CN102592060A - Method for guiding equipment to process images by means of ablation treatment images - Google Patents
Method for guiding equipment to process images by means of ablation treatment images Download PDFInfo
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Abstract
Disclosed is a method for guiding equipment to process images by means of ablation treatment images. The method includes the following steps of performing image two-dimensional processing including basic image processing and image cutting; performing image three-dimensional processing including image volume rendering and video production by the images; measuring the images so that users can interact with two-dimensional images or three-dimensional single image facet carrying with stacks and planar figure data types; registering the images; performing image segmentation including interactive segmentation and blood vessel segmentation, completing vessel revascularization in the images by the aid of the blood vessel segmentation and completing image processing.
Description
Technical field
The present invention relates to a kind of method of utilizing the image-guided device processes image of ablation.
Background technology
In recent years; Under image-guided through skin thermal ablation therapy method rely on that its Wicresoft, safety, complete tumor necrosis rate in oncotherapy is high, good effect and do not have the toxic and side effect of chemotherapy, radiotherapy; Little to normal tissue injury; And can activate the remarkable advantages such as antineoplastic immune of enhancing body, become the important component part of modern tumor therapeuticing method.
Under image-guided is that the puncture degree of accuracy is required much skill through the heating ablation of skin tumour.The enforcement of its treatment need be before art according to the imaging examination planning that undergos surgery, select suitable puncture approach, confirm that simultaneously needing to form what ablation area could cover whole tumour fully.The guiding that in art, then need rely on iconography is inner with the planning implantation tumour of ablation needle before according to art.Postoperative need be judged whether tumour ablation is complete, have or not the residual or edge recurrence of tumour.No matter the surgery planning before the art, the location of the puncture in the art still are the experience that the recruitment evaluation of postoperative all highly relies on the patient, receive the interference of various human factors, directly influence the curative effect of heating ablation.Thereby be necessary to adopt new technology and method to overcome the interference of various human factors, and solving in the planning of art prescience, the art and accurately locate, the difficult problem of postoperative effect assessment is based upon image-guided tumour heating ablation on more objective, the accurate basis.
Summary of the invention
On this basis, we have researched and developed the image-guided equipment of a kind of ablation.This equipment handles through 3-dimensional image and analytical technology is come directly perceived, clear, arbitrarily angled ground display space neighbouring relationship; And carry out the surgery planning before qualitative assessment carries out art through calculating; And combine the intervene operation navigational system to carry out the accurate location in the centesis, can also through judge tumour ablation whether fully, have or not the residual or edge recurrence of tumour to carry out effective surgery to assess.The various difficult problems that the proposition of this equipment has effectively solved before the art, in the art, postoperative runs into have been based upon image-guided tumour heating ablation on more objective, the accurate basis.
A kind of method of utilizing the image-guided device processes image of ablation of the present invention, the image-guided equipment of said ablation comprises processor, display screen, keyboard and mouse; Processor is the core component of the image-guided equipment of ablation; Said processor inside comprises image collection device, image processor and Image Management device; Wherein, said image processor comprises image two-dimensional process device, image three-dimensional treating apparatus, image measuring device, Image registration device, image segmenting device; Said method comprising the steps of:
(1) image is carried out two-dimensional process; Two-dimensional process comprises carries out base conditioning and image is carried out cutting image;
(2) image is carried out 3D processing; 3D processing comprises carries out volume drawing and image is carried out video production image;
(3) image is measured, made the user or contain storehouse and individual image dough sheet of the three-dimensional of graphics plane data type carries out interactive operation with bidimensional image;
(4) carry out Image registration;
(5) carrying out image cuts apart; Said image is cut apart and is comprised Interactive Segmentation and blood vessel segmentation, in image, accomplishes reconstructing blood vessel through blood vessel segmentation, and image processing is accomplished.
The invention solves in the planning of art prescience, the art and accurately locate; The difficult problem of postoperative effect assessment through above image treatment method, has overcome the interference of various human factors; Directly improved the curative effect of heating ablation, image-guided tumour heating ablation has been based upon on more objective, the accurate basis.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of processor of the present invention;
Fig. 3 is image cutting figure;
Fig. 4 is three-dimensional volume rendered;
Fig. 5 is radiographic measurement figure;
Fig. 6 is a registration figure;
Fig. 7 is Interactive Segmentation figure;
Fig. 8 is blood vessel segmentation figure;
Fig. 9 is cut apart figure for hepatic segments;
Figure 10 is a vessel graph in the liver;
Figure 11 is the tumor shape size and arrives each piping system bee-line figure;
Figure 12 is secure border figure;
Figure 13 is three-dimensional PDF report figure;
Figure 14 is the surgical navigational synoptic diagram;
Figure 15 is the color coding analysis chart of ablation areas;
Figure 16 is a tumour ablation surgical effect evaluation graph.
Embodiment
Below in conjunction with accompanying drawing and concrete embodiment the image-guided equipment of ablation of the present invention is further described, but can not be with this as restriction protection scope of the present invention.
Referring to Fig. 1,2, the image-guided equipment of ablation of the present invention comprises processor 1, display screen 2, keyboard 3 and mouse 4.Wherein, processor 1 is a core component of the present invention, and its inside comprises image collection device 5, image processor 6 and Image Management device 7, and image collection device 5 is used to gather image information, and the image information that collects is transferred to image processor 6; Image processor 6 will be gathered the image information that comes by image collection device 5 and process, handles, to obtain the image that the user needs; Image through processing, processing directly shows 2 by display screen, transfers to Image Management device 7 simultaneously and stores, and calls at any time in order to the user.Display screen 2, keyboard 3 and mouse 4 all are connected with processor 1, and display screen 2 is as the output device of processor 1, and show image is beneficial to the user and browses, judges, analyzes intuitively; Keyboard 3 and the input equipment of mouse 4 as processor can manipulation processor 1, make demand and the judgement of user according to oneself, and image is processed, handled.
Image processor 6 comprises image two-dimensional process device 8, image three-dimensional treating apparatus 9, image measuring device 10, Image registration device 11, image segmenting device 12.
Display screen 2 is made up of three two dimension view windows and a 3-D view window, and three two dimension view windows are respectively cross-section position window, sagittal plain window, crown position window.
Image two-dimensional process device 8 is made up of image base conditioning device and image Scissoring device two parts.
Image base conditioning device comprises to the Filtering Processing of single width image and to the arithmetical operation of two width of cloth images to be handled.
The Filtering Processing of single width image comprises: squelch, morphological operations, rim detection and other processing mode.Wherein, squelch comprises gaussian filtering, medium filtering, total variance filtering; Morphological operations comprises expansion, burn into opening operation, closed operation; Rim detection comprises shade of gray computing, the computing of Laplce's second-order differential, Suo Beier operator; Other processing mode comprises Threshold Segmentation, image counter-rotating, down-sampling.
The arithmetical operation of two width of cloth images comprises arithmetical operation and Boolean calculation.Arithmetical operation comprises image 2 and image 1 addition, subtracts each other, multiplies each other, is divided by.Boolean calculation comprise image 2 and image 1 " with ", " or ", distance.
The image Scissoring device generally can be analyzed all image datas, reaches mode of operation more flexibly for obtaining better contrast, and the user can carry out trimming operation and select the subregion data to carry out the image processing operation.
Referring to Fig. 3, the trimming operation step is following:
(1) in the Image Management device, chooses the image node that needs to carry out trimming operation.
(2) after the cutting, the pixel between former image and the selection image is called boundary voxel.The big I of the gray-scale value of boundary voxel is through after clicking " gray-scale value of selecting the outer voxel in zone is set " check box, adjusting slider or the setting value frame is set sets.
(3) click " creating the cutting frame " button, eject and select clipping boundary type dialog box.Option comprises cube, spheroid, right cylinder and cone.Click in " confirming " button rear view and just demonstrate yellow frame and confine scope.
(4) check box of selection " method of application " is with the explicit user operation information.
The image three-dimensional treating apparatus reaches " video production " two parts by " volume drawing " and forms.
Each point in the middle of the volume data can distribute the emission and the absorption parameter of a light.Like this, through the propagation of portion in vivo of simulation light, just can realize the demonstration of volume data under the condition of any visual angle.
The volume render operation step is following:
(1) in data management system, choose need the image of executable operations node after, click the check box on " volume drawing " left side.The ample resources of processor can be taken when carrying out volume render operation, therefore the implementation effect that to see volume drawing a moment need be born with.This equipment provides 5 kinds of volume rendering algorithms can supply the user to select a kind of volume drawing of carrying out wherein:
The GPU light projecting algorithm
GPU MIP algorithm
GPU tangent plane algorithm
The GPU light projecting algorithm
GPU MIP algorithm
(2) select " presetting " Shipping Options Page.
1. click " selecting preset volume drawing transfer function " button, just can select to use inner definition or preset value commonly used.
" CT Generic " is the preference of transfer function acquiescence.
" CT Black&White " do not use any color, because some image can be covered useful information after painted.
" CT Cardiac " can strengthen the details of heart CT image.
" CT Bone ", outstanding demonstration bone, and make other position more transparent.
" CT Bone (Gradient) ", the outstanding bone that shows, but the mode of utilization ladder shows other organ surface.
The transfer function of the acquiescence that " MR Generic " adopts when reading the nuclear-magnetism image (the nuclear-magnetism image is unlike the such rule of CT image).
2. preserve and loading preset value commonly used
Behind establishment or the editor's transfer function, self-defined transfer function can be stored, and is applied to file system once more.Click " preservation " (" loading ") button, can combine the back to preserve (loading) in * .xml formatted file threshold value, color and gradient function.
3. gray value interval adjustment
Adjust all function generator corresponding gray scopes through the adjustment slide block, or amplify the value range of " gray-scale value scope " window.
4. opacity mapping function generator
The gray-scale value of this point will be mapped to the transparence value of setting.Transparence value is that to be shown as full impregnated at 0 o'clock bright, and value is to be shown as opaque entirely at 1 o'clock.
5. color map function generator
The gray-scale value of this point will be mapped to the color of setting.
6. gradient variable exchange the letters number generator
The size of gray-scale value conversion and the mapping between the opacity are set, are used to control some specific gray-scale value.
All can comprise following operations when customizing above three kinds of function generators:
The left button of clicking the mouse increases point of adjustment.
The right button of clicking the mouse deletion point of adjustment.
Clicking and pin left mouse button can be used for drags and regulates already present point of adjustment.
(3) except that direct editor's transfer function, the image three-dimensional treating apparatus also provides two kinds of figures commonly used that can produce transfer function automatically, i.e. threshold figure and bell figure.This dual mode all comprises two parameters, after clicking the cross figure on/down and a left side/the mouse that moves right, can be used for revising parameter value.
First parameter is for " " center " (controlling its size through parallel rolling mouse) is used to specify the gray-scale value with the centre of figure that is loaded.
Second parameter is " width " (controlling its size through the vertical moving mouse), is used for the width (or gradient steepness) of assignment graph.
1. select " threshold value " Shipping Options Page can activate the threshold function table generator of creating the threshold value figure.The threshold value figure originates in zero point and is promoted to " " center " parameter value.Width value is more little, and the figure of threshold function table is precipitous more.
2. click " bell " Shipping Options Page and can activate the threshold function table generator of creating bell figure.The threshold value figure originates in zero point, is promoted to " to drop to zero point behind the " center " parameter value again." width " parameter value is corresponding to the width of bell figure.
The image processing result can preserve video or view screenshotss get off through making video record.
Image measuring device can make user and bidimensional image or contain storehouse and individual image dough sheet of the three-dimensional of graphics plane data type carries out interactive operation.It can measuring distance, angle, path and some geometric figures.After carrying out measuring operation, can the identical or different measurement pattern with the selected correction of image be preserved, in order in the future used.When on image, having drawn a plurality of figure, current application graphic presentation is red, and all the other Graphics Applications then are shown as white, and the displayed value on the image is the rreturn value of current application figure.All measurement pattern all can each self-generating the node of an image tree in data management system, show.The single measurement pattern that no longer needs or image can be deleted in data management system one by one or as one group of whole deletion.
Radiographic measurement comprises: setting-out, picture path, picture angle, picture four point system angle, picture circle, picture rectangle, picture polygon.
If in data management system, selected the shade image, then the title of image will be presented at Information " shade: " at the back.The statistical information and the grey level histogram that show selected image downwards successively.
The Image registration device reaches " non-rigid body registration " three parts by " some registration ", " rigid body registration " and forms.
The medical image registration is meant one group of medical image behind spatial alternation, makes it and another group keep corresponding point on the motionless medical image to reach consistent on the space.Keep motionless being called with reference to image, conversion is called unsteady image.The result of registration is applied to the image that floats.
The Image registration operation all should be carried out following FOUR EASY STEPS earlier:
(1) loading needs two group images of registration.
(2) in data management system, choose two group images.Selecting wherein one group is with reference to image, and another group is the image that floats.Can confirm that which group is with reference to image through clicking " exchanging with reference to image and unsteady image " button, which group is the image that floats.
(3) the interactive areas top demonstrates the node title with reference to image and unsteady image.Can confirm that which group is with reference to image through clicking " exchanging with reference to image and unsteady image " button, which group is the image that floats.
(4) transparency of the image that floats is set through adjusting slider, slide block is when Far Left, and floating image is shown as the bright state of full impregnated, when rightmost, then is shown as complete opaque state.Choose the check box of Show Options, can make two group images switch to red/green image by the gray scale image.Adopt two kinds of colors to compare, can make the difference between image more obvious.
The image segmenting device can be that anatomical structure and pathologic structure establishment are cut apart on the medical image of human body.Comprise Interactive Segmentation and blood vessel segmentation two parts.Below be example with the liver, the principle of work of image segmenting device is described.
Blood vessel segmentation comprises based on the blood vessel segmentation of threshold value with based on two steps of reconstructing blood vessel of model.
The image basic demand is that blood vessel was strengthened the CT data; Bed thickness≤2mm; And blood vessel CT voxel mean value is greater than 30 gray-scale values of peripheral organs, can see that basically blood vessel just can be used for cutting apart (nuclear-magnetism is also passable, does not advise adopting the nuclear-magnetism image but operating personnel are had relatively high expectations).
Blood vessel segmentation operation steps based on threshold value is following:
(1) chooses seed points
(2) confirm threshold value
Promptly confirm the last lower threshold value of blood vessel, move to mouse in the blood vessel, confirm threshold range, the click preview is seen to check the mark and is cut effect, and the adjustment threshold value is up to obtaining comparatively ideal blood vessel segmentation data.
(3) blood vessel segmentation
Button is cut apart in click after having confirmed threshold value, waits for the blood vessel data of cutting apart completion.
(4) based on the reconstructing blood vessel of model
Blood vessel after completion is cut apart is more coarse, can't accomplish follow-up various analyses, therefore need rebuild blood vessel; At first choose the starting point (being generally a point) of blood vessel at three dimensional window; Choose the terminating point of blood vessel then according to your needed vessel branch, the branch that does not choose does not then rebuild, and chooses seed points and clicks the reconstruction button afterwards; This step is consuming time longer, waits the blood vessel result after completion to be calculated just can be seen reconstruction.
(5) center line extracts
Be used for morphological analysis and reconstructing blood vessel.
(6) hepatic segments is cut apart
Can liver be divided into eight sections show with liver according to medical requirement, and the inner corresponding blood vessel of each hepatic segments is also shown with various colors with various colors.
This equipment of application can be realized following several function:
1, art preplanning
(1) to tumour size, maximum diameter and tumor surface to the calculating of each piping system distance and visual.Referring to Figure 11, tumour size, shape, maximum diameter and surperficial each point be to vena hepatica, arteria hepatica, portal vein, the bee-line of each piping system of gall-bladder can reflect with measurement through this equipment accurately.
The venture analysis of the secure border of (2) tumour ablation being delimited.Referring to Figure 12, through the three-dimensional rendering figure after rebuilding, can clearly see melting secure border and whether having risk of delimiting in advance, can delimit secure border again according to actual conditions.
(3) liver three-dimensional reconstruction model is generated three-dimensional PDF report.Referring to Figure 13, planning can realize liver three-dimensional reconstruction model and each item information are exported to PDF software after accomplishing, and generates three-dimensional PDF report.
2, surgical navigational
Intervene operation navigational system under image-guided adopts the medical image of multiple modalities to assist a physician operating theater instruments directly is punctured to inside tumor carries out topical therapeutic, and then improves the operation quality, reduces operation wound, reduces the patient suffering.The function of native system comprises:
(1) native system has been carried out the demarcation between operating theater instruments summit and the trace tool.Referring to Figure 14; After magnetic orientator is unified in the coordinate information of the trace tool of obtaining and the ultrasonoscopy in the art in the same coordinate system; System with unified information mapping in coordinate systems in image; Realize obtaining the coordinate information of any time operating theater instruments summit in coordinate systems in image, and carry out 3-D display.Finally realized the registration between the preceding CT image of location instrument, patient/intraoperative ultrasound image, trace tool, operating theater instruments and art.The conversion and the registration of coordinate system have been realized.
(2) native system can carry out registration with CT image before the art and the ultrasonoscopy in the art, and through the accurate registration between the medical image in the stereotaxic instrument device realization art, patient, the operating theater instruments.
(3) inserting needle path planning before the art: according to medical image design entry point distance, needle angle and the depth of needle after handling.
(4) inserting needle guiding in the art: the real-time coordinate information of the operating theater instruments that will be obtained by locating device through mapping maps in the coordinate systems in image, calculates the deviation between operating theater instruments and the path planning simultaneously, and accurately the guiding operation is punctured according to the art preplanning.
(5) merge the three-dimensional artificial device of navigation: in operation is carried out, realized the real time fusion of CT image before intraoperative ultrasound image and the art, and overlapped demonstration with 3-dimensional image.Calculate intraoperative ultrasound image corresponding tangent plane position, space on 3-dimensional image, resample and show corresponding with it multiplanar reconstruction through on the CT volume data, carrying out real-time three-dimensional, be convenient to the doctor from multi-angle, observe at many levels and analyze.
3, postoperative evaluation
This equipment can be judged whether tumour ablation is complete, have or not the residual or edge recurrence of tumour.
Whether the piping system after (1) clear demonstration is melted has damage.
(2) use the green color-coded scheme of reddish yellow and represent three-dimensional tumor model.Use the green color-coded scheme of reddish yellow and represent assessment result.Be the zone that red expression can not be carried out ablative surgery, the zone that yellow expression is not melted fully, green is represented the zone of successful ablation.
(3) three-dimensional tumor model being launched into 2 d plane picture intuitively shows.Referring to Figure 15, the tumor model after rebuilding is launched into 2 d plane picture, and uses color-coded scheme and come zone clear, that displaying is not intuitively melted, do not melted fully and melts fully.
(4) to the assessment of tumour ablation surgical effect.Referring to Figure 16,, promptly analyze whether melt and reached the secure border that melts fully to the assessment of tumour ablation surgical effect.Through this scheme, do not melt, do not melt fully, fully ablation areas accounts for to such an extent that number percent can calculate, the tumour 3 D coordinate of every some correspondence and can calculate and show apart from the distance on surface, ablation area on the planimetric map.
Claims (1)
1. method of utilizing the image-guided device processes image of ablation, the image-guided equipment of said ablation comprises processor, display screen, keyboard and mouse; Processor is the core component of the image-guided system of ablation; Said processor inside comprises image collection device, image processor and Image Management device, and wherein, said image processor comprises image two-dimensional process device, image three-dimensional treating apparatus, image measuring device, Image registration device, image segmenting device.It is characterized in that, said method comprising the steps of:
(1) image is carried out two-dimensional process; Two-dimensional process comprises carries out base conditioning and image is carried out cutting image;
(2) image is carried out 3D processing; 3D processing comprises carries out volume drawing and image is carried out video production image;
(3) image is measured, made the user or contain storehouse and individual image dough sheet of the three-dimensional of graphics plane data type carries out interactive operation with bidimensional image;
(4) carry out Image registration;
(5) carrying out image cuts apart; Said image is cut apart and is comprised Interactive Segmentation and blood vessel segmentation, in image, accomplishes reconstructing blood vessel through blood vessel segmentation, and image processing is accomplished.
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| CN109035382A (en) * | 2018-08-30 | 2018-12-18 | 天津工业大学 | A kind of production method of the guiding device for targeted therapy |
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Application publication date: 20120718 |