TWI852356B - Ultrasound imaging system - Google Patents

Abstract

An ultrasonic imaging system includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, an image capture unit, a display unit, and a processing unit. The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image capture unit, and the display unit. The processing unit generates a three-dimensional ultrasonic image based on a plurality of two-dimensional ultrasonic images respectively obtained by the ultrasonic probe at a plurality of tilt angles, and then correctly overlaps the three-dimensional ultrasonic image and the three-dimensional image of a to-be-detected object in space based on the first characteristic pattern and the second characteristic pattern of a real-time image captured by the image capture unit and displays them on the display unit.

Description

Ultrasound imaging system

The present invention relates to an imaging system, and more particularly to an ultrasonic imaging system.

The earliest medical ultrasound had only a set of transmitting crystals and receivers in the ultrasound probe to detect the amplitude of the reflected wave and obtain a one-dimensional signal. Later, through the linear cutting of the crystals, a one-dimensional array was arranged, and a directional electronic phase focusing was performed to construct a two-dimensional image of the cross section. This is the ultrasound technology currently commonly used in clinical diagnosis of deep tissues.

However, since current ultrasound imaging can generally only produce two-dimensional images of sections, when reconstructing three-dimensional images, the first known technology is to use mechanical scanning to drive the ultrasound array probe to sequentially capture cross-sectional images of different positions, and then use numerical calculation methods to reconstruct the information in three dimensions. The second known technology is to use a two-dimensionally cut ultrasound array probe to sequentially excite different rows of ultrasound probes to obtain cross-sectional images of different positions. Due to the high complexity of the mechanical design of the first technology, the price of the probe is quite expensive, and the price of the two-dimensional ultrasound array probe of the second technology is even more expensive than the first. Therefore, whether there are other ultrasound imaging systems with more cost advantages and simpler designs to reconstruct two-dimensional ultrasound images into three-dimensional images has become a problem to be solved. In addition, how to spatially overlay the reconstructed ultrasound images with other higher-resolution structural images such as MRI and CT for clinical physicians to make better diagnoses must also be overcome technically.

Therefore, the purpose of the present invention is to provide an ultrasound imaging system for reconstructing three-dimensional images and accurately superimposing and displaying the images with other multiple images in space.

Therefore, according to one aspect of the present invention, an ultrasonic imaging system is provided, comprising an ultrasonic probe and a processing unit.

The ultrasonic probe is controlled to generate a plurality of corresponding ultrasonic emission signals and receive a plurality of corresponding ultrasonic reflection signals at different plurality of tilt angles, wherein the tilt angles are located on a swing plane.

The processing unit is electrically connected to the ultrasonic probe. When the ultrasonic probe is at each tilt angle, the processing unit controls the ultrasonic probe to generate one of the ultrasonic emission signals and receives the ultrasonic reflection signal corresponding to the one of the signals to generate a corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal. The processing unit then generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the corresponding tilt angles.

In some embodiments, the ultrasound imaging system further includes an inertial sensor disposed on the ultrasound probe and detecting acceleration components in three axes, and the inertial sensor has the same tilt angle as the ultrasound probe. The processing unit is electrically connected to the inertial sensor, and when the ultrasound probe is at each tilt angle, the processing unit receives and stores the acceleration components in the three axes, and calculates the corresponding tilt angles according to the acceleration components in the three axes generated by the inertial sensor.

In some embodiments, the ultrasonic imaging system is applied to a surface to be measured, and the surface to be measured includes a normal vector. The acceleration components of the three axes are perpendicular to each other, and are respectively an AX-axis acceleration component, an AY-axis acceleration component, and an AZ-axis acceleration component, and each of the tilt angles is an angle between a gravitational acceleration G and the direction of the AZ-axis acceleration component. The relationship between each of the tilt angles φ, the AX-axis acceleration component, the AY-axis acceleration component, and the AZ-axis acceleration component is as follows: , , , where G is the gravitational acceleration, A1 is the AX-axis acceleration component, A2 is the AY-axis acceleration component, and A3 is the AZ-axis acceleration component.

In some implementations, a plurality of actual object planes respectively corresponding to the two-dimensional ultrasound images are respectively perpendicular to the swinging plane, and an extension plane of each of the actual object planes intersects to form a straight line.

In some implementations, the largest of the tilt angles is greater than the smallest, and the absolute value of the largest is equal to the absolute value of the smallest.

In some other embodiments, each of the two-dimensional ultrasound images includes a maximum width W and a maximum height h, and the three-dimensional ultrasound image includes a maximum length L, the maximum width W, and a maximum height H. The relationship between the maximum height H, the maximum length L, and the maximum height h is as follows: , , R is the distance between the straight line formed by the intersection of the extended planes of each actual object plane and each actual object plane, φ _cri is the absolute value of the largest of the tilt angles, and R is greater than or equal to 0.

In some embodiments, each of the two-dimensional ultrasound images includes a two-dimensional coordinate system (x, y), the maximum width of the image in the x direction of the two-dimensional coordinate is equal to the maximum width W, and the maximum height of the image in the y direction of the two-dimensional coordinate is equal to the maximum height h. The three-dimensional ultrasound image includes a three-dimensional coordinate system (X, Y, Z), and the relationship between the three-dimensional coordinate system (X, Y, Z) and the two-dimensional coordinate system (x, y) is as follows, , , .

In other embodiments, the ultrasound imaging system further comprises a display unit electrically connected to the processing unit to display the three-dimensional ultrasound image. The processing unit can also make a section in any direction according to the three-dimensional ultrasound image to generate a cross-sectional image, and then perform image processing according to the cross-sectional image to generate at least one functional image, so that the display unit can simultaneously display at least one of the cross-sectional image, the at least one functional image, the three-dimensional ultrasound image, and the two-dimensional ultrasound images.

In some other embodiments, each of the two-dimensional ultrasound images is a B-Mode (Brightness Mode) image.

Therefore, according to another aspect of the present invention, an ultrasonic imaging system is provided, which is applicable to an object to be detected and includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, an image capture unit, a display unit, and a processing unit.

The ultrasonic probe is controlled to generate a plurality of corresponding ultrasonic emission signals at different multiple tilt angles and receive a plurality of corresponding ultrasonic reflection signals, wherein the tilt angles are located on a swinging plane. The first characteristic pattern is arranged on the ultrasonic probe and is used for image recognition analysis to generate a first spatial orientation corresponding to the first characteristic pattern. The second characteristic pattern is arranged on the object to be tested and maintains a fixed relative position with the object to be tested, and is used for image recognition analysis to generate a second spatial orientation corresponding to the second characteristic pattern.

The storage unit stores a three-dimensional image related to the object to be tested, a second relative position relationship between the object to be tested and the second characteristic pattern in space, and a first relative position relationship between a two-dimensional ultrasonic image generated by the ultrasonic probe and the first characteristic pattern in space. The image capture unit captures a real-time image including the object to be tested, the first characteristic pattern, and the second characteristic pattern.

The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image acquisition unit, and the display unit. When the ultrasonic probe is at each tilt angle, the processing unit controls the ultrasonic probe to generate one of the ultrasonic emission signals and receives the ultrasonic reflection signal corresponding to the one of the signals to generate the corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal. The processing unit then generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the corresponding tilt angles.

The processing unit obtains the first spatial orientation according to the first feature pattern of the real-time image, and then obtains an ultrasonic image position of the three-dimensional ultrasonic image in space according to the first relative position relationship, and obtains the second spatial orientation according to the second feature pattern of the real-time image, and then obtains a position of the object to be measured in space according to the second relative position relationship, and according to the ultrasonic image position and the object position, the three-dimensional ultrasonic image and the three-dimensional image of the object to be measured are correctly superimposed in space and displayed on the display unit.

In some embodiments, the ultrasonic imaging system further includes an inertial sensor, which is disposed on the ultrasonic probe and detects acceleration components in three axes. The inertial sensor has the same tilt angle as the ultrasonic probe. The processing unit is electrically connected to the inertial sensor. When the ultrasonic probe is at each tilt angle, the processing unit receives and stores the acceleration components in the three axes, and calculates the corresponding tilt angles respectively according to the acceleration components in the three axes generated by the inertial sensor.

In some embodiments, the three-dimensional image of the object to be tested is an anatomical medical image and includes one of a computerized tomography (CT) image and a magnetic resonance imaging (MRI) image.

In other implementations, each of the first characteristic pattern and the second characteristic pattern includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or a pattern that can be used for image recognition analysis to obtain a direction and angle.

In some other implementations, the image capture unit is disposed on the ultrasound probe.

Therefore, according to another aspect of the present invention, an ultrasonic imaging system is provided, which is applicable to an object to be detected and includes an ultrasonic probe, a first characteristic pattern, a second characteristic pattern, a storage unit, an image capture unit, a display unit, and a processing unit.

The ultrasonic probe is controlled to generate a plurality of ultrasonic emission signals and receive a plurality of corresponding ultrasonic reflection signals. The first characteristic pattern is arranged on the ultrasonic probe and is used for image recognition analysis to generate a first spatial orientation corresponding to the first characteristic pattern. The second characteristic pattern is arranged on the object to be tested and maintains a fixed relative position with the object to be tested, and is used for image recognition analysis to generate a second spatial orientation corresponding to the second characteristic pattern.

The storage unit stores a three-dimensional image related to the object to be tested, a second relative position relationship between the object to be tested and the second characteristic pattern in space, and a first relative position relationship between a two-dimensional ultrasonic image generated by the ultrasonic probe and the first characteristic pattern in space. The image capture unit captures a real-time image including the object to be tested, the first characteristic pattern, and the second characteristic pattern.

The processing unit is electrically connected to the storage unit, the ultrasonic probe, the image acquisition unit, and the display unit, and controls the ultrasonic probe to generate one of the ultrasonic emission signals, and receives the ultrasonic reflection signal corresponding to the one of the signals, so as to generate the corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal.

The processing unit obtains the first spatial orientation according to the first feature pattern of the real-time image, and then obtains an ultrasonic image position of the two-dimensional ultrasonic image in space according to the first relative position relationship, and obtains the second spatial orientation according to the second feature pattern of the real-time image, and then obtains a position of the object to be measured in space according to the second relative position relationship, and according to the ultrasonic image position and the object position, the two-dimensional ultrasonic image and the three-dimensional image of the object to be measured are correctly superimposed in space and displayed on the display unit.

In some embodiments, the three-dimensional image of the object to be tested is an anatomical medical image and includes one of a computerized tomography (CT) image and a magnetic resonance imaging (MRI) image.

In other implementations, each of the first characteristic pattern and the second characteristic pattern includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or a pattern that can be used for image recognition analysis to obtain a direction and angle.

In some other implementations, the image capture unit is disposed on the ultrasound probe.

The effect of the present invention is that when the ultrasonic probe is at different tilt angles, the processing unit obtains the corresponding two-dimensional ultrasonic images, and the different tilt angles are all located on the swing plane. The processing unit then generates the three-dimensional ultrasonic image through the two-dimensional ultrasonic images and the corresponding tilt angles. Furthermore, through the real-time image captured by the image acquisition unit, the processing unit can obtain the correct relative position of the three-dimensional image of the object to be tested and the three-dimensional ultrasound image (or the two-dimensional ultrasound image) in space, and can correctly superimpose them to display them on the display unit, thereby realizing a superimposed image that takes into account both high resolution (i.e., the three-dimensional image) and real-time (i.e., the ultrasound image), so as to facilitate the guidance of treatment procedures in clinical practice.

Before the present invention is described in detail, it should be noted that similar components are represented by the same reference numerals in the following description.

1 , a first embodiment of an ultrasonic imaging system 100 of the present invention is applicable to a surface to be measured 9, and includes an ultrasonic probe 1, an inertial measurement unit (IMU) 2, a processing unit 3, and a display unit 4. The surface to be measured 9 includes a normal vector 91, and is, for example, a skin surface of a human body or an animal, but is not limited thereto.

The inertial sensor 2 is disposed on the ultrasonic probe 1 and detects acceleration components in three axes, and the inertial sensor 2 has the same tilt angle as the ultrasonic probe 1. In more detail, the acceleration components in the three axes are perpendicular to each other, and are respectively an _AX- axis acceleration component, an _AY- axis acceleration component, and an _AZ- axis acceleration component. The tilt angle is the angle between a gravitational acceleration G and the direction of the AZ _- axis acceleration component. The relationship between the tilt angle φ, the _AX axis acceleration component, the _AY axis acceleration component, and the _AZ axis acceleration component is as shown in the following formulas (1) to (3). That is, the tilt angle can be calculated by formulas (1) and (2), or formulas (1) and (3). …(1) …(2) …(3) Wherein, G is the gravitational acceleration, _A1 is the A _X- axis acceleration component, _A2 is the A _Y- axis acceleration component, and _A3 is the A _Z- axis acceleration component.

The processing unit 3 is, for example, a processor of a computer host, a digital signal processor (DSP), or other processing chips with computer computing capabilities, etc., but is not limited thereto. The processing unit 3 is electrically connected to the inertial sensor 2 and the ultrasonic probe 1. When the ultrasonic probe 1 is at each different tilt angle, the processing unit 3 receives and stores the acceleration components of the three axes, and controls the ultrasonic probe 1 to generate an ultrasonic emission signal, and receives a corresponding ultrasonic reflection signal. The processing unit 3 then generates a corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal, and the two-dimensional ultrasonic image is a B-Mode (Brightness Mode) image generated by the existing ultrasonic probe 1. The processing unit 3 then calculates the corresponding tilt angles according to the generated acceleration components in the three axes, and generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the corresponding tilt angles.

Referring to FIG. 1, FIG. 2, and FIG. 3, FIG. 2 is a three-dimensional diagram, and FIG. 3 is a side view of FIG. 2, which are exemplary illustrations of the positional relationship of three real object planes P1, P2, and _P3 corresponding to the three two-dimensional ultrasound images generated by the processing unit 3 when the ultrasound probe 1 is at three different tilt angles, i.e., when the three tilt angles are equal to φ _min , 0, and φ max, respectively. In addition, it should be particularly emphasized that: for the sake of convenience of explanation, FIG. 2 and FIG. 3 only depict three real object planes P1, P2, and P3. In fact, the ultrasound probe 1 can detect multiple real object planes of other numbers. In addition, referring to FIG. 4 , FIG. 4 exemplarily illustrates the schematic diagram of the two-dimensional ultrasound image B1 on the actual object plane P1. Similarly, FIG. 4 can also illustrate the schematic diagrams of the other two two-dimensional ultrasound images on the actual object planes P2 and P3 respectively.

In more detail, the tilt angles (i.e., φ _min , 0, φ _max ) are located on the same swing plane (such as the plane of the drawing of FIG. 3 ), and when the tilt angle is equal to 0 degrees, the direction of the A _Z axis acceleration component detected by the inertial sensor 2 is parallel to the normal vector 91. The actual object planes corresponding to the two-dimensional ultrasonic images of the tilt angles are respectively perpendicular to the swing plane, and the extended planes of each actual object plane intersect to form a straight line L1. More precisely, the distance between the straight line L1 formed by the intersection of the extended planes of each actual object plane and each actual object plane is a distance R. The actual position of the straight line L1 in space is the position of the crystal of the ultrasonic probe 1 when the ultrasonic probe 1 detects at different tilt angles. The crystal is the transmitter that emits the ultrasonic emission signals.

The largest of the tilt angles is greater than the smallest, and the absolute value of the largest is equal to the absolute value of the smallest. For example, in this embodiment, the largest of the tilt angles (i.e., φ _max ) is equal to 60 degrees, and the smallest of the tilt angles (i.e., φ _min ) is equal to -60 degrees, but the invention is not limited to this range.

Each of the two-dimensional ultrasound images includes a maximum width W and a maximum height h. The three-dimensional ultrasound image includes a maximum length L, the maximum width W, and a maximum height H. The relationship between the maximum height H, the maximum length L, and the maximum height h is as shown in the following formulas (4) and (5). …(4) …(5) Wherein, φ _cri is the absolute value of the largest of the tilt angles, which is 60 degrees in the present embodiment, and R is greater than or equal to 0. For example, when the distance between the crystal of the ultrasonic probe 1 and the surface to be measured 9 is equal to zero, then R is equal to 0.

Each of the two-dimensional ultrasound images includes a two-dimensional coordinate system (x, y), the maximum width of the image in the x direction of the two-dimensional coordinate is equal to the maximum width W, and the maximum height of the image in the y direction of the two-dimensional coordinate is equal to the maximum height h. The three-dimensional ultrasound image includes a three-dimensional coordinate system (X, Y, Z). Taking the actual object plane P2 in FIG2 as an example, the x direction of the two-dimensional coordinate is X2, the y direction of the two-dimensional coordinate is Y2, and the three directions of the three-dimensional coordinate system are X1, Y1, and Z1. The relationship between the three-dimensional coordinate system (X, Y, Z) and the two-dimensional coordinate system (x, y) is as shown in the following formulas (6) to (8). …(6) …(7) …(8)

It is particularly noted that in the present embodiment, the ultrasonic probe 1 is operated by a user at different positions of the tilt angles, and in other embodiments, the ultrasonic probe 1 can also be moved more stably between the positions of the different tilt angles by using certain specially designed jigs or carriers. In addition, in the present embodiment, each tilt angle is obtained by the processing unit 3 according to the corresponding acceleration components of the three axes, and in other embodiments, each tilt angle can also be obtained by the inertial sensor 2 according to the corresponding acceleration components of the three axes.

Furthermore, in other embodiments, the ultrasonic imaging system may omit the inertial sensor and use other methods to detect the tilt angle of the ultrasonic probe. For example, the ultrasound system may further include a single camera, a barcode or other specific pattern is provided on the ultrasound probe, and the camera uses image recognition technology to recognize the barcode or the specific pattern to obtain an attitude angle (Euler angles, or Euler angle) of the ultrasound probe, and then obtain the tilt angle; or, the ultrasound system may further include two cameras, and the angle difference between the two cameras is used to reconstruct the position of the ultrasound probe in three-dimensional space, and then obtain the attitude angle and the tilt angle; or, the ultrasound imaging system further includes an electromagnetic tracker (EM tracker) tracker), which uses magnetic field sensing to identify the three-axis orientation and then obtain the attitude angle and the tilt angle.

The display unit 4 is, for example, a screen and is electrically connected to the processing unit 3 to display the three-dimensional ultrasound image, or to display the three-dimensional ultrasound image and the two-dimensional ultrasound images simultaneously. The processing unit 3 can also make a section in any direction according to the three-dimensional ultrasound image to generate at least one cross-sectional image, and then perform image processing according to the at least one cross-sectional image, so that the display unit 4 can simultaneously display the cross-sectional image and the result of the image processing.

In addition, the processing unit 3 can also generate other functional images based on the received ultrasound reflection signals, such as entropy parameter images, Doppler variable images, strain variable images, Nakagami variable images, etc. For example, Doppler variable images can display blood flow information, strain variable images can provide tissues with Young’s modulus quantification for tissue elasticity identification, and Nakagami variable and entropy parameter images can provide regularity analysis on tissue arrangement structure. The display unit 4 can also simultaneously display at least one of the functional images and at least one of the three-dimensional ultrasound image, the two-dimensional ultrasound images, and the at least one cross-sectional image to provide richer and more effective ultrasound image information.

Referring to FIG. 5 , a second embodiment of an ultrasonic imaging system 200 of the present invention is applicable to an object to be detected and comprises an ultrasonic probe, a first characteristic pattern 81, a second characteristic pattern 82, a storage unit 6, an image acquisition unit 7, a display unit, and a processing unit 5. The object to be detected is, for example, the abdomen of a human body. The ultrasonic probe is controlled to generate a plurality of ultrasonic emission signals and receive a plurality of corresponding ultrasonic reflection signals.

The first characteristic pattern 81 is disposed on the ultrasonic probe and is used for image recognition analysis to generate a first spatial orientation V1 corresponding to the first characteristic pattern 81. The second characteristic pattern 82 is disposed on the object to be tested and maintains a fixed relative position with the object to be tested, and is used for image recognition analysis to generate a second spatial orientation V2 corresponding to the second characteristic pattern 82. In FIG. 5 , the first spatial orientation V1 and the second spatial orientation V2 are both schematically represented in the form of a normal vector, which does not mean that the first spatial orientation V1 and the second spatial orientation V2 only include information of the normal vector.

Each of the first characteristic pattern 81 and the second characteristic pattern 82 includes a plurality of one-dimensional barcodes, a plurality of two-dimensional barcodes, or a pattern that can be used for image recognition analysis to obtain a direction and angle. Referring to FIG. 2 , in this embodiment, the first characteristic pattern 81 is an example of a two-dimensional barcode of four squares, and the second characteristic pattern 82 is an example of eight two-dimensional barcodes respectively arranged on both sides and located on the same plane. In addition, for the convenience of explanation, the first characteristic pattern 81 and the second characteristic pattern 82 in FIG. 2 are simply represented by four squares and eight squares respectively. In fact, each square has a pre-designed two-dimensional barcode.

The image capture unit 7 captures a real-time image including the object to be detected, the first characteristic pattern 81, and the second characteristic pattern 82. That is, a field of view 96 captured by the image capture unit 7 includes the object to be detected, the first characteristic pattern 81, and the second characteristic pattern 82. In this embodiment, the image capture unit 7 is disposed on the ultrasound probe, and in other embodiments, the image capture unit 7 may not be disposed on the ultrasound probe, as long as the real-time image can include the object to be detected, the first characteristic pattern 81, and the second characteristic pattern 82. In addition, the number of cameras included in the image capture unit 7 is determined based on the corresponding real-time image provided by known image recognition and analysis technology, and the first spatial orientation V1 and the second spatial orientation V2 can be determined. The first spatial orientation V1 and the second spatial orientation V2 include the angle and orientation of the first feature pattern 81 and the second feature pattern 82 in space, that is, the position and angle relative to the image capture unit 7, or the absolute position and angle in space with a preset reference point.

For another example, the real-time image includes each complete two-dimensional barcode included in the first characteristic pattern 81 and the second characteristic pattern 82. Each of the two-dimensional barcodes includes at least three known identification points and is also included in the real-time image. Each of the identification points is, for example, at the edge or edge point of the corresponding two-dimensional barcode. After the at least three identification points of each of the two-dimensional barcodes in the real-time image are successfully identified by the processing unit 5, the processing unit 5 uses the image capture unit 7 and the known or preset spatial physical relationship to identify the three-dimensional spatial distance relationship of each of the identification points and give the corresponding coordinates, so that each of the identification points will be assigned a specific spatial coordinate.

The processing unit 5 then calculates a corresponding space vector according to the space coordinates of any two of the recognition points, and the at least three recognition points of each of the two-dimensional barcodes will generate at least two different space vectors, and each of the space vectors is located on the same plane of the two-dimensional barcode. For each of the two-dimensional barcodes, the processing unit 5 calculates the outer product of two of the space vectors, or calculates the outer product of any two of the space vectors and then calculates the average of multiple sets of outer products, thereby obtaining a space orientation corresponding to the two-dimensional barcode. It is particularly noted that one of the identification points of each two-dimensional barcode can be set at the center of the two-dimensional barcode, and the spatial orientation generated by the two spatial vectors corresponding to the identification point will directly correspond to the center of the two-dimensional barcode. Alternatively, the actual area size of each two-dimensional barcode is small enough, and the number of the identification points is large enough (that is, the number of the outer products of the spatial vectors is large enough), so that the spatial orientation corresponding to the average value of the outer products is close enough to the center of the two-dimensional barcode. The processing unit 5 then calculates the average value of all the spatial positions of all the two-dimensional barcodes of the first characteristic pattern 81 (or the second characteristic pattern 82), thereby obtaining the first spatial position V1 (or the second spatial position V2).

The storage unit 6 stores a three-dimensional image of the object to be tested, a second relative position relationship in space between the object to be tested and the second characteristic pattern 82, and a first relative position relationship in space between a two-dimensional ultrasound image 83 generated by the ultrasound probe and the first characteristic pattern 81. The three-dimensional image of the object to be tested is an anatomical medical image with high resolution, such as a computerized tomography (CT) image, a magnetic resonance imaging (MRI) image, or other similar images.

Since the first characteristic pattern 81 is disposed on the ultrasonic probe, when the medical staff moves the ultrasonic probe, the relative position of the first characteristic pattern 81 and the two-dimensional ultrasonic image 83 detected by the ultrasonic probe remains unchanged, that is, the first relative position relationship remains fixed. Similarly, the second characteristic pattern 82 is disposed on the object to be detected, and the relative position with the object to be detected also remains unchanged, and the second relative position relationship also remains fixed. Therefore, the first relative position relationship and the second relative position relationship can be pre-designed or calculated using known techniques.

The processing unit 5 is electrically connected to the storage unit 6, the ultrasonic probe, the image acquisition unit 7, and the display unit, and controls the ultrasonic probe to generate one of the ultrasonic emission signals, and receives the ultrasonic reflection signal corresponding to one of the signals, so as to generate the corresponding two-dimensional ultrasonic image 83 according to the ultrasonic reflection signal.

The processing unit 5 obtains the first spatial orientation V1 according to the first characteristic pattern 81 of the real-time image, and then obtains an ultrasonic image position of the two-dimensional ultrasonic image 83 in space according to the first relative position relationship, and obtains the second spatial orientation V2 according to the second characteristic pattern 82 of the real-time image, and then obtains a position of the object to be measured in space according to the second relative position relationship, and according to the ultrasonic image position and the position of the object to be measured, the two-dimensional ultrasonic image 83 and the three-dimensional image of the object to be measured are correctly superimposed in space and displayed on the display unit.

For another example, the processing unit 5 can not only identify the first spatial position V1 and the second spatial position V2, but also identify the coordinates of a starting position of the first spatial position V1 and the second spatial position V2. Since the second spatial position V2 is obtained by eight two-dimensional barcodes (i.e., the present embodiment), and the spatial coordinates (i.e., the actual distance and position) of each of the two-dimensional barcodes are known, the processing unit 5 can utilize the corresponding relationship between the spatial coordinates of the two-dimensional barcodes of the second spatial position V2 and the spatial vectors, such as a spatial transformation matrix or a proportional factor, to obtain all spatial coordinates (i.e., the actual distance and position) related to the first spatial position V1 and the second spatial position V2. Similarly, the processing unit 5 can also obtain the position of the object to be measured (or the position of the object to be measured) by fixing the first relative position relationship (or the second relative position relationship).

Referring to FIG. 6 again, FIG. 6 is a schematic diagram showing the two-dimensional ultrasound image 83 and the three-dimensional image displayed by the display unit, which are correctly overlapped in space. The three-dimensional image includes the ribs 93, liver 94, and skin 95 of the object to be tested (i.e., the abdomen 92). It should be particularly noted that the three-dimensional image is a three-dimensional image presentation effect after image analysis and feature capture of multiple computer tomography (CT) images or multiple magnetic resonance imaging (MRI) images included. In this embodiment, feature capture refers to the position and three-dimensional contour of the ribs 93, liver 94, and skin 95 in the image.

In addition, in other embodiments, the ultrasonic imaging system 200 can also include a third characteristic pattern and a surgical instrument, such as a puncture needle, an electrosurgery needle, etc. The third characteristic pattern is similar to the first characteristic pattern 81, but is disposed on the surgical instrument. Then, the processing unit 5 can obtain a third spatial orientation through the third characteristic pattern included in the real-time image, and then display the corresponding surgical instrument correctly superimposed in space on the display unit.

Furthermore, in the second embodiment, the processing unit 5 generates the two-dimensional ultrasonic image 83 through the ultrasonic probe, and in other embodiments, the ultrasonic probe and the processing unit 5 may also have parts that operate in the same manner as the first embodiment, or the ultrasonic imaging system 200 further includes the same inertial sensor as the first embodiment, so that the processing unit 5 generates a three-dimensional ultrasonic image based on the two-dimensional ultrasonic images and the corresponding tilt angles of the first embodiment, and replaces the two-dimensional ultrasonic image with the three-dimensional ultrasonic image so as to be correctly superimposed and displayed on the display unit.

In summary, by arranging the inertial sensor on the ultrasonic probe to detect the tilt angle of the ultrasonic probe, the ultrasonic probe can detect at different tilt angles, and when the tilt angles meet simple restriction conditions, the processing unit can calculate and generate the three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the tilt angles. In this way, it can not only be easily used in the popular low-end and medium-end ultrasonic imaging systems, but also realize an ultrasonic imaging system with simple design and fast calculation. Furthermore, through the real-time image captured by the image capture unit, the processing unit can obtain the correct relative position of the three-dimensional image of the object to be tested and the three-dimensional ultrasound image (or the two-dimensional ultrasound image) in space, and can correctly superimpose them to display them on the display unit, thereby realizing a superimposed image that takes into account both high resolution (i.e., the three-dimensional image) and real-time (i.e., the ultrasound image), so as to facilitate the guidance of treatment procedures in clinical practice, and thus can truly achieve the purpose of the present invention.

However, the above is only an embodiment of the present invention and should not be used to limit the scope of implementation of the present invention. All simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the patent specification are still within the scope of the present patent.

100, 200: Ultrasound imaging system 1: Ultrasound probe 2: Inertial sensor 3: Processing unit 4: Display unit 5: Processing unit 6: Storage unit 7: Image acquisition unit 81: First feature pattern 82: Second feature pattern 83: Two-dimensional ultrasound image 9: Surface to be measured 91: Normal vector 92: Abdomen 93: Ribs 94: Liver 95: Skin 96: Field of view H: Maximum height L: Maximum length L1: Straight line B1: Two-dimensional ultrasound image R: Distance P1, P2, P3: Real object plane X1, X2: Direction Y1, Y2: Direction Z1: Direction φ _max , φ _min : Tilt angle V1: First spatial orientation V2: Second spatial orientation

Other features and effects of the present invention will be clearly presented in the implementation method with reference to the drawings, in which: FIG. 1 is a schematic diagram illustrating a first embodiment of the ultrasound imaging system of the present invention; FIG. 2 is a stereogram illustrating a plurality of actual object planes to which a plurality of two-dimensional ultrasound images of the first embodiment respectively correspond; FIG. 3 is a side view, assisting FIG. 2 in illustrating the relationship between the actual object planes; FIG. 4 is a schematic diagram, assisting FIG. 3 in illustrating one of the two-dimensional ultrasound images; FIG. 5 is a schematic diagram illustrating a second embodiment of the ultrasound imaging system of the present invention; and FIG. 6 is a schematic diagram illustrating the superposition result of a two-dimensional ultrasound image and a three-dimensional image of the second embodiment.

200: Ultrasound imaging system

1: Ultrasonic probe

4: Display unit

5: Processing unit

6: Storage unit

7: Image capture unit

81: The first characteristic pattern

82: Second characteristic pattern

92: Abdomen

96: Vision

V1: First spatial orientation

V2: Second spatial orientation

Claims (4)

An ultrasonic imaging system is applicable to an object to be tested and comprises: an ultrasonic probe controlled to generate a plurality of corresponding ultrasonic emission signals at different tilt angles and receive a plurality of corresponding ultrasonic reflection signals, wherein the tilt angles are located on a swinging plane; a first characteristic pattern arranged on the ultrasonic probe and comprising four two-dimensional bar codes and used for image recognition analysis to generate a first spatial orientation corresponding to the first characteristic pattern; a second characteristic pattern arranged on the object to be tested and comprising eight two-dimensional bar codes arranged on both sides and located on the same plane; a three-dimensional barcode, and maintaining a fixed relative position with the object to be tested, and used for image recognition analysis to generate a second spatial orientation corresponding to the second characteristic pattern; a storage unit, storing a three-dimensional image related to the object to be tested, a second relative position relationship between the object to be tested and the second characteristic pattern in space, and a first relative position relationship between a two-dimensional ultrasonic image generated by the ultrasonic probe and the first characteristic pattern in space; an image capture unit, which may be arranged on or not arranged on the ultrasonic probe, and captures a three-dimensional image including the object to be tested, the first characteristic pattern, and the second relative position relationship between the object to be tested and the second characteristic pattern in space; The invention relates to a memory device for storing a first characteristic pattern, a second characteristic pattern, and a real-time image of the second characteristic pattern; a display unit; and a processing unit electrically connected to the storage unit, the ultrasonic probe, the image acquisition unit, and the display unit. When the ultrasonic probe is at each tilt angle, the processing unit controls the ultrasonic probe to generate one of the ultrasonic emission signals and receives the ultrasonic reflection signal corresponding to the one of the signals to generate the corresponding two-dimensional ultrasonic image according to the ultrasonic reflection signal. The processing unit then generates a three-dimensional ultrasonic image according to the two-dimensional ultrasonic images and the corresponding tilt angles. Ultrasonic image, the processing unit obtains the first spatial orientation according to the first feature pattern of the real-time image, and then obtains an ultrasonic image position of the three-dimensional ultrasonic image in space according to the first relative position relationship, and obtains the second spatial orientation according to the second feature pattern of the real-time image, and then obtains a position of the object to be tested in space according to the second relative position relationship, and according to the ultrasonic image position and the position of the object to be tested, the three-dimensional ultrasonic image and the three-dimensional image of the object to be tested are correctly superimposed in space and displayed on the display unit. The ultrasonic imaging system as described in claim 1 further includes an inertial sensor, which is arranged on the ultrasonic probe and detects acceleration components in three axes, and the inertial sensor has the same tilt angle as the ultrasonic probe. The processing unit is electrically connected to the inertial sensor. When the ultrasonic probe is at each tilt angle, the processing unit receives and stores the acceleration components in the three axes, and calculates the corresponding tilt angles according to the acceleration components in the three axes generated by the inertial sensor. The ultrasonic imaging system as described in claim 2, wherein the three-dimensional image of the object to be tested is an anatomical medical image and includes one of a computerized tomography (CT) image and a magnetic resonance imaging (MRI) image. The ultrasonic imaging system as described in claim 2, wherein the image acquisition unit is disposed on the ultrasonic probe.

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