CN104771189A - Three-dimensional head image alignment method and device - Google Patents
Three-dimensional head image alignment method and device Download PDFInfo
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- CN104771189A CN104771189A CN201510106819.0A CN201510106819A CN104771189A CN 104771189 A CN104771189 A CN 104771189A CN 201510106819 A CN201510106819 A CN 201510106819A CN 104771189 A CN104771189 A CN 104771189A
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Abstract
The invention provides a three-dimensional head image alignment method and device which are applied to oral CT. The method comprises the following steps: acquiring oral CT images with positioning balls; searching for the positions of the two positioning balls in the oral CT images; calculating a transformation matrix according to the searched positions; and conducting coordinate transformation on the oral CT images to generate aligned three-dimensional images. Through the three-dimensional head image alignment method and device, the three-dimensional head image alignment accuracy and convenience are improved.
Description
Technical field
The present invention relates to medical instruments field, in particular to the three-dimensional head image of one to correction method and device.
Background technology
Oral cavity CT is a kind of Novel mouth x-ray imaging system, can provide patient's oromaxillo-facial region 3-dimensional image, is widely used in each section office in oral cavity such as dental implant diagnosis, the preoperative plan of oral surgery, correction conceptual design.Compare the bidimensional images such as traditional whole scenery piece, anterioposterior and lateral film, oral cavity CT image has zero lap, undistorted advantage, and can provide more information, is subject to the extensive welcome of doctor.
Oral cavity CT image comprises XYZ tri-dimensions.Traditionally, the XY plane in the CT image of oral cavity is called as transverse section, and XZ plane is called coronalplane, and YZ plane is called sagittal plane.Most of oral cavity CT provides jaw holder or head rest to support the head of patient, and provide laser rays to carry out auxiliary positioning, the median sagittal plane of patients head (through prenasale and the center vertical resting the head on point) is overlapped with the median sagittal plane in CT image as far as possible.But, above-mentioned instrument all depends on operator's manual adjustments and range estimation judges, in fact cannot ensure that the deflection of patients head is eliminated thoroughly, cause the median sagittal plane of patient and the median sagittal plane of data in actual oral cavity CT image to there is certain deviation more or less.
In some applications, the deviation of above-mentioned patient's attitude is acceptable, then unacceptable in other application.Such as in correction application, doctor needs three-dimensional CT images to be converted into two-dimentional normotopia, position, side and submental vertex fluoroscopic image to measure, or carry out the left and right face symmetrical analysis of patient based on three dimensional CT, or directly in three-dimensional CT images, carry out three-dimensional measurement; And the prerequisite of these work, be to ensure that the median sagittal plane of patient in CT image overlaps completely with data median sagittal plane, otherwise just will lose the accuracy measured and analyze.
In existing document (as " a kind of CT skull-locating rack ", " a kind of CT Scanner skull-locating rack " etc.), propose head mechanical positioner solve the inaccurate problem in location.These devices need to be mechanically connected with CT equipment usually, and the structure of itself is comparatively complicated, need carry out structure of modification when being connected with other CT equipment to it, and being suitable for should be poor.
In addition, oral cavity CT image processing software (such as Dolphin, Invivo) of some specialties provides the method correcting patient's median sagittal plane deviation, is called and again puts position (Reorientation).In these softwares, need doctor in CT image, select the medianly zygomorphic point of patient (such as left and right eye socket marginal point) as datum mark, then calculate correction parameter according to these datum marks.In the method, symmetric reference point choose the manual operation depending on doctor, may error be introduced, and waste time and energy.
Align inaccurate, operation not problem easily for head image three-dimensional in correlation technique, not yet propose effective solution at present.
Summary of the invention
The present invention aims to provide a kind of three-dimensional head image to correction method, aligns inaccurate, operation not problem easily to solve three-dimensional head image.
According to an aspect of the present invention, provide a kind of head automatic alignment method, comprising: obtain the oral cavity CT image with location bead; The position of search two location bead in the described oral cavity CT image obtained; According to the described position calculation transformation matrix searched; Coordinate transform is carried out to described oral cavity CT image, obtains the 3-D view after aligning.
Preferably, described location bead is installed in the ear clip of location, and is prepended in patient's external auditory meatus in shooting.
Preferably, in the described oral cavity CT image obtained, the position of search two location bead comprises:
Carry out Threshold segmentation to described oral cavity CT image, wherein, bead gray scale is set to T according to historical empirical data
1: T
2, when the gray value of pixel meets T
1≤ I (x, y)≤T
2time, namely think and belong to the region that covers of bead, location;
The barycenter in bead region after computed segmentation process, obtains the little spherical coordinates in location as final; The coordinate of two location beads is designated as P respectively
1(x
1, y
1, z
1), P
2(x
2, y
2, z
2).
Preferably, according to the described location bead position calculation transformation matrix searched, comprise the following steps:
Initial point using the initial point of image as new, old coordinate system, using the X-direction of the line direction of two location beads as new coordinate system, its direction vector is: U=(x
2-x
1, y
2-y
1, z
2-z
1), normalization obtains its unit vector (u
x,u
y, u
z);
The plane of Z=0 finds the Y direction vertical with new X-axis, and its direction vector is: V=(-(y
2-y
1), x
2-x
1, 0), normalization obtains the unit vector (v of its correspondence
x, v
y, v
z);
Determine the Z-direction all orthogonal with new XY plane, its direction vector is: N=U × V, and normalization obtains its unit vector (n
x, n
y, n
z), new coordinate system can obtain the transformation matrix of 4*4 after determining:
Preferably, calculate the 3-D view after aligning according to described transformation matrix of coordinates to comprise:
The center point coordinate of two Lines is C
0=(t
x0, t
y0, t
z0), wherein t
x0=(x
1+ x
2)/2, t
y0=(y
1+ y
2)/2, t
z0=(z
1+ z
2)/2; After conversion, picture centre coordinate is C
0=(t
x1, t
y1, t
z1); Before conversion, certain process that a bit (x, y, z) obtains converting rear corresponding point (x', y', z') can be written as in image
The described 3-D view after aligning can be obtained.
Preferably, after obtaining the 3-D view after aligning, also comprise:
Carry out projection according to the described 3-D view after described aligning to calculate, obtain normotopia, position, side and submental vertex projection.
Preferably, described normotopia, position, described side and described submental vertex projection is determined by simulation X-ray attenuation method or maximum intensity projection's method.
According to a further aspect in the invention, provide a kind of head aligning device, be applied to oral cavity CT, comprise:
Location ear clip, for being placed on location bead in the external auditory meatus of the patient of described oral cavity to be captured CT image.
Acquisition module, for obtaining the oral cavity CT image with location bead;
Search module, for the position of search two location bead in the described oral cavity CT image obtained;
Transformation matrix of coordinates computing module, for the described position calculation transformation matrix of coordinates that basis searches;
Coordinate transformation module, for generating the 3-D view after aligning according to described transformation matrix.
Pass through the present invention, by location ear clip, location bead is positioned in patient's external auditory meatus, the 3-D view comprising location bead information is obtained after CT scan, then the position of bead is found by automatic search method, and then obtain transformation matrix based on bead position calculation, finally utilize transformation matrix to obtain the oral cavity CT data after correcting, patient's median sagittal plane is overlapped with data median sagittal plane.The invention solves existing three-dimensional head image and align that method and apparatus is inaccurate, not problem easily, improve accuracy and convenience that three-dimensional head image aligns.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the method flow diagram aligned according to the head image of the embodiment of the present invention;
Fig. 2 is the structural representation of the skull positioning device according to the embodiment of the present invention, is illustrated as and is opened by ear clip and the state after external auditory meatus is inserted on the top comprising location bead;
Fig. 3 is the result figure before aligning according to the carrying out of the embodiment of the present invention;
Fig. 4 is the result figure after aligning according to the carrying out of the embodiment of the present invention;
Fig. 5 is the structured flowchart of the head image aligning device according to the embodiment of the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Hereinafter also describe the present invention in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
The present embodiment proposes a kind of head automatic alignment method being applicable to oral cavity CT.Fig. 1 is the method flow diagram aligned according to the three-dimensional head image of the embodiment of the present invention, and as shown in Figure 1, the method comprises the steps:
S102, scanning obtains the oral cavity CT view data with location bead;
S104, the position of two location beads by automatic identifying method search and in recording mouth CT image;
S106, obtains the transformation matrix of coordinates needed for patient's median sagittal plane position and correction according to the position of two the location beads found;
S108, uses this transformation matrix to process original three-dimensional image, obtains the image after aligning.
The present embodiment proposes a kind of head automatic alignment method being applicable to oral cavity CT.In the present embodiment, based on the skull positioning device of a kind of oral cavity CT, this device is without the need to being arranged on equipment, but be directly worn over patients head, by filling in the location bead of patient's auditory meatus, calculate the median sagittal plane position of patient, and then coordinate transform is carried out to data, the median sagittal plane of patient and the median sagittal plane of data are overlapped.
In the present embodiment, the method comprises following four steps:
The first step is obtain the oral cavity CT image comprising location bead, and second step is that the 3rd step is calculating coordinate change matrix based on this picture search location bead, and the 4th step is carry out coordinate transform to this image and generate the image after aligning.
Be specifically described below:
The first step: with the acquisition of the oral cavity CT image of location bead
Because the present invention utilizes the relevant information of left and right two location beads to align head, therefore the oral cavity CT image with location bead need be obtained.As shown in Figure 2, this device is in open mode, and chucking lug is jumped the queue in ear by patient, this device is due to the shutoff device of bottom or material deformation, guarantee that ear clip can be filled in external auditory meatus, meet the head sizes of different people simultaneously, be more firmly fixed on the number of people.After having scanned, the view data with location bead can be obtained.
Second step: find location bead, concrete steps are:
(1) thresholding method is adopted to extract bead corresponding region, location: setting bead tonal range according to historical empirical data is T
1: T
2, when the gray value of image pixel meets T
1≤ I (x, y)≤T
2time, namely think and belong to the region that covers of bead, location.
(2) barycenter in bead region after computed segmentation process, obtains the little spherical coordinates in location as final.The coordinate of two location beads is designated as P respectively
1(x
1, y
1, z
1), P
2(x
2, y
2, z
2).
3rd step, calculating coordinate change matrix
After finding location bead, according to the position of two the location beads obtained, calculate transformation matrix and export.The method obtaining transformation matrix is: the initial point using the initial point of image as new, old coordinate system, and using the X-direction of the line direction of two location beads as new coordinate system, its direction vector is: U=(x
2-x
1, y
2-y
1, z
2-z
1), normalization obtains its unit vector (u
x, u
y, u
z), then in the plane of Z=0, find the Y direction vertical with new X-axis, its direction vector can be taken as: V=(-(y
2-y
1), x
2-x
1, 0), normalization obtains the unit vector (v of its correspondence
x, v
y, v
z), finally determine the Z-direction all orthogonal with new XY plane, its direction vector is: N=U × V, and normalization obtains its unit vector (n
x, n
y, n
z), new coordinate system can obtain the transformation matrix of 4*4 after determining:
4th step, carries out coordinate transform to image, generates the image after aligning
Can convert original image after obtaining transformation matrix, first the center of two location Lines is moved to image origin by this process, moves to the center of new images after having rotated again.Concrete steps are: the center point coordinate of two Lines is C
0=(t
x0, t
y0, t
z0), wherein t
x0=(x
1+ x
2)/2, t
y0=(y
1+ y
2)/2, t
z0=(z
1+ z
2)/2; After conversion, picture centre coordinate is C
0=(t
x1, t
y1, t
z1).Before conversion, certain process that a bit (x, y, z) obtains converting rear corresponding point (x', y', z') can be written as in image
The image after aligning can be obtained.
Applicant uses the oral cavity CT data of band location bead to verify.Fig. 3, Fig. 4 are the effect contrast figure of the positive bitmap generated before and after aligning, and Fig. 3 is the positive bitmap before aligning, and Fig. 4 is the positive bitmap after aligning, and can be found out by Detail contrast, use the inventive method, effectively can realize the function aligned.
Based on identical inventive concept, the present embodiment additionally provides a kind of head image aligning device, is applied to oral cavity CT, and Fig. 5 is the structured flowchart of the head head portrait aligning device according to the embodiment of the present invention, and as shown in Figure 5, this device comprises:
Acquisition module 52, for obtaining the oral cavity CT image with location bead;
Search module 54, for the position of search two location bead in the described oral cavity CT image obtained;
Transformation matrix of coordinates computing module 56, for the described position calculation transformation matrix of coordinates that basis searches.
Coordinate transformation module 58, for generating the 3-D view after aligning according to described transformation matrix.
Preferably, this device also comprises: location ear clip, for being placed in the external auditory meatus of the patient of described oral cavity to be captured CT image by location bead.
Preferably, this search module 54 comprises:
Segmentation module 542, for carrying out Threshold segmentation to described oral cavity CT image, wherein, bead gray scale is set to T according to historical empirical data
1: T
2, when the gray value of pixel meets T
1≤ I (x, y)≤T
2time, namely think and belong to the region that covers of bead, location;
Determination module 544, for the barycenter in bead region after computed segmentation process, obtains the little spherical coordinates in location as final; The coordinate of two location beads is designated as P respectively
1(x
1, y
1, z
1), P
2(x
2, y
2, z
2).
As can be seen from the above description, present invention achieves following technique effect:
(1) compared with mechanical means, the present invention, without the need to being connected with existing CT plant machinery, only needs to carry out to scanogram the object that post processing can reach correction, and its suitability is strong, cost is lower, puts position simultaneously and also facilitates.
(2) compared with software approach.Present stage doctor reaches the object of head correction by artificial selection left and right sides symmetric reference point in CT image, and selected datum mark is often introduced error and caused the inaccurate of correction parameter.And the technical scheme that the application provides automatically can identify the position of location bead thus correct oral cavity CT data, and artificially to select compared with point of symmetry, more accurately.Compared with aligning with artificial head, the application can locate little ball position and then completes the process of aligning by Automatic-searching, does not need artificial participation in the process, avoids manual operation and takes time and energy.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general accountant, they can concentrate on single accountant, or be distributed on network that multiple accountant forms, alternatively, they can realize with the executable program code of accountant, thus they storages can be performed by accountant in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. three-dimensional head image is to a correction method, is applied to oral cavity CT, it is characterized in that, comprising:
Obtain the oral cavity CT image with location bead;
The position of search two location bead in the described oral cavity CT image obtained;
According to the described position calculation transformation matrix searched;
Coordinate transform is carried out to described oral cavity CT image, generates the 3-D view after aligning.
2. method according to claim 1, is characterized in that, is installed on by described location bead in the ear clip of location, and is prepended in the external auditory meatus of patient at the described oral cavity CT of shooting.
3. method according to claim 1, is characterized in that, in the described oral cavity CT image obtained, the position of search two location bead comprises:
Carry out Threshold segmentation to described oral cavity CT image, wherein, bead gray scale is set to T according to historical empirical data
1: T
2, when the gray value of pixel meets T
1≤ I (x, y)≤T
2time, namely think and belong to the region that covers of bead, location;
The barycenter in bead region after computed segmentation process, obtains the little spherical coordinates in location as final; The coordinate of two location beads is designated as P respectively
1(x
1, y
1, z
1), P
2(x
2, y
2, z
2).
4. method according to claim 1, is characterized in that, the described position calculation transformation matrix according to searching comprises:
Initial point using the initial point of the image of described oral cavity CT as new, old coordinate system, using the X-direction of the line direction of described two location beads as new coordinate system, its direction vector is: U=(x
2-x
1, y
2-y
1, z
2-z
1), normalization obtains its unit vector (u
x, u
y, u
z);
The plane of Z=0 finds the Y direction vertical with new X-axis, and its direction vector is: V=(-(y
2-y
1), x
2-x
1, 0), normalization obtains the unit vector (v of its correspondence
x, v
y, v
z);
Determine the Z-direction all orthogonal with new XY plane, its direction vector is: N=U × V, and normalization obtains its unit vector (n
x, n
y, n
z), new coordinate system can obtain the transformation matrix of 4*4 after determining:
5. method according to claim 1, is characterized in that, obtains described 3-D view according to following coordinate transform formula:
The center point coordinate of two Lines is C
0=(t
x0, t
y0, t
z0), wherein t
x0=(x
1+ x
2)/2, t
y0=(y
1+ y
2)/2, t
z0=(z
1+ z
2)/2; After conversion, picture centre coordinate is C
0=(t
x1, t
y1, t
z1);
Before conversion, certain process that a bit (x, y, z) obtains converting rear corresponding point (x', y', z') comprises in image:
6. method according to any one of claim 1 to 5, is characterized in that, after obtaining the 3-D view after aligning, also comprises:
Carry out projection according to the described 3-D view after described aligning to calculate, obtain normotopia, position, side and submental vertex projection.
7. method according to claim 6, is characterized in that, obtains described normotopia, position, described side and described submental vertex projection by simulation X-ray attenuation method or maximum intensity projection's method.
8. a three-dimensional head image aligning device, is applied to oral cavity CT, it is characterized in that, comprising:
Acquisition module, for obtaining the oral cavity CT image with location bead;
Search module, for the position of search two location bead in the described oral cavity CT image obtained;
Transformation matrix of coordinates computing module, for the described position calculation transformation matrix of coordinates that basis searches;
Coordinate transformation module, for generating the 3-D view after aligning according to described transformation matrix.
9. device according to claim 8, is characterized in that, also comprises:
Location ear clip, for being placed on location bead in the external auditory meatus of the patient of described oral cavity to be captured CT image.
10. device according to claim 8, is characterized in that, described search module comprises:
Segmentation module, for carrying out Threshold segmentation to described oral cavity CT image, wherein, bead gray scale is set to T according to historical empirical data
1: T
2, when the gray value of pixel meets T
1≤ I (x, y)≤T
2time, namely think and belong to the region that covers of bead, location;
Determination module, for the barycenter in bead region after computed segmentation process, obtains the little spherical coordinates in location as final; The coordinate of two location beads is designated as P respectively
1(x
1, y
1, z
1), P
2(x
2, y
2, z
2).
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| CN110363110A (en) * | 2019-06-26 | 2019-10-22 | 成都品果科技有限公司 | Face forward reference method for fast establishing, device, storage medium and processor |
| CN110942052A (en) * | 2019-12-28 | 2020-03-31 | 常州博恩中鼎医疗科技有限公司 | Lateral ear point correction method based on three-in-one CBCT (cone beam computed tomography) skull lateral image |
| CN112288725A (en) * | 2020-10-30 | 2021-01-29 | 李艳 | Skull center axis perpendicular line determination method and device, storage medium and electronic equipment |
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| CN110942052A (en) * | 2019-12-28 | 2020-03-31 | 常州博恩中鼎医疗科技有限公司 | Lateral ear point correction method based on three-in-one CBCT (cone beam computed tomography) skull lateral image |
| CN110942052B (en) * | 2019-12-28 | 2023-08-22 | 常州博恩中鼎医疗科技有限公司 | Lateral ear point correction method based on three-in-one CBCT (computed tomography) skull lateral image |
| CN112288725A (en) * | 2020-10-30 | 2021-01-29 | 李艳 | Skull center axis perpendicular line determination method and device, storage medium and electronic equipment |
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| CN104771189B (en) | 2017-10-27 |
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