Image evaluation method and ultrasound system

Abstract

The invention relates to an image evaluation method and an ultrasonic system. The image evaluation method comprises the steps that a preoperative ultrasonic image of a detection object and preoperative pose information of a marker are acquired, and a postoperative ultrasonic image of the detection object and postoperative pose information of the marker are acquired; the marker is arranged on a detection object; determining a target corresponding relation between the preoperative ultrasonic image and the postoperative ultrasonic image according to the preoperative pose information, the postoperative pose information, the first pose information and the second pose information; the first pose information is the pose information of the ultrasonic probe corresponding to the preoperative ultrasonic image, and the second pose information is the pose information of the ultrasonic probe corresponding to the postoperative ultrasonic image; and according to the target corresponding relation, the preoperative ultrasonic image and the postoperative ultrasonic image, evaluating the region of interest in the postoperative ultrasonic image. According to the image evaluation method provided by the invention, the accuracy of the obtained evaluation result can be improved.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and in particular to an image evaluation method and an ultrasound system. Background Technology

[0002] Ultrasound-guided ablation is one of the fastest-growing interventional treatment methods. It includes three ablation techniques: radiofrequency ablation, cryoablation, and microwave ablation. Currently, contrast-enhanced ultrasound (CEUS), magnetic resonance imaging (MRI), and computed tomography (CT) are commonly used methods for evaluating the efficacy of interventional ablation.

[0003] Traditional ablation assessment techniques often employ registration of postoperative ultrasound images with preoperative CT / MRI scans. However, traditional ablation assessment techniques require preoperative CT / MRI scans, which are unavailable in some hospitals or for some patients, resulting in limited applicability. Summary of the Invention

[0004] Therefore, it is necessary to provide an image assessment method and ultrasound system that can improve the accuracy of assessment in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides an image evaluation method, the method comprising:

[0006] Acquire preoperative ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0007] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0008] Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, the region of interest in the postoperative ultrasound images is evaluated.

[0009] In one embodiment, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined based on preoperative pose information, postoperative pose information, first pose information, and second pose information, including:

[0010] Based on the first pose information and the preoperative pose information, a first correspondence is determined; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker.

[0011] Based on the second pose information and the postoperative pose information, a second correspondence is determined; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker.

[0012] Based on the first and second correspondences, determine the target correspondence.

[0013] In one embodiment, determining a first correspondence based on the first pose information and the preoperative pose information includes:

[0014] The preoperative coordinate transformation relationship is determined based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system;

[0015] The first correspondence is determined based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0016] In one embodiment, determining the preoperative coordinate transformation relationship based on the first pose information includes:

[0017] Determine the first relative positional relationship between the coordinate system containing the first pose information and the coordinate system containing the preoperative ultrasound image;

[0018] Based on the first pose information and the first relative position relationship, the preoperative coordinate transformation relationship is determined.

[0019] In one embodiment, determining the second correspondence based on the second pose information and the postoperative pose information includes:

[0020] The postoperative coordinate transformation relationship is determined based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system;

[0021] The second correspondence is determined based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0022] In one embodiment, determining the postoperative coordinate transformation relationship based on the second pose information includes:

[0023] Determine the second relative positional relationship between the coordinate system containing the second pose information and the coordinate system containing the postoperative ultrasound image;

[0024] Based on the second pose information and the second relative position relationship, the postoperative coordinate transformation relationship is determined.

[0025] In one embodiment, the region of interest in the postoperative ultrasound image is evaluated based on the target correspondence, preoperative ultrasound image, and postoperative ultrasound image, including:

[0026] Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, determine the preoperative multiplanar reconstruction images;

[0027] Regions of interest in postoperative ultrasound images are evaluated based on preoperative multiplanar reconstructed images.

[0028] In one embodiment, the region of interest in the postoperative ultrasound image is evaluated based on the target correspondence, preoperative ultrasound image, and postoperative ultrasound image, including:

[0029] The region of interest in the preoperative ultrasound image is segmented to obtain the preoperative region of interest.

[0030] The region of interest in the postoperative ultrasound image is segmented to obtain the postoperative region of interest;

[0031] The postoperative region of interest (ROI) is evaluated based on the preoperative and postoperative ROI.

[0032] Secondly, one embodiment of this application provides an image evaluation method, the method comprising:

[0033] Acquire preoperative three-dimensional ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0034] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0035] Based on the target correspondence, preoperative 3D ultrasound images, and postoperative ultrasound images, preoperative multiplanar reconstructed images were determined, and the regions of interest in the postoperative ultrasound images were evaluated based on the preoperative multiplanar reconstructed images.

[0036] Thirdly, one embodiment of this application provides an ultrasound system, including an ultrasound device, a first pose detection device, and a control device. The ultrasound device includes an ultrasound probe and a second pose detection device, the second pose detection device being disposed on the ultrasound probe. The control device is connected to the ultrasound device, the first pose detection device, and the second pose detection device.

[0037] The first pose detection device is used to acquire the preoperative pose information and postoperative pose information of the marker, and transmit the preoperative pose information and postoperative pose information to the control device.

[0038] Ultrasound equipment is used to scan the object being examined, obtain preoperative and postoperative ultrasound images, and transmit the preoperative and postoperative ultrasound images to the control device.

[0039] The second pose detection device is used to acquire the first pose information of the ultrasound probe corresponding to the preoperative ultrasound image and the second pose information of the ultrasound probe corresponding to the postoperative ultrasound image, and transmit the first pose information and the second pose information to the control device.

[0040] A control device for performing the steps of the method provided in the first aspect or the steps of the method provided in the second aspect.

[0041] Fourthly, one embodiment of this application provides an image evaluation apparatus, the apparatus comprising:

[0042] The acquisition module is used to acquire preoperative ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are set on the test subject.

[0043] The determination module is used to determine the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image based on the preoperative pose information, postoperative pose information, first pose information and second pose information. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0044] The evaluation module is used to evaluate the region of interest in the postoperative ultrasound image based on the target correspondence, preoperative ultrasound image, and postoperative ultrasound image.

[0045] Fifthly, one embodiment of this application provides an image evaluation apparatus, the apparatus comprising:

[0046] The acquisition module is used to acquire the preoperative three-dimensional ultrasound image of the test object and the preoperative pose information of the markers, as well as the postoperative ultrasound image of the test object and the postoperative pose information of the markers; the markers are set on the test object.

[0047] The determination module is used to determine the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image based on the preoperative pose information, postoperative pose information, first pose information and second pose information. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0048] The evaluation module is used to determine the preoperative multiplanar reconstructed image based on the target correspondence, preoperative three-dimensional ultrasound image and postoperative ultrasound image, and to evaluate the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstructed image.

[0049] In a sixth aspect, one embodiment of this application provides a computer device including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the method provided in the first aspect.

[0050] In a seventh aspect, one embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect.

[0051] Eighthly, one embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided in the first aspect.

[0052] The aforementioned image evaluation method and ultrasound system acquire preoperative ultrasound images of the subject and preoperative pose information of markers, as well as postoperative ultrasound images of the subject and postoperative pose information of markers. Based on the preoperative pose information, postoperative pose information, first pose information, and second pose information, a target correspondence is determined between the preoperative and postoperative ultrasound images. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image. Based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image, the region of interest (ROI) in the postoperative ultrasound image is evaluated. In this embodiment, the target correspondence between the preoperative and postoperative ultrasound images can be determined directly based on the acquired preoperative pose information, postoperative pose information, first pose information, and second pose information. The ROI in the preoperative ultrasound image is then compared with the ROI in the preoperative ultrasound image, eliminating the need for manual registration and improving the accuracy of ROI evaluation in the postoperative ultrasound image. Furthermore, this embodiment does not require the acquisition of CT / MRI images, thus avoiding damage to the object being examined by radiation and contrast agents, making the image evaluation method applicable to various clinical scenarios. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of an ultrasound system in one embodiment;

[0054] Figure 2 This is a flowchart illustrating the steps of an image evaluation method in one embodiment;

[0055] Figure 3 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0056] Figure 4 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0057] Figure 5 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0058] Figure 6 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0059] Figure 7 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0060] Figure 8 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0061] Figure 9 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0062] Figure 10 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0063] Figure 11 This is a flowchart illustrating the steps of an image evaluation method in another embodiment;

[0064] Figure 12 This is a schematic diagram illustrating the conversion relationship in one embodiment;

[0065] Figure 13 This is a schematic diagram of the structure of an image evaluation device in one embodiment;

[0066] Figure 14 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0068] The serial numbers assigned to components in this article, such as "first" and "second", are used only to distinguish the objects being described and have no sequential or technical meaning.

[0069] First, before introducing the technical solutions of the embodiments disclosed in this application, the background technology or technological evolution on which the embodiments of this application are based will be introduced. In the medical field, ultrasound-guided interventional ablation therapy is one of the fastest-growing interventional treatment methods, with clear therapeutic effects on liver cancer, thyroid cancer, prostate cancer, etc. Ultrasound-guided interventional ablation includes three ablation methods: radiofrequency ablation, cryoablation, and microwave ablation. Currently, contrast-enhanced ultrasound (CEUS), magnetic resonance imaging (MRI), and computed tomography (CT) images are commonly used methods to evaluate the efficacy of interventional ablation. These ablation treatment methods all use special needles or ablation probes placed percutaneously to the tumor site, killing tumor cells through local heating or freezing. Currently, different technologies are usually used for ablation evaluation of different types of tumors. For example, in the field of liver ablation, postoperative ultrasound images are typically registered with preoperative CT / MRI. The tumor is segmented on the preoperative CT / MRI, and expansion is used to create a safe boundary. After precise registration of the ultrasound image with the CT / MRI, the pre-defined ablation area is mapped onto the ultrasound image in real time. This allows doctors to assess whether an ablation area exists on the current ultrasound image and whether the area to be ablated has been completely ablated, solving the problem of incomplete ablation when using two-dimensional ultrasound. However, such ablation assessment technology requires preoperative CT / MRI, which is unavailable in some hospitals or for some patients, limiting its applicability. Therefore, this application provides an image assessment method.

[0070] The image evaluation method provided in this application can be applied to ultrasound systems, the structure of which is as follows: Figure 1As shown, the device includes an ultrasound device 10, a first pose detection device 11, and a control device 12. The ultrasound device 10 includes an ultrasound probe 13 and a second pose detection device 14 mounted on the ultrasound probe 13 or a stepper (not shown in the figure). The ultrasound device 10 is used to perform ultrasound scanning on the object being tested to obtain an ultrasound image of the object. The first pose detection device 11 is used to acquire the pose information of a marker mounted on the object being tested. The marker can be a body position tracker mounted on the object being tested, or it can be a surface marker mounted on the object being tested. When the marker is a body position tracker, the first pose detection device 11 is a body position tracker; when the marker is a surface marker, the first pose detection device 11 is a magnetic navigation component mounted in the ultrasound device 10. The second pose detection device 14 can be a position sensor. This embodiment does not limit the type and structure of the first pose detection device 11 and the second pose detection device 14, as long as their functions can be achieved. The control device 12 is communicatively connected to the first pose detection device 11, the second pose detection device 14, and the ultrasonic equipment 10. The control device 12 can acquire the pose information of the marker detected by the first pose detection device 11, the pose information of the ultrasonic probe detected by the second pose detection device 14, and can also control the ultrasonic equipment 10 to perform ultrasonic scanning on the object being detected and receive the resulting ultrasonic images. The control device 12 can be integrated into the ultrasonic equipment 10 or set up independently of it. The control device 12 includes, but is not limited to, industrial computers, laptops, tablets, and processors.

[0071] In an optional embodiment, the ultrasonic probe 13 in the ultrasonic device 10 can be a mechanical probe, an electronic matrix probe, a 2D probe, a volumetric probe, etc. This embodiment does not limit the type of ultrasonic probe 13, as long as it can perform its function.

[0072] The technical solution of this application and how the technical solution of this application solves the technical problem are described in detail below with specific embodiments.

[0073] In one embodiment, such as Figure 2 As shown, an image evaluation method is provided. This embodiment illustrates the application of this method to a control device in an ultrasound system. In this embodiment, the method includes the following steps:

[0074] Step 200: Obtain the preoperative ultrasound image of the test subject and the preoperative pose information of the marker, as well as the postoperative ultrasound image of the test subject and the postoperative pose information of the marker; the marker is set on the test subject.

[0075] Preoperative pose information of the marker is used to characterize the marker's position before ablation surgery, i.e., the coordinate information of the marker set preoperatively in the coordinate system of the magnetic navigation component. Postoperative pose information of the marker is used to characterize the marker's position after ablation surgery, i.e., the coordinate information of the marker set postoperatively in the coordinate system of the magnetic navigation component. Before ablation surgery, when performing ultrasound scanning on the subject, the preoperative pose information of the marker is acquired using a first pose detection device, and preoperative ultrasound images are acquired using ultrasound equipment. After ablation surgery, when performing ultrasound scanning on the subject, the postoperative pose information of the marker is acquired using a first pose detection device, and postoperative ultrasound images are acquired using ultrasound equipment.

[0076] In one optional embodiment, the preoperative ultrasound image obtained by scanning the subject with an ultrasound device before the ablation procedure can be a three-dimensional ultrasound image or a two-dimensional ultrasound image. After the ablation procedure, the postoperative ultrasound image obtained by scanning the subject with an ultrasound device can be a two-dimensional ultrasound image or a three-dimensional ultrasound image.

[0077] Preoperative pose information, preoperative ultrasound images, postoperative pose information, and postoperative ultrasound images can all be stored in the imaging equipment post-processing workstation or in servers such as PACS (Picture Archiving and Communication Systems). The control device can obtain preoperative pose information and preoperative ultrasound images, as well as postoperative pose information and postoperative ultrasound images, from the imaging equipment post-processing workstation or PACS.

[0078] Step 210: Determine the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image based on the preoperative pose information, postoperative pose information, first pose information and second pose information; the first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0079] The first pose information refers to the pose information of the ultrasound probe acquired before the ablation procedure using a second pose detection device mounted on the ultrasound probe. The second pose information refers to the pose information of the ultrasound probe acquired after the ablation procedure using the same device. The ultrasound probe used before and after the procedure can be the same or different.

[0080] Based on the acquired preoperative pose information, postoperative pose information, first pose information, and second pose information, the control device can determine the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image, that is, the correspondence between the coordinates of each pixel in the postoperative ultrasound image and the coordinates of each pixel in the preoperative ultrasound image.

[0081] Step 220: Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, evaluate the region of interest in the postoperative ultrasound images.

[0082] In preoperative ultrasound images, the region of interest (ROI) refers to the area to be ablated (lesion area), while in postoperative ultrasound images, the ROI refers to the ablated area (ablation site) after the ablation procedure. After obtaining the target correspondence, the control device compares the overlap between the ROI in the preoperative and postoperative ultrasound images based on this correspondence, the preoperative ultrasound images, and the postoperative ultrasound images, in order to evaluate the ROI in the postoperative ultrasound images.

[0083] In an optional embodiment, after determining the evaluation result of the region of interest (ablation foci) in the postoperative ultrasound image, the control device can determine the ablation effect of the ablation procedure based on the evaluation result. If the region of interest (ablation foci) in the postoperative ultrasound image completely covers the region of interest (tumor and pre-set safety boundary) in the preoperative ultrasound image, the ablation effect is good; if the region of interest in the postoperative ultrasound image does not completely cover the region of interest (tumor and pre-set safety boundary) in the preoperative ultrasound image, it is under-ablation, and supplementary ablation of the under-ablated area is required based on the actual clinical situation.

[0084] The image evaluation method provided in this application acquires preoperative ultrasound images of the target object and preoperative pose information of markers, as well as postoperative ultrasound images of the target object and postoperative pose information of markers. Based on the preoperative pose information, postoperative pose information, first pose information, and second pose information, a target correspondence is determined between the preoperative and postoperative ultrasound images. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image. Based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image, the region of interest (ROI) in the postoperative ultrasound image is evaluated. In this embodiment, the target correspondence between the preoperative and postoperative ultrasound images can be determined directly based on the acquired preoperative pose information, postoperative pose information, first pose information, and second pose information. The ROI in the preoperative ultrasound image is then compared with the ROI in the preoperative ultrasound image, eliminating the need for manual registration and improving the accuracy of ROI evaluation in the postoperative ultrasound image. Furthermore, this embodiment does not require the acquisition of CT / MRI images, thus avoiding damage to the object being examined by radiation and contrast agents, making the image evaluation method applicable to various clinical scenarios.

[0085] In one embodiment, such as Figure 3 As shown, this relates to an implementation method for determining the target correspondence between preoperative ultrasound images and postoperative ultrasound images based on preoperative pose information, postoperative pose information, first pose information, and second pose information. The steps of this implementation method include:

[0086] Step 300: Determine the first correspondence based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker.

[0087] The control device uses the first pose information of the preoperative ultrasound probe as a coordinate system bridge to establish a spatial mapping relationship, i.e., a first correspondence, between the preoperative pose information of the marker and the voxel coordinates of the preoperative ultrasound image. The correspondence between the coordinate system of the ultrasound probe and the coordinate system of the preoperative ultrasound image can be directly determined and stored in the control device after the ultrasound equipment is fixed. The correspondence between the coordinate system of the ultrasound probe and the coordinate system of the marker is also pre-acquired and stored in the control device. Based on the correspondence between the coordinate systems of the ultrasound probe and the preoperative ultrasound image, and between the coordinate systems of the ultrasound probe and the marker, the control device can determine the first correspondence.

[0088] Step 310: Determine the second correspondence based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker.

[0089] The control device uses the second pose information of the ultrasound probe used post-surgery as a coordinate system bridge to establish a spatial mapping relationship, i.e., a second correspondence, between the post-operative pose information of the marker and the voxel coordinates of the post-operative ultrasound image. The correspondence between the coordinate system of the ultrasound probe and the coordinate system of the post-operative ultrasound image can be directly determined and stored in the control device after the ultrasound equipment is fixed. The correspondence between the coordinate system of the ultrasound probe and the coordinate system of the marker is also pre-acquired and stored in the control device. Based on the correspondence between the coordinate systems of the ultrasound probe and the post-operative ultrasound image, and between the coordinate systems of the ultrasound probe and the marker, the control device can determine the second correspondence.

[0090] Step 320: Determine the target correspondence based on the first and second correspondences.

[0091] After determining the first correspondence between the preoperative ultrasound image and the marker, and the second correspondence between the postoperative ultrasound image and the marker, the control device establishes a spatial mapping relationship between the voxel coordinates of the preoperative ultrasound image and the voxel coordinates of the postoperative ultrasound image, i.e., the target correspondence, using the coordinate system where the marker is located as a coordinate system bridge.

[0092] In this embodiment, the correspondence between the preoperative ultrasound image and the marker is determined based on the first pose information and the preoperative pose information; and the correspondence between the postoperative ultrasound image and the marker is determined based on the second pose information and the postoperative pose information, so as to determine the target correspondence. This method of determining the target correspondence is quick and easy to implement.

[0093] In one embodiment, such as Figure 4 As shown, this involves an implementation method for determining a first correspondence based on the first pose information and the preoperative pose information. The steps of this implementation method include:

[0094] Step 400: Determine the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system.

[0095] The preset coordinate system can be the coordinate system of the magnetic navigation component in the ultrasound equipment. The control device can calculate the preoperative coordinate transformation relationship based on the acquired first pose information. In other words, the control device can determine the transformation matrix to convert the preoperative ultrasound image to the preset coordinate system based on the first pose information. The first pose information is the pose information in the coordinate system of the second pose detection device. The control device can acquire the transformation relationship between the coordinate system of the second pose detection device and the preset coordinate system in real time, and the transformation relationship between the coordinate system of the preoperative ultrasound image and the coordinate system of the second pose detection device. Based on these transformation relationships, the preoperative coordinate transformation relationship can be determined.

[0096] Step 410: Determine the first correspondence based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0097] Preoperative pose information refers to the pose information of the markers set before surgery in a preset coordinate system (the coordinate system where the magnetic navigation component is located). After obtaining the preoperative coordinate transformation relationship, that is, the correspondence between the preoperative ultrasound image and the preset coordinate system, the control device can determine the correspondence between the coordinate system where the preoperative ultrasound image is located and the coordinate system where the marker is located, i.e., the first correspondence, based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0098] In this embodiment, the correspondence between the preoperative ultrasound image and the preset coordinate system is determined based on the first pose information, and the correspondence between the preoperative ultrasound image and the marker is determined based on the preoperative pose information, i.e., the first correspondence. This method of determining the first correspondence through the transformation between various coordinate systems is fast and accurate, and can improve the accuracy of subsequent calculations based on the first correspondence.

[0099] In one embodiment, such as Figure 5 As shown, this involves an implementation method for determining preoperative coordinate transformation relationships based on the first pose information. The steps of this implementation method include:

[0100] Step 500: Determine the first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located.

[0101] The first pose information is detected by a second pose detection device mounted on the ultrasound probe corresponding to the preoperative ultrasound image. The coordinate system of the second pose information refers to the coordinate system of the second pose detection device mounted on the ultrasound probe. The first relative positional relationship is determined by the mechanical structure of the ultrasound probe and fixture, and the imaging logic of the preoperative ultrasound image. The mechanical structure can be pre-existing in the ultrasound system, and the imaging logic of the preoperative ultrasound image is controlled by the ultrasound system. Therefore, the ultrasound system can calculate the first relative positional relationship between the coordinate system of the second pose detection device and the coordinate system of the preoperative ultrasound image in real time. This embodiment does not limit the specific method for determining the first relative positional relationship between the coordinate system of the first pose information and the coordinate system of the preoperative ultrasound image, as long as the function can be achieved.

[0102] Step 510: Determine the preoperative coordinate transformation relationship based on the first pose information and the first relative position relationship.

[0103] The first pose information is the pose information of the marker in the preset coordinate system. Based on the first pose information and the first relative position relationship, the control device can determine the conversion relationship between the preoperative ultrasound image and the first pose information, that is, the correspondence between the preoperative ultrasound image and the preset coordinate system.

[0104] In this embodiment, the first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located is determined; based on the first pose information and the first relative positional relationship, the preoperative coordinate transformation relationship is determined. This method of determining the preoperative coordinate transformation relationship is simple and easy to implement.

[0105] In one embodiment, such as Figure 6 As shown, this relates to an implementation method for determining a second correspondence based on second pose information and postoperative pose information. The steps of this implementation method include:

[0106] Step 600: Determine the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system.

[0107] The control device can calculate the postoperative coordinate transformation relationship based on the acquired second pose information. This means the control device can determine the transformation matrix from the postoperative ultrasound image to a preset coordinate system based on the second pose information. The second pose information is the pose information in the coordinate system where the second pose detection device is located. The control device can acquire the transformation relationship between the coordinate system where the second pose detection device is located and the preset coordinate system in real time, and the transformation relationship between the coordinate system where the postoperative ultrasound image is located and the coordinate system where the second pose detection device is located, thus determining the postoperative coordinate transformation relationship.

[0108] Step 610: Determine the second correspondence based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0109] Postoperative pose information refers to the pose information of the markers set after the operation in a preset coordinate system (the coordinate system where the magnetic navigation component is located). After obtaining the postoperative coordinate transformation relationship, that is, the correspondence between the postoperative ultrasound image and the preset coordinate system, the control device can determine the correspondence between the coordinate system where the postoperative ultrasound image is located and the coordinate system where the marker is located, i.e., the second correspondence, based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0110] In this embodiment, the correspondence between the postoperative ultrasound image and the preset coordinate system is determined based on the second pose information, and the correspondence between the postoperative ultrasound image and the marker is determined based on the postoperative pose information, i.e., the second correspondence. This method of determining the second correspondence through the transformation between various coordinate systems is fast and accurate, and can improve the accuracy of subsequent calculations based on the second correspondence.

[0111] In one embodiment, such as Figure 7 As shown, this relates to an implementation method for determining postoperative coordinate transformation relationships based on second pose information. The steps of this implementation method include:

[0112] Step 700: Determine the second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located.

[0113] The second pose information is detected by a second pose detection device mounted on the ultrasound probe corresponding to the postoperative ultrasound image. The coordinate system of the second pose information refers to the coordinate system of the second pose detection device mounted on the ultrasound probe. The second relative positional relationship is determined by the mechanical structure of the ultrasound probe and fixture, and the imaging logic of the preoperative ultrasound image. The mechanical structure can be pre-existing in the ultrasound system, and the imaging logic of the postoperative ultrasound image is controlled by the ultrasound system. Therefore, the ultrasound system can calculate the first relative positional relationship between the coordinate system of the second pose detection device and the coordinate system of the postoperative ultrasound image in real time. This embodiment does not limit the specific method for determining the second relative positional relationship between the coordinate system of the second pose information and the coordinate system of the postoperative ultrasound image, as long as the function can be achieved.

[0114] Step 710: Determine the postoperative coordinate transformation relationship based on the second pose information and the second relative position relationship.

[0115] The second pose information is the pose information of the marker in the preset coordinate system. Based on the second pose information and the first relative position relationship, the control device can determine the conversion relationship between the postoperative ultrasound image and the second pose information, that is, the correspondence between the postoperative ultrasound image and the preset coordinate system.

[0116] In this embodiment, a second relative positional relationship is determined between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; based on the second pose information and the second relative positional relationship, the postoperative coordinate transformation relationship is determined. This method of determining the postoperative coordinate transformation relationship is simple and easy to implement.

[0117] In one embodiment, such as Figure 8 As shown, this involves an implementation method for evaluating regions of interest in postoperative ultrasound images based on target correspondence, preoperative ultrasound images, and postoperative ultrasound images. The steps of this implementation method include:

[0118] Step 800: Determine the preoperative multiplanar reconstruction image based on the target object relationship, preoperative ultrasound image, and postoperative ultrasound image.

[0119] Based on the correspondence between preoperative ultrasound images and the target object relationship, the control device can calculate the pixel values ​​corresponding to the postoperative ultrasound images from the preoperative ultrasound images, thus obtaining a preoperative multi-planar reconstruction (MPR) image. If the postoperative ultrasound image is two-dimensional, the preoperative MPR image is also two-dimensional; if the postoperative ultrasound image is three-dimensional, the preoperative MPR image is also three-dimensional.

[0120] Assume the correspondence between preoperative ultrasound images and markers is A1, the correspondence between postoperative ultrasound images and markers is A2, the preoperative pose information (the pose information of the markers in a preset coordinate system) is M, the postoperative pose information (the pose information of the markers in a preset coordinate system) is N, the pose information of the first pose information in the preset coordinate system is B1, the pose information of the second pose information in the preset coordinate system is B2, and the coordinates of the pixels in the postoperative ultrasound image can be represented as L. b The coordinates of a pixel in a preoperative ultrasound image can be represented as L. a Preoperative ultrasound image was I A The first correspondence can be represented as A1. -1 *B1 -1 *M, the second correspondence can be represented as A2 -1 *B2 -1 *N, the target correspondence can be represented as A1 -1 *B1 -1 *M*N -1 *B2*A2, the coordinates of each pixel in the postoperative ultrasound image can be represented as L. b→a L b→a =A1 -1 *B1 -1 *M*N -1*B2*A2*L b Preoperative multiplanar reconstruction image L MPR =I A (L) b→a ), where I A (·) indicates taking I A The corresponding pixel in the image.

[0121] Step 810: Evaluate the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstruction image.

[0122] After obtaining the preoperative multiplanar reconstruction image, which includes the region of interest (lesion area), the control device compares the region of interest in the preoperative multiplanar reconstruction image with the region of interest in the postoperative ultrasound image to evaluate the region of interest in the postoperative ultrasound image.

[0123] In an optional embodiment, the control device can directly evaluate the region of interest (ROI) in the postoperative ultrasound image based on the comparison results between the ROI in the preoperative multiplanar reconstruction image and the ROI in the postoperative ultrasound image. The control device includes a display interface. After obtaining the preoperative multiplanar reconstruction image, the control device displays both the preoperative multiplanar reconstruction image and the postoperative ultrasound image on the display interface, allowing the physician to evaluate the ROI in the postoperative ultrasound image by observing both images. The preoperative multiplanar reconstruction image and the postoperative ultrasound image can be displayed on the same display interface or in a split-screen format.

[0124] In this embodiment, a preoperative multiplanar reconstructed image is determined based on the target correspondence, preoperative ultrasound image, and postoperative ultrasound image. The region of interest in the postoperative ultrasound image is evaluated based on the preoperative multiplanar reconstructed image. By mapping the preoperative and postoperative ultrasound images through the calculated target correspondence, a more accurate multiplanar reconstructed image can be obtained, thereby improving the accuracy of evaluating the region of interest in the postoperative ultrasound image based on the multiplanar reconstructed image.

[0125] In one embodiment, such as Figure 9 As shown, this involves an implementation method for evaluating regions of interest in postoperative ultrasound images based on target correspondence, preoperative ultrasound images, and postoperative ultrasound images. The steps of this implementation method include:

[0126] Step 900: Segment the region of interest in the preoperative ultrasound image to obtain the preoperative region of interest.

[0127] After obtaining the preoperative ultrasound image, the control device can segment the region of interest in the preoperative ultrasound image using a segmentation algorithm, or it can segment the region of interest in the preoperative ultrasound image using a pre-trained segmentation model to obtain the preoperative region of interest, i.e. the region to be ablated.

[0128] Step 910: Segment the region of interest in the postoperative ultrasound image to obtain the postoperative region of interest.

[0129] After obtaining the postoperative ultrasound image, the control device can segment the region of interest in the postoperative ultrasound image using a segmentation algorithm, or it can segment the region of interest in the postoperative ultrasound image using a pre-trained segmentation model to obtain the postoperative region of interest, i.e., the ablation region.

[0130] Step 920: Evaluate the postoperative region of interest based on the preoperative and postoperative regions of interest.

[0131] The control device matches the preoperative region of interest (ROI) and the postoperative region of interest (ROI) to determine the overlap between them, and then evaluates the postoperative ROI. A description of the evaluation of the postoperative ROI based on the preoperative and postoperative ROIs can be found in the detailed description of the above embodiments, and will not be repeated here.

[0132] In this embodiment, the region of interest (ROI) in the preoperative ultrasound image and the postoperative ultrasound image are segmented to obtain the preoperative ROI and the postoperative ROI. The postoperative ROI is then evaluated based on the preoperative and postoperative ROI. This method of evaluating the postoperative ROI is quick and easy to implement, and can improve the efficiency and practicality of image evaluation methods.

[0133] Please see Figure 10 One embodiment of this application provides an image evaluation method, the steps of which include:

[0134] Step 1001: Obtain the preoperative ultrasound image of the test subject and the preoperative pose information of the marker, as well as the postoperative ultrasound image of the test subject and the postoperative pose information of the marker; the marker is set on the test subject;

[0135] Step 1002: Determine the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to characterize the correspondence between the preoperative ultrasound image and the preset coordinate system;

[0136] Step 1003: Determine the first correspondence relationship based on the preoperative pose information and the preoperative coordinate transformation relationship; the first correspondence relationship is used to characterize the correspondence between the preoperative ultrasound image and the marker.

[0137] Step 1004: Determine the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to characterize the correspondence between the postoperative ultrasound image and the preset coordinate system;

[0138] Step 1005: Determine the second correspondence based on the postoperative pose information and the preoperative coordinate transformation relationship; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker.

[0139] Step 1006: Determine the target correspondence based on the first and second correspondences; the target object relationship is used to characterize the correspondence between preoperative ultrasound images and postoperative ultrasound images.

[0140] Step 1007: Determine the preoperative multiplanar reconstruction image based on the target correspondence, preoperative ultrasound image, and postoperative ultrasound image;

[0141] Step 1008: Evaluate the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstruction image to determine the ablation effect of the ablation surgery on the region to be ablated in the preoperative multiplanar reconstruction image.

[0142] Please see Figure 11 One embodiment of this application provides an image evaluation method, the steps of which include:

[0143] Step 1101: Obtain the preoperative three-dimensional ultrasound image of the test subject and the preoperative pose information of the marker, as well as the postoperative ultrasound image of the test subject and the postoperative pose information of the marker; the marker is set on the test subject.

[0144] Step 1102: Based on the preoperative pose information, postoperative pose information, first pose information, and second pose information, determine the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image; the first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0145] Step 1103: Based on the target correspondence, preoperative three-dimensional ultrasound images and postoperative ultrasound images, determine the preoperative multiplanar reconstruction images, and evaluate the regions of interest in the postoperative ultrasound images based on the preoperative multiplanar reconstruction images.

[0146] The description of steps 1101-1103 can be found in the detailed description of the above embodiments, and will not be repeated here.

[0147] In an optional embodiment, the preoperative ultrasound image, postoperative ultrasound image, first pose information, second pose information, preoperative pose information, postoperative pose information, correspondence H, and transformation relationship between the preset coordinate system can be represented as follows: Figure 12As shown. The preoperative pose information of the marker, i.e., the pose information M of the marker in the preset coordinate system; the postoperative pose information of the marker, i.e., the pose information N of the marker in the preset coordinate system; the pose information B1 of the ultrasound probe corresponding to the preoperative ultrasound image in the preset coordinate system (first pose information); the pose information B2 of the ultrasound probe corresponding to the postoperative ultrasound image in the preset coordinate system (second pose information); the correspondence between the preoperative ultrasound image and the marker is A1; the correspondence between the postoperative ultrasound image and the marker is A2; and the correspondence H between the preoperative ultrasound images.

[0148] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0149] Please continue reading Figure 1 One embodiment of this application provides an ultrasound system, including an ultrasound device 10, a first pose detection device 11, and a control device 12. The ultrasound device 10 includes an ultrasound probe 13 and a second pose detection device 14. The second pose detection device 14 is disposed on the ultrasound probe 13. The control device 12 is connected to the ultrasound device 10, the first pose detection device 11, and the second pose detection device 14.

[0150] The first pose detection device 11 is used to acquire the preoperative pose information and postoperative pose information of the marker, and transmit the preoperative and postoperative pose information to the control device 12; the ultrasound device 10 is used to scan the object to be detected, obtain preoperative and postoperative ultrasound images, and transmit the preoperative and postoperative ultrasound images to the control device 12; the second pose detection device 14 is used to acquire the first pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information of the ultrasound probe corresponding to the postoperative ultrasound image, and transmit the first and second pose information to the control device 12. The control device 12 is used to execute the steps of the image evaluation method provided in the above embodiments.

[0151] The descriptions of the ultrasonic device 10, the first pose detection device 11, the control device 12, the ultrasonic probe 13, and the second pose detection device 14 can be found in the detailed descriptions of the above embodiments. The description of the image evaluation method performed by the control device 12 is also found in the detailed descriptions of the above embodiments and will not be repeated here.

[0152] The ultrasound system provided in this application includes a control device for executing the image evaluation method provided in the above embodiments, and therefore the ultrasound system has all the beneficial effects of the image evaluation method.

[0153] Based on the same inventive concept, this application also provides an image evaluation apparatus for implementing the image evaluation method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more image evaluation apparatus embodiments provided below can be found in the limitations of the image evaluation method described above, and will not be repeated here.

[0154] In one embodiment, such as Figure 13 As shown, an image evaluation device 20 is provided, including: an acquisition module 21, a determination module 22, and an evaluation module 23, wherein:

[0155] The acquisition module 21 is used to acquire the preoperative ultrasound image of the test object and the preoperative pose information of the marker, as well as the postoperative ultrasound image of the test object and the postoperative pose information of the marker; the marker is set on the test object.

[0156] The determination module 22 is used to determine the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image based on the preoperative pose information, the postoperative pose information, the first pose information and the second pose information. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0157] Evaluation module 23 is used to evaluate the region of interest in the postoperative ultrasound image based on the target correspondence, preoperative ultrasound image and postoperative ultrasound image.

[0158] In one embodiment, the determining module 22 includes a first determining unit, a second determining unit, and a third determining unit. The first determining unit is used to determine a first correspondence based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker. The second determining unit is used to determine a second correspondence based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker. The third determining unit is used to determine a target correspondence based on the first and second correspondences.

[0159] In one embodiment, the first determining unit is specifically used to determine the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system; and the first correspondence relationship is determined based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0160] In one embodiment, the first determining unit is further configured to determine a first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located; and to determine the preoperative coordinate transformation relationship based on the first pose information and the first relative positional relationship.

[0161] In one embodiment, the second determining unit is specifically used to determine the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system; and the second correspondence relationship is determined based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0162] In one embodiment, the second determining unit is further configured to determine a second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; and to determine the postoperative coordinate transformation relationship based on the second pose information and the second relative positional relationship.

[0163] In one embodiment, the evaluation module 23 is specifically used to determine the preoperative multiplanar reconstructed image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image; and to evaluate the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstructed image.

[0164] In one embodiment, the evaluation module 23 is further configured to segment the region of interest in the preoperative ultrasound image to obtain the preoperative region of interest; segment the region of interest in the postoperative ultrasound image to obtain the postoperative region of interest; and evaluate the postoperative region of interest based on the preoperative and postoperative regions of interest.

[0165] Each module in the aforementioned image evaluation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0166] In one embodiment, a computer device is provided, the internal structure of which can be shown as follows: Figure 14As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an image evaluation method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad located on the computer device casing, or an external keyboard, touchpad, or mouse.

[0167] Those skilled in the art will understand that Figure 14 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0168] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0169] Acquire preoperative ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0170] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0171] Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, the region of interest in the postoperative ultrasound images is evaluated.

[0172] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a first correspondence based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker; determining a second correspondence based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker; and determining a target correspondence based on the first correspondence and the second correspondence.

[0173] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system; and determining the first correspondence relationship based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0174] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located; and determining a preoperative coordinate transformation relationship based on the first pose information and the first relative positional relationship.

[0175] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system; and determining the second correspondence relationship based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0176] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; and determining a preoperative coordinate transformation relationship based on the second pose information and the second relative positional relationship.

[0177] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a preoperative multiplanar reconstructed image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image; and evaluating the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstructed image.

[0178] In one embodiment, when the processor executes the computer program, it further performs the following steps: segmenting the region of interest in the preoperative ultrasound image to obtain the preoperative region of interest; segmenting the region of interest in the postoperative ultrasound image to obtain the postoperative region of interest; and evaluating the postoperative region of interest based on the preoperative and postoperative regions of interest.

[0179] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0180] Acquire preoperative three-dimensional ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0181] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0182] Based on the target correspondence, preoperative 3D ultrasound images, and postoperative ultrasound images, preoperative multiplanar reconstructed images were determined, and the regions of interest in the postoperative ultrasound images were evaluated based on the preoperative multiplanar reconstructed images.

[0183] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0184] Acquire preoperative ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0185] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0186] Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, the region of interest in the postoperative ultrasound images is evaluated.

[0187] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a first correspondence based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker; determining a second correspondence based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker; and determining a target correspondence based on the first correspondence and the second correspondence.

[0188] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system; and determining the first correspondence relationship based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0189] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located; and determining a preoperative coordinate transformation relationship based on the first pose information and the first relative positional relationship.

[0190] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system; and determining the second correspondence relationship based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0191] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; and determining a postoperative coordinate transformation relationship based on the second pose information and the second relative positional relationship.

[0192] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a preoperative multiplanar reconstructed image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image; and evaluating the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstructed image.

[0193] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: segmenting the region of interest in the preoperative ultrasound image to obtain the preoperative region of interest; segmenting the region of interest in the postoperative ultrasound image to obtain the postoperative region of interest; and evaluating the postoperative region of interest based on the preoperative and postoperative regions of interest.

[0194] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0195] Acquire preoperative three-dimensional ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0196] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0197] Based on the target correspondence, three-dimensional preoperative ultrasound images, and postoperative ultrasound images, preoperative multiplanar reconstructed images are determined, and the regions of interest in the postoperative ultrasound images are evaluated based on the preoperative multiplanar reconstructed images.

[0198] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0199] Acquire preoperative ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0200] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0201] Based on the target correspondence, preoperative ultrasound images, and postoperative ultrasound images, the region of interest in the postoperative ultrasound images is evaluated.

[0202] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a first correspondence based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker; determining a second correspondence based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker; and determining a target correspondence based on the first correspondence and the second correspondence.

[0203] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the preoperative coordinate transformation relationship based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system; and determining the first correspondence relationship based on the preoperative pose information and the preoperative coordinate transformation relationship.

[0204] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located; and determining a preoperative coordinate transformation relationship based on the first pose information and the first relative positional relationship.

[0205] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the postoperative coordinate transformation relationship based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system; and determining the second correspondence relationship based on the postoperative pose information and the postoperative coordinate transformation relationship.

[0206] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; and determining a postoperative coordinate transformation relationship based on the second pose information and the second relative positional relationship.

[0207] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a preoperative multiplanar reconstructed image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image; and evaluating the region of interest in the postoperative ultrasound image based on the preoperative multiplanar reconstructed image.

[0208] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: segmenting the region of interest in the preoperative ultrasound image to obtain the preoperative region of interest; segmenting the region of interest in the postoperative ultrasound image to obtain the postoperative region of interest; and evaluating the postoperative region of interest based on the preoperative and postoperative regions of interest.

[0209] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0210] Acquire preoperative three-dimensional ultrasound images of the test subject and preoperative pose information of the markers, as well as postoperative ultrasound images of the test subject and postoperative pose information of the markers; the markers are placed on the test subject.

[0211] Based on the preoperative pose information, postoperative pose information, first pose information and second pose information, the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image.

[0212] Based on the target correspondence, preoperative 3D ultrasound images, and postoperative ultrasound images, preoperative multiplanar reconstructed images were determined, and the regions of interest in the postoperative ultrasound images were evaluated based on the preoperative multiplanar reconstructed images.

[0213] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0214] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0215] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An image evaluation method, characterized in that, The method includes: The preoperative ultrasound image of the test subject and the preoperative pose information of the marker are acquired, as well as the postoperative ultrasound image of the test subject and the postoperative pose information of the marker; the marker is placed on the test subject. Based on the preoperative pose information, the postoperative pose information, the first pose information, and the second pose information, the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image. Based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image, the region of interest in the postoperative ultrasound image is evaluated.

2. The method according to claim 1, characterized in that, The step of determining the target correspondence between the preoperative ultrasound image and the postoperative ultrasound image based on the preoperative pose information, the postoperative pose information, the first pose information, and the second pose information includes: A first correspondence is determined based on the first pose information and the preoperative pose information; the first correspondence is used to characterize the correspondence between the preoperative ultrasound image and the marker. A second correspondence is determined based on the second pose information and the postoperative pose information; the second correspondence is used to characterize the correspondence between the postoperative ultrasound image and the marker. The target correspondence is determined based on the first correspondence and the second correspondence.

3. The method according to claim 2, characterized in that, The step of determining the first correspondence based on the first pose information and the preoperative pose information includes: The preoperative coordinate transformation relationship is determined based on the first pose information; the preoperative coordinate transformation relationship is used to represent the correspondence between the preoperative ultrasound image and the preset coordinate system; The first correspondence is determined based on the preoperative pose information and the preoperative coordinate transformation relationship.

4. The method according to claim 3, characterized in that, Determining the preoperative coordinate transformation relationship based on the first pose information includes: Determine the first relative positional relationship between the coordinate system where the first pose information is located and the coordinate system where the preoperative ultrasound image is located; The preoperative coordinate transformation relationship is determined based on the first pose information and the first relative position relationship.

5. The method according to claim 2, characterized in that, The step of determining the second correspondence based on the second pose information and the postoperative pose information includes: The postoperative coordinate transformation relationship is determined based on the second pose information; the postoperative coordinate transformation relationship is used to represent the correspondence between the postoperative ultrasound image and the preset coordinate system; The second correspondence is determined based on the postoperative pose information and the postoperative coordinate transformation relationship.

6. The method according to claim 5, characterized in that, Determining the postoperative coordinate transformation relationship based on the second pose information includes: Determine the second relative positional relationship between the coordinate system where the second pose information is located and the coordinate system where the postoperative ultrasound image is located; The postoperative coordinate transformation relationship is determined based on the second pose information and the second relative position relationship.

7. The method according to any one of claims 1-6, characterized in that, The step of evaluating the region of interest in the postoperative ultrasound image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image includes: Based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image, the preoperative multiplanar reconstruction image is determined; The region of interest in the postoperative ultrasound image is evaluated based on the preoperative multiplanar reconstructed image.

8. The method according to any one of claims 1-6, characterized in that, The step of evaluating the region of interest in the postoperative ultrasound image based on the target correspondence, the preoperative ultrasound image, and the postoperative ultrasound image includes: The region of interest in the preoperative ultrasound image is segmented to obtain the preoperative region of interest. The region of interest in the postoperative ultrasound image is segmented to obtain the postoperative region of interest. The postoperative region of interest is evaluated based on the preoperative and postoperative regions of interest.

9. An image evaluation method, characterized in that, The method includes: The preoperative three-dimensional ultrasound image of the test subject and the preoperative pose information of the marker are acquired, as well as the postoperative ultrasound image of the test subject and the postoperative pose information of the marker; the marker is placed on the test subject. Based on the preoperative pose information, the postoperative pose information, the first pose information, and the second pose information, the target correspondence between the preoperative three-dimensional ultrasound image and the postoperative ultrasound image is determined. The first pose information is the pose information of the ultrasound probe corresponding to the preoperative three-dimensional ultrasound image, and the second pose information is the pose information of the ultrasound probe corresponding to the postoperative ultrasound image. Based on the target correspondence, the preoperative three-dimensional ultrasound image, and the postoperative ultrasound image, a preoperative multiplanar reconstruction image is determined, and the region of interest in the postoperative ultrasound image is evaluated based on the preoperative multiplanar reconstruction image.

10. An ultrasonic system, characterized in that, The device includes an ultrasonic device, a first pose detection device, and a control device. The ultrasonic device includes an ultrasonic probe and a second pose detection device, with the second pose detection device disposed on the ultrasonic probe. The control device is connected to the ultrasonic device, the first pose detection device, and the second pose detection device. The first pose detection device is used to acquire the preoperative pose information of the marker and the postoperative pose information of the marker, and transmit the preoperative pose information and the postoperative pose information to the control device. The ultrasound device is used to scan the object to be detected, obtain preoperative ultrasound images and postoperative ultrasound images, and transmit the preoperative ultrasound images and postoperative ultrasound images to the control device. The second pose detection device is used to acquire the first pose information of the ultrasound probe corresponding to the preoperative ultrasound image and the second pose information of the ultrasound probe corresponding to the postoperative ultrasound image, and transmit the first pose information and the second pose information to the control device. The control device is used to perform the steps of the method according to any one of claims 1-8, or the steps of the method according to claim 9.

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