CN-117770877-B - Ultrasonic circular scanning image registration method and system

CN117770877BCN 117770877 BCN117770877 BCN 117770877BCN-117770877-B

Abstract

The invention provides an ultrasonic circular scanning image registration method and system, wherein the method comprises the steps of setting a marker based on a shell of an endoscopic device, circularly scanning an ultrasonic probe to obtain ultrasonic data, determining a lower limit value of amplitude, constructing a registration condition, traversing and screening out first data groups meeting the registration condition, marking out each group of image frame heads and image frame tails in original ultrasonic data based on positions of two adjacent first data groups, wherein data between each group of image frame heads and image frame tails is just data obtained by circularly scanning the ultrasonic probe, and performing ultrasonic image reconstruction on the data between one group of image frame heads and image frame tails to obtain an ultrasonic circular scanning sectional image. According to the scheme, the imaging registration precision of the ultrasonic circular scanning endoscopic equipment is improved by arranging the marker on the endoscopic equipment, the fact that information contained in each frame of image is just data acquired by the ultrasonic probe circular scanning for one circle is ensured, information deletion and information redundancy are avoided, and dislocation of the joint of the frame head and the frame tail is eliminated.

Inventors

LEI SHENG
HUANG YAOCAI
JIANG SHENNAN

Assignees

慧威医疗科技(台州)有限公司

Dates

Publication Date: 20260508
Application Date: 20220920

Claims (9)

1. An ultrasonic circular scanning image registration method is characterized by comprising the following steps: Setting a marker based on an endoscopic equipment shell, wherein the marker is in a scanning range of an ultrasonic probe, and obtaining original ultrasonic data recorded with marker echoes through circular scanning of the ultrasonic probe; Determining a lower limit value of the amplitude according to the difference between the ultrasonic echo amplitude range of the endoscopic equipment shell and the ultrasonic echo amplitude range of the marker echo region; constructing a registration condition based on the amplitude lower limit value, traversing all data sets in a marker echo region in the original ultrasonic data, and screening out the data sets meeting the registration condition as a first data set; Marking out each group of image frame heads and image frame tails in the original ultrasonic data based on the positions of the two adjacent first data groups, wherein the data between each group of image frame heads and image frame tails is judged to be data acquired by the ultrasonic probe in one circle of circular scanning; Carrying out ultrasonic image reconstruction on data between each group of image frame head and each group of image frame tail to obtain an ultrasonic circular scanning section image; The registration condition comprises that the average value of the ultrasonic echo amplitude values of the data sets of the marker echo region is larger than the amplitude lower limit value, the ratio between the amplitude lower limit value and any natural number larger than or equal to 1 forms a lower limit value, and the average value of the data sets at two sides of the marker echo region is smaller than the lower limit value.
2. The method for registration of ultrasound circular scan images according to claim 1, wherein a marker echo region is obtained by arranging a marker on the inner side or the outer side of the endoscopic equipment casing; recording the position of the marker echo region and the ultrasonic echo amplitude; and identifying a marker echo region based on the difference of the endoscopic equipment shell and the marker on the ultrasonic echo amplitude.
3. The method for registration of ultrasound circular scanning images according to claim 2, wherein a filling medium with low echo property is preset between the endoscopic equipment shell and the ultrasound probe so as to reduce attenuation of acoustic signals; the ultrasonic echo amplitude of the filling medium is far smaller than the ultrasonic echo amplitude of the marker and the ultrasonic echo amplitude of the endoscopic equipment shell.
4. The method of registration of an ultrasound circular scan image according to claim 3, wherein the set marker echo region is an array W of x rows and y columns; Traversing and searching a data set meeting registration conditions in the original ultrasonic data; There is a data set Z of Z1 row Z2 column, Z1< x and Z2< y, if data set Z satisfies: The condition 1 is that the average value average_value of the echo amplitude values of the data set is larger than the lower amplitude value m; The average value of the x1 row y1 column data set W1 on the left side of the marker echo region is smaller than m/p, and the average value of the x2 row y2 column data set W2 on the right side of the marker echo region is smaller than m/p; Wherein x1 is less than or equal to x, y1 is less than or equal to y, x2 is less than or equal to x, y2 is less than or equal to y, p is more than or equal to 1, and p is a natural number; The data set Z is contained within the marker echo region and belongs to the first data set.
5. The method for registering an ultrasonic circular scanning image according to claim 1, wherein a row-column size of the data set is set, and the row-column size is smaller than the row-column number of the array corresponding to the echo region of the marker; And dividing the original ultrasonic data into a plurality of data sets, sequencing the data sets, and traversing and searching the first data set according to the sequence numbers of the data sets.
6. The method for registering the ultrasonic circular scanning images according to claim 1, wherein the data volume acquired by the ultrasonic probe in one circle is converted into the number of data sets, so as to obtain a self-increasing number of columns, and the self-increasing number of columns is not smaller than the number of columns of the echo region of the marker; After each traversal to a first data set completes one traversal, the number of the data sets is increased by the self-increment number on the number of columns, so that the initial data set of the next traversal is obtained.
7. An ultrasonic circular scanning image registration system is characterized by being used for realizing the ultrasonic circular scanning image registration method according to any one of claims 1-5, wherein the image registration system comprises an endoscopic device; the endoscopic equipment comprises an ultrasonic probe, an endoscopic equipment shell, a marker and a filling medium; the ultrasonic probe is positioned in the endoscopic equipment shell, and the filling medium is contained between the ultrasonic probe and the endoscopic equipment shell; The filling medium is used for reducing attenuation of acoustic signals; the marker is positioned on the endoscopic equipment shell and is in the scanning range of the ultrasonic probe; the ultrasonic probe is circularly scanned to obtain original ultrasonic data recorded with a marker echo region.
8. The ultrasound circumferential image registration system of claim 7, wherein the marker is located inside or outside of the endoscopic device housing; The ultrasonic echo amplitude of the marker is much greater than the ultrasonic echo amplitude of the filling medium.
9. The ultrasound circumferential image registration system of claim 7, wherein the fill medium is a hypoechoic material, and the morphology comprises solid, liquid, or gaseous; The ultrasonic echo amplitude of the filling medium is far smaller than that of the endoscopic equipment shell.

Description

Ultrasonic circular scanning image registration method and system Technical Field The invention relates to the field of medical imaging equipment, in particular to an ultrasonic circular scanning image registration method and system. Background An inspection method in which the ultrasound scan plane is perpendicular to the long axis of the endoscope is called circular scanning endoscopic ultrasound inspection. The examination method can carry out 360-degree annular scanning on the body cavity, and is suitable for the fields of alimentary canal, cardiovascular (coronary artery), trachea/bronchus and the like. Compared with a longitudinal axis endoscope, the ultrasonic scanning range is wider, the ultrasonic scanning range is easier to master, the probe is smaller in size, the scanning distance is long, and the ultrasonic scanning device is widely applied. The ultrasonic circular scanning endoscopic equipment usually adopts a non-coding motor to directly or indirectly drive an ultrasonic probe to carry out rotary scanning in order to simplify the structure and reduce the cost. The original data acquired by the ultrasonic probe does not contain annular space information, and an annular image with visual image can be obtained only by carrying out later reconstruction on the original data according to parameters such as sampling frequency, sound velocity and the like. In order to present a complete round of circular scanning pictures on an image, the acquisition time of each frame of data must be equal to the time of one round of rotation of the ultrasonic probe, namely the acquisition speed of each frame of data is matched with the rotation speed. Because the rotation speed of the non-coding motor cannot reach an absolute constant speed, and the rotation speed is easily influenced by load, the upper computer of the endoscopic equipment system cannot obtain feedback of the real-time rotation speed of the motor, so that the matching of the rotation speed of the ultrasonic probe and the data acquisition speed of the ultrasonic probe cannot be ensured, and two types of image distortion are caused: (1) The rotation speed of the ultrasonic probe is larger than the data acquisition speed, when the ultrasonic probe acquires a frame of data, the rotating distance of the ultrasonic probe exceeds one circle, after the frame of data is reconstructed into an image, more than one circle of tissue information is displayed instead of a strict circle, the head-tail junction of the image is dislocated because the scanning starting point and the scanning end point are not at the same position, and in addition, the tissue characteristics (such as focus, lymph, vein and the like) of the focus and the like are extruded and deformed and the relative position in the image is changed because the image contains redundant data. The comparison between a normal image effect map and an image effect map containing more than one turn of data is shown in fig. 1 of the specification. As can be seen from the figure, the shape of the lesion is deformed by compression and its relative position in the image is changed. (2) The rotating speed of the ultrasonic probe is smaller than the data acquisition speed, when the ultrasonic probe acquires a frame of data, the ultrasonic probe does not rotate one circle, so that the reconstructed image contains less than one circle of tissue information, the information is lost, meanwhile, the tissue characteristics such as focuses are stretched and deformed, and the relative positions of the focuses in the image are changed. The contrast between the normal image effect map and the image effect map of the underscan circle is shown in figure 2 of the specification. As can be seen from the figure, the shape of the lesion is deformed by stretching and its relative position in the image is changed. In the prior art, no solution to the defect exists, and most of developers approximately match the ultrasonic data acquisition speed by improving the rotation precision of an electric motor, so that the mismatch degree is reduced, and the image quality is improved. Therefore, the phenomenon of mismatch of the scan start point and the scan end point in the image is always present in clinical ultrasound examination. Disclosure of Invention Based on the problems existing in the prior art, the invention provides an ultrasonic circular scanning image registration method and an ultrasonic circular scanning image registration system. The specific scheme is as follows: the invention provides a first part, an ultrasonic circular scanning image registration method, which comprises the following steps: Setting a marker based on an endoscopic equipment shell, wherein the marker is in a scanning range of an ultrasonic probe, and obtaining original ultrasonic data recorded with marker echoes through circular scanning of the ultrasonic probe; Determining a lower limit value of the amplitude according to the difference between the ultras