CN102222330B - Two-dimensional and three-dimensional medical image registration method and system - Google Patents
Two-dimensional and three-dimensional medical image registration method and system Download PDFInfo
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Abstract
The invention relates to a two-dimensional and three-dimensional medical image registration method and a system, wherein the method comprises the steps of: generating a three-dimensional image of a three-dimensional imaged body, and generating a DRR (data receiving register) image library in an offline manner along the direction of a rotating angle outside the plane; acquiring an X-ray image of the three-dimensional imaged body; taking the X-ray image as a registered image, taking the DRR image in the DRR image library generated in an offline manner as a reference image, and respectively carrying out estimation on values such as a transition parameter in the plane, and/or a rotating angle parameter in the plane, and/or a rotating angle parameter outside the plane; taking a newest parameter estimation result as a reference position to carry out adjustment on a three-dimensional image, and generating the DRR image library along the rotating angle directions outside the two planes; taking the X-ray image as the registered image, taking the DRR image in the newest DRR image library generated in an online manner along the rotating angle directions outside the two planes as the reference image, and respectively carrying out estimation on values such as the transition parameter in the plane, and/or the rotating angle parameter in the plane, and/or the rotating angle parameter outside the plane.
Description
Technical field
The present invention relates to medical image registration method and system, relate in particular to 2D-3D (2 d-3 d) medical image registration method and system.
Background technology
Image guided radiation therapy (IGRT) is tumour radiotherapy and the operating latest theories of tumour radiotherapy and the technology that progressively grew up in nearly ten years, is a milestone of modern radiotherapy.Image documentation equipment and the image processing method of IGRT by the advanced person positions tracking to patient's focus before treatment and in the treatment, realize the precise radiotherapy to tumour, reduces the damage to tumour periphery normal structure, improves patient's result for the treatment of.IGRT is the basis of all modern emerging radiation therapy technologies, such as the Intensity Modulation Radiated Therapy (IMRT) (IG-IMRT) of the neural radiosurgery (SRS) of stereotaxis, stereotaxis body radiation therapy (SBRT), image guiding, and the image guiding is the core technology of IGRT.
Main kV level x-ray imaging technology or airborne vertebra shape CT (CBCT) technology of adopting of the at present image of IGRT guiding.Image guidance techniques based on the x-ray imaging technology, the 2D-3D image registration by single or multiple radioscopy images and treatment plan CT, determine the position of patient or tumour, adjust patient location or in treatment, adjust the treatment ray by Mobile treatment table before treatment, realize the accurate treatment to tumour.And based on the image guidance techniques of CBCT technology, be the patient location of the three-dimensional-before three-dimensional (3D-3D) image registration realizes treating by CBCT and the treatment plan CT of online generation.
Existing image based on the x-ray imaging technology guides registration speed, registration accuracy and the registration success ratio of the 2D-3D method for registering images that adopts lower, needs to improve.
Summary of the invention
Technical matters to be solved by this invention is, overcomes the deficiencies in the prior art, and a kind of 2 d-3 d medical image registration method and system that improves registration speed, registration accuracy and registration success ratio is provided.
In order to address the above problem, the invention provides a kind of 2 d-3 d medical image registration method, the method comprises:
A: generating three-dimensional is imaged the 3-D view of body, and off-line generates the DRR image library of corner direction outside two planes;
B: gather the radioscopic image that described three-dimensional is imaged body;
C: with described radioscopic image as being registered image, DRR image in the DRR image library of corner direction outside two planes that generates take described off-line is estimated the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane respectively as benchmark image;
D: described 3-D view is adjusted as the reference position with the most recent parameters estimation result to corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane, generated online the DRR image library of corner direction outside two planes;
F: with described radioscopic image as being registered image, DRR image in the DRR image library of corner direction outside two planes of up-to-date online generation is estimated the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane respectively as benchmark image.
In addition, between described step B and C, also comprise the steps:
B1: the DRR image in the DRR image library of corner direction along two planes outside that generates take described off-line carries out the image reinforcement as reference to described radioscopic image.
In addition, after described step F, also comprise the steps:
G: the most recent parameters estimation result of step F is adjusted described 3-D view as the reference position, generate online the DRR image library of translation direction outside the plane;
H: as being registered image, the DRR image in the DRR image library of translation direction outside the plane of up-to-date online generation is estimated the value of translation parameters outside the plane as benchmark image with described radioscopic image.
In addition, after described step F, also comprise the steps:
I: judge whether to satisfy the parameter estimation accuracy requirement, if satisfy, then repeated execution of steps D and subsequent step.
In addition, after described step H, also comprise the steps:
I: judge whether to satisfy the parameter estimation accuracy requirement, if satisfy, then repeated execution of steps D and subsequent step.
In addition, among the described step I, if the parameter estimation accuracy requirement has been satisfied in judgement, then carry out following steps:
J: the corresponding quality assurance parameter of calculating parameter estimation result, and it is tested, if upcheck, output image registration results then.
In addition, off-line generates the DRR image library of corner direction outside two planes in the following way:
A01: setting comprises M
0Rotational angle theta outside the individual different plane
xAnd N
0Rotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[0]≤θ
x(i)≤θ
x_H[0]，θ
y_L[0]≤θ
y(j)≤θ
y_H[0]；
A02: to each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
0* N
0The DRR image library of individual DRR image;
Wherein, θ
X_L[0] and θ
X_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[0] and θ
Y_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
0J=1,2 ..., N
0M
0, N
0For greater than 1 integer.
In addition, generate online in the following way the DRR image library of corner direction outside two planes for the k time:
D01: setting comprises M
kRotational angle theta outside the individual different plane
xAnd N
kRotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[k]≤θ
x(i)≤θ
x_H[k]，θ
y_L[k]≤θ
y(j)≤θ
y_H[k]；
D02: to each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
k* N
kThe DRR image library of individual DRR image;
Wherein, θ
X_L[k] and θ
X_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
xThe lower limit of span (i) and the upper limit; θ
Y_L[k] and θ
Y_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
kJ=1,2 ..., N
kM
k, N
kFor greater than 1 integer; K is the integer greater than 0.
In addition, θ
X_L[k], θ
X_H[k], θ
Y_L[k] and θ
Y_H[k] satisfies respectively:
θ
x_L[k]＞θ
x_L[k-1]；
θ
x_H[k]＜θ
x_H[k-1]；
θ
y_L[k]＞θ
y_L[k-1]；
θ
y_H[k]＜θ
y_H[k-1]。
In addition, when off-line generates the DRR image library of corner direction outside two planes, each θ
x(i) difference between is Δ θ
x[0], each θ
y(j) difference between is Δ θ
y[0];
When generating online the DRR image library of corner direction outside two planes for the k time, each θ
x(i) difference between is Δ θ
x[k], each θ
y(j) difference between is Δ θ
y[k];
Δ θ
x[k] and Δ θ
y[k] satisfies respectively:
Δθ
x[k]＜Δθ
x[k-1]；Δθ
y[k]＜Δθ
y[k-1]。
In addition, generate online in the following way the DRR image library of translation direction outside two planes for the h time:
G01: set Q
hShift value z (i) outside the individual different plane; Z (i) satisfies:
z
L[h]≤z(i)≤z
H[h]；
G02: the DRR image to a correspondence of each z (i) value generation comprises Q thereby generate
hThe DRR image library of individual DRR image;
Wherein, z
L[h] and z
HLower limit and the upper limit of the span of translation parameters z (i) outside the plane when [h] represents respectively to generate online for the h time the DRR image library of translation direction outside two planes;
I=1,2 ..., Q
hQ
hFor greater than 1 integer; H is the integer greater than 0.
In addition, z
L[h+1]＞z
L[h], and z
H[h+1]＜z
H[h].
In addition, when generating online the DRR image library of translation direction outside two planes for the h time, the difference between each z (i) is Δ z[h]; And satisfy:
Δz[h+1]＜Δz[h]。
In addition, among the step C, in the following way translation parameters in the plane is estimated:
C01: determine to optimize the registration window at the DRR image;
C02: translation parameters in the plane is estimated according to the optimization registration window of determining.
In addition, determine to optimize the registration window at the DRR image in the following way:
C011: the diverse location in the region of interest of DRR image determines that a plurality of sizes are less than the registration window of region of interest;
C012: calculate respectively Grad and the addition of image in a plurality of registration windows, obtain the gradient additive value of each registration window;
C013: choose the large one or more registration windows of gradient additive value as optimizing the registration window.
In addition, among the step I, one of in the following way judge whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane.
Perhaps, among the step I, one of in the following way judge whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane, translation parameters outside the plane.
The present invention also provides a kind of 2 d-3 d medical figure registration system, comprises: the radioscopic image collecting unit, and the 3-D view generation unit, this system also comprises: DRR image library generation unit, image registration unit; Wherein:
Described 3-D view generation unit is used for the 3-D view that generating three-dimensional is imaged body, and exports it to DRR image library generation unit;
Described DRR image library generation unit is used for generating according to the 3-D view off-line that receives the DRR image library of corner direction outside two planes, and exports the DRR image that comprises in this DRR image library;
Described radioscopic image collecting unit is used for gathering and exporting the radioscopic image that described three-dimensional is imaged body;
Described image registration unit, the radioscopic image that is used for receiving is as being registered image, DRR image in the DRR image library that generates take the described off-line that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and output parameter estimation result;
Described DRR image library generation unit, also be used for described 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit, the radioscopic image that also is used for receiving is as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and output parameter estimation result.
In addition, also comprise image in the described system and strengthen the unit;
Described image is strengthened the unit, be used for receiving the radioscopic image of described radioscopic image collecting unit output, and receive the DRR image that comprises in the DRR image library that described off-line generates, and take the DRR image that receives as reference, described radioscopic image is carried out image strengthen, and export strengthened radioscopic image to described image registration unit.
In addition, described DRR image library generation unit, also be used for described 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of translation direction outside the plane, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit, the radioscopic image that also is used for receiving is as being registered image, take receive described outside the plane DRR image in the DRR image library of translation direction the value of translation parameters outside the plane is estimated and output parameter estimation result as benchmark image.
In addition, described image registration unit also is used for judging whether to satisfy the parameter estimation accuracy requirement, if do not satisfy, then described image registration unit and described DRR image library generation unit repeat following operation, satisfy the parameter estimation accuracy requirement until described image registration unit is judged:
Described image registration unit exports the described parameter estimation result that the value estimation of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is obtained to described DRR image library generation unit;
Described DRR image library generation unit is adjusted described 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit with the radioscopic image that receives as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is estimated the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane respectively as benchmark image;
Whether described image registration unit judges has satisfied the parameter estimation accuracy requirement.
In addition, described image registration unit also is used for judging whether to satisfy the parameter estimation accuracy requirement, if do not satisfy, then described image registration unit and described DRR image library generation unit repeat following operation, satisfy the parameter estimation accuracy requirement until described image registration unit is judged:
Described image registration unit exports the described parameter estimation result that the value estimation of translation parameters outside corner parameter and/or the plane outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is obtained to described DRR image library generation unit;
Described DRR image library generation unit is adjusted described 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit with the radioscopic image that receives as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and exported the parameter estimation result that estimation obtains to described DRR image library generation unit;
Described DRR image library generation unit is adjusted described 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of translation direction outside the plane, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit with the radioscopic image that receives as being registered image, take receive described outside the plane DRR image in the DRR image library of translation direction as benchmark image the value of translation parameters outside the plane is estimated;
Whether described image registration unit judges has satisfied the parameter estimation accuracy requirement.
In addition, also comprise in the described system: quality assurance parametric test unit;
Described image registration unit also is used for exporting the parameter estimation result to described quality assurance parametric test unit after the parameter estimation accuracy requirement has been satisfied in judgement;
Described quality assurance parametric test unit be used for to calculate the corresponding quality assurance parameter of parameter estimation result that receives, and it is tested, if upcheck, and output image registration results then.
In addition, described DRR image library generation unit in the following way off-line generate the DRR image library of corner direction outside two planes:
Setting comprises M
0Rotational angle theta outside the individual different plane
xAnd N
0Rotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[0]≤θ
x(i)≤θ
x_H[0]，θ
y_L[0]≤θ
y(j)≤θ
y_H[0]；
To each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
0* N
0The DRR image library of individual DRR image;
Wherein, θ
X_L[0] and θ
X_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[0] and θ
Y_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
0J=1,2 ..., N
0M
0, N
0For greater than 1 integer.
In addition, described DRR image library generation unit generates the DRR image library of corner direction outside two planes in the following way for the k time online:
Setting comprises M
kRotational angle theta outside the individual different plane
xAnd N
kRotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[k]≤θ
x(i)≤θ
x_H[k]，θ
y_L[k]≤θ
y(j)≤θ
y_H[k]；
To each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
k* N
kThe DRR image library of individual DRR image;
Wherein, θ
X_L[k] and θ
X_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
xThe lower limit of span (i) and the upper limit; θ
Y_L[k] and θ
Y_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
kJ=1,2 ..., N
kM
k, N
kFor greater than 1 integer; K is the integer greater than 0.
In addition, θ
X_L[k], θ
X_H[k], θ
Y_L[k] and θ
Y_H[k] satisfies respectively:
θ
x_L[k]＞θ
x_L[k-1]；
θ
x_H[k]＜θ
x_H[k-1]；
θ
y_L[k]＞θ
y_L[k-1]；
θ
y_H[k]＜θ
y_H[k-1]。
In addition, when described DRR image library generation unit off-line generates the DRR image library of corner direction outside two planes, each θ
x(i) difference between is Δ θ
x[0], each θ
y(j) difference between is Δ θ
y[0];
When described DRR image library generation unit generates the DRR image library of corner direction outside two planes for the k time online, each θ
x(i) difference between is Δ θ
x[k], each θ
y(j) difference between is Δ θ
y[k];
Δ θ
x[k] and Δ θ
y[k] satisfies respectively:
Δθ
x[k]＜Δθ
x[k-1]；Δθ
y[k]＜Δθ
y[k-1]。
In addition, described DRR image library generation unit generates the DRR image library of translation direction outside two planes in the following way for the h time online:
Set Q
hShift value z (i) outside the individual different plane; Z (i) satisfies:
z
L[h]≤z(i)≤z
H[h]；
DRR image to a correspondence of each z (i) value generation comprises Q thereby generate
hThe DRR image library of individual DRR image;
Wherein, z
L[h] and z
HLower limit and the upper limit of the span of translation parameters z (i) outside the plane when [h] represents respectively to generate online for the h time the DRR image library of translation direction outside two planes;
I=1,2 ..., Q
hQ
hFor greater than 1 integer; H is the integer greater than 0.
In addition, z
L[h+1]＞z
L[h], and z
H[h+1]＜z
H[h].
In addition, when described DRR image library generation unit generated the DRR image library of translation direction outside two planes for the h time online, the difference between each z (i) was Δ z[h]; And satisfy:
Δz[h+1]＜Δz[h]。
In addition, described image registration unit is estimated translation parameters in the plane in the following way:
Determine to optimize the registration window at the DRR image;
According to the optimization registration window of determining translation parameters in the plane is estimated.
In addition, the registration window is determined to optimize at the DRR image in the following way in described image registration unit:
Diverse location in the region of interest of DRR image determines that a plurality of sizes are less than the registration window of region of interest;
Calculate respectively Grad and the addition of image in a plurality of registration windows, obtain the gradient additive value of each registration window;
Choose the large one or more registration windows of gradient additive value as optimizing the registration window.
In addition, described image registration unit one of in the following way judges whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane.
Perhaps, described image registration unit one of in the following way judges whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane, translation parameters outside the plane.
In sum, medical image registration method of the present invention and system adopt the x-ray imaging technology, carry out the 2D-3D medical figure registration based on anatomical features in the body.This method can adopt single radioscopic image, also can be applicable to the imaging system of two or more radioscopic images.In image guided radiation therapy, this method can be applicable to tumor-localizing and the tracking at the positions such as cranium brain, vertebra, lung, liver.
Because medical image registration method of the present invention and system are estimated corner outside translation in the plane, plane inside lock and the plane respectively based on the DRR image library that corner direction outside the plane generates, and the DRR image library that can further generate based on translation direction outside the plane is estimated translation outside the plane, reduce the complexity of image registration, improved the success ratio of registration speed, registration accuracy and registration.
Description of drawings
Fig. 1 is the synoptic diagram of how much of x-ray imagings and coordinate system;
Fig. 2 is the single dull and stereotyped 2 d-3 d medical image registration method process flow diagram of the present invention;
Fig. 3 is the synoptic diagram of determining a plurality of optimization registration windows at benchmark DRR image;
Fig. 4 is the structural representation of 2 d-3 d medical figure registration system of the present invention.
Embodiment
Core of the present invention is, respectively corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane is estimated based on the DRR image library that corner direction outside the plane generates, and the DRR image library that can further generate based on translation direction outside the plane is estimated translation parameters outside the plane.
At first how much of x-ray imagings and the coordinate system that the present invention relates to is described.
Fig. 1 has described x-ray imaging how much and coordinate system.As shown in Figure 1, the X ray of x-ray source emission penetrates three-dimensional and is imaged body (patient), produces a fluoroscopy images on the two-dimensional imaging plane, and this fluoroscopy images is called radioscopic image.Among Fig. 1, s and o
pRepresent respectively x-ray source center and imaging plane center.
Among Fig. 1, three-dimensional system of coordinate (oxyz) is patient coordinate system, and patient location is described by six parameters, comprises three translation parameterss (x, y, z) and three corner parameter (θ
x, θ
y, θ
z).Two-dimensional coordinate system (o
px
py
p) be the imaging plane coordinate system, patient location is described by six parameters: translation parameters (x in two planes
p, y
p), plane inside lock parameter θ
z, corner parameter (θ outside translation parameters z and two planes outside plane
x, θ
y).
Between three-dimensional patient coordinate system and two-dimensional imaging plane coordinate system, translation parameters z and three corner parameter (θ outside the plane
x, θ
y, θ
z) direct corresponding relation is arranged, and two other translation parameters can amplify mutually conversion of relation by simple how much:
x
p=ax, y
p=ay; Wherein, constant
Amplification coefficient for imaging geometry.
Image registration is exactly by being specified to six parameter (x in the photo coordinate system
p, y
p, z, θ
x, θ
y, θ
z), determine to be used in the patient coordinate system six parameters (x, y, z, the θ that the expression patient location changes
x, θ
y, θ
z).
2D-3D image registration of the present invention is the similarity according to skeleton dissection between the image or organ-tissue, by the two-dimensional x-ray images of more single or multiple Real-time Collections with the three dimensional CT or MRI (magnetic resonance imaging) image that produce in advance, determine patient when scanning and the change in location during radiation therapy.
In registration process, at first CT image or the MRI image of three-dimensional are carried out two-dimentional perspective projection, generating digital is rebuild skeleton view (Digitally Reconstructed Radiograph is called for short the DRR) image library, as the benchmark image of image registration; Then, the radioscopic image of Real-time Collection as being registered image, is measured relatively radioscopic image and DRR image library with image similarity, to survey patient in x-ray imaging and the change in location between CT scan.
Describe the present invention below in conjunction with drawings and Examples.
Fig. 2 is the single dull and stereotyped 2 d-3 d medical image registration method process flow diagram of the present invention.As shown in Figure 2, the method comprises the steps:
201, generating three-dimensional is imaged the 3-D view of body, and corner direction off-line generates the DRR image library outside two planes;
The corner direction refers to respectively the corner direction around x and y change in coordinate axis direction among Fig. 1 outside above-mentioned two planes.
The DRR image is to utilize the digitizing of CT scan image sequence to rebuild perspective, is the radioscopy figure of emulation.Generate the DRR image and need to know the geometric parameter of imaging system, specifically, need to know x-ray source and the X-ray detector accurate location in the imaging system coordinate system and the projecting direction of X ray.2D-3D image registration based on two-dimensional x-ray images and three dimensional CT image (or MRI image), at first to generate two-dimentional DRR image according to patient's three dimensional CT image (or MRI image) and the geometric parameter of imaging system, 2D-3D image registration is converted into 2D-2D image registration to two-dimensional x-ray images and two-dimentional DRR image.
In 2D-3D image registration algorithm of the present invention, outside two planes outside corner and the plane translation can not be directly obtain from 2D-2D image registration, and need to from the image library that is formed by a plurality of DRR images, search for.Calculate outside two planes that translation need to generate respectively two different DRR image libraries outside the corner and plane.
In this step, the DRR image library that the corner direction generates outside two planes is by corner parameter (θ outside two planes of different angles combination
x, θ
y) corresponding a plurality of DRR images compositions.
In this step, when off-line generates the DRR image library, need in predefined angular range, define M
0Rotational angle theta outside the individual different plane
xAnd N
0Rotational angle theta outside the individual different plane
y, to generate M
0* N
0Corner parameter combinations (θ outside the individual different plane
x(i), θ
y(j)); Wherein, i=1,2 ..., M
0J=1,2 ..., N
0To DRR image corresponding to corner outside these two planes of each angle combination producing, comprise M thereby generate
0* N
0The DRR image library of individual DRR image.M
0, N
0For greater than 1 integer.
Be included in corner parameter (θ outside two planes of different angles combination of definition in the larger angular range in the DRR image library that generates in this step
x(i), θ
y(j)) corresponding DRR image.That is to say, in this step, θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[0]≤θ
x(i)≤θ
x_H[0]，θ
y_L[0]≤θ
y(j)≤θ
y_H[0]。
Wherein, θ
X_L[0] and θ
X_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[0] and θ
Y_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
yThe lower limit of span (j) and the upper limit.
In this step, θ
X_L[0] and θ
Y_L[0] can equal-10 degree; θ
X_H[0] and θ
Y_H[0] can equal+10 degree, and each θ
x(i) the difference DELTA θ between
x[0] and each θ
y(j) the difference DELTA θ between
y[0] (being angle intervals) can be large (for example, angle intervals be 1 degree) can be satisfied the accuracy requirement of preresearch estimates.
202, the Real-time Collection three-dimensional is imaged the radioscopic image of body.
203, with the benchmark DRR image in the DRR image library of off-line generation as a reference, the radioscopic image that gathers is carried out image strengthen, make strengthened radioscopic image visually similar to the DRR image, to improve the precision of image registration;
Said reference DRR image refers in the DRR image library that corner all is the corresponding DRR image of 0 degree outside two planes.
In the present embodiment, can realize in the following way the reinforcement of radioscopic image: with the histogram of benchmark DRR image as a reference, adjust the histogram of radioscopic image, make it to reach similar to greatest extent to the histogram of benchmark DRR image.Certainly, also can adopt additive method of the prior art to realize the reinforcement of radioscopic image.
This step is optional step.
204, as being registered image, the benchmark DRR image in the DRR image library of corner direction outside two planes that generates take off-line is as benchmark, to translation parameters (x in two planes with radioscopic image
p, y
p) value carry out preresearch estimates, obtain estimated value: (x
p[0], y
p[0]);
Specifically, can determine to optimize the registration window at benchmark DRR image in this step, adopt two dimension (2D) search procedure, in larger translation hunting zone (for example,-40mm～+ 40mm), according to optimizing the registration window, to translation parameters (x in two planes
p, y
p) value carry out preresearch estimates (namely in radioscopic image, seeking the position of correspondence to optimize feature in the registration window), obtain estimated value: (x
p[0], y
p[0]);
Above-mentioned 2D search procedure refers to relatively be registered the similarity measurement of image and benchmark image in the two-dimensional parameter spatial dimension of regulation, to determine the numerical value of these two parameters.Two parameters that adopt the 2D search procedure to determine in this step are: translation parameters (x in the plane
p, y
p).
Similarity measurement can adopt the relevant analogue method of normalization of the prior art or mutual information analogue method, and this paper repeats no more.
Optimizing the registration window can be the part of benchmark DRR image, also can be view picture benchmark DRR image.
In the present embodiment, can adopt following method to determine to optimize the registration window: the diverse location in DRR interesting image district, determine that a plurality of sizes are less than the registration window of region of interest; Should comprise abundanter characteristics of image owing to optimize the registration window, in order to improve the accuracy and reliability to the preresearch estimates result of translation in two planes, therefore can be with the gradient additive value as characteristics of image, calculate respectively Grad and the addition of image in a plurality of registration windows, obtain the gradient additive value of each registration window; Then, according to the size of gradient additive value, all registration windows are sorted, choose the large one or more registration windows of gradient additive value, as optimizing the registration window.
Certainly, the method for computed image feature is not limited to the computed image gradient, also comprises other methods such as computed image entropy.
In this step, if determined a plurality of optimization registration windows at benchmark DRR image as shown in Figure 3, then can optimize translation parameters (x in the registration window preresearch estimates plane for each
p, y
p) value, again by median filter translation parameters (x in each optimizes the corresponding plane of registration window
p, y
p) select an estimated value (x in the estimated value
p[0], y
p[0]).
205, as being registered image, the benchmark DRR image in the DRR image library of corner direction outside two planes that generates take off-line is as benchmark, to plane inside lock parameter θ with radioscopic image
zValue carry out preresearch estimates, obtain estimated value: θ
z[0];
Specifically, can adopt one dimension (1D) search procedure in this step, in larger corner hunting zone (for example ,-10 degree～+ 10 degree), to plane inside lock parameter θ
zValue carry out preresearch estimates, obtain estimated value: θ
z[0].
Above-mentioned 1D search procedure refers to relatively be registered the similarity measurement of image and benchmark image in the one dimension parameter space scope of regulation, to determine the numerical value of this parameter.The parameter that adopts the 1D search procedure to determine in this step is: plane inside lock parameter θ
z
206, as being registered image, all the DRR images in the DRR image library of corner direction outside two planes that generates take off-line are as benchmark, to corner parameter (θ outside two planes with radioscopic image
x, θ
y) value carry out preresearch estimates, obtain estimated value: (θ
x[0], θ
y[0]);
Specifically, can adopt the 2D search procedure in this step, in the hunting zone of the DRR image library that whole off-line generates, to corner parameter (θ outside two planes
x, θ
y) value carry out preresearch estimates, obtain estimated value: (θ
x[0], θ
y[0]).
207, will be to translation parameters (x in the plane
p, y
p), plane inside lock parameter θ
z, and the plane outside corner parameter (θ
x, θ
y) up-to-date estimation result as the CT reference position 3-D view is adjusted, the corner direction generates the DRR image library online outside two planes;
When the 1st time the corner direction generates the DRR image library online outside two planes, with in step 204～206 to the estimation result of each parameter: (x
p[0], y
p[0]), θ
z[0] and (θ
x[0], θ
y[0]) is the reference position, generates online the DRR image library; When the k+1 time the corner direction generates the DRR image library online outside two planes, then with in step 208～210 to the estimation result of each parameter: (x
p[k], y
p[k]), θ
z[k] and (θ
x[k], θ
y[k]) be the reference position, generate online the DRR image library; K generates the number of times of DRR image library online for corner direction outside two planes.
In this step, when generating online the DRR image library, need in predefined angular range, define M
kRotational angle theta outside the individual different plane
xAnd N
kRotational angle theta outside the individual different plane
y, to generate M
k* N
kCorner parameter combinations (θ outside the individual different plane
x(i), θ
y(j)); Wherein, i=1,2 ..., M
kJ=1,2 ..., N
kTo DRR image corresponding to corner outside these two planes of each angle combination producing, comprise M thereby generate
k* N
kThe DRR image library of individual DRR image.
M
k, N
kFor greater than 1 integer.
The DRR image library that generates in this step is included in corner parameter (θ outside two planes of different angles combination of definition in the smaller angular range
x, θ
y) corresponding DRR image.That is to say, in this step, θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[k]≤θ
x(i)≤θ
x_H[k]，θ
y_L[k]≤θ
y(j)≤θ
y_H[k]。
Wherein, θ
X_L[k] and θ
X_HCorner parameter θ outside plane when [k] represents respectively the k time online DRR of generation image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[k] and θ
Y_HCorner parameter θ outside plane when [k] represents respectively the k time online DRR of generation image library
yThe lower limit of span (j) and the upper limit.
In this step, owing to need to calculate more accurately θ
X_L[k] and θ
Y_L[k] can be more than or equal to-2 degree; θ
X_H[k] and θ
Y_H[k] can be more than or equal to+2 degree, and each θ
x(i) the difference DELTA θ between
x[k] and each θ
y(j) the difference DELTA θ between
y[k] (being angle intervals) should be less, and for example, angle intervals is less than or equal to 0.1 degree.
In addition, owing to may need to repeat this step, repeatedly generate online the DRR image library of corner direction outside two planes, therefore, can make:
θ
x_L[k]＞θ
x_L[k-1]，θ
x_H[k]＜θ
x_H[k-1]，Δθ
x[k]＜Δθ
x[k-1]；
θ
y_L[k]＞θ
y_L[k-1]，θ
y_H[k]＜θ
y_H[k-1]，Δθ
y[k]＜Δθ
y[k-1]。
208, adopt the 2D search procedure, in smaller translation hunting zone (for example,-2mm～+ 2mm), with radioscopic image as being registered image, be benchmark based on the benchmark DRR image in the DRR image library that the k time the corner direction generates outside two planes, to translation parameters (x in two planes
p, y
p) value further estimate, obtain estimated value: (x
p[k], y
p[k]).
209, adopt the 1D search procedure, in smaller corner hunting zone (for example,-2 degree～+ 2 degree), as being registered image, be benchmark based on the benchmark DRR image in the DRR image library that the k time the corner direction generates outside two planes, to plane inside lock parameter θ with radioscopic image
zValue further estimate, obtain estimated value: θ
z[k].
210, adopt the 2D search procedure, with radioscopic image as being registered image, in the hunting zone of the k time all DRR image library of corner direction generation outside two planes, to corner parameter (θ outside two planes
x, θ
y) value further estimate, obtain estimated value: (θ
x[k], θ
y[k]).
211, the up-to-date estimation result of step 208～210 is adjusted 3-D view as the CT reference position, translation direction generates the DRR image library online outside the plane.
Translation direction refers to the z change in coordinate axis direction outside the plane.
The online DRR image library that generates of translation direction is by forming along the corresponding a plurality of DRR images in the different translation positions of z change in coordinate axis direction outside the plane.In predefined translation position range, define Q
hIndividual different translation position: z (i); Wherein, i=1,2 ..., Q
h, generation comprises Q
hThe DRR image library of the corresponding DRR image of individual different z (i).
The DRR image library that generates in this step comprises the outer corresponding DRR image of translation parameters z value of Different Plane.That is to say that in this step, z (i) satisfies:
z
L[h]≤z(i)≤z
H[h]。
Wherein, z
L[h] and z
HLower limit and the upper limit of the span of translation parameters z (i) outside the plane when [h] represents respectively the h time online DRR of generation image library.
During first this step of execution (during h=1), need in larger position range, define a plurality of different translations, for example, order: z
L[1]=-50mm, z
H[1]=+ 50mm; And the difference between each z (i) (being the interval, position) Δ z[1] can be larger, for example, order: Δ z[1]=5mm.
Follow-up when repeating this step (h＞1 o'clock), with the result of previous iteration as benchmark, a plurality of different translations of definition in smaller range of translation, for example, z
L[h] 〉=-5mm, z
H[h]≤+ 5mm, and the difference DELTA z[h between each z (i)] (being the interval, position) can be less, for example, Δ z[h] can be less than or equal to 0.5mm.And, can make:
z
L[h+1]＞z
L[h]，z
H[h+1]＜z
H[h]，Δz[h+1]＜Δz[h]。
212, adopt the 1D search procedure, in the hunting zone of the h time online DRR image library that generates of translation direction outside the plane, the value of translation parameters z outside the plane is estimated, obtain estimated value: z[h];
H is the number of times that translation direction generates the DRR image library online outside the plane, 1≤h≤k.
It should be noted that step 211 and 212 is optional step.
213, judge currently whether satisfied the parameter estimation accuracy requirement, if satisfied, then carry out next step, if satisfy, then jump to step 207;
In this step, one of can be in the following way judge the current parameter estimation accuracy requirement of whether having satisfied:
Mode one: whether iterations (namely generating online the number of times of the DRR image library of corner direction outside two planes) k equals predefined value N, and (for example, N=2), if k=N, then the parameter estimation accuracy requirement has been satisfied in judgement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement.
Mode two: if the difference of the relevant parameter value of the parameter value of this estimation and last estimation less than predefined parameter difference, is then judged and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; For example, when satisfying following one or more condition, the parameter estimation accuracy requirement has been satisfied in judgement:
(1) | x
p[k]-x
p[k-1] |≤Δ x
p, Δ x
pBe predefined parameter x
pDifference;
(2) | y
p[k]-y
p[k-1] |≤Δ y
p, Δ y
pBe predefined parameter y
pDifference;
(3) | θ
z[k]-θ
z[k-1] |≤Δ θ
z, Δ θ
zBe predefined parameter θ
zDifference;
(4) | θ
x[k]-θ
x[k-1] |≤Δ θ
x, Δ θ
xBe predefined parameter θ
xDifference;
(5) | θ
y[k]-θ
y[k-1] |≤Δ θ
y, Δ θ
yBe predefined parameter θ
yDifference;
(6) | z[h]-z[h-1] |≤Δ z, Δ z are the difference of predefined parameter z;
Wherein, k (k 〉=1) expression corner direction outside two planes generates the number of times of DRR image library, x online
p[k], y
p[k], θ
z[k], θ
x[k], θ
yThe parameter that [k] obtains for the DRR image library estimation based on the k time online generation of corner direction outside two planes; x
p[0], y
p[0], θ
z[0], θ
x[0], θ
y[0] parameter that obtains for the DRR image library estimation that generates based on corner direction off-line outside two planes.
H represents that outside plane translation direction generates the number of times of DRR image library, z[h online] parameter that obtains for the DRR image library estimation based on the h time online generation of translation direction along two planes outside.
214, the quality assurance parameter of computed image registration results (being the parameter estimation result).
215, the quality assurance parameter that calculates is tested, if upcheck (being the image registration success), then execution in step 216, otherwise execution in step 217;
Calculating and quality inspection guarantees parameter, is image registration algorithm to self checking of self registration results, and the quality assurance parameter of calculating and checking image registration results can adopt accomplished in many ways of the prior art, for example:
When the similarity measurement method that adopts the relevant analogue method of normalization as image registration, when the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane is estimated, obtain respectively the normalized correlation coefficient corresponding to corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane, if each normalized correlation coefficient is greater than predefined certain threshold value, the then check by the quality assurance parameter.
216, the image registration success, the output image registration results, this flow process finishes;
If carried out step 211 and 212, then the image registration results of output is three translation parameterss and three corner parameters, that is: (x, y, z, θ
x, θ
y, θ
z); If do not have execution in step 211 and 212, then the image registration results of output is translation parameters and three corner parameters, that is: (x, y, θ in two planes
x, θ
y, θ
z).
217, the image registration failure does not have exportable image registration results, and this flow process finishes.
Fig. 4 is the structural representation of 2 d-3 d medical figure registration system of the present invention; As shown in Figure 4, this system comprises: the radioscopic image collecting unit, and the 3-D view generation unit, DRR image library generation unit, the image registration unit, image is strengthened unit, quality assurance parametric test unit; Wherein:
The 3-D view generation unit is used for the 3-D view that generating three-dimensional is imaged body, and exports it to DRR image library generation unit;
The 3-D view generation unit can be CT or MRI;
DRR image library generation unit is used for generating according to the 3-D view off-line that receives the DRR image library of corner direction outside two planes, and exports the DRR image that comprises in this DRR image library;
The radioscopic image collecting unit is used for gathering and the three-dimensional radioscopic image that is imaged body of output;
The radioscopic image collecting unit can be single flat panel X-ray machine, or two flat panel X-ray machine;
The image registration unit, the radioscopic image that is used for receiving is as being registered image, DRR image in the DRR image library that generates take the off-line that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and output parameter estimation result;
DRR image library generation unit, also be used for 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to the image registration unit;
The image registration unit, the radioscopic image that also is used for receiving is as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and output parameter estimation result.
Image is strengthened the unit, be used for receiving the radioscopic image of radioscopic image collecting unit output, and the DRR image that comprises in the DRR image library of reception off-line generation, and take the DRR image that receives as reference, radioscopic image is carried out image strengthen, and export strengthened radioscopic image to the image registration unit.
In addition, DRR image library generation unit, also be used for 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of translation direction outside the plane, and export the DRR image that comprises in this DRR image library to the image registration unit;
The image registration unit, the radioscopic image that also is used for receiving is as being registered image, DRR image in the DRR image library of translation direction outside the plane that receives is estimated the value of translation parameters outside the plane as benchmark image, and output parameter estimation result.
The image registration unit, also be used for judging whether to satisfy the parameter estimation accuracy requirement, if do not satisfy, then image registration unit and DRR image library generation unit repeat following operation, and satisfy the parameter estimation accuracy requirement until the image registration unit is judged: the parameter estimation result that the image registration unit will obtain the value estimation of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane exports DRR image library generation unit to; DRR image library generation unit is adjusted 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to the image registration unit; The image registration unit with the radioscopic image that receives as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is estimated the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane respectively as benchmark image; Whether the image registration unit judges has satisfied the parameter estimation accuracy requirement.Perhaps
The image registration unit, also be used for judging whether to satisfy the parameter estimation accuracy requirement, if do not satisfy, then image registration unit and DRR image library generation unit repeat following operation, and satisfy the parameter estimation accuracy requirement until the image registration unit is judged: the parameter estimation result that the image registration unit will obtain the value estimation of translation parameters outside corner parameter and/or the plane outside translation parameters in the plane and/or plane inside lock parameter and/or the plane exports DRR image library generation unit to; DRR image library generation unit is adjusted 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to the image registration unit; The image registration unit with the radioscopic image that receives as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters in the plane and/or plane inside lock parameter and/or the plane is estimated, and exported the parameter estimation result that estimation obtains to DRR image library generation unit; DRR image library generation unit is adjusted 3-D view as the reference position with the parameter estimation result who receives, and generates online the DRR image library of translation direction outside the plane, and exports the DRR image that comprises in this DRR image library to the image registration unit; As being registered image, the DRR image in the DRR image library of translation direction outside the plane that receives is estimated the value of translation parameters outside the plane as benchmark image with the radioscopic image that receives in the image registration unit; Whether the image registration unit judges has satisfied the parameter estimation accuracy requirement.
The image registration unit also is used for exporting the parameter estimation result to quality assurance parametric test unit after the parameter estimation accuracy requirement has been satisfied in judgement;
Quality assurance parametric test unit be used for to calculate the corresponding quality assurance parameter of parameter estimation result that receives, and it is tested, if upcheck, and output image registration results then.
The concrete function of above-mentioned each unit and parameter see the description in the method flow shown in Figure 2 for details.
In sum, medical image registration method of the present invention and system adopt the x-ray imaging technology, carry out the 2D-3D medical figure registration based on anatomical features in the body.This method can adopt single radioscopic image, also can be applicable to the imaging system of two or more radioscopic images.In image guided radiation therapy, this method can be applicable to tumor-localizing and the tracking at the positions such as cranium brain, vertebra, lung, liver.
Because medical image registration method of the present invention and system are estimated corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane respectively based on the DRR image library that corner direction outside the plane generates, and the DRR image library that can further generate based on translation direction outside the plane is estimated translation parameters outside the plane, reduce the complexity of image registration, improved the success ratio of registration speed, registration accuracy and registration.
Claims (30)
1. 2 d-3 d medical image registration method is characterized in that the method comprises:
A: generating three-dimensional is imaged the 3-D view of body, and off-line generates the DRR image library of corner direction outside two planes;
B: gather the radioscopic image that described three-dimensional is imaged body;
C: with described radioscopic image as being registered image, DRR image in the DRR image library of corner direction outside two planes that generates take described off-line is estimated the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane respectively as benchmark image;
D: described 3-D view is adjusted as the reference position with the most recent parameters estimation result to corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane, generated online the DRR image library of corner direction outside two planes;
F: with described radioscopic image as being registered image, DRR image in the DRR image library of corner direction outside two planes of up-to-date online generation is estimated the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane respectively as benchmark image;
After described step F, also comprise the steps:
G: the most recent parameters estimation result of step F is adjusted described 3-D view as the reference position, generate online the DRR image library of translation direction outside the plane;
H: as being registered image, the DRR image in the DRR image library of translation direction outside the plane of up-to-date online generation is estimated the value of translation parameters outside the plane as benchmark image with described radioscopic image.
2. the method for claim 1 is characterized in that,
Between described step B and C, also comprise the steps:
B1: the DRR image in the DRR image library of corner direction along two planes outside that generates take described off-line carries out the image reinforcement as reference to described radioscopic image.
3. the method for claim 1 is characterized in that,
After described step H, also comprise the steps:
I: judge whether to satisfy the parameter estimation accuracy requirement, if satisfy, then repeated execution of steps D and subsequent step.
4. method as claimed in claim 3 is characterized in that,
Among the described step I, if the parameter estimation accuracy requirement has been satisfied in judgement, then carry out following steps:
J: the corresponding quality assurance parameter of calculating parameter estimation result, and it is tested, if upcheck, output image registration results then.
5. method as claimed in claim 3 is characterized in that,
Off-line generates the DRR image library of corner direction outside two planes in the following way:
A01: setting comprises M
0Rotational angle theta outside the individual different plane
xAnd N
0Rotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[0]≤θ
x(i)≤θ
x_H[0]，θ
y_L[0]≤θ
y(j)≤θ
y_H[0]；
A02: to each (θ
x(i) θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
0* N
0The DRR image library of individual DRR image;
Wherein, θ
X_L[0] and θ
X_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[0] and θ
Y_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
0J=1,2 ..., N
0M
0, N
0For greater than 1 integer.
6. method as claimed in claim 5 is characterized in that,
Generate online the DRR image library of corner direction outside two planes the k time in the following way:
D01: setting comprises M
kRotational angle theta outside the individual different plane
xAnd N
kRotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[k]≤θ
x(i)≤θ
x_H[k]，θ
y_L[k]≤θ
y(j)≤θ
y_H[k]；
D02: to each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
k* N
kThe DRR image library of individual DRR image;
Wherein, θ
X_L[k] and θ
X_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
xThe lower limit of span (i) and the upper limit; θ
Y_L[k] and θ
Y_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
kJ=1,2 ..., N
kM
k, N
kFor greater than 1 integer; K is the integer greater than 0.
7. method as claimed in claim 6 is characterized in that,
θ
X_L[k], θ
X_H[k], θ
Y_L[k] and θ
Y_H[k] satisfies respectively:
θ
x_L[k]＞θ
x_L[k-1]；
θ
x_H[k]＜θ
x_H[k-1]；
θ
y_L[k]＞θ
y_L[k-1]，
θ
y_H[k]＜θ
y_H[k-1]。
8. method as claimed in claim 7 is characterized in that,
When off-line generates the DRR image library of corner direction outside two planes, each θ
x(i) difference between is Δ θ
x[0], each θ
y(j) difference between is Δ θ
y[0];
When generating online the DRR image library of corner direction outside two planes for the k time, each θ
x(i) difference between is Δ θ
x[k], each θ
y(j) difference between is Δ θ
y[k];
Δ θ
x[k] and Δ θ
y[k] satisfies respectively:
Δθ
x[k]＜Δθ
x[k-1]；Δθ
y[k]＜Δθ
y[k-1]。
9. method as claimed in claim 3 is characterized in that,
Generate online the DRR image library of translation direction outside two planes the h time in the following way:
G01: set Q
hShift value z (i) outside the individual different plane; Z (i) satisfies:
z
L[h]≤z(i)≤z
H[h]；
G02: the DRR image to a correspondence of each z (i) value generation comprises Q thereby generate
hThe DRR image library of individual DRR image;
Wherein, z
L[h] and z
HLower limit and the upper limit of the span of translation parameters z (i) outside the plane when [h] represents respectively to generate online for the h time the DRR image library of translation direction outside two planes;
I=1,2 ..., Q
hQ
hFor greater than 1 integer; H is the integer greater than 0.
10. method as claimed in claim 9 is characterized in that,
z
L[h+1]＞z
L[h], and z
H[h+1]＜z
H[h].
11. method as claimed in claim 10 is characterized in that,
When generating online the DRR image library of translation direction outside two planes for the h time, the difference between each z (i) is Δ z[h]; And satisfy:
Δz[h+1]＜Δz[h]。
12. the method for claim 1 is characterized in that,
Among the step C, in the following way translation parameters in the plane is estimated:
C01: determine to optimize the registration window at the DRR image;
C02: translation parameters in the plane is estimated according to the optimization registration window of determining.
13. method as claimed in claim 12 is characterized in that,
Determine to optimize the registration window at the DRR image in the following way:
C011: the diverse location in the region of interest of DRR image determines that a plurality of sizes are less than the registration window of region of interest;
C012: calculate respectively Grad and the addition of image in a plurality of registration windows, obtain the gradient additive value of each registration window;
C013: choose the large one or more registration windows of gradient additive value as optimizing the registration window.
14. method as claimed in claim 3 is characterized in that,
Among the step I, one of in the following way judge whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane.
15. method as claimed in claim 3 is characterized in that,
Among the step I, one of in the following way judge whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane, translation parameters outside the plane.
16. a 2 d-3 d medical figure registration system comprises: the radioscopic image collecting unit, the 3-D view generation unit is characterized in that, this system also comprises: DRR image library generation unit, image registration unit; Wherein:
Described 3-D view generation unit is used for the 3-D view that generating three-dimensional is imaged body, and exports it to DRR image library generation unit;
Described DRR image library generation unit is used for generating according to the 3-D view off-line that receives the DRR image library of corner direction outside two planes, and exports the DRR image that comprises in this DRR image library;
Described radioscopic image collecting unit is used for gathering and exporting the radioscopic image that described three-dimensional is imaged body;
Described image registration unit, the radioscopic image that is used for receiving is as being registered image, DRR image in the DRR image library that generates take the described off-line that receives is as benchmark image, respectively the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane is estimated, and output parameter estimation result;
Described DRR image library generation unit, also be used for described 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit, the radioscopic image that also is used for receiving is as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane is estimated, and output parameter estimation result;
Described DRR image library generation unit, also be used for described 3-D view being adjusted as the reference position with the parameter estimation result who receives, generate online the DRR image library of translation direction outside the plane, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit, the radioscopic image that also is used for receiving is as being registered image, take receive described outside the plane DRR image in the DRR image library of translation direction the value of translation parameters outside the plane is estimated and output parameter estimation result as benchmark image.
17. system as claimed in claim 16 is characterized in that,
Also comprise image in the described system and strengthen the unit;
Described image is strengthened the unit, be used for receiving the radioscopic image of described radioscopic image collecting unit output, and receive the DRR image that comprises in the DRR image library that described off-line generates, and take the DRR image that receives as reference, described radioscopic image is carried out image strengthen, and export strengthened radioscopic image to described image registration unit.
18. system as claimed in claim 16 is characterized in that,
Described image registration unit, also be used for judging whether to satisfy the parameter estimation accuracy requirement, if do not satisfy, then described image registration unit and described DRR image library generation unit repeat following operation, satisfy the parameter estimation accuracy requirement until described image registration unit is judged:
Described image registration unit exports the described parameter estimation result that the value estimation of translation parameters outside corner parameter and the plane outside translation parameters, plane inside lock parameter, the plane in the plane is obtained to described DRR image library generation unit;
Described DRR image library generation unit is adjusted described 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of corner direction outside two planes, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit with the radioscopic image that receives as being registered image, DRR image in the DRR image library of corner direction outside two planes of the online generation that receives is as benchmark image, respectively the value of corner parameter outside translation parameters, plane inside lock parameter and the plane in the plane is estimated, and exported the parameter estimation result that estimation obtains to described DRR image library generation unit;
Described DRR image library generation unit is adjusted described 3-D view as the reference position with the parameter estimation result who receives, generate online the DRR image library of translation direction outside the plane, and export the DRR image that comprises in this DRR image library to described image registration unit;
Described image registration unit with the radioscopic image that receives as being registered image, take receive described outside the plane DRR image in the DRR image library of translation direction as benchmark image the value of translation parameters outside the plane is estimated;
Whether described image registration unit judges has satisfied the parameter estimation accuracy requirement.
19. system as claimed in claim 18 is characterized in that,
Also comprise in the described system: quality assurance parametric test unit;
Described image registration unit also is used for exporting the parameter estimation result to described quality assurance parametric test unit after the parameter estimation accuracy requirement has been satisfied in judgement;
Described quality assurance parametric test unit be used for to calculate the corresponding quality assurance parameter of parameter estimation result that receives, and it is tested, if upcheck, and output image registration results then.
20. system as claimed in claim 18 is characterized in that,
Described DRR image library generation unit is the DRR image library of off-line generation corner direction outside two planes in the following way:
Setting comprises M
0Rotational angle theta outside the individual different plane
xAnd N
0Rotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[0]≤θ
x(i)≤θ
x_H[0]，θ
y_L[0]≤θ
y(j)≤θ
y_H[0]；
To each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
0* N
0The DRR image library of individual DRR image;
Wherein, θ
X_L[0] and θ
X_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
xThe lower limit of span (i) and the upper limit; θ
Y_L[0] and θ
Y_HCorner parameter θ outside the plane when [0] representing respectively off-line generation DRR image library
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
0J=1,2 ..., N
0M
0, N
0For greater than 1 integer.
21. system as claimed in claim 20 is characterized in that,
Described DRR image library generation unit generates the DRR image library of corner direction outside two planes in the following way for the k time online:
Setting comprises M
kRotational angle theta outside the individual different plane
xAnd N
kRotational angle theta outside the individual different plane
yThe outer corner parameter combinations (θ of Different Plane
x(i), θ
y(j)); θ
x(i) and θ
y(j) satisfy respectively:
θ
x_L[k]≤θ
x(i)≤θ
x_H[k]，θ
y_L[k]≤θ
y(j)≤θ
y_H[k]；
To each (θ
x(i), θ
y(j)) the DRR image of a correspondence of generation comprises M thereby generate
k* N
kThe DRR image library of individual DRR image;
Wherein, θ
X_L[k] and θ
X_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
xThe lower limit of span (i) and the upper limit; θ
Y_L[k] and θ
Y_HWhen [k] represents respectively to generate online the DRR image library of corner direction outside two planes for the k time, corner parameter θ outside the plane
yThe lower limit of span (j) and the upper limit;
I=1,2 ..., M
kJ=1,2 ..., N
kM
k, N
kFor greater than 1 integer; K is the integer greater than 0.
22. system as claimed in claim 21 is characterized in that,
θ
X_L[k], θ
X_H[k], θ
Y_L[k] and θ
Y_H[k] satisfies respectively:
θ
x_L[k]＞θ
x_L[k-1]；
θ
x_H[k]＜θ
x_H[k-1]；
θ
y_L[k]＞θ
y_L[k-1]，
θ
y_H[k]＜θ
y_H[k-1]。
23. the system as claimed in claim 22 is characterized in that,
When described DRR image library generation unit off-line generates the DRR image library of corner direction outside two planes, each θ
x(i) difference between is Δ θ
x[0], each θ
yJ) difference between is Δ θ
y[0];
When described DRR image library generation unit generates the DRR image library of corner direction outside two planes for the k time online, each θ
x(i) difference between is Δ θ
x[k], each θ
y(j) difference between is Δ θ
y[k];
Δ θ
x[k] and Δ θ
y[k] satisfies respectively:
Δθ
x[k]＜Δθ
x[k-1]；Δθ
y[k]＜Δθ
y[k-1]。
24. system as claimed in claim 18 is characterized in that,
Described DRR image library generation unit generates the DRR image library of translation direction outside two planes in the following way for the h time online:
Set Q
hShift value z (i) outside the individual different plane; Z (i) satisfies:
z
L[h]≤z(i)≤z
H[h]；
DRR image to a correspondence of each z (i) value generation comprises Q thereby generate
hThe DRR image library of individual DRR image;
Wherein, z
L[h] and z
HLower limit and the upper limit of the span of translation parameters z (i) outside the plane when [h] represents respectively to generate online for the h time the DRR image library of translation direction outside two planes;
I=1,2 ..., Q
hQ
hFor greater than 1 integer; H is the integer greater than 0.
25. system as claimed in claim 24 is characterized in that,
z
L[h+1]＞z
L[h], and z
H[h+1]＜z
H[h].
26. system as claimed in claim 25 is characterized in that,
When described DRR image library generation unit generated the DRR image library of translation direction outside two planes for the h time online, the difference between each z (i) was Δ z[h]; And satisfy:
Δz[h+1]＜Δz[h]。
27. system as claimed in claim 16 is characterized in that,
Described image registration unit is estimated translation parameters in the plane in the following way:
Determine to optimize the registration window at the DRR image;
According to the optimization registration window of determining translation parameters in the plane is estimated.
28. system as claimed in claim 27 is characterized in that,
The registration window is determined to optimize at the DRR image in the following way in described image registration unit:
Diverse location in the region of interest of DRR image determines that a plurality of sizes are less than the registration window of region of interest;
Calculate respectively Grad and the addition of image in a plurality of registration windows, obtain the gradient additive value of each registration window;
Choose the large one or more registration windows of gradient additive value as optimizing the registration window.
29. system as claimed in claim 18 is characterized in that,
Described image registration unit one of in the following way judges whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane.
30. system as claimed in claim 18 is characterized in that,
Described image registration unit one of in the following way judges whether to satisfy the parameter estimation accuracy requirement:
Mode one: judge to generate online whether the number of times k of the DRR image library of corner direction equals predefined value N outside two planes, if k=N then judges and satisfied the parameter estimation accuracy requirement; If k＜N then judges and does not satisfy the parameter estimation accuracy requirement;
Mode two: whether the difference of the parameter value of judging this estimation and the relevant parameter value of last estimation less than predefined parameter difference, if less than, then judge and satisfied the parameter estimation accuracy requirement; Otherwise, judge and do not satisfy the parameter estimation accuracy requirement; Described parameter value comprise following one or more: translation parameters in the plane, plane inside lock parameter, corner parameter outside the plane, translation parameters outside the plane.
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| CN104134210B (en) * | 2014-07-22 | 2017-05-10 | 兰州交通大学 | 2D-3D medical image parallel registration method based on combination similarity measure |
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| CN106408509A (en) * | 2016-04-29 | 2017-02-15 | 上海联影医疗科技有限公司 | Registration method and apparatus |
| CN107507234B (en) * | 2017-08-29 | 2019-11-01 | 北京大学 | Cone beam computed tomography image and x-ray image method for registering |
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