CN103978789B - The head medicine model quick molding method of printing based on 3D - Google Patents
The head medicine model quick molding method of printing based on 3D Download PDFInfo
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Abstract
The invention provides a kind of head medicine model quick molding method of printing based on 3D, summary of the invention comprises: use CT/MR multi-modality medical image, set up threedimensional model for head tissue/organ rapidly, use 3D Method of printing to carry out rapid shaping to threedimensional model, the operation of its step comprises: (1) is used multi-modality images registration technology, by CT/MR image registration in unified space coordinates; (2) medical information providing according to CT/MR image, the different tissues/organ of extraction head; (3) for the tissue/organ of extracting is set up threedimensional model; (4) threedimensional model is carried out to successively layering, obtain the cross-sectional data after layering, and carry out 3D printing according to cross-sectional data. The present invention can carry out modeling quickly and accurately to head tissue/organ according to CT/MR image, can effectively improve manufacturing speed and the precision of head medicine model, and customization and personalized head medicine model can be provided.
Description
Technical field
The present invention relates to a kind of design and fabrication technology of head medicine model, especially relate to a kind of based on 3D printMedical model quick molding method.
Background technology
3D prints as an innovative technology, and taking three-dimensional modeling data as basis, utilization powdery metal or plastics etc. canJointing material, carrys out constructed object by the mode of successively printing. It is excellent that 3D printing has explicit costs compared with traditional manufactureGesture: without designing mould, needn't introduce production line. Meanwhile, the speed of 3D printing and making model is fast, and single material object manufacture takesWith low, and obtaining application in industrial rapid shaping, the fields such as manufacture and medical artifucial limb making that design a model. In recent years, 3D beatThe fast development of seal technology attracts wide attention, and causes considerable influence, is a new trend of development of manufacturing. Along with desktop 3DThe continuous decline of printer and printed material price, 3D printing technique strides forward to practical direction. It can be doctor that 3D printsLearn model manufacturing the new approaches that are different from traditional manufacture are provided, can improve the manufacture efficiency of model, provide customizable andPersonalized medical model.
Summary of the invention
The invention provides a kind of medical model quick molding method of printing based on 3D. Based on multi-modality medical imageAccurate Segmentation and registration, effectively utilize the information of CT image and MR image, to skin of head, skull, grey matter, white matter, cerebrospinal fluidSet up threedimensional model with brain Different brain region, the method for printing by 3D, manufactures head medicine model accurately and fast, and canCustomizable, personalized model are provided, have solved that the traditional medicine modelling cycle is long, precision is low, lacking of customizable notPoint.
In order to solve the problems of the technologies described above, realize above-mentioned purpose, the present invention is achieved through the following technical solutions:
A head medicine model quick molding method of printing based on 3D, is characterized in that comprising following steps:
Multimodal medical image registration, the tissue/organ Accurate Segmentation based on multi-modality images, the three-dimensional of tissue/organModel is set up and 3D prints, wherein, and described multi-modality medical image, the image that comprises following any one mode or arbitrarily groupClose: computer tomography (CT) image and magnetic resonance imaging (MR) image, or the image obtaining derived from the imaging technique of CTArbitrary combination with the image obtaining derived from the imaging technique of MR.
The described imaging technique derived from CT, comprises following any one imaging technique: Perfusion CT imaging technique, functionCT imaging technique and computed tomography angiography.
The described imaging technique derived from MR, comprises following any one imaging technique: perfusion MR imaging technique, functionMR imaging technique, dispersion tensor MR imaging technique and magnetic resonance angiography.
Described multimodal medical image registration step comprises:
(I) construct or select reference picture, and extracting the relevant information of multi-modality images;
(II) similarity measure of construct image;
(III) maximize similarity measure, calculate the motion vector of image;
(IV) coordinate space to reference picture by the spatial alternation at multi-modality images place;
Wherein said reference picture is one of them in multi-modality images subject to registration, or reference picture is standardTemplate image, or by the template image of some width image configuration, or the priori structural images of being constructed by multi-modality images,Or by healthy human body gather and high precision image;
The relevant information of wherein said multi-modality images, any group of comprising following any or several informationClose:
(or normalization is mutual for the gray scale of image pixel, image gradient, image local gradient direction, cross-correlation coefficient, mutual informationInformation or conditional mutual information or the mutual information that comprises spatial context content), Local Entropy of Image, Laplce's Neighborhood Graph and fromSimilarity feature, and improvement based on above information;
Wherein said spatial alternation is following any: rigid transformation, affine transformation, elastic registration or non-rigid changeChange, and any combination of above-mentioned conversion on different images yardstick.
The tissue/organ Accurate Segmentation step of described multi-modality medical image comprises:
For the processing of MR image, specifically refer to the image that obtains to MR image or derived from the imaging technique of MR (withLower abbreviation MR image) be handled as follows:
(I) image that pretreatment MR image or the imaging technique derived from MR obtain, obtains pretreated image;
(II) remove the tissue such as skull and cerebellum in MR image or the image that obtains derived from the imaging technique of MR;
(III) cut apart regions such as obtaining grey matter, white matter, cerebrospinal fluid and background, and calculate the thickness of the tissues such as grey matter;
(IV) cut apart the area-of-interest in brain;
For the processing of CT image, specifically refer to the image that obtains to CT image or derived from the imaging technique of CT (withLower abbreviation CT image), be handled as follows:
(I) image that pretreatment CT image or the imaging technique derived from CT obtain, removes picture noise and intensity profileInhomogeneities;
(II) cut apart the skull tissue of head;
(III) cut apart the skin of head;
(IV) cut apart and obtain overall brain tissue.
For adopting MR image segmentation algorithm in the treatment step (III) of MR image, it is characterized in that: use multilevel collectionMethod is cut apart grey matter, white matter and cerebrospinal fluid; Divide for adopting non-linear symmetrical registration Algorithm in the treatment step (IV) of MR imageThe area-of-interest that cuts brain, is characterized in that: described non-linear symmetrical registration Algorithm, can be divided into brain region 90Brain district.
The three-dimension modeling step of described tissue/organ comprises:
(I) result of cutting apart based on image, the triangle mesh curved surface on each tissue/organ surface can be accurately described in generation;
(II) according to the information of multi-modality medical image and priori anatomical knowledge, generate the information of each tissue/organ, and attachedBe added in grid surface;
(III) threedimensional model is converted to successively cross-sectional data;
Wherein said triangle mesh curved surface, is characterized in that: the file format of storing this triangle mesh curved surface is STL,Or 3MF, or self-align triangle mesh curved surface and other additional informations of comprising;
The information of wherein said appended to grid surface, can comprise following content: tissue/device that grid surface is correspondingOfficial's density, the thickness of curved surface, the filling rate of curved surface institute enclosing region and the color of curved surface representative tissue/organ;
Wherein said successively cross-sectional data ground thickness is 0.1 millimeter ~ 3 millimeters;
Generate the successively cross-sectional data described in it, spendable software is Cura, or Slicr, or netfabb,Or Skeinforge, or the software of the SDK exploitation providing based on Windows8.1 and later release.
Described 3D Method of printing, comprises following steps:
(I) select suitable 3D printed material for different tissue/organ;
(II) additional information according to claim 13, arranges the parameter that 3D prints;
(III) carry out 3D print procedure;
3D printed material described in it, is characterized in that: the material of printing skull is the biological pottery of calcium phosphate or calcium phosphateThe composite material of porcelain or phosphoric acid calcium or PLA or the mixture that contains PLA or acrylic nitrile-butadiene-twoAlkene-styrol copolymer or containing the mixture of acrylonitrile-butadiene-styrene copolymer, prints the material of skin and brain tissueMaterial is silica gel or rubber or gelatin or industrial starch or contains the mixed of above-mentioned any or several materialCompound.
Described 3D printed material, comprising: the material that 3D prints and the solid colour of tissue/organ or comparatively connectClosely; Or can be according to different tissues (organ), or according to the Different brain region in brain, can select the material of different colours.
In described 3D print procedure, the bed thickness that 3D prints is 0.1 millimeter ~ 3 millimeters.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention,And can be implemented according to the content of description, below with preferred embodiment of the present invention and coordinate accompanying drawing to be described in detail as follows.The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Brief description of the drawings
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, thisBright schematic description and description is used for explaining the present invention, does not form inappropriate limitation of the present invention. In the accompanying drawings:
Fig. 1 is the flow chart of steps of the head medicine model quick molding method of printing based on 3D provided by the invention;
The flow chart of steps of the CT/MR multimodal medical image registration that Fig. 2 provides for one embodiment of the invention;
The MR image that Fig. 3 provides for one embodiment of the invention is cut apart the flow chart of steps of brain tissue;
The flow chart of steps of the brain three-dimension modeling that Fig. 4 provides for one embodiment of the invention;
The 3D that Fig. 5 provides for one embodiment of the invention prints the flow chart of steps of brain tissue.
Detailed description of the invention
Below in conjunction with drawings and Examples, technology implementation process of the present invention is described further.
A head medicine model quick molding method of printing based on 3D, the implementation step of the method is as described below.
1. gather image:
Gather Cranial Computed Tomography image and the MR image of same human body.
2. pretreatment MR image:
A) utilization is redirected with resampling algorithm MR image is normalized, and obtains 256 × 256 × 256 sizesImage;
B) utilize heterogeneity gray correction algorithm to carry out gray correction to MR image.
3.CT image and MR image rigid registration:
A) obtain the information such as CT/MR image size, resolution ratio, origin and gray scale exponent number;
B), using MR image as with reference to image, using CT image as floating image, interpolation CT image, by the resolution of CT imageRate is adjusted consistent with MR image, the origin of coordinates of alignment CT/MR image;
C) use the characteristic information structure similarity functions such as gradation of image;
D) maximize similarity function, calculate displacement, spin matrix and the scaling amount of CT image in X/Y/Z direction;
E) interpolation CT image, calculates the MR image after registration.
4. cut apart CT image:
A) window width/window position of CT is set, binary image, obtains the region at skin, skull and brain tissue place;
B) the initial value position using the result of binaryzation as Level Set Models;
C) use multilevel set algorithm to cut apart Cranial Computed Tomography image, cut apart the surfaces externally and internally that obtains skin and skull simultaneously, pointCut the outer surface that obtains brain tissue;
5. cut apart MR image
A) utilize MarchingCubes algorithm to carry out three-dimensional surface rebuilding to brain MR image, come level and smooth by space smoothing powerThree-dimensional surface also obtains the summit of proportional spacing, and then the driving force based on gradation of image is distinguished brain tissue and non-brain tissue,Then drive summit to shift to real brain tissue border by brain probability graph, finally obtain having removed the brain tissue of skull;
B) adopt FLIRT algorithm and Demons algorithm Registration of MR image and MNI brain map, obtained removing the brain of cerebellumRegion;
C) adopt local gray level constraint and cortex thickness to retrain the method that multilevel collection is cut apart, be partitioned in brain regionGrey matter, white matter and target context;
D) use non-linear symmetrical registration Algorithm Registration of MR image and MNI brain map, scheme to MR thereby obtain MNI brain mapThe nonlinear transformation of picture.
6. generate the threedimensional model of tissue (organ)
A) according to the segmentation result of CT image, for skin of head and skull generate double-deck three-dimensional grid curved surface, wherein, skinThe internal layer curved surface of skin is the outer curved surface of skull;
B) according to the segmentation result of MR image, for skin of head, skull, ectocinerea are set up double-deck three-dimensional grid curved surface;
C) set up the three-dimensional grid curved surface of white matter, set up the three-dimensional grid curved surface in 90Ge Nao district;
D) smooth three-dimensional grid surface;
E) thickness of calculating skin of head, skull and grey matter;
F), according to CT image and MR image information, medical science priori and segmentation result, be three-dimensional grid curved surface annex songThe information such as face thickness, density, filling rate and color.
7.3D prints:
A) three-dimensional surface model is carried out to slicing treatment, slice thickness is set, threedimensional model is converted to the transversal of layeringFace data.
B) select calcium phosphate as skull printed material, select medical gelatin to print the soft tissue of skin and brain;
C) arrange 3D print bed thickness be 1 millimeter;
D) arrange after the parameter such as print speed, feeding speed, the online 3D printer of host computer prints.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this areaArt personnel, the present invention can have various modifications and variations. Within the spirit and principles in the present invention all, to do any repairingProtection scope of the present invention changes, be equal to replacement, improvement etc., within all should be included in.
Claims (9)
1. the head medicine model quick molding method of printing based on 3D, is characterized in that comprising following steps: multi-modal medical scienceImage registration, the tissue/organ Accurate Segmentation based on multi-modality medical image, three-dimension modeling and the 3D of tissue/organ beatPrint, wherein, described multi-modality medical image, the image that comprises following any one mode or any combination: CT image and MR figurePicture, or arbitrary combination of the image obtaining derived from the imaging technique of CT and the image that obtains derived from the imaging technique of MR;
The three-dimension modeling step of described tissue/organ comprises:
(I) result of cutting apart based on image, the triangle mesh curved surface on each tissue/organ surface can be accurately described in generation;
(II) according to the information of multi-modality medical image and priori anatomical knowledge, generate the information of each tissue/organ, and append toIn grid surface;
(III) threedimensional model is converted to successively cross-sectional data;
Wherein said triangle mesh curved surface, is characterized in that: storing this triangle mesh curved surface is the self-align triangulation network that comprisesLattice curved surface and other additional informations;
Other described additional informations, comprise following content: the density of the tissue/organ that grid surface is corresponding, the thickness of curved surface,The filling rate of curved surface institute enclosing region and the color of curved surface representative tissue/organ;
The thickness of wherein said successively cross-sectional data is 0.1 millimeter～3 millimeters;
Generate the successively cross-sectional data described in it, the software of use is Cura, or Slicr, or netfabb, orSkeinforge, or the software of the SDK exploitation providing based on Windows8.1 and later release.
2. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that: described inThe imaging technique derived from CT, comprise following any one imaging technique: Perfusion CT imaging technique, function CT imaging technique andComputed tomography angiography.
3. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that: described inThe imaging technique derived from MR, comprise following any one imaging technique: perfusion MR imaging technique, functional MR imaging technique,Dispersion tensor MR imaging technique and magnetic resonance angiography.
4. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that:
Described multimodal medical image registration step comprises:
(I) construct or select reference picture, and extracting the relevant information of multi-modality medical image;
(II) similarity measure of construct image;
(III) maximize similarity measure, calculate the motion vector of image;
(IV) coordinate space to reference picture by the spatial alternation at multi-modality medical image place;
Wherein said reference picture is one of them in multi-modality medical image subject to registration, or reference picture is standardTemplate image, or by the template image of some width image configuration, or the priori structure of being constructed by multi-modality medical imageImage, or by healthy human body gather and high precision image;
The relevant information of wherein said multi-modality medical image, any group of comprising following any or several informationClose:
Gray scale, image gradient, image local gradient direction, cross-correlation coefficient, mutual information, the Local Entropy of Image of image pixel, drawThis Neighborhood Graph of pula and certain self-similarities, and improvement based on above information;
Wherein said spatial alternation is following any: rigid transformation, affine transformation or non-rigid transformation, and in differenceAny combination of above-mentioned conversion on graphical rule.
5. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that: described inThe tissue/organ Accurate Segmentation step of multi-modality medical image comprise:
For the processing of MR image, specifically refer to the image obtaining to MR image or derived from the imaging technique of MR and carry out as followsProcess:
(I) image that pretreatment MR image or the imaging technique derived from MR obtain, obtains pretreated image;
(II) remove skull and the little brain tissue in MR image or the image that obtains derived from the imaging technique of MR;
(III) cut apart and obtain grey matter, white matter, cerebrospinal fluid and background area, and calculate the thickness of grey matter tissue;
(IV) cut apart the area-of-interest in brain;
For the processing of CT image, specifically refer to the image obtaining to CT image or derived from the imaging technique of CT and carry out as followsProcess:
(I) image that pretreatment CT image or the imaging technique derived from CT obtain, removes picture noise and intensity profile inequalityEven property;
(II) cut apart the skull tissue of head;
(III) cut apart the skin of head;
(IV) cut apart and obtain overall brain tissue.
6. the head medicine model quick molding method of printing based on 3D according to claim 5, for locating of MR imageIn reason step (III), adopt MR image segmentation algorithm, it is characterized in that: use multilevel diversity method to cut apart grey matter, white matter and brainSpinal fluid; For adopting non-linear symmetrical registration Algorithm to cut apart the area-of-interest of brain in the treatment step (IV) of MR image, itsBe characterised in that: described non-linear symmetrical registration Algorithm, is divided into 90Ge Nao district by brain region.
7. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that: compriseFollowing steps:
(I) select suitable 3D printed material for different tissue/organ;
(II) additional information according to claim 1, arranges the parameter that 3D prints;
(III) carry out 3D print procedure;
3D printed material described in it, is characterized in that: print the material of skull and be calcium phosphate or calcium phosphate biological ceramic,Or the composite material of phosphoric acid calcium or PLA or the mixture that contains PLA or acrylonitrile-butadiene-benzeneEthylene copolymer or containing the mixture of acrylonitrile-butadiene-styrene copolymer, the material of printing skin and brain tissue isSilica gel or rubber or gelatin or industrial starch or the mixture that contains above-mentioned any or several material.
8. the head medicine model quick molding method of printing based on 3D according to claim 7, is characterized in that: described in3D printed material, comprising: 3D print material and the solid colour of tissue/organ; Or according to different tissues/organ,Or according to the Different brain region in brain, select the material of different colours.
9. the head medicine model quick molding method of printing based on 3D according to claim 1, is characterized in that: 3D beatsThe bed thickness printing is 0.1 millimeter～3 millimeters.
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