CN107330236B - Virtual endoscope system with improved roaming effect - Google Patents
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Abstract
The invention discloses a virtual endoscope system with improved roaming effect, comprising: the system comprises a three-dimensional reconstruction module, a center line extraction module and a roaming module, wherein the three-dimensional reconstruction module is used for reconstructing a two-dimensional medical image to obtain a three-dimensional reconstruction image, the center line extraction module is in communication connection with the three-dimensional reconstruction module to determine the center line of the three-dimensional reconstruction image, the roaming module is in communication connection with the three-dimensional reconstruction module and the center line extraction module to control a virtual camera to move in the three-dimensional reconstruction image by taking the center line as a track, the roaming module comprises a parameter setting unit, a data recording unit and a perspective imaging unit, and the parameter setting unit is used for setting roaming parameters of the virtual camera; the data recording unit is used for recording a plurality of individual data of the virtual camera moving along the central line; the perspective imaging unit is used for projecting the individual data into a plane coordinate system to obtain a plurality of corresponding plane projection points which form a virtual endoscope image.
Description
Technical Field
The invention relates to a medical image processing system, in particular to a medical image three-dimensional visualization system.
Background
With the development of modern medical imaging technology, modern medical equipment can help physicians to diagnose lesions in internal organs or tissues of patients without surgery. Computed Tomography (CT), magnetic resonance imaging (MR) can produce data representing information about internal organs of the human body. However, these data are often not presented in a continuous three-dimensional form, they form only a series of tissue or organ sections, and therefore only experienced physicians can properly reconstruct the internal organs and tissues of the patient, which is highly subjective in diagnosis.
The Virtual Endoscope (VE) technology is a unique technology gradually formed along with the intersection and fusion of medical imaging technology computer graphics, Virtual reality and other disciplines, is an extension of the traditional endoscope technology, mainly adopts a Virtual reality technology, and relates to the fields of computer graphics, scientific computing visualization, medical imaging and the like. The virtual endoscope directly reconstructs a three-dimensional solid model of a tubular or cavity organ (such as organs of gastrointestinal tract, respiratory tract, blood vessel and the like) of a human body based on the two-dimensional medical image data, then simulates the traditional endoscope to carry out roaming observation on a virtual 3D internal cavity tissue, and can also carry out imaging and examination in an interactive mode in an organ structure, thereby clearly displaying the complex characteristics and the whole space positioning relation of the organs and the tissues of the human body and being conductive to the accurate diagnosis of doctors. The endoscope does not need to insert foreign matters into a patient body, greatly relieves the pain of the patient, can inspect the area which can not be inspected by the conventional endoscope, and has important significance in medical diagnosis and operation. Through virtual endoscopy, physicians can obtain better imaged anatomical maps to view internal structures of the body, such as the colon, bronchi, blood vessels, and other organs, from completely new perspectives.
The virtual endoscope is used for reconstructing images, the computer displays continuous cavity organ intracavity structure views, a user can carry out roaming observation on the virtual inner cavity along a certain path, the traditional endoscopy process is simulated, the observed scene is the same as that observed by the video endoscope, and even three-dimensional appearance images of anatomical structures and slice images of all directions can be displayed. In addition to the foregoing, virtual endoscopes provide viewing, control, and selection functions for viewing direction, angle of view, field of view, translation, illumination, etc. that are not available with conventional endoscopes, and their visual feedback positioning and navigation systems can determine the distance and position of the operator relative to the actual anatomy.
At present, the virtual endoscope technology is still in an initial clinical experimental stage, the current application is limited to a few fields such as teaching, training and design of treatment schemes, and is in a primary research stage, but with the rapid development of computers and medical imaging technologies, the virtual endoscope research not only has important theoretical significance, but also has wide application prospects.
As disclosed in chinese patent application publication No. 200910048616.5, a three-dimensional cardiac ultrasound virtual endoscope system includes: the data acquisition unit acquires two-dimensional image data of the heart through ultrasound; the image preprocessing unit is used for carrying out filtering processing and image segmentation on the acquired two-dimensional image data; a three-dimensional view reconstruction unit for performing three-dimensional view reconstruction on the preprocessed image data; the navigation unit is used for setting a virtual endoscope viewpoint and allowing the virtual endoscope viewpoint to observe at any angle in the reconstructed three-dimensional view; and a measuring unit that measures and analyzes data of the observed specific portion. However, the virtual endoscope system of the patent application is only for cardiac ultrasound reconstruction, and is not suitable for multi-depth and multi-angle observation of organ tissues, and does not disclose the effect of virtual roaming observation of organs.
Also, as disclosed in chinese patent application publication No. 201010575814.X, in the method, imaging data obtained by scanning a human body by CT and MRI is segmented, an image to be observed is separated, and on the basis, a progressive mesh algorithm is applied to perform three-dimensional reconstruction to obtain spatial data of an observed object. However, the data processing method disclosed in this patent application does not disclose the overall composition and operation of the virtual endoscope system, and also does not disclose a specific procedure of virtual roaming.
Therefore, it is an urgent need in the industry to provide a virtual endoscope system that can inspect any organ or tissue, is flexible to operate, and has high visual fidelity.
Disclosure of Invention
To overcome the above-mentioned drawbacks, it is an object of the present invention to provide a virtual endoscope system with improved roaming effect with high realism and reality.
According to an aspect of the present invention, there is provided a virtual endoscope system with an improved roaming effect, including: the system comprises a three-dimensional reconstruction module, a center line extraction module and a roaming module, wherein the three-dimensional reconstruction module is used for reconstructing a two-dimensional medical image to obtain a three-dimensional reconstruction image, the center line extraction module is in communication connection with the three-dimensional reconstruction module to determine the center line of the three-dimensional reconstruction image, the roaming module is in communication connection with the three-dimensional reconstruction module and the center line extraction module to control a virtual camera to move in the three-dimensional reconstruction image by taking the center line as a track, the roaming module comprises a parameter setting unit, a data recording unit and a perspective imaging unit, and the parameter setting unit is used for setting roaming parameters of the virtual camera; the data recording unit is used for recording a plurality of individual data of the virtual camera moving along the central line; the perspective imaging unit is used for projecting the individual data into a plane coordinate system to obtain a plurality of corresponding plane projection points which form a virtual endoscope image.
Among others, the virtual endoscopic system of the present invention may be used for any organ or tissue, preferably for organs or tissues such as liver, kidney or intestine and stomach, such as rectum in particular.
Optionally, the roaming parameters set by the parameter setting unit include: the system comprises a virtual camera origin, a roaming target point, a focal length and an optical axis, wherein the virtual camera origin is set as a starting point of virtual camera roaming; the roaming target point is set as the roaming destination of the virtual camera; the focal length is set as the distance from the plane to the coordinate origin of the virtual camera coordinate system to adjust the magnification of the virtual endoscope image; the optical axis is set to a photographing direction of the virtual camera to adjust a location point of the virtual camera and to determine the photographing direction of the virtual camera.
Alternatively, the virtual camera starts roaming according to an instruction from the parameter input unit, and the virtual camera may be steered, and rotated by controlling parameters of the focal length and the optical axis set by the parameter setting unit during the roaming.
Optionally, the roaming parameter set by the parameter setting unit further includes: and a degree of freedom set to rotate the virtual camera along an axis in which a viewpoint direction is set as a position of the virtual camera.
Optionally, the roaming parameter set by the number setting unit further includes: and the included angle parameter is set to be an included angle between the observation direction of the virtual camera and the viewpoint direction and is less than 45 degrees.
Alternatively, for the turning angle of the virtual camera exceeding 45 degrees generated in the automatic roaming process, the turning of the virtual camera is realized according to the relevance degree of the front frame and the rear frame of the three-dimensional reconstruction image.
Optionally, the roaming module further comprises: and the coordinate establishing unit is used for establishing a three-dimensional image data coordinate system, a virtual camera coordinate system and a plane coordinate system.
Optionally, the three-dimensional image data coordinate system is set to be established on a data space of the three-dimensional reconstructed image, wherein the data space is a rectangle, the origin of the three-dimensional image data coordinate system is set to be at one vertex of the rectangle of the data space, and the coordinate axes of the three-dimensional image data coordinate system are consistent with the sides of the rectangle; the virtual camera coordinate system is set as a three-dimensional dynamic coordinate system established by taking the virtual camera as a center, the origin of coordinates of the virtual camera coordinate system is coincident with the viewpoint, and the z axis of the virtual camera coordinate system is the photographing direction; the plane coordinate system is set to be attached to a plane coordinate system of the virtual camera coordinate system, a coordinate plane of the plane coordinate system is vertical to a z axis of the virtual camera coordinate system, and an x axis and a y axis of the plane coordinate system are respectively in the same direction as the x axis and the y axis of the virtual camera coordinate system.
Alternatively, the optical axis of the virtual camera is set as the z-axis of the virtual camera coordinate system, determined according to the number of directions of the optical axis of the virtual camera in the three-dimensional image data coordinate system.
Optionally, the collected volume data space point information is projected onto the image plane coordinate system from the light emitted when the virtual camera roams along the central path, and the information of all the projected points is collected to form the target virtual endoscope image.
Optionally, the coordinate establishing unit includes: the system comprises a geometric transformation subunit and a projection transformation subunit, wherein the geometric transformation subunit is used for transforming three-dimensional human body image data from a three-dimensional image data coordinate system to a virtual camera coordinate system through translation and rotation; the projection transformation subunit is used for projecting the points on the virtual camera coordinate system to the plane coordinate system to obtain the projection of the three-dimensional human body image volume data on the three-dimensional image data coordinate system on the plane coordinate system.
Optionally, the method further comprises: and the storage module is in communication connection with the roaming module and is used for storing the virtual endoscope image formed by the virtual camera in the roaming process.
Optionally, the virtual camera is set to step-by-step roaming along the central line, and the step size is set to be 0.1-1 times of the radius of the cross section of the tubular body where the virtual camera is roaming.
Optionally, the transforming step of the geometric transformation subunit comprises: 1. coordinate system O of three-dimensional image data1To the virtual camera coordinate system O2The origin of (a); 2. rotating three-dimensional image data coordinate system O1Such that the three-dimensional image data coordinate system O1Coincides with the z-axis of the virtual camera coordinate system; 3. is obtained in a virtual camera coordinate system O2Upper and three-dimensional image data coordinate system O1The corresponding coordinates.
The invention has the beneficial effects that: (1) the examination range is expanded, any organ or tissue can be examined, the examination difficulty is greatly reduced, and the occurrence of accidents can be reduced; (2) the inner surface of the human body tissue organ can be displayed in real time according to the movement of the position of the virtual camera and the change of the visual angle, the operation of a traditional endoscope can be simulated to observe the human body tissue, and different observation effects are realized; (3) compared with parallel projection, the projection effect of perspective projection is closer to the real visual effect of human eyes, and the projection effect of perspective projection is more in line with the visual habit of human bodies; (4) the corresponding relation between the position of the volume data and the position of the plane image data is established, the three-dimensional volume projection effect near the viewpoint can be clearly seen, and an endoscope effect image which is most similar to a real endoscope is formed; (5) the system provides vivid three-dimensional medical images for users, performs multi-depth and multi-angle observation on organ tissues, and can effectively participate in the data processing and analyzing process.
Drawings
Fig. 1 is a schematic configuration diagram of a virtual endoscope system with an improved roaming effect according to the present invention.
FIG. 2 is a schematic structural diagram of a three-dimensional image data coordinate system, a virtual camera coordinate system and a plane coordinate system according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Referring to fig. 1, as a non-limiting embodiment, the virtual endoscope system with improved roaming effect of the present invention comprises: the three-dimensional reconstruction module 100, the centerline extraction module 200, the roaming module 300, and the storage module 400. The three-dimensional reconstruction module 100 can reconstruct a two-dimensional medical image to obtain a three-dimensional reconstruction image, the centerline extraction module 200 extracts a centerline of the three-dimensional reconstruction image based on the three-dimensional reconstruction image, and the roaming module 300 can control the virtual camera to move in the three-dimensional reconstruction image by taking the centerline as a track, wherein the roaming process of the virtual camera is automatic roaming, and a path of the automatic roaming is a centerline generated by the system. The storage module 400 may then store the virtual endoscopic image formed by the virtual camera during the roaming process.
The roaming module 300 includes a parameter setting unit 310, a data recording unit 320, and a perspective imaging unit 330. The parameter setting unit 310 is configured to set a roaming parameter of the virtual camera, so as to control a roaming process of the virtual camera. Specifically, the roaming parameters set by parameter setting section 310 include: virtual camera origin, roaming target point, focal length, optical axis, degree of freedom and included angle parameters. The virtual camera origin is set as the virtual camera roaming starting point, the roaming target point is set as the virtual camera roaming terminal point, the focal length is set as the distance from the plane to the coordinate origin of the virtual camera coordinate system so as to adjust the magnification of the virtual endoscope image, the optical axis is set as the virtual camera shooting direction so as to adjust the positioning point of the virtual camera and determine the virtual camera shooting direction, the degree of freedom is set so that the virtual camera rotates along the axis of the viewpoint direction, the viewpoint direction is set as the virtual camera position, and the included angle parameter is set so that the included angle between the observation direction of the virtual camera and the viewpoint direction is smaller than 90 degrees.
The data recording unit 320 records a plurality of individual data of the virtual camera moving along the center line, and the perspective imaging unit 330 projects the plurality of individual data into the plane coordinate system, so as to obtain a plurality of corresponding plane projection points constituting the virtual endoscopic image. Therefore, by establishing the position corresponding relation between the volume data and the plane image data, the three-dimensional volume projection effect near the viewpoint can be clearly seen, and an endoscope effect image which is most similar to a real endoscope is formed.
As another non-limiting example, the roaming module 300 further includes a coordinate establishing unit 340, and the coordinate establishing unit 340 may establish a three-dimensional image data coordinate system, a virtual camera coordinate system, and a plane coordinate system.
Specifically, as shown in fig. 2, the three-dimensional image data coordinate system O1Configured to be built on a data space of a three-dimensional reconstruction image, wherein the data space is rectangular, and a three-dimensional image data coordinate system O1Is set to one vertex of a rectangle of the data space, and a three-dimensional image data coordinate system O1The coordinate axes of (a) coincide with the sides of the rectangle. Virtual camera coordinate system O2Setting as a three-dimensional dynamic coordinate system with the virtual camera as the center, a virtual camera coordinate system O2Coincides with the viewpoint, virtual camera coordinate system O2The z-axis of (a) is the direction of the image capture. Plane coordinate system O3Set to adhere to the virtual camera coordinate system O2Plane coordinate system, plane coordinate system O3And the virtual camera coordinate system O2Is perpendicular to the z-axis, plane coordinate system O3The x-axis and the y-axis of the virtual camera coordinate system O2The x-axis and the y-axis of the light source are the same. Thus, the optical axis of the virtual camera can be set to the virtual camera coordinate system O2Is determined according to the number of directions of the optical axis of the virtual camera in the three-dimensional image data coordinate system.
In this non-limiting embodiment, the coordinate establishing unit 340 includes a geometric transformation subunit 3401 and a projective transformation subunit 3402. Wherein the geometric transformation subunit 3401 transforms the three-dimensional human image data from the three-dimensional image data coordinate system to the virtual camera coordinate system through translation and rotation. The projection transformation subunit 3402 projects the points on the virtual camera coordinate system to the plane coordinate system, thereby obtaining the projection of the three-dimensional human body image volume data on the three-dimensional image data coordinate system on the plane coordinate system.
Specifically, the geometric transformation subunit 3401 performs the following transformation steps: firstly, a three-dimensional image data coordinate system O is set1To the virtual camera coordinate system O2Then, rotating the three-dimensional image data coordinate system O1Such that the three-dimensional image data coordinate system O1The z-axis of the virtual camera coordinate system is superposed with the z-axis of the virtual camera coordinate system, and finally, the virtual camera coordinate system O is obtained2Upper and three-dimensional image data coordinate system O1The corresponding coordinates.
In the process of realizing automatic roaming, an origin of the virtual camera is arranged on one point of a central path, a target point of the virtual camera is arranged on the other point of the central path, a vector of the origin pointing to the target point is a sight line direction of the virtual camera, the direction of an optical axis is vertical to the sight line direction, and the direction is defaulted to be an upward direction of a coordinate system of the virtual camera. The virtual camera starts from a set origin point, moves along a point on the center path, and ends up at an end point. When the position of the virtual camera is changed every time, the endoscopic image under the current visual angle is redrawn, and the endoscopic effect of the virtual endoscope can be observed in real time along with the movement of the virtual camera.
Although preferred embodiments of the present invention have been described in detail herein, it is to be understood that this invention is not limited to the precise construction and steps herein shown and described, and that other modifications and variations may be effected by one skilled in the art without departing from the spirit and scope of the invention.
Claims (3)
1. A virtual endoscope system with improved navigation effect, comprising: a three-dimensional reconstruction module for reconstructing a two-dimensional medical image to obtain a three-dimensional reconstruction image, a centerline extraction module communicatively connected to the three-dimensional reconstruction module for determining a centerline of the three-dimensional reconstruction image, and a roaming module communicatively connected to the three-dimensional reconstruction module and the centerline extraction module for controlling a virtual camera to move in the three-dimensional reconstruction image along the centerline, wherein the three-dimensional reconstruction module is configured to reconstruct the two-dimensional medical image,
the roaming module comprises a parameter setting unit, a data recording unit and a perspective imaging unit which are sequentially connected in a communication way,
the parameter setting unit is used for setting roaming parameters of the virtual camera so as to control the roaming process of the virtual camera;
the data recording unit is used for recording a plurality of individual data of the virtual camera moving along the central line;
the perspective imaging unit is used for projecting the individual data into a plane coordinate system to obtain a plurality of corresponding plane projection points which form a virtual endoscope image;
wherein the roaming parameter set by the parameter setting unit includes: virtual camera origin, roaming target point, focal length, optical axis, degree of freedom, and angle parameters,
wherein the virtual camera origin is set as a starting point of virtual camera roaming;
the roaming target point is set as an end point of the virtual camera roaming;
the focal length is set to be the distance from a plane to the origin of coordinates of the virtual camera coordinate system to adjust the magnification of the virtual endoscopic image;
the optical axis is set as the shooting direction of the virtual camera so as to adjust the positioning point of the virtual camera and determine the shooting direction of the virtual camera;
the degree of freedom is set such that the virtual camera rotates along an axis of a viewpoint direction set as a position of the virtual camera;
the included angle parameter is set to be an included angle between the observation direction of the virtual camera and the viewpoint direction and less than 45 degrees, and for a corner which exceeds 45 degrees and is generated in the automatic roaming process of the virtual camera, the steering of the virtual camera is realized according to the relevance degree of the front frame and the rear frame of the three-dimensional reconstruction image;
wherein the roaming module further comprises: the coordinate establishing unit is used for establishing a three-dimensional image data coordinate system, a virtual camera coordinate system and a plane coordinate system;
the three-dimensional image data coordinate system is set to be established on a data space of the three-dimensional reconstruction image, wherein the data space is rectangular, the origin of the three-dimensional image data coordinate system is set to be one vertex of the rectangle of the data space, and the coordinate axis of the three-dimensional image data coordinate system is consistent with the side of the rectangle;
the virtual camera coordinate system is set as a three-dimensional dynamic coordinate system established by taking the virtual camera as a center, the origin of coordinates of the virtual camera coordinate system is coincident with a viewpoint, and the z axis of the virtual camera coordinate system is a photographing direction;
the plane coordinate system is set to be a plane coordinate system attached to the virtual camera coordinate system, a coordinate plane of the plane coordinate system is vertical to a z-axis of the virtual camera coordinate system, and an x-axis and a y-axis of the plane coordinate system are respectively in the same direction as the x-axis and the y-axis of the virtual camera coordinate system;
the optical axis of the virtual camera is set as the z-axis of the virtual camera coordinate system and is determined according to the direction number of the optical axis of the virtual camera in the three-dimensional image data coordinate system;
the coordinate establishing unit includes: a geometric transformation subunit and a projective transformation subunit,
wherein the geometric transformation subunit is configured to transform three-dimensional human body image data from the three-dimensional image data coordinate system to the virtual camera coordinate system via translation and rotation;
the projection transformation subunit is configured to project points on the virtual camera coordinate system to the planar coordinate system to obtain a projection of the three-dimensional human body image volume data on the three-dimensional image data coordinate system on the planar coordinate system;
wherein the transforming step of the geometric transformation subunit comprises: translating the origin of the three-dimensional image data coordinate system to the origin of the virtual camera coordinate system; rotating a z-axis of the three-dimensional image data coordinate system so that the z-axis of the three-dimensional image data coordinate system coincides with a z-axis of the virtual camera coordinate system; and obtaining coordinates corresponding to the three-dimensional image data coordinate system on the virtual camera coordinate system.
2. The virtual endoscope system with improved navigation according to claim 1, further comprising: and the storage module is in communication connection with the roaming module and is used for storing the virtual endoscope image formed by the virtual camera in the roaming process.
3. The virtual endoscope system with improved navigation according to claim 1, wherein said virtual camera is configured to step-wise navigate along said centerline, the step size being 0.1-1 times the radius of the cross section of the tubular body where said virtual camera is navigated.
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