CN103300856B - The cervical vertebral body axis of MRI image and the localization method of linked groups and device - Google Patents
The cervical vertebral body axis of MRI image and the localization method of linked groups and device Download PDFInfo
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Abstract
The invention discloses localization method and the device thereof of a kind of cervical vertebral body axis and linked groups.The present invention locates rapidly cervical vertebra axis by location gas pipeline, and utilize gray scale approaches uniformity in vertebral body and have all substantially fixing feature of obvious border, the shape of vertebral body and size to carry out extracted in self-adaptive vertebral body with intervertebral disc, this leaching process is not by the impact of image weights, according to the vertebral body extracted and then the midline position and the angle that calculate each intervertebral disc, thus effectively the scanning of intervertebral disc of cervical vertebra in MRI system is located automatically.The present invention also discloses a kind of magnetic resonance system.
Description
Technical field
The present invention relates to medical imaging device, particularly relate to adopt magnetic resonance image (MRI) to carry out method and apparatus that intervertebral disc of cervical vertebra locates automatically and a kind of magnetic resonance imaging system.
Background technology
Nuclear magnetic resonance (MRI, MagneticResonanceImaging) because the advantages such as not damaged and multiparameter imaging have obtained clinical practice widely, particularly it has the ability of any fault imaging, ground observation analysis organizational structure and pathological changes thereof can be looked at from different perspectives straight, therefore in the series inspection of spinal column, have outstanding advantage.The MRI checking process of a typical intervertebral disc of cervical vertebra often needs doctor to be first manually placed on the intervertebral disc of pathological changes by each group scanning line on the picture of sagittal plane location.And be ensure that line group is through intervertebral disc center, need the position and the angle that repeatedly adjust line group, this process is complicated and consuming time.Therefore, automatically identify if MRI intervertebral disc can be realized, just can realize the intelligent scanning location of intervertebral disc, thus reduce the operation burden of sweep time and doctor.The automatic extractive technique of existing intervertebral disc mainly adopts image processing method, auto Segmentation or identify vertebral body or intervertebral disc in sagittal view picture.Some traditional image segmentation processing methods find region to be split mainly through rim detection or prior shape information etc., then according to the intensity value ranges of target area or realize splitting with the difference of neighborhood.But this dividing method is often for a long time consuming time and be not very effective, because in the image of the different weight of MRI, the gray value of intervertebral disc can change, as T1 weight intervertebral disc presents black, and it is then partially white in T2 weight or STIR (ShortT1InversionRecovery, short T1 inversion recovery) weight map picture.In addition also have some to utilize deformable model to mate and extract the method that vertebral body relocates intervertebral disc, the problem of this method is that in spine image, visible vertebral body quantity might not be identical, if visible vertebral body is too much or the very few coupling that all can cause lost efficacy.The dividing method also had needs doctor to carry out certain interactive operation, and as selected characteristic point etc., and this can reduce the efficiency of inspection.
Summary of the invention
The main technical problem to be solved in the present invention is, provides a kind of adopt magnetic resonance image (MRI) to carry out method and apparatus that intervertebral disc of cervical vertebra locates automatically and a kind of magnetic resonance imaging system.
According to an aspect of the present invention, a kind of localization method and device of cervical vertebral body axis are provided, wherein device comprises: gas pipeline positioning unit, for the transient characteristic of the body and imaging background that utilize measured in magnetic resonance image (MRI), the body surface border detecting magnetic resonance image (MRI) obtains body surface boundary image, detects gas pipeline according to described body surface boundary image; Vertebral body axis positioning units, for the position characteristic according to gas pipeline and cervical vertebral body axis, carries out to the coordinate of gas pipeline the coordinate that translation obtains cervical vertebral body axis by default translation condition, thus navigates to vertebral body axis.
According to a further aspect in the invention, provide a kind of cervical vertebral body localization method and device, wherein device comprises: the positioner of cervical vertebral body axis as above; Seed points chooses unit, for obtaining the possible boundary point of vertebral body according to the grey scale change gradient of described vertebral body axis, by the 3rd pre-conditioned screening described possibility boundary point, moved along the direction of vertebral body axis by the coordinate of the boundary point after screening, the point corresponding to the new coordinate obtained is the seed points of vertebral body inside; Vertebra localization unit, for the seed points based on vertebral body inside, adopts region-growing method to obtain most probable vertebral body region.
According to a further aspect in the invention, provide a kind of intervertebral disc of cervical vertebra localization method and device, wherein device comprises: cervical vertebral body positioner as above; Angle point determining unit, for according to the cervical vertebral body region navigated to, utilizes helical scanning method to detect the summit in vertebral body region; Intervertebral disc centrage determining unit, for according to the line between the summit in adjacent two vertebral body regions, obtains two central points, and the line of described two central points is intervertebral disc centrage.
The present invention also provides a kind of magnetic resonance imaging system comprising above-mentioned cervical vertebral body positioner or intervertebral disc of cervical vertebra positioner.
Accompanying drawing explanation
Fig. 1 is the structural representation of magnetic resonance imaging system in an embodiment of the present invention;
Fig. 2 is the structural representation of cervical vertebral body positioner in an embodiment of the present invention;
Fig. 3 is the schematic flow sheet of cervical vertebral body localization method in an embodiment of the present invention;
Fig. 4 is T1 weight sagittal plane cervical vertebra image;
Fig. 5 is the schematic flow sheet of locating vertebral body axis in an embodiment of the present invention;
Fig. 6 is the maximum/minimum point set schematic diagram detected after asking first derivative;
Fig. 7 is the body surface border schematic diagram detected in an embodiment of the present invention;
Fig. 8 be in an embodiment of the present invention after asking second dervative extreme points extraction result schematic diagram;
Fig. 9 is the gas pipeline schematic diagram obtained after screening in an embodiment of the present invention;
Figure 10 is the vertebral body axis schematic diagram obtained in an embodiment of the present invention;
Figure 11 is the schematic flow sheet choosing vertebral body internal seeds point in an embodiment of the present invention;
Figure 12 is the schematic flow sheet extracting vertebral body region in an embodiment of the present invention;
Figure 13 is the vertebral body area schematic oriented in an embodiment of the present invention;
Figure 14 is the intervertebral disc of cervical vertebra localization method schematic flow sheet of an embodiment of the present invention;
Figure 15 is the scanning pattern schematic diagram detecting vertebral body angle point in an embodiment of the present invention;
Figure 16 is the intervertebral disc centrage schematic diagram extracted in an embodiment of the present invention.
Detailed description of the invention
By reference to the accompanying drawings the present invention is described in further detail below by detailed description of the invention.
In various embodiments of the present invention, be usually directed to first locate " vertebral body axis " and " gas pipeline " to the identification location of cervical vertebral body and intervertebral disc of cervical vertebra, therefore, need the concept first providing " vertebral body axis " and " gas pipeline ".Vertebral body axis alleged by various embodiments of the present invention not considered critical is the line passed from vertebral body center, as long as can longitudinally through all vertebral bodys, so the vertebral body axis of various embodiments of the present invention definition has allowed certain error.And due to trachea area in whole magnetic resonance image (MRI) in long and narrow tape forms, the trachea area shape the same line detected, therefore describes this trachea area with gas pipeline here.
It is the structure of magnetic resonance imaging system in an embodiment of the present invention shown in Fig. 1.As shown in Figure 1, magnetic resonance imaging system 100 comprises magnet system 110, gradient magnetic system 120, radio system 130 and controls and processing system 140.Magnet system 110 comprises magnet 111, gradient magnetic field coil 112, transmitting coil 113 and receiving coil 114, magnet 111 can adopt permanent magnet or resistive magnet, a constant main field is provided for giving object under test (such as patient), gradient magnetic field coil 112 is for producing a gradient magnetic at three dimensions, transmitting coil 113 is for providing radio frequency (RF) pulse to excite nuclear spin in object under test, and receiving coil 114 is for detecting the echo-signal sent by determinand.Gradient magnetic system 120 is connected with control and processing system 140, for driving gradient magnetic field coil 112 under the control of control and processing system 140.Radio system 130 with control and processing system 140 be connected, for control and processing system 140 control under produce RF pulse and through processing and amplifying after-applied give transmitting coil 113.Control and processing system 140 both for controlling each several part, also for processing echo-signal.The echo-signal that receiving coil 114 detects is transferred to control and processing system 140.
In a kind of embodiment, control and processing system 140 comprise cervical vertebral body positioner, for based on the magnetic resonance image (MRI) obtained, magnetic resonance image (MRI) are oriented the cervical vertebral body of measured.In another kind of embodiment, control and processing system 140 comprise intervertebral disc of cervical vertebra positioner, for based on the magnetic resonance image (MRI) obtained, magnetic resonance image (MRI) identify the centrage of the intervertebral disc of cervical vertebra of measured, thus can alleviate the operation burden of doctor.
Figure 2 shows that the structure of cervical vertebral body positioner in a kind of embodiment.As shown in Figure 2, cervical vertebral body positioner 200 comprises the positioner 210 of cervical vertebral body axis, seed points chooses unit 230 and vertebra localization unit 250.The positioner 210 of cervical vertebral body axis is for determining vertebral body axis according to gas pipeline; Seed points chooses unit 230 for obtaining the possible boundary point of vertebral body according to the grey scale change gradient of described vertebral body axis, by the 3rd pre-conditioned screening described possibility boundary point, moved along the direction of vertebral body axis by the coordinate of the boundary point after screening, the point corresponding to the new coordinate obtained is the seed points of vertebral body inside; Vertebra localization unit 250, for the seed points based on vertebral body inside, adopts region-growing method to obtain most probable vertebral body region.
Still as shown in Figure 2, in a kind of instantiation, the positioner 210 of cervical vertebral body axis comprises gas pipeline positioning unit 211 and axis positioning units 213; Wherein, gas pipeline positioning unit 211 is for the transient characteristic of the body and imaging background that utilize measured in magnetic resonance image (MRI), and the body surface border detecting magnetic resonance image (MRI) obtains body surface border, according to described body surface border detection gas pipeline; Vertebral body axis positioning units 213, for the position characteristic according to gas pipeline and cervical vertebral body axis, carries out to the coordinate of gas pipeline the coordinate that translation obtains cervical vertebral body axis by default translation condition, thus navigates to vertebral body axis.
In another kind of instantiation, still as shown in Figure 2, vertebra localization unit 250 comprises initial calculation subelement 251, cycle calculations subelement 253 and growth subelement 255.Wherein, initial calculation subelement 251 is for initializing growing threshold, region growing is carried out based on initialized growing threshold, area filling is carried out in region after growth, calculate the area girth ratio of filling rear region, estimate the area girth ratio of expectation according to the region area after filling, obtain the difference of filling the area girth ratio of rear region and the area girth ratio of expectation; Cycle calculations subelement 253 is for changing growing threshold, and re-start region growing by the growing threshold after changing, and area filling is carried out in the region after growth, obtain the area girth ratio of new filling rear region, the area girth ratio of the new expectation estimated and the difference of the two, circulate with this until described difference is minimum and fills the area of rear region and be less than and preset growth target maximum area and the area of filling rear region is greater than and presets growth target minimum area; Growth subelement 255, for growing threshold corresponding for minimum difference is considered as optimum growh threshold value, grows based on vertebral body internal seeds point according to this growing threshold, obtains preliminary vertebral body region.In another instantiation, vertebra localization unit 250 is except comprising initial calculation subelement 251, cycle calculations subelement 253 and growth subelement 255, also comprise and optimize subelement 257, for after obtaining preliminary vertebral body region, according to the area information of each seed points after region growing, obtain best vertebral body region; Wherein, described area information comprises the positional information of neighboring seeds point growth rear region, the area discrepancy of neighboring seeds point growth rear region.
Based on above device, a kind of cervical vertebral body localization method as shown in Figure 3, comprises the following steps:
Step S1, location cervical vertebral body axis;
Step S2, based on vertebral body axis selected seed point;
Step S3, obtains vertebral body based on seed points.
Below by embodiment composition graphs 4 to Figure 13, above steps is elaborated.
For step S1, utilize the characteristic of trachea area in magnetic resonance image (MRI), locate cervical vertebral body axis by location gas pipeline.
In the MRI image of cervical vertebra, trachea area is a more significant region, because tracheal strips does not have the tissue such as water or fat, all present black in the MRI image of different weight, have obvious difference with surrounding tissue, as shown in Figure 4, it is dark that surrounding tissue is compared in trachea area.In the diagram, the left side of figure is before measured, and the right side of figure is after measured.
Being close to trachea due to cervical vertebra and moving towards basically identical, therefore, in a kind of embodiment, locating cervical region by first locating trachea.The process of location trachea can be subdivided into again: extract measured object first side (such as left side) body surface border, extract the second side (such as right side) body surface border, location trachea.Therefore, in the present embodiment, as shown in Figure 5, step S1 comprises the following steps:
Step S11, detection bodies table boundary.The extraction on body surface border can utilize the transient characteristic between body and imaging background.Such as shown in Fig. 4, left side body surface is by black to white transition, and right side body surface is by vain to black transition.Utilize first derivative can detect this transition, because body surface border is roughly capwise, can detect by single order horizontal derivative extreme value.First derivative is asked in the direction (such as horizontal direction) vertical with body surface boundary direction, and first derivative can calculate by following expression:
Wherein, I is input picture,
represent x direction (horizontal direction) first derivative, G is Gaussian template, and * is convolution.
After selecting suitable Gauss's masterplate to calculate first derivative, detect maximum point and the minimum point of the first derivative of horizontal direction respectively, maximum point is for detecting body surface border, left side, and minimum point is for detecting body surface border, right side.Ask the position of first derivative along the conversion of body surface boundary direction, circulation above-mentioned steps, detects a lot of maximum point and minimum point, and some maximum points connect into line, and form maximum point set, some minimum points connect into line, forms minimum point set.Maximum/minimum point image is as Fig. 6, and wherein white point is maximum, and Grey Point is minimum.Can find out, too much maximum point set and minimum point set is there is in image, therefore, need pre-conditionedly to screen according to first multiple maximum point set and minimum point set, first pre-conditioned can be consider according to the distance of each point derivative value and line and image boundary on the length of line, line.Obtain body surface border after screening, as shown in Figure 7, after the first pre-conditioned screening, only leave (such as left side) body surface border, the first side and the second side (such as right side) body surface border.Step S12 is performed after obtaining body surface border.Certainly, it should be appreciated by those skilled in the art that first is pre-conditioned except screening conditions disclosed in the present embodiment, can also be other screening conditions, as long as realize filtering out body surface border, both sides in numerous border.
Step S12, detects gas pipeline.After extracting body surface border, utilize the left and right scope of body surface borders to detect gas pipeline.Gas pipeline is in the picture in long and narrow tape forms, and its gray value forms sharp contrast close to about 0 (black) and its.Utilize this feature, gas pipeline can be detected by second dervative.Second dervative is responsive to linear structure, but needs to specify suitable filter scale, only has and could effectively detect when filter scale and gas pipeline width match.Because extracted body surface border, the distance of the first lateral body table boundary and the second lateral body table boundary can be utilized to estimate filter scale, adopt the filter scale of estimation to ask second dervative to magnetic resonance image (MRI); Second dervative calculation expression is as follows:
Wherein, σ is Gaussian template standard deviation, according to the range estimation of the first lateral body table boundary and the second lateral body table boundary, embodies filter scale; d
lrfor the average distance on body surface border, both sides, M is a proportionality constant, can determine according to experiment.
After asking the filtering of secondary derivative, get extreme value to image, namely detect the extreme value of second dervative image, thus obtain multiple extreme point set being connected into line by extreme point, extreme points extraction result is as Fig. 8.After extracting extreme point, still need to screen, now second pre-conditioned (i.e. screening rule) can be considered according to combined factors such as the length of the horizontal level of trachea in cervical vertebra image, upright position, gas pipeline, such as, in the present embodiment, obtain image according to from measured side, as shown in Figure 4, the horizontal level of gas pipeline keeps left, upright position on the lower and then consider the factor such as length of gas pipeline, thus obtains gas pipeline after screening, as shown in Figure 9.Second is pre-conditioned except condition disclosed in the present embodiment, can also be other screening conditions, as long as realize filtering out gas pipeline in numerous border.
Step S13, location vertebral body axis.Because cervical vertebral body axis is close to approximate on the right side of trachea and the same trend of trachea, can by gas pipeline translation be obtained.In addition, consider above trachea, it is nearer that itself and cervical vertebra suffer, therefore, translation parameters can do one and simply revise: the coordinate translation minimum (being set to the first translation parameters) being namely in gas pipeline pixel topmost, the coordinate translation of pixel is bottom maximum (being set to the second translation parameters), the translation parameters of the coordinate of middle pixel obtains by interpolation (as linear interpolation), and the first translation parameters and the second translation parameters can utilize the distance on body surface border, both sides to estimate equally, namely the first translation parameters and the second translation parameters are and the empirical value of distance dependent between the first lateral body table boundary and the second lateral body table boundary.Certainly, as aforementioned, the vertebral body axis involved by embodiment is the basis of follow-up location vertebral body, thus axis not considered critical be the line passed from vertebral body center, as long as can longitudinally through all vertebral bodys, so have allowed certain error.In a kind of embodiment, the calculation expression of vertebral body axis is as follows:
spine(t)＝I(x(t)+k(t)·d
lr，y(t))
Wherein, spine (t) represents vertebral body axis, and t is index, and (x (t), y (t)) is gas pipeline coordinate, and k (t) is the proportionality coefficient of translation distance relative left and right body surface frontier distance.Through calculating, vertebral body axis location is as shown in the right white line in Figure 10.
After determining vertebral body axis, chosen the seed points of vertebral body inside by step S2, and carry out region growing by step S3 based on seed points, thus vertebral body region can be obtained.
For step S2, choose the seed points of vertebral body inside based on the vertebral body axis oriented.Embodiment is chosen vertebral body internal seeds point methods and mainly be make use of and have clear and definite border between vertebral body and intervertebral disc and have two, certain distance interval feature between vertebral body and vertebral body.The process of selected seed point can be divided into: calculate vertebral body boundary point, screening boundary point, moving boundary point.As shown in figure 11, step S2 comprises the following steps:
Step S21, determining may boundary point.Because the gray value at vertebral body boundary point place presents significant change, detection boundaries point can be carried out according to Gradient Features.The vertebral body axis utilizing step S1 to orient, by calculating after first derivative, the border of what the position of gray scale acute variation was corresponding is exactly vertebral body and intervertebral disc.A kind of judgement is specifically available | g (t) | and > T is as screening conditions, the point meeting this condition is considered as possibility boundary point, wherein g (t) is axis gradient, and T is threshold value, desirable T=mean (| g (t) |).Be the variable gradient of gray scale on vertebral body axis because of what adopt in the present embodiment, gradient represents the change of gray scale, and the height of it and gray scale itself has nothing to do, as long as gray scale changes, all can reflect in gradient; So the present embodiment when extracting the seed points of vertebral body inside by vertebral body or the inconsistent impact of intervertebral disc gray scale, the seed points of vertebral body inside can be extracted more accurately, to carry out follow-up vertebral body region growing.
Step S22, screening may boundary point.
The possible boundary point that step S21 detects has redundancy, and as a border often detects multiple boundary point, this just needs to carry out boundary point screening.By the 3rd pre-conditioned screening, be have the characteristic of certain distance to screen as utilized between adjacent two boundary points, the distance d finally put between any two adjacent boundaries met:
Wherein, N
1, N
2for empirical value, can empirically set.
3rd is pre-conditioned except screening conditions above-mentioned in the present embodiment, can also be other screening conditions, as long as realize filtering out qualified boundary point in numerous boundary point, to reduce the quantity of boundary point.
Step S23, obtains seed points, and the coordinate being about to the boundary point after screening moves along the direction of vertebral body axis, and the point corresponding to the new coordinate obtained is the seed points of vertebral body inside.Such as vertically moved by the boundary point after screening, object is that the position of boundary point is moved to vertebral body inside up or down.The distance of movement can rule of thumb set, such as, be greater than a value of the upper and lower width of intervertebral disc.
For step S3, based on the seed points of the vertebral body inside that step S2 chooses, carry out adaptive threshold region growing to obtain vertebral body region.In this step, first growing threshold is initialized, region growing is carried out based on initialized growing threshold, area filling is carried out in region after growth, calculate the area girth ratio of filling rear region, estimate the area girth ratio of expectation according to the region area after filling, obtain the difference of filling the area girth ratio of rear region and the area girth ratio of expectation; Then, change growing threshold, and re-start region growing by the growing threshold after changing, and area filling is carried out in the region after growth, obtain the area girth ratio of new filling rear region, the area girth ratio of the new expectation estimated and the difference of the two, circulate with this until the difference of the two is minimum and fills the area of rear region and be less than and preset growth target maximum area and the area of filling rear region is greater than and presets growth target minimum area; Finally, growing threshold corresponding for minimum difference is considered as optimum growh threshold value, grows based on vertebral body internal seeds point according to this growing threshold, obtain preliminary vertebral body region.
Here the shape iterative computation growing threshold of the area of vertebral body, vertebral body is utilized.Area coordinate after growth meets:
Wherein, (seedx
j, seedy
j) be the coordinate of a jth seed, (x
i, y
i) be (seedx
j, seedy
j) isolated Neighbourhood set, K is seed points quantity H
jfor the growing threshold based on a jth seed.Here crucial needs determines optimum growing threshold H
j.
As shown in figure 12, for single seed, region-growing method extracts vertebral body region and comprises the following steps:
Step S31, arranges initial threshold H
ini, growth target minimum area SM and growth target maximum area ST, and by initial threshold H
inigive growing threshold H; Wherein initial threshold H
inican be a larger fixed value, also can be the value that the maximum gray scale of vertebral body axis and minimal gray difference are multiplied by a coefficient and obtain, SM and ST can utilize d
lrestimate, as
with
l
1and L
2empirically select.
Step S32, carries out region growing based on growing threshold, and area filling is carried out in the region after growth.In this step, region growing can adopt existing technology carry out region growing based on seed points and fill.
Step S33, calculates the area girth of filling rear region than SP,
wherein, S is the area of filling rear region, and P is the girth of filling rear region.
Step S34, extrapolates the area girth ratio of expectation according to the area of filling rear region.Substantially fix according to vertebral body shape and in the feature of approximating square, suppose that vertebral body shape is for square, according to the area S of filling rear region, extrapolates girth, and then reference area girth ratio, namely extrapolate the area girth of expectation than SPR,
Step S35, the difference of the area girth ratio of reference area girth ratio and expectation.In this step, the difference of the area girth ratio of area girth ratio and expectation can be both differences, also can be both ratio.
Step S36, judges whether growth meets predetermined condition, and predetermined condition can be that growing threshold H is very little, is less than setting threshold value.Predetermined condition also can be that the area S of filling rear region is very little, is less than setting threshold value.If growth meets predetermined condition, then perform step S38, stop the growth based on this seed, and minimum difference is found out in the difference of the filling rear region area between growth target minimum area and growth target maximum area, growing threshold corresponding to this minimum difference is designated as optimum growh threshold value, the filling rear region corresponding to minimum difference is designated as the vertebral body region based on this seed growth; Otherwise perform step S47;
Step S47, growing threshold converts.Such as reduce growing threshold according to a pre-defined rule, then turn to step S42, carry out region growing based on new growing threshold, circulation performs until growth meets predetermined condition.This pre-defined rule can be that growing threshold is successively reduced according to the step-length of setting, growing threshold also can be made to successively decrease according to the curve of a setting, successively can also reduce growing threshold irregular or randomly.
Because vertebral body area can not accurately be estimated, if only utilize vertebral body area to decide threshold value, probably obtain region in irregular shape, segmentation effect is not good yet.Because the impact of the factors such as noise makes vertebral body gradation uniformity unsatisfactory, intensity profile is irregular, the region that different gray thresholds grows may be more or less the same by area, but shape obvious difference, when the region of only extracting to some extent and vertebra just in time coincide, shape is the most regular, and therefore the present embodiment combines the shape information of vertebral body, consider again vertebral body area simultaneously, make the region after growing the most similar to true vertebral body region.
To each seed points, after obtaining optimum H, have also been obtained vertebral body region corresponding to this seed points through region growing, be preliminary vertebral body region.
In another kind of embodiment, the preliminary vertebral body region obtained for step S3 has also carried out analyzing judging, obtaining preferably vertebral body region, this is because the seed points quantity obtained still exists redundancy, mainly containing two kinds of situations above by optimizing:
1) some seed points is not within vertebral body, and on intervertebral disc, even if at this moment carry out above-mentioned region growing, the region obtained neither vertebral body region;
2) some seed points is in same vertebral body inside simultaneously, and the region that they grow has lap.
In order to solve two problems above, this embodiment is analyzed the preliminary vertebral body region obtained, and according to the area information of each seed points after region growing, obtains best vertebral body region; Wherein, area information comprises the difference, the positional information of former and later two seed points growth rear region, the area discrepancy of former and later two seed points growth rear region etc. of SP and the SPR after the growth of each seed points, and these information can effectively solve two problems above.
After region growing, regional analysis judge, the vertebral body region obtained as shown in figure 13.
According to content disclosed by the invention, those skilled in the art should understand that, when carrying out cervical vertebral body and extracting, the Overall Steps in above-described embodiment can be adopted, part steps also can be adopted to be combined with, such as, prior art is adopted when locating gas pipeline, and the scheme in the embodiment of the present invention is adopted when locating vertebral body internal seeds point and carrying out region growing, or adopt the scheme in the embodiment of the present invention when locating gas pipeline and carrying out region growing, and other steps adopt prior art.
Be more than the explanation of cervical vertebral body positioner and correlation method, more in MRI image what can use is the centrage of intervertebral disc of cervical vertebra identifying measured, to reduce sweep time and to alleviate the operation burden of doctor.Therefore, a kind of control of embodiment and processing system comprise intervertebral disc of cervical vertebra positioner, and this device comprises cervical vertebral body positioner, angle point determining unit, intervertebral disc centrage determining unit in aforementioned any embodiment.Wherein, angle point determining unit is used for the cervical vertebral body region according to navigating to, and utilizes helical scanning method to detect the summit in vertebral body region; Intervertebral disc centrage determining unit is used for according to the line between the summit in adjacent two vertebral body regions, and obtain two central points, the line of described two central points is intervertebral disc centrage.
Based on above-mentioned intervertebral disc of cervical vertebra positioner, a kind of intervertebral disc of cervical vertebra localization method as shown in figure 14, comprises the following steps S1 ~ S5:
Step S1, location cervical vertebral body axis;
Step S2, based on vertebral body axis selected seed point;
Step S3, obtains vertebral body based on seed points;
Step S4, determines vertebral body angle point based on vertebral body;
Because vertebral body shape is fixed and substantially in the feature of approximating square, on the vertebral body area results obtained above, need four apex coordinates detecting each vertebral body, i.e. top left corner apex coordinate, lower left corner apex coordinate, upper right corner apex coordinate, lower right corner apex coordinate.Detection method can utilize spiral scanning method to extract the summit of vertebral body.To detect the top left corner apex (setting the positive direction of rectangular coordinate as and downwards to the right) of certain vertebral body, by the boundary rectangle of this vertebral body, by a predetermined angle as this boundary rectangle of spiral scanning is carried out in the direction of 45 degree, the coordinate of the top left corner apex in vertebral body region is in the most left and longitudinal the top of transverse direction in this rectangle frame.Scanning pattern as shown in figure 15.In like manner, different scanning directions is adopted can to obtain four summits of vertebral body respectively respectively.
Step S5, based on vertebral body angle point determination intervertebral disc centrage.
Embodiment adopts the summit of adjacent two vertebral bodys to calculate the central point of intervertebral disc.Such as, using point coordinates in last summit, the vertebral body lower left corner and a rear vertebral body top left corner apex as the LC point of intervertebral disc, the middle point coordinates on last summit, the vertebral body lower right corner and a rear summit, the vertebral body upper right corner is as the right central point of intervertebral disc, then intervertebral disc centrage is determined by these two central points.The intervertebral disc centrage finally extracted as shown in figure 16.
Step S1 to S3 in the present embodiment can adopt all or part of step provided by the invention, also can be all or part of employing existing techniques in realizing.
The present invention locates cervical vertebra rapidly by location trachea, and utilize gray scale approaches uniformity in vertebral body and have all substantially fixing feature of obvious border, the shape of vertebral body and size to carry out extracted in self-adaptive vertebral body with intervertebral disc, and not by the impact of image weights, and then calculate midline position and the angle of each intervertebral disc, effectively can be applied to the automatic location of intervertebral disc of cervical vertebra scanning in MRI system.
The present invention by the impact of field intensity height, not can be applicable to the MRI imaging system of any field intensity.
Be explained above and how locate cervical vertebral body or location intervertebral disc of cervical vertebra based on magnetic resonance image (MRI), but when adopting other modes to obtain measured object tissue image, cervical vertebral body or intervertebral disc of cervical vertebra can be located according to method provided by the invention and/or device equally.
Above content is in conjunction with concrete embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. a localization method for cervical vertebral body axis, is characterized in that comprising:
Gas pipeline positioning step, utilizes the body of measured in magnetic resonance image (MRI) and the transient characteristic of imaging background, detects the body surface border of magnetic resonance image (MRI), according to described body surface border detection gas pipeline;
Vertebral body axis location step, according to the position characteristic of gas pipeline and cervical vertebral body axis, carries out to the coordinate of gas pipeline the coordinate that translation obtains cervical vertebral body axis by default translation condition, thus navigates to vertebral body axis.
2. the localization method of cervical vertebral body axis as claimed in claim 1, is characterized in that, in described gas pipeline positioning step,
The body surface border of described detection magnetic resonance image (MRI) comprises:
Single order calculates sub-step, characteristic is moved towards according to body surface border, calculate the first derivative in the direction vertical with body surface boundary direction, maximum point set and the minimum point set of described first derivative is obtained according to result of calculation, described maximum point set is for detecting the first lateral body table boundary, and minimizer set share in detection second lateral body table boundary;
First screening sub-step, pre-conditionedly to screen described maximum point set and minimum point set by first, obtains the first lateral body table boundary and the second lateral body table boundary;
Describedly to comprise according to described body surface border detection gas pipeline:
Estimation sub-step, according to the range estimation filter scale of the first lateral body table boundary and the second lateral body table boundary;
Second order calculates sub-step, according to the gamma characteristic of trachea in magnetic resonance image (MRI), according to described filter scale to described magnetic resonance image (MRI) calculating second order differential coefficient, obtain the extreme point set of described second dervative according to result of calculation, by the described extreme point set of the second pre-conditioned screening, obtain gas pipeline.
3. the localization method of cervical vertebral body axis as claimed in claim 1 or 2, it is characterized in that, described default translation condition comprises: the translational displacement of gas pipeline pixel coordinate is topmost the first translation parameters, the translational displacement of gas pipeline pixel coordinate is bottom the second translation parameters, first translation parameters and the second translation parameters are and the empirical value of distance dependent between the first lateral body table boundary and the second lateral body table boundary, and the first translation parameters is less than the second translation parameters, be in gas pipeline topmost and bottom between the translational displacement of pixel coordinate by being obtained by interpolation described first translation parameters and the second translation parameters.
4. a positioner for cervical vertebral body axis, is characterized in that comprising:
Gas pipeline positioning unit, for the transient characteristic of the body and imaging background that utilize measured in magnetic resonance image (MRI), detects the body surface border of magnetic resonance image (MRI), according to described body surface border detection gas pipeline;
Vertebral body axis positioning units, for the position characteristic according to gas pipeline and cervical vertebral body axis, carries out to the coordinate of gas pipeline the coordinate that translation obtains cervical vertebral body axis by default translation condition, thus navigates to vertebral body axis.
5. a cervical vertebral body localization method, is characterized in that comprising:
The localization method of the cervical vertebral body axis as described in any one of claim 1-3;
Seed points selecting step, the possible boundary point of vertebral body is obtained according to the grey scale change gradient of described vertebral body axis, by the 3rd pre-conditioned screening described possibility boundary point, moved along the direction of vertebral body axis by the coordinate of the boundary point after screening, the point corresponding to the new coordinate obtained is the seed points of vertebral body inside;
Vertebral body obtaining step, based on the seed points of vertebral body inside, adopts region-growing method and obtains preliminary vertebral body region in conjunction with the shape of vertebral body and area information.
6. cervical vertebral body localization method as claimed in claim 5, is characterized in that, described employing region-growing method also obtains preliminary vertebral body region in conjunction with the shape of vertebral body and area information and comprises:
Initial calculation sub-step, initialize growing threshold, region growing is carried out based on initialized growing threshold, area filling is carried out in region after growth, calculate the area girth ratio of filling rear region, estimate the area girth ratio of expectation according to the region area after filling, obtain the difference of filling the area girth ratio of rear region and the area girth ratio of expectation;
Cycle calculations sub-step, change growing threshold, and re-start region growing by the growing threshold after changing, and area filling is carried out in the region after growth, obtain the area girth ratio of new filling rear region, the area girth ratio of the new expectation estimated and the difference of the two, circulate with this until described difference is minimum and fills the area of rear region and be less than and preset growth target maximum area and the area of filling rear region is greater than and presets growth target minimum area;
Growth sub-step, is considered as optimum growh threshold value by growing threshold corresponding for minimum difference, grows, obtain preliminary vertebral body region according to this growing threshold based on vertebral body internal seeds point;
Described vertebral body obtaining step also comprises: optimize sub-step, after obtaining preliminary vertebral body region, according to the area information of each seed points after region growing, obtains best vertebral body region; Wherein, described area information comprises the positional information of neighboring seeds point growth rear region, the area discrepancy of neighboring seeds point growth rear region.
7. a cervical vertebral body positioner, is characterized in that comprising:
The positioner of cervical vertebral body axis as claimed in claim 4;
Seed points chooses unit, for obtaining the possible boundary point of vertebral body according to the grey scale change gradient of described vertebral body axis, by the 3rd pre-conditioned screening described possibility boundary point, moved along the direction of vertebral body axis by the coordinate of the boundary point after screening, the point corresponding to the new coordinate obtained is the seed points of vertebral body inside;
Vertebra localization unit, for the seed points based on vertebral body inside, adopts region-growing method to obtain most probable vertebral body region.
8. an intervertebral disc of cervical vertebra localization method, is characterized in that comprising:
Cervical vertebral body localization method as described in claim 5 or 6;
Angle point determining step, according to the cervical vertebral body region navigated to, utilizes helical scanning method to detect the summit in vertebral body region;
Intervertebral disc centrage determining step, according to the line between the summit in adjacent two vertebral body regions, obtain two central points, the line of described two central points is intervertebral disc centrage.
9. an intervertebral disc of cervical vertebra positioner, is characterized in that comprising:
Cervical vertebral body positioner as claimed in claim 7;
Angle point determining unit, for according to the cervical vertebral body region navigated to, utilizes helical scanning method to detect the summit in vertebral body region;
Intervertebral disc centrage determining unit, for according to the line between the summit in adjacent two vertebral body regions, obtains two central points, and the line of described two central points is intervertebral disc centrage.
10. a magnetic resonance system, is characterized in that comprising: the positioner of cervical vertebral body positioner as claimed in claim 7 or intervertebral disc of cervical vertebra as claimed in claim 9.
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