An ultrasonic imaging auxiliary device and an ultrasonic apparatus
By using a combination of acoustic layer and markers in an ultrasound imaging aid, and by utilizing the characteristic marks and positional relationships formed by the markers on the ultrasound image, combined with probe orientation information, the problems of small range and low accuracy in existing ultrasound imaging are solved, achieving low-cost, high-precision three-dimensional imaging.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- THE THIRD AFFILIATED HOSPITAL OF SUN YAT SEN UNIV
- Filing Date
- 2025-01-03
- Publication Date
- 2026-06-19
AI Technical Summary
Existing ultrasonic three-dimensional imaging methods suffer from problems such as small imaging range, low accuracy, and inconvenience of use. In particular, the mechanical structures are bulky and heavy, the imaging range decreases with depth, external mechanical structures are difficult to fix, built-in gyroscopes have poor accuracy, and external monitoring equipment is expensive.
A combination of an acoustic layer and markers is used. The acoustic layer is fixed to the body surface, and the markers are arranged in a specific geometric shape to form characteristic marks. The characteristic marks and positional relationships formed by the markers on the ultrasound image are used to assist in three-dimensional imaging, and image processing is performed in combination with the orientation information of the ultrasound probe.
It achieves lower cost and more convenient high-precision three-dimensional imaging, and the ultrasonic imaging auxiliary device and method are low cost, easy to operate and accurate in imaging.
Smart Images
Figure CN224369880U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of ultrasonic imaging technology, and in particular to an ultrasonic imaging auxiliary device and an ultrasonic instrument. Background Technology
[0002] Ultrasonic 3D imaging technology refers to converting two-dimensional images acquired by ultrasonic equipment into three-dimensional images through corresponding algorithms. The necessary data for ultrasonic 3D imaging includes the ultrasonic 2D image and the spatial orientation of the corresponding 2D image. By using the spatial orientation of the ultrasonic 2D image and the corresponding 2D image, the coordinates of each pixel in the 2D image in the 3D space are determined, thus completing the 3D imaging.
[0003] Existing ultrasound three-dimensional imaging methods include: 1. Setting up a mechanical structure inside the ultrasound probe that can displace the piezoelectric crystal of the probe, driving the mechanical structure to move the probe and recording the movement information, and converting the movement information into the orientation information of the sound beam plane in the spatial coordinate system. This is the most commonly used three-dimensional imaging method today and is often used in obstetrics and gynecology ultrasound examinations; 2. Setting up a mechanical mechanism outside the ultrasound probe that can move the ultrasound probe; 3. Setting up a structure inside the ultrasound probe that can monitor the probe's movement information, such as a gyroscope; 4. Setting up a structure outside the ultrasound probe that can monitor the probe's movement information, such as magnetic navigation, laser, infrared, camera, etc.
[0004] Each of the four 3D imaging methods mentioned above has its own drawbacks. The first method, with its built-in mechanical structure, increases the size and weight of the ultrasonic probe, and the imaging range gradually becomes limited as the depth decreases, making it only suitable for examining deeper target areas. The second method, with its external mechanical structure, is difficult to fix and establish a coordinate system, making it very inconvenient to use and only suitable for certain specific examinations. The third method, with its internal gyroscope, typically only provides high monitoring accuracy for fast-moving objects, while ultrasonic scanning itself is a relatively slow process, resulting in poor imaging accuracy. The fourth method requires additional external monitoring equipment, which is expensive, bulky, and inconvenient to use.
[0005] To address the problems of limited imaging range, low accuracy, and inconvenience in the use of existing ultrasonic 3D imaging, a new ultrasonic 3D imaging device and ultrasonic image processing method are needed to achieve higher accuracy 3D imaging at a lower cost and more conveniently. Utility Model Content
[0006] The purpose of this invention is to provide an ultrasonic imaging auxiliary device, an ultrasonic image processing method, and an ultrasonic instrument, so as to achieve higher precision three-dimensional imaging at a lower cost and more conveniently, and to solve the problems of small imaging range, low precision, and inconvenience of use in existing ultrasonic three-dimensional imaging.
[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution:
[0008] An ultrasound imaging aid includes an acoustic layer and markers. The acoustic layer and markers are positioned relatively fixedly. The acoustic layer is a material through which ultrasound waves can pass without significant attenuation. The acoustic layer is fixed to the surface of the body at the site of examination. The markers are arranged in a specific geometric shape and have a fixed shape. To ensure that the markers are arranged in a specific geometric shape and have a fixed shape, an acoustic layer that is not easily deformed, or markers that are not easily deformed, or a combination of both, can be used. The markers can be made of a rigid material, which refers to a solid material that is not easily deformed. Rigid materials can be used to ensure that the shape of the markers does not change significantly. The markers can form characteristic features on the ultrasound image during ultrasound imaging. These characteristic features have specific positional relationships and can be used to assist ultrasound in three-dimensional imaging or body surface projection. The characteristic features refer to the imaging characteristics that can be clearly identified when ultrasound waves penetrate the markers and reflect echoes onto the ultrasound machine. These characteristic features include, but are not limited to: specific hyperechoic areas, specific hypoechoic areas, specific combinations of hyperechoic and hypoechoic areas, and specific imaging contours, such as the combination of a hyperechoic center and a hypoechoic halo. When ultrasound waves pass through the markers, their sound speed is close to 1540 m / s, which is similar to the speed of sound propagation in human tissue.
[0009] The markers are arranged in specific geometric shapes inside or on the surface of the acoustic layer. These specific shapes include three-dimensional and two-dimensional shapes. A three-dimensional shape refers to a marker in a two-dimensional ultrasound image that has both lateral and longitudinal distances, both of which can be used as basic information for further image processing. A two-dimensional shape refers to a marker in a two-dimensional ultrasound image where only lateral information is used as basic information for further image processing. In the ultrasound imaging aid, a two-dimensional shape refers to a marker frame made of thin rod-shaped acoustic material located only in one plane, while a three-dimensional shape refers to a marker frame made of thin rod-shaped acoustic material located not only in one plane but also as a three-dimensional geometric figure with length, width, and thickness. Both two-dimensional and three-dimensional shapes typically consist of a frame composed of thin rod-shaped structures with characteristic imaging functions. The characteristic marks formed by the cross-sections and oblique cross-sections of these thin rods on the ultrasound image are highly distinctive while occupying only a very small area of the ultrasound image.
[0010] The information of the two-dimensional or three-dimensional shape of the markers in the ultrasound imaging auxiliary device is known and fixed. By using the known marker information, the two-dimensional ultrasound image, and the characteristic marking information of the markers in the two-dimensional image, the relative orientation of the ultrasound probe's acoustic beam plane and the ultrasound imaging auxiliary device can be calculated. Combining the orientation information of the ultrasound probe's acoustic beam plane and the corresponding two-dimensional ultrasound image, advanced image processing can be performed on the ultrasound image. The advanced image processing includes three-dimensional imaging, recording the projection of the target tissue on the body surface, etc. The orientation information refers to all information including direction and position.
[0011] The geometry of the markers in the ultrasound imaging auxiliary device is specifically manufactured according to requirements. The specific geometric feature information can be preset in the ultrasound device or input into the ultrasound device through wired or wireless transmission as the basic information for image processing.
[0012] When the shape information of the marker in the ultrasound imaging aid is three-dimensional, the ultrasound two-dimensional scanning method is unrestricted. That is, during the acquisition of ultrasound two-dimensional images, the posture, direction of movement, speed, etc. of the ultrasound probe are unrestricted, and it can be swung, translated, rotated, tilted, etc. at will. When the shape information of the marker in the ultrasound imaging aid is two-dimensional, the ultrasound two-dimensional scanning method is restricted to a certain extent. That is, the scanner is required to keep the axis of the ultrasound probe as perpendicular to the surface of the ultrasound imaging aid as possible, and to keep the probe moving in a translational manner as much as possible. The axis of the ultrasound probe is the geometric center line of the ultrasound probe parallel to the ultrasound beam. Translation is one of the basic techniques of ultrasound scanning. Specifically, it means that during the ultrasound scanning process, the probe does not rotate along the axis of the ultrasound probe, and there is no obvious upward or downward tilt at both ends of the probe.
[0013] Furthermore, the thickness of the sound-permeable layer can be a thicker sound-permeable pad or a thinner sound-permeable membrane. When the thickness of the sound-permeable layer is relatively thick, the geometry of the marker can be three-dimensional. The marker can be located inside or on the surface of the sound-permeable layer.
[0014] Furthermore, the marker is a rigid material that is not easily bent or deformed. When the ultrasound imaging aid device undergoes a large deformation before imaging, the ultrasound imaging aid device can be scanned first to check the degree of deformation of the marker in the ultrasound imaging aid device, thereby correcting the geometric shape information of the ultrasound imaging aid device.
[0015] Furthermore, the marker forms a characteristic feature on the ultrasound image, namely hyperechoic, hypoechoic, or a specific combination of hyperechoic and hypoechoic, with the aim of making the characteristic feature formed by the marker clearly identifiable. The characteristic feature is a cross-section or oblique cross-section of the marker's thin rod-like structure, which can be a circular high-brightness echo, a circular low-echo, a combination of a central high-brightness echo and surrounding low-echo, or a circular low-echo with a high-echo ring, or a circular high-echo with a low-echo ring.
[0016] Furthermore, when the acoustic layer is relatively thick, the marker can be located inside the acoustic layer. The thicker the acoustic layer, the better it is for the marker to form a three-dimensional shape, thereby enabling more accurate three-dimensional imaging. When the acoustic layer is a thin acoustic membrane, the marker is located on the surface of the acoustic layer, and the gap between the acoustic layer and the ultrasonic probe can be filled by an ultrasonic coupling agent. To ensure that the shape of the marker within the acoustic pad remains stable and does not deform, a deformation-resistant acoustic material or a rigid frame can be used.
[0017] Furthermore, the side of the acoustic layer that contacts the body surface has geometric features that conform to the contour of the subject's body surface. When the body surface is convex, such as the breast, arm, testicle, or neck, the geometric features of the contact surface between the acoustic layer and the body surface are concave. When the body surface is concave, such as a bent joint or supraclavicular fossa, the geometric features of the contact surface between the acoustic layer and the body surface are convex. Gaps caused by individual differences can be filled with ultrasound coupling agent.
[0018] Furthermore, the contact surface between the acoustic layer and the body surface has a circular arc groove, which is beneficial for performing ultrasound examinations of the muscles and bones of the limbs.
[0019] Furthermore, the two-dimensional shape of the marker is: a rectangle with a specific length and width, containing two non-intersecting straight lines. These two lines intersect either the width or length of the rectangle, and neither line is perpendicular to the intersecting side; ideally, they intersect the width. When the two lines intersect the width of the rectangle, during ultrasound scanning, the sound beam plane must be kept parallel or nearly parallel to the width, so that the long side of the rectangle and the cross-sections or oblique cross-sections of the two lines appear in the ultrasound section, forming a characteristic marker in the two-dimensional ultrasound image. The direction and position of the sound beam plane relative to the rectangle can be calculated by finding the intersection points of the ultrasound probe's sound beam plane with the rectangle and its two internal lines. When the marker is two-dimensional, the scanner should keep the axis of the ultrasound probe as perpendicular to the surface of the ultrasound imaging aid as possible and move the probe in a translational manner.
[0020] Furthermore, the two-dimensional shape of the marker 2 can be arranged in any form. The purpose is to make the characteristic marks formed by the marker 2 on the ultrasound two-dimensional image able to determine the probe orientation. Specifically, it is to make the relative positional relationship between the intersection points of any straight line cutting the two non-intersecting sides of the rectangle unique.
[0021] Furthermore, the geometric shape of the markers can also be a three-dimensional shape, and the three-dimensional shape has anisotropic properties. This anisotropy means that when any plane cuts this three-dimensional shape at any angle or position, the cross-sectional features of the markers are unique. The entire framework of the three-dimensional shape is made of thin rod-shaped sound-transmitting material. Since the probe only moves and scans the surface of the ultrasound imaging aid when imaging with an ultrasound probe, the three-dimensional shape only needs to satisfy the anisotropic property when any plane cuts from the surface of the three-dimensional shape.
[0022] Furthermore, the three-dimensional shape with anisotropic properties can be arranged in the following manner, with the framework being: a cuboid with specific length, width, and height, with a diagonal line on its top and bottom surfaces respectively, the projections of the diagonals of the top and bottom surfaces onto the bottom surface intersecting at the geometric center of the bottom surface; another crossing line intersects one side of the top surface and the opposite side of the corresponding bottom surface respectively; when the crossing line intersects the wide side of the top and bottom surfaces, the probe's acoustic beam plane is not parallel to the long side of the cuboid during imaging, but is as parallel as possible to the wide side, to ensure that the cross-section or oblique cross-section of the above-mentioned marker frame appears in the ultrasonic section.
[0023] Furthermore, the intersection point of the crossing line with one side of the top surface and the opposite side of the corresponding bottom surface is not the midpoint of the line segment.
[0024] Furthermore, the three-dimensional shape frame can also be arranged in the following way: a cuboid with a specific length, width, and height, with two non-intersecting straight lines arranged inside the top and bottom surfaces respectively. The two straight lines intersect the width side of the cuboid simultaneously or the length side of the cuboid, and the two straight lines are not perpendicular to each other with the intersecting sides.
[0025] The anisotropic three-dimensional shape can also be arranged in other ways to satisfy the anisotropic property.
[0026] The three-dimensional shape with anisotropic properties can be multiple.
[0027] This invention also provides a corresponding ultrasound imaging method:
[0028] By utilizing the specific relative positional relationships of the markers and their relative positional relationships on the current frame of the ultrasound image, the orientation of the ultrasound probe in the current frame of the ultrasound image is obtained. Image processing is then performed by combining each frame of two-dimensional ultrasound image with the obtained probe orientation information from that frame of two-dimensional ultrasound image, including the following steps:
[0029] Step a: Obtain the specific geometric positional relationship of the markers in the ultrasound imaging aid device;
[0030] Step b: Acquire and record the current frame of the ultrasound two-dimensional image;
[0031] Step c: Obtain and record the characteristic landmarks and their positional relationships in the current frame of the ultrasound two-dimensional image;
[0032] Step d: Calculate and record the orientation of the ultrasound probe in the current frame by using the known geometric positional relationships of the markers and the characteristic markers and their positional relationships in the current frame of the ultrasound two-dimensional image;
[0033] Step e, repeat steps a, b, c, and d to continuously acquire each frame of ultrasound two-dimensional image and the corresponding ultrasound probe orientation;
[0034] Step f involves image processing using each frame of the two-dimensional ultrasound image and the corresponding ultrasound probe orientation information.
[0035] The ultrasound image processing includes three-dimensional imaging or body surface projection imaging, and the orientation information includes direction and position information.
[0036] When the two-dimensional shape of the marker in the ultrasound imaging auxiliary device is: a rectangle with a specific length and width, containing two non-intersecting straight lines, and neither of the two straight lines is perpendicular to the intersecting side, and the two straight lines intersect the width side of the rectangle respectively; the orientation of the probe's sound beam can be determined through the following steps:
[0037] Step a: Construct a planar coordinate system Oxy with the specified vertex, width, and length of the rectangle as the origin O, x-axis, and y-axis, respectively. Obtain the rectangle with length l and width w, and the equations of the two lines inside it are known: y = f(x) and y = g(x).
[0038] Step b: By maintaining the probe axis perpendicular to the plane of the ultrasound imaging auxiliary device and moving the probe in a translational manner as much as possible, avoiding rotation, tilting, or swinging of the probe during the scanning process, four consecutive characteristic landmarks A, B, C, D and image edge point Q in the current frame ultrasound image are obtained, and the distances between AB, BC, AC, AD, and AQ are obtained as m, n, m+n, w′, and d, respectively.
[0039] Step c: Let the function of the ultrasonic probe's beam axis in the coordinate system Oxy be y = h(x). Using w and w′, the angle α between the beam axis y = h(x) and the x-axis can be calculated, where cosα = w / w′. Let the coordinates of point B be (x1, y1) and the coordinates of point C be (x2, y2). We can find x1 = m·cosα and x2 = (m+n)·cosα. Substitute x1 and x2 into y = f(x) and y = g(x) respectively to find y1 and y2. Determine the coordinates of points B and C as B[m·cosα, f(m·cosα)] and C{(m+n)·cosα, g[(m+n)·cosα]} respectively.
[0040] Step d: Based on the coordinates of B and C, determine the straight line function y = h(x), that is, determine the direction of the sound beam axis in the coordinate system;
[0041] Step e: Determine the orientation of the probe beam in the coordinate system by the distance d between the function y = h(x) and AQ, which is the probe orientation corresponding to the current two-dimensional image.
[0042] When the geometric shape of the markers is a three-dimensional shape and the three-dimensional shape has anisotropic characteristics, the image processing method includes the following steps:
[0043] Step a: The ultrasonic instrument acquires three-dimensional shape information with anisotropic characteristics;
[0044] Step b: Obtain the characteristic markers in the current frame of the two-dimensional ultrasound image and their corresponding positional relationships, and calculate the orientation of the ultrasound probe corresponding to the current frame;
[0045] Step c: Obtain the characteristic markers in each frame of the two-dimensional ultrasound image and their corresponding positional relationships, and calculate the orientation of the ultrasound probe for each frame.
[0046] Step d: Perform ultrasound imaging using all frames of two-dimensional ultrasound images and their corresponding acoustic beam plane orientation information.
[0047] The three-dimensional shape framework is arranged as follows: a cuboid with specific length, width, and height, with two non-intersecting straight lines arranged inside its top and bottom surfaces. These two lines intersect either the width side of the cuboid simultaneously or the length side, and neither line is perpendicular to the intersecting edge. The corresponding method for determining the probe's orientation can also refer to the corresponding two-dimensional shape method, locating the positions where the sound beam intersects the bottom and top surfaces of the cuboid.
[0048] This utility model also provides another ultrasound imaging method based on the aforementioned ultrasound imaging auxiliary device. This ultrasound imaging method is one that does not rely on mathematical calculations to obtain the orientation of the ultrasound probe. It involves arranging characteristic features in the two-dimensional ultrasound image according to the geometry of the ultrasound imaging auxiliary device, and includes the following steps:
[0049] Step a: Obtain the geometric shape information of the ultrasound imaging auxiliary device;
[0050] Step b: Acquire a two-dimensional ultrasound image containing characteristic markers for each frame;
[0051] Step c: Assemble and arrange the characteristic marks in each frame of the ultrasound two-dimensional image containing characteristic marks according to the geometric shape information in step a, and the resulting three-dimensional image is the target three-dimensional image.
[0052] This invention also provides an ultrasonic instrument that can acquire information from any of the aforementioned ultrasonic imaging auxiliary devices and use that information to perform ultrasonic image processing according to the aforementioned method.
[0053] The beneficial effects of this invention are as follows: This invention uses an ultrasound imaging auxiliary device fixed to the body surface of the subject. The device contains shaped markers that form characteristic marks on the two-dimensional ultrasound image during ultrasound scanning. Based on the shape information of the markers and the positional relationship between the markers and the characteristic marks formed on the two-dimensional ultrasound image, the orientation information of the ultrasound probe corresponding to the current frame of the two-dimensional image can be calculated. Then, by combining the ultrasound two-dimensional image with the ultrasound probe orientation information of the corresponding image, three-dimensional imaging, body surface projection, and other advanced processing are performed. The ultrasound imaging auxiliary device and corresponding image processing method provided by this invention have advantages such as low cost, convenient operation, and more accurate three-dimensional imaging. Attached Figure Description
[0054] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0055] Figure 1 This is a three-dimensional structural diagram of the ultrasonic imaging auxiliary device with a sound-permeable pad in this utility model.
[0056] Figure 2 This is a three-dimensional structural diagram of the ultrasonic imaging auxiliary device with a sound-transmitting membrane in this utility model;
[0057] Figure 3 This is a schematic diagram of an ultrasonic two-dimensional image in which the marker is a two-dimensional shape in this utility model;
[0058] Figure 4 This is a schematic diagram illustrating the method for determining the planar orientation of the probe when the marker is a two-dimensional shape in this utility model;
[0059] Figure 5 This is a schematic diagram illustrating the principle of determining the planar orientation of the probe when the marker is a three-dimensional shape with anisotropic properties in this utility model.
[0060] Figure 6 This is a schematic diagram illustrating the principle of determining the probe's planar orientation when the marker is another three-dimensional shape with anisotropic properties in this utility model.
[0061] Figure 7 This is a flowchart of the ultrasound image processing method in this utility model;
[0062] Figure 8 This is a flowchart illustrating the process of determining the probe's planar orientation when the marker is a two-dimensional shape in this invention.
[0063] Figure 9 This is a flowchart of the ultrasonic image processing method for obtaining probe orientation information without relying on mathematical calculations in this utility model;
[0064] The labels in the diagram are as follows: 1. Sound-permeable layer; 2. Marker; 3. Arc-shaped groove. Detailed Implementation
[0065] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0066] Description of Ultrasonic Imaging Technology: This utility model relates to medical ultrasonic imaging technology. Ultrasonic scanning refers to the process by which an operator or robotic arm uses an ultrasonic probe to scan a target (usually a patient) and simultaneously image the result on the display of an ultrasonic instrument. Ultrasonic probes include linear array probes, convex array probes, phased array probes, etc., and their shapes are mostly axially symmetrical structures, with the axis of symmetry being the axis of the ultrasonic probe. During ultrasonic scanning, the axis of the ultrasonic probe is perpendicular or nearly perpendicular to the surface of the structure being scanned. The piezoelectric crystals of linear array probes and convex array probes are arranged linearly or arc-linearly. During ultrasonic imaging, the direction of ultrasonic wave focusing, reflection, and reception is consistent with the axis of the probe. Therefore, the plane formed by the probe axis and the piezoelectric crystals is called the acoustic beam plane.
[0067] Example 1
[0068] Please see Figure 1-8 This utility model provides an ultrasound imaging auxiliary device, comprising an acoustically transparent layer 1 and markers 2. The acoustically transparent layer 1 and markers 2 are positioned relatively fixedly. The acoustically transparent layer 1 is a material through which ultrasound waves can penetrate without significant attenuation. The acoustically transparent layer 1 is fixed to the surface of the body at the site of examination. The markers 2 are arranged in a specific geometric shape and have a fixed shape. To ensure that the markers 2 are arranged in a specific geometric shape and have a fixed shape, either the acoustically transparent layer 1 or the markers 2, or a combination of both, can be used. The markers 2 can be made of a rigid material, which refers to a solid material that is not easily deformed. The rigid material can be used to ensure the markings... The shape of the object remains unchanged; the marker 2 can form characteristic marks on the ultrasound image during ultrasound imaging, and the characteristic marks have a specific positional relationship, which can be used to assist ultrasound in three-dimensional imaging or body surface projection; the characteristic marks refer to the imaging features that can be clearly identified when ultrasound waves penetrate the marker 2 and reflect echoes for imaging. The characteristic marks include, but are not limited to: specific high echoes, specific low echoes, specific combinations of high echoes and low echoes, specific imaging contours, such as the combination of a high echo center and a low echo halo; when ultrasound waves pass through the marker 2, their sound speed is close to 1540 m / s, which is similar to the propagation speed of sound waves in human tissue.
[0069] The markers 2 are arranged in specific geometric shapes inside or on the surface of the acoustic layer 1. These specific shapes include three-dimensional and two-dimensional shapes. A three-dimensional shape refers to a shape whose outline has length, width, and thickness attributes. The markers 2 arranged in a three-dimensional shape have both lateral and longitudinal distances on the ultrasound two-dimensional image, and both lateral and longitudinal distances can be used as basic information for further image processing. A two-dimensional shape refers to a marker 2 whose distance information in the ultrasound two-dimensional image only has lateral information as basic information for further image processing. In the ultrasound imaging auxiliary device, the two-dimensional shape can be a frame of markers 2 made of thin rod-shaped acoustic material, whose frame lies only in one plane. The three-dimensional shape can be a marker frame made of thin rod-shaped acoustic material that lies not only in one plane but is a three-dimensional geometric figure with length, width, and thickness attributes. The two-dimensional and three-dimensional shapes are typically composed of frames made of thin rod-shaped structures with characteristic imaging functions. The characteristic marks formed by the cross-section or oblique cross-section of the thin rods on the ultrasound image have significant features while occupying only a very small area of the ultrasound image.
[0070] The information of the two-dimensional or three-dimensional shape of the markers 2 in the ultrasound imaging auxiliary device is known and fixed. By using the known marker information, the two-dimensional ultrasound image, and the characteristic marking information of markers 2 in the two-dimensional image, the relative orientation of the ultrasound probe's acoustic beam plane and the ultrasound imaging auxiliary device can be calculated. Combining the orientation information of the ultrasound probe's acoustic beam plane and the corresponding two-dimensional ultrasound image, advanced image processing can be performed on the ultrasound imaging. The advanced image processing includes three-dimensional imaging, recording the projection of the target tissue on the body surface, etc. The orientation information refers to all information including direction and position.
[0071] The geometry of the marker 2 in the ultrasound imaging auxiliary device is specifically manufactured according to requirements. The specific geometric feature information can be preset in the ultrasound device or input into the ultrasound device through wired or wireless transmission as the basic information for image processing.
[0072] When the shape information of marker 2 in the ultrasound imaging auxiliary device is three-dimensional, the ultrasound two-dimensional scanning method is unrestricted. That is, during the acquisition of ultrasound two-dimensional images, the posture, direction of movement, speed, etc. of the ultrasound probe are unrestricted, and it can be swung, translated, rotated, tilted, etc. at will. When the shape information of marker 2 in the ultrasound imaging auxiliary device is two-dimensional, the ultrasound two-dimensional scanning method is restricted to a certain extent. That is, the scanner is required to keep the axis of the ultrasound probe as perpendicular to the surface of the ultrasound imaging auxiliary device as possible, and to keep the probe moving in a translational manner as much as possible. The axis of the ultrasound probe is the geometric center line of the ultrasound probe parallel to the ultrasound beam. Translation is one of the basic techniques of ultrasound scanning. Specifically, it means that during the ultrasound scanning process, the probe does not rotate along the axis of the ultrasound probe, and there is no obvious upward or downward tilt at both ends of the probe.
[0073] The thickness of the sound-permeable layer 1 can be a thicker sound-permeable pad or a thinner sound-permeable membrane. When the thickness of the sound-permeable layer 1 is relatively thick, the geometry of the marker 2 can be three-dimensional. The marker 2 can be located inside or on the surface of the sound-permeable layer 1.
[0074] The marker 2 is a rigid material that is not easily bent or deformed. When the ultrasound imaging aid device undergoes a large deformation before imaging, the ultrasound imaging aid device can be scanned first to check the degree of deformation of the marker 2 in the ultrasound imaging aid device, thereby correcting the geometric shape information of the ultrasound imaging aid device.
[0075] The marker 2 forms a characteristic feature on the ultrasound image, namely hyperechoic, hypoechoic, or a specific combination of hyperechoic and hypoechoic, with the aim of making the characteristic feature formed by the marker 2 clearly identifiable. The characteristic feature is the cross-section or oblique cross-section of the thin rod-like structure of the marker 2, which can be a circular high-brightness echo, a circular low-brightness echo, a combination of a central high-brightness echo and a surrounding low-brightness echo, or a circular low-brightness echo with a high-brightness ring, or a circular high-brightness echo with a low-brightness ring.
[0076] When the acoustic layer 1 is relatively thick, the marker 2 can be located inside the acoustic layer. The thicker the acoustic layer 1, the better it is for the marker 2 to form a three-dimensional shape, thus enabling more accurate three-dimensional imaging. When the acoustic layer 1 is a thin acoustic membrane, the marker 2 is located on the surface of the acoustic layer, and the gap between the acoustic layer 1 and the ultrasonic probe can be filled with an ultrasonic coupling agent. To ensure that the shape of the marker 2 within the acoustic pad remains stable and does not deform, a deformation-resistant acoustic material or a rigid frame can be used.
[0077] The side of the acoustic layer 1 that contacts the body surface has geometric features that match the contour of the subject's body surface. When the body surface is convex, such as the breast, arm, testicle, or neck, the geometric features of the contact surface between the acoustic layer 1 and the body surface are concave. When the body surface is concave, such as a bent joint or supraclavicular fossa, the geometric features of the contact surface between the acoustic layer 1 and the body surface are convex. Gaps caused by individual differences can be filled with ultrasound coupling agent.
[0078] The contact surface geometry between the acoustic layer 1 and the body surface can be an arc groove 3, which is beneficial for performing ultrasound examinations of the muscles and bones of the limbs.
[0079] The two-dimensional shape of the marker 2 is a rectangle with a specific length and width, containing two non-intersecting straight lines. These two lines intersect either the wide side or the long side of the rectangle, and neither line is perpendicular to the intersecting side. Intersection with the wide side is generally preferred. When the two lines intersect the wide side of the rectangle, during ultrasound scanning, the sound beam plane must be kept parallel or nearly parallel to the wide side so that the long side of the rectangle and the cross-sections or oblique cross-sections of the two lines appear in the ultrasound section, forming a characteristic marker in the two-dimensional ultrasound image. The direction and position of the sound beam plane relative to the rectangle can be calculated by finding the intersection points of the ultrasound probe's sound beam plane with the rectangle and its two internal lines. When the marker 2 is two-dimensional, the scanner should keep the axis of the ultrasound probe as perpendicular as possible to the surface of the ultrasound imaging aid and move the probe in a translational manner as much as possible.
[0080] The two-dimensional shape of the marker 2 can be arranged in any form. The purpose is to make the characteristic marks formed by the marker 2 on the ultrasound two-dimensional image able to determine the probe orientation. Specifically, it is to make the relative positional relationship between the intersection points of any straight line cutting the two non-intersecting sides of the rectangle unique.
[0081] The geometric shape of the markers 2 can also be a three-dimensional shape, and the three-dimensional shape has anisotropic properties. The anisotropic property means that when any plane cuts this three-dimensional shape at any angle or position, the cross-sectional features of the markers 2 are unique. The entire frame of the three-dimensional shape is made of thin rod-shaped sound-transmitting material. Since the probe only moves and scans on the surface of the ultrasound imaging auxiliary device when imaging with an ultrasound probe, the three-dimensional shape only needs to satisfy the anisotropic property when any plane cuts from the surface of the three-dimensional shape.
[0082] The anisotropic three-dimensional shape can be arranged as follows, with the framework being: a cuboid with specific length, width, and height, with a diagonal line on its top and bottom surfaces, the projections of the diagonals on the bottom surface intersecting at the geometric center of the bottom surface; another crossing line intersects one side of the top surface and the opposite side of the corresponding bottom surface; when the crossing line intersects the wide side of the top and bottom surfaces, the probe's acoustic beam plane is not parallel to the long side of the cuboid during imaging, but is as parallel as possible to the wide side, to ensure that the cross-section or oblique cross-section of the aforementioned marker 2 framework appears in the ultrasonic section; the intersection point of the crossing line with one side of the top surface and the opposite side of the corresponding bottom surface is not the midpoint of the line segment, such as... Figure 5 As shown, the unique position of the sound beam plane in the three-dimensional shape can be determined based on the positional relationship of the characteristic markers on the two-dimensional ultrasound image below the figure.
[0083] The anisotropic three-dimensional shape frame can also be arranged as follows: a cuboid with specific length, width, and height, with two non-intersecting straight lines arranged inside its top and bottom surfaces. These two lines intersect either the width side of the cuboid simultaneously or the length side of the cuboid, and neither line is perpendicular to the intersecting edge. Figure 6 As shown, the unique position of the sound beam plane in the three-dimensional shape can be determined based on the positional relationship of the characteristic markers on the two-dimensional ultrasound image below the figure.
[0084] The anisotropic three-dimensional shape can also be arranged in other ways to satisfy the anisotropic property.
[0085] The three-dimensional shape with anisotropic properties can be multiple.
[0086] Example 2
[0087] This invention also provides a corresponding ultrasound imaging method:
[0088] Please refer to Figure 1-8 By using the specific relative positional relationship of the marker 2 and its relative positional relationship on the current frame ultrasound image, the orientation of the ultrasound probe in the current frame ultrasound image is obtained. Image processing is then performed by combining each frame of two-dimensional ultrasound image with the obtained probe orientation information of that frame, including the following steps:
[0089] Step a: Obtain the specific geometric positional relationship of marker 2 in the ultrasound imaging aid device;
[0090] Step b: Click "Start 3D Imaging" to acquire and record the current frame of ultrasound 2D image through scanning;
[0091] Step c: Obtain and record the characteristic landmarks and their positional relationships in the current frame of the ultrasound two-dimensional image;
[0092] Step d: Calculate and record the orientation of the ultrasound probe in the current frame by using the known geometric positional relationship of marker 2 and the characteristic markers and their positional relationships in the current frame ultrasound two-dimensional image;
[0093] Step e, repeat steps a, b, c, and d to continuously acquire each frame of ultrasound two-dimensional image and the corresponding ultrasound probe orientation;
[0094] Step f involves image processing using each frame of the two-dimensional ultrasound image and the corresponding ultrasound probe orientation information.
[0095] The ultrasound image processing includes three-dimensional imaging or body surface projection imaging, or other advanced image processing, and the orientation information includes direction and position information.
[0096] When the two-dimensional shape of marker 2 in the ultrasound imaging auxiliary device is: a rectangle with a specific length and width, containing two non-intersecting straight lines, and neither of the two straight lines is perpendicular to the intersecting side, and the two straight lines intersect the width side of the rectangle respectively; the orientation of the probe's sound beam can be determined through the following steps:
[0097] Step a: Construct a planar coordinate system Oxy with the specified vertex, width, and length of the rectangle as the origin O, x-axis, and y-axis, respectively. Obtain the rectangle with length l and width w, and the equations of the two lines inside it are known: y = f(x) and y = g(x).
[0098] Step b: By maintaining the probe axis perpendicular to the plane of the ultrasound imaging auxiliary device and moving the probe in a translational manner as much as possible, avoiding rotation, tilting, or swinging of the probe during the scanning process, four consecutive characteristic landmarks A, B, C, D and image edge point Q in the current frame ultrasound image are obtained, and the distances between AB, BC, AC, AD, and AQ are obtained as m, n, m+n, w′, and d, respectively.
[0099] Step c: Let the function of the ultrasonic probe's beam axis in the coordinate system Oxy be y = h(x). Using w and w′, the angle α between the beam axis y = h(x) and the x-axis can be calculated, where cosα = w / w′. Let the coordinates of point B be (x1, y1) and the coordinates of point C be (x2, y2). We can find x1 = m·cosα and x2 = (m+n)·cosα. Substitute x1 and x2 into y = f(x) and y = g(x) respectively to find y1 and y2. Determine the coordinates of points B and C as B[m·cosα, f(m·cosα)] and C{(m+n)·cosα, g[(m+n)·cosα]} respectively.
[0100] Step d: Based on the coordinates of B and C, determine the straight line function y = h(x), that is, determine the direction of the sound beam axis in the coordinate system;
[0101] Step e: Determine the orientation of the probe beam in the coordinate system by the distance d between the function y = h(x) and AQ, which is the probe orientation corresponding to the current two-dimensional image.
[0102] Example 3
[0103] This utility model also provides an ultrasound image processing method, please refer to... Figure 1-9 When the geometric shape of the arrangement of the markers 2 is a three-dimensional shape, and the three-dimensional shape has anisotropic characteristics, the image processing method includes the following steps:
[0104] Step a: The ultrasonic instrument acquires three-dimensional shape information with anisotropic characteristics;
[0105] Step b: Obtain the characteristic markers in the current frame of the two-dimensional ultrasound image and their corresponding positional relationships, and calculate the orientation of the ultrasound probe corresponding to the current frame;
[0106] Step c: Obtain the characteristic markers in each frame of the two-dimensional ultrasound image and their corresponding positional relationships, and calculate the orientation of the ultrasound probe for each frame.
[0107] Step d: Perform ultrasound imaging using all frames of two-dimensional ultrasound images and their corresponding acoustic beam plane orientation information.
[0108] This utility model also provides another ultrasound imaging method based on the aforementioned ultrasound imaging auxiliary device. This ultrasound imaging method is one that does not rely on mathematical calculations to obtain the orientation of the ultrasound probe. It involves arranging characteristic features in the two-dimensional ultrasound image according to the geometry of the ultrasound imaging auxiliary device in a reconstruction or jigsaw puzzle manner. This method is applicable to both two-dimensional and three-dimensional shapes and includes the following steps:
[0109] Step a: Obtain the geometric shape information of the ultrasound imaging auxiliary device;
[0110] Step b: Acquire a two-dimensional ultrasound image containing characteristic markers for each frame;
[0111] Step c: Assemble and arrange the characteristic marks in each frame of the ultrasound two-dimensional image containing characteristic marks according to the geometric shape information in step a, and the resulting three-dimensional image is the target three-dimensional image.
[0112] When this method is applied to a marker with a two-dimensional shape, by default, when the operator uses an ultrasonic probe to acquire images, the axis of the probe is perpendicular to the surface of the two-dimensional shape.
[0113] This invention also provides an ultrasonic instrument that can acquire information from any of the aforementioned ultrasonic imaging auxiliary devices and use that information to perform ultrasonic image processing according to the aforementioned method.
[0114] This invention utilizes an ultrasound imaging auxiliary device fixed to the body surface of the subject. The device contains shaped markers 2, which form characteristic marks on the two-dimensional ultrasound image during ultrasound scanning. Based on the shape information of the markers 2 and the positional relationship between the markers and the characteristic marks formed on the two-dimensional ultrasound image, the orientation information of the ultrasound probe corresponding to the current frame of the two-dimensional image can be calculated. Combining the ultrasound probe orientation information of the two-dimensional ultrasound image with that of the corresponding image, three-dimensional imaging, body surface projection, and other advanced processing are performed. The ultrasound imaging auxiliary device and corresponding image processing method provided by this invention have advantages such as low cost, convenient operation, and more accurate three-dimensional imaging.
[0115] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
Claims
1. An ultrasound imaging aid device, comprising an acoustic layer and markers, characterized in that: The acoustic layer and the markers are in relatively fixed positions. The acoustic layer is fixed to the surface of the subject's body. The markers are arranged in a specific geometric shape and have a fixed shape. The markers can form characteristic marks on the two-dimensional ultrasound image during ultrasound imaging. The characteristic marks have a specific positional relationship and can be used to assist ultrasound in three-dimensional imaging or body surface projection.
2. The ultrasound imaging auxiliary device according to claim 1, characterized in that: The markers are made of thin rod-shaped sound-transmitting material, and the geometric shape of the markers arranged is two-dimensional.
3. The ultrasound imaging auxiliary device according to claim 1, characterized in that: The markers form on ultrasound images with characteristic features of hyperechoic, hypoechoic, or a specific combination of hyperechoic and hypoechoic.
4. The ultrasound imaging auxiliary device according to claim 1, characterized in that: The marker is located inside or on the surface of the acoustic layer.
5. The ultrasound imaging auxiliary device according to claim 1, characterized in that: The side of the acoustic layer that contacts the body surface has three-dimensional features that match the contours of the subject's body surface.
6. The ultrasound imaging auxiliary device according to claim 5, characterized in that: The three-dimensional feature that matches the contour of the subject's body surface is a concave feature, which is a circular arc groove.
7. The ultrasound imaging auxiliary device according to claim 2, characterized in that: The geometric two-dimensional shape of the markers arranged is as follows: A rectangle with a specific length and width has two non-intersecting straight lines inside it. The two straight lines intersect the width side of the rectangle simultaneously or the length side of the rectangle, and neither of the two straight lines is perpendicular to the intersecting side.
8. The ultrasound imaging auxiliary device according to claim 1, characterized in that: The geometric shape of the arrangement of the markers is three-dimensional.
9. The ultrasound imaging auxiliary device according to claim 8, characterized in that, The entire three-dimensional frame is made of thin rod-shaped sound-transmitting material, and its frame is as follows: A cuboid with a specific length, width, and height has a diagonal on its top and bottom surfaces, and the projections of the diagonals of the top and bottom surfaces onto the bottom surface intersect at the geometric center of the bottom surface. Another line intersects one side of the top surface and the opposite side of the bottom surface.
10. An ultrasound imaging auxiliary device according to claim 8, characterized in that, The three-dimensional frame is made entirely of thin rod-shaped sound-permeable material. The frame is a cuboid with a specific length, width, and height. Two non-intersecting straight lines are respectively arranged inside the top and bottom surfaces. The two straight lines intersect the width side of the rectangle or the length side of the rectangle, and the two straight lines are not perpendicular to each other.
11. An ultrasonic instrument, characterized in that: The ultrasound device can acquire information from any of the ultrasound imaging auxiliary devices described in claims 1 to 10, and use the information to perform ultrasound image processing.