CN-116299494-B - Three-dimensional ultrasonic reconstruction probe based on acousto-optic positioning system

CN116299494BCN 116299494 BCN116299494 BCN 116299494BCN-116299494-B

Abstract

The invention provides a three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system, which comprises an embedded upper computer, an ultrasonic imaging module, an acousto-optic positioning system and a positioning handle, wherein the ultrasonic imaging module is used for acquiring a two-dimensional ultrasonic image sequence, the acousto-optic positioning system is used for acquiring pose information of each frame of two-dimensional ultrasonic image, and the embedded upper computer is provided with a display module for displaying the three-dimensional ultrasonic image. The sound wave of the three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system is not blocked, the defect of an optical sensor can be overcome in some special occasions, and compared with other three-dimensional positioning technologies, the technology is basically not influenced by external environment.

Inventors

CHEN XIN
LI YANFENG
CHEN HOUJIN
PENG YAHUI
LI JUPENG

Assignees

北京交通大学

Dates

Publication Date: 20260508
Application Date: 20230320

Claims (9)

1. The three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system is characterized by comprising an embedded upper computer, an ultrasonic imaging module in wireless communication with the embedded upper computer, an acousto-optic positioning system and a positioning handle; the ultrasonic imaging module is used for acquiring a two-dimensional ultrasonic image sequence and comprises a B ultrasonic probe arranged on the positioning handle; the acousto-optic positioning system is used for acquiring pose information of each frame of two-dimensional ultrasonic image and comprises a positioning host and a spherical positioning receiver positioned on the positioning handle, and the positioning host is in wireless communication with the spherical positioning receiver; the embedded upper computer is provided with a display module for displaying three-dimensional ultrasonic images; setting a control window with the length of four frames, moving the control window from the first four frames of images in the two-dimensional ultrasonic image sequence, and finishing the steps in each control window that three interest points marked on each two-dimensional ultrasonic image are respectively a first interest point ROI1, a second interest point ROI2 and a third interest point ROI3; respectively taking the ith interest point of each frame of image in the four frames of images in the control window, and fitting a Bezier curve function according to the following formula to obtain three Bezier curves B i (t), wherein i=1, 2 and 3: Wherein t is a parameter of a Bezier curve, t E [0,1], n is the number of control points, p k is the kth control point, k=1, 2..n, i=1, 2,3; For each obtained bezier curve B i (t), i=1, 2,3, interpolating between two points of interest on the first frame image and the second frame image, taking four interpolation points as p (ij), i=1, 2,3, j=1, 2,3,4 respectively; and for the j-th frame image, vector products are obtained on two vectors formed by three interpolation points p (1 j), p (2 j) and p (3 j) on the same plane to obtain the normal vector.
2. The three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system according to claim 1, wherein the embedded upper computer is provided with a three-dimensional reconstruction module, and the three-dimensional reconstruction module acquires the pose information and the two-dimensional ultrasonic image sequence and calculates according to a geometric relationship to realize three-dimensional reconstruction of the two-dimensional ultrasonic image.
3. The three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system according to claim 2, wherein the bottom end of the positioning handle is provided with the B-ultrasonic probe, the top end of the positioning handle is provided with the spherical positioning receiver, and the side surface of the positioning handle between the B-ultrasonic probe and the spherical positioning receiver is provided with a holding part.
4. A three-dimensional ultrasound reconstruction probe based on an acousto-optic positioning system as claimed in claim 3, wherein said spherical positioning receiver comprises an acoustic sensor and an optical sensor together for measuring pose information of said B-ultrasound probe, said pose information comprising spatial position coordinates (t X ,t y ,t z ) of the B-ultrasound probe in a cartesian coordinate system at a certain moment, and a normal vector (θ x ,θ y ,θ z ) of a plane in which a two-dimensional ultrasound image acquired at said moment lies.
5. The three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system according to claim 4, wherein assistance is provided by the acoustic sensor to ensure positioning accuracy when the optical sensor is occluded.
6. The three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system according to claim 4, wherein the acquisition of pose information by the acousto-optic positioning system is realized by the following steps: The positioning host continuously or intermittently transmits sound wave positioning signals to the surrounding, the transmitting time T1 is recorded, a plurality of sensors on the spherical positioning receiver receive the sound wave positioning signals and record the receiving time T2, and the distance D= (T2-T1) x V between the spherical positioning device and the positioning host is calculated, wherein V is the propagation speed of sound waves in a medium; And the three-dimensional reconstruction module corrects the space coordinates (t ' x, t ' y, t ' z) returned by the spherical positioning receiver to obtain the space position coordinates (t X ,t y ,t z ) of the B ultrasonic probe.
7. The three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system according to claim 6, wherein the distance between the B-ultrasonic probe and the spherical positioning receiver in the vertical direction is fixed as H, the distance between the B-ultrasonic probe and the spherical positioning receiver in the horizontal projection direction is L, and the method for correcting the space coordinates (t ' x, t ' y, t ' z) returned by the spherical positioning receiver by the three-dimensional reconstruction module is calculated by the following steps: t X =t′x; t y =t′y-H; t z =t′z-L; wherein, (tX, ty, tz) is the spatial position coordinate of the B-ultrasonic probe, (t ' x, t ' y, t ' z) is the spatial coordinate returned by the spherical positioning receiver, H is the distance between the B-ultrasonic probe and the spherical positioning receiver in the vertical direction, and L is the distance between the B-ultrasonic probe and the spherical positioning receiver in the horizontal projection direction.
8. The three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system according to claim 1, wherein the acousto-optic positioning system is a PolarTraq positioning module.
9. The three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system according to claim 2, wherein the three-dimensional reconstruction module processes the two-dimensional ultrasonic image sequence through a three-dimensional graphics processing algorithm, the three-dimensional graphics processing algorithm comprises a two-dimensional ultrasonic image interpolation algorithm and an adaptive histogram equalization algorithm.

Description

Three-dimensional ultrasonic reconstruction probe based on acousto-optic positioning system Technical Field The invention belongs to the technical field of three-dimensional ultrasonic imaging, and particularly relates to a three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system. Background A free arm three-dimensional imaging technology in the field of three-dimensional ultrasonic imaging is used for scanning a target object by holding a traditional two-dimensional B ultrasonic probe capable of freely moving in space, and the spatial position and posture information of the ultrasonic probe are acquired by combining a three-dimensional space sensing technology. The current commonly used three-dimensional space sensing technology mainly comprises the steps of fixing a positioning device receiver at the holding end of a B-ultrasonic probe, and matching with a space positioning signal transmitter, so that three-dimensional scanning imaging of a target body can be performed, and upgrading two-dimensional ultrasonic equipment into three-dimensional ultrasonic equipment is realized. For example, the position and posture of the probe are judged according to the change of the electromagnetic wave field intensity, the position and posture of the probe are detected by means of an optical sensor and a camera, and the position and posture of the probe are positioned by using a multi-axis space posture sensor or an inertial navigation device. The existing common three-dimensional space sensing technology cannot avoid the defects that the electromagnetic wave field intensity is easily interfered by external electromagnetic environment, the optical sensor has the problem of light shielding, and the attitude sensor and the inertial navigation device lack an external fixed coordinate system as positioning references, so that accumulated errors are easily generated. Disclosure of Invention The invention aims to overcome the defects of the prior art and provide a three-dimensional ultrasonic reconstruction probe based on an acousto-optic positioning system, which is characterized in that a space positioning coordinate system is established according to pose data output by an acoustic wave sensor and an optical sensor, and the space position and the pose of a B ultrasonic probe are obtained by calculation according to a geometric relation, so that the three-dimensional reconstruction of a two-dimensional ultrasonic image is realized; the ultrasonic imaging module is used for acquiring a two-dimensional ultrasonic image sequence and comprises a B ultrasonic probe arranged on the positioning handle; the sound-light positioning system is used for acquiring pose information of the B ultrasonic probe and comprises a positioning host and a spherical positioning receiver positioned on the positioning handle, and the positioning host is in wireless communication with the spherical positioning receiver; The embedded upper computer is provided with a display module for displaying three-dimensional ultrasonic images. The three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system has the following beneficial effects: The sound wave is not blocked, the defect of the optical sensor can be made up in some special occasions, and compared with other three-dimensional positioning technologies, the technology is basically not influenced by external environment. The positioning handle has high integration level and small volume, and the positioning host is convenient and quick to deploy. Drawings FIG. 1 is a schematic diagram of one embodiment; FIG. 2 illustrates a positioning handle of an embodiment; FIG. 3 is a schematic diagram of the spatial geometry of a spherical positioning receiver and a B-ultrasound probe of one embodiment; FIG. 4 is a schematic diagram of the operation of one embodiment. Detailed Description The following examples further illustrate the invention but are not to be construed as limiting the invention. Modifications and substitutions to methods, procedures, or conditions of the present invention without departing from the spirit and nature of the invention are intended to be within the scope of the present invention. The three-dimensional ultrasonic reconstruction probe based on the acousto-optic positioning system in some embodiments is shown in fig. 1, and comprises an embedded upper computer 1, an ultrasonic imaging module 2 in wireless communication with the embedded upper computer 1, an acousto-optic positioning system 3 and a positioning handle 4; The ultrasonic imaging module 2 is used for acquiring a two-dimensional ultrasonic image sequence, and the ultrasonic imaging module 2 comprises a B ultrasonic probe 21 arranged on the positioning handle 4; The acousto-optic positioning system 3 is used for acquiring pose information of each frame of two-dimensional ultrasonic image, the acousto-optic positioning system 3 comprises a positioning ho