor is configured to execute the ultrasound image-based three-dimensional brain model correction method of the present invention according to instructions in the program code stored in the memory.

[0103] By way of example, and not limitation, readable media include readable storage media and communication media. Readable storage media stores information such as computer-readable instructions, data structures, program modules, or other data. Communication media generally embodies computer-readable instructions, data structures, program modules, or other data in the form of modulated data signals such as carrier waves or other transmission mechanisms, and includes any information delivery medium. Any combination of the above is also included within the scope of readable media.

[0104] In the specification provided herein, the algorithms and displays are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used with the examples of this invention. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0105] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention 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.

[0106] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof.

[0107] Those skilled in the art will understand that modules, units, or components of the devices disclosed in the examples herein can be arranged in the devices described in this embodiment, or alternatively, can be located in one or more devices different from the devices in this example. The modules in the foregoing examples can be combined into a single module or, in addition, can be divided into multiple sub-modules.

[0108] Unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

Claims

1. A method for correcting a three-dimensional brain model based on ultrasound images, executed in a computing device, the computing device being communicatively connected to an ultrasound tool, the method comprising: Determine the ultrasonic positioning point of the ultrasonic instrument; The region of interest of the preoperative three-dimensional brain model is obtained based on the ultrasound positioning points, and the region of interest contains multiple first voxels; After the brain is shifted, a two-dimensional ultrasound image and ultrasound position information are obtained by ultrasound imaging of the brain using an ultrasound tool. Then, a three-dimensional ultrasound image is generated by reconstructing the two-dimensional ultrasound image and the ultrasound position information using an ultrasound three-dimensional reconstruction algorithm. The three-dimensional ultrasound image contains multiple second voxels, and the size of the second voxels is the same as the size of the first voxel. The region of interest is matched with the feature points of the three-dimensional ultrasound image to construct a correction matrix; The preoperative three-dimensional brain model is corrected according to the correction matrix to obtain the corrected three-dimensional brain model.

2. The method as described in claim 1, wherein, Based on the ultrasound positioning points, the region of interest in the preoperative three-dimensional brain model is obtained, including: The region of interest of the preoperative three-dimensional brain model in the first imaging space is obtained based on the ultrasound positioning points; Acquiring two-dimensional ultrasound images of the brain using ultrasound imaging tools and acquiring ultrasound location information, and using an ultrasound three-dimensional reconstruction algorithm to reconstruct a three-dimensional ultrasound image based on the two-dimensional ultrasound image and the ultrasound location information, including: A second imaging space is established based on the ultrasound positioning points; Two-dimensional ultrasound images obtained by ultrasound imaging of the brain using an ultrasound tool and the acquired ultrasound location information are obtained. Then, using an ultrasound three-dimensional reconstruction algorithm, a three-dimensional ultrasound image is generated in the second imaging space based on the two-dimensional ultrasound image and the ultrasound location information.

3. The method as described in claim 1 or 2, wherein, After brain displacement, two-dimensional ultrasound images of the brain obtained by ultrasound imaging with ultrasound tools and acquired ultrasound location information are obtained, including: After the dura mater of the brain was cut open during the operation and cerebrospinal fluid flowed out, causing the brain to shift, two-dimensional ultrasound images of the brain and ultrasound position information were obtained by ultrasound imaging with ultrasound tools.

4. The method according to any one of claims 1-3, wherein, The region of interest is matched with the feature points of the three-dimensional ultrasound image to construct a correction matrix, including: Feature point identification is performed on each first voxel in the region of interest and each second voxel in the three-dimensional ultrasound image to determine multiple first feature points in the region of interest and multiple second feature points in the three-dimensional ultrasound image, wherein the multiple first feature points are adapted to represent brain features in the region of interest and the multiple second feature points are adapted to represent brain features in the three-dimensional ultrasound image. The plurality of first feature points are matched with the plurality of second feature points to obtain a matching result. The matching result contains a plurality of feature pairs, and each feature pair contains a first feature point and a corresponding second feature point. A correction matrix is ​​constructed based on the matching results.

5. The method according to any one of claims 1-4, wherein, The computing device is communicatively connected to the reference frame and the registration pen, respectively; it acquires the region of interest of the preoperative three-dimensional brain model based on the ultrasound positioning points, including: Obtain the position information of the reference frame, and establish a reference coordinate system based on the position information of the reference frame; The brain point cloud information of the patient collected by the registration pen is obtained, and the preoperative three-dimensional brain model is registered with the brain point cloud information to obtain the first registration information. The first registration information is used to represent the spatial mapping relationship between the preoperative three-dimensional brain model and the brain point cloud information. Based on the first registration information, the preoperative three-dimensional brain model is converted to the reference coordinate system to obtain the registered preoperative three-dimensional brain model. Based on the position information of the ultrasound positioning point relative to the reference frame, the region of interest of the registered preoperative three-dimensional brain model is obtained.

6. The method according to any one of claims 1-5, wherein, Before obtaining the region of interest in the preoperative three-dimensional brain model based on the ultrasound positioning points, the process includes: In the first imaging space, a three-dimensional reconstruction is performed based on the patient's brain imaging data to obtain a preoperative three-dimensional brain model.

7. A corrective system, comprising: An ultrasound tool suitable for performing ultrasound imaging of the brain to obtain two-dimensional ultrasound images and acquiring ultrasound location information; A computing device, communicatively connected to the ultrasound tool, is adapted to perform the method as described in any one of claims 1-6 to correct a preoperative three-dimensional model of the brain.

8. The system of claim 7, wherein, The ultrasound tool includes: An ultrasound transducer is adapted to perform ultrasound imaging of the brain to obtain two-dimensional ultrasound images, wherein, by rotating the ultrasound tool, the ultrasound transducer is adapted to generate ultrasound waves in various directions and receive reflected ultrasound echo signals to form two-dimensional ultrasound images in various directions. An ultrasonic position sensor, suitable for acquiring ultrasonic position information; An ultrasound circuit board is electrically connected to the ultrasound transducer and the ultrasound position sensor, and communicatively connected to the computing device. It is adapted to drive the ultrasound transducer to perform ultrasound imaging of the brain to obtain a two-dimensional ultrasound image, and to drive the ultrasound position sensor to collect ultrasound position information. It is also adapted to send the two-dimensional ultrasound image and the ultrasound position information to the computing device.

9. A computing device, comprising: At least one processor; and A memory storing program instructions, wherein the program instructions are configured to be processed by the at least one processor, the program instructions including instructions for processing the method as described in any one of claims 1-6.

10. A computer program product comprising computer program instructions, wherein, When the computer program instructions are executed by the processor, they implement the method as described in any one of claims 1-6.

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