CN112037277A - A 3D visualization method based on spine 3D ultrasound volume data - Google Patents

Abstract

A three-dimensional visualization method based on three-dimensional ultrasound volume data of the spine. Based on the three-dimensional ultrasound volume data of the spine, a coronal section projection map and a sagittal section projection map are generated for different depths of the skin surface; each vertebral spine is determined on the sagittal section projection map. The position of the vertebral process and its tip is segmented and located in the coronal section projection map of the corresponding depth, and the junction position between each vertebral spinous process and the vertebral body is segmented; based on the tip of the vertebral spinous process and the junction position between the vertebral spinous process and the vertebral body, the coordinates of the three-dimensional ultrasound data are determined. Based on the three-dimensional display model of the standard spine, the left and right end points of the junction of the vertebral spinous process and the vertebral body and the tip of the vertebral spinous process are determined for each vertebra, a total of three feature points in the three-dimensional The matching points in the model are displayed; according to the spatial position of each vertebra in the 3D ultrasound data coordinate system, the corresponding spatial position of the standard 3D display model in the 3D ultrasound data coordinate system is matched to generate the overall 3D spine model.

Description

A 3D visualization method based on spine 3D ultrasound volume data

technical field

The invention relates to the field of medicine, and more particularly, to a three-dimensional visualization method based on three-dimensional ultrasound volume data of the spine, which can be used in medical imaging equipment.

Background technique

Scoliosis is an abnormal musculoskeletal state caused by three-dimensional distortion of the spine. It is manifested in the abnormal bending or rotation of the spine in three-dimensional space, which makes the weight on the intervertebral disc abnormal and the spine cannot move normally and freely. . Adolescence is a period of high incidence of scoliosis. For adolescents who are in the growth and development period, the long-term improper posture of the trunk can easily deform the spine. If it is not detected and treated in time, the spine will be irreversibly deformed. Among them, kyphosis is a common visible spinal deformity associated with scoliosis. When hunched, the curvature of the spine in the upper back area is forty-five degrees or more, while the normal spine is only about 20 degrees in the upper back area. to a forty-five degree bend. The essence of scoliosis is the abnormal rotation or displacement of the spine in alignment. Therefore, the assessment of vertebral body posture is of great significance for the analysis of scoliosis.

At present, because ultrasound imaging can only detect the reflection signal on the bone surface, there is a defect that the back of the spinous process of the vertebral body cannot be observed, so the existing three-dimensional ultrasound imaging method cannot provide a complete spinal structure. In actual clinical diagnosis, doctors only use the projection profile generated by 3D data to locate and measure structural features, and cannot observe the complete spine posture from a 3D perspective. For patients, spinal structures are difficult to identify on ultrasound imaging and require some experience.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is that, aiming at the limitation that the traditional three-dimensional ultrasound data of the spine cannot provide complete vertebral body structure information, a method for visualizing the spine body data based on the vertebral body model is proposed.

The present invention is a follow-up application of the applicant's 201910294059.9. The method of the present invention can realize the rendering of a three-dimensional spine model in the spine ultrasound volume data by using a three-dimensional vertebral body model, so that the posture and arrangement of each vertebral body of the spine can be completely imaged, so as to be more Visually and comprehensively assess the degree of three-dimensional deformity of the spine.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: a three-dimensional visualization method based on spine three-dimensional ultrasound volume data, characterized in that the method comprises the following steps:

S1, using a three-dimensional ultrasound imaging system to obtain three-dimensional ultrasound volume data based on the spine, and based on the three-dimensional ultrasound volume data of the spine, generate coronal section projection maps relative to multiple different depths on the skin surface, and use this to generate a unique sagittal section projection map ;

S2, determine the position of each vertebral spinous process and its tip on the sagittal section projection map, and segment and locate the junction position of each vertebral spinous process and the vertebral body in the coronal section projection map of the corresponding depth;

S3, determining the spatial position and posture of each vertebra under the three-dimensional ultrasound data coordinate system based on the tip of the vertebral spinous process and the junction position between the vertebral spinous process and the vertebral body;

S4, based on the three-dimensional display model of the standard spine, for each vertebra, respectively determine the matching points of three feature points at the junction of the vertebral spinous process and the vertebral body, and three characteristic points in the three-dimensional display model;

S5, according to the spatial position of each spine in the three-dimensional ultrasound data coordinate system, match the corresponding spatial position of the standard three-dimensional display model in the three-dimensional ultrasound data coordinate system to generate an overall three-dimensional spine model.

In the step S1, the coronal section projection map and the sagittal section projection map are generated, including:

With respect to multiple different depths of the skin surface, a coronal section projection map is generated according to the 3D ultrasound volume data, and based on this, a unique sagittal section projection map containing no less than 15 spinous process bone reflection shadows and vertices is generated;

Using an averaged or Gaussian weighted composite function, a sagittal section projection map with distinct bone features is generated.

The generating a unique sagittal sectional projection map based on multiple coronal sectional projection maps of different depths specifically includes:

By detecting the reflection shadow area of the spinous process bone in each coronal section projection map, a set of curves representing the area is obtained;

The curved surface obtained by fitting the above-mentioned set of curves is the reference section of the projection map of the sagittal section;

Using an average or Gaussian weighted composite function, a unique sagittal section projection map is generated from the three-dimensional ultrasound volume data based on the above-mentioned reference section.

The step S2 specifically includes:

Determine the position of each vertebral spinous process and its tip according to the sagittal section projection map generated from 3D ultrasound volume data;

According to the skin surface, the coronal section projection map corresponding to the depth at the junction of the spinous process of each vertebra and the vertebral body of each vertebra was selected for each vertebra;

According to the structural characteristics of the reflection shadow of the spinous process bone, the vertebral body region was segmented in the coronal section projection map using the horizontal phase consistency;

Based on the position of each vertebral spinous process, determine and record the junction position of the vertebral spinous process and the vertebral body at this level.

The determining of the position of the spinous process of each vertebra and the position of its tip specifically includes:

According to the features of the apex of the spinous process at the junction of the bone reflection shadow in the sagittal section projection image generated by the 3D ultrasound volume data, locate the position of the tip of the spinous process of the spine;

The spinous process of each vertebra was determined according to the acoustic shadow area behind the spinous process formed by the bone reflection on the surface of the spinous process.

The determining of the position of the spinous process of each vertebra specifically includes:

According to the intensity change of the acoustic shadow area of the sagittal section projection image generated from the 3D ultrasound volume data, the position of each vertebral spinous process was manually marked along the darkest direction of the projection image with the position of the selected vertebral spinous process tip as the starting point.

The said pair of said determining and recording the junction position of the vertebral spinous process and the vertebral body at the level includes:

In the projection map of the coronal section at the junction of the vertebral body and the spinous process of the corresponding vertebral body, according to the position of the located vertebral spinous process, determine the horizontal height of each corresponding vertebral spinous process in this coronal section;

According to the horizontal height of each vertebral spinous process, determine the width of the junction area between the vertebral spinous process and the features of the vertebral body in the projection map of the coronal section, and record the two ends of the width as the junction position.

In the step S3, the determining the spatial position and posture of each vertebra under the three-dimensional ultrasound data coordinate system includes:

According to the sagittal section projection map generated by the 3D ultrasound volume data, determine the position of the tip of each vertebral spinous process in the 3D ultrasound data coordinate system;

According to the projection map of the coronal section corresponding to the depth of the junction between the vertebral spinous process and the vertebral body, determine the positions of the two ends of the junction area between each vertebral spinous process and the vertebral body.

In the step S4, for each vertebra, the position information of three feature points in total, the left and right end points of the junction between the vertebral body and the vertebral spinous process and the tip of the vertebral spinous process in the three-dimensional display model of the vertebrae are determined and extracted, specifically including:

The three-dimensional display model of the spine is a data storage format based on triangular facets, which contains the position coordinates of each vertex of all triangular facets;

According to the structural characteristics of each vertebra, find the positions of three characteristic points corresponding to the junction of the vertebral body and the vertebral spinous process in the three-dimensional display model, as well as the positions of three characteristic points at the tip of the vertebral spinous process;

According to the triangular facet vertex coordinates stored in the model, the coordinate parameters of the three feature points of each vertebra in the three-dimensional display model are calculated and recorded.

In the step S5, matching the three-dimensional display model of the spine with the three-dimensional ultrasound space position, including:

Each vertebra adjusts the rotation, translation and scaling of the three-dimensional display model of the spine through the matrix according to the positional relationship between the left and right end points of the junction between the vertebral body and the vertebral spinous process and the feature point of the tip of the vertebral spinous process in the ultrasonic data coordinate system, so that the The coordinates of the three feature points are consistent with the coordinates of the three feature points marked by the ultrasound data;

Repeat this step until the matching of the three-dimensional display model of all the vertebrae and the three-dimensional ultrasound space position is completed;

According to the 3D display model of each vertebra after matching, the 3D spine model is generated by rendering all the triangular patches of each vertebra.

The advantages and significant effects of the present invention: the method of the present invention can realize the rendering of the three-dimensional spine model in the spine ultrasound volume data by using the three-dimensional vertebral body model, so that the posture and arrangement of each vertebral body of the spine can be completely imaged, so as to be more intuitive and comprehensive. Assess the degree of three-dimensional deformity of the spine.

Description of drawings

Fig. 1 is the flow chart of the three-dimensional spine model visualization method of the present invention;

Figure 2a is a coronal section projection view of a method embodiment of the present invention;

Figure 2b is a sagittal section projection view of an embodiment of the method of the present invention;

Fig. 3a is the result of marking the spinous process of the sagittal section projection diagram of the method embodiment of the present invention;

Fig. 3b is the coronal section projection map segmentation and labeling result diagram of the method embodiment of the present invention;

4 is a schematic diagram of the positions of three feature points of the spine in a three-dimensional ultrasound space according to an embodiment of the method of the present invention;

5a is a schematic diagram of a three-dimensional display model of the T5 spine according to an embodiment of the method of the present invention;

Fig. 5b is the result diagram of the three-dimensional display model three-characteristic point labeling angle A of the method embodiment of the present invention;

Fig. 5c is the result diagram of the three-dimensional display model three-characteristic point labeling viewing angle B according to the embodiment of the method of the present invention;

FIG. 6 is a result diagram of rendering a three-dimensional model of a spine according to an embodiment of the method of the present invention.

Detailed ways

The three-dimensional spine model visualization method of the present invention performs relevant processing on the spine body data obtained by three-dimensional ultrasound imaging, and loads the vertebral body model to assist in visualization, so that the three-dimensional spine structure information can be fully displayed, and then the three-dimensional ultrasound imaging can be used for more detailed information. Accurate and comprehensive scoliosis detection to meet the needs of different users using 3D imaging systems.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

As shown in Figure 1, it is a flow chart of the present invention for a three-dimensional model visualization method suitable for the spine, the method includes the following steps:

S1, using a three-dimensional ultrasound imaging system to obtain three-dimensional ultrasound volume data based on the spine, and based on the three-dimensional ultrasound volume data of the spine, generate coronal section projection maps relative to multiple different depths on the skin surface, and use this to generate a unique sagittal section projection map ;

S2, determine the position of each vertebral spinous process and its tip on the sagittal section projection map, and segment and locate the junction position of each vertebral spinous process and the vertebral body in the coronal section projection map of the corresponding depth;

S3, determining the spatial position and posture of each vertebra under the three-dimensional ultrasound data coordinate system based on the tip of the vertebral spinous process and the junction position between the vertebral spinous process and the vertebral body;

S4, based on the three-dimensional display model of the standard spine, for each vertebra, respectively determine the matching points of three feature points at the junction of the vertebral spinous process and the vertebral body, and three characteristic points in the three-dimensional display model;

S5, according to the spatial position of each spine in the three-dimensional ultrasound data coordinate system, match the corresponding spatial position of the standard three-dimensional display model in the three-dimensional ultrasound data coordinate system to generate an overall three-dimensional spine model.

The three-dimensional spine model visualization method of the above embodiment is to obtain the spatial positions of three feature points with reference to the vertebral spinous process and its junction position with the vertebral body by performing correlation processing on the three-dimensional ultrasound volume data; The vertebral body model is matched and rendered to obtain a three-dimensional model of the spine.

Preferably, in step S1, the generated multiple depth coronal section projection maps and the unique sagittal section projection map include:

S110, based on the three-dimensional ultrasound imaging system, generate coronal section projection maps of multiple depths according to the skin surface;

S120, determining the sagittal reference section according to the intensity change of the acoustic shadow area after bone reflection on the coronal section projection map of each depth;

S130, using a Gaussian weighted synthesis function to generate a unique sagittal section projection map.

Fig. 2a is a coronal section projection view generated by the above-mentioned embodiment. Figure 2b is a unique sagittal section projection generated using the above embodiment.

Preferably, step S2 specifically includes:

S210, according to the projection map of the sagittal section, determine the positions of the spinous processes of each vertebra and their tips;

S220, according to the skin surface, for each vertebra, respectively select a coronal section projection map corresponding to the depth at the junction of each vertebral spinous process and the vertebral body;

S230, according to the structural characteristics of the reflection shadow of the spinous process bone, segment the vertebral body region in the coronal section projection map by using the horizontal phase consistency;

S240, based on the position of each vertebral spinous process, determine and record the junction position of the vertebral spinous process and the vertebral body at the horizontal height.

In step S210, the determining of the position of each vertebral spinous process and its tip specifically includes:

S211, manually selecting the positions of the tips of the spinous processes of each vertebra according to the features of the apex of the spinous process at the junction of the bone reflection shadow in the projection map of the sagittal section;

S212, based on the selected apex of the spinous process, according to the intensity change of the acoustic shadow area after the bone reflection in the sagittal section projection map, manually mark the spinous processes of each vertebra;

S213 , according to the position of the projection map of the sagittal section, determine and record the position of the labeling line of each vertebral spinous process.

As shown in Figure 3a, the position of the apex of the spinous process of each vertebra was obtained by manual punctuation, and the spinous process structure was extended along the direction of the intensity change of the acoustic shadow area after bone reflection at the vertex position. The black dots are the apex of the spinous process, and the gray straight lines are the structural features of the spinous process.

In step S230, the vertebral body region is segmented in the coronal section projection map using the horizontal phase consistency, including:

S231, by using log Gabor wavelet to obtain the phase information in the horizontal direction in the enhanced coronal section projection image, and using the phase consistency measurement of the following formula to extract the region of the bony characteristic structure in the image;

where PS(x,y) is the phase consistency measurement at point (x,y); (x,y) is the coordinate position of any pixel in the image; W(x,y) is the measurement at point (x,y) ) based on the frequency-spreading weighting factor; _Ars (x,y) is the response magnitude of the log Gabor wavelet at a given scale and direction at point (x,y); _ers (x,y) is the magnitude of the response of the r and direction The log Gabor wavelet with scale s is the even symmetric part; o _rs (x,y) is the odd symmetric part of the log Gabor wavelet with direction r and scale s; T _r is the noise threshold; small real number divided by zero;

S232, gradually increase the wavelength scale of the log Gabor wavelet according to the shape characteristics of the physiological structure of the spine in the ultrasound image, and extract the corresponding symmetrical phase information, so as to identify the vertebral body region;

S233 , segment the corresponding vertebral body region according to the size, shape and position information of the vertebra in the vertebral column.

In step S240, the determining and recording the junction position of the vertebral spinous process and the vertebral body at the horizontal height specifically includes:

S241, according to the recorded line of the spinous process of each vertebra, and the coronal reference section of the corresponding depth of the vertebra, obtain the horizontal height of the spinous process of the vertebra on the projection map of the coronal section of the corresponding depth;

S242, according to the horizontal height line of each spinous process and the segmented vertebral body region, determine the intersection points of each horizontal line and the left and right ends of the vertebral body region as two feature points of the vertebral body, and record its spatial position.

As shown in FIG. 3 b , it is a result of segmenting the vertebral body region on the coronal section projection map using the above embodiment. The gray horizontal line is the horizontal height of the marked spinous processes on the depth of the coronal section, and the central white part is the segmented vertebral body region. The black dots are the feature points.

Preferably, step S3 specifically includes:

S301, according to the spatial position of the sagittal reference section and the position of each vertebral spinous process tip feature point in the sagittal projection map, determine the position of each tip feature point in the three-dimensional ultrasound data coordinate system;

S302, according to the spatial position of the coronal reference section at the junction of the vertebral body and the spinous process, and the positions of the two end points of the junction area of each vertebral body and the spinous process on the projection map of the coronal section, determine the spatial position of the two end points in the three-dimensional ultrasound data coordinate system .

As shown in FIG. 4 , it is a schematic diagram of the spatial position of the spine feature points according to the above-mentioned embodiment. Among them, the three vertices of each triangular facet represent three characteristic points in total at the left and right ends of the junction between the vertebral body and the spinous process of the same vertebra and the tip of the spinous process.

Preferably, step S4 specifically includes:

S401, the three-dimensional display model of the spine is a data storage format based on triangular facets, which includes the position coordinates of each vertex of all triangular facets;

S402, according to the structural characteristics of the spine, find the positions of the three characteristic points corresponding to the junction position between the vertebral body and the spinous process and the three characteristic points of the spinous process tip in the display model;

S403: Calculate and record the coordinate parameters of the three feature points in the three-dimensional display model according to the triangular facet vertex coordinates stored in the model.

Figure 5a is the T5 spine model loaded in the above-mentioned embodiment. Figures 5b and 5c are schematic diagrams of perspective A and perspective B of three feature points of the spine model, respectively. Among them, the black dots are the marked feature points.

Preferably, step S5 specifically includes:

S510, according to the positional relationship between the left and right end points of the junction between the vertebral body and the spinous process and the feature point of the tip of the spinous process in the ultrasonic data coordinate system, adjust the rotation, translation and scaling of the display model through the matrix, so that the three features in the model are The point coordinates are consistent with the coordinates of the three feature points marked by the ultrasound data;

S520, this step is repeated until the matching between the displayed models of all the vertebrae and the three-dimensional ultrasound space positions is completed, and all the triangular patches of each vertebral body are rendered to generate a three-dimensional spine model.

In step S510, adjusting the rotation, translation and scaling of the display model through the matrix so that the coordinates of the three feature points in the model are consistent with the coordinates of the three feature points marked by the ultrasound data, specifically including:

S511, for each vertebra, adjust the size of the three-dimensional display model through scale changes according to the width of the vertebral body region recorded in the coronal section projection map;

S512, for each vertebra, according to the positional relationship between the three feature points corresponding to the junction between the vertebral body and the spinous process, the left and right ends of the vertebral body and the feature point of the tip of the spinous process in the ultrasonic data coordinate system, using the rotation and translation changes, by minimizing Corresponding to the spatial distance of the feature points, the position of the three-dimensional display model can be adjusted.

As shown in FIG. 6 , it is a result diagram of the visualization of the three-dimensional model of the spine according to the embodiment of the present invention.

To sum up, the visualization method of the three-dimensional simulation model of the spine of the present invention provides a complete bone structure model, which makes it simple and feasible to observe the bone structure of each vertebral body of the spine by using three-dimensional ultrasound imaging, and further monitor the curvature of the spine more comprehensively. progress.

The embodiments in this specification are described in a progressive manner, and the specific processes and relevant implementation details of the present invention are described in detail step by step through the above embodiments.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical scope disclosed by the present invention can easily think of changes or substitutions. All should be included within the protection scope of the present invention.

Claims (10)

1. a three-dimensional visualization method based on spine three-dimensional ultrasound volume data, is characterized in that, this method comprises the steps: S1, using a three-dimensional ultrasound imaging system to obtain three-dimensional ultrasound volume data based on the spine, and based on the three-dimensional ultrasound volume data of the spine, generate coronal section projection maps relative to multiple different depths on the skin surface, and use this to generate a unique sagittal section projection map ; S2, determine the position of each vertebral spinous process and its tip on the sagittal section projection map, and segment and locate the junction position of each vertebral spinous process and the vertebral body in the coronal section projection map of the corresponding depth; S3, determining the spatial position and posture of each vertebra under the three-dimensional ultrasound data coordinate system based on the tip of the vertebral spinous process and the junction position between the vertebral spinous process and the vertebral body; S4, based on the three-dimensional display model of the standard spine, for each vertebra, respectively determine the matching points of three feature points at the junction of the vertebral spinous process and the vertebral body, and three characteristic points in the three-dimensional display model; S5, according to the spatial position of each spine in the three-dimensional ultrasound data coordinate system, match the corresponding spatial position of the standard three-dimensional display model in the three-dimensional ultrasound data coordinate system to generate an overall three-dimensional spine model. 2. the three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 1, is characterized in that, in described step S1, generate coronal section projection and sagittal section projection, comprising: With respect to multiple different depths of the skin surface, a coronal section projection map is generated according to the 3D ultrasound volume data, and based on this, a unique sagittal section projection map containing no less than 15 spinous process bone reflection shadows and vertices is generated; Using an averaged or Gaussian weighted composite function, a sagittal section projection map with distinct bone features is generated. 3. the three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 1 and 2, is characterized in that, based on the coronal section projection diagram of a plurality of different depths to generate unique sagittal section projection diagram, specifically comprises: By detecting the reflection shadow area of the spinous process bone in each coronal section projection map, a set of curves representing the area is obtained; The curved surface obtained by fitting the above-mentioned set of curves is the reference section of the projection map of the sagittal section; Using an average or Gaussian weighted composite function, a unique sagittal section projection map is generated from the three-dimensional ultrasound volume data based on the above-mentioned reference section. 4. The three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 1, wherein the step S2 specifically comprises: Determine the position of each vertebral spinous process and its tip according to the sagittal section projection map generated from 3D ultrasound volume data; According to the skin surface, the coronal section projection map corresponding to the depth at the junction of the spinous process of each vertebra and the vertebral body of each vertebra was selected for each vertebra; According to the structural characteristics of the reflection shadow of the spinous process bone, the vertebral body region was segmented in the coronal section projection map using the horizontal phase consistency; Based on the position of each vertebral spinous process, determine and record the junction position of the vertebral spinous process and the vertebral body at this level. 5. the three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 4, is characterized in that, determining each vertebra spinous process position and its tip position, specifically comprises: According to the features of the apex of the spinous process at the junction of the bone reflection shadow in the sagittal section projection image generated by the 3D ultrasound volume data, locate the position of the tip of the spinous process of the spine; The spinous process of each vertebra was determined according to the acoustic shadow area behind the spinous process formed by the bone reflection on the surface of the spinous process. 6. The three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 5, wherein determining the position of each vertebral spinous process specifically comprises: According to the intensity change of the acoustic shadow area of the sagittal section projection image generated from the 3D ultrasound volume data, the position of each vertebral spinous process was manually marked along the darkest direction of the projection image with the position of the selected vertebral spinous process tip as the starting point. 7. The three-dimensional visualization method based on three-dimensional ultrasound volume data of the spine according to claim 4, characterized in that, determining and recording the junction position of the vertebral spinous process and the vertebral body of the horizontal height, comprising: In the projection map of the coronal section at the junction of the vertebral body and the spinous process of the corresponding vertebral body, according to the position of the located vertebral spinous process, determine the horizontal height of each corresponding vertebral spinous process in this coronal section; According to the horizontal height of each vertebral spinous process, determine the width of the junction area between the vertebral spinous process and the features of the vertebral body in the projection map of the coronal section, and record the two ends of the width as the junction position. 8. The three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 1, wherein in the step S3, the determining the spatial position and posture of each spine under the three-dimensional ultrasound data coordinate system, comprising: : According to the sagittal section projection map generated by the 3D ultrasound volume data, determine the position of the tip of each vertebral spinous process in the 3D ultrasound data coordinate system; According to the projection map of the coronal section corresponding to the depth of the junction between the vertebral spinous process and the vertebral body, determine the positions of the two ends of the junction area between each vertebral spinous process and the vertebral body. 9. The three-dimensional visualization method based on three-dimensional ultrasound volume data of the spine according to claim 1, wherein in the step S4, the junction position between the vertebral body and the spinous process of the spine in the extracted three-dimensional display model of the spine is determined for each spine respectively. The position information of three characteristic points at the left and right end points and the tip of the vertebral spinous process, including: The three-dimensional display model of the spine is a data storage format based on triangular facets, which contains the position coordinates of each vertex of all triangular facets; According to the structural characteristics of each vertebra, find the positions of three characteristic points corresponding to the junction of the vertebral body and the vertebral spinous process in the three-dimensional display model, as well as the positions of three characteristic points at the tip of the vertebral spinous process; According to the triangular facet vertex coordinates stored in the model, the coordinate parameters of the three feature points of each vertebra in the three-dimensional display model are calculated and recorded. 10. The three-dimensional visualization method based on spine three-dimensional ultrasound volume data according to claim 1, wherein in the step S5, matching the spine three-dimensional display model and the three-dimensional ultrasound space position, comprising: Each vertebra adjusts the rotation, translation and scaling of the three-dimensional display model of the spine through the matrix according to the positional relationship between the left and right end points of the junction between the vertebral body and the vertebral spinous process and the feature point of the tip of the vertebral spinous process in the ultrasonic data coordinate system, so that the The coordinates of the three feature points are consistent with the coordinates of the three feature points marked by the ultrasound data; Repeat this step until the matching of the three-dimensional display model of all the vertebrae and the three-dimensional ultrasound space position is completed; According to the 3D display model of each vertebra after matching, the 3D spine model is generated by rendering all the triangular patches of each vertebra.

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