CN102663819B - Liver volume measuring method based on ultrasound image and three-dimensional model - Google Patents
Liver volume measuring method based on ultrasound image and three-dimensional model Download PDFInfo
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Abstract
The invention provides a liver volume measuring method based on an ultrasound image and a three-dimensional model. The method comprises the following steps of: establishing a three-dimensional liver model by utilizing a liver map; acquiring an ultrasound image of a specified liver section, and performing image segmentation to obtain an edge contour line of the liver in the ultrasound image; registering the ultrasound image and the three-dimensional liver model; with the edge contour line of the liver in the ultrasound image as a reference image, and performing elastic deformation on the three-dimensional liver model; calculating a product of the sum of areas of all cutting faces and a gap between two adjacent cutting faces based on a three-dimensional model formed by cutting and deformation of a group of parallel equally-spaced planes, wherein the calculation result is taken as the liver volume. The liver volume measuring method provided by the invention is convenient and fast, has no harm to the human body, can be used for measuring repeatedly and has high accuracy in the liver volume measurement.
Description
Technical field
The present invention relates to image processing method, particularly a kind of rapid hepatic volume measuring method based on ultrasonoscopy and three-dimensional model.
Background technology
China is the hotspot of virus hepatitis, mainly chronic type b and the third type hepatitis, these diseases are easy to develop into cirrhosis and liver cancer, to treatment means mainly hepatectomy and the orthotopic liver transplantation of cirrhosis and liver cancer, this kind of operation consent needs the exact volume obtaining donor and receptors Liver.Research shows that in Living Related Liver Transplantation operation, donor at least should retain 30% of full liver volume, and the liver volume that acceptor accepts should be greater than 40% of its liver volume, and the accuracy that therefore preoperative liver volume is measured directly affects the selection of operation plan.
The method that current liver volume is measured has CT(Computerized Tomography) method, MR(Magnetic Resonance) method, three-D ultrasonic method and equation, these methods cut both ways.CT method can obtain liver volume very accurately, but CT method needs injection of contrast medium, and in scanning process, X ray has radiation to human body, can not Reusability, is not suitable for the assessment of patient's recovery after operation on liver; MR method also can obtain liver volume more accurately, but MR method expense is very expensive, is also not suitable for repetitive measurement, and for the patient needing Multiple-Scan Continuous Observation liver condition, MR scanning is very improper; Three-D ultrasonic scan method to human body without any infringement, Imaging fast is convenient, but due to the restriction of ultrasonic image-forming principle own, ultrasonoscopy resolution is lower, and ultrasonic scanning can not obtain the profile of complete liver, it is poor that simple three-D ultrasonic scans the liver volume precision obtained; Equation is a kind of method of liver volume approximate evaluation proposed according to a large amount of statisticses, and it obtains body surface area according to the height of people, body weight, and then obtain liver volume, and it is larger that the method obtains resultant error.Therefore need a kind of new liver volume measuring method realize harmless, safe, repeatedly, efficiently measure liver volume, and use price low.
Summary of the invention
In view of the above-mentioned defect that prior art exists, the object of this invention is to provide a kind of liver volume measuring method based on ultrasonoscopy and three-dimensional model.
The present invention is based on the liver volume measuring method of ultrasonoscopy and three-dimensional model, comprise the following steps:
Liver collection of illustrative plates is utilized to set up three-dimensional hepatic model;
Obtain the ultrasonoscopy that liver specifies tangent plane, and carry out the edge wheel profile that Iamge Segmentation obtains liver in ultrasonoscopy;
By described ultrasonoscopy and described three-dimensional hepatic model registration;
With the edge wheel profile of liver in ultrasonoscopy for reference picture, elastic deformation is carried out to three-dimensional hepatic model;
With the three-dimensional hepatic model after one group of parallel equally spaced plane cutting distortion, calculate the product of the area sum of all sections and the spacing of adjacent two sections, using the volume of result of calculation as liver.
Preferably, before utilizing liver collection of illustrative plates to set up three-dimensional hepatic model, also comprise:
Iamge Segmentation is carried out to liver collection of illustrative plates, obtains the surface profile of liver and the step of liver internal blood vessel; With
The step of the outermost edge contour of liver is extracted from the liver collection of illustrative plates after Iamge Segmentation.
Preferably, utilize liver collection of illustrative plates to set up three-dimensional hepatic model to comprise:
The step of volume drawing is carried out with the liver collection of illustrative plates after Iamge Segmentation; With
The outermost edge contour of liver extracted from liver collection of illustrative plates is utilized to carry out the step of iso-surface patch.
Preferably, adopt region growing method and manual segmentation method to carry out Iamge Segmentation to liver collection of illustrative plates, described region growing method comprises the following steps:
A1) during setting regions growth, iterations is N, selected initial Seed Points set P, and the point adjacent with set P is designated as inner boundary point set I, and the external point adjacent with set I is designated as outer boundary point set E;
A2) the average gray V of set of computations P
p, find out gray-scale value and V in set I
pimmediate pixel, as new Seed Points, is added in set P, is recalculated V
p, and upgrade inner boundary point set I and outer boundary point set E;
A3) the average gray V of set of computations I
iwith the average gray V of set E
e, calculate the difference V of the average gray of Seed Points region and inner boundary
aC=| V
p-V
i|, calculate the difference V of the average gray of inner boundary and outer boundary
pC=| V
e-V
i|, the V calculated after storing each region growing
aCand V
pC;
A4) step a2 is repeated) and a3) until reach the iterations N of setting;
A5) V is found out
aCobtain iterations Max during maximal value, the V before Max
pCiteration result when obtaining maximal value is best segmentation result.
Preferably, extract the outermost edge contour of liver in liver collection of illustrative plates by frontier tracing method, this frontier tracing method comprises the following steps:
B1) searching image obtains the initial boundary point A of most lower left;
B2) take A as starting point, search for new frontier point: 8 neighborhoods of search A, search in the direction of the clock from the upper left side of A, first qualified point is new frontier point;
B3) centered by new frontier point, the basis in current search direction is rotated counterclockwise 90
oas the direction of search of NEW BEGINNING, continue the new frontier point of search in the direction of the clock;
B4) if when new frontier point is initial boundary point A, search stops, and obtains the border closed; Otherwise repeat step b3).
Preferably, in described step of registration, obtain the proportionate relationship of corresponding outline line on the edge wheel profile of liver in ultrasonoscopy and three-dimensional hepatic model by the Scale invariant characteristic of curvature absolute value integration.
Preferably, with the edge wheel profile of liver in ultrasonoscopy for reference picture, the step of three-dimensional hepatic model being carried out to elastic deformation comprises: set up a cube grid, be new coordinate system with this cube grid, three-dimensional hepatic model is embedded in this cube grid, with Bernstein polynomial set up grid node and three-dimensional hepatic model surface associating a little, guide grid node distortion according to the edge wheel profile of liver in ultrasonoscopy and the deviation of three-dimensional hepatic model correspondence position, grid node drives again whole three-dimensional hepatic model distortion.
Preferably, each section being divided into multiple triangle, obtaining the area of section by asking multiple leg-of-mutton area sum.
Preferably, described liver specifies tangent plane to comprise porta hepatis, secundum porta hepatis, the right kidney of liver, liver right border, inferior caval vein, abdominal aorta and the profile of liver gall-bladder and the square section of left lobe of liver.
Preferably, described liver collection of illustrative plates adopts Digital Human image.
Liver volume measuring method of the present invention utilizes known liver collection of illustrative plates to set up three-dimensional hepatic model, guides three-dimensional hepatic model to be out of shape by ultrasonoscopy, and then utilizes the three-dimensional hepatic model after distortion to obtain liver volume quickly and easily.It needs the ultrasonoscopy of appointment tangent plane obtaining liver can obtain the volume of liver, measures fast and easy, to human body without any infringement, can repeated measurement, and also liver volume measuring accuracy is higher.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of some embodiments of the invention liver volume measuring method.
Embodiment
The liver volume measuring method that the present invention is based on ultrasonoscopy and three-dimensional model combines advantage that is ultrasonic and CT measurement, first a three-dimensional hepatic model is set up by liver collection of illustrative plates, utilize the image of the specific tangent plane of ultrasonic acquisition liver, then ultrasonoscopy and three-dimensional hepatic model registration, guiding hepatic model is out of shape, and finally measures the volume of the rear hepatic model of distortion.The method only needs to obtain the ultrasonoscopy of liver, to human body without any infringement, can repeated measurement, and also liver volume measuring accuracy is higher.Be described further below in conjunction with drawings and Examples.
With reference to Fig. 1, this, based on the liver volume measuring method of ultrasonoscopy and three-dimensional model, comprises the following steps:
Three-dimensional reconstruction step S3, this step utilizes liver collection of illustrative plates to set up three-dimensional hepatic model;
Obtain the ultrasonoscopy that liver specifies tangent plane, and carry out the edge wheel profile that Iamge Segmentation obtains liver in ultrasonoscopy;
Image registration step S4, the liver obtained is specified the ultrasonoscopy of tangent plane and the three-dimensional hepatic model registration of foundation by this step;
Model deformation step S5, this step for reference picture, carries out elastic deformation to three-dimensional hepatic model with the edge wheel profile of liver in ultrasonoscopy;
Cubing step S6, this step, with the three-dimensional hepatic model after one group of parallel equally spaced plane cutting distortion, calculates the product of the area sum of all sections and the spacing of adjacent two sections, using the volume of result of calculation as liver.Each section can being divided into multiple triangle, obtaining the area of section by asking multiple leg-of-mutton area sum.
For the liver collection of illustrative plates without image procossing, before utilizing liver collection of illustrative plates to set up three-dimensional hepatic model, also comprise: Iamge Segmentation is carried out to liver collection of illustrative plates, obtain the surface profile of liver and the step S1 of liver internal blood vessel; With the step S2 extracting the outermost edge contour of liver from the liver collection of illustrative plates after Iamge Segmentation.
The segmentation of liver collection of illustrative plates requires to be partitioned into liver and surrounding tissue thereof accurately, because the gray difference of liver and its hetero-organization is smaller, does not have a kind of image partition method can perfectly by liver segmentation out.In a kind of preferred embodiment of the present invention, region growing method and manual segmentation method is adopted to have combined the Accurate Segmentation of liver in liver collection of illustrative plates.Wherein region growing method comprises the following steps:
A1) during setting regions growth, iterations is N, selected initial Seed Points set P, and the point adjacent with set P is designated as inner boundary point set I, and the external point adjacent with set I is designated as outer boundary point set E;
A2) the average gray V of set of computations P
p, find out gray-scale value and V in set I
pimmediate pixel, as new Seed Points, is added in set P, is recalculated V
p, and upgrade inner boundary point set I and outer boundary point set E;
A3) the average gray V of set of computations I
iwith the average gray V of set E
e, calculate the difference V of the average gray of Seed Points region and inner boundary
aC=| V
p-V
i|, calculate the difference V of the average gray of inner boundary and outer boundary
pC=| V
e-V
i|, the V calculated after storing each region growing
aCand V
pC;
A4) step a2 is repeated) and a3) until reach the iterations N of setting;
A5) V is found out
aCobtain iterations Max during maximal value, the V before Max
pCiteration result when obtaining maximal value is best segmentation result.
In some embodiments, adopt frontier tracing method to extract the outermost edge contour of liver in liver collection of illustrative plates, this frontier tracing method comprises the following steps:
B1) searching image obtains the initial boundary point A of most lower left;
B2) take A as starting point, search for new frontier point: 8 neighborhoods of search A, search in the direction of the clock from the upper left side of A and (be equivalent to each rotation 45
o), first qualified point is new frontier point;
B3) centered by new frontier point, the basis in current search direction is rotated counterclockwise 90
oas the direction of search of NEW BEGINNING, continue the new frontier point of search in the direction of the clock;
B4) if when new frontier point is initial boundary point A, search stops, and obtains the border closed; Otherwise repeat step b3).
In some embodiments, utilize liver collection of illustrative plates to set up three-dimensional hepatic model and comprise: the step of carrying out volume drawing with the liver collection of illustrative plates after Iamge Segmentation; With, utilize the outermost edge contour of the liver extracted from liver collection of illustrative plates to carry out the step of iso-surface patch.Volume drawing result helps to determine ultrasonoscopy matched position accurately in three-dimensional hepatic model, and iso-surface patch result is used for distortion and the volume computing of three-dimensional hepatic model.Visual software bag VTK(Visualization Toolkit can be adopted) in three-dimensional reconstruction algorithm carry out iso-surface patch and volume drawing.
The object of image registration is the position and proportionate relationship of determining that ultrasonoscopy is corresponding in three-dimensional hepatic model.Ultrasonoscopy and three-dimensional hepatic model are from different coordinate systems, find out proportionate relationship between the two to registration very important, in some embodiments, adopt the Scale invariant characteristic of curvature absolute value integration to obtain the proportionate relationship of corresponding outline line on the edge wheel profile of liver in ultrasonoscopy and three-dimensional hepatic model, specifically can adopt following steps:
C1) parameter of curve: parameterized curve can avoid the acute variation of curvature, carries out parametrization with cubic B-spline to curve;
C2) sample, calculate curvature: to the edge wheel profile C of liver in ultrasonoscopy and the outline line D of its correspondence on three-dimensional hepatic model respectively with equal arc length interval sampling, calculate the curvature of each sampled point;
C3) curvature absolute value integration summation: along curve clockwise direction, respectively the curvature of the sampled point of outline line C and outline line D is taken absolute value successively, then integration summation, obtains two with the Cumulate Sum of arc length for transverse axis, the curve being the longitudinal axis with sampled point curvature absolute value integration;
C4) calculate scale-up factor: to c3) in the curve that obtains exchange coordinate axis, this curve is called Scale invariant curve; Scale invariant curve has following characteristic: for any two similar curves, regardless of both ratios, their length in Scale invariant curve is equal, can be obtained the proportionate relationship of the edge wheel profile C outline line D corresponding on three-dimensional hepatic model of liver in ultrasonoscopy by this characteristic.
The object of model deformation makes the volume of three-dimensional hepatic model to greatest extent close to the liver of measured according to ultrasonoscopy.Following methods is adopted to be out of shape three-dimensional hepatic model in some embodiments: to set up a cube grid, be new coordinate system with this cube grid, three-dimensional hepatic model is embedded in this cube grid, obtain the local coordinate system of three-dimensional hepatic model in this cube grid, and to three-dimensional hepatic model normalization, with Bernstein polynomial set up grid node and three-dimensional hepatic model surface associating a little, grid node distortion is guided according to the edge wheel profile of liver in ultrasonoscopy and the deviation of three-dimensional hepatic model correspondence position, grid node drives again whole three-dimensional hepatic model distortion.
In some embodiments, liver collection of illustrative plates adopts Digital Human image, and ultrasonoscopy used can adopt the ultrasonoscopy of the right kidney rip cutting of porta hepatis, secundum porta hepatis, liver, left lobe of liver crosscut, liver right border, inferior caval vein rip cutting, abdominal aorta rip cutting, liver gall-bladder rip cutting 8 privileged sites.Only need the ultrasonoscopy scanning these 8 positions can obtain its real liver volume for every testee, measure fast and easy, and cubing precision is higher.
Some embodiments of the invention measuring method at least has measurement fast and easy, measurement cost is low, and cubing precision is higher, harmless to human body, can the effect such as repeated measurement, pre-operative surgical planning and operative results condition evaluation can be provided for operation on liver, to clinical, there is larger Practical significance.
Claims (3)
1., based on a liver volume measuring method for ultrasonoscopy and three-dimensional model, it is characterized in that, comprise the following steps:
Adopt region growing method and manual segmentation method to carry out Iamge Segmentation to liver collection of illustrative plates, obtain surface profile and the liver internal blood vessel of liver, described liver collection of illustrative plates adopts Digital Human image;
The outermost edge contour of liver is extracted from the liver collection of illustrative plates after Iamge Segmentation;
Carry out volume drawing with the liver collection of illustrative plates after Iamge Segmentation, and utilize the outermost edge contour of liver extracted from liver collection of illustrative plates to carry out iso-surface patch, set up three-dimensional hepatic model;
Obtain the ultrasonoscopy that liver specifies tangent plane, and carrying out the edge wheel profile that Iamge Segmentation obtains liver in ultrasonoscopy, described liver specifies tangent plane to comprise porta hepatis, secundum porta hepatis, the right kidney of liver, liver right border, inferior caval vein, abdominal aorta and the profile of liver gall-bladder and the square section of left lobe of liver;
By described ultrasonoscopy and described three-dimensional hepatic model registration, this step of registration comprises the proportionate relationship obtaining corresponding outline line on the edge wheel profile of liver in ultrasonoscopy and three-dimensional hepatic model by the Scale invariant characteristic of curvature absolute value integration;
With the edge wheel profile of liver in ultrasonoscopy for reference picture, elastic deformation is carried out to three-dimensional hepatic model;
With the three-dimensional hepatic model after one group of parallel equally spaced plane cutting distortion, each section is divided into multiple triangle, the area of section is obtained by asking multiple leg-of-mutton area sum, calculate the product of the area sum of all sections and the spacing of adjacent two sections, using the volume of result of calculation as liver;
Described region growing method comprises the following steps:
A1) during setting regions growth, iterations is N, selected initial Seed Points set P, and the point adjacent with set P is designated as inner boundary point set I, and the external point adjacent with set I is designated as outer boundary point set E;
A2) the average gray V of set of computations P
p, find out gray-scale value and V in set I
pimmediate pixel, as new Seed Points, is added in set P, is recalculated V
p, and upgrade inner boundary point set I and outer boundary point set E;
A3) the average gray V of set of computations I
iwith the average gray V of set E
e, calculate the difference V of the average gray of Seed Points region and inner boundary
aC=| V
p-V
i|, calculate the difference V of the average gray of inner boundary and outer boundary
pC=| V
e-V
i|, the V calculated after storing each region growing
aCand V
pC;
A4) step a2 is repeated) and a3) until reach the iterations N of setting;
A5) V is found out
aCobtain iterations Max during maximal value, the V before Max
pCiteration result when obtaining maximal value is best segmentation result.
2. liver volume measuring method according to claim 1, is characterized in that, extract the outermost edge contour of liver in liver collection of illustrative plates by frontier tracing method, this frontier tracing method comprises the following steps:
B1) searching image obtains the initial boundary point A of most lower left;
B2) take A as starting point, search for new frontier point: 8 neighborhoods of search A, search in the direction of the clock from the upper left side of A, first qualified point is new frontier point;
B3) centered by new frontier point, on the basis in current search direction, counterclockwise half-twist is as the direction of search of NEW BEGINNING, continues the new frontier point of search in the direction of the clock;
B4) if when new frontier point is initial boundary point A, search stops, and obtains the border closed; Otherwise repeat step b3).
3. liver volume measuring method according to claim 1, it is characterized in that, with the edge wheel profile of liver in ultrasonoscopy for reference picture, the step of three-dimensional hepatic model being carried out to elastic deformation comprises: set up a cube grid, be new coordinate system with this cube grid, three-dimensional hepatic model is embedded in this cube grid, with Bernstein polynomial set up grid node and three-dimensional hepatic model surface associating a little, grid node distortion is guided according to the edge wheel profile of liver in ultrasonoscopy and the deviation of three-dimensional hepatic model correspondence position, grid node drives again whole three-dimensional hepatic model distortion.
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| US9269155B2 (en) * | 2012-04-05 | 2016-02-23 | Mediatek Singapore Pte. Ltd. | Region growing method for depth map/color image |
| CN103440665B (en) * | 2013-09-13 | 2016-09-14 | 重庆大学 | Automatic segmentation method of knee joint cartilage image |
| CN103473805B (en) * | 2013-09-18 | 2016-04-13 | 内蒙古科技大学 | The method of three-dimensional reconstruction hepatic model volume is measured based on improved confinement growth algorithm |
| CN106920242A (en) * | 2017-02-14 | 2017-07-04 | 郑州大学第附属医院 | A kind of liver volume measuring method based on ultrasonoscopy and threedimensional model |
| CN107766874B (en) * | 2017-09-07 | 2021-06-04 | 深圳度影医疗科技有限公司 | Measuring method and measuring system for ultrasonic volume biological parameters |
| CN107967682B (en) * | 2017-11-24 | 2021-01-01 | 深圳市一图智能科技有限公司 | Two-point grid model cutting method |
| CN109272542A (en) * | 2018-08-24 | 2019-01-25 | 华南理工大学 | A kind of determination method of three-dimension object volume |
| CN109620404A (en) * | 2019-01-18 | 2019-04-16 | 深圳市旭东数字医学影像技术有限公司 | The method and its system of kidney segmentation based on medical image |
| CN110751620B (en) * | 2019-08-28 | 2021-03-16 | 宁波海上鲜信息技术有限公司 | Method for estimating volume and weight, electronic device, and computer-readable storage medium |
| CN111402421B (en) * | 2020-03-17 | 2021-12-28 | 上海志唐健康科技有限公司 | Liver three-dimensional reconstruction method and device, computer equipment and storage medium |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee after: Shenzhen International Graduate School of Tsinghua University Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili of Tsinghua Patentee before: GRADUATE SCHOOL AT SHENZHEN, TSINGHUA University |