Multi-angle ultrasonic image fusion method and system and electronic equipment

Abstract

The invention relates to a multi-angle ultrasonic image fusion method and system and electronic equipment. The method comprises the following steps: step a, positioning an ultrasonic probe by using an image processing technology, and obtaining a spatial coordinate point of the ultrasonic probe in a laparoscope binocular video by using a camera coordinate and image pixel coordinate mutual conversion formula; step b, establishing a homogeneous linear equation set according to the spatial coordinate points of the ultrasonic probe, and obtaining a linear equation of the scanning plane of the ultrasonic probe by using singular value decomposition; step c, calculating the spatial coordinates of the ultrasonic image according to the linear equation of the scanning plane of the ultrasonic probe; and step d, acquiring an ultrasonic image by the ultrasonic probe, and converting the space coordinates into corresponding pixel coordinates fused into the video image according to a camera coordinate and pixel coordinate conversion formula to complete the fusion of the ultrasonic image into the video image. The perception ability of doctors to the intra-operative environment can be improved, the intra-operative risk is reduced, and the success rate of the operation is increased.

Description

technical field [0001] The present application belongs to the technical field of medical image processing, and in particular relates to a multi-angle ultrasonic image fusion method, system and electronic equipment. Background technique [0002] Ultrasound images use ultrasonic beams to scan the human body, and obtain images of internal organs by receiving and processing reflected signals. They are often used to judge the location, size, and shape of organs, and determine the scope and physical properties of lesions. [0003] As a newly developed minimally invasive method, laparoscopic surgery is favored by patients due to its advantages of small postoperative scar, light pain, quick recovery, and short hospital stay, and has become the best choice for more and more patients. However, due to the limitation of the field of view and the poor perception of the intraoperative environment by doctors in laparoscopic surgery, many problems such as intraoperative bleeding, inaccurate...

AI Technical Summary

Problems solved by technology

At present, LARN is mainly divided into three types based on preoperative data, intraoperative data and robot assistance. Among them, the method based on preoperative data means that the navigation data comes from preoperative CT or MRI and is displayed in the form of video fusion. The preoperative data obtained by the method cannot accurately represent the actual situation of the patient's diseased tissue during the operation; the method based on the intraoperative data refers to the use of a hybrid operating room to obtain intraoperative CT or MRI and display it in the form of video fusion. The system is too expensive and interfered by electronic equipment and even surgical instruments; the method based on robot assistance refers to the combination of surgical robot and LARN technology, but the hardware cost of this technology is very high, and there is still a lack of surgical scene awareness for operating robots (force feedback, depth information, etc.), and doctors also need professional training before they can use it

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