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CN114723891B - Method for carrying out ultrasonic Doppler imaging on large target - Google Patents

Method for carrying out ultrasonic Doppler imaging on large target Download PDF

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CN114723891B
CN114723891B CN202210386319.7A CN202210386319A CN114723891B CN 114723891 B CN114723891 B CN 114723891B CN 202210386319 A CN202210386319 A CN 202210386319A CN 114723891 B CN114723891 B CN 114723891B
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CN114723891A (en
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袁杰
马小莉
戴恬
陶超
刘晓峻
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Nanjing University
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Abstract

The invention discloses a method for carrying out ultrasonic Doppler imaging on a large target, which comprises the steps of 1, dividing the target into a plurality of sections according to the length of the large target, 2, recording the position change of an ultrasonic imaging probe by using a camera, tracking the movement of the probe by using a slide rail, 3, transforming all acquired images into the same coordinate system according to the position relation between two adjacent sections, 4, recording the position relation between each frame of image and the camera when each section of ultrasonic Doppler image is acquired, and 5, mapping the acquired images into a three-dimensional space through coordinate transformation, and carrying out three-dimensional ultrasonic Doppler imaging. The invention realizes a method for carrying out ultrasonic Doppler imaging on a large target by utilizing a convenient and low-cost optical positioning three-dimensional ultrasonic Doppler imaging system, and solves the problem of limited imaging range of a camera in a general optical positioning system.

Description

Method for carrying out ultrasonic Doppler imaging on large target
Technical Field
The invention relates to an ultrasonic Doppler imaging method, in particular to a method for carrying out ultrasonic Doppler imaging on a large target.
Background
Compared with ultrasonic imaging, ultrasonic Doppler imaging can additionally observe dynamic functional information such as flow velocity, direction and the like of a target. However, the traditional two-dimensional imaging can only observe the section view, and the three-dimensional ultrasonic Doppler imaging can more meet the observation requirement of complex targets. Three-dimensional ultrasonic imaging is a novel ultrasonic imaging technology, imaging by using an optical positioning handheld probe is a convenient and low-cost method, a single-row one-dimensional ultrasonic probe is used, the positions of each two-dimensional scanning are obtained by using an optical positioning system through multiple two-dimensional scanning, and multiple two-dimensional images are reconstructed into three-dimensional ultrasonic images. However, due to the limitation of the imaging range of the camera, the range of the target for three-dimensional reconstruction by using optical positioning is limited.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for carrying out ultrasonic Doppler imaging on a large target aiming at the defects of the prior art.
In order to solve the technical problems, the invention discloses a method for carrying out ultrasonic Doppler imaging on a large target, which comprises the following steps:
step 1, dividing a target into a plurality of sections according to the length of a large target;
Step 2, recording the position change of the ultrasonic imaging probe by using a camera, and tracking the movement of the probe by using a slide rail;
step 3, according to the position relation between two adjacent sections, all acquired images are transformed into the same coordinate system;
step 4, recording the position relation between each frame of image and the camera when each section of ultrasonic Doppler image is acquired;
and 5, mapping the acquired image into a three-dimensional space through coordinate transformation, and performing three-dimensional ultrasonic Doppler imaging.
In the present invention, step1 includes:
Dividing the target into a plurality of sections according to the imaging range of the camera and the position relation between the target and the camera, ensuring that each section of target is in the imaging range of the camera after the camera is rotationally translated, and dividing the target into k sections, wherein each section is recorded as 1, 2.
In the step 2 of the present invention, the method for tracking the movement of the probe by using the slide rail includes:
the camera is fixed on the sliding block of the sliding rail and controls the sliding block to move through the motor and the motion controller, the camera is used for tracking the movement of the ultrasonic probe, when the probe is detected to move outside the picture of the camera, the signal is sent to the motion controller, the sliding block on the sliding rail starts to move to drive the camera to slide, the automatic tracking is realized, the motion controller provides a communication protocol, the communication between the computer and the motion controller is realized through programming, the movement of the ultrasonic probe and the movement of the camera on the sliding rail are related, and a set of feedback system for positioning and tracking the camera is formed.
The method for recording the position change of the ultrasonic imaging probe by using the camera in the step 2 comprises the following steps:
The method comprises the steps of fixing a calibration plate on a probe detected by a camera, obtaining the position relation of the calibration plate relative to the camera through a Zhang Zhengyou checkerboard calibration method, recording the number of detected characteristic points on the calibration plate, judging whether the calibration plate moves out of a camera picture, recording the initial position of the camera on a sliding rail as P 0, calculating the distance between the camera and the probe according to the actual size of an internal reference of the camera and the calibration plate and the size of the calibration plate on an imaging plane of the camera by using a triangular ranging method, calculating the distance required to move by the camera according to the field angle of the camera and the distance between the camera and the probe, selecting the moving distance according to pre-calibrated data, recording the corresponding position as P j, and sending a signal to a motion controller.
Step 2 further comprises:
And setting a plurality of groups of moving distances according to the size of the target and the imaging range of the camera, and calibrating, namely, the position change of the camera in each acquisition.
In the step 2, when the preset positions of the cameras are marked, the positions of two adjacent cameras are in a group, the same marking plate is marked, corresponding rotation translation matrixes are recorded, the positions of the cameras corresponding to the jth section of targets are marked as P j, j < k, the rotation translation matrixes are R j and t j, the marking plate is placed, the cameras are ensured to move to the position of P j+1, the positioning of the marking plate can be realized, and the corresponding rotation translation matrixes are R j+1 and t j+1.
In the present invention, step3 includes:
The point in the camera coordinate system at position P j+1 is [ x j+1,yj+1,zj+1]T ] which is transformed into the camera coordinate system at position P j by:
Points under each segment of the camera coordinate system are transformed to the camera coordinate system at P 1.
In the present invention, step4 includes:
When the ultrasonic Doppler image acquisition is carried out on each section of target respectively, the position of the camera is fixed, a calibration plate is fixed on the probe, the position relation between the probe and the calibration plate is calibrated in advance, the handheld probe slowly moves along the surface of the target, the image of the calibration plate is acquired through the camera, and the position relation of the probe relative to the camera in the moving process is positioned by utilizing a visual calibration algorithm.
In the present invention, step 4 further includes:
When the ultrasonic probe images, each calibration plate photo is acquired in real time and calibrated to obtain a rotation translation matrix of the calibration plate relative to the camera, and when the jth section of target is imaged, the rotation translation matrix of the calibration plate corresponding to the acquired ith image relative to the camera is recorded as AndThe upper left corner pixel of the ultrasonic Doppler image is taken as a coordinate origin, the horizontal direction is taken as an x axis, the vertical direction is taken as a y axis, the image plane is taken as an XOY plane, the vertical image plane is taken as a Z axis, a three-dimensional coordinate system is established, the coordinate of each point on the image is [ u, v,0] T, the coordinate when the coordinate is transformed to the corresponding camera coordinate system is recorded as [ x c,yc,zc]T ], and according to the position relation R i2w and t i2w between the probe and the calibration plate, the coordinate is:
In the present invention, step 5 includes:
According to the position transformation relation between the camera coordinate systems at the adjacent positions in the step 3 and the position relation between the ultrasonic Doppler imaging plane coordinate system and the camera coordinate system in the step 4, all collected pixel points are changed to be under an initial camera coordinate system, the plane points are mapped into a three-dimensional space, and the reconstruction results of each section of ultrasonic Doppler are spliced to realize three-dimensional ultrasonic Doppler imaging of a large target.
The beneficial effects are that:
the invention provides a method for automatically tracking a target by using a camera, reconstructing the target in a segmented three-dimensional mode and then splicing the target, and carrying out ultrasonic Doppler imaging by using a handheld ultrasonic probe, wherein an imaging area can be selected automatically during acquisition, so that the method is more beneficial to observing the overall view of an expected target. Fills the blank of the ultrasonic Doppler imaging method aiming at a large target.
Drawings
The foregoing and/or other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings and detailed description.
Fig. 1 is a schematic flow chart of the present invention.
Fig. 2 is a schematic illustration of segmenting a target according to camera imaging range.
Fig. 3 is a schematic view of the positions of the camera and the slide rail.
Fig. 4 is a coordinate relationship conversion diagram of three-dimensional reconstruction.
Detailed Description
A method of ultrasound doppler imaging of a large target comprising the steps of:
step 1, dividing a target into a plurality of sections according to the length of a large target;
Dividing the target into a plurality of sections according to the imaging range of the camera and the position relation between the target and the camera, ensuring that each section of target is in the imaging range of the camera after the camera is rotationally translated, and dividing the target into k sections, wherein each section is recorded as 1, 2.
Step 2, recording the position change of the ultrasonic imaging probe by using a camera, and tracking the movement of the probe by using a slide rail;
The method for tracking the movement of the probe by utilizing the slide rail comprises the following steps:
the camera is fixed on the sliding block of the sliding rail and controls the sliding block to move through the motor and the motion controller, the camera is used for tracking the movement of the ultrasonic probe, when the probe is detected to move outside the picture of the camera, the signal is sent to the motion controller, the sliding block on the sliding rail starts to move to drive the camera to slide, the automatic tracking is realized, the motion controller provides a communication protocol, the communication between the computer and the motion controller is realized through programming, the movement of the ultrasonic probe and the movement of the camera on the sliding rail are related, and a set of feedback system for positioning and tracking the camera is formed.
The method for recording the position change of the ultrasonic imaging probe by using the camera comprises the following steps:
the probe for camera detection is fixed with a calibration plate, and the position relation of the calibration plate relative to the camera is obtained through Zhang Zhengyou checkerboard calibration (refer to ：Z.Zhang,"Aflexible new technique for camera calibration,"in IEEE Transactions on Pattern Analysis and Machine Intelligence,vol.22,no.11,pp.1330-1334,Nov.2000),), the number of the detected characteristic points on the calibration plate is recorded, and whether the calibration plate moves out of the picture of the camera is judged.
And setting the distance of each movement of the sliding block according to the size of the target and the imaging range of the camera, and calibrating, namely that the position change of each camera in actual acquisition is known.
When the preset positions of the cameras are calibrated, the positions of two adjacent cameras are in a group, the same calibration plate is calibrated respectively, corresponding rotation translation matrixes are recorded, the positions of the cameras corresponding to the j-th section of targets are recorded as P j, j < k, the rotation translation matrixes are R j and t j, the calibration plates are placed, the cameras are ensured to move to the position of P j+1, the calibration plates can be positioned, and the corresponding rotation translation matrixes are R j+1 and t j+1.
Step 3, according to the position relation between two adjacent sections, all acquired images are transformed into the same coordinate system;
The point in the camera coordinate system at position P j+1 is [ x j+1,yj+1,zj+1]T ] which is transformed into the camera coordinate system at position P j by:
Points under each segment of the camera coordinate system are transformed to the camera coordinate system at P 1.
Step 4, recording the position relation between each frame of image and the camera when each section of ultrasonic Doppler image is acquired;
When the ultrasonic Doppler image acquisition is carried out on each section of target respectively, the position of the camera is fixed, a calibration plate is fixed on the probe, the position relation between the probe and the calibration plate is calibrated in advance, the handheld probe slowly moves along the surface of the target, the image of the calibration plate is acquired through the camera, and the position relation of the probe relative to the camera in the moving process is positioned by utilizing a visual calibration algorithm.
When the ultrasonic probe images, each calibration plate photo is acquired in real time and calibrated to obtain a rotation translation matrix of the calibration plate relative to the camera, and when the jth section of target is imaged, the rotation translation matrix of the calibration plate corresponding to the acquired ith image relative to the camera is recorded asAndThe upper left corner pixel of the ultrasonic Doppler image is taken as a coordinate origin, the horizontal direction is taken as an x axis, the vertical direction is taken as a y axis, the image plane is taken as an XOY plane, the vertical image plane is taken as a Z axis, a three-dimensional coordinate system is established, the coordinate of each point on the image is [ u, v,0] T, the coordinate when the coordinate is transformed to the corresponding camera coordinate system is recorded as [ x c,yc,zc]T ], and according to the position relation R i2w and t i2w between the probe and the calibration plate, the coordinate is:
and 5, mapping the acquired image into a three-dimensional space through coordinate transformation, and performing three-dimensional ultrasonic Doppler imaging.
According to the position transformation relation between the camera coordinate systems at the adjacent positions in the step 3 and the position relation between the ultrasonic Doppler imaging plane coordinate system and the camera coordinate system in the step 4, all collected pixel points are changed to be under an initial camera coordinate system, the plane points are mapped into a three-dimensional space, and the ultrasonic Doppler reconstruction results of each section are spliced together to realize three-dimensional ultrasonic Doppler imaging of a large target.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. The embodiment of the invention discloses a method capable of carrying out ultrasonic Doppler imaging on a large target.
The method for performing ultrasonic doppler imaging on a large target according to the embodiment, as shown in fig. 1, includes the following steps:
step 1, as shown in fig. 2, taking a thigh as a target, fixing a camera on a slide rail, and performing ultrasonic Doppler imaging on blood vessels in the thigh. According to the imaging range of the camera and the position relation between the target and the camera, the target is divided into a plurality of sections, and each section of target can be in the imaging range of the camera after the camera is ensured to be subjected to certain rotation translation.
And 2, fixing a calibration plate on the probe, calibrating the position relationship between the probe and the calibration plate in advance, wherein the corresponding rotation translation matrix is R i2w、ti2w. As shown in fig. 3, the camera is fixed on the slide block of the slide rail, and the movement of the slide block is precisely controlled by the motor and the movement controller. And (3) presetting the distance of each movement of the sliding block according to the size of the target and the imaging range of the camera, and calibrating.
When the preset positions of the cameras are calibrated, the positions of two adjacent cameras are in a group, the same calibration plate is calibrated respectively, and the corresponding rotation translation matrix is recorded. The camera position corresponding to the j (j < k) th section target is recorded as P j, the rotation translation matrix is recorded as R j、tj, the calibration plate is placed at a proper position, the camera is ensured to move to the position of P j+1, the calibration plate can still be positioned, and the corresponding rotation translation matrix is recorded as R j+1、tj+1.
And obtaining the position relation of the calibration plate relative to the camera through a visual calibration method, and recording the number of the detected characteristic points on the calibration plate to judge whether the calibration plate moves out of the picture of the camera. When the probe is detected to move out of the picture of the camera, the computer sends a signal to the motion controller, and the sliding block on the sliding rail drives the camera to slide, so that automatic tracking is realized.
And 3, after the device is fixed, when the ultrasonic Doppler image acquisition is carried out on each section of target respectively, the position of the camera is not changed, the handheld probe slowly moves along the surface of the target, and the rotation translation matrix of each frame of image relative to the camera is recorded in real time.
Step 4, recording the rotation translation matrix of the calibration plate corresponding to the acquired ith image relative to the camera asAs shown in fig. 4, a three-dimensional coordinate system is established by using an upper left corner pixel of an ultrasonic doppler image as an origin of coordinates, a horizontal x-axis, a vertical y-axis, an image plane as an XOY plane, and a vertical image plane as a Z-axis, and it is known that each point coordinate on the image is [ u, v,0] T, and the coordinate when transformed into the corresponding camera coordinate system is [ x c,yc,zc]T, and according to the positional relationship R i2w、ti2w between the probe and the calibration plate, there are:
The point under the camera coordinate system at position P j+1 is [ x j+1,yj+1,zj+1]T ] which is transformed into the camera coordinate system at position P j:
According to the iterative relationship, the pixel points in each ultrasonic image can be transformed to the camera coordinate system at the position P 1, so that the three-dimensional ultrasonic Doppler reconstruction of a large target can be realized.
The invention provides a method for carrying out ultrasonic Doppler imaging on a large target, and a method for realizing the technical scheme, wherein the method and the way are a plurality of methods, the method and the way are only the preferred embodiments of the invention, and it should be pointed out that a plurality of improvements and modifications can be made by one of ordinary skill in the art without departing from the principle of the invention, and the improvements and modifications are also considered as the protection scope of the invention. The components not explicitly described in this embodiment can be implemented by using the prior art.

Claims (6)

1. A method of ultrasound doppler imaging of a large target comprising the steps of:
step 1, dividing a target into a plurality of sections according to the length of a large target;
Step 2, recording the position change of the ultrasonic imaging probe by using a camera, and tracking the movement of the probe by using a slide rail;
step 3, according to the position relation between two adjacent sections, all acquired images are transformed into the same coordinate system;
step 4, recording the position relation between each frame of image and the camera when each section of ultrasonic Doppler image is acquired;
step 5, mapping the acquired image into a three-dimensional space through coordinate transformation, and performing three-dimensional ultrasonic Doppler imaging;
Wherein, in the step 2, the method records the position change of the ultrasonic imaging probe by using a camera includes:
The method comprises the steps of fixing a calibration plate on a probe detected by a camera, obtaining the position relation of the calibration plate relative to the camera through a Zhang Zhengyou checkerboard calibration method, recording the number of detected characteristic points on the calibration plate, judging whether the calibration plate moves out of a camera picture, recording the initial position of the camera on a sliding rail as P 0, calculating the distance between the camera and the probe by using a triangular ranging method according to the actual sizes of an internal reference of the camera and the calibration plate and the size of the calibration plate on a camera imaging plane, calculating the distance required to move by the camera by using the field angle of the camera and the distance between the camera and the probe, selecting the moving distance according to pre-calibrated data, recording the corresponding position as P j, and sending a signal to a motion controller;
In the step 2, when the preset positions of the cameras are marked, the positions of two adjacent cameras are in a group, the same marking plate is marked, and corresponding rotation translation matrixes are recorded, wherein the positions of the cameras corresponding to the jth section of targets are marked as P j, j < k, the rotation translation matrixes are R j and t j, the marking plate is placed, the cameras are ensured to move to the position of P j+1, the positioning of the marking plate can be realized, and the corresponding rotation translation matrixes are R j+1 and t j+1;
The step 3 comprises the following steps:
The point in the camera coordinate system at position P j+1 is [ x j+1,yj+1,zj+1]T ] which is transformed into the camera coordinate system at position P j by:
transforming the points under each section of camera coordinate system to the camera coordinate system at P 1;
step 4 comprises:
When the ultrasonic probe images, each calibration plate photo is acquired in real time and calibrated to obtain a rotation translation matrix of the calibration plate relative to the camera, and when the jth section of target is imaged, the rotation translation matrix of the calibration plate corresponding to the acquired ith image relative to the camera is recorded as AndThe upper left corner pixel of the ultrasonic Doppler image is taken as a coordinate origin, the horizontal direction is taken as an x axis, the vertical direction is taken as a y axis, the image plane is taken as an XOY plane, the vertical image plane is taken as a Z axis, a three-dimensional coordinate system is established, the coordinate of each point on the image is [ u, v,0] T, the coordinate when the coordinate is transformed to the corresponding camera coordinate system is recorded as [ x c,yc,zc]T ], and according to the position relation R i2w and t i2w between the probe and the calibration plate, the coordinate is:
2. A method of ultrasound doppler imaging of a large target according to claim 1, wherein step 1 comprises:
Dividing the target into a plurality of sections according to the imaging range of the camera and the position relation between the target and the camera, ensuring that each section of target is in the imaging range of the camera after the camera is rotationally translated, and dividing the target into k sections, wherein each section is recorded as 1, 2.
3. A method of ultrasound doppler imaging of a large target according to claim 2, wherein the tracking the probe movement with a sled in step 2 comprises:
the camera is fixed on the sliding block of the sliding rail and controls the sliding block to move through the motor and the motion controller, the camera is used for tracking the movement of the ultrasonic probe, when the probe is detected to move outside the picture of the camera, the signal is sent to the motion controller, the sliding block on the sliding rail starts to move to drive the camera to slide, the automatic tracking is realized, the motion controller provides a communication protocol, the communication between the computer and the motion controller is realized through programming, the movement of the ultrasonic probe and the movement of the camera on the sliding rail are related, and a set of feedback system for positioning and tracking the camera is formed.
4. A method of ultrasound doppler imaging of a large target according to claim 3, wherein step 2 further comprises:
And setting a plurality of groups of moving distances according to the size of the target and the imaging range of the camera, and calibrating, namely recording the position change of each camera in the acquisition.
5. A method of ultrasound doppler imaging of a large target according to claim 4, wherein step 4 comprises:
When the ultrasonic Doppler image acquisition is carried out on each section of target respectively, the position of the camera is fixed, a calibration plate is fixed on the probe, the position relation between the probe and the calibration plate is calibrated in advance, the handheld probe slowly moves along the surface of the target, the image of the calibration plate is acquired through the camera, and the position relation of the probe relative to the camera in the moving process is positioned by utilizing a visual calibration algorithm.
6. A method of ultrasound doppler imaging of a large target according to claim 5, wherein step 5 comprises:
According to the position relation between the two adjacent sections in the step 3 and the position relation between each frame of image and the camera in the step 4, all collected pixel points are changed to be under an initial camera coordinate system, plane points are mapped into a three-dimensional space, and the reconstruction results of each section of ultrasonic Doppler are spliced together to realize three-dimensional ultrasonic Doppler imaging of a large target.
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