CN103942826A - High match degree skull restoration reconstruction method - Google Patents
High match degree skull restoration reconstruction method Download PDFInfo
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- CN103942826A CN103942826A CN201310018184.XA CN201310018184A CN103942826A CN 103942826 A CN103942826 A CN 103942826A CN 201310018184 A CN201310018184 A CN 201310018184A CN 103942826 A CN103942826 A CN 103942826A
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- skull
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/28—Bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
Abstract
The invention belongs to the technical field of biomedical engineering, relates to a medical image processing chirurgery restoration reconstruction method, and particularly relates to a high match degree skull restoration reconstruction method. According to the invention, the head CT scan image data of a defective skull are used as a data source; after the data source is pretreated, a level set method is combined with brain tissue information to peel scalp data; the level set method is combined with the skull information to carry out segmentation to acquire inner and outer outlines of the skull; the information of a defect part of the skull is restored; three-dimensional reconstruction is carried out to acquire the three-dimensional structure of the defect part; the three-dimensional structure is output in an stl file format; and a rapid prototyping technology is used to prepare a corresponding defect restoration. The skull defect restoration is consistent with a computer three-dimensional reconstruction model, and the restoration well matches the defect.
Description
Technical field
The invention belongs to biomedical engineering technology field, relate to the method that Medical Image Processing is rebuild for surgery dummy, a kind of level set that is specifically related to be applied to from cutting apart the combined system that is reconstructed into prosthese manufacture is cut apart calculation method, relates in particular to a kind of method of skull repairing body reconstruction of high fit.
Background technology
During traditional surgery dummy is rebuild, repair of cranial defects need to be carried out second operation to patient just can complete repair of cranial defects.First carry out Craniotomy one time, obtain defect shape, then make repair of cranial defects body by hand; And then carry out secondary operation of opening cranium, by home built dummy patients with implantation defect.Along with the development of Medical Image Processing and rapid shaping technique (Rapid Prototyping, RP), both are combined to the method for carrying out repair of cranial defects more and more for vast medical worker adopts.
The research that relevant skull is repaired reverse-engineering discloses, and to repairing containing hole triangle grid model in (the Zhang Yanli professor of Nanjing Aero-Space University), proposes to utilize SPL and uses the method based on radius basis function to carry out model reparation; Aspect the clinical practice of repair of cranial defects, although adopted medical assistant software to carry out three-dimensional reconstruction, adopted rapid forming equipment to make physics reference model, but the preparation of dummy adopt manual method mostly or on the basis of Three-dimension Reconstruction Model, utilize CAD software manually to design; There is research in conjunction with three-dimensional reconstruction and rapid shaping technique, utilize three-dimensional reconstruction to obtain the damaged three-dimensional model of mandibular continuity, with rapid shaping principle manufacture reconstruction model, on the physical model of manufacturing, make dummy by hand, then adopt hot die-casting molding technology high-temperature calcination bioceramic material to obtain dummy, and carry out animal experiment, confirm the feasibility (Zhou Zhonghua of The 2nd Army Medical College, Wang Yue etc.) of this technology path; Also has similarly research for the reparation of the animal mandibulars such as experimental dog.Although computer aided modeling has been used in these researchs, but the preparation of dummy remains employing manual mode, and efficiency and precision are all lower.
Professor Hu Qingxi of Shanghai University has carried out from hardware to software, a series of researchs from material to technique, attempt independent development application software and build Bionics Bone support model, recycling biomaterial is manufactured biomimetic scaffolds on rapid forming equipment, propose to adopt mirror method to build repair of cranial defects body, utilize CAD software building biomimetic scaffolds internal structure model, then obtain the biomimetic scaffolds model heart of repair of cranial defects body by Boolean calculation; Repair for the asymmetric damaged use curve curved surface theory that only tentatively proposes, but be mainly still wherein the mode that adopts manual setting, operation is comparatively complicated.Therefore, at present asymmetric damaged and large defect is not still had to effectively restorative procedure.
The application is provided by a kind of method that provides skull repairing body of new high fit to rebuild, in the method, adopt level set algorithm to cut apart and modeling in conjunction with patient self brain tissue information, can solve asymmetrical defect repair problem, also can realize the reparation of large defect, and there is high individual fit, will generally be applicable to the defect repair of skull.
Prior art related to the present invention:
[1]S.Osher,J.Seth.Fronts?propagating?with?curvature?dependent?speed:algorithms?based?on?a?Hamilton-Jacobi?formulation[J].Comp.Phys.,1988,79:12-49
[2] Zhang Liyan, Zhou Rurong, Zhou Laishui. three warmers grid model hole repair algorithm research. applied science journal, 2002,20 (3): 221-224
[3] Du Ji, Zhang Liyan etc. based on the Hole Repairing in Triangular Meshes of radial basis function. computer-aided design (CAD) and graphics journal, 2005,17 (9): 1976-1982
[4] Zhao Yaqun, Zhou Jingan, the clinical curative effect analysis of the personalized cranioplasty of Liu Guang great waves .75 example skull defeci patient. PLA's medical journal, 2006,31 (4): 354-355
[5] Song Le. the routine clinical observation of the capable skull repairing 90 of different materials. Chinese practical sacred disease magazine 2006,9 (2): 39-41
[6] come back, Xia Delin etc. go out the experimental study of sheep skull defeci individuation dummy CAD design and hot investment casting.The 4th China's beauty treatment of Shenyang China and plastic surgeon's conference paper compilation, 2007:359-361
[7] Wang Yue. the three-dimensional biomaterial that builds is repaired the damaged experimental study of mandibular continuity. The 2nd Army Medical College master thesis, 2005.6
[8] Zhang Qingfu, Lv Chuntang etc. the individuation Regeneration and Repair experimental study of dog clinical research on mandibular segmental defect. Oral and Maxillofacial Surgery magazine, 2006,16 (4): 313-316
[9] Zhang Qingfu. the research of the functional reparation mandibular defect of area of computer aided individuation. The 2nd Army Medical College master thesis, 2005.4
[10]Dai，Chun-Xiang；Li，Li-Min；Hu，Qing-Xi；et?a1．Fabrication?ofbone?tissue?bionic?scaffold?based?on?selective?laser?sintering．Journalof?Shanghai?University，v8，n?SUPPL，August，2004：22
[11] Wang Kailin, Li Limin, Hu Qingxi. the Bionics Bone modeling technique based on Quick-forming. China Mechanical Engineering, 2005,16 (3): 196-198
[12]Yuan?Xusheng，Hu?Qingxi?et?a1．Modeling?Technology?and?Applicationof?Repairing?Bone?Defects?Based?on?Rapid?Prototyping．KnowledgeEnterprise：Intelligent?Strategies?in?Product?Design，Manufacturing，and?Management,IFIP2006，207：643—649
Summary of the invention
The object of the invention is the defect for overcoming prior art, be provided for the medical image processing method that surgery dummy is rebuild, a kind of level set that is specifically related to be applied to from cutting apart the combined type reverse-engineering system that is reconstructed into prosthese manufacture is cut apart calculation method, relates in particular to a kind of method of skull repairing body reconstruction of high fit.
In the method, adopt level set algorithm to cut apart and modeling in conjunction with patient self brain tissue information, can solve asymmetrical defect repair problem, can realize the reparation of large defect, and there is high individual fit, will generally be applicable to the defect repair of skull.
In the inventive method, improve traditional Level Set Method that need to reinitialize, to be applied in skull segmentation in conjunction with CT picture of patient midbrain organizational information without the quick level set evolutionary model reinitializing, thereby reconstruct damaged skull, and data reconstruction is directly inputted to three-dimensional printer form spendable model.
Concrete, in the inventive method, using the skull CT scanning image data of defects with skull as data source, cut apart the inside and outside contour that obtains skull in conjunction with skull information by Level Set Method, and reduce skull defeci location information; Three-dimensional reconstruction obtains defect three-dimensional structure, and with the output of stl file layout, finally with the corresponding defect repair prosthese of rapid shaping technique manufacture; Through verifying, gained repair of cranial defects prosthese is consistent with computerized three-dimensional reconstruction model, and dummy and damaged suitability good.
More specifically, the method that the skull repairing body of a kind of high fit of the present invention is rebuild, is characterized in that, it comprises step,
(1) first complete the pre-service of CT image, completing in scalp redundant information Transformatin process, use without the quick level set evolutionary model reinitializing and realized in conjunction with brain tissue in the head CT image of defects with skull;
(2) and then once use without the quick level set evolutionary model reinitializing and carry out dividing processing, obtain inside and outside contour and the defect two-dimensional signal of the head skull of defects with skull;
(3) three-dimensional structure that the CT data after processing are carried out to threshold value is chosen, region growing, cutting operation obtains repair of cranial defects prosthese; With the output of stl file layout, with the corresponding defect repair prosthese of rapid shaping technique manufacture.
In the inventive method, solve image segmentation problem with level set, its essence is exactly to be combined with movable contour model, solves the partial differential equation PDE (partialdifferential equa-tion) that these models obtain by Level Set Method, belongs to the dividing method of rim detection; The implicit mode that the evolution problem that n is tieed up curved surface by described Level Set Method is converted into the level set function surface evolution of n+1 dimension space solves;
By two dimensional surface curve is embedded into three-dimension curved surface, the evolution problem of closed curve in plane is converted into the evolution of three-dimension curved surface, as shown in Figure 1,
Wherein,
The general equation formula of curve evolvement can be expressed as
wherein β is normal direction speed, and N is unit normal orientation, C=C (p, t) here=(x (p, t), y (p, t))
Evolution detailed process as shown in Figure 1B.
In embodiments of the invention, a plane closed curve can implicit representation be the level set (line) of a two-dimensional function: C={ (x, y), u (x, y)=c}
Both regarded as the intersection of three-dimension curved surface u=u (x, y) and plane u=c; The plane closed curve that t changes in time can be expressed as: C (t) :={ (x, y), u (x, y, t)=c}; Can regard the three-dimension curved surface bunch u=u (x, y, t) that t changes in time as, obtain level set (line) crossing with plane u=c.
By mathematical derivation, to time dependent two-dimensional function level set C (t) :={ (x, y), u (x, y, t)=c}.
Often be chosen for the signed distance to curve in plane,
in formula, d represents the Euclidean distance a little and between curve.
The variation (as shown in Figure 2) of topological structure when method of the present invention can be processed curve evolvement easily.
In the present invention, it is the zero level collection of interface being regarded as to a certain function ψ (being called level set function) in the high one-dimensional space according to the basic thought of level set (level set), the simultaneously evolution at interface also extends to the basis in the space of high one dimension, the present invention develops level set function or iteration according to its satisfied evolution equation, because level set function constantly develops, therefore, corresponding zero level collection is also in continuous variation, in the time that level set movements tends to be steady, evolution stops, and obtains interface shape.
The invention provides a kind of compared with the more skull prosthesis manufacturing system of high-quality of prior art: first application level diversity method peeling off in conjunction with brain tissue information realization CT image scalp, application level diversity method obtains the inside and outside contour of skull again, and the method expanding in conjunction with corrosion realizes the reduction of original skull and defect; Form by CT scan image documentation equipment, the manufacturing system that three-dimensional reconstruction software and three-dimensional printer form, in final manufacture link, the different printed material of the different placements of visual concrete condition difference and requirement of strength in three-dimensional printer, thereby prepare the repair of cranial defects prosthese of Different Individual demand, obviously improved validity, precision and the individual fit of existing skull recovery technique.
Advantage of the present invention has:
1, can be applicable at present all CT scan data, can receive any skull defeci case, comprise in clinical practice the damaged and large defect of insoluble mirror image etc.;
2, the accuracy of this method self adds the brain tissue information in conjunction with patient self, has significantly increased accuracy that image cuts apart and the individual suitability of skull prosthesis.
Brief description of the drawings
Fig. 1 is the Evolution Simulation figure that two dimensional surface curve is embedded into three-dimension curved surface the evolution problem of closed curve in plane is converted into three-dimension curved surface, and wherein, A is X-Y scheme; B is evolution detailed process simulation drawing.
Fig. 2 is level set movements figure.
Fig. 3 is damaged original head CT figure.
Fig. 4 is that application level diversity method carries out the schematic diagram after scalp is peeled off.
Fig. 5 is that application level diversity method carries out the schematic diagram after damaged reduction.
Fig. 6 is three-dimensional reconstruction and three-dimensional checking schematic diagram.
Fig. 7 is prosthesis three-dimensional model.
Fig. 8 is the demonstration of three-dimensional model in printer.
Fig. 9 be preparation moulding skull prosthesis and with damaged skull model.
Embodiment
Embodiment 1
Skull defeci animal used as test is carried out to reparative experiment:
First application level diversity method peeling off in conjunction with brain tissue information realization CT image scalp, obtain again the inside and outside contour of skull by Level Set Method, and the method expanding in conjunction with corrosion realizes the reduction of original skull and defect, form by CT scan image documentation equipment the manufacturing system that three-dimensional reconstruction software and three-dimensional printer form; The difference of the visual degree of impairment of three-dimensional printer adopting and requirement of strength difference are placed different printed materials, prepare the repair of cranial defects prosthese of different demands.Specifically comprise step:
Be combined with movable contour model, solve the partial differential equation PDE (partial differential equa-tion) that described model obtains by Level Set Method, wherein, the implicit mode that the evolution problem of n being tieed up to curved surface is converted into the level set function surface evolution of n+1 dimension space solves;
By two dimensional surface curve is embedded into three-dimension curved surface, the evolution problem of closed curve in plane is converted into the evolution of three-dimension curved surface, as shown in Figure 1,
The general equation formula of curve evolvement is expressed as
wherein β is normal direction speed, and N is unit normal orientation, in the present embodiment, and C=C (p, t)=(x (p, t), y (p, t)), evolution detailed process is as shown in Figure 1B;
In the present embodiment, the level set that is a two-dimensional function by a plane closed curve implicit representation (line):
C＝{(x,y),u(x,y)＝c}
Both regarded as the intersection of three-dimension curved surface u=u (x, y) and plane u=c; The plane closed curve that t changes in time can be expressed as: C (t) :={ (x, y), u (x, y, t)=c}, can regard the three-dimension curved surface bunch u=u (x that t changes in time as, y, t), obtain level set (line) crossing with plane u=c.
Through deriving, to time dependent two-dimensional function level set C (t) :={ (x, y), u (x, y, t)=c}
Be chosen for the signed distance to curve in plane,
in formula, d represents the Euclidean distance a little and between curve.
The variation (as shown in Figure 2) of topological structure while adopting said method to process curve evolvement easily.
This method is tried out in clinical skull defeci patient, result demonstration, and this method can be applicable to all CT scan data at present, can receive any skull defeci type, comprises as damaged in mirror image and large defect etc.; The accuracy of this method is high, in conjunction with the brain tissue information of different skull defeci types, can significantly increase accuracy that image cuts apart and the individual suitability (as shown in Fig. 3-9) of skull prosthesis.
Claims (3)
1. the method that the skull repairing body of a high fit is rebuild, it is characterized in that, using the skull CT scanning image data of defects with skull as data source, cut apart in conjunction with skull information by Level Set Method, obtain the inside and outside contour of skull, and reduce skull defeci location information; Three-dimensional reconstruction obtains defect three-dimensional structure, with the output of stl file layout, finally with the corresponding defect repair prosthese of rapid shaping technique manufacture.
2. the method for rebuilding by the skull repairing body of the high fit of claim 1, is characterized in that, it comprises step,
(1) complete the pre-service of CT image, wherein, use without the quick level set evolutionary model reinitializing and realized in conjunction with brain tissue in the head CT image of defects with skull;
(2) again use without the quick level set evolutionary model reinitializing and carry out dividing processing, obtain inside and outside contour and the defect two-dimensional signal of the head skull of defects with skull;
(3) CT data after treatment are carried out to threshold value is chosen, region growing, cutting operation, obtain the three-dimensional structure of repair of cranial defects prosthese; With the output of stl file layout, with the corresponding defect repair prosthese of rapid shaping technique manufacture.
3. by the method for claim 1, it is characterized in that, solve the partial differential equation PDE that movable contour model obtains by Level Set Method; The implicit mode that the evolution problem that n is tieed up curved surface by described Level Set Method is converted into the level set function surface evolution of n+1 dimension space solves;
By two dimensional surface curve is embedded into three-dimension curved surface, the evolution problem of closed curve in plane is converted into the evolution of three-dimension curved surface, wherein,
The equation of curve evolvement is expressed as
wherein β is normal direction speed, and N is unit normal orientation, C=C (p, t)=(x (p, t), y (p, t))
。
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104867143A (en) * | 2015-05-15 | 2015-08-26 | 东华理工大学 | Level set image segmentation method based on local guide core-fitting energy model |
| CN104905894A (en) * | 2015-07-06 | 2015-09-16 | 大连交通大学 | Titanium alloy skull repair prosthesis preparation method based on metal powder laser sintering 3D molding technology |
| CN104952079A (en) * | 2015-06-19 | 2015-09-30 | 四川大学 | Skull segmenting method based on DICOM (Digital Imaging and Communications in Medicine) sequence |
| CN105748173A (en) * | 2016-05-18 | 2016-07-13 | 陈琳琳 | Manufacturing method and device of orbital repair material |
| CN105997313A (en) * | 2016-05-03 | 2016-10-12 | 柴凡 | 3D printed breast external prosthesis and manufacturing method |
| CN110176066A (en) * | 2019-05-28 | 2019-08-27 | 中山大学附属第三医院 | Method for reconstructing, device and the electronic equipment of skull defeci structure |
| US10937250B2 (en) | 2016-12-06 | 2021-03-02 | National University Of Singapore | Methods of reconstructing skulls |
| CN112446950A (en) * | 2020-11-02 | 2021-03-05 | 首都医科大学附属北京天坛医院 | Digital simulation repairing method and repairing guide plate for deformed skull |
| CN116109628A (en) * | 2023-04-10 | 2023-05-12 | 北京爱康宜诚医疗器材有限公司 | Method and device for constructing bone defect prosthesis and storage medium |
-
2013
- 2013-01-17 CN CN201310018184.XA patent/CN103942826A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104867143A (en) * | 2015-05-15 | 2015-08-26 | 东华理工大学 | Level set image segmentation method based on local guide core-fitting energy model |
| CN104867143B (en) * | 2015-05-15 | 2018-09-04 | 东华理工大学 | The level set image segmentation method of energy model is fitted based on part guiding core |
| CN104952079A (en) * | 2015-06-19 | 2015-09-30 | 四川大学 | Skull segmenting method based on DICOM (Digital Imaging and Communications in Medicine) sequence |
| CN104905894A (en) * | 2015-07-06 | 2015-09-16 | 大连交通大学 | Titanium alloy skull repair prosthesis preparation method based on metal powder laser sintering 3D molding technology |
| CN105997313B (en) * | 2016-05-03 | 2017-10-27 | 柴凡 | External prosthese of 3D printing breast and preparation method thereof |
| CN105997313A (en) * | 2016-05-03 | 2016-10-12 | 柴凡 | 3D printed breast external prosthesis and manufacturing method |
| CN105748173A (en) * | 2016-05-18 | 2016-07-13 | 陈琳琳 | Manufacturing method and device of orbital repair material |
| CN105748173B (en) * | 2016-05-18 | 2017-09-29 | 陈琳琳 | The preparation method and device of orbital reconstruction material |
| US10937250B2 (en) | 2016-12-06 | 2021-03-02 | National University Of Singapore | Methods of reconstructing skulls |
| CN110176066A (en) * | 2019-05-28 | 2019-08-27 | 中山大学附属第三医院 | Method for reconstructing, device and the electronic equipment of skull defeci structure |
| CN112446950A (en) * | 2020-11-02 | 2021-03-05 | 首都医科大学附属北京天坛医院 | Digital simulation repairing method and repairing guide plate for deformed skull |
| CN116109628A (en) * | 2023-04-10 | 2023-05-12 | 北京爱康宜诚医疗器材有限公司 | Method and device for constructing bone defect prosthesis and storage medium |
| CN116109628B (en) * | 2023-04-10 | 2023-07-11 | 北京爱康宜诚医疗器材有限公司 | Method and device for constructing bone defect prosthesis and storage medium |
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