CN110934613B - Ultrasonic diagnostic apparatus and ultrasonic diagnostic method - Google Patents
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- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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Abstract
An ultrasonic diagnostic apparatus having a function of performing registration processing between ultrasonic image data and medical image data other than ultrasonic waves, comprising: an image generation unit that generates second medical image data registered with a second ultrasound image by using a first registration parameter required for performing registration processing between first ultrasound image data and second ultrasound image data, the first registration parameter being required for performing registration processing between the first ultrasound image data and the first medical image data; and an image registration unit configured to perform registration processing on the second ultrasound image data and the second medical image data to generate a combined image.
Description
Technical Field
The present invention relates to an ultrasonic diagnostic apparatus and an ultrasonic diagnostic method.
Background
In the medical field, US (Ultrasound), CT, MRI (Magnetic Resonance Imaging), and the like are indispensable as diagnostic means for visually observing an examination object. For example, scanning of ultrasound waves can dynamically observe tissue motion and function in real time; the lesion can be tracked, and the stereoscopic change can be displayed without the limitation of the imaging layering of the lesion. In addition, since the ultrasonic device has the advantages of easy movement, less damage to the patient and low cost, it is widely used in medical diagnosis. However, ultrasound has significant disadvantages in terms of resolution, and the like, as compared with MRI and the like. On the other hand, the anatomical structure displayed by the MR image is lifelike, so that the pathological change tissue and the normal tissue can be clearly displayed, and the contrast resolution of the soft tissue is higher. However, CT and MRI are expensive, complicated to image, and long in scanning period, and it is difficult for a doctor to observe an organ or a biological tissue to be examined in real time.
In this regard, it is desirable to register ultrasound images with CT and MRI images to combine the advantages of several medical image generation techniques. Some methods for using ultrasound images in combination with CT and MRI have been proposed. For example, in patent document 1, a plurality of 1 st ultrasound images and one CT image are acquired in a predetermined period before treatment, a plurality of 2 nd ultrasound images are acquired during treatment, and an ultrasound-CT integrated image corresponding to the 1 st ultrasound image having the highest similarity to the 2 nd ultrasound image among the plurality of 1 st ultrasound images is displayed, whereby a real-time integrated image of an ultrasound image and a CT image can be provided during treatment.
However, the reference 1 only provides a reference image of the ultrasound image and the CT image before treatment, and the CT image to be searched is only the CT image closest to the 2 nd ultrasound image, is not a CT image in the same phase as the 2 nd ultrasound image, and cannot generate a CT image for diagnosis or treatment.
The comparison document 2 discloses a technique of integrating an ultrasound image and an MR image containing the same region. However, the comparison document 2 does not use a registration technique, nor does it mention a specific method of integrating the ultrasonic image and the MRI.
Comparison document 1: US 8111892 B2
Comparison document 2: japanese patent laid-open No. 2006-217939
Disclosure of Invention
An object of the present invention is to provide a system and method for generating multi-phase images, which can help a doctor to make a diagnosis quickly and accurately by generating an ultrasonic image and an MRI image of different phases by registration.
In order to achieve the above object, the present invention is an ultrasonic diagnostic apparatus having a function of performing registration processing between ultrasonic image data and medical image data other than ultrasonic waves, the ultrasonic diagnostic apparatus including: an image generation unit configured to generate second medical image data registered with a second ultrasound image, using a first registration parameter required to perform registration processing between first ultrasound image data and second ultrasound image data acquired at a first time phase with respect to a subject, for a first registration parameter required to perform registration processing between the first ultrasound image data and the second ultrasound image data acquired at a second time phase different from the first time phase with respect to the subject; and a combined image registration unit configured to perform registration processing on the second ultrasound image data and the second medical image data to generate a combined image.
According to the present invention, MR image data can be acquired indirectly without performing MR scanning, and MR image data of an arbitrary time phase can be generated at low cost and quickly for reference by a doctor or the like.
In an aspect of the present invention, the second registration parameter is based on a value obtained from detected positional information of the ultrasound probe.
In an aspect of the present invention, the first time phase is a time phase before the start of diagnosis, and the second time phase is a time phase after the start of diagnosis.
In an embodiment of the present invention, the medical image data is one of MRI image data, CT image data, and X-ray image data.
The present invention can be realized not only as an ultrasonic diagnostic apparatus but also as an ultrasonic diagnostic method.
Drawings
Fig. 1 is a block diagram of an ultrasonic diagnostic apparatus 1 according to the present invention.
Fig. 2 is a flowchart of an MR image generation process in an arbitrary phase.
Fig. 3 is a schematic diagram of a registration process of an ultrasound image and an MR image.
Fig. 4 is a flow chart of the US-MR registration process.
Fig. 5 is a flow chart of the US-US registration process.
Description of the reference numerals:
1 a diagnostic device; 11 an ultrasonic image data acquisition unit; 12 a medical image data acquisition unit; 13 a display unit; 21 a first registration section; 22 a second registration section; 23 a medical image data generating unit; 24 in combination with an image registration section
Detailed Description
Fig. 1 shows a schematic configuration of an ultrasonic diagnostic apparatus 1 according to the present invention. As shown in fig. 1, an ultrasonic diagnostic apparatus 1 includes: an ultrasound image data acquisition unit 11, a medical image data acquisition unit 12, a display unit 13, a first registration unit 21, a second registration unit 22, a medical image data generation unit 23, and a combined image registration unit 24. The first registration unit 21, the second registration unit 22, the medical image data generation unit 23, and the combined image registration unit 24 are realized by a computer having a CPU and a memory, for example.
The ultrasonic image data acquiring unit 11 may acquire a reflected echo of a living body part or tissue by using a known structure, for example, an ultrasonic probe not shown, and obtain an ultrasonic image. Ultrasonic scanning can dynamically obtain ultrasonic images in real time, has little damage to organisms, and is convenient to carry and move. The ultrasonic image data acquired by the ultrasonic image data acquiring unit 11 is transmitted to a first registration unit 21 and a second registration unit 22, which will be described later.
The medical image data acquisition unit 12 acquires image data including CT, MRI, and the like by X-ray, nuclear magnetic resonance, or the like. Taking MRI as an example, compared with ultrasonic images, MRI has higher contrast resolution of soft tissues, and can clearly distinguish soft tissues such as muscle, tendon, fascia, and fat. However, it takes a long time to acquire an MR image, and a special apparatus is required, so that it is difficult to acquire image data in real time as in the case of ultrasonic diagnosis.
The first registration section 21 and the second registration section 22 perform registration between the image data. Specifically, the first registration unit 21 performs registration between the ultrasound image and the medical image data, and the second registration unit 22 performs registration between the ultrasound image and the medical image data. Although an MR image is used in the present embodiment as an example of a medical image, the present invention is not limited to this, and a CT image, an X-ray image, or the like may be used. In the following description, an ultrasound image is sometimes referred to as a US image, registration between an ultrasound image and medical image data is sometimes referred to as US-MR image registration, and registration between an ultrasound image and medical image data is sometimes referred to as US-US image registration.
By performing the US-MR image registration by the first registration unit 21, the ultrasound image and the MR image at the same phase can be registered. For example, the first ultrasound image and the first MR image may be acquired in advance and registered therebetween at a first time phase before the start of diagnosis or treatment. The first registration unit 21 generates a first registration parameter required to indicate a coordination process between the first ultrasonic image data and the first MR image data.
By performing the US-US image registration by the second registration unit 22, registration can be obtained between the ultrasound images of different phases. For example, the first ultrasonic image may be acquired at a first time phase before the start of diagnosis or treatment, the second ultrasonic image may be acquired at a second time phase during diagnosis or treatment, and the second registration unit 22 may acquire registration between the first ultrasonic image data and the nth ultrasonic image data. The second registration unit 22 generates a second registration parameter required to indicate the coordination process between the first ultrasonic image data and the second ultrasonic image data.
The detailed steps for US-MR image registration and US-US registration will be explained later.
The medical image data generator 23 generates second medical image data corresponding to (coordinated with) the second ultrasound image data based on the first medical image acquired at the first time phase by the medical image data acquirer 12, the first registration parameter generated by the first registration unit 21, and the second registration parameter generated by the second registration unit. Specifically, as described above, since it is difficult to acquire MR image data in real time during diagnosis or treatment, a third registration parameter between the first MR image data and the second US image data is generated based on the first registration parameter between the first MR image data and the first ultrasound image data and the second registration parameter between the first ultrasound image data and the second ultrasound image data, using the first MR image data acquired before the start of diagnosis or treatment and the first ultrasound image data and the second ultrasound image data acquired in real time both before the start of diagnosis or treatment and after the start of diagnosis or treatment. Further, second MR image data is generated based on the first MR image data and the third registration parameter. As a result, the second MR image data corresponding to the time phase of the second ultrasonic image data can be generated quickly and accurately.
The joint image registration unit 24 coordinates and joins (fusion) the second MR image data generated by the medical image data generation unit 23 and the second ultrasonic image data, and displays the coordinated and joined joint image on the display unit 13.
Next, the steps of generating the second MR image data will be explained based on fig. 2 and 3.
First, in step S1, first MR image data MR1 is scanned and generated in a first time phase (see (a) in fig. 3). The first time phase is a phase before diagnosis or treatment, for example.
Next, in step S2, the first US image data US1 is scanned and generated at the same first time phase as in the first step S1 (see (b) in fig. 3).
Next, in step S3, a US-MR registration process is performed on MR1 and US1 to generate a first registration parameter T between the first MR image data MR1 and the first US image data US1-MR1 。
Next, after the diagnosis or treatment is entered, in step S4, the nth US image data USn is scanned and generated at the nth phase (see (c) in fig. 3). Here, the number of times of scanning is performed can be set as appropriate, for example, 2. Ltoreq. N.ltoreq.N.
Next, in step S5, US-US registration processing is performed on US1 and USn to generate a second registration parameter T between the first US image data US1 and the nth US image data USn US1－USn 。
Next, in step S6, based on the first registration parameter T US1-MR1 And a second registration parameter T US1－USn Generating a third registration parameter T between the first MR image data MR1 and the n-th US image data USn MR1－USn 。
Thereby, a registration relationship between the first MR image data MR1 and the nth US image data USn is established.
In particular, based on the second registration parameter T US1－USn The difference between the first US image data US1 and the nth US image data USn can be obtained. Then, the difference between the first US image data US1 and the nth US image data USn is converted into the difference between the first MR image data MR1 and the nth MR image data MRn. Here, the nth MR image data MRn is not actually acquired by the medical image data acquisition unit 12.
Next, in step S7, based on the first MR image data MR1 and the third registration parameter T MR1－USn The MR image data MRn corresponding to the nth US image data USn is generated (see (d) in fig. 3).Here, "correspond" refers to US image data and MR image data of the same phase. The MRn and the USn are also combined to generate a combined image.
Next, in step S8, whether or not the scanning is finished is confirmed. When the scanning is finished, the processing is finished, and the combined image generated in step S7 is displayed on the display unit 13. If the scanning is not completed, the process returns to step S4 and the process is repeated.
Thus, the MR image data MRn in the n-th phase can be indirectly generated based on the existing MR image data MR1, the ultrasound image data US1 in the same phase as MR1, and the ultrasound image data USn in the n-th phase without performing MR scanning in the n-th phase. Here, the US-MR registration process can be completed within 3sec, and the US-US registration process can be completed within 1 sec. Therefore, an MR image of an arbitrary time phase can be generated very quickly and accurately, and an effect of providing an MR image in near real time can be achieved.
Further, fig. 4 is a flowchart of the US-MR registration process.
Fig. 5 is a flow chart of the US-US registration process.
The technical effects of the present invention will be described next. In the past, if real-time MR images were required during diagnosis or treatment, MR scans had to be performed. However, it takes a long time to acquire an MR image, and a special apparatus is required, so that it is difficult to acquire image data in real time and in a convenient manner as in ultrasonic diagnosis. Here, according to the present invention, instead of directly scanning and generating an MR image of an arbitrary phase, an MR image MR1 and an US image US1 of a certain phase are acquired in advance before diagnosis or treatment, and are registered, and a registration parameter between them is acquired. Then, during the diagnosis or treatment, US images USn of a certain phase are acquired, and US1 and USn are registered to acquire a registration parameter therebetween. Thereby, via US1, the registration parameters between the MR image MR1 before the start of diagnosis or treatment and the MR image MRn after the start of diagnosis or treatment can be acquired. Based on the registration parameters, MR images MRn corresponding to the USn, i.e., at the same phase, can be generated. In addition, as previously described, the US-MR registration process can be completed within 3sec and the US-US registration process can be completed within 1 sec.
In this way, MR image data can be acquired indirectly without performing MR scanning, and MR image data of an arbitrary time phase can be generated at low cost and quickly for reference by a doctor or the like.
The detailed steps of the US-MR registration process in step S3 are explained in detail next.
First, in step S31, the first US image data US1 and the first MR image data MR1 are input.
Next, in step S32, image enhancement is performed on the first US image data US1 and the first MR image data MR1.
Next, in step S33, the first US image data US1 and the first MR image data MR1 are filtered to remove noise or unnecessary images that interfere with the registration.
Next, in step S34, blood vessel detection is performed and the blood vessel image is enhanced. In the present invention, registration processing is performed based on blood vessels.
Next, in step S35, a gradient quantization map is generated.
Next, in step S36, a simulation is performed based on the gradient quantization map generated in step S35 and the NGF operator or the LSOD operator, thereby performing the US-MR registration processing to generate a first registration parameter T between the first MR image data MR1 and the first US image data US1-MR1 。
The detailed steps of the US-US registration process in step S5 are explained next.
First, in step S51, the first US image data US1 and the nth US image data USn are input.
Next, in step S52, the ultrasonic magnetic position information is matched, and the first US image data US1 and the nth US image data USn are matched to find the difference between the first US image data US1 and the nth US image data USn.
Next, in step S53, a standard differential image is calculated based on the matching result in step S52.
Next, in step S54, a second registration parameter T between the first US image data US1 and the nth US image data USn is found based on the simulation result US1－USn 。
In addition, in the correspondence between the embodiments of the present invention and the claims,
the image generation section corresponds to the first registration section 21, the second registration section 22, and the third registration section 23,
the image registration section corresponds to the joint image registration section 24,
the first registration parameter corresponds to the first registration parameter T US1-MR1 ，
The second registration parameter corresponds to the second registration parameter T US1－USn 。
Industrial applicability
According to the present invention, medical images such as MR, CT, and X-ray images in arbitrary phases can be generated at low cost and quickly in diagnosis and treatment, and can be widely used in the medical field.
Claims (5)
1. An ultrasonic diagnostic apparatus having a function of performing registration processing between ultrasonic image data and medical image data other than ultrasonic waves, comprising:
an image generation unit configured to perform registration processing between first ultrasound image data acquired at a first time phase with respect to a subject and second ultrasound image data acquired at a second time phase different from the first time phase with respect to the subject, with respect to a first registration parameter required to perform registration processing between the first ultrasound image data and the first medical image data, generate a second registration parameter, generate a third registration parameter between the first medical image data and the second ultrasound image data based on the first registration parameter and the second registration parameter, and generate second medical image data registered with the second ultrasound image based on the first medical image data and the third registration parameter; and
a combined image registration unit which performs registration processing on the second ultrasonic image data and the second medical image data to generate a combined image.
2. The ultrasonic diagnostic apparatus according to claim 1,
the second registration parameter is a value obtained from the detected positional information of the ultrasound probe.
3. The ultrasonic diagnostic apparatus according to claim 1,
the first time phase is a time phase before the start of diagnosis, and the second time phase is a time phase after the start of diagnosis.
4. The ultrasonic diagnostic apparatus according to claim 1,
the medical image data is one of MRI image data, CT image data, and X-ray image data.
5. An ultrasonic diagnostic method having a function of registering between ultrasonic image data and medical image data other than ultrasonic waves, comprising the steps of:
an image generation step of performing registration processing between first ultrasound image data and second ultrasound image data for a first registration parameter required for registration processing between the first ultrasound image data and first medical image data acquired at a first time phase with respect to a subject, generating a second registration parameter, generating a third registration parameter between the first medical image data and the second ultrasound image data based on the first registration parameter and the second registration parameter, and generating second medical image data registered with the second ultrasound image data based on the first medical image data and the third registration parameter, the second ultrasound image data being acquired at a second time phase different from the first time phase with respect to the subject; and
and a combined image registration step of performing registration processing on the second ultrasonic image data and the second medical image data to generate a combined image.
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| US16/577,034 US11227399B2 (en) | 2018-09-21 | 2019-09-20 | Analysis apparatus, ultrasound diagnostic apparatus, and analysis method |
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| KR20090127091A (en) * | 2008-06-04 | 2009-12-09 | 주식회사 메디슨 | System and method for registration between an ultrasound image and a ct image |
| KR20090127101A (en) * | 2008-06-05 | 2009-12-09 | 주식회사 메디슨 | System and method of non-rigid image registration between ultrasound images and ct images |
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| WO2008081396A2 (en) * | 2006-12-29 | 2008-07-10 | Koninklijke Philips Electronics, N.V. | Improved image registration and methods for compensating intraoperative motion in image-guided interventional procedures |
| US9545242B2 (en) * | 2009-07-31 | 2017-01-17 | Samsung Medison Co., Ltd. | Sensor coordinate calibration in an ultrasound system |
| JP6309282B2 (en) * | 2014-01-22 | 2018-04-11 | キヤノンメディカルシステムズ株式会社 | Medical diagnostic imaging equipment |
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| JP6620252B2 (en) * | 2016-05-23 | 2019-12-11 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | Correction of probe induced deformation in ultrasonic fusion imaging system |
| JP6833533B2 (en) * | 2017-01-31 | 2021-02-24 | キヤノンメディカルシステムズ株式会社 | Ultrasonic diagnostic equipment and ultrasonic diagnostic support program |
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| KR20090127091A (en) * | 2008-06-04 | 2009-12-09 | 주식회사 메디슨 | System and method for registration between an ultrasound image and a ct image |
| EP2131326A2 (en) * | 2008-06-04 | 2009-12-09 | Medison Co., Ltd. | Registration of CT image onto ultrasound images |
| US8111892B2 (en) * | 2008-06-04 | 2012-02-07 | Medison Co., Ltd. | Registration of CT image onto ultrasound images |
| KR20090127101A (en) * | 2008-06-05 | 2009-12-09 | 주식회사 메디슨 | System and method of non-rigid image registration between ultrasound images and ct images |
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