Summary of the invention
The application's is designed to provide a kind of three-dimensional breast ultrasound scan method and ultrasonic scanning system, can automatically reallyThe scan position of settled preceding scan image, and can accurately automatically determine position of the nipple relative to side ultrasound image.
To solve the above-mentioned problems, three-dimensional breast ultrasound scan is carried out using ultrasonic scanning system this application discloses a kind ofMethod, which includes manipulator and camera, and one end of the manipulator is provided with ultrasound probe, is set on the manipulatorIt is equipped with Marking ring, which moves with the movement of the probe, this method comprises:
The probe placement is subjected to ultrasonic scanning in breast central location, obtains the first ultrasound image, while the cameraShooting includes the first video image of the Marking ring, and wherein first ultrasound image covers teat placement；
Teat placement is determined according to first ultrasound image；
Lateral location by the probe placement in the breast carries out ultrasonic scanning, obtains the second ultrasound image, while this is taken the photographAs head shooting includes the second video image of the Marking ring；
Image analysis is carried out to first and second video image, according to the Marking ring in first and second video imagePosition, determine the relative position of second ultrasound image relative to the teat placement.
In a preferred example, which is the ring of multiple and different colors arranged side by side.
In a preferred example, this carries out image analysis to first and second video image, further comprises:
Calculate the actual physics moving distance of the probe, wherein moving distance=(Marking ring actual diameter/Marking ring sideLong pixel number) the mobile pixel of × Marking ring in first and second video image；
According to the actual physics moving distance of the probe, the opposite position of second ultrasound image Yu the teat placement is calculatedIt moves.
In a preferred example, which includes: the probe in the breast which side, and/or, second ultrasound imageWith the relative displacement of the teat placement.
In a preferred example, after the step of this carries out image analysis to first and second video image, further includes:
According to the position of the Marking ring in first and second video image, splice first and second ultrasound image.
In a preferred example, in the step of this carries out image analysis to first and second video image, further includes:
Lesions position is determined in second ultrasound image；
According to the position according to the Marking ring in first and second video image, the lesions position and the nipple position are determinedThe relative displacement vector set.
In a preferred example, which includes on the inside of breast and on the outside of breast.
In a preferred example, which does not cover the teat placement.
In a preferred example, the position of the camera and acquisition parameters are fixed.
Disclosed herein as well is a kind of ultrasonic scanning systems, comprising:
Including manipulator, camera and computing module；
One end of the manipulator is provided with ultrasound probe, is provided with Marking ring on the manipulator, the Marking ring withThe movement of the probe and move；
The camera is for shooting the video image comprising the Marking ring；
The computing module is used in the video image that shoots identify the position of the Marking ring according to the camera, and according toThe variation of the label ring position calculates the displacement of the probe.
Compared with prior art, the technical solution of the application can accurately automatically determine nipple relative to side ultrasound figureThe position of picture including automatically determining current ultrasonic image in the scan position of which side, and then can be accurately determined lesion phaseFor the relative position of nipple.
Further, use pleochroic halo ring as Marking ring, the accuracy rate that Marking ring is correctly validated can be improved.
Further, the pixel shared according to known Marking ring size and in video image, can calculate eachThe corresponding physical length of a pixel, can calculate the moving distance of probe, so calculate in the second ultrasound image with creamThe physics relative displacement of head position.
Further, the background of the first and second video images captured by the camera of fixed position does not move,When calculating the relative movement of Marking ring, calculation amount is smaller.
A large amount of technical characteristic is described in the description of the present application, is distributed in each technical solution, if to enumerateOut if the combination (i.e. technical solution) of all possible technical characteristic of the application, specification can be made excessively tediously long.In order to keep awayExempt from this problem, each technical characteristic disclosed in the application foregoing invention content, below in each embodiment and exampleEach technical characteristic disclosed in disclosed each technical characteristic and attached drawing, can freely be combined with each other, to constitute eachThe new technical solution (these technical solutions have been recorded because being considered as in the present specification) of kind, unless the group of this technical characteristicConjunction is technically infeasible.For example, disclosing feature A+B+C in one example, spy is disclosed in another exampleA+B+D+E is levied, and feature C and D are the equivalent technologies means for playing phase same-action, it, can not as long as technically selecting a useCan use simultaneously, feature E can be technically combined with feature C, then, and the scheme of A+B+C+D because technology is infeasible should notIt is considered as having recorded, and the scheme of A+B+C+E should be considered as being described.
Specific embodiment
In the following description, in order to make the reader understand this application better, many technical details are proposed.But thisThe those of ordinary skill in field is appreciated that even if without these technical details and many variations based on the following respective embodimentsAnd modification, the application technical solution claimed also may be implemented.
The explanation of part concept:
AP: breast center physical location
MED: (close central axes) physical location on the inside of breast
LAT: (close arm) physical location on the outside of breast
Implementation to keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the applicationMode is described in further detail.
First embodiment of the invention is related to a kind of method for carrying out three-dimensional breast ultrasound scan using ultrasonic scanning system.Fig. 2 is the flow diagram that the method for breast ultrasound scan is carried out using ultrasonic scanning system.Fig. 3, which shows this method, to be madeUltrasonic scanning system comprising manipulator 302 and camera 301, one end of manipulator are provided with ultrasound probe304, Marking ring 303 is provided on manipulator, and Marking ring is moved with the movement of probe.
The method of breast ultrasound scan includes:
In step 201, probe placement is subjected to ultrasonic scanning in breast central location, obtains the first ultrasound image, togetherWhen camera shooting include Marking ring the first video image, wherein the first ultrasound image cover teat placement.
Then into step 202, teat placement is determined according to the first ultrasound image.Optionally, pass through image analysis or figureTeat placement is determined otherwise as knowing.Optionally, by providing human-computer interaction interface, operator uses mouse, touch screen etc.Input tool inputs teat placement on the first ultrasound image.
Then into step 203, the lateral location (such as the position MED or the position LAT) by probe placement in breast is carried outUltrasonic scanning obtains the second ultrasound image, while camera shooting includes the second video image of Marking ring.Usual second ultrasoundTeat placement is not covered in image.Optionally, in application scenes, lateral location may not be the MED or LAT of specificationPosition, but other arbitrary lateral locations of nipple are not covered.
Then into step 204, image analysis is carried out to the first and second video images, according to the first and second video figuresThe position of Marking ring, determines relative position of second ultrasound image relative to teat placement as in.Optionally, relative position includesProbe is in breast which side (such as the position MED or the position LAT).Optionally, relative position includes the second ultrasound image and nippleThe relative displacement of position.
Process above is three-dimensional breast ultrasound scan workflow, can accurately be automatically determined by the workflowPosition of the nipple relative to side ultrasound image, so that doctor be facilitated accurately and effectively to report that lesion is relative to nipple on imagePosition, including automatically determine current ultrasonic image in the scan position of which side (such as the position MED or the position LAT), in turnRelative position of the lesion relative to nipple can be accurately determined.Using the process, all scan images can be made all to containThere is teat placement information, is very helpful for the read tablet of doctor.
Preferably, Marking ring is the ring of multiple and different colors arranged side by side.Use pleochroic halo ring as Marking ring, mark can be improvedThe accuracy rate that note ring is correctly validated.For example, polychrome is red and green, because of the probability that red and green occurs in wardIt is smaller, and the probability occurred side by side simultaneously is more much smaller, thus the Marking ring of red and green color be identified it is accurateRate is high.For another example, polychrome is also possible to the combination of other colors, and such as red, green and blue 3 colour cells are closed, yellow and purpleCombination etc..Optionally, Marking ring is also possible to monochromatic ring, and other colors are not preferably in the color of the monochrome ring and wardIt is identical.
Optionally, step 204 still further comprises following sub-step:
Sub-step 1 calculates the actual physics moving distance of probe, wherein moving distance=(Marking ring actual diameter/markRemember ring side length pixel number) mobile pixel of the * Marking ring in the first and second video images.Wherein Marking ring is in video imageIt is presented as rectangle, the diameter an of side length (usually longer side length) correspondence markings ring of rectangle.The actual diameter of Marking ring(physical diameter) can measure to obtain in advance.
Sub-step 2 calculates the opposite position of the second ultrasound image and teat placement according to the actual physics moving distance of probeIt moves.
The shared pixel according to known Marking ring size and in video image, it is corresponding can to calculate each pixelPhysical length, the moving distance of probe can be calculated, and then calculate the object with teat placement in the second ultrasound imageManage relative displacement.The background of first and second video images captured by the camera of fixed position does not move, and is calculatingCalculation amount is smaller when the relative movement of Marking ring.
Optionally, after step 204, the can also be spliced according to the position of Marking ring in the first and second video imagesOne and second ultrasound image.In one embodiment, the ultrasound image of tri- positions AP, MED and LAT can be splicedCome, forms the complete ultrasound image an of breast.
Optionally, can also include following sub-step in step 204:
Lesions position is determined in the second ultrasound image.
According to the position according to Marking ring in the first and second video images, the opposite of lesions position and teat placement is determinedDisplacement vector.
There are many implementations for the position of camera and acquisition parameters.Optionally, the position of camera and acquisition parameters areFixed.Optionally, the position of camera and acquisition parameters are also possible to variation, are needed at this time through sensor or other handsSection obtains the position of camera and acquisition parameters, these information will be used to calculate the relative movement of Marking ring.Optionally, cameraPosition is constant, but acquisition parameters can change, when needing to obtain the first and second video image of shooting at this time from cameraAcquisition parameters, with the relative movement for calculating Marking ring.Acquisition parameters include aperture, shutter, scaling, gain etc..
The embodiment in order to better understand illustrates the example of the application below.
As shown in figure 3, a high-definition camera that can obtain picture in real time is fixed on the fixed metallic rod in right sideOn, Marking ring (with single or multiple color annulus, known to diameter and height) is fixed on can be living with automatic manipulatorOn dynamic free bar, camera face Marking ring is horizontal positioned, therefore Marking ring is one or more in list in camera realtime graphicThe rectangle of kind color.The image of camera acquisition is read with video acquisition program and is known with color, shape, the multiple information in positionOther blip object.
Detailed process is that user selects the breast (left cream or right cream) of scanning, then first according to system suggestion, scanningAP (breast centre) position.User needs to be manually placed at machinery right above breast at this time, and nipple is located at manipulator center.It sweepsDuring retouching, the position of our video frequency tracking system recording mark ring on the video images.
After the end of scan of the position AP, when user's mobile manipulator removes the image of the scanning position MED LAT, manipulatorChange in location occurs.Since camera absolute physical position is constant, as manipulator is mobile horizontal displacement occurs for Marking ring, marksThe position of note ring on the video images also changes.By target tracking, we can calculate Marking ring in video figure againAs upper outline position and traversing distance.Scan position can be judged automatically by outline position, can be counted automatically by traversing distanceIt calculates the relative position of nipple and automatic Calibration comes out in the picture.By taking left cream as an example, when scanning left cream, if Marking ring positionIt sets and moves right when comparing scanning AP, illustrate position of manipulator on the left side of the position AP, the position scanned at this time is LAT.IfLabel ring position is moved to the left when comparing scanning AP, illustrates position of manipulator on the right of the position AP, the position scanned at this time isMED.Similarly we can obtain location information when scanning right cream.
It is actual straight according to the side length pixel value and annulus of this rectangle since Marking ring is shown as rectangle on the video imagesUnit physical size corresponding number of pixels in the picture can be obtained in diameter, can be in proportion according to the distance that rectangle moves in the pictureObtain the practical physical distance moved of manipulator (see following formula).
Mobile pixel in moving distance=(Marking ring actual diameter/Marking ring side length pixel number) × Marking ring image
By taking Marking ring is red green two color as an example, computer disposal process is as shown in Figure 4.Specific step is as follows for the process:
Video port image is first read, (can certainly be other by the colouring information that image switchs to hsv color spaceColor space, such as RBG).
All greens and red rectangle are found respectively and position its position.
Size, immediate red, the green rectangle of location and shape are defined as Marking ring.
Then according to the information for being currently left cream or right cream, the information that binding marker ring is moved to left or moved to right, determination is worked asPreceding ultrasound scan images breast which side (MED of the LAT of left cream or the MED of left cream or right cream or right creamLAT)。
Then relevant physical displacement (such as the physical displacement of ultrasound probe, cream are accurately calculated according to pixel displacementDisplacement of the head relative to current ultrasonic scan image, displacement of the lesion relative to nipple in current ultrasonic scan image), and fromPosition of the dynamic label nipple relative to current ultrasonic scan image.
It is whole according to the physical spatial location of scan image three times (AP, LAT and MED) and the available breast of nipple markerThe physics overall picture of scanned position.
Second embodiment of the invention is related to a kind of ultrasonic scanning system.As shown in figure 3, the ultrasonic scanning system includes:
Including manipulator 302, camera 301 and computing module.
One end of manipulator is provided with ultrasound probe 304, is provided with Marking ring 303 on manipulator, Marking ring withThe movement of probe and move.
Camera is for shooting the video image comprising Marking ring.
The position of Marking ring is identified in the video image that computing module is used to shoot according to camera, and according to Marking ringThe variation of position calculates the displacement of probe.It can further be counted according to the displacement of probe in conjunction with the image analysis to ultrasound imageOther information are calculated, for example, current ultrasonic image is in which side (such as the position MED or the position LAT), some ultrasound imageRelative displacement with teat placement, the relative displacement of the lesion in some ultrasound image and teat placement.Computing module is in Fig. 3It is not shown, which obtains data (including video image and ultrasonic scanning figure from camera and ultrasound probePicture), complete relevant calculating.
Preferably, Marking ring is the ring of multiple and different colors arranged side by side.Use pleochroic halo ring as Marking ring, mark can be improvedThe accuracy rate that note ring is correctly validated.
First embodiment is the systematic difference method proposed to present embodiment, is directed to the technical detail of systemIt can be used, be not repeated herein completely in the present embodiment.
For being designed the step of can executing on computers in above method embodiment, the embodiment of the present invention is also providedA kind of computer storage medium, wherein being stored with computer executable instructions, which is executed by processorEach method embodiment Shi Shixian of the invention.In addition, the embodiment of the present invention also provides a kind of ultrasonic scanning system, includingFor storing the memory of computer executable instructions, and, processor；The processor is based in executing the memoryThe step in above-mentioned each method embodiment is realized when calculation machine executable instruction.
It should be noted that relational terms such as first and second and the like are only in the application documents of this patentFor distinguishing one entity or operation from another entity or operation, without necessarily requiring or implying these entitiesOr there are any actual relationship or orders between operation.Moreover, the terms "include", "comprise" or its any otherVariant is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not onlyIt including those elements, but also including other elements that are not explicitly listed, or further include for this process, method, objectProduct or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence " including one ", notThere is also other identical elements in the process, method, article or apparatus that includes the element for exclusion.The application of this patentIn file, if it is mentioned that certain behavior is executed according to certain element, then refers to the meaning for executing the behavior according at least to the element, whereinInclude two kinds of situations: executing the behavior according only to the element and the behavior is executed according to the element and other elements.Multiple,Repeatedly, the expression such as a variety of include 2,2 times, 2 kinds and 2 or more, 2 times or more, two or more.
It is incorporated herein by reference in all documents that the application refers to, it is independent just as each documentIt is incorporated as with reference to such.In addition, it should also be understood that, those skilled in the art can after having read the above-mentioned teaching content of the applicationTo make various changes or modifications to the application, such equivalent forms equally fall within the application range claimed.