CN105678738A - Positioning method and device for datum point in medical image - Google Patents
Positioning method and device for datum point in medical image Download PDFInfo
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- CN105678738A CN105678738A CN201510999525.5A CN201510999525A CN105678738A CN 105678738 A CN105678738 A CN 105678738A CN 201510999525 A CN201510999525 A CN 201510999525A CN 105678738 A CN105678738 A CN 105678738A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30096—Tumor; Lesion
Abstract
The invention discloses a positioning method and a positioning device for a datum point in a medical image. The positioning method comprises the steps of: forming a first region of the medical image based on a first threshold value of image intensity; forming a second region of the medical image based on a second threshold value of image intensity, wherein the second threshold value is less than the first threshold value; determining seed points in the first region; and screening the second region covering the seed points to obtain the datum point. The positioning method and the positioning device are used for carrying out automatic positioning processing on the datum point in the medical image, save operation time for doctors, and avoid errors of manual positioning. Furthermore, the positioning method and the positioning device are fast in datum point positioning speed and high in datum point positioning accuracy, and are suitable for recognizing and positioning datum points of various types.
Description
Technical field
The present invention relates to field of medical image processing, particularly to the localization method of datum mark in a kind of medical image and device thereof.
Background technology
Along with the development of modern computer technology and Medical Imaging Technology, the radiotherapy of tumor enters the epoch of three dimensional conformal radiation therapy. The positioning precision of tumor is had higher requirement by the three dimensional conformal radiation therapy of tumor, but simultaneously also for high accurancy and precision, the more excellent dose distribution needed for tumour radiotherapy with the low damage of health tissues is opened new approach.
In current radiotherapy equipment, generally utilize cone beam computed tomography equipment (CBCT, ConeBeamComputedTomography) medical image captured by is as radiocurable network for location picture, ConebeamCT image during according to location carries out registration with plan CT image (plan CT image is by the CT image used in radiotherapy treatment planning), determine the exact position that tumor is real-time, radiotherapy equipment is adjusted, so that treatment ray (is generally X ray, can also be other high-energy rays) tumor can be irradiated accurately.
The method being scanned location at present is generally divided into two steps, first with the laser localized light comparing of radiotherapy equipment, projects multiple laser to patient's (inspected object) skin, sticks metal marker thing at each laser spots place; Afterwards patient is carried out CT scan, by doctor or technician's successively Search and Orientation image, and on network for location picture point the brightest in manual regioselective image as the point (can be described as datum mark) corresponding to metal marker thing, it is performed manually by the line of datum mark again, the infall of multiple lines is as the center of datum mark, for indicating knub position accurately.
Summary of the invention
The problem to be solved in the present invention is to provide localization method and the device thereof of datum mark in a kind of medical image, solves doctor or the inconvenience of technician's manual positioning and the error that manual positioning causes.
For solving the problems referred to above, the invention provides the localization method of datum mark in a kind of medical image, including: based on the first threshold of image intensity, form the first area of described medical image; Based on the Second Threshold of image intensity, form the second area of described medical image; Described Second Threshold is less than described first threshold; Determine the seed points in described first area; The second area covering described seed points is passed through screening, obtains datum mark.
Preferably, the described seed points determined in first area includes: set the 3rd threshold value based on connected region area; Choosing in first area lower than the connected region of described 3rd threshold value is seed points.
Preferably, described screening technique includes: set the 4th threshold value based on connected region area; Choose the interior connected region lower than described 4th threshold value of the second area covering described seed points as datum mark.
Preferably, also include: described obtain datum mark after, judge the orientation of described datum mark based on fiducial features. Described fiducial features is determined by following at least one: the straight line air of datum mark traverse datum mark in medical image internal coordinate, image and the length ratio of tissue.
Preferably, also include: described based on fiducial features judgment standard point orientation after, datum mark is combined. Described it is combined including to datum mark: described medical image is the 3-D view being made up of one group of two dimensional image; Based on one when the top datum mark in forward two-dimensional viewing, position all datum marks in two dimensional image close with it; Determine a left side datum mark and right side datum mark according to datum mark coordinate respectively, retain all of top datum mark, form datum mark combination.
Preferably, described medical image is that the setting of CT image, first threshold and Second Threshold is based on Heng Shi value.
Preferably, described datum mark is arranged in the body surface place of medical image subject.
For solving the problems referred to above, the present invention on the basis of datum mark localization method, additionally provides the positioner of correspondence in medical image.
Compared with prior art, the datum mark in medical image is carried out the localization process of automatization by technical scheme, saves the operating time of doctor, it is to avoid the error of artificial location. Further, technical scheme is fast for the locating speed of datum mark, and accuracy is high, it is adaptable to identifies and positions polytype datum mark.
Accompanying drawing explanation
Fig. 1 is the structural representation of radiotherapy equipment;
Fig. 2 a is the medical image schematic diagram comprising a kind of datum mark;
Fig. 2 b is the medical image schematic diagram comprising another kind of datum mark;
Fig. 3 is the flow chart of datum mark localization method in medical image of the present invention;
Fig. 4 is the initial medical image schematic diagram of the inventive method;
Fig. 5 a is the first area schematic diagram of the initial medical image of the present invention;
Fig. 5 b is the second area schematic diagram of the initial medical image of the present invention;
Fig. 6 is the present invention schematic diagram to determining fiducial features according to datum mark;
Fig. 7 is the structure chart of datum mark positioner in medical image of the present invention.
Detailed description of the invention
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail. Elaborate detail in the following description so that fully understanding the present invention. But the present invention can be different from alternate manner described here implement with multiple, and those skilled in the art can do similar popularization when without prejudice to intension of the present invention. Therefore the present invention is not by the restriction of following public detailed description of the invention.
Fig. 1 is the structural representation of radiotherapy equipment, and referring to Fig. 1, radiotherapy equipment 100 includes frame 101 and sick bed 102. Frame 101 includes treatment 103, and treatment 103 can send the low-lying level X ray for imaging, it is also possible to sends for radiocurable high level X ray. Can, as the detector of X ray, be used for receiving X ray with treatment 103 electronics launched field equipment (EPID, ElectronicPortalImagingDevice) being oppositely arranged. Sick bed 102 is used for carrying patient, it is possible to patient moved to below treatment 103.
When gather network for location as time, the laser localized light comparing (not shown) of radiotherapy equipment 100 is by the body surface place of laser projections to patient, after metal marker thing is fixed on laser spots place by doctor or technician, patient is positioned imaging, treatment 103 sends low-lying level X ray, electronics launched field equipment 104 receives the X ray through patient, forms the projection picture (projectionimage) that treatment 103 is launched under X ray angle. Rotate to an angle for be treated 103, after forming enough projection pictures, projection picture obtain CT image through image reconstruction (imagereconstruction), as the network for location picture of patient.
Radiotherapy equipment described above is homology dual-beam equipment, and in some cases, the collection of network for location picture can be undertaken by independent CT imaging device, and namely the X ray for imaging is sent by independent X ray bulb, X-ray detector receive.
Due to the difference of knub position, metal marker thing can be placed on the positions such as patients head, trunk, extremity, for indicating the tumor of various location. The shape of metal marker thing itself can exist multiple, for instance column, cross etc. A network for location picture can occur one group of datum mark (in image corresponding metal marker thing), it is also possible to occurring organizing datum mark more, be used to refer to one or more position, this depends on the location requirement that actual radiation is treated. Fig. 2 a illustrates the CT network for location picture of a brain, has 3 datum marks in figure, and each datum mark is circular point shape in the drawings; Fig. 2 b illustrates the CT network for location picture of an abdominal part, has 3 datum marks equally, and left side datum mark is the datum mark of circular point shape, top and rear side in the drawings is linear in the drawings.
In the inventive solutions, network for location picture can also be collected by magnetic resonance equipment (MRT, MagneticResonanceTomography). In this case, owing to image-forming principle is different, the label being fixed on patient surface can not adopt metal marker thing, and changes other material can being highlighted in magnetic resonance image (MRI) or devices into, for instance miniature radio-frequency probe etc. The network for location picture collected by magnetic resonance equipment, the localization method being equally applicable in the medical image of the present invention datum mark, it is possible to find datum mark according to this method.
In the medical image of the present invention, the flow chart of the localization method of datum mark is referring to Fig. 3, comprises the following steps:
S301, the first threshold according to image intensity, form the first area of described medical image.
S302, the Second Threshold according to image intensity, form the second area of described medical image. Second Threshold is less than described first threshold.
First technical scheme arranges first threshold and Second Threshold according to image intensity, and wherein Second Threshold is less than first threshold, specifically can referring to Fig. 4 to Fig. 5. Fig. 4 is the network for location picture that CT equipment collects, and to location image setting first threshold, forms first area higher than the part of first threshold. Especially by arranging threshold value by image binaryzation, first area is set to the convenient calculating of mask (mask) form. As shown in Figure 5 a, first area includes multiple connected regions that pixel in network for location picture is higher. Owing in CT image, the Heng Shi value (HU, HounsfieldUnit) of skeleton is also very high, it is possible to being closer to the Heng Shi value of datum mark, therefore first area is likely to comprise bony segment simultaneously.
To location image setting Second Threshold, form second area higher than the part of threshold value, as shown in Figure 5 b. Choosing of Second Threshold is considered to split network for location picture, only retains the part higher than certain threshold value, it is simple to after carrying out, step S304 is to the screening of connected region in second area.
S303, it is determined that the seed points in described first area.
Determine the mode of seed points, it is possible to carry out according to the area of connected region. Such as in the first area of Fig. 5 a, set the 3rd threshold value according to connected region area, using the connected region less than the 3rd threshold value as seed points. Specifically can take advantage of according to the area of section of label and determine the 3rd threshold value in certain proportion. And for the bigger label of change of shape, can according to the label situation at corresponding three-dimensional localization image (three-dimensional localization image is made up of one group of two-dimensional localization image), it is such as cross-section bit image, sagittal image or Coronal image, after removing the area of section that label is maximum in two-dimensional localization image sets, the mean value calculation of the area of section taking residue location image layer group obtains. Owing to the Heng Shi value of bony segment and label is similar to, so the seed points 501 representing true datum mark can be comprised in first area, and represent the seed points 502 of skeleton.
Except the above-mentioned mode determining seed points according to connected region area, it is also possible to by other means, for instance morphological method determines seed points. Such as, if the cross sectional shape that label is on network for location picture is circular point shape, then in first area, find the connected region being similar to circular point shape, as seed points. The confirmation of seed points can also adopt the method that connected region area threshold method and morphology combine.
S304, passes through screening by the second area covering described seed points, obtains datum mark.
First in the second area that step S302 obtains, finding the connected region (such as region 503, region 504) covering seed points, these regions are potential datum marks. Then inevitable without the connected region (such as region 505) covering seed points is not datum mark.
In second area, find the connected region covering seed points, specifically can adopt mode seed points in second area and first area directly contrasted, or be put in second area by seed points to carry out the mode of region growing.
For covering the connected region of seed points, because there being part to be probably the patient tissue being similar to datum mark Heng Shi value, for instance skeleton etc., it is necessary to screen further. The mode of concrete screening can set the 4th threshold value according to connection area, chooses the interior connected region lower than described 4th threshold value of Fig. 5 b as datum mark. Adopting the method that Second Threshold determines second area, non-genuine seed points can substantially become big at second area inner area, such that it is able to be distinguish between identifying. As shown in FIG., represent the seed points 501 of label at Fig. 5 b correspondence datum mark 503, and the raw corresponding connected region 504 of seed points 502 representing skeleton. The value of the 4th threshold value can be identical with the 3rd threshold value, it is also possible to is amplify certain ratio in the 3rd threshold basis, such as can be chosen as the twice of the 3rd threshold value.
Determine that the method for datum mark can also is that the morphologic method of employing, treat that the shape of the non-genuine seed points in Fig. 5 b can change, such as skeleton seed points 502 meeting is by the circular arc or the annular that are similar to connected region 504 after circular point shape is grown to before, such that it is able to utilize the method searching circular point shape connected region in image to be distinguish between identifying. The determination of datum mark can also adopt the method that connected region area threshold and morphology combine.
Choosing of first, second threshold value can be adjusted according to practical situation. Illustrate with CT network for location picture, first first, second threshold value can select Heng Shi value respectively 1000 and 450, confirmation result according to final datum mark afterwards, if being not detected by datum mark, or it is not detected by the datum mark of integral number, threshold value then can be turned down respectively 450 and 100, carry out second time detection.
It is a pixel in network for location picture that above " seed points " or " datum mark " does not represent, and it can be a pixel region in network for location picture. For the coordinate of datum mark, then can choose the coordinate coordinate as datum mark of its regional center pixel.
In the preferred embodiment of the present invention, after determining datum mark according to step S304, also include step S305, based on fiducial features judgment standard point orientation.
In network for location picture, datum mark is usually located at the top of patient body-surface, left side and orientation, three, right side. Datum mark carrying out orientation when judging, choosing of fiducial features can be length ratio through the straight line air of datum mark and tissue in the coordinate of datum mark in combining image and image. Referring to Fig. 6, datum mark P to be judged distance from left side (left side in image is the right side of actual patient) in the picture is R, the straight line of the traverse datum mark P air partial distance in left side is R1, then can choose the right feature value that FR=R1/R is datum mark P, in like manner, the top eigenvalue FT and left feature value FL of datum mark P are chosen.
After having chosen fiducial features, it is possible to the criterion of eigenvalue is rule of thumb set, if than FT more than 0.9 and FL and FR more than 0.6, simultaneously the difference of FL and FR is within 0.3, then judge that this datum mark is top datum mark; If FL is more than 0.9, FR less than 0.65, and the coordinate position that P point is in T direction is positioned at 20% to 70% region of direction epigraph length range, then be judged as left side datum mark. The judgement of right side datum mark is similar with the judgement of left side datum mark.
Through features such as the length ratios of the straight line air of datum mark and tissue in the datum mark coordinate adopted when above datum mark orientation judges or image, it is possible to by training the mode of grader to carry out the optimization of orientation judgement.
Step S306, carries out datum mark combination.
After the orientation of datum mark to be done judges, set up datum mark combination. Under normal circumstances, a datum mark combination includes one or more tops datum mark, a left side datum mark and a right side datum mark.
When two-dimensional localization image, if after the datum mark orientation according to step S305 before judges, the datum mark in this orientation is relatively determined by the coordinate figure of same orienting point, such as being all left side datum mark, by comparing the coordinate figure in its image, judging which is correct left side datum mark, remaining datum mark is then again by comparing coordinate figure, it may be judged whether can again as top datum mark.
When three-dimensional localization image, can according to the cross-section position coordinate of same group of datum mark characteristic closely, based on a top datum mark, position and all datum marks of the datum mark place close layer of two dimensional image (within such as 5 layers) two dimensional image above this, by the mode clustered or directly contrast, set up the combination of one or more candidate reference point. In a candidate combinations, if there is the datum mark of multiple same orientation, the datum mark in this orientation then can be relatively determined according to the coordinate figure of same orienting point, such as being all left side datum mark, by comparing the coordinate figure in its image, judging which is correct left side datum mark, remaining datum mark is then again by comparing coordinate figure, it may be judged whether can again as top datum mark. Final only reservation one left side datum mark and a right side datum mark, top datum mark then can retain multiple, these datum marks form datum mark combination.
In another preferred implementation of the present invention, for three-dimensional localization image, when when one group of datum mark combination is not on same two dimensional image layer, it is possible to use the cross-section position coordinate of top datum mark, the cross-section position coordinate of this other datum mark of group is corrected.
S307, after confirming datum mark, it is possible to according to datum mark combination calculation datum mark center.
Its concrete computational methods can be to form a line between left side datum mark and right side datum mark, top datum mark to the projected position of this line as datum mark center. Difference according to reference point combined situation, the computational methods at datum mark center have a variety of. Various computational methods repeat no more here for it is known to those skilled in the art that.
In medical image of the present invention on the basis of datum mark localization method, additionally provide the positioner of datum mark in a kind of medical image, as it is shown in fig. 7, positioner 700 includes:
First area forms unit 701, for the first threshold based on image intensity, forms the first area of described medical image;
Second area forms unit 702, for the Second Threshold based on image intensity, forms the second area of described medical image; Described Second Threshold is less than described first threshold;
Seed points determines unit 703, for determining the seed points in described first area;
Datum mark determines unit 704, the second area covering described seed points is passed through screening, obtains datum mark.
One of the present invention preferred embodiment in, also include:
Datum mark orientation judging unit 705, for judging the orientation of described datum mark based on fiducial features.
Datum mark assembled unit 706, for according to the datum mark orientation after judging, being combined datum mark.
In medical image, the embodiment of datum mark positioner is referred in medical image of the present invention the embodiment of datum mark localization method, no longer repeats one by one here. For the computing of medical image datum mark location, being usually located at the workbench computer place with medical imaging devices, workbench scans machine according to front end and collects medical image, to carry out follow-up image procossing.
Datum mark in medical image is carried out the localization process of automatization by technical scheme, saves the operating time of doctor, it is to avoid the error of artificial location. Further, technical scheme is fast for the locating speed of datum mark, and accuracy is high, it is adaptable to identifies and positions polytype datum mark.
Although the present invention is with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art are without departing from the spirit and scope of the present invention; may be by the method for the disclosure above and technology contents and technical solution of the present invention is made possible variation and amendment; therefore; every content without departing from technical solution of the present invention; according to any simple modification, equivalent variations and modification that above example is made by the technical spirit of the present invention, belong to the protection domain of technical solution of the present invention.
Claims (12)
1. the localization method of datum mark in a medical image, it is characterised in that including:
Based on the first threshold of image intensity, form the first area of described medical image;
Based on the Second Threshold of image intensity, form the second area of described medical image; Described Second Threshold is less than described first threshold;
Determine the seed points in described first area;
The second area covering described seed points is passed through screening, obtains datum mark.
2. localization method according to claim 1, it is characterised in that the described seed points determined in first area includes:
The 3rd threshold value is set based on connected region area;
Choosing in first area lower than the connected region of described 3rd threshold value is seed points.
3. localization method according to claim 1, it is characterised in that described screening technique includes:
The 4th threshold value is set based on connected region area;
Choose the interior connected region lower than described 4th threshold value of the second area covering described seed points as datum mark.
4. localization method according to claim 1, it is characterised in that described obtain datum mark after, judge the orientation of described datum mark based on fiducial features.
5. localization method according to claim 4, it is characterised in that described fiducial features is determined by following at least one: the straight line air of datum mark traverse datum mark in medical image internal coordinate, image and the length ratio of tissue.
6. localization method according to claim 4, it is characterised in that also include: described based on fiducial features judgment standard point orientation after, datum mark is combined.
7. localization method according to claim 6, it is characterised in that described be combined including to datum mark:
Described medical image is the 3-D view being made up of one group of two dimensional image; Based on one when the top datum mark in forward two-dimensional viewing, position all datum marks in two dimensional image close with it;
Determine a left side datum mark and right side datum mark according to datum mark coordinate respectively, retain datum mark above at least one, form datum mark combination.
8. localization method according to claim 1, it is characterised in that described medical image is that the setting of CT image, first threshold and Second Threshold is based on Heng Shi value.
9. localization method according to claim 1, it is characterised in that described datum mark is arranged in the body surface place of medical image inspected object.
10. the positioner of datum mark in a medical image, it is characterised in that including:
First area forms unit, for the first threshold based on image intensity, forms the first area of described medical image;
Second area forms unit, for the Second Threshold based on image intensity, forms the second area of described medical image; Described Second Threshold is less than described first threshold;
Seed points determines unit, for determining the seed points in described first area;
Datum mark determines unit, for the second area by covering described seed points through screening, obtains datum mark.
11. positioner according to claim 10, it is characterised in that also include: datum mark orientation judging unit, for judging the orientation of described datum mark based on fiducial features.
12. positioner according to claim 11, it is characterised in that also include: datum mark assembled unit, for according to the datum mark orientation after judging, being combined datum mark.
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