臺灣博碩士論文加值系統

超音波影像為目前常用之醫療檢測儀器，它具有即時成像、無放射線傷害且成本低等優點。超音波影像可檢視身體內部結構，其成像原理為量測聲波發送至物體反射之時間差與強度，形成二維灰階影像。若在超音波探頭上裝設位置感測器，將可了解超音波影像所掃描的切面位置，進而推測出影像中物體在空間中位置，此稱為超音波影像定位。但超音波影像只能提供兩維度之資訊，若想利用一張超音波影像定位出物體在空間三維位置是非常困難的。本論文提出一創新之方法，利用兩相互正交之探頭，得到一組正交超音波影像，若物體在兩影像重疊之區域將可結合兩影像之位置資訊，得到準確之三維定位點。本研究將設計兩種不同類型之實驗，依照被掃描物之特性可區分為靜態定位實驗與動態定位實驗；在靜態定位實驗中將驗證使用雙超音波影像定位可提升定位準確度，靜態定位誤差皆小於1 mm；在動態定位實驗中將模擬肝臟移動軌跡作為標的，動態追蹤定位誤差皆小於1.8 mm。

The ultrasound image is the common medical diagnostic equipment with a lot of advantages including real time imaging, low cost and nonradioactive. The theorem of ultrasound imaging is that a transducer receives the sound wave reflected from the target. The ultrasound system estimates the distance according to the information of reflected sound waves. Then, the system presents the distance information using a two dimension image. The ultrasound image can show the structure of human body, and it could be combined with position sensors, which are attached to an ultrasound probe, to find the target position. This positioning approach is called ultrasound image positioning. Positioning using single ultrasound image cannot be accurate since the thickness problem. In this thesis, a novel ultrasound positioning approach is proposed. This research used two ultrasound systems that are placed orthogonally. The proposed system can obtain an accurate target position using dual ultrasound images. For fixed target, the positioning error was less than 1 mm. For moving target, the positioning error was less than 1.8 mm.

誌謝 i
摘要 ii
Abstract iii
Contents iv
List of Figures viii
List of Tables xiii
Chapter 1 Introduction 1
1.1 Background 1
1.2 Motivation 3
1.3 Proposed Approach 6
1.4 Thesis Overview 8
Chapter 2 The Characteristic of Ultrasound Image 9
2.1 Ultrasound Imaging Principles 10
2.2 Ultrasound Beam Thickness Problem 12
2.3 Multi-row Arrays Transducer 13
2.4 Summary 16
Chapter 3 Ultrasound Image Positioning using Dual Ultrasound Systems 17
3.1 Design of Scanner with Dual Ultrasound Probes 20
3.2 Coordinates System 22
3.2.1 Measurement and Sensing System 23
3.3 Coordinate Transformation 25
3.4 Detection of Target in Ultrasound Images 30
3.4.1 Frame Grabber 30
3.4.2 The Highest Gray Level Point 31
3.4.3 Otsu’s Method 34
3.5 Image Pixelation Errors 37
3.6 Transformation Compensation 40
3.7 Summary 42
Chapter 4 Dual Ultrasound Images Positioning Experiment and Results 44
4.1 Positioning by Dual Ultrasound Images for Fixed Target 47
4.1.1 Experimental Setup 47
4.1.2 Target Location of the Ultrasound Image Slice Thickness 49
4.1.3 Consideration to the Target Size 51
4.1.4 Consideration to the Target Shape 53
4.2 Positioning by Dual Ultrasound Images for Simulative Motion Trajectory 56
4.2.1 Experimental Setup 57
4.2.2 Target Motion Trajectory 58
4.2.3 Sensor on the Scanner 60
4.2.4 Target Detection in Region of Interest of Ultrasound Image 61
4.2.5 Target Motion Trajectory of Estimation 66
4.3 Positioning by Dual Ultrasound Images for Pig Liver Motion Trajectory 73
4.3.1 Pig Liver Motion Trajectory 73
4.3.2 Target Detection in Region of Interest of Ultrasound Image 75
4.3.3 Target Motion Trajectory of Estimation 77
4.4 Summary 82
Chapter 5 Conclusions and Future Work 83
Appendix 84
References 89

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