CN102509267A - Retrospective off-line gating method for intravascular ultrasound image sequence - Google Patents

Retrospective off-line gating method for intravascular ultrasound image sequence Download PDF

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CN102509267A
CN102509267A CN2011103502330A CN201110350233A CN102509267A CN 102509267 A CN102509267 A CN 102509267A CN 2011103502330 A CN2011103502330 A CN 2011103502330A CN 201110350233 A CN201110350233 A CN 201110350233A CN 102509267 A CN102509267 A CN 102509267A
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signal
frame
cardiac cycle
value
image sequence
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CN102509267B (en
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孙正
刘存
刘冰茹
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North China Electric Power University
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Abstract

The invention discloses a retrospective off-line gating method for an intravascular ultrasound image sequence, comprising the following steps of: firstly, estimating an approximate value of an average heart rate; then, analyzing the periodical variation of the gray value of the image in each frame to extract a signal implying a cardiac cycle; executing band-pass filtering on the signal to remove the constituents caused by non-heart movement factors; finally, selecting a frame number corresponding to a local maximum or minimum of the filtered signal as a sampling point of each cardiac cycle to finish selection of a gating frame. In the method, the selection of the gating frame can be finished just by the gray information of the image, and the computational complexity is lower. For the method, ECG (Electrocardiograph) signals are not used, manual operations of operators are not needed, and the result is free from the influence of noise, texture variation and background area of the image.

Description

A kind of retrospective off line gate control method of ivus image sequence
Technical field
The present invention relates to that a kind of (intravascular ultrasound, IVUS) image sequence carries out the method for retrospective off line gate, belongs to the medical imaging technology field to ultrasonic in the non-ecg-gating coronary artery that covers a plurality of cardiac cycles.
Background technology
In returning the process of removing ultrasonic image sequence in the ultrasound catheter collection coronary artery; The sonac that the blood flow of periodically beating in heart movement and the arterial lumen can cause being positioned at catheter tip produces length travel on the long axis direction of coronary artery blood vessel, and conduit also can change with respect to the angle of lumen of vessels to some extent.In addition, caliber coronarius also expression characteristics property variation in cardiac cycle.Under the acting in conjunction of these factors, there is cyclical variation in the gray feature of the lumen of vessels transversal section ultrasonic image sequence that collects, so is in fact implying the time phase information of cardiac cycle in the IVUS image sequence.This phenomenon is exactly by the correction of motion artefacts due to the heart movement, in the vertical view of IVUS, shows as the vascular wall edge and presents serrate, in transverse views, shows as the dislocation of tube chamber xsect between the consecutive frame.
Adopt electrocardio (ECG) triggering technique,, can reach the purpose that suppresses correction of motion artefacts, be divided into perspective electrocardio and trigger and retrospective sampling dual mode in same phase in a period of time (generally the being the R ripple) images acquired of each cardiac cycle.The former deficiency is: the most of intravascular ultrasound imaging system of clinical employing does not comprise special-purpose ECG gate image collecting device; Compare at least three times of IMAQ time lengthening with the continuous non-gate acquisition mode of removing ultrasound catheter that returns; The image sequence of phase when adopting this mode only can obtain a specific heart; And study the biomechanics characteristic of coronary artery and measure endarterial hemodynamic parameter etc. according to the IVUS image sequence; Need to analyze arteries different distortion constantly in cardiac cycle, thereby limited IVUS application in this regard.The latter's deficiency is: the ECG signal is to record outside the patient body through the contact that sticks on patient's chest, is the physiology electrical characteristics of heart are reflected in body surface through bone, muscle and skin etc. signal.And the IVUS image is to gather through the ultrasonic probe that inserts in the lumen of vessels, and both can not be synchronous.And in cardiac cycle which be the present also neither one clear and definite standard of generally acknowledging confirm to adopt constantly as optimum sampling point, can obtain degree of stability between largest frames.
In the deficiency that suppresses aspect the correction of motion artefacts, in recent years, become this hot research fields gradually based on above-mentioned ECG gating technology based on gate (image-based gating) technology of image.Early stage exemplary process is H. Zhu; K.D. Oakeson; M.H. Friedman. Retrieval of cardiac phase from IVUS sequences. Proceedings of SPIE Conference on Medical Imaging 2003:Ultrasonic Imaging and Signal Processing, 2003,5035:135-146 and S.K. Nadkarni; D.R. Boughner; A. Fenster. Image-based cardiac gating for three-dimensional intravascular ultrasound. Ultrasound in Medicine and Biology, 2005,31 (1): 53-63; Ultimate principle is the area that is surrounded through the lumen of vessels outline line that calculating is partitioned into from each two field picture, analyzes the Changing Pattern of entire image sequence medium vessels chamber size.The weak point of these class methods is that it uses prerequisite is accurately to cut apart each two field picture; The precision of analysis result depends on the precision of image segmentation to a great extent; And owing to also do not have at present a kind of IVUS image partition method of full automatic, robust, thereby limited its application.
Need not be S. A. de Winter to the exemplary process of cutting apart with time graphical analysis of feature extraction contour level that image carries out in advance; R. Hamers; M. Degertekin; K. Tanabe, P. A. Lemos, P. W. Serruys; J. R. Roelandt; N. Bruining. Retrospective image-based gating of intracoronary ultrasound images for improved quantitative analysis:The Intelligate method. Catheterization and cardiovascular interventions, 2004,61 (1): 84-94 and Chinese patent number: ZL 2,009 1 0075133.4 disclosed a kind of methods that improve visual effect of ultrasonic image in coronary artery.The ultimate principle of said method is the normalized crosscorrelation of computed image gray feature; As measurement to similarity between each two field picture; Make up the difference matrix of entire image sequence; And, seek a two field picture of gathering at the heart movement of each cardiac cycle the most a little slower (being diastasis) through analyzing the periodic structure of difference matrix, form the gate sequence.The main weak point of these class methods is to weigh the overall similarity measurement that relates to all pixels in the image of the measurement standard employing of the similarity (or diversity factor) between the different frame image, thereby its analysis result very easily receives the influence of noise, texture variations and background area in the image.
Summary of the invention
The object of the present invention is to provide a kind of retrospective off line gate control method of ivus image sequence; It need not special-purpose ECG gate image collecting device; Also need not to utilize the ECG signal; Need not cut apart, and the result is not influenced by noise, texture variations and background area in the image each two field picture.
The alleged problem of the present invention realizes with following technical proposals:
A kind of retrospective off line gate control method of ivus image sequence, it at first estimates the approximate value of average heart rate from the IVUS image sequence; Through analyzing the cyclical variation of each two field picture gray-scale value, extract the signal of implicit cardiac cycle then; Again this signal is carried out bandpass filtering, remove by the composition due to the non-heart movement factor; Choose at last with filtering after the local maximum or the corresponding frame number of minimal value of signal, as the sampled point of each cardiac cycle, accomplish choosing of gated frame, concrete steps are following:
The approximate value of a, estimation average heart rate:
At first calculate the difference value
Figure 916536DEST_PATH_IMAGE001
of average gray value between each frame IVUS image of IVUS image sequence:
Figure 905220DEST_PATH_IMAGE002
，
Wherein,
Figure 719593DEST_PATH_IMAGE003
，
In the formula,
Figure 10897DEST_PATH_IMAGE004
With
Figure 871405DEST_PATH_IMAGE005
Be respectively in the IVUS image sequence iFrame and jTwo field picture (
Figure 70305DEST_PATH_IMAGE006
, MBe the totalframes of image sequence), its size is
Figure 208026DEST_PATH_IMAGE007
Pixel,
Figure 794865DEST_PATH_IMAGE008
With
Figure 549194DEST_PATH_IMAGE009
Be respectively
Figure 20627DEST_PATH_IMAGE004
With
Figure 137487DEST_PATH_IMAGE005
Average gray value; NCC is the normalized crosscorrelation of two frame IVUS image averaging gray-scale values;
Counting period does then kThe mean difference value of two frame IVUS images of frame
Figure 301752DEST_PATH_IMAGE010
:
，
Figure 552922DEST_PATH_IMAGE012
，
Right at last
Figure 524289DEST_PATH_IMAGE010
Carry out Fourier transform, the pairing frequency of its amplitude spectrum peak of curve is the approximate value of average heart rate R
The signal of b, implicit cardiac cycle of extraction:
At first, for size do Each pixel in the IVUS image of pixel, the Normalized Grey Level value of corresponding position on each two field picture in the statistical picture sequence produces an one dimension grey scale change signal
Figure 57219DEST_PATH_IMAGE013
, wherein
Figure 995088DEST_PATH_IMAGE014
Be frame number,
Figure 696328DEST_PATH_IMAGE015
Be the Normalized Grey Level value, footnote
Figure 467975DEST_PATH_IMAGE016
Be the horizontal ordinate and the ordinate of pixel, for the entire image sequence, total
Figure 12088DEST_PATH_IMAGE017
Individual grey scale change signal; Secondly, to whole
Figure 363435DEST_PATH_IMAGE017
Individual grey scale change signal carries out Fourier transform, obtains after its frequency spectrum, removes in frequency RPlace's amplitude spectrum value equals 0 or be approximately equal to 0 signal; At last remaining grey scale change signal is averaged, obtain the one-dimensional signal of an implicit cardiac cycle
Figure 715919DEST_PATH_IMAGE018
C, the signal of implicit cardiac cycle is carried out filtering:
Adopting centre frequency is the approximate value of average heart rate R, the passband interval does
Figure 251943DEST_PATH_IMAGE019
BPF. to the one-dimensional signal of implicit cardiac cycle
Figure 158719DEST_PATH_IMAGE018
Carry out filtering, remove, and the signal content due to the factor such as respiratory movement, obtain implying the signal of cardiac cycle by the random geometry of lumen of vessels itself, unsettled heart rate
Figure 844915DEST_PATH_IMAGE020
The signal
Figure 645381DEST_PATH_IMAGE020
of d, implicit cardiac cycle of basis is chosen the gate frame:
Detect the local maximum or the pairing frame number of minimal value of the signal
Figure 227672DEST_PATH_IMAGE020
of implicit cardiac cycle; With the sampled point as each cardiac cycle, accomplish choosing of gated frame.
The present invention need not carry out cutting apart and feature extraction in advance to each frame IVUS image, only need utilize the half-tone information of image just can accomplish choosing of gate frame, has reduced the complexity of calculating, and need not operator's manual participation, full-automatic completion.This method is through analyzing the frequency spectrum of grey scale change signal, removed the pixel that background etc. does not comprise heart movement information, reduced the influence of factors such as picture noise and texture variations to result of calculation.
Description of drawings
Below in conjunction with accompanying drawing the present invention is made further detailed description.
Fig. 1 is the IVUS image sequence before the gate;
Fig. 2 is the IVUS image sequence after employing the inventive method.
Each symbol is in figure or the formula:
Figure 152903DEST_PATH_IMAGE004
,
Figure 970686DEST_PATH_IMAGE005
, in the IVUS image sequence iFrame and jTwo field picture;
Figure 766604DEST_PATH_IMAGE021
, iTwo field picture
Figure 785375DEST_PATH_IMAGE004
With jTwo field picture Between the difference value of average gray value; The normalized crosscorrelation of NCC, two frame IVUS image averaging gray-scale values; N, the IVUS image pixel total columns and total line number;
Figure 819376DEST_PATH_IMAGE008
, iTwo field picture
Figure 469800DEST_PATH_IMAGE004
Average gray value;
Figure 518528DEST_PATH_IMAGE009
, jTwo field picture
Figure 152772DEST_PATH_IMAGE005
Average gray value; M, the IVUS image sequence totalframes;
Figure 187724DEST_PATH_IMAGE010
, be spaced apart kThe mean difference value of two frame IVUS images of frame; R, patient's average heart rate approximate value;
Figure 94586DEST_PATH_IMAGE013
, the IVUS image sequence one dimension grey scale change signal, wherein Be frame number,
Figure 311121DEST_PATH_IMAGE015
Be the Normalized Grey Level value, footnote
Figure 274398DEST_PATH_IMAGE016
Be the horizontal ordinate and the ordinate of pixel;
Figure 430572DEST_PATH_IMAGE018
, implicit cardiac cycle one-dimensional signal;
Figure 696469DEST_PATH_IMAGE020
, the implicit cardiac cycle after the filtering signal;
Figure 898780DEST_PATH_IMAGE022
, signal
Figure 275535DEST_PATH_IMAGE020
First order derivative.
Embodiment
Referring to Fig. 1, Fig. 2, the step of the inventive method comprises:
(1) approximate value of estimation average heart rate:
At first, calculate the difference value
Figure 879691DEST_PATH_IMAGE001
of average gray value between each frame IVUS image:
Figure 909964DEST_PATH_IMAGE002
(1)
Wherein,
Figure 474938DEST_PATH_IMAGE003
(2)
In formula (1) and (2),
Figure 780017DEST_PATH_IMAGE004
With
Figure 645205DEST_PATH_IMAGE005
Be respectively in the IVUS image sequence iFrame and jTwo field picture (
Figure 252904DEST_PATH_IMAGE006
), its size is Pixel, average gray value is respectively With
Figure 133638DEST_PATH_IMAGE009
MIt is the totalframes of image sequence; NCC is the normalized crosscorrelation of two frame IVUS image averaging gray-scale values.
Then, the counting period does kThe mean difference value of two frame IVUS images of frame
Figure 36872DEST_PATH_IMAGE010
:
Figure 107596DEST_PATH_IMAGE011
， (3)
Right
Figure 63100DEST_PATH_IMAGE010
Carry out Fourier transform, the pairing frequency of its amplitude spectrum peak of curve is the approximate value of average heart rate R(unit: inferior/minute, i.e. Hz).
(2) extract the signal that implies cardiac cycle:
According to the characteristics of ultrasonoscopy, the gray-scale value of pixel is with relevant by the density of imaging tissue.For the IVUS image sequence, that the fixed pixel position obtains, with irrelevant one dimension grey scale change signal reflection of time be the situation of change of image sequence medium vessels tissue density.
The present invention at first carries out the normalization processing to the gray-scale value of each frame IVUS image, and the gray-scale value that is about to each pixel is divided by 255.Then; It for size each pixel in the IVUS image of
Figure 543760DEST_PATH_IMAGE007
pixel; The Normalized Grey Level value of corresponding position on each two field picture in the statistical picture sequence; Produce an one dimension grey scale change signal
Figure 570622DEST_PATH_IMAGE013
; Wherein
Figure 755615DEST_PATH_IMAGE014
is frame number;
Figure 449902DEST_PATH_IMAGE015
is the Normalized Grey Level value, and footnote
Figure 835884DEST_PATH_IMAGE016
is the horizontal ordinate and the ordinate of pixel.For the entire image sequence, total
Figure 209096DEST_PATH_IMAGE017
individual grey scale change signal.
Because the pixel in the non-angiosomes does not comprise heart movement information; To the not contribution of signal of extracting implicit cardiac cycle; Thereby should the grey scale change signal that produced by this type pixel be removed, thereby ground unrest in the minimizing image and texture variations etc. are to the influence of result of calculation.Consider that the grey scale change signal that is produced by non-angiosomes pixel is approximately direct current signal, thereby the peak value of its amplitude spectrum should be positioned near the zero frequency point in theory, in the average heart rate approximate value RThe spectral magnitude at place equals 0.Therefore the present invention is to whole
Figure 604306DEST_PATH_IMAGE017
Individual grey scale change signal carries out Fourier transform, obtains removing those in frequency after its frequency spectrum RThe amplitude spectrum value at place equals 0 or be approximately equal to 0 signal, thereby accomplishes the rejecting to the grey scale change signal that is produced by non-angiosomes pixel.
At last remaining grey scale change signal is averaged; Obtain the one-dimensional signal
Figure 887519DEST_PATH_IMAGE018
of an implicit cardiac cycle; Wherein
Figure 303457DEST_PATH_IMAGE014
is frame number, and
Figure 570490DEST_PATH_IMAGE015
is the Normalized Grey Level value.
(3) signal to implicit cardiac cycle carries out filtering:
Obtain in the step (2) implicit cardiac cycle information the grey scale change signal mainly cause by the factor of motion with how much two aspects: the former is an external factor, and the ultrasound catheter that refers to caused by the blood flow of beating in periodicity heart movement and the lumen of vessels is with respect to the motion of tube chamber and the variation of vascular morphology; The latter is an internal factor, refers to the irregular geometric configuration of lumen of vessels itself.The frequency of the variation of image grayscale that is caused by exercise factor should equal heart rate, by the speed of grey scale change between the caused consecutive frame of the random geometry of blood vessel itself, and should be much smaller than by the pace of change due to the periodicity heart movement.
The present invention is to the grey scale change signal of implicit cardiac cycle
Figure 238232DEST_PATH_IMAGE018
Carry out bandpass filtering, the centre frequency of filter transmission band is set at the approximate value of average heart rate R, the passband interval does
Figure 907111DEST_PATH_IMAGE019
, obtain the filtering signal of implicit cardiac cycle afterwards
Figure 493950DEST_PATH_IMAGE020
(4) choose the gate frame according to the signal of filtered implicit cardiac cycle:
Detection signal
Figure 717121DEST_PATH_IMAGE020
The pairing frame number of local extremum (maximum value or minimum value) m, promptly calculate The zero crossing of first order derivative:
Figure 570993DEST_PATH_IMAGE023
(4)
Corresponding those mValue as the sampled point of each cardiac cycle, is accomplished choosing of gated frame.

Claims (1)

1. the retrospective off line gate control method of an ivus image sequence is characterized in that, it at first estimates the approximate value of average heart rate from the IVUS image sequence; Through analyzing the cyclical variation of each two field picture gray-scale value, extract the signal of implicit cardiac cycle then; Again this signal is carried out bandpass filtering, remove by the composition due to the non-heart movement factor; Choose at last with filtering after the local maximum or the corresponding frame number of minimal value of signal, as the sampled point of each cardiac cycle, accomplish choosing of gated frame, concrete steps are following:
The approximate value of a, estimation average heart rate:
At first calculate the difference value
Figure 371924DEST_PATH_IMAGE001
of average gray value between each frame IVUS image of IVUS image sequence:
Figure 876855DEST_PATH_IMAGE002
，
Wherein
，
In the formula,
Figure 686865DEST_PATH_IMAGE004
With
Figure 56666DEST_PATH_IMAGE005
Be respectively in the IVUS image sequence iFrame and jTwo field picture, wherein,
Figure 806316DEST_PATH_IMAGE006
, MBe the totalframes of image sequence, its size is
Figure 72213DEST_PATH_IMAGE007
Pixel,
Figure 681048DEST_PATH_IMAGE008
With
Figure 182437DEST_PATH_IMAGE009
Be respectively
Figure 661960DEST_PATH_IMAGE004
With
Figure 629916DEST_PATH_IMAGE005
Average gray value; NCC is the normalized crosscorrelation of two frame IVUS image averaging gray-scale values;
Counting period does then kThe mean difference value of two frame IVUS images of frame
Figure 319523DEST_PATH_IMAGE010
:
Figure 499969DEST_PATH_IMAGE011
，
Figure 630736DEST_PATH_IMAGE012
，
Right at last
Figure 374787DEST_PATH_IMAGE010
Carry out Fourier transform, the pairing frequency of its amplitude spectrum peak of curve is the approximate value of average heart rate R
The signal of b, implicit cardiac cycle of extraction:
At first, for each pixel, the gray-scale value of corresponding position on each two field picture in the statistical picture sequence produces an one dimension grey scale change signal , wherein
Figure 676773DEST_PATH_IMAGE014
Be frame number,
Figure 255521DEST_PATH_IMAGE015
Be the Normalized Grey Level value, footnote
Figure 34122DEST_PATH_IMAGE016
Be the horizontal ordinate and the ordinate of pixel, for the entire image sequence, total
Figure 839267DEST_PATH_IMAGE017
Individual grey scale change signal; Secondly, to whole
Figure 486149DEST_PATH_IMAGE017
Individual grey scale change signal carries out Fourier transform, obtains after its frequency spectrum, removes in frequency RPlace's amplitude spectrum value equals 0 or be approximately equal to 0 signal; At last remaining grey scale change signal is averaged, obtain the one-dimensional signal of an implicit cardiac cycle
Figure 794770DEST_PATH_IMAGE018
C, the signal of implicit cardiac cycle is carried out filtering:
Adopting centre frequency is the approximate value of average heart rate R, the passband interval does
Figure 868905DEST_PATH_IMAGE019
BPF. to the one-dimensional signal of implicit cardiac cycle
Figure 426926DEST_PATH_IMAGE018
Carry out filtering, remove, and the signal content due to the factor such as respiratory movement, obtain implying the signal of cardiac cycle by the random geometry of lumen of vessels itself, unsettled heart rate
The signal
Figure 40627DEST_PATH_IMAGE020
of d, implicit cardiac cycle of basis is chosen the gate frame:
Detect the local maximum or the pairing frame number of minimal value of the signal
Figure 161029DEST_PATH_IMAGE020
of implicit cardiac cycle; With this sampled point, accomplish choosing of gated frame as each cardiac cycle.
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CN103961141A (en) * 2013-02-02 2014-08-06 中国人民解放军第四军医大学 Imaged based backtracking intravascular ultrasound (IVUS) image heart-beating gating method
CN105069785A (en) * 2015-07-29 2015-11-18 华北电力大学（保定） Retrospective off-respirator respiration gating method of cardiac image sequence
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CN113723360A (en) * 2021-09-16 2021-11-30 益佳福(杭州)科技有限责任公司 Multi-source intravascular ultrasound key frame automatic retrieval method based on ECG and confrontation enhanced gated circulation network
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CN103961141A (en) * 2013-02-02 2014-08-06 中国人民解放军第四军医大学 Imaged based backtracking intravascular ultrasound (IVUS) image heart-beating gating method
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CN112137645A (en) * 2020-08-17 2020-12-29 安徽医科大学第一附属医院 Ultrasonic imaging method based on heart rate difference
CN114504343A (en) * 2020-12-31 2022-05-17 深圳北芯生命科技股份有限公司 Method for calculating cardiac cycle based on intravascular ultrasound image
CN114504343B (en) * 2020-12-31 2023-08-22 深圳北芯生命科技股份有限公司 Method for calculating cardiac cycle based on intravascular ultrasound image
CN113723360A (en) * 2021-09-16 2021-11-30 益佳福(杭州)科技有限责任公司 Multi-source intravascular ultrasound key frame automatic retrieval method based on ECG and confrontation enhanced gated circulation network
CN113723360B (en) * 2021-09-16 2023-10-27 益佳福(杭州)科技有限责任公司 Multi-source intravascular ultrasound key frame automatic retrieval method based on ECG and contrast enhancement gating circulation network

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