CN109064472B - Fitting method and device for fitting plane of three-dimensional space model of vertebra - Google Patents
Fitting method and device for fitting plane of three-dimensional space model of vertebra Download PDFInfo
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Abstract
The invention relates to a fitting method and a fitting device for a fitting plane of a three-dimensional space model of a spine, which are characterized in that the fitting device at least comprises an identification module and a fitting module, wherein the identification module grows by taking triangular plates on the three-dimensional space model of the spine as seed points and grows adjacent planes with the maximum iteration times by using a breadth-first traversal method to obtain a triangular plate set, and the fitting module calculates equations of two opposite fitting planes by adopting a matrix multiplication method and a matrix singular value calculation method based on normal vectors and vertex parameters of the triangular plates identified by the identification module to obtain two opposite fitting planes. The spine correction device of the invention has universality as a device for cutting out a partial model from the whole body, and can automatically obtain the space position and the size of the bounding box to adapt to different forms of vertebra. Compared with the prior art, the method has the advantages of simple operation, high automation and high accuracy.
Description
The invention relates to a split application of a spinal correction device, which has the application number of 201710195660.3, the application date of 2017, 03 and 28 and the application type of the split application.
Technical Field
The invention relates to the technical field of medical images, in particular to a fitting method and a fitting device of a three-dimensional space model fitting plane of vertebra.
Background
The spine correction technology is a special technology for restoring the deviated and hemiluxated spine and adjusting the spinal joints, and is similar to the traditional Chinese medicine pulling method and the bone setting operation. The spinal correction technology has systematic theoretical guidance and special force application skill, and is a scientific and efficient treatment technology. The spine correction technology is incorporated into an important auxiliary treatment means for treating intractable diseases and has a very good curative effect, and the spine correction technology has an important auxiliary treatment effect on diabetes, rheumatoid diseases, cardiovascular and cerebrovascular diseases and the like. Most of the current methods applied by the scoliosis correction technology are bending rod fixed correction. Before the operation, a doctor calculates and predicts the shape of the curved rod to be used in the operation according to the CT image (including a lateral view image and a tomography image) of the spine of a patient and the experience of the doctor, so as to achieve the aim of correcting the spine by using the curved rod.
In the process of generating the bending rod, a doctor can only calculate some spine parameters (such as cobb angle and waist bottom angle) by using a two-dimensional CT image and determine the space relative position of the spine and the overall shape of the spine through three views of the CT image, and the shape of the corrected spine is expected according to the states and the experience of the doctor. Therefore, the traditional spine correction technology needs a clinician with rich experience to make a prediction well, but only depends on the experience of the clinician, lacks a scientific and systematic method, is easy to have a prediction error, and causes that the manufactured bent rod needs to be modified in the operation process, so that the operation time is inevitably increased, the bleeding volume of a patient is increased, and the operation risk is increased. Therefore, it is an urgent technical problem to provide a device specifically for spinal correction technology to assist a doctor to excellently perform a correction operation.
Therefore, chinese patent (publication number CN102968791A) discloses an interactive method and system for three-dimensional medical image graphic display. The interaction method of the patent comprises the following steps: A. in a three-dimensional medical image/graphic display scene, selecting the range of interactive processing by controlling the bounding box; B. applying the range defined by the bounding box to the processing of the three-dimensional medical image/graphic display to obtain a corresponding local display result; C. and outputting the local display result to a segmentation algorithm, and executing corresponding segmentation processing. The interactive system of this patent comprises: the selection module is used for selecting the range of interactive processing by controlling the bounding box in a three-dimensional medical image/graphic display scene; the bounding box processing module is used for applying the bounding box range to the processing of the three-dimensional medical image/graphic display to obtain a corresponding local display result; and the execution module is used for outputting the local display result to a segmentation algorithm and executing corresponding segmentation processing.
The method and the system provided by the patent can realize the local display of the region of interest/the space of interest in the display mode, thereby being beneficial to the observation and diagnosis of doctors, but the interactive method and the interactive system provided by the patent need to spend a great deal of time when selecting the interactive processing range and are difficult to quickly and accurately select the object needing the interactive processing. Therefore, it is desirable to provide a device capable of accurately and automatically obtaining the spatial position and size of the bounding box.
In the examination process of the parent case of the present invention, the first examination opinion notice only indicates a formal problem, and the closest prior art is not retrieved. Therefore, the invention has outstanding substantive features and obvious progress.
Disclosure of Invention
The invention provides a spine correction device capable of automatically obtaining the space position and size of a bounding box, and particularly provides a device for locally segmenting a medical spine three-dimensional space model to obtain a single vertebra, aiming at the problems that in the prior art, when the local segmentation is carried out on the vertebra, the bounding box is completely and manually adjusted to adapt to the vertebra with different shapes, time and labor are wasted, and the space position and size of the bounding box are difficult to quickly and accurately obtain. The spine correction device provided by the invention adopts a method which is mainly based on a three-dimensional spine model generated in a VisualToolkit tool, a space bounding box is generated in a space region, six faces of the bounding box are set into tangent planes, and the vertebra to be segmented is stored in the bounding box. The enclosure of the present invention is also freely positionable and adjustable in size and angle to provide access to individual vertebrae of different morphological characteristics. Furthermore, in order to make the location of the bounding box more accurate and faster, the invention provides a method for carrying out plane recognition on the upper plane and the lower plane of the vertebra to be intercepted on the three-dimensional spine model to obtain the parameters of the normal vector, the spatial position and the like of the upper plane and the lower plane, then carrying out the operation process according to the parameters, and finally automatically generating the more ideal spatial bounding box, so that the user can intercept an ideal single vertebra from the integral spine model only by fine adjustment. Furthermore, in order to make the intercepting process more convenient and faster, the left part and the right part are adopted for contrasting and intercepting at the processing module of the bounding box, the left half part is used for placing the whole three-dimensional spine model and the bounding box, the right half part is used for placing the partial model and the bounding box intercepted by the bounding box, and the bounding boxes on the two sides are completely synchronous, so that the intercepting process is more convenient.
According to a preferred embodiment, the method of the spinal correction device intercepting individual vertebrae comprises the following processes: adopting plane growth and plane fitting based on a surface model normal vector of the spine three-dimensional space model to determine the forms of an upper plane and a lower plane of the bounding box; translating the upper fitting plane and the lower fitting plane for a certain distance along respective normal vectors to enable the upper fitting plane and the lower fitting plane to comprise the whole vertebra to be cut; and determining the center of the bounding box according to a connecting line of the central points of the two fitting planes, and determining normal vectors of the upper plane and the lower plane of the bounding box according to the normal vectors of the two fitting planes with smaller included angles with the vertical direction, so as to determine the shape and the size of the bounding box. The left part and the right part are intercepted in a contrast way, and the bounding box is operated in a completely interactive way, so that the intercepting process is more convenient and visual; and after the local area is intercepted, denoising the local model immediately, storing the maximum connected domain of the model on the space, and eliminating the impurities of the small blocks.
According to a preferred embodiment, the fitting device for the fitting plane of the three-dimensional space model of the spine at least comprises a recognition module and a fitting module. The identification module takes the triangular plates on the spine three-dimensional space model as seed points to grow, adjacent planes with the maximum iteration times are grown by using a breadth-first traversal method to obtain a triangular plate set, and the fitting module calculates equations of two opposite fitting planes by using a matrix multiplication method and a matrix singular value calculation method based on normal vectors and vertex parameters of the triangular plates identified by the identification module to obtain two opposite fitting planes.
According to a preferred embodiment, the spinal correction device includes at least an identification module, a fitting module, a bounding box processing module, and a correction module. And the identification module grows by taking the triangular plates on the spine three-dimensional space model as seed points and grows the adjacent planes with the maximum iteration times by using a breadth-first traversal method to obtain a triangular plate set. And the fitting module calculates a fitting plane equation by adopting a matrix multiplication method and a matrix singular value calculation method based on the normal vectors and the vertex parameters of all the triangular plates in the triangular plate set identified by the identification module. The bounding box processing module determines the center of the bounding box, the distance between the two opposite surfaces and the normal vector of the two opposite surfaces based on the center point and the normal vector of the two opposite fitting planes fitted by the fitting module and determines the spatial position and size of the bounding box based on the determined center of the bounding box, the distance between the two opposite surfaces and the normal vector of the two opposite surfaces. The correction module generates bending parameters of a bending rod based on the vertebra parameters intercepted by the bounding box determined by the bounding box processing module so as to realize spinal correction through the bending rod.
According to a preferred embodiment, the spinal correction device generates bending parameters for the rod such that a physician can customize the rod to be corrected as needed for a spinal condition of a patient. Preferably, the correction module generates a bending plan for the rod based on the vertebra parameters intercepted by the bounding box determined by the bounding box processing module. More preferably, the orthotic device obtains the rod screw position and orientation based on the capsule-intercepted spinal parameters determined by the capsule processing module and converts the screw position and orientation into a series of flexion instructions using one or more geometry-based algorithms. Preferably, the bending algorithm of the bending rod is to acquire and digitize points in space, analyze the points and calculate the bending instructions and the bending rod length required to bend the bending rod with a mechanical bending device. The invention can be applied to the reference of a space model of scoliosis operation and the pre-generation of the curved rod in medical science, improves the manufacturing precision of the curved rod, reduces the bleeding amount of patients in the operation, reduces the labor intensity of doctors, reduces the operation time and the operation risk, and has important significance in clinical application.
According to a preferred embodiment, the identification module comprises at least a selection unit, a tag array creation unit, a first storage unit and a growth unit. The selecting unit is used for selecting the ID of one triangular plate from the surface of the spine three-dimensional space model. The marking array establishing unit is used for establishing a marking array after the triangular plates are selected by the selecting unit, the marking array is used for marking the using condition of the triangular plates, and the size of the marking array is the total number of the triangular plates on the surface of the spine three-dimensional space model to be intercepted. The first storage unit is used for storing data of the spine three-dimensional space model, the ID linked list of the triangular plate to be compared and/or the triangular plate ID linked list identified by the identification module. And the growing unit takes the triangular plate normal vector selected by the selecting unit as a reference and performs the growth of the adjacent plane with the maximum iteration times by using a breadth-first traversal method to obtain the triangular plate set.
According to a preferred embodiment, the growing unit obtains the set of triangular plates by: the growing unit marks and judges the use condition of the triangular plate to be selected in sequence from the triangular plate selected by the selecting unit, and the growing unit gives up the comparison between the triangular plate to be selected and the seed point triangular plate when the triangular plate to be selected is used; when the to-be-selected triangular plate is not used, the growing unit calculates the sum of absolute values of difference values of all components of the to-be-selected triangular plate normal vector and the seed point triangular plate normal vector.
According to a preferred embodiment, when the growing unit calculates that the sum of absolute values of difference values of components of the to-be-selected triangle piece normal vector and the seed point triangle piece normal vector is not greater than 0.5, the growing unit sends the linked list of the to-be-selected triangle piece ID to the first storage unit for storage. And when the growing unit calculates that the sum of absolute values of difference values of all components of the triangular plate normal vector to be selected and the seed point triangular plate normal vector is more than 0.5, the growing unit accesses the next triangular plate to be selected. Compared with the prior art that a new plane is generated by judging the included angle of two vectors, the method has the advantages of simplicity, high efficiency and time saving by judging the sum of the absolute values of the difference values of the components of the two vectors.
According to a preferred embodiment, the growing unit takes the triangular plates stored in the first storage unit as objects to be compared, sends the linked list of the triangular plate IDs to be selected, in which the sum of absolute values of difference values of components of a normal vector of the triangular plate to be selected and a normal vector of the triangular plate to be compared is not more than 0.5, to the first storage unit for storage, and uses the linked list as the objects to be compared in the next cycle, the cycle is repeated until all the triangular plates are traversed, and after the cycle is finished, the growing unit calls the linked list of the triangular plate IDs stored in the first storage unit and colors the corresponding triangular plates with colors different from the unselected triangular plates to generate a hyperplane of an approximate plane.
According to a preferred embodiment, the fitting module comprises at least a first calculation unit, a second storage unit, a second calculation unit, a third calculation unit and a verification unit. The first computing unit averages normal vectors of all the triangular plates in the triangular plate set identified by the identification module to obtain an average normal vector of the triangular plates and stores the average normal vector to the second storage unit. The second storage unit is used for storing the average normal vector and vertex parameters of all triangular plates in the triangular plate set identified by the identification module. The second calculation unit calculates the average value of the vertices of the triangular plate on the X, Y, Z axis, respectively, based on the vertex parameters stored in the second storage unit. The third calculating unit calculates a fitting plane equation by matrix multiplication and a method of calculating matrix singular values based on the average normal vector calculated by the first calculating unit and the average value of the triangular plate vertex at the X, Y, Z axis calculated by the second calculating unit. The verification unit calculates a normal vector of the fitting plane based on the fitting plane equation, compares the normal vector with the average normal vector calculated by the first calculation unit, and recalculates the fitting plane equation when the deviation between the normal vector and the average normal vector reaches a set threshold value. Preferably, the fitting module calculates a fitting plane equation of the upper plane and the lower plane of the single vertebra to be intercepted based on normal vectors and vertex parameters of all the triangular plates in the triangular plate set identified by the identification module by adopting a matrix multiplication method and a matrix singular value calculation method.
The mean normal vector and the vertex mean value calculated by the first calculating unit and the second calculating unit are used as reference vectors and calculate reference values of the centers of the fitting planes, and are not directly used for fitting the planes, so that the deviation of the fitting planes and the ideal planes is reduced, and the fitted planes are more accurate.
According to a preferred embodiment, the bounding box processing module determines the center of the bounding box according to a central point connecting line of the two opposite surfaces fitted by the fitting module, and determines the normal vectors of the two opposite surfaces of the bounding box according to the smaller included angle between the normal vectors of the two opposite surfaces and the vertical direction, with the length of the central line as the distance between the two opposite surfaces of the bounding box, and the bounding box processing module determines the spatial position and size of the bounding box based on the center of the bounding box, the distance between the two opposite surfaces of the bounding box and the normal vectors of the two opposite surfaces of the bounding box.
According to a preferred embodiment, the bounding box processing module comprises at least a bounding box determining unit, an adjusting unit and a post-processing unit. Wherein the bounding box determining unit determines the spatial position of the bounding box based on the center points of the two opposite faces fitted by the fitting module and the normal vector parameters. The adjusting unit rotates the space position of the bounding box determined by the bounding box determining unit so that the bounding box can be attached to the surface of the three-dimensional space model of the spine. The post-processing unit is used for carrying out denoising processing on the local model intercepted in the bounding box after the vertebra is intercepted on the basis of the bounding box rotated by the adjusting unit so as to store the maximum connected domain of the local model on the space.
According to a preferred embodiment, the bounding box determining unit determines the spatial position of the bounding box by: the bounding box determining unit calculates an average value of center points of the two opposite surfaces fitted by the fitting module to obtain the center of the bounding box, and the bounding box determining unit respectively extends the bounding box in the X, Y axis direction to a preset threshold value according to the center in the left-right direction and extends the bounding box in the Z axis direction to a preset threshold value according to the center in the up-down direction to determine the spatial position of the bounding box.
According to a preferred embodiment, the adjustment unit adjusts the spatial position of the bounding box by: the adjusting unit calculates a space vector with a minimum included angle with the Z axis and determines an angle value of an included angle between the space vector and the Z axis, the adjusting unit calculates a common perpendicular line between the space vector and the Z axis, and the adjusting unit enables the bounding box to rotate by taking the common perpendicular line as a rotating axis and the included angle between the space vector and the Z axis as a rotating angle.
The spine correction device of the present invention has versatility as a device for cutting out a partial model as a whole, and can automatically obtain the spatial position and size of the bounding box to adapt to vertebrae of different configurations, and the bounding box of the present invention can also automatically rotate in order to better adapt to vertebrae of different configurations. Compared with the prior art, the method has the advantages of simple operation, high automation and high accuracy.
Drawings
FIG. 1 is a block diagram of a preferred embodiment of the spinal correction device of the present invention;
FIG. 2 is a schematic diagram illustrating the effects of a preferred embodiment of the bounding box identified in the present invention; and
fig. 3 is a schematic diagram of the effect of another preferred embodiment of the bounding box determined by the present invention.
List of reference numerals
10: the recognition module 101: selecting unit
102: the tag array creation unit 103: first memory cell
104: the growth unit 20: fitting module
201: the first calculation unit 202: second memory cell
203: the second calculation unit 204: third computing unit
205: the verification unit 30: bounding box processing module
301: bounding box determination unit 302: adjusting unit
303: the post-processing unit 40: correction module
Detailed Description
The following detailed description is made with reference to the accompanying drawings and examples.
Aiming at the embarrassing situation that the scoliosis correction in the current hospital can only be simply measured and estimated by using a two-dimensional CT (computed tomography) picture, the invention provides a spine correction device, which can be used for locally dividing a spine model generated by using a three-dimensional modeling technology and simulating correction and simulation by using the divided local model. Specifically, three-dimensional reconstruction is carried out on CT tomography images by using a MarchingCubes method of a visual toolkit (VTK for short), three-dimensional images of human bones are restored, then the reconstructed three-dimensional models are segmented and processed, and finally three-dimensional models of single vertebra are obtained and stored respectively, so that subsequent measurement and adjustment are facilitated. Preferably, the VTK packages different processing classes so that a user can conveniently generate a three-dimensional model including volume rendering and surface rendering by using a CT tomography image and a mri image. More preferably, the invention uses a surface rendering method to three-dimensionally model the set of CT tomograms to generate a realistic three-dimensional surface model. The three-dimensional surface model contains a series of information required by the three-dimensional model, such as points, lines, planes, normal vectors and the like. With this information, a series of operations can be performed on the three-dimensional model to realize the functions of surgery simulation and the like.
Further, the invention provides a device for obtaining a single vertebra by local segmentation by using the medical spine three-dimensional space model. The device is through adopting the space bounding box, and the size and the space form of manual adjustment bounding box carry out local intercepting to whole backbone. The device can also perform plane recognition on the upper surface and the lower surface of the spine on the spine three-dimensional space model, determine the position and the shape of the space bounding box by using various parameters (such as normal vectors and lengths in all directions) of the generated plane, and then intercept a single vertebra through fine adjustment. The extracted vertebrae are labeled and the necessary vertebra parameters are stored to facilitate subsequent spine adjustment and correction simulation.
The terms referred to in the present invention are explained as follows.
Breadth-first traversal: breadth-first traversal is a traversal strategy of the connected graph, and the basic idea is to go from one vertex V0Initially, a wider area around it is preferentially traversed radially. The breadth-first traversal method takes layers as an order, and searches for a next layer after all nodes on a certain layer are searched. It comprises three steps: (1) from a certain vertex V in the figure0Go out and visit this vertex. (2) From V0Starting, accessing V0Each of the non-accessed adjacent points W1、W2……WKThen sequentially from W1、W2……WKAnd starting to access the adjacent points which are not accessed respectively. (3) And (4) repeating the step (2) until all the vertexes are visited.
A bounding box: the bounding box is defined as the smallest hexahedron containing the object with sides parallel to the coordinate axes. The bounding box can move and rotate freely in the space coordinate system and can be adjusted in size freely. The bounding box has seven balls to control the position of each surface and the position of the whole body respectively, and the mouse clicks the free rotation movement on the surface but not on the ball by taking the central ball as the rotation center.
Example 1
Figure 1 illustrates a modular view of a preferred embodiment of the spinal correction device of the present invention. Referring to fig. 1, the spinal correction device of the present invention includes at least an identification module 10, a fitting module 20, a bounding box processing module 30, and a correction module 40. The identification module 10 grows the triangular plates on the spine three-dimensional space model as seed points, and grows the adjacent planes with the maximum iteration times by using a breadth-first traversal method to obtain a triangular plate set. The fitting module 20 calculates two equations of the two opposite fitting planes by matrix multiplication and matrix singular value calculation based on the normal vector and vertex parameter of the triangular plate identified by the identifying module 10 to obtain two opposite fitting planes. Preferably, the two opposing faces are the upper and lower faces of the individual vertebrae to be cut. The bounding box processing module 30 determines the center of the bounding box, the distance of the two opposing faces, and the normal vectors of the two opposing faces based on the center points and the normal vectors of the two opposing fitting planes fitted by the fitting module 20 and determines the spatial position and size of the bounding box based on the determined center of the bounding box, the distance of the two opposing faces, and the normal vectors of the two opposing faces. The correction module 40 generates a bending parameter of the bending rod based on the spinal bone parameter intercepted by the bounding box determined by the bounding box processing module 30 to achieve spinal correction through the bending rod. The effect diagram of the bounding box determined by the embodiment is shown in fig. 2.
According to a preferred embodiment, each triangular plate of the spine three-dimensional space model has a normal vector, when a certain triangular plate is selected for regional growth, the normal vector can be compared with the normal vector of the adjacent triangular plate, the adjacent triangular plate with the space included angle not more than a certain smaller measurement (determined according to actual conditions) with the selected triangular plate is grown, and space plane fitting can be realized by using a plurality of grown triangular plates for plane fitting. Preferably, the plurality of triangular plates is obtained by: the triangular plate selector is used for selecting a triangular plate on a plane, the triangular plate is used as a seed point to grow, a normal vector of each triangular plate is combined, and according to the normal vector of the seed point triangular plate and included angles of normal vectors of other triangular plates during growth, an adjacent triangular plate with the included angle in a small range is selected by a breadth-first traversal method, and the adjacent plane with the maximum iteration number grows, so that the plane triangular plate in a large range can be obtained.
Referring again to fig. 1, the recognition module 10 at least includes a selecting unit 101, a flag array establishing unit 102, a first storing unit 103, and a growing unit 104. Preferably, the selecting unit 101 is configured to select an ID of a triangle from the surface of the three-dimensional spatial model of the spine. Preferably, the marking array establishing unit 102 is configured to establish a marking array after the selecting unit 101 selects one triangle, the marking array is used for marking the use condition of each triangle, and the size of the marking array is the total number of the triangles of the three-dimensional space model surface of the spine to be intercepted. Preferably, after the selecting unit 101 selects a triangle from the surface of the three-dimensional space model of the spine, if there is no flag array, the flag array creating unit 102 creates a new flag array, and the flag array is used to determine whether the triangle on the plane to be identified is used. More preferably, the size of the array of indicia is the total number of triangle pieces in the plane of the selected triangle piece. Preferably, the first storage unit 103 is used for storing data of the spine three-dimensional space model, the linked list of IDs of the triangular plates to be compared and/or the linked list of IDs of the triangular plates to be finally selected. Preferably, the ID chain table of the triangular plates to be compared is the ID of the triangular plate selected by the selecting unit 101 from the surface of the three-dimensional space model of the spine, and the data stored by the first storage unit 103 is prepared for breadth-first traversal by the growing unit 104. Preferably, the growing unit 104 performs the adjacent plane growing with the maximum number of iterations by using the breadth-first traversal method with the normal vector of the triangle selected by the selecting unit 101 as a reference vector to obtain the triangle set meeting the requirement. Preferably, the breadth-first traversal method comprises at least the following steps:
s1: the growth unit 104 first sets the number of cycles for breadth-first traversal. Preferably, the number of cycles is the total number of triangle pieces in the plane of the triangle piece selected by the selecting unit 101.
S2: when the first cycle is performed, the growth unit 104 first obtains normal vector information of all triangular plates in the spine three-dimensional space model. Preferably, the normal vector information of all the triangular plates is obtained and stored in the three-dimensional data according to the VTK when the three-dimensional surface model is constructed. More preferably, the first storage unit 103 stores data of the three-dimensional space model of the spine, and the growing unit 104 may obtain normal vector information of all triangular plates from the first storage unit 103.
S3: the growing unit 104 starts a loop from the triangular plate selected by the selecting unit 101, and marks and judges the use conditions of the triangular plates to be compared in sequence. When the triangle to be selected has been used, the growing unit 104 discards the comparison of the triangle to be selected and the seed point triangle. When the to-be-selected triangle is not used, the growing unit 104 marks and compares the sum of the absolute values of the difference values of the components of the to-be-selected triangle and the seed point triangle normal vector.
Preferably, when the growing unit 104 calculates that the sum of absolute values of difference values of each component of the normal vector of the triangle to be selected and the normal vector of the seed point triangle is not greater than 0.5, the growing unit 104 sends the linked list of the IDs of the triangle to be selected to the first storage unit 103 for storage. The triangle to be selected stored in the first storage unit 103 is one triangle in the final result set. When the growing unit 104 calculates that the sum of absolute values of difference values of the normal vectors of the triangular plates to be selected and the normal vectors of the seed point triangular plates is greater than 0.5, the growing unit 104 accesses the next triangular plate to be selected.
S4: the growing unit 104 starts with the selected triangle to be selected, finds its neighboring triangle, and stores the ID of the neighboring triangle in the to-be-compared array of the first storage unit 103, and uses the neighboring triangle as the triangle to be selected in the next cycle, and enters the next cycle until the cycle times are used up.
Preferably, the growing unit 104 takes the screened triangular plates as objects to be compared, and stores triangular plate IDs, of which the sum of absolute values of difference values of components of normal vectors of the triangular plates to be selected and normal vectors of the triangular plates to be compared is not more than 0.5, into the array to be compared of the first storage unit 103 to be used as the objects to be compared in the next cycle, and the cycle is repeated until all the triangular plates are traversed.
S5: after the end of the cycle, the growing unit 104 retrieves the triangle piece IDs stored in the first storage unit 103 and colors the corresponding triangle pieces in a color different from the unselected triangle pieces to generate an approximately planar hyperplane. Preferably, the triangular pieces stored in the first storage unit 103 are approximately on the same plane.
After the set of triangles approximating the plane is obtained, the fitting module 20 performs plane fitting using the selected triangular plate to generate a plane, and the generated plane is used as a basis for subsequent bounding box positioning.
With continued reference to fig. 1, the fitting module 20 comprises at least a first calculation unit 201, a second storage unit 202, a second calculation unit 203, a third calculation unit 204 and a verification unit 205. Preferably, the first calculation unit 201 averages the normal vectors of the triangular pieces recognized by the recognition module 10 to obtain an average normal vector of the triangular pieces and stores the average normal vector to the second storage unit 202. Preferably, the second storage unit 202 further stores vertex parameters of the triangular plate identified by the identification module 10. Preferably, the second calculation unit 203 calculates the average values of the apexes of the triangular pieces at the X, Y, Z axis, respectively, based on the apex parameters stored in the second storage unit 202. The average value is used as a reference value for subsequently calculating the center of the fitting plane, and is not directly used as the center of the fitting plane, so that the deviation of the fitting plane from the ideal plane can be reduced. Preferably, the third calculation unit 204 calculates the equation of the fitting plane by matrix multiplication and a method of calculating matrix singular values based on the average normal vector calculated by the first calculation unit 201 and the average value of the vertices of the triangular plate calculated by the second calculation unit 203 at the X, Y, Z axis. Preferably, the third calculation unit 204 specifies the plane coefficients of the fitting plane from the singular vectors obtained from the calculated matrix singular values. Preferably, the verification unit 205 calculates a normal vector of the fitting plane based on the fitting plane equation and compares it with the average normal vector calculated by the first calculation unit 201, and recalculates the equation of the fitting plane when a deviation occurs between them and reaches a set threshold. More preferably, the projection direction of the normal vector of the fitting plane on the original average normal vector is consistent with the original average normal vector. Wherein the normal vector of the fitted plane points from within the vertebral plane to outside the vertebral plane.
After being fitted by the fitting module 20, a fitting plane which is approximately a plane can be generated on the surface of the spine three-dimensional space model, a plane which floats on the surface of the spine three-dimensional space model is generated by performing proper translation on the fitting plane, and the space position and the size of the bounding box can be further determined by the bounding box processing module 30 by using the generated fitting plane. Preferably, the bounding box processing module 30 determines the center of the bounding box according to the connecting line of the central points of the two opposite surfaces fitted by the fitting module 20, and determines the normal vector of the two opposite surfaces of the bounding box according to the smaller included angle between the normal vector of the two opposite surfaces and the vertical direction, with the length of the central line as the distance between the two opposite surfaces of the bounding box. The bounding box processing module 30 determines the location and size of the bounding box based on the center of the bounding box, the distance between the two opposing faces of the bounding box, and the normal vector of the two opposing faces of the bounding box. Subsequently, only fine adjustment is needed to conveniently and accurately cut out a single vertebra.
With continued reference to fig. 1, the bounding box processing module 30 includes at least a bounding box determination unit 301, an adjustment unit 302, and a post-processing unit 303. Preferably, the bounding box determining unit 301 determines the spatial position of the bounding box based on the center point of the two opposite faces fitted by the fitting module 20 and the normal vector parameter. Preferably, the adjusting unit 302 rotates based on the spatial position of the bounding box determined by the bounding box determining unit 301 to enable the bounding box to fit the surface of the three-dimensional space model of the spine. Preferably, the post-processing unit 303 performs denoising processing on the local model clipped in the bounding box after clipping the vertebra based on the bounding box rotated by the adjusting unit 302 to save the maximum connected domain of the model in space. Preferably, the VTK polydataconnectivity Filter method in the VTK is used to extract the largest connected domain of the truncated part.
According to a preferred embodiment, the bounding box determining unit 301 determines the spatial position of the bounding box by: the bounding box determining unit 301 obtains the bounding box center based on an average of the center points of the two opposing faces fitted by the calculation fitting module 20. The bounding box determining unit 301 extends the bounding box in the X, Y axis direction by a preset threshold value left and right from the center, respectively, and extends the bounding box in the Z axis direction by a preset threshold value up and down from the center, respectively, to determine the spatial position of the bounding box. Preferably, the bounding box extends left and right in the direction of the X, Y axis from the center, respectively, a distance greater than the bounding box extends up and down in the direction of the Z axis from the center, respectively. The specific extension distance can be adjusted based on actual conditions. For example, the bounding boxes extend laterally by a distance of 30 to 60 units from the center in the X, Y-axis direction, and the bounding boxes extend vertically by a distance of 1 to 2 units from the center in the Z-axis direction.
According to a preferred embodiment, the adjustment unit 302 adjusts the spatial position of the bounding box by: the adjusting unit 302 calculates a space vector having a minimum included angle with the Z axis and determines an angle value of an included angle between the space vector and the Z axis, and the adjusting unit 302 calculates a common perpendicular line between the space vector and the Z axis. Preferably, the adjusting unit 302 calculates three components of the plumb line, and uses a third-order determinant to obtain the plumb line by cross-multiplying two vectors. The adjustment unit 302 rotates the bounding box about the common vertical line as a rotation axis and about an angle formed by the space vector and the Z axis as a rotation angle.
Example 2
The spine correction device provided by the embodiment 1 of the invention is used as a device for intercepting a local model from an overall model, has universality and is convenient to adjust, but for some complex and non-fine three-dimensional models, the steps are complicated when the device provided by the embodiment 1 is used for cutting, and therefore, the embodiment 2 provides a method for cutting by manually adjusting for multiple times.
According to a preferred embodiment, the spinal correction device uses the VTK to take a point on the surface of the constructed three-dimensional model, and uses the point as a center to expand towards X, Y, Z positive and negative directions by a plurality of units to generate a VTKBox bounding box. The six faces of the bounding box are respectively cutting faces, and a model inside the bounding box is taken as an intercepting result, so that local intercepting can be realized. The enclosure box can be expanded, contracted and rotated to adapt to different forms of vertebra. Preferably, in order to avoid the influence of the intercepted foreign matter on the subsequent operation, the spinal correction device extracts the spatially largest connected body as the final result of the interception of the spinal region. The effect diagram of the bounding box determined by the embodiment is shown in fig. 3.
According to a preferred embodiment, the spinal correction device divides the cutout window into a left half and a right half, and the left half is used for displaying the entire three-dimensional spinal space model. The spinal correction device first selects a point on the surface of a certain vertebra to be intercepted on the three-dimensional space model at the left side of the intercepting window, and then generates a bounding box with a fixed size by taking the point as the center. Meanwhile, the intercepting window on the right side displays the same bounding box and the intercepted local model, the two sides are completely synchronous, and the size and the rotation angle of the bounding box can be manually adjusted. The spine correction device divides the intercepting window into a left part and a right part to realize contrast, so that the intercepted model is more accurate.
The accuracy of the individual vertebral bones cut by the spinal correction device used in example 1 and example 2 was compared in the following manner, and the results of the comparison are shown in tables 1 and 2.
Spinal correction device of example 1: the spine correction device firstly identifies the upper surface and the lower surface of a vertebra to be intercepted, automatically generates a space bounding box with reasonable space position and size after determining a central point and a normal vector based on the identified surfaces, and intercepts a single vertebra by finely adjusting the position and the size of the bounding box through mouse interaction.
Spinal correction device of example 2: the spine correction device firstly selects a point on the surface of a spine three-dimensional space model, the radius of a bounding box is respectively defined in the X, Y, Z direction by taking the point as the center, so that a space bounding box parallel to coordinate axes is generated, and then the size and the position of the bounding box are adjusted through mouse interaction, so that a single vertebra is intercepted.
The center point of the ideal model is first determined and then all points of the actual primary cut model of examples 1 and 2 are compared to the center point of the ideal model. The criteria for judging the primary interception effect of a local model are as follows: the more points of the intercepted model close to the center point of the ideal model are closer to the ideal model, and the shape of the ideal model can be more represented. The number of points which are more than a certain threshold value from the central point is used as a standard, and the smaller the number is, the more the model can express the shape characteristics of the ideal model. Since the larger the interval, the more discrete the points of the model will be. Preferably, the threshold is determined based on the boundary values in the X direction of the ideal model by obtaining X, Y, Z boundary values in three directions of the ideal model and then taking 1/2 of the distance values in the X direction as the judgment criterion. The X direction is chosen because the slope of the spine in the X direction is larger, which is more likely to reflect the difference.
Therefore, according to two values, namely the number of points (called failure point number) which are more than a certain threshold value from the center point of the ideal model and the percentage of the effective points in the total number of points of the model (called effective rate), the difference of the effects of the two methods can be compared, and the model with the higher effective rate is closer to the ideal interception model when the number of the failure points is less. Here, the ideal cutout model refers to a single vertebral bone model obtained by extracting the spatial maximum connected domain of the cutout model, which does not contain fine impurities and belongs to the model that the user finally wants to obtain.
TABLE 1 number and effectiveness of single spinal failure points taken from examples 1 and 2
As can be seen from Table 1, the effective rate of the single vertebral bone obtained in example 1 is 70% to 93.1%, and the effective rate of the single vertebral bone obtained in example 2 is 54.1% to 75.0%. The curvatures of the vertebrae T4-L1 increase in sequence, and the curvatures of the vertebrae L1-L4 decrease in sequence. It can also be seen from table 1 that the greater the difference between example 1 and example 2 at the location of the vertebra having the greater curvature, it can be seen that the spinal correction device of example 1 is closer to the ideal model when cutting a single vertebra, and especially when the curvature of the vertebra is greater, the single vertebra that the ideal model solves can be cut with the spinal correction device of example 1.
The ratio of the number of truncated model points of examples 1 and 2 to the number of ideal truncated model points was used as a comparison standard, and the results are shown in table 2.
Table 2 ratio of number of truncated model points to ideal model for example 1 and example 2
| Vertebra numbering | Example 1 | Example 2 |
| T4 | 1.12334 | 1.24389 |
| T5 | 1.16403 | 1.22328 |
| L1 | 1.12559 | 1.22543 |
| L2 | 1.12554 | 1.34737 |
| L3 | 1.09258 | 1.28872 |
| L4 | 1.06319 | 1.15600 |
As can be seen from table 2, the ratio of the truncated model to the ideal model of example 1 is closer to 1.
In summary, the spinal correction device of example 1 captures individual vertebrae more accurately and closely to the ideal model than example 2.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (4)
1. Fitting device for a plane fitted to a three-dimensional spatial model of a vertebra, characterized in that it comprises at least a recognition module (10) and a fitting module (20), in which,
the identification module (10) takes triangular plates on the spine three-dimensional space model as seed points for growing and carries out the growth of adjacent planes with the maximum iteration times by using a breadth-first traversal method to obtain a triangular plate set,
the fitting module (20) calculates two equations of opposite fitting planes by matrix multiplication and matrix singular value calculation based on the normal vector and vertex parameter of the triangular plate identified by the identification module (10) to obtain two opposite fitting planes,
the identification module (10) at least comprises a first storage unit (103), and the first storage unit (103) is used for storing data of the spine three-dimensional space model, a triangle ID chain table to be compared and/or a triangle ID chain table identified by the identification module (10);
the fitting module (20) comprises at least a first calculation unit (201) and a second storage unit (202), wherein,
the first computing unit (201) averages normal vectors of all triangular plates in the triangular plate set identified by the identification module (10) to obtain an average normal vector of the triangular plates and stores the average normal vector to the second storage unit (202);
the second storage unit (202) is used for storing the average normal vector and vertex parameters of all triangular plates in the triangular plate set identified by the identification module (10), and the second storage unit (202) is used for storing the average normal vector and vertex parameters of all triangular plates in the triangular plate set identified by the identification module (10);
the fitting module (20) further comprises a second calculation unit (203), the second calculation unit (203) respectively calculates the average value of the triangular plate vertexes on the X, Y, Z axis based on the vertex parameters stored in the second storage unit (202);
the fitting module (20) further comprises a third calculating unit (204), and the third calculating unit (204) calculates a fitting plane equation by matrix multiplication and a method of calculating matrix singular values based on the average normal vector calculated by the first calculating unit (201) and the average value of the triangle vertex calculated by the second calculating unit (203) on the X, Y, Z axis.
2. The fitting apparatus according to claim 1, wherein the fitting apparatus further comprises a bounding box processing module (30), wherein,
the bounding box processing module (30) determines the center of the bounding box, the distance between the two opposite faces and the normal vector of the two opposite faces based on the center points and the normal vectors of the two opposite fitting planes fitted by the fitting module (20) and determines the spatial position and size of the bounding box based on the determined center of the bounding box, the distance between the two opposite faces and the normal vectors of the two opposite faces.
3. The fitting device according to claim 2, wherein the fitting module (20) further comprises a verification unit (205), wherein the verification unit (205) calculates a normal vector of the fitting plane based on the fitting plane equation and compares the normal vector with the average normal vector calculated by the first calculation unit (201), and recalculates the fitting plane equation when the deviation between the normal vector and the average normal vector reaches a set threshold.
4. The fitting device according to claim 3, wherein the average normal vector and the vertex average value calculated by the first calculation unit (201) and the second calculation unit (203) are used as reference vectors and a reference value of the center of the fitting plane is calculated.
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| CN110223396B (en) * | 2019-06-19 | 2022-09-30 | 合肥工业大学 | Morphology-based spine simulation correction method and device |
| CN110522515B (en) * | 2019-09-04 | 2021-09-24 | 上海电气集团股份有限公司 | Method and system for determining coverage rate of acetabular prosthesis, electronic device and storage medium |
| CN112819826B (en) * | 2021-03-30 | 2022-04-19 | 四川大学华西医院 | Spine image processing device based on artificial intelligence and computer equipment |
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