CN105678738B - The localization method and its device of datum mark in medical image - Google Patents
The localization method and its device of datum mark in medical image Download PDFInfo
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Abstract
The invention discloses the localization method and its device of datum mark in a kind of medical image, localization method includes: the first threshold based on image intensity, forms the first area of the medical image；Second threshold based on image intensity forms the second area of the medical image；The second threshold is less than the first threshold；Determine the seed point in the first area；By the second area for covering the seed point by screening, datum mark is obtained.The localization process that the present invention automates the datum mark in medical image saves the operating time of doctor, avoids the error being positioned manually.Further, technical solution of the present invention is fast for the locating speed of datum mark, and accuracy is high, is suitable for identification and positions a plurality of types of datum marks.
Description
Technical field
The present invention relates to field of medical image processing, in particular in a kind of medical image the localization method of datum mark and its
Device.
Background technique
With the development of modern computer technology and Medical Imaging Technology, the radiotherapy of tumour enters three-dimensional conformal
The epoch of radiotherapy.More stringent requirements are proposed for positioning accuracy of the three dimensional conformal radiation therapy of tumour to tumour, but is simultaneously also tumour
High accurancy and precision needed for radiotherapy, more preferably dosage are distributed and open new approach to the low damage of health tissues.
In current radiotherapy equipment, cone beam computed tomography equipment (CBCT, Cone Beam is usually utilized
Computed Tomography) captured by positioning image of the medical image as radiotherapy, Cone when according to positioning
Beam CT image is registrated with plan CT image (plan CT image is to carry out CT image used in radiotherapy treatment planning),
It determines the real-time exact position of tumour, radiotherapy equipment is adjusted, so that (usually X-ray, can also be with for treatment ray
It is other high-energy rays) tumour can accurately be irradiated.
The method for being scanned positioning at present is generally divided into two steps, first with the laser localized light comparing of radiotherapy equipment,
It projects on multiple laser to patient (inspected object) skin, metal marker object is sticked at each laser point；Later to patient
CT scan is carried out, image is successively searched and located by doctor or technician, and is manually selected on positioning image most bright in positioning image
Point as point (can be described as datum mark) corresponding to metal marker object, then manually progress datum mark line, multiple lines
Center of the infall as datum mark, for accurately indicating knub position.
Summary of the invention
The problem to be solved in the present invention is to provide the localization methods and its device of datum mark in a kind of medical image, solve doctor
The inconvenience of raw or technician manual positioning, and error caused by manual positioning.
To solve the above problems, the present invention provides a kind of localization methods of datum mark in medical image, comprising: based on figure
As the first threshold of intensity, the first area of the medical image is formed；Second threshold based on image intensity forms the doctor
Learn the second area of image；The second threshold is less than the first threshold；Determine the seed point in the first area；It will cover
The second area of the seed point has been covered by screening, has obtained datum mark.
Preferably, the seed point in the determining first area includes: to set third threshold value based on connected region area；Choosing
Taking the connected region for being lower than the third threshold value in first area is seed point.
Preferably, the screening technique includes: to set the 4th threshold value based on connected region area；Selection covers described kind
Connected region in the second area of son point lower than the 4th threshold value is as datum mark.
Preferably, further includes: it is described obtain datum mark after, the orientation of the datum mark is judged based on fiducial features.
The fiducial features are determined by least one below: datum mark passes through benchmark in medical image internal coordinate, image
The length ratio of air and tissue in the straight line of point.
Preferably, further includes: it is described judge datum mark orientation based on fiducial features after, datum mark is combined.
Described be combined to datum mark include: the medical image is the 3-D image being made of one group of two dimensional image；Based on one
When the top datum mark in forward two-dimensional viewing, all datum marks in two dimensional image close with its are positioned；According to datum mark coordinate
A left side datum mark and right side datum mark are determined respectively, retains all top datum marks, form datum mark combination.
Preferably, the medical image is CT image, and the setting of first threshold and second threshold is based on Heng Shi value.
Preferably, the datum mark is located in medical image at the body surface of subject.
To solve the above problems, the present invention on the basis of benchmarking method, additionally provides correspondence in medical image
Positioning device.
Compared with prior art, at the positioning that technical solution of the present invention automates the datum mark in medical image
Reason, saves the operating time of doctor, avoids the error being positioned manually.Further, technical solution of the present invention for
The locating speed of datum mark is fast, and accuracy is high, is suitable for identification and positions a plurality of types of datum marks.
Detailed description of the invention
Fig. 1 is the structural schematic diagram 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 datum mark；
Fig. 3 is the flow chart of benchmarking method in medical image of the present invention；
Fig. 4 is the initial medical image schematic diagram of the method for the present invention；
Fig. 5 a is the first area schematic diagram of initial medical image of the invention；
Fig. 5 b is the second area schematic diagram of initial medical image of the invention；
Fig. 6 is the present invention to the schematic diagram for determining fiducial features according to datum mark；
Fig. 7 is the structure chart of benchmarking device in medical image of the present invention.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.Detail is elaborated in the following description to fully understand the present invention.But
It is that the present invention can be implemented with a variety of different from other way described herein, those skilled in the art can be without prejudice to originally
Similar popularization is done in the case where invention intension.Therefore the present invention is not limited by following public specific embodiment.
Fig. 1 is the structural schematic diagram of radiotherapy equipment, and referring to Fig. 1, radiotherapy equipment 100 includes rack 101 and disease
Bed 102.Rack 101 includes treatment head 103, and treatment head 103 can issue the low-lying level X-ray for imaging, can also issue
High level X-ray for radiotherapy.Electronics launched field equipment (EPID, the Electronic being oppositely arranged with treatment head 103
Portal Imaging Device) detector that can be used as X-ray, for receiving X-ray.Hospital bed 102 is suffered from for carrying
Patient can be moved to 103 lower section for the treatment of head by person.
When acquisition positions image, the laser localized light comparing (not shown) of radiotherapy equipment 100 arrives laser projection
At the body surface of patient, after metal marker object is fixed at laser point by doctor or technician, positioning imaging is carried out to patient, is treated
First 103 issue low-lying level X-ray, and electronics launched field equipment 104 receives the X-ray across patient, form the transmitting for the treatment of head 103 X and penetrate
Projected image (projection image) under line angle degree.Head 103 to be treated rotates by a certain angle, and forms enough perspective views
As after, CT image is obtained by image reconstruction (image reconstruction) by projected image, the positioning figure as patient
Picture.
Radiotherapy equipment described above is homologous dual-beam equipment, and in some cases, the acquisition for positioning image can be with
It is carried out by independent CT imaging device, i.e., the X-ray for imaging is issued by independent X-ray bulb, is connect by X-ray detector
It receives.
Due to the difference of knub position, metal marker object can be placed on the positions such as patients head, trunk, four limbs, be used for
Indicate the tumour at different location.The shape of metal marker object itself is there may be a variety of, such as column, cross etc..One
Can occur one group of datum mark (corresponding to metal marker object in image) on Zhang Dingwei image, multiple groups datum mark can also occur, use
Indicate one or more positions, this depends on the location requirement of actual radiation treatment.Fig. 2 a illustrates the CT of a brain
Image is positioned, there are 3 datum marks in figure, each datum mark is circular point shape in figure；The CT that Fig. 2 b illustrates an abdomen is fixed
Bit image equally has 3 datum marks, and left side datum mark is circular point shape in figure, and the datum mark of top and rear side is line in figure
Shape.
In the inventive solutions, positioning image is also possible to by magnetic resonance equipment (MRT, Magnetic
Resonance Tomography) it collects.In this case, due to image-forming principle difference, it is fixed on patient surface's
Marker can not use metal marker object, and be changed to substance or device that other can be highlighted in magnetic resonance image,
Such as miniature radio-frequency probe etc..The positioning image collected by magnetic resonance equipment, is equally applicable to medical image of the invention
The localization method of interior datum mark can find datum mark according to this method.
The flow chart of the localization method of datum mark is referring to Fig. 3 in medical image of the invention, comprising the following steps:
S301 forms the first area of the medical image according to the first threshold of image intensity.
S302 forms the second area of the medical image according to the second threshold of image intensity.Second threshold is less than institute
State first threshold.
First threshold and second threshold is arranged according to image intensity first in technical solution of the present invention, and wherein second threshold is small
In first threshold, for details, reference can be made to Fig. 4 to Fig. 5.Fig. 4 is the positioning image that collects of CT equipment, to positioning image setting the
One threshold value, the part higher than first threshold form first area.Especially by setting threshold value by image binaryzation, by first area
It is set as exposure mask (mask) form and facilitates calculating.As shown in Figure 5 a, first area include positioning image in pixel it is higher more
A connected region.Since the Heng Shi value (HU, Hounsfield Unit) of bone in CT image is also very high, may and datum mark
Heng Shi value be closer to, therefore first area may include bony segment simultaneously.
To positioning image setting second threshold, the part higher than threshold value forms second area, as shown in Figure 5 b.Second threshold
Selection be split in view of will position image, only retain the part higher than certain threshold value, step S304 after being convenient for
Screening to connected region in second area.
S303 determines the seed point in the first area.
It determines the mode of seed point, can be carried out according to the area of connected region.Such as the root in the first area of Fig. 5 a
Third threshold value is set according to connected region area, the connected region of third threshold value will be less than as seed point.It specifically can be according to mark
The area of section of note object multiplies in certain proportion to determine third threshold value.And marker biggish for change in shape, Ke Yigen
According to marker corresponding three-dimensional localization image (three-dimensional localization image is made of one group of two-dimensional localization image) the case where, for example,
Cross-section bit image, sagittal image or coronal bit image remove marker maximum section face in two-dimensional localization image group
After product, the mean value calculation of the area of section of remaining positioning image layer group is taken to obtain.Due to the Heng Shi of bony segment and marker
Value is approximate, so can include to represent the seed point 501 of true datum mark, and represent the seed point 502 of bone in first area.
, can also by other means in addition to the above-mentioned mode for determining seed point according to connected region area, such as shape
State method determines seed point.For example, if cross sectional shape of the marker on positioning image is circular point shape, in first area
It is interior to find the connected region for being similar to circular point shape, as seed point.The confirmation of seed point can also use connected region area threshold
The method that value method and morphology combine.
S304 obtains datum mark by the second area for covering the seed point by screening.
First in the second area that step S302 is obtained, find covering seed point connected region (such as region 503,
Region 504), these regions are potential datum marks.Connected region (such as region 505) without covering seed point is then inevitable
It is not datum mark.
The connected region of covering seed point is found in second area, can specifically be used second area and first area
The mode that interior seed point directly compares, or seed point is put into the mode that region growing is carried out in second area.
For covering the connected region of seed point, because having part may be the patient group for being similar to datum mark Heng Shi value
It knits, such as bone etc., further progress is needed to screen.The mode specifically screened can set the 4th threshold value according to connection area,
The connected region in Fig. 5 b lower than the 4th threshold value is chosen as datum mark.The side of second area is determined using second threshold
Method, non-genuine seed point can obviously become larger in second area inner area, so as to be distinguish identification.As shown in the figure,
The seed point 501 for representing marker corresponds to datum mark 503 in Fig. 5 b, and the raw corresponding connected region of the seed point 502 for representing bone
504.The value of 4th threshold value can be identical with third threshold value, is also possible to amplify certain ratio in third threshold basis,
For example can choose is twice of third threshold value.
The method for determining datum mark, which can also be, uses morphologic method, the shape to the non-genuine seed point in Fig. 5 b
It can change, such as bone seed point 502 can be by being similar to the arc-shaped of connected region 504 after circular point shape is grown to before
Or circular ring shape, so as to be distinguish identification using the method for searching circular point shape connected region in image.Datum mark
Determine the method that can also be combined using connected region area threshold and morphology.
The selection of first, second threshold value can be adjusted according to the actual situation.Image is positioned with CT for example, the
One, it is respectively 1000 and 450 that second threshold can select Heng Shi value first, later according to the confirmation of final datum mark as a result, if
Datum mark is not detected, or the datum mark of integral number is not detected, then threshold value can be turned down to respectively 450 and 100,
Second is carried out to detect.
Above " seed point " or " datum mark " does not represent a pixel in only positioning image, can be
Position a pixel region in image.For the coordinate of datum mark, then the coordinate that can choose its regional center pixel is made
On the basis of the coordinate put.
It in the preferred embodiment of the present invention, further include step S305 after determining datum mark according to step S304,
Datum mark orientation is judged based on fiducial features.
In positioning image, datum mark is usually located at three top of patient body-surface, left and right side orientation.To datum mark
When carrying out orientation judgement, the selection of fiducial features, which can be, passes through benchmark in coordinate and image in conjunction with datum mark in image
The length ratio of air and tissue in the straight line of point.Referring to Fig. 6, datum mark P to be judged is in the picture from left side (in image
Left side is the right side of actual patient) distance be R, across datum mark P straight line left side air partial distance be R1, then may be used
The right feature value of the point P on the basis of choosing FR=R1/R similarly chooses the top characteristic value FT and left feature of datum mark P
Value FL.
After having chosen fiducial features, the judgment criteria of characteristic value can be rule of thumb set, if than FT be greater than 0.9 and
FL and FR is greater than 0.6, while the difference of FL and FR then judges the datum mark for top datum mark within 0.3；If FL is greater than 0.9,
FR is less than 0.65, and coordinate position of the P point in the direction T is located at 20% to 70% area within the scope of image length in this direction
Domain is then judged as left side datum mark.The judgement of right side datum mark is similar with the judgement of left side datum mark.
Air in the straight line of datum mark is passed through in the datum mark coordinate or image that the above datum mark orientation uses when judging
With the features such as the length ratio of tissue, the optimization of orientation judgement can be carried out by way of training classifier.
Step S306 carries out datum mark combination.
After the orientation judgement of datum mark to be done, datum mark combination is established.Under normal conditions, a datum mark, which combines, includes
One or more top datum marks, a left side datum mark and a right side datum mark.
The case where for two-dimensional localization image, if after according to the judgement of the datum mark orientation of step S305 before, by same side
The coordinate value of position datum mark relatively determines the datum mark in the orientation, such as being all left side datum mark, by comparing its figure
Coordinate value as in judges which is correct left side datum mark, and remaining datum mark is sentenced then again by coordinate value is compared
It is disconnected whether to be re-used as top datum mark.
The case where for three-dimensional localization image, spy that can be very close according to the cross-section position coordinate of same group of datum mark
Property, based on a top datum mark, positioning layer (such as within 5 layers) two dimension close with two dimensional image where this top datum mark
All datum marks of image establish one or more candidate reference point combinations with the mode for clustering or directly comparing.It is waited at one
In choosing combination, if there is the datum mark of multiple same orientations, then can according to the coordinate value of same orienting point relatively come
It determines the datum mark in the orientation, such as judges which is by comparing the coordinate value in its image for being all left side datum mark
Correctly left side datum mark, and remaining datum mark then again by coordinate value is compared judges whether that top can be re-used as
Datum mark.Finally only retain one left side datum mark and one right side datum mark, and top datum mark can then retain it is multiple, by
These datum marks form datum mark combination.
In another preferred embodiment of the invention, for three-dimensional localization image, do not exist when one group of datum mark combination
When on the same two dimensional image layer, the cross-section position coordinate of top datum mark can use, to the cross-section position of the other datum marks of the group
Coordinate is corrected.
S307 after confirming datum mark, can combine calculating benchmark dot center according to datum mark.
Its specific calculation method, which can be, will form a line, top base between left side datum mark and right side datum mark
The projected position of the line is arrived on schedule as benchmark dot center.According to the difference of reference point combined situation, benchmark dot center
Calculation method there are many kinds of.Various calculation methods are it is known to those skilled in the art which is not described herein again.
In medical image of the present invention on the basis of benchmarking method, datum mark in a kind of medical image is additionally provided
Positioning device, as shown in fig. 7, positioning device 700 includes:
First area forms unit 701 and forms the first of the medical image for the first threshold based on image intensity
Region；
Second area forms unit 702 and forms the second of the medical image for the second threshold based on image intensity
Region；The second threshold is less than the first threshold；
Seed point determination unit 703, for determining the seed point in the first area；
Datum mark determination unit 704 obtains datum mark by the second area for covering the seed point by screening.
In a kind of preferred embodiment of the present invention, further includes:
Datum mark orientation judging unit 705, for judging the orientation of the datum mark based on fiducial features.
Datum mark assembled unit 706, for being combined to datum mark according to the datum mark orientation after judgement.
The embodiment of benchmarking device can be with reference to benchmarking in medical image of the present invention in medical image
The embodiment of method, no longer repeats one by one here.Calculation processing for medical image benchmarking is usually located at and cures
At the workbench computer for learning imaging device, workbench collects medical image according to front end scanning machine, subsequent to carry out
Image procossing.
The localization process that technical solution of the present invention automates the datum mark in medical image, saves doctor's
Operating time avoids the error being positioned manually.Further, locating speed of the technical solution of the present invention for datum mark
Fastly, accuracy is high, is suitable for identification and positions a plurality of types of datum marks.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.
Claims (10)
1. the localization method of datum mark in a kind of medical image characterized by comprising
First threshold based on image intensity forms the first area of the medical image；
Second threshold based on image intensity forms the second area of the medical image；The second threshold is less than described the
One threshold value；The second area covers and is greater than the first area；
Determine the seed point in the first area；Seed point in the first area includes non-referenced point；
By the second area for covering the seed point by screening, datum mark is obtained；
Seed point in the determining first area includes: to set third threshold value based on connected region area；Choose first area
The interior connected region lower than the third threshold value is seed point；
The screening technique includes: to set the 4th threshold value based on connected region area；Selection covers the second of the seed point
Connected region in region lower than the 4th threshold value is as datum mark.
2. localization method according to claim 1, which is characterized in that it is described obtain datum mark after, it is special based on datum mark
Sign judges the orientation of the datum mark.
3. localization method according to claim 2, which is characterized in that the fiducial features by it is below it is at least one into
Row determines: the length ratio of datum mark air and tissue in the straight line of datum mark in medical image internal coordinate, image.
4. localization method according to claim 2, which is characterized in that further include: judged described based on fiducial features
Behind datum mark orientation, datum mark is combined.
5. localization method according to claim 4, which is characterized in that described be combined to datum mark include:
The medical image is the 3-D image being made of one group of two dimensional image；Based on one when the top base in forward two-dimensional viewing
On schedule, all datum marks in two dimensional image close with its are positioned；
It determines a left side datum mark and right side datum mark respectively according to datum mark coordinate, retains at least one top datum mark,
Form datum mark combination.
6. localization method according to claim 1, which is characterized in that the medical image be CT image, first threshold and
The setting of second threshold is based on Heng Shi value.
7. localization method according to claim 1, which is characterized in that the datum mark is located in medical image examined pair
At the body surface of elephant.
8. the positioning device of datum mark in a kind of medical image characterized by comprising
First area forms unit and forms the first area of the medical image for the first threshold based on image intensity；
Second area forms unit and forms the second area of the medical image for the second threshold based on image intensity；Institute
Second threshold is stated less than the first threshold；The second area covers and is greater than the first area；
Seed point determination unit, for determining the seed point in the first area；
Datum mark determination unit, the second area for that will cover the seed point obtain datum mark by screening；
Seed point in the determining first area includes: to set third threshold value based on connected region area；Choose first area
The interior connected region lower than the third threshold value is seed point；
The screening technique includes: to set the 4th threshold value based on connected region area；Selection covers the second of the seed point
Connected region in region lower than the 4th threshold value is as datum mark.
9. positioning device according to claim 8, which is characterized in that further include: datum mark orientation judging unit is used for base
The orientation of the datum mark is judged in fiducial features.
10. positioning device according to claim 9, which is characterized in that further include: datum mark assembled unit is used for basis
Datum mark orientation after judgement, is combined datum mark.
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| US5799099A (en) * | 1993-02-12 | 1998-08-25 | George S. Allen | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
| CN102084397A (en) * | 2009-05-13 | 2011-06-01 | 索尼公司 | Image processing device, method, and program |
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| CN101853333B (en) * | 2010-05-26 | 2012-11-07 | 中国科学院遥感应用研究所 | Method for picking marks in medical robot navigation positioning images |
| CN102103757B (en) * | 2010-12-27 | 2012-09-19 | 中国科学院深圳先进技术研究院 | Cone beam image rebuilding method and device |
| CN103654965B (en) * | 2013-12-03 | 2016-01-06 | 华南理工大学 | A kind of gauge point for optical operation navigation system and image extraction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5799099A (en) * | 1993-02-12 | 1998-08-25 | George S. Allen | Automatic technique for localizing externally attached fiducial markers in volume images of the head |
| CN102084397A (en) * | 2009-05-13 | 2011-06-01 | 索尼公司 | Image processing device, method, and program |
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