CN105046644A - Ultrasonic and CT image registration method and system based on linear dependence - Google Patents
Ultrasonic and CT image registration method and system based on linear dependence Download PDFInfo
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- 230000004927 fusion Effects 0.000 claims abstract description 16
- 238000005457 optimization Methods 0.000 claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000002604 ultrasonography Methods 0.000 claims description 80
- 210000000056 organ Anatomy 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000011524 similarity measure Methods 0.000 claims description 7
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- 238000003745 diagnosis Methods 0.000 abstract 1
- 238000002591 computed tomography Methods 0.000 description 80
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- 238000003384 imaging method Methods 0.000 description 6
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- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
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- 238000003709 image segmentation Methods 0.000 description 2
- 238000002675 image-guided surgery Methods 0.000 description 2
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Abstract
The invention discloses an ultrasonic and CT image registration method and system based on linear dependence. The method comprises steps: linear dependence measurement is established; an ultrasonic and CT image registration transformation matrix is preset according to ultrasonic image texture information; the transformation matrix is optimized, and a linear dependence measurement optimal value is calculated; according to parameters of the transformation matrix, an ultrasonic image spatial position is changed, and an ultrasonic image and a CT image fuse. The system comprises a similarity measurement construction module, an original state setting module, a transformation matrix optimization module and a fusion display module. Ultrasonic and CT image registration can be completed rapidly and precisely, and theoretical guidance is provided for clinic focus diagnosis and treatment.
Description
Technical Field
The invention relates to the technical field of medicine, in particular to an ultrasonic and CT image registration method and system based on linear correlation.
Background
The image-guided surgery navigation utilizes medical imaging calculation and computer image technology to perform segmentation recognition, three-dimensional reconstruction and visualization of human tissues, organs and focuses on a scanned medical image of a patient before surgery, and a clinician can perform optimal surgery path planning and clinical surgery simulation through the acquired image; the method comprises the steps of registering a medical image acquired before an operation and a real physical space of a patient in the operation, converting the medical image before the operation, the actual body position of the patient in the operation and a surgical instrument into the same space three-dimensional coordinate system, positioning the relative position of the surgical instrument in human tissues and a focus in real time according to positioning equipment, and fusing and displaying the relationship between the medical image before the operation and the real physical space of the patient in real time. The clinician can observe the pose and various parameters (such as angle, depth and the like) of the surgical instrument in the tissues and the focus in real time from various angles through the fusion displayed image, thereby avoiding important tissues and organs (such as large blood vessels and the like) of the human body to the maximum extent and reaching the focus from the optimal surgical path in the shortest time to carry out accurate surgical treatment. The ultrasound image is a common intraoperative imaging device in clinical use at present by virtue of the advantages of real-time performance, no wound, no ionizing radiation and the like, and the ultrasound guided surgery navigation technology is rapidly developed. Due to the limitation of the ultrasonic imaging mechanism, the ultrasonic two-dimensional image has low resolution, narrow imaging field of view and contains special speckle noise, so that the position of the focus in the human body is difficult to accurately identify and judge through the ultrasonic two-dimensional image. Compared with an ultrasonic two-dimensional image, a Computed Tomography (CT) image is a three-dimensional image, has high imaging resolution and wide imaging field of view, can accurately identify and segment most focuses of human tissues and organs from the CT image, but has radiation injury to a patient on one hand and cannot be imaged in real time in an operation on the other hand when the CT image is acquired, so that the CT image cannot be used as a guide image of an intraoperative surgical navigation system. Therefore, in combination with the imaging characteristics of the ultrasonic two-dimensional image and the CT image, in the clinical application of the image-guided surgery navigation system, the ultrasonic two-dimensional image is used as an intraoperative guide image, a clinician can position a surgical instrument in real time through the ultrasonic two-dimensional image, and the intraoperative real-time ultrasonic image and the preoperative CT image are registered, so that fusion display of the ultrasonic image and the CT image is completed, and the clinician is assisted in positioning the positions of human tissue organs and focuses.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a method and a system for registering ultrasound and CT images based on linear correlation, which can complete accurate registration of a two-dimensional ultrasound image and a three-dimensional CT image.
In order to solve the above technical problem, an embodiment of the present invention provides a linear correlation-based ultrasound and CT image registration method, including:
establishing linear correlation measurement, and calculating the similarity between the ultrasonic image and the CT image;
presetting an ultrasonic and CT image registration transformation matrix according to ultrasonic image texture information;
optimizing the transformation matrix, and calculating to obtain an optimal value of linear correlation measure;
and changing the spatial pose of the ultrasonic image according to the transformation matrix parameters, and fusing the ultrasonic image and the CT image.
In other aspects of the invention, the linear correlation measure introduces an ultrasound reflection coefficient into the ultrasound and CT image similarity measure.
In other aspects of the present invention, the similarity between the ultrasound image and the CT image is calculated as the difference between corresponding regions of interest in the ultrasound and CT images.
In other aspects of the present invention, the ultrasound image texture information includes boundaries of human tissue and organs and vessel bifurcations in the ultrasound image.
In other aspects of the invention, the optimization of the transformation matrix is to change 7 parameter values in the transformation matrix.
In other aspects of the present invention, the optimal value of the linear correlation measure is the minimum difference value between the ultrasound image and the region of interest in the CT image after the spatial position of the ultrasound image is changed according to the transformation matrix.
In other aspects of the present invention, the fusion of the ultrasound image and the CT image means that the ultrasound image and the CT image are displayed in an overlapping manner according to a preset transparency.
The embodiment of the invention also provides an ultrasonic and CT image registration system based on linear correlation, which comprises:
the similarity measure building module is used for building linear correlation measure and calculating the similarity between the ultrasonic image and the CT image;
the initial state setting module is used for presetting an ultrasound and CT image registration transformation matrix according to the ultrasound image texture information;
the transformation matrix optimization module optimizes the transformation matrix and calculates to obtain an optimal value of linear correlation measure;
and the fusion display module changes the spatial pose of the ultrasonic image according to the transformation matrix parameters, and the ultrasonic image is fused with the CT image.
By using the invention, the precise registration of the two-dimensional ultrasonic image and the three-dimensional CT image can be completed.
Drawings
FIG. 1 is a flowchart of the present invention for a linear correlation-based ultrasound and CT image registration method;
FIG. 2 is a schematic diagram of ultrasound and CT image registration of the ultrasound and CT image registration method based on linear correlation according to the present invention;
fig. 3 is a schematic diagram of a fusion display of an ultrasound image and a CT image according to the present invention. Wherein, (a) is an ultrasonic image, (b) is a CT image, and (c) is a fusion display of the ultrasonic image and the CT image;
fig. 4 is a schematic structural diagram of an ultrasound and CT image registration system based on linear correlation according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the examples, but without limiting the invention.
Fig. 1 is a schematic flow chart of an ultrasound and CT image registration method based on linear correlation according to an embodiment of the present invention, which includes the following specific steps:
in the step of S1,
and establishing linear correlation measurement, and calculating the similarity between the ultrasonic image and the CT image.
Defining the similarity of the ultrasonic image and the CT image according to the related ratio as follows:
wherein, U represents an ultrasound image, μ represents a CT image, T represents an ultrasound/CT image registration matrix, f represents a mapping function between the ultrasound two-dimensional image U and the CT slice μ, and Ω represents a size of the image. Assuming that the mapping function f is a linear function, it is expressed as:
f(μ)＝αμ+β
there are many large range of reflections and echoes of tissue organs in the ultrasound image, while there is no reflection and echo information in the CT image, introducing the ultrasound reflection coefficient r into the similarity evaluation criteria for ultrasound/CT image registration. Definition of
Representing the gray value of a pixel, the pixel gray value calculation function can be written as:
fxi＝αpi+βri+γ
ensuring minimization of unknown parameters alpha, beta and gamma
Wherein,
in the above, the similarity between the ultrasound image and the CT image may be to calculate a difference between corresponding regions of interest in the ultrasound and CT images. Of course, other criteria may also be based.
In the step of S2,
and presetting an ultrasound and CT image registration transformation matrix according to the ultrasound image texture information.
The ultrasound image texture information may include the boundaries of human tissues and organs and vessel bifurcation points in the ultrasound image, and is obtained by an image segmentation method.
In the step of S3,
and optimizing the transformation matrix, and calculating to obtain the optimal value of the linear correlation measure.
Defining an initial registration matrix of the ultrasonic/CT image as G0In general, G0If the evaluation standard measure is not the matrix which enables the evaluation standard measure to reach the optimal value, then the direction and the step length of the registration matrix optimization search are set, and the similarity evaluation standard of the ultrasonic/CT image is continuously changed G when the registration matrix is continuously optimized in an iteration mode1,G2,...,Gn. The registration matrix iterative optimization formula can be expressed as:
Gk＝Gk+1+aksk
wherein s represents a direction vector of the registration matrix optimization search, and a represents a step size.
Decomposing the process of optimizing and calculating the registration matrix of the ultrasonic/CT image into a registration matrix iterative change process, representing each iteration of the registration matrix as a one-dimensional vector containing n +1 parameters, and in the registration matrix iterative process, using an initial registration matrix G0Optimizing a registration matrix in n directions as an origin, calculating an ultrasonic/CT image similarity evaluation standard function, selecting a registration matrix G with the optimal similarity evaluation standard, and calculating a secondary G0And continuing to iteratively change the registration matrix by taking G 'as a new origin until the registration matrix G' with the optimal similarity evaluation standard in the change of the G registration matrix. As shown in fig. 2, the result of the registration of the ultrasound and CT images is schematically shown.
The optimal value of the linear correlation measure may be that the difference between the ultrasound image and the region of interest in the CT image is the minimum after the spatial position of the ultrasound image is changed according to the transformation matrix.
In the step of S4,
and changing the spatial pose of the ultrasonic image according to the transformation matrix parameters, and fusing the ultrasonic image and the CT image.
And after the ultrasonic and CT image registration transformation matrix is obtained through optimization calculation, the ultrasonic image space pose for registration is changed according to the transformation matrix parameters. And simultaneously displaying the ultrasonic image and the CT image according to the preset transparency of the ultrasonic image and the CT image to complete the fusion display of the ultrasonic image and the CT image. As shown in fig. 3, the fusion result of the ultrasound image and the CT image is schematically shown. The fusion of the ultrasound image and the CT image may be displaying the ultrasound image and the CT image in an overlapping manner according to a preset transparency.
Fig. 4 is a schematic structural diagram of an ultrasound and CT image registration system based on linear correlation according to an embodiment of the present invention. As shown in fig. 4, the linear correlation-based ultrasound and CT image registration system includes a similarity measure construction module, an initial state setting module, a transformation matrix optimization module, and a fusion display module.
1. Similarity measure construction module
And establishing linear correlation measurement, and calculating the similarity between the ultrasonic image and the CT image.
Defining the similarity of the ultrasonic image and the CT image according to the related ratio as follows:
wherein, U represents an ultrasound image, μ represents a CT image, T represents an ultrasound/CT image registration matrix, f represents a mapping function between the ultrasound two-dimensional image U and the CT slice μ, and Ω represents a size of the image. Assuming that the mapping function f is a linear function, it is expressed as:
f(μ)＝αμ+β
there are many large range of reflections and echoes of tissue organs in the ultrasound image, while there is no reflection and echo information in the CT image, introducing the ultrasound reflection coefficient r into the similarity evaluation criteria for ultrasound/CT image registration. Definition of
Representing the gray value of a pixel, the pixel gray value calculation function can be written as:
fxi＝αpi+βri+γ
ensuring minimization of unknown parameters alpha, beta and gamma
Wherein,
2. initial state setting module
And presetting an ultrasound and CT image registration transformation matrix according to the ultrasound image texture information.
The ultrasonic image texture information comprises human tissue organ boundaries and blood vessel bifurcation points in the ultrasonic image, and the ultrasonic image texture information is obtained by an image segmentation method.
3. Transformation matrix optimization module
And optimizing the transformation matrix, and calculating to obtain the optimal value of the linear correlation measure.
Defining an initial registration matrix of the ultrasonic/CT image as G0In general, G0If the evaluation standard measure is not the matrix which enables the evaluation standard measure to reach the optimal value, then the direction and the step length of the registration matrix optimization search are set, and the similarity evaluation standard of the ultrasonic/CT image is continuously changed G when the registration matrix is continuously optimized in an iteration mode1,G2,...,Gn. The registration matrix iterative optimization formula can be expressed as:
Gk＝Gk+1+aksk
wherein s represents a direction vector of the registration matrix optimization search, and a represents a step size.
Optimized calculation of ultrasound/CT image registration matrixThe process is decomposed into a registration matrix iterative change process, each iteration of the registration matrix is represented as a one-dimensional vector containing n +1 parameters, and an initial registration matrix G is used in the registration matrix iterative process0Optimizing a registration matrix in n directions as an origin, calculating an ultrasonic/CT image similarity evaluation standard function, selecting a registration matrix G with the optimal similarity evaluation standard, and calculating a secondary G0And continuing to iteratively change the registration matrix by taking G 'as a new origin until the registration matrix G' with the optimal similarity evaluation standard in the change of the G registration matrix. As shown in fig. 2, the result of the registration of the ultrasound and CT images is schematically shown.
4. Fusion display module
And changing the spatial pose of the ultrasonic image according to the transformation matrix parameters, and fusing the ultrasonic image and the CT image.
And after the ultrasonic and CT image registration transformation matrix is obtained through optimization calculation, the ultrasonic image space pose for registration is changed according to the transformation matrix parameters. And simultaneously displaying the ultrasonic image and the CT image according to the preset transparency of the ultrasonic image and the CT image to complete the fusion display of the ultrasonic image and the CT image. As shown in fig. 3, the fusion result of the ultrasound image and the CT image is schematically shown.
Of course, the foregoing is the preferred embodiment of the present invention. For convenience of illustration, the sequence numbers of steps S1, S2, etc. are used, but it should be appreciated that the steps themselves may include other processes, and there may be other steps between the steps, which are also within the scope of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. A linear correlation-based ultrasound and CT image registration method is characterized by comprising the following steps:
establishing linear correlation measurement, and calculating the similarity between the ultrasonic image and the CT image;
presetting an ultrasonic and CT image registration transformation matrix according to ultrasonic image texture information;
optimizing the transformation matrix, and calculating to obtain an optimal value of linear correlation measure;
and changing the spatial pose of the ultrasonic image according to the transformation matrix parameters, and fusing the ultrasonic image and the CT image.
2. The linear correlation based ultrasound and CT image registration method of claim 1, wherein the linear correlation measure introduces ultrasound reflection coefficients into the ultrasound and CT image similarity measure.
3. The linear correlation based ultrasound and CT image registration method according to claim 1, wherein the similarity between the ultrasound image and the CT image is to calculate a difference between corresponding regions of interest in the ultrasound and CT images.
4. The linear correlation based ultrasound and CT image registration method of claim 1, wherein the ultrasound image texture information includes human tissue organ boundaries, vessel bifurcation points in the ultrasound image.
5. The linear correlation based ultrasound and CT image registration method of claim 1, wherein the optimization of the transformation matrix is to change 7 parameter values in the transformation matrix.
6. The linear correlation based ultrasound and CT image registration method of claim 1, wherein the optimal value of the linear correlation measure is the smallest difference value between the ultrasound image and the region of interest in the CT image after the spatial position of the ultrasound image is changed according to the transformation matrix.
7. The linear correlation-based ultrasound and CT image registration method of claim 1, wherein the ultrasound image and CT image fusion means that the ultrasound image and the CT image are displayed in an overlapping manner according to a preset transparency.
8. A linear correlation based ultrasound and CT image registration system, comprising:
the similarity measure building module is used for building linear correlation measure and calculating the similarity between the ultrasonic image and the CT image;
the initial state setting module is used for presetting an ultrasound and CT image registration transformation matrix according to the ultrasound image texture information;
the transformation matrix optimization module optimizes the transformation matrix and calculates to obtain an optimal value of linear correlation measure;
and the fusion display module changes the spatial pose of the ultrasonic image according to the transformation matrix parameters, and the ultrasonic image is fused with the CT image.
9. The linear correlation based ultrasound and CT image registration system according to claim 8, wherein the linear correlation measure introduces ultrasound reflection coefficients into the ultrasound and CT image similarity measure.
10. The linear correlation based ultrasound and CT image registration system according to claim 8, wherein the similarity between the ultrasound image and the CT image is a calculation of a difference between corresponding regions of interest in the ultrasound and CT images.
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| CN112155733B (en) * | 2020-09-29 | 2022-01-28 | 苏州微创畅行机器人有限公司 | Readable storage medium, bone modeling and registering system and bone surgery system |
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| CN112043377A (en) * | 2020-10-12 | 2020-12-08 | 中国人民解放军总医院第五医学中心 | Ultrasound visual field simulation auxiliary ablation path planning method and system for any section of CT |
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| CN113393505A (en) * | 2021-06-25 | 2021-09-14 | 浙江商汤科技开发有限公司 | Image registration method, visual positioning method, related device and equipment |
| CN114219889A (en) * | 2021-11-04 | 2022-03-22 | 华南理工大学 | Spine in-vivo quasi-static three-dimensional measurement method based on CT and ultrasonic fusion |
| CN116580033A (en) * | 2023-07-14 | 2023-08-11 | 卡本(深圳)医疗器械有限公司 | Multi-mode medical image registration method based on image block similarity matching |
| CN116580033B (en) * | 2023-07-14 | 2023-10-31 | 卡本(深圳)医疗器械有限公司 | Multi-mode medical image registration method based on image block similarity matching |
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