CN116058933A - Ultrasonic image processing method, device, equipment and storage medium - Google Patents
Ultrasonic image processing method, device, equipment and storage medium Download PDFInfo
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- 210000004204 blood vessel Anatomy 0.000 claims abstract description 165
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- 238000002604 ultrasonography Methods 0.000 claims description 66
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- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
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Abstract
The application discloses an ultrasonic image processing method, device, equipment and storage medium, in the scheme, after an ultrasonic image is acquired, firstly, the blood vessel distribution and focus position in the ultrasonic image are determined, then, a puncturable area of a non-distributed blood vessel, which is defined by a plurality of target coordinate points on a probe contact surface presented by the ultrasonic image and the focus position, is determined in the ultrasonic image based on the blood vessel distribution and focus position, and the safe puncturable area is definitely marked in the ultrasonic image, so that the risk of injuring the blood vessel by mistake is effectively reduced. The scheme can automatically identify and mark the puncturable region of the undelivered blood vessel in the ultrasonic image, and by means of the mark of the puncturable region, a doctor can be helped to determine a proper needle inserting position and a proper needle puncturing path, so that the puncturing risk is reduced. Correspondingly, the ultrasonic image processing device, the ultrasonic image processing equipment and the ultrasonic image storage medium have the same technical effects.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an ultrasound image processing method, device, apparatus, and storage medium.
Background
At present, an ultrasonic device can guide a puncture needle to smoothly and accurately reach a focus position, so that important viscera are prevented from being damaged by mistake on a puncture path, but the current ultrasonic device can only display a scanned ultrasonic image, a doctor still needs to avoid a large blood vessel and a small blood vessel by virtue of own professional technology and experience, and the risk of accidentally injuring the blood vessel cannot be effectively reduced.
Disclosure of Invention
In view of the foregoing, an object of the present application is to provide an ultrasound image processing method, apparatus, device and storage medium, so as to determine and mark a safe puncturable area of an undelivered blood vessel in an ultrasound image, and effectively reduce the risk of injuring the blood vessel by mistake. The specific scheme is as follows:
to achieve the above object, in one aspect, the present application provides an ultrasound image processing method, including:
acquiring an ultrasonic image;
determining a vascularity and a lesion location in the ultrasound image;
determining and labeling a puncturable region of an undistributed vessel in the ultrasound image based on the vascularity and the lesion location;
the puncturable area is defined by a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and the focus position.
Preferably, the determining and labeling a puncturable region of an undistributed blood vessel in the ultrasound image based on the blood vessel distribution and the lesion location comprises:
Determining a plurality of target coordinate points, which are connected with the focus position and do not pass through a blood vessel, on the probe contact surface; the region surrounded by the target coordinate points and the focus position is not covered with a blood vessel;
and determining an area surrounded by the target coordinate points and the focus positions as the puncturable area, and marking the puncturable area in the ultrasonic image.
Preferably, the determining, on the probe contact surface, a plurality of target coordinate points, where none of the connecting lines with the focus positions passes through the blood vessel, includes:
responding to the selection operation of a user on the probe contact surface, and selecting a continuous coordinate point on the probe contact surface;
and if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle, determining the continuous coordinate points as the plurality of target coordinate points.
Preferably, if a coordinate point that a line connecting the focus position passes through a blood vessel exists in the continuous coordinate points and/or the length of the line connecting the continuous coordinate points is smaller than the width of the puncture needle, a corresponding prompting message is generated to prompt a user to reselect on the contact surface of the probe.
Preferably, the determining, on the probe contact surface, a plurality of target coordinate points, where none of the connecting lines with the focus positions passes through the blood vessel, includes:
detecting each coordinate point on the probe contact surface, determining whether a line with the focus position passes through a blood vessel or not, and determining a coordinate point, which does not pass through the blood vessel, of the line with the focus position as an effective coordinate point;
and selecting the plurality of target coordinate points from the effective coordinate points.
Preferably, the detecting whether the line between the probe and the focal position passes through the blood vessel or not and determining the coordinate point, which does not pass through the blood vessel, as the valid coordinate point, includes:
starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence;
if the connecting line of the detection point and the focus position passes through a blood vessel, discarding the detection point and detecting the next coordinate point;
if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point;
and if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points.
Preferably, determining whether a line connecting any coordinate point and the focal position passes through a blood vessel includes:
connecting the current coordinate point with the center point of the focus position to obtain a target line;
taking the target line as a rectangular diagonal line to obtain a target rectangle;
if any blood vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the blood vessel to obtain a plurality of to-be-measured lines;
if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel.
Preferably, the center point of the focus position is selected manually by a user, or the midpoint of the connecting line of the two coordinate points with the farthest distance on the contour of the focus position is taken.
Preferably, the method further comprises:
displaying the penetrable region, the vascularity, and the lesion location in the ultrasound image in CFM mode.
In still another aspect, the present application further provides an ultrasound image processing apparatus, including:
the acquisition module is used for acquiring an ultrasonic image;
A determining module for determining a vascularity and a lesion position in the ultrasound image;
the labeling module is used for determining and labeling a puncturable region of an undistributed blood vessel in the ultrasonic image based on the blood vessel distribution and the focus position;
the puncturable area is defined by a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and the focus position.
Preferably, the labeling module includes:
the first determining unit is used for determining a plurality of target coordinate points, which are connected with the focus position and do not pass through the blood vessel, on the contact surface of the probe; the region surrounded by the target coordinate points and the focus position is not covered with a blood vessel;
and the second determining unit is used for determining the region surrounded by the target coordinate points and the focus positions as the puncturable region and labeling the puncturable region in the ultrasonic image.
Preferably, the first determining unit includes:
a response subunit, configured to select a continuous coordinate point on the probe contact surface in response to a selection operation of a user on the probe contact surface;
and the determining subunit is used for determining the continuous coordinate points as the target coordinate points if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle.
Preferably, the first determining unit further includes:
and the prompting subunit is used for generating a corresponding prompting message to prompt a user to reselect on the probe contact surface if a coordinate point, which is connected with the focus position and passes through a blood vessel, exists in the continuous coordinate points and/or the connecting line length of the continuous coordinate points is smaller than the width of the puncture needle.
Preferably, the first determining unit includes:
the detection subunit is used for detecting whether each coordinate point on the probe contact surface passes through a blood vessel or not and determining a coordinate point, which does not pass through the blood vessel, of a line connected with the focus position as an effective coordinate point;
and the selecting subunit is used for selecting the plurality of target coordinate points from the effective coordinate points.
Preferably, the detection subunit is specifically configured to:
starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence; if the connecting line of the detection point and the focus position passes through a blood vessel, discarding the detection point and detecting the next coordinate point; if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point; and if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points.
Preferably, the labeling module is specifically configured to:
connecting the current coordinate point with the center point of the focus position to obtain a target line; taking the target line as a rectangular diagonal line to obtain a target rectangle; if any blood vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the blood vessel to obtain a plurality of to-be-measured lines; if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel.
Preferably, the center point of the focus position is selected manually by a user, or the midpoint of the connecting line of the two coordinate points with the farthest distance on the contour of the focus position is taken.
Preferably, the method further comprises:
a display module for displaying the penetrable region, the vascularity and the lesion position in the ultrasound image in CFM mode.
In yet another aspect, the present application also provides an electronic device including a processor and a memory; wherein the memory is used for storing a computer program which is loaded and executed by the processor to implement the aforementioned ultrasound image processing method.
Preferably, the electronic device is an ultrasonic diagnostic device or an ultrasonic workstation.
In yet another aspect, the present application further provides a storage medium having stored therein computer-executable instructions that, when loaded and executed by a processor, implement the foregoing ultrasound image processing method.
After an ultrasonic image is acquired, firstly, the blood vessel distribution and the focus position in the ultrasonic image are determined, then, a puncturable area which is formed by a plurality of target coordinate points on a probe contact surface presented by the ultrasonic image and is surrounded by the focus position and does not distribute blood vessels in the depth direction is determined in the ultrasonic image based on the blood vessel distribution and the focus position, and the safe puncturable area is clearly marked in the ultrasonic image, so that the risk of injuring the blood vessels by mistake is effectively reduced. The scheme can automatically identify and mark the puncturable region of the undelivered blood vessel in the ultrasonic image, and by means of the mark of the puncturable region, a doctor can be helped to determine a proper needle inserting position and a proper needle puncturing path, so that the puncturing risk is reduced.
Correspondingly, the ultrasonic image processing device, the ultrasonic image processing equipment and the ultrasonic image storage medium have the same technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flowchart of an ultrasound image processing method provided in the present application;
fig. 2 and fig. 3 are schematic diagrams of labeling modes of vascularity and focus positions provided in the present application;
FIGS. 4 and 5 are schematic views of a penetrable region provided herein;
FIG. 6 is a schematic illustration of the calculation of the determination of the penetrable region provided herein;
FIG. 7 is a schematic view of an ultrasound image processing apparatus provided herein;
FIG. 8 is a block diagram of an electronic device provided herein;
fig. 9 is a block diagram of another electronic device provided herein.
Detailed Description
The existing ultrasonic equipment can only display the scanned ultrasonic image, and still needs doctors to avoid the large and small blood vessels by means of own professional technology and experience, so that the risk of injuring the blood vessels by mistake cannot be effectively reduced.
In view of the above-mentioned problems existing at present, the present application proposes an ultrasound image processing scheme, which can determine and label a safe puncturable area of an undelivered blood vessel in an ultrasound image, thereby assisting a doctor in judging a proper needle insertion position and path, and effectively reducing the risk of injuring the blood vessel by mistake.
Referring to fig. 1, fig. 1 is a flowchart of an ultrasound image processing method according to an embodiment of the present application. The ultrasonic image processing method can be applied to electronic equipment such as ultrasonic diagnostic equipment and the like. As shown in fig. 1, the ultrasonic image processing method may include the steps of:
s101, acquiring an ultrasonic image.
The ultrasound image in this embodiment may be obtained from an ultrasound image by frame. Thus in one embodiment, acquiring an ultrasound image comprises: and acquiring an ultrasonic image obtained in the ultrasonic detection process, and intercepting the ultrasonic image from the ultrasonic image. The ultrasound image may be an ultrasound image based on a subject detected by an ultrasound probe, in which organs, human tissues, blood vessels, and the like may be distributed. In addition, the subject may be a subject to be subjected to puncturing.
S102, determining the blood vessel distribution and the focus position in the ultrasonic image.
The vascularity and lesion location in the ultrasound image may be determined using CFM (Color Flow Mapping) imaging techniques or elastography techniques. The determined blood vessel distribution and focus position need to be marked in the ultrasonic image, and the marking mode and the display mode can be flexibly set. As shown in fig. 2, the blood vessel is indicated by a dashed outline and the lesion is indicated by a solid outline. Of course, the labeling and display may also be performed in a color-differentiated manner as shown in FIG. 3 or otherwise.
The marked blood vessel distribution and focus positions can exist on the background image all the time, and flicker can be carried out at a certain frequency so as to enhance the prompting effect on a user.
S103, determining and marking a puncturable region of the undistributed blood vessel in the ultrasonic image based on the blood vessel distribution and the focus position.
The puncturable area is formed by enclosing a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and focus positions, and blood vessels are not distributed in the area.
In combination with the shape of the needle, it is known that the puncturable area of the undelivered blood vessel needs to ensure that the needle penetrates into the path of the focal position from the probe contact surface presented by the ultrasound image (i.e. the surface of the patient's skin scanned by the ultrasound probe, which is imaged in the ultrasound image), without damaging the blood vessel and other organs. Accordingly, it can be seen in connection with the safety penetration area shown in fig. 4: the ultrasound image in this embodiment belongs to an image in the depth direction, and the probe contact surface presented by the ultrasound image is generally set at a zero depth position in the image, so the probe contact surface presented by the ultrasound image is also referred to as a zero depth surface, so the "zero depth surface" in fig. 2-6 is: the probe contact surface is presented by the ultrasonic image.
As can be seen from fig. 4, from N L ～N R The part of the position is inserted into the needle at a certain angle, so that the puncture needle can directly reach the focus position. As shown in FIG. 4, the needle entry indication location and path of the needle may also be indicated in the safe puncture area in the ultrasound image for the convenience of the physician.
It should be noted that, in this embodiment, the "determining and labeling the puncturable region of the blood vessel in the ultrasound image" may be that the ultrasound device automatically performs overall processing on the ultrasound image after acquiring the ultrasound image, or may be that the ultrasound device responds to the selection of the user on the ultrasound image.
The ultrasonic equipment automatically and comprehensively processes the ultrasonic image comprises the following steps: the ultrasonic equipment automatically detects and judges the probe contact surface presented by the ultrasonic image comprehensively, so as to find out the needle-inserting position and the corresponding puncture area. For example: the ultrasonic equipment carries out image recognition on the probe contact surface based on the ultrasonic image, recognizes the position of the skin corresponding to the current probe contact surface, and determines the needle-inserting position and the corresponding puncture-capable area based on the recognized position of the skin.
The ultrasound device responding to a user selection on the ultrasound image includes: when the ultrasonic image is displayed on the ultrasonic device, a virtual pointer (such as a mouse cursor) can be set on the display interface, so that a user can control the virtual pointer by using an input device such as a mouse and the like, and a section of needle-inserting position can be selected on the probe contact surface presented by the ultrasonic image. Then the ultrasound device further determines, in response to the selection operation, whether the user-selected one of the segment of the needle-accessible locations satisfies: the puncture needle can not damage blood vessels and other organs on the path of penetrating the focus position from the part; if yes, determining and marking corresponding puncturable areas in the ultrasonic image; if the selection operation is not satisfied, prompting the user that the selection operation is invalid and prompting the user to reselect.
In one embodiment, the penetrable region, vascularity, and lesion location in the ultrasound image may be displayed in CFM mode. Of course, the display parameters and imaging parameters in the CFM mode can be simplified, so that the processing steps and the computer cost are reduced, and the simplification effect only needs to ensure that the puncture area, the blood vessel distribution and the focus position can be clearly seen on the ultrasonic image. The marked blood vessel distribution, focus position and puncturable area can exist on the background image all the time, and flicker can be carried out at a certain frequency so as to enhance the prompting effect on a user.
Therefore, after the ultrasonic image is acquired, the blood vessel distribution and the focus position in the ultrasonic image are determined, and then the puncturable area without blood vessels distributed is determined and marked in the ultrasonic image based on the blood vessel distribution and the focus position, so that the safe puncturable area is marked in the ultrasonic image clearly, and the risk of injuring the blood vessel by mistake is reduced effectively. The scheme can automatically identify and mark the puncturable region of the undelivered blood vessel in the ultrasonic image, and by means of the mark of the puncturable region, a doctor can be helped to determine a proper needle inserting position and a proper needle puncturing path, so that the puncturing risk is reduced.
Based on the above examples, it should be noted that, in a specific embodiment, determining and labeling a puncturable region of a non-distributed blood vessel in an ultrasound image based on a blood vessel distribution and a focus position includes: on a probe contact surface presented by an ultrasonic image, determining a plurality of target coordinate points, the connecting lines of which do not pass through blood vessels, of the positions of the focus; the blood vessel is not covered in the area surrounded by the plurality of target coordinate points and the focus positions; and determining a region surrounded by the plurality of target coordinate points and the focus positions as a puncturable region, and marking the puncturable region in the ultrasonic image.
Which coordinate points on the probe contact surface satisfy: the coordinate points on the probe contact surface can be detected in the following two ways under the two conditions that the connecting line with the focus position does not pass through the blood vessel and the area surrounded by the focus position does not cover the blood vessel.
The first way is: and (3) automatically selecting certain continuous coordinate points on the probe contact surface by a user, detecting the continuous coordinate points selected by the user one by one, and determining and marking corresponding puncturable areas in the ultrasonic image if the continuous coordinate points meet the two conditions. Otherwise, the user is prompted to reselect. Thus, in one embodiment, determining a plurality of target coordinate points on a probe interface presented by an ultrasound image, where none of the links to lesion locations pass through a blood vessel, comprises: responding to the selection operation of a user on the contact surface of the probe, and selecting a continuous coordinate point on the contact surface of the probe; if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle, determining the continuous coordinate points as a plurality of target coordinate points. If the coordinate points of which the connecting line with the focus position passes through the blood vessel exist in the continuous coordinate points and/or the connecting line length of the continuous coordinate points is smaller than the width of the puncture needle, a corresponding prompting message is generated to prompt a user to reselect on the contact surface of the probe. Wherein, let doctor select on the probe contact surface independently, help doctor select suitable needle position. Namely: the location selected by the doctor is the proper needle insertion location selected by the doctor.
The second way is: and (3) comprehensively detecting and judging all coordinate points on the probe contact surface presented by the ultrasonic image, so as to find out the needle-inserting position and the corresponding puncture-able area. Thus, in one embodiment, determining a plurality of target coordinate points on a probe interface presented by an ultrasound image, where none of the links to lesion locations pass through a blood vessel, comprises: detecting whether each coordinate point on the contact surface of the probe and the connecting line of the focus position pass through a blood vessel or not, and determining the coordinate point that the connecting line of the focus position does not pass through the blood vessel as an effective coordinate point; a plurality of target coordinate points are selected from the effective coordinate points.
It should be noted that, the puncturable area defined in the present application may be more than one, that is: the coordinate points satisfying the above two conditions may have more than one place. Please refer to fig. 5,N L ～N R The part of coordinate points and M L ～M R Both of these coordinate points satisfy the above two conditions, and two pierceable regions as shown in fig. 5 can be determined. These pierceable regions may be marked in the ultrasound image for selection by the user.
For the second mode, the following is referred to for a specific detection process. In one embodiment, detecting whether each coordinate point on the probe contact surface and a line connected with the focus position pass through a blood vessel, and determining a coordinate point, in which the line connected with the focus position does not pass through the blood vessel, as a valid coordinate point includes: starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence; if the connecting line of the detection point and the focus position passes through the blood vessel, discarding the detection point and detecting the next coordinate point; if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point; if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points, and finding out the coordinate points which simultaneously meet the two conditions from the effective coordinate points.
Referring to FIG. 6, coordinate point N is selected from left to right on the probe interface i I takes a value from 0 and two adjacent coordinatesThe distances between the points are equal until the rightmost coordinate point on the contact surface of the probe is obtained. And taking a coordinate point every time, taking the coordinate point as a detection point, and judging whether the connecting line of the coordinate point and the focus position passes through a blood vessel or not, thereby determining whether to record the coordinate point or discard the coordinate point.
Based on the above embodiment, it should be noted that determining whether the line connecting any coordinate point and the lesion position passes through the blood vessel includes: connecting the current coordinate point with the center point of the focus position to obtain a target line; taking the target line as a rectangular diagonal line to obtain a target rectangle; if any vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the vessel to obtain a plurality of to-be-measured lines; if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel. The center point of the focus position is selected manually by a user or the midpoint of the connecting line of the two coordinate points with the farthest distance on the contour of the focus position is taken. If the target rectangle is covered with a plurality of blood vessels, and the current coordinate point and the focal position are determined to pass through the blood vessel by judging the blood vessel at one position, the judgment of other blood vessels is not needed, and the condition that the current coordinate point does not meet the condition can be directly judged.
Referring to FIG. 6, a coordinate point N is optionally selected on the probe contact surface i Connection N i Center point T with focus position 0 Obtaining the connecting wire N i T 0 By connecting line N i T 0 Is a diagonal line of the rectangle, and a rectangle N is obtained i AT 0 B. As shown in fig. 6, a rectangle N i AT 0 B covers the blood vessel region 1 and the blood vessel region 2, then the judgment is made for the blood vessel region 1 and the blood vessel region 2, respectively. And comparing each coordinate point on the contour of any blood vessel with the coordinates of four vertexes of the rectangle to determine whether the blood vessel is covered by the rectangle.
Taking a plurality of coordinate points on the outline of a vascular region covered by a rectangle at any position(taking points only on the vessel covered by the rectangle), these coordinate points are connected with N i Obtaining a plurality of test lines, such as N in FIG. 6 i P 1 、N i P 2 、N i P 3 ……N i P N . Then comparing each to-be-tested line with the connecting line N i T 0 If the slope of each to-be-measured line is larger than the connecting line N i T 0 Or the slope of each to-be-measured line is smaller than the connecting line N i T 0 The slope of (2) then determines the connection line N i T 0 Does not pass through the blood vessel; otherwise, determining the connecting line N i T 0 Through the blood vessel.
According to the inventive concept provided by the application, the following embodiments provide a method for performing blood vessel positioning in real time, by performing global scanning on an imaging region in a puncturing process, obtaining an accurate blood vessel position after performing signal processing, marking the blood vessel position by a marking method, and further marking an optional puncturing region to prompt a better puncturing path avoiding the region, so as to ensure the safety and accuracy of puncturing.
Wherein the imaging region scan can be performed using either the CFM mode or the puncture mode already in the ultrasound device, thereby marking the vessel location of the imaging region. Of course, the imaging parameters and the display modes used for imaging can be simplified, so that scanning can be performed more quickly under the condition of ensuring the precision, and the efficiency is improved.
In the CFM mode or the puncture mode, scanning and imaging parameters corresponding to different types of probes can be different, ultrasonic waves are transmitted to a scanned part through an ultrasonic transducer in the probe, then ultrasonic echoes are received through the ultrasonic transducer, and therefore the ultrasonic echoes are processed and ultrasonic imaging is carried out. Wherein, the probe can be: the ultrasonic wave processing device can convert electric signals into ultrasonic waves through piezoelectric conversion materials, and can also convert the ultrasonic waves into electric signals for processing.
In the imaging process, echo data can be processed by adopting a common blood flow imaging algorithm to determine the region where a blood flow signal is located in the whole imaging plane, so that the region where a blood vessel is located is determined, and the region where the blood vessel is located is marked by different marking methods. The labeling method can refer to fig. 2, 3 and other methods commonly used.
After imaging the scanned site and determining the vascular region and focus, determining the puncturable region based on the imaging, specifically comprising:
(1) Finding the center of the focal area. This step has two ways: manual and automatic. The manual mode is as follows: the user selects the center of the focus area according to the actual needs. The automatic mode is as follows: and selecting two points with the largest distance between any two points on the contour according to the identified focus contour by the program, and taking the midpoint of the connecting line as the center of the focus area.
(2) Selecting target points from the probe contact surface of the image from left to right according to a certain step (such as 1 millimeter, 2 millimeters or other), and marking as N i . Connection T 0 And N i And judge T 0 N i Whether the connection line passes through the region of the blood vessel, if so, the N i If the point is invalid, continuing to judge the next point; if it does not pass, the N i The point is valid and the coordinates of the point are recorded.
Referring to FIG. 6, decision T 0 N i The method for judging whether the connecting line passes through the region where the blood vessel is located or not comprises the following steps:
1) According to T 0 、N i Calculating the slope of a straight line passing through the two points according to the coordinates of the two points;
2) Screening may fall on T 0 N i A vascular region on the connection line;
specifically, T is 0 N i Determining a rectangular area for the diagonal line by connecting lines, and judging whether the area where each blood vessel is located falls in a selected rectangle or not by comparing the coordinates of the outline of each blood vessel with the four-corner coordinates of the rectangular area; if yes, the blood vessel is covered by rectangle, enter step 3); if not, the vessel is not covered by a rectangle and does not enter the subsequent calculation step.
3) For vessels falling into a rectangular region, N is calculated in turn i Slope of line with each blood vessel contour point to obtain the blood vessel region and N i Point connection lineSlope range of (c), comparison T 0 N i The slope of the connection line and the slope range. If T 0 N i If the gradient of the connecting line falls within the gradient range, the puncture path of the current target point passes through the vascular region, and the path is invalid, namely N i The dots are not valid. If T 0 N i If the slope of the line does not fall within the slope range, then the next vessel region falling into the rectangular region is continuously judged according to the logic.
If T 0 N i The wire does not pass through any blood vessels in the rectangular area, then N i The point is valid.
Wherein T is 0 N i The link slope calculation formula may refer to the following formula:
(3) Recording all effective Ni points obtained in the steps, and selecting continuous parts to form a plurality of puncturable zero depth positions, wherein the puncturable zero depth positions are as follows: the probe contacts the surface of the imaging subject at a location where the needle can be advanced. Wherein, the continuous effective Ni point is longer than the width of the puncture needle, namely: the continuous points need to reach a certain number to judge the puncture position, and the coordinates of the continuous points are recorded.
(4) Based on the coordinates of the continuous points, a puncturable range capable of avoiding a blood vessel region is displayed. For the plurality of puncturable zero depth positions selected in the third step, a puncturable range can be correspondingly determined. Connecting boundary points of each puncturable range to obtain puncturable areas,the user punctures the area into a safe area. Wherein the boundary point of the puncturable range is shown as N in FIG. 4 L 、N R 、T 0 。
The user can check whether the determined safe puncturable area is suitable for needle insertion or not according to the positions of the puncture needle and the probe. If not, the user may adjust the probe position based on the current safe pierceable region, and the ultrasound device will repeat the above steps to redetermine the safe pierceable region until a suitable safe pierceable region is found.
Specifically, a physical button can be set on the ultrasonic equipment, or a virtual button is designed on a display screen of the ultrasonic equipment, and the ultrasonic equipment starts to perform the above-mentioned process to determine and mark the safe puncture area after the user triggers the physical button or the virtual button.
The detailed implementation process of each step in this embodiment may refer to the corresponding content disclosed in the foregoing embodiment, and will not be described herein.
Therefore, the embodiment can mark the position of the blood vessel in the ultrasonic image, so as to plan a safe puncture area capable of directly puncturing in real time, and is used for prompting a better puncture path capable of avoiding the blood vessel and ensuring the safety and accuracy of puncturing; meanwhile, the marked safe puncture area can also help a user to judge the positions of the probe and the puncture needle and adjust the positions. For example: the needle is on the left side of the probe and the identified safe pierceable region is on the right side of the probe, the probe can be moved to the right to retrieve the appropriate safe pierceable region.
An ultrasound image processing apparatus according to an embodiment of the present application is described below, and an ultrasound image processing apparatus described below and an ultrasound image processing method described above and corresponding technical effects may be referred to each other.
Referring to fig. 7, fig. 7 is a schematic diagram of an ultrasound image processing apparatus according to an embodiment of the present application, including:
an acquisition module 701, configured to acquire an ultrasound image;
a determination module 702 for determining a vascularity and a lesion position in the ultrasound image;
a labeling module 703, configured to determine and label a puncturable region of an undistributed blood vessel in the ultrasound image based on the blood vessel distribution and the lesion position; the puncturable region is defined by a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and the focus position.
In one embodiment, the labeling module includes:
the first determining unit is used for determining a plurality of target coordinate points, of which the connecting lines with the focus positions do not pass through blood vessels, on the probe contact surface presented by the ultrasonic image; the blood vessel is not covered in the area surrounded by the plurality of target coordinate points and the focus positions;
and the second determining unit is used for determining an area surrounded by the plurality of target coordinate points and the focus positions as a puncturable area and labeling the puncturable area in the ultrasonic image.
In one specific embodiment, the first determining unit includes:
a response subunit, configured to select a continuous coordinate point on the probe contact surface in response to a selection operation of a user on the probe contact surface;
and the determining subunit is used for determining the continuous coordinate points as a plurality of target coordinate points if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle.
In a specific embodiment, the first determining unit further comprises:
and the prompting subunit is used for generating a corresponding prompting message to prompt a user to reselect on the probe contact surface if the coordinate point, which is connected with the focus position and passes through the blood vessel, exists in the continuous coordinate points and/or the connecting line length of the continuous coordinate points is smaller than the width of the puncture needle.
In one specific embodiment, the first determining unit includes:
the detection subunit is used for detecting whether each coordinate point on the probe contact surface and the connecting line of the focus position pass through a blood vessel or not, and determining the coordinate point of which the connecting line of the focus position does not pass through the blood vessel as an effective coordinate point;
and a selection subunit for selecting a plurality of target coordinate points from the valid coordinate points.
In one embodiment, the detection subunit is specifically configured to:
starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence; if the connecting line of the detection point and the focus position passes through the blood vessel, discarding the detection point and detecting the next coordinate point; if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point; if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points.
In one embodiment, the labeling module is specifically configured to:
connecting the current coordinate point with the center point of the focus position to obtain a target line; taking the target line as a rectangular diagonal line to obtain a target rectangle; if any vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the vessel to obtain a plurality of to-be-measured lines; if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel.
In one embodiment, the center point of the lesion location is manually selected by the user or the midpoint of the line connecting the two coordinate points furthest apart on the contour of the lesion location is taken.
In one specific embodiment, the method further comprises:
and the display module is used for displaying the puncturable region, the vascularity and the focus position in the ultrasonic image in the CFM mode.
The more specific working process of each module and unit in this embodiment may refer to the corresponding content disclosed in the foregoing embodiment, and will not be described herein.
It can be seen that the present embodiment provides an ultrasound image processing apparatus, which can automatically identify and mark a puncturable region of an undelivered blood vessel in an ultrasound image, and by means of the marking of the puncturable region, a doctor can be assisted in determining a proper needle insertion position and a proper needle insertion path, so that a puncture risk is reduced.
The following describes an electronic device provided in an embodiment of the present application, and the electronic device described below and the method, the apparatus, and the corresponding technical effects of an ultrasonic image processing method and apparatus described above may be referred to each other.
The embodiment of the application also provides electronic equipment. The electronic device may be as shown in fig. 8. FIG. 8 is a block diagram of an electronic device, according to an example embodiment, and nothing in the diagram should be taken as a limitation on the scope of use of the present application. The electronic device may be a server.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may specifically include: at least one processor 51, at least one memory 52, a power supply 53, a communication interface 54, an input output interface 55, and a communication bus 56. Wherein the memory 52 is adapted to store a computer program that is loaded and executed by the processor 51 to implement the relevant steps in ultrasound image processing as disclosed in any of the previous embodiments.
In this embodiment, the power supply 53 is configured to provide an operating voltage for each hardware device on the electronic device; the communication interface 54 can create a data transmission channel between the electronic device and an external device, and the communication protocol to be followed is any communication protocol applicable to the technical solution of the present application, which is not specifically limited herein; the input/output interface 55 is used for acquiring external input data or outputting external output data, and the specific interface type thereof may be selected according to the specific application needs, which is not limited herein.
The memory 52 may be a carrier for storing resources, such as a read-only memory, a random access memory, a magnetic disk, or an optical disk, and the resources stored thereon include an operating system 521, a computer program 522, and data 523, and the storage may be temporary storage or permanent storage.
The operating system 521 is used for managing and controlling various hardware devices on the electronic device and the computer program 522 to implement the operation and processing of the data 523 in the memory 52 by the processor 51, which may be Windows Server, netware, unix, linux, etc. The computer program 522 may further include a computer program capable of performing other specific tasks in addition to the computer program capable of performing the ultrasound image processing method disclosed in any of the foregoing embodiments. The data 523 may include data such as application program developer information in addition to data such as application program update information.
The electronic device may be a terminal, which may specifically include, but is not limited to, an ultrasonic diagnostic device, an ultrasonic workstation, a smart phone, a tablet computer, a notebook computer, a desktop computer, or the like.
Referring to fig. 9, the terminal includes: a processor 61 and a memory 62.
Processor 61 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 61 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 61 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 61 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 61 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 62 may include one or more computer-readable storage media, which may be non-transitory. Memory 62 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In the present embodiment, the memory 62 is at least used for storing a computer program 621 that, when loaded and executed by the processor 61, is capable of implementing the relevant steps in the ultrasound image processing method performed by the terminal side as disclosed in any of the foregoing embodiments. In addition, the resources stored by the memory 62 may also include an operating system 622, data 623, and the like, and the storage manner may be transient storage or permanent storage. The operating system 622 may include Windows, unix, linux, among others. The data 623 may include, but is not limited to, update information of the application.
In some embodiments, the terminal may also include a display 63, an input-output interface 64, a communication interface 65, a sensor 66, a power supply 67, and a communication bus 68.
It will be appreciated by those skilled in the art that the configuration shown in fig. 9 is not limiting of the terminal and may include more or less components than those illustrated.
A storage medium provided in the embodiments of the present application is described below, and a storage medium described below and an ultrasound image processing method, apparatus, device and corresponding technical effects described above may be referred to each other.
The embodiment of the application also discloses a storage medium, wherein the storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by a processor, the ultrasonic image processing method disclosed in any one of the previous embodiments is realized. For specific steps of the method, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and no further description is given here.
It should be noted that the foregoing is merely a preferred embodiment of the present application, and is not intended to limit the present application, but any modification, equivalent replacement, improvement, etc. that comes within the spirit and principles of the present application are included in the scope of protection of the present application.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present application are described herein with specific examples, the above examples being provided only to assist in understanding the methods of the present application and their core ideas; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (19)
1. An ultrasound image processing method, comprising:
acquiring an ultrasonic image;
determining a vascularity and a lesion location in the ultrasound image;
determining and labeling a puncturable region of an undistributed vessel in the ultrasound image based on the vascularity and the lesion location;
the puncturable area is defined by a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and the focus position.
2. The method of claim 1, wherein the determining and labeling a puncturable region of undispersed blood vessels in the ultrasound image based on the blood vessel distribution and the lesion location comprises:
determining a plurality of target coordinate points, which are connected with the focus position and do not pass through a blood vessel, on the probe contact surface; the region surrounded by the target coordinate points and the focus position is not covered with a blood vessel;
And determining an area surrounded by the target coordinate points and the focus positions as the puncturable area, and marking the puncturable area in the ultrasonic image.
3. The method of claim 2, wherein determining a plurality of target coordinate points on the probe interface where none of the links to the lesion locations pass through a blood vessel comprises:
responding to the selection operation of a user on the probe contact surface, and selecting a continuous coordinate point on the probe contact surface;
and if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle, determining the continuous coordinate points as the plurality of target coordinate points.
4. The method of claim 3, wherein the step of,
if the coordinate points of which the connecting lines with the focus positions penetrate through blood vessels exist in the continuous coordinate points and/or the connecting line length of the continuous coordinate points is smaller than the width of the puncture needle, corresponding prompting information is generated to prompt a user to reselect on the probe contact surface.
5. The method of claim 2, wherein determining a plurality of target coordinate points on the probe interface where none of the links to the lesion locations pass through a blood vessel comprises:
Detecting each coordinate point on the probe contact surface, determining whether a line with the focus position passes through a blood vessel or not, and determining a coordinate point, which does not pass through the blood vessel, of the line with the focus position as an effective coordinate point;
and selecting the plurality of target coordinate points from the effective coordinate points.
6. The method of claim 5, wherein detecting each coordinate point on the probe contact surface, whether a line with the lesion site passes through a blood vessel, and determining a coordinate point where the line with the lesion site does not pass through the blood vessel as a valid coordinate point, comprises:
starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence;
if the connecting line of the detection point and the focus position passes through a blood vessel, discarding the detection point and detecting the next coordinate point;
if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point;
and if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points.
7. The method of any one of claims 1 to 6, wherein determining whether a line connecting any coordinate point and the lesion location passes through a blood vessel comprises:
Connecting the current coordinate point with the center point of the focus position to obtain a target line;
taking the target line as a rectangular diagonal line to obtain a target rectangle;
if any blood vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the blood vessel to obtain a plurality of to-be-measured lines;
if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel.
8. The method of claim 7, wherein the center point of the lesion location is manually selected by a user or a midpoint of a line connecting two coordinate points furthest apart on the contour of the lesion location.
9. An ultrasonic image processing apparatus, comprising:
the acquisition module is used for acquiring an ultrasonic image;
a determining module for determining a vascularity and a lesion position in the ultrasound image;
the labeling module is used for determining and labeling a puncturable region of an undistributed blood vessel in the ultrasonic image based on the blood vessel distribution and the focus position;
The puncturable area is defined by a plurality of target coordinate points on the probe contact surface presented by the ultrasonic image and the focus position.
10. The apparatus of claim 9, wherein the labeling module comprises:
the first determining unit is used for determining a plurality of target coordinate points, which are connected with the focus position and do not pass through the blood vessel, on the contact surface of the probe; the region surrounded by the target coordinate points and the focus position is not covered with a blood vessel;
and the second determining unit is used for determining the region surrounded by the target coordinate points and the focus positions as the puncturable region and labeling the puncturable region in the ultrasonic image.
11. The apparatus according to claim 10, wherein the first determining unit comprises:
a response subunit, configured to select a continuous coordinate point on the probe contact surface in response to a selection operation of a user on the probe contact surface;
and the determining subunit is used for determining the continuous coordinate points as the target coordinate points if the connecting line of each coordinate point in the continuous coordinate points and the focus position does not pass through the blood vessel and the connecting line length of the continuous coordinate points is not smaller than the width of the puncture needle.
12. The apparatus of claim 11, wherein the first determining unit further comprises:
and the prompting subunit is used for generating a corresponding prompting message to prompt a user to reselect on the probe contact surface if a coordinate point, which is connected with the focus position and passes through a blood vessel, exists in the continuous coordinate points and/or the connecting line length of the continuous coordinate points is smaller than the width of the puncture needle.
13. The apparatus of claim 19, wherein the first determining unit comprises:
the detection subunit is used for detecting whether each coordinate point on the probe contact surface passes through a blood vessel or not and determining a coordinate point, which does not pass through the blood vessel, of a line connected with the focus position as an effective coordinate point;
and the selecting subunit is used for selecting the plurality of target coordinate points from the effective coordinate points.
14. The apparatus of claim 13, wherein the detection subunit is specifically configured to:
starting from the initial position of the probe contact surface, taking each coordinate point on the probe contact surface as a detection point in sequence; if the connecting line of the detection point and the focus position passes through a blood vessel, discarding the detection point and detecting the next coordinate point; if the connection line between the detection point and the focus position does not pass through the blood vessel, recording the detection point and detecting the next coordinate point; and if all coordinate points on the contact surface of the probe are detected, determining all recorded detection points as effective coordinate points.
15. The apparatus according to any one of claims 9 to 14, wherein the labeling module is specifically configured to:
connecting the current coordinate point with the center point of the focus position to obtain a target line; taking the target line as a rectangular diagonal line to obtain a target rectangle; if any blood vessel is covered by the target rectangle, connecting the current coordinate point with a plurality of coordinate points on the outline of the blood vessel to obtain a plurality of to-be-measured lines; if the slope of each to-be-measured line is larger than the slope of the target line or the slope of each to-be-measured line is smaller than the slope of the target line, determining that the connecting line of the current coordinate point and the focus position does not pass through the blood vessel; otherwise, determining that the connecting line of the current coordinate point and the focus position passes through the blood vessel.
16. The apparatus of claim 15, wherein the center point of the lesion location is manually selected by a user or is a midpoint of a line connecting two coordinate points furthest apart on the contour of the lesion location.
17. An electronic device comprising a processor and a memory; wherein the memory is for storing a computer program to be loaded and executed by the processor to implement the method of any one of claims 1 to 8.
18. The electronic device of claim 17, wherein the electronic device is an ultrasonic diagnostic device or an ultrasonic workstation.
19. A storage medium having stored therein computer executable instructions which, when loaded and executed by a processor, implement the method of any one of claims 1 to 8.
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