CN101849843A - Navigation method of three-dimensional cardiac ultrasonic virtual endoscope - Google Patents
Navigation method of three-dimensional cardiac ultrasonic virtual endoscope Download PDFInfo
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- CN101849843A CN101849843A CN 200910048615 CN200910048615A CN101849843A CN 101849843 A CN101849843 A CN 101849843A CN 200910048615 CN200910048615 CN 200910048615 CN 200910048615 A CN200910048615 A CN 200910048615A CN 101849843 A CN101849843 A CN 101849843A
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Abstract
The invention provides a navigation method of a three-dimensional cardiac ultrasonic virtual endoscope, comprising the following steps: acquiring an initial two-dimensional cardiac sectional image; carrying out three-dimensional reconstruction and displaying a three-dimensional view according to the two-dimensional sectional image; setting a virtual endoscope viewpoint which can move and be controlled in the three-dimensional view; and leading observation according to movement of the virtual endoscope viewpoint and generating an observation path in the three-dimensional view. The method ensures an observer to observe a cardiac organization structure from various aspects and have little possibility of loss of direction.
Description
[technical field]
The present invention relates to computer medical imaging technology and field of navigation technology, particularly relate to a kind of navigation method of three-dimensional cardiac ultrasonic virtual endoscope.
[background technology]
(virtual endoscopy VE) is a brand-new medical image technology that develops at present to virtual endoscope, and the appliance computer virtual reality technology generates the three-dimensional visualization image with endoscope's visual effect.Virtual reality is combined with visualization in scientific computing (visualization in scientific computing) technology, utilizing CT, MRI or ultrasonic two-dimensional image data to carry out three-dimensional visualization rebuilds, simulate traditional endoscope detecting process, realize roaming in human organ even in the blood vessel, and can do flight along virtual internal cavities and observe, show continuous three-dimensional organ lumen structure chart, on computer screen, generate visual image with endoscope's simulated effect.This technology has overcome many drawbacks of conventional endoscope, feel sick even wall perforation, hemorrhage as the cough that patient causes because of incompatibility endoscope, unfamiliar doctor control endoscope in organ when mobile disorientation increased patient's misery, and endoscope's self structure reason can't arrive the intravital a lot of significant points of people.
From 1993 first by report such as Vining CT emulation bronchus endoscopic technique since, virtual endoscope combines virtual reality and successfully is applied to Medical Image Processing with the visualization in scientific computing technology.Virtual environment is with user and the synthetic integral body of computer structure, and the user places oneself in the midst of in the three-dimensional electronic environment that imitates real world and create, the interactive vision simulation that produces sensation on the spot in person.
Yet the application of virtual endoscope in medical science at present mainly concentrates on the organ with cavity structure, as gastrointestinal tract, bronchus, blood vessel, nasal cavity, internal ear or the like.(FiberoplicEndoscopy, FE) finding is be otherwise known as so " Virtual Endoscopy " because of its like fibrous scope.Virtual endoscope is a kind of non invasive technique, the misery of avoiding cardiac catheterization to bring to patient, complication such as no hemorrhage, perforation, infection.But the VE repetitive operation is observed repeatedly from arbitrarily angled and position, and can be easily goes to observe situation after narrow through narrow section.
Yet, be similar to the organ of heart and so on because there is the valve motion in the internal anatomy complexity in addition, when the observer carries out O﹠A to interesting areas, virtual endoscope not only will provide the interactive real time multi-angle to observe, and require the virtual view position constantly to change observation, do not observe position and disorientation possibility so exist when the operation virtual endoscope, it is necessary therefore exploring and set up three-D ultrasonic virtual endoscope air navigation aid.
[summary of the invention]
The objective of the invention is to solve the above-mentioned problems in the prior art, a kind of air navigation aid of three-dimensional cardiac ultrasonic virtual endoscope is provided, when the continuous conversion in virtual view observation place, the observer also is not easy disorientation.
The objective of the invention is to realize by following technological means:
A kind of navigation method of three-dimensional cardiac ultrasonic virtual endoscope comprises following steps:
Obtain the original two-dimensional tangent plane picture of heart tissue structure;
According to described two-dimentional tangent plane picture three-dimensional reconstruction and show 3-D view;
A virtual endoscope viewpoint that can move and control is set in described 3-D view; And
Generate observation path by moving in described 3-D view of virtual endoscope viewpoint.
When described organ to be checked is heart, obtain the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
The step that also comprises a selection area-of-interest in the step of described establishment 3-D view.The step of described selection area-of-interest (ROI) adopts the sections analytic process, and area-of-interest is divided into several, and determines the size that the zone is divided according to the structure of these viewing areas.The object decision according to the observation of area-of-interest scope, wherein atrioventricular valves (A V valves) zone, chamber interval region ROI select suitable big, main, the regional ROI of pulmonary artery to select suitable little.
Described virtual endoscope viewpoint is arranged at the center of the cavity or the trunk of described area-of-interest.
Control described virtual endoscope viewpoint and move when observing, described area-of-interest is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of heart inner tissue structural object amplification.
When controlling the static observation of described virtual endoscope viewpoint,, observe the arbitrarily angled of heart inner tissue structure with at any part by adjusting the sighting distance and the visual angle of virtual endoscope viewpoint.
The iso-surface patch method is adopted in the 3-D view imaging when move observing organ-tissue structure to be checked of described virtual endoscope viewpoint, and object plotting method is adopted in the 3-D view imaging when static observation organ-tissue structure to be checked of described virtual endoscope viewpoint.
The 3-D view that showed when described virtual endoscope viewpoint is moved is preserved and is carried out playback, reproduces the path of observing.
Described virtual endoscope viewpoint can be observed or observe according to the default path guiding of instructing by the 3-D view observation path guiding of preserving, and also person's control guiding is observed according to the observation.
Beneficial effect of the present invention is, the user is moving by hand control virtual endoscope viewpoint in 3-D view, roam in the 3-D view of heart inner tissue with the man-machine interaction navigate mode, and allow continuous playback is carried out in the zone of observing, reproduce the arbitrarily angled path that roaming is generated of observing down, with this virtual emulation endoscopic observation effect that obtains organ, be convenient to the observer and judge, and be difficult for disorientation.
[description of drawings]
Fig. 1 is the step sketch map of the specific embodiment of the invention;
Fig. 2 is the navigation interface sketch map in the specific embodiment of the invention.
[specific embodiment]
The specific embodiment to navigation method of three-dimensional cardiac ultrasonic virtual endoscope provided by the invention is elaborated with reference to the accompanying drawings.
This specific embodiment is as follows: step S101, obtain the original two-dimensional tangent plane picture of heart tissue structure; Step S102 selects area-of-interest; Step S103, three-dimensional reconstruction also shows 3-D view; Step S104 is provided with a virtual endoscope viewpoint that can move and control in virtual display image; Step S105 observes and generates observation path by the mobile guiding of virtual endoscope viewpoint; Step S107, the path that playback is observed.
When organ to be checked is heart, because thtee dimensional echocardiography has bigger superiority at aspects such as showing intracardiac structure, valve motion, sampling is convenient, and it is short to obtain the image time, can reduce the pseudo-shadow that breathing or heart movement cause, and cardiac ultrasonic is cheap, effect/price ratio height, and CT, MRI cost an arm and a leg, the time of imaging is longer, be difficult to follow the tracks of the dynamic change of heart, and be not suitable for critical patient's inspection.So the present invention obtains the original two-dimensional tangent plane picture of organ-tissue structure to be checked by three-D ultrasonic.
Referring to Fig. 1,, obtain the original two-dimensional tangent plane picture of heart tissue structure in step S101.When described organ to be checked is heart, obtain the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
In step S102, select area-of-interest.Area-of-interest (region-of-interest ROI) is the viewing area scope that the operator selects, by the image cutting ROI on each frame layer image is carried out graphical analysis with interior All Ranges, ROI will not list visual scope with exterior domain in when navigating, to reduce the interference to the observer.
According to cardiac structure and movement characteristic, in conjunction with Van Praagh " sections analytic process ", area-of-interest is set three, is respectively atrioventricular valves (A V valves) zone, chamber interval region and master, pulmonary artery zone.The object decision according to the observation of ROI scope, wherein atrioventricular valves (A V valves) zone, chamber interval region ROI select suitable big, main, the regional ROI of pulmonary artery to select suitable little.
In step S103, three-dimensional reconstruction also shows 3-D view.Create 3-D view according to the selected area-of-interest of step S102, observer's visual scope is not listed in the zone beyond the area-of-interest in.Referring to Fig. 2, be the navigation interface sketch map behind the selection area-of-interest, wherein, the left hand view square frame is that the ROI zone is selected, and the arrow indication is a viewpoint position, and viewpoint is in left ventricle, and right part of flg is corresponding aortic valve under the manual guidance, the virtual display result of Bicuspid valve.
In other specific embodiment, can directly enter step S103 in step S101, do not carry out the selection of area-of-interest, but according to default path navigation.
In step S104, a virtual endoscope viewpoint that can move and control is set in virtual display image.This virtual endoscope viewpoint allows about person's control is carried out according to the observation, about and before and after a plurality of directions move, simultaneously, the object of observation in the visual scope also can be carried out spatial alternation at any angle.The center that preferably the virtual endoscope viewpoint is arranged at the cavity of described viewing area interested or trunk to around observe, so can be because of the adherent visual effect that causes distortion.
In step S105, observe and generate observation path by the mobile guiding of virtual endoscope viewpoint, moving of virtual endoscope viewpoint can be instructed path or person's control according to the observation according to default, 3-D view and the observation path preserved before the moving of virtual endoscope viewpoint also can be selected from.
When control virtual endoscope viewpoint moves observation, viewing area interested is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of heart inner tissue structural object amplification.
For example, when observing the atrioventricular valves (A V valves) zone of heart, the sham operated path,, or observe to the atrium direction from the apex of the heart to ventricle direction three dimensional display from the atrium, viewpoint can begin roaming from chamber intracavity arbitrfary point, by change sighting distance, adjustment visual angle, viewpoint the place ahead atrioventricular valves (A V valves) organizational structure is carried out dynamic demonstration in real time, intactly observe atrioventricular valves (A V valves) form and active situation, the spatial relationship of neighbour structure around structure under Bicuspid valve, Tricuspid valve lobe ring and the lobe is reached.
When observing the chamber interval region of heart, viewpoint is positioned the both sides of room, interventricular septum, sight line and tissue at interval or vertically face or become the angle side to observe, as three dimensional display septal defect is arranged, viewpoint can move to damaged direction by rolling mouse right button and Keyboard Control, observe damaged anatomical position, form, size and with the relation of structures surrounding, after the opposite side of defect area arrival interval is passed in the quick propelling of viewpoint, the viewpoint of can reversing changes the space structure of further observing septal defect and adjacent tissue behind sighting distance, the visual angle.
When observing the large artery trunks zone of heart, be the center with large artery trunks and ventricle junction ROI, viewpoint is positioned at ventricular chamber observes to master, pulmonary artery, shows the spatial relation of large artery trunks and ventricle, shows active situation main, the valve of pulmonary trunk valve in real time.To the aortic overriding case, viewpoint moves in the large artery trunks, observes to the ventricular chamber direction at the large artery trunks root, shows that large artery trunks rides the ratio of interventricular septum, the anatomical position of observation ward's septal defect.
In step S106, the path that playback is observed.The 3-D view preservation that showed when described virtual endoscope viewpoint is moved is also carried out the path that continuous playback can be reproduced observation.When viewpoint is advanced under the navigation system support, the observer can " loiter ", and when viewpoint is stopped on walking path, system allow the observer by keyboard to around look at that the image that is generated is added into a frame of formation animation in the image sequence.After intracardiac roaming went on foot arbitrarily, system can carry out playback to the path of observing, and realized the observation of frame of video speed.
As preferable technical scheme, iso-surface patch (surface rendering) method is adopted in the 3-D view imaging when move observing heart inner tissue structure of virtual endoscope viewpoint, and volume drawing (volume rendering) method is adopted in the 3-D view imaging when static observation heart inner tissue structure of virtual endoscope viewpoint.
The iso-surface patch method, claim indirect method for drafting again, its principle is based on the two dimensional image edge or contour line extracts, construct middle geometric graphic element (as curved surface, plane etc.) by the three-dimensional space data field, by geometric units splicing match object dimensional structure, learn a skill and hardware realization pattern drafting by traditional graph.In the method for medical image three-dimensional resurfacing, directly generating contour surface from three-dimensional data has multiple diverse ways, and it is the most representative to be mobile cube (Marching Cubes) method.The visualized graphs that the iso-surface patch method construct goes out can not reflect the overall picture and the details of whole initial data field, visualization mapping just becomes plane or curved surface with the part best property of attribute mapping in the initial data, but can produce contour surface image more clearly, and can utilize existing graphic hardware to realize drawing function, making speeding up of image generation and conversion, is class visualized algorithm commonly used.
Object plotting method (Volume Rendering) be develop rapidly in recent years a kind of three-dimensional data method for visualizing.Volume drawing is different fully with the iso-surface patch method, geometric graphic element in the middle of it is not constructed, but directly produce by 3 d data field, use visual theory and directly voxel is projected display plane, by to the volume data three-dimensional reconstruction, directly, be also referred to as direct volume drawing (DirectVolume Rendering) algorithm by the two dimensional image on the 3 d data field generation screen.
The purpose of volume drawing is to provide a kind of rendering technique based on voxel, it is different from traditional drafting based on face, directly the data after handling are drawn, each data point of rebuilding in the threedimensional model of back all can be drawn, comprise the data of cardiac muscle inside.
Pass through to adjust threshold value, transparency based on the virtual endoscope imaging of Volume Rendering Techniques, and give artificial pseudo-color and different lamplight brightness, the chambers of the heart inner surface 3-D view of rebuilding can show the interior details of heart, can keep the heart Global Information, and the picture quality height, be convenient to post processing of image.
Virtual endoscope system is applied to analyzing and diagnosing, image quality is had relatively high expectations, final goal is to reach in real time the accurately requirement of demonstration and interactive operation, three-dimensional ultrasound pattern is drawn be studies show that the comprehensive utilization that iso-surface patch and volume drawing show will improve the observing effect of virtual endoscope.When navigating, the virtual endoscope viewpoint can adopt the iso-surface patch method, the imaging rapid image is clear, when viewpoint position is not mobile, can adopt object plotting method, volume drawing can show trickle structure and form, can provide abundant more and accurate information to area-of-interest like this, make the observer obtain satisfied more visual field observing effect.
Therefore, the iso-surface patch method is adopted in the 3-D view imaging when move observing heart inner tissue structure of virtual endoscope viewpoint, and static observation heart inner tissue adopts object plotting method during structure, and it is fast and image is fine and smooth true to nature to be embodied as picture preferably.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (12)
1. a navigation method of three-dimensional cardiac ultrasonic virtual endoscope is characterized in that, comprises following steps:
Obtain heart original two-dimensional tangent plane picture;
Carry out three-dimensional reconstruction and show 3-D view according to described two-dimentional tangent plane picture;
A virtual endoscope viewpoint that can move and control is set in described 3-D view;
Mobile guiding by the virtual endoscope viewpoint is observed; And
In described 3-D view, generate observation path.
2. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1 is characterized in that, when described organ to be checked is heart, obtains the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
3. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1 is characterized in that, also comprises the step of a selection area-of-interest in the step of described three-dimensional reconstruction.
4. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 3, it is characterized in that, the step of described selection area-of-interest adopts the sections analytic process, and area-of-interest is divided into several, and determines the size that the zone is divided according to the structure of area-of-interest.
5. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 3 is characterized in that, described virtual endoscope viewpoint is arranged at the center of the cavity or the trunk of described area-of-interest.
6. according to claim 3 or 5 described navigation method of three-dimensional cardiac ultrasonic virtual endoscope, it is characterized in that, controlling described virtual endoscope viewpoint moves when observing, described viewing area interested is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of heart inner tissue structural object amplification.
7. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 3, it is characterized in that, when controlling the static observation of described virtual endoscope viewpoint,, observe the arbitrarily angled of heart inner tissue structure with at any part by adjusting the sighting distance and the visual angle of virtual endoscope viewpoint.
8. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1, it is characterized in that, the iso-surface patch method is adopted in the 3-D view imaging when move observing heart tissue structure of described virtual endoscope viewpoint, and described virtual endoscope viewpoint is 3-D view imaging employing object plotting method when static observations heart tissue structure.
9. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1 is characterized in that, the 3-D view that showed when described virtual endoscope viewpoint is moved is preserved and carried out playback, reproduces the path of observing.
10. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 9 is characterized in that, described virtual endoscope viewpoint is observed by the 3-D view observation path guiding of preserving.
11. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1 is characterized in that, described virtual endoscope viewpoint is observed according to the default path guiding of instructing.
12. navigation method of three-dimensional cardiac ultrasonic virtual endoscope according to claim 1 is characterized in that, described virtual endoscope viewpoint person's control guiding is according to the observation observed.
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| CN102525662A (en) * | 2012-02-28 | 2012-07-04 | 中国科学院深圳先进技术研究院 | Three-dimensional visual tissue organ operation navigation method and system |
| CN103279984A (en) * | 2013-06-04 | 2013-09-04 | 浙江工业大学 | Sight glass visual angle tracking method based on image transformation matrix |
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| US5611025A (en) * | 1994-11-23 | 1997-03-11 | General Electric Company | Virtual internal cavity inspection system |
| US20030152897A1 (en) * | 2001-12-20 | 2003-08-14 | Bernhard Geiger | Automatic navigation for virtual endoscopy |
| US7304644B2 (en) * | 2003-03-12 | 2007-12-04 | Siemens Medical Solutions Usa, Inc. | System and method for performing a virtual endoscopy |
| DE102004027709B4 (en) * | 2004-06-07 | 2006-08-10 | Siemens Ag | Method of virtual endoscopy for medical 3D image display and processing, computed tomography device, workstation and computer program product |
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