CN106447764A - Three-dimensional visualization automatic measuring method for human body pelvis parameters - Google Patents
Three-dimensional visualization automatic measuring method for human body pelvis parameters Download PDFInfo
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Abstract
The invention discloses a three-dimensional visualization automatic measuring method for human body pelvis parameters. The method comprises template pelvis feature point calibration, target pelvis CT image and template pelvis CT image registration and target pelvis CT image's pelvis parameters automatic calculation. According to the invention, through the use of the CT image and precise registration technology featuring the combination of the template pelvis CT image and the target image, it is possible to rapidly and accurately measure the pelvis parameters without manual intervention. At the same time, the method also allows the automatic measurement of pelvis parameters in batch, providing a set of more intelligent and convenient pelvis parameter measuring method for quantitative analysis for a large amount of samples.
Description
Technical field
The present invention relates to the human pelvis parameter of computer-aided medical science software field, more particularly to a kind of three-dimensional visualization
Method for automatic measurement.
Background technology
Pelvimetry technology is a kind of to human pelvis size and the method for quantitative measuring of form.The quantitative parameter pair of pelvis
Fertility difficulty or ease measure, legal medical expert gender typing, pelvis metamorphosis and its correlation analysiss with age and race in women, each
Operation on pelvis difficulty assessment etc. is planted with important clinical meaning.Carrying out operation on pelvis such as carcinoma of prostate excision and rectal cancer
During excision, due to particularity and the complexity of focal part, need to carry out rationally operation plan before operation is carried out
Planning, and limited assessment is carried out to operation risk.And minimally invasive operation on pelvis generally requires to enter in narrow pelvic cavity space
OK, therefore, to pelvic dimensions and the isoparametric quantitative measurement of form, and substantial amounts of clinical data such as amount of bleeding is combined, during operation
Between, surgical effect, mortality rate etc., statistics and analysis are carried out, a prediction evaluation can be carried out for operation difficulty or ease in the preoperative, in advance
Decision-making is done to patient and physician guidance information, the risk of operation can be substantially reduced and improve the quality of operation.Therefore, accurately
The measurement for conveniently realizing pelvis various parameters has important clinical meaning.
At present, the pelvimetry method for adopting inside hospital, typically carries out craft using special pelvis measuring instrument
Measurement, be divided into external pelvimetry and two steps of interior measurement completed, operating process complexity, often bring necessarily to measurand
Pain, and measure Limited information, some length and angle information can only be measured to describe size and the shape of whole pelvis
State information.With the development of Medical Imaging Technology, carrying out pelvis parameter measurement using pelvis image is also a kind of common side
Method, and engendered the method for pelvimetry being carried out using ultrasonoscopy, CT image and MRI image.In this approach, put
Penetrating doctor needs have rich experience to anatomic points, by being demarcated to two dimensional image manually on CASE(Computer Aided Software Engineering)
And measurement, generally require in measurement process to carry out toggling to find accurate measurement point in different sections；Or pass through
Three-dimensional pelvic reconstructive, carries out direct hand dipping on pelvis threedimensional model.This method is with respect to using pelvimetry instrument
Method, the parameter of measurement more can be enriched, and the precision of measurement is higher；Meanwhile, pain during measurement will not be brought to patient, especially
Which is measured in pelvis parameter to women.However, this method be also need rely on radiation doctor experience carry out manual
Measurement, when being analyzed the pelvis parameter of patient and operation complexity, needs to enter the patient image of great amount of samples
Row measurement, takes time and effort, while easily human error, and measurement parameter is limited, it is impossible to realize to pelvis cross-sectional area from
Dynamic measurement.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, a kind of human pelvis parameter of three-dimensional visualization is provided certainly
Dynamic measuring method, by using the CT image of patient, can complete to patient 20 pelvis parameters includes plane of pelvic inlet
The automatic measurement of area.
The technical solution used in the present invention is：
A kind of human pelvis parameter auto-testing method of three-dimensional visualization, which comprises the following steps：
A, the characteristic point of template pelvis are demarcated：
A1, the pelvis CT image of selection averaged deformation error minimum are used as template pelvis CT image；
A2, the threedimensional model based on template pelvis CT image generation pelvic tissue；
A3, the N number of labelling point of demarcation are used for calculating pelvic dimensions and form parameter；
A4, the profile of extraction pelvic inlet are used for calculating plane of pelvic inlet area；
B, target pelvis CT image are registering with template pelvis CT image, obtain target pelvis CT image and template pelvis CT image
Between mapping relations：
B1, so that the CT image of pelvis parameter need to be measured as target pelvis CT image；
B2, by target pelvis CT image by linear affine transformed mappings to template pelvis CT image identical coordinate space；
The statistic deformable model that B3, utilization are trained, the list between guide template pelvis CT image and the target pelvis CT image
Level nonlinear transformation, obtains optimal initialization deformation matrix；
B4, using the initialization deformation matrix as input, carry out the non-linear registration based on free deformation model of three levels, obtain
To accurate target pelvis CT image to the nonlinear mapping relation between template pelvis CT image；
C, the automatic calculating of target pelvis CT image pelvis parameter：
C1, using target pelvis CT image to the nonlinear mapping relation between template pelvis CT image, template bone will have been demarcated
N number of labelling point of basin CT image and pelvic inlet profile point are mapped to target pelvis CT image space；
C2, the N number of labelling point for obtaining target pelvis CT image approximate and pelvic inlet profile point；
C3, according to N number of labelling point of target pelvis CT image approximate and geometrical relationship and the pelvis parameter of pelvic inlet profile point
Definition calculate pelvis parameter.
Further, using Adaptive Thresholding, pelvis is split in step A2 and three-dimensional reconstruction is obtained pelvis
The threedimensional model of tissue.
Further, in step A3, the value of N is 15, is demarcated on template pelvis CT image by specialist is manual
15 labelling points are used as the characteristic point for calculating pelvis parameter.
Further, the concrete steps of the profile of template pelvic inlet are extracted in step A4：
A4-1, on template pelvis CT image intercept generate pelvic inlet cross-sectional view；
A4-2, CT tomography picture corresponding to the cross section carry out pelvic inlet segmentation；
A4-3, using MARCHING SQUARE algorithm extract pelvic inlet profile.
Further, in step B3, statistic deformable model is the free deformation model based on B- batten, and free form
The optimization at the B-spline control point of varying model is limited in the free deformation model space.
Further, the pelvis parameter include diameter before and after pelvic inlet, pelvic inlet transverse diameter, pelvic inlet clino-diagonal,
Before and after biischial diameter, inferior pelvic aperture, between diameter, sacrum shame internal diameter, midpelvis spinous process, diameter, pubic symphysis height, sacral promontory are arrived
The distance of coccyx, pelvis depth, sacral promontory are to the distance of S3/S4 intervertebral disc, the distance of S3/S4 intervertebral disc to apex of coccyx, shame
Bone bow angle, plane of pelvic inlet normal and pelvis depth line angle, pelvic incidence, plane of pelvic inlet and sacral promontory and tail
The angle of the angle of bone line, plane of pelvic outlet and sacral promontory and coccyx line, sacral promontory are to S3 intervertebral disc line and coccyx
The ratio of diameter and pelvis depth, plane of pelvic inlet area before and after angle, pelvic inlet to S3 intervertebral disc line.
Further, the concrete calculation procedure of the plane of pelvic inlet area is：
C3-1, realized using PCA target pelvis CT image pelvic inlet profile point two-dimensional projection, build which
Approximate contours point in conplane pelvic inlet；
C3-2, based on projection approximate contours point approximately ask method to obtain the bone of target pelvis CT image using round area triangle
The area of plane of basin entrance.
The present invention adopts above technical scheme, by carrying out automatic Three-dimensional Gravity to the template pelvis CT image of template pelvis
Build, and by specialty doctor calibrated on pelvis threedimensional model exactly 15 labelling points with obvious anatomical features and
Plane of pelvic inlet profile, by these pelvis labelling points and pelvic inlet plane profile, can calculate 20 pelvis parameter informations.
After having demarcated, using above-mentioned template pelvis CT image with its corresponding labelling point and plane of pelvic inlet profile as Prototype drawing
Collection.When the new patient CT image of a width will carry out pelvis parameter measurement, we first pass through the CT image of the patient as mesh
Mark pelvis CT image carries out the multi-layer image registration of linear processes with template pelvis CT image, by using template pelvis
The statistic deformable model that CT image is trained, improve patient target pelvis CT image registering with template pelvis CT image effect
Really.Then, the transformation matrix for being obtained using registration, 15 labelling points of template pelvis CT image and pelvic inlet plane profile point are reflected
It is mapped in target pelvis CT image, the approximate marker point in intended patient's target pelvis CT image and approximate inlet can be obtained
Face profile, is then carried out by using the method pairing approximation pelvic inlet plane profile point of principal component analysiss dry again so that mapping
The approximate inlet face profile point for obtaining is in a plane, so method can be asked to obtain bone by circular similar area
Basin pelvic inlet plane area；Meanwhile, according to geometry relation, it is also possible to automatically and quickly calculate the other parameters of pelvis, it is right to realize
The automatic measurement of new patient's pelvis parameter.
The present invention is by using CT image and with reference to template pelvis CT image and the accurate registration technique of target image, permissible
Quickly and accurately pelvis parameter measurement is realized, without the need for manual intervention；Meanwhile, this method allows the pelvis parameter of mass automatic
Measurement, is that great amount of samples quantitative analyses provide a set of more intelligent, easily pelvis measurement method of parameters.
Description of the drawings
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details；
Fig. 1 is a kind of schematic flow sheet of the human pelvis parameter auto-testing method of three-dimensional visualization of the present invention；
Fig. 2 is a kind of template pelvis CT image pelvis of the human pelvis parameter auto-testing method of three-dimensional visualization of the present invention
One of labelling point schematic diagram；
A kind of labelling point of the template pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 3 present invention
The two of schematic diagram；
A kind of pelvis of the template pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 4 present invention
One of pelvic inlet plane schematic diagram；
A kind of pelvis of the template pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 5 present invention
The two of pelvic inlet plane schematic diagram；
A kind of pelvis of the template pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 6 present invention enters
The extraction schematic diagram of mouth cross section；
A kind of template pelvis CT image and the targeted bone of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 7 present invention
The non-linear registration result of basin CT image；
A kind of pelvis of the target pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 8 present invention enters
Mouth profile point schematic diagram；
A kind of pelvis of the target pelvis CT image of the human pelvis parameter auto-testing method of three-dimensional visualization of Fig. 9 present invention enters
The effect diagram of the two-dimensional projection of mouth profile point；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 10 present invention
It is one of schematic diagram；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 11 present invention
It is the two of schematic diagram；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 12 present invention
It is the three of schematic diagram；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 13 present invention
It is the four of schematic diagram；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 14 present invention
It is the five of schematic diagram；
A kind of each pelvis ginseng geometry of numbers pass of the human pelvis parameter auto-testing method of three-dimensional visualization of Figure 15 present invention
It is the six of schematic diagram.
Specific embodiment
As shown in one of Fig. 1-4, the present invention discloses a kind of human pelvis parameter auto-testing method of three-dimensional visualization, its
Comprise the following steps：
A, the characteristic point of template pelvis are demarcated：
A1, the pelvis CT image of selection averaged deformation error minimum are used as template pelvis CT image；
A2, the threedimensional model based on template pelvis CT image generation pelvic tissue；
A3, the N number of labelling point of demarcation are used for calculating pelvic dimensions and form parameter；Each labelling point threedimensional model position such as
Shown in one of Fig. 2-5；
A4 is as shown in fig. 6, the profile for extracting pelvic inlet is used for calculating plane of pelvic inlet area；
B, target pelvis CT image are registering with template pelvis CT image, obtain target pelvis CT image and template pelvis CT image
Between mapping relations：
B1, so that the CT image of pelvis parameter need to be measured as target pelvis CT image；
B2, by target pelvis CT image by linear affine transformed mappings to template pelvis CT image identical coordinate space；
The statistic deformable model that B3, utilization are trained, the list between guide template pelvis CT image and the target pelvis CT image
Level nonlinear transformation, obtains optimal initialization deformation matrix；
B4, using the initialization deformation matrix as input, carry out the non-linear registration based on free deformation model of three levels, obtain
To accurate target pelvis CT image to the nonlinear mapping relation between template pelvis CT image, the result of non-linear registration is such as
Shown in Fig. 7；
C, the automatic calculating of target pelvis CT image pelvis parameter：
C1, using target pelvis CT image to the nonlinear mapping relation between template pelvis CT image, template bone will have been demarcated
N number of labelling point of basin CT image and pelvic inlet profile point are mapped to target pelvis CT image space,
C2, the N number of labelling point for obtaining target pelvis CT image approximate and pelvic inlet profile point；
C3, according to N number of labelling point of target pelvis CT image approximate and geometrical relationship and the pelvis parameter of pelvic inlet profile point
Definition calculate pelvis parameter.
Further, using Adaptive Thresholding, pelvis is split in step A2 and three-dimensional reconstruction is obtained pelvis
The threedimensional model of tissue.
Further, in step A3, the value of N is 15, is demarcated on template pelvis CT image by specialist is manual
15 labelling points are used as the characteristic point for calculating pelvis parameter.
Further, the concrete steps of the profile of template pelvic inlet are extracted in step A4：
A4-1, on template pelvis CT image intercept generate pelvic inlet cross-sectional view, as shown in Figure 6；
A4-2, CT tomography picture corresponding to the cross section carry out pelvic inlet segmentation；
A4-3, using MARCHING SQUARE algorithm extract pelvic inlet profile.
Further, in step B3, statistic deformable model is the free deformation model based on B- batten, and free form
The optimization at the B-spline control point of varying model is limited in the free deformation model space.
Further, as shown in one of Figure 10-15, pelvis parameter geometrical relationship in the three-dimensional model, which includes
Diameter (a), pelvic inlet transverse diameter (b), pelvic inlet clino-diagonal (c), biischial diameter (d), inferior pelvic aperture before and after pelvic inlet
In front and back diameter (g) between diameter (e), sacrum shame internal diameter (f), midpelvis spinous process, pubic symphysis height (h), sacral promontory to coccyx away from
The distance of (k), S3/S4 intervertebral disc to apex of coccyx with a distance from (i), pelvis depth (j), sacral promontory to S3/S4 intervertebral disc
(l), angle of subpubic arch (α), plane of pelvic inlet normal and pelvis depth line angle (β), pelvic incidence (γ), pelvic inlet
Angle (θ), the rumpbone of plane and the angle (δ), plane of pelvic outlet and sacral promontory and coccyx line of sacral promontory and coccyx line
Cape is to the ratio of diameter and pelvis depth before and after the angle (ν), pelvic inlet of S3 intervertebral disc line and coccyx to S3 intervertebral disc line
Example (λ), plane of pelvic inlet area (Ψ).
However, due to utilizing nonlinear transformation, the pelvic inlet profile point after mapping is not in approximately the same plane, it is impossible to straight
Tap into the automatic calculating of row area.Therefore, the concrete calculation procedure for the plane of pelvic inlet area is：
C3-1, as shown in Fig. 8 or Fig. 9, realize the pelvic inlet profile point of target pelvis CT image using PCA
Two-dimensional projection, builds its approximate contours point in conplane pelvic inlet；
C3-2, based on projection approximate contours point approximately ask method to obtain the bone of target pelvis CT image using round area triangle
The area of plane of basin entrance.
The present invention adopts above technical scheme, by carrying out automatic Three-dimensional Gravity to the template pelvis CT image of template pelvis
Build, and by specialty doctor calibrated on pelvis threedimensional model exactly 15 labelling points with obvious anatomical features and
Plane of pelvic inlet profile, by these pelvis labelling points and pelvic inlet plane profile, can calculate 20 pelvis parameter informations.
After having demarcated, using above-mentioned template pelvis CT image with its corresponding labelling point and plane of pelvic inlet profile as Prototype drawing
Collection.When the new patient CT image of a width will carry out pelvis parameter measurement, we first pass through the CT image of the patient as mesh
Mark pelvis CT image carries out the multi-layer image registration of linear processes with template pelvis CT image, by using template pelvis
The statistic deformable model that CT image is trained, improve patient target pelvis CT image registering with template pelvis CT image effect
Really.Then, the transformation matrix for being obtained using registration, 15 labelling points of template pelvis CT image and pelvic inlet plane profile point are reflected
It is mapped in target pelvis CT image, the approximate marker point in intended patient's target pelvis CT image and approximate inlet can be obtained
Face profile, is then carried out by using the method pairing approximation pelvic inlet plane profile point of principal component analysiss dry again so that mapping
The approximate inlet face profile point for obtaining is in a plane, so method can be asked to obtain bone by circular similar area
Basin pelvic inlet plane area (Ψ)；Meanwhile, according to geometry relation, it is also possible to automatically and quickly calculate the other parameters of pelvis, real
The existing automatic measurement to new patient's pelvis parameter.
The present invention is by using CT image and with reference to template pelvis CT image and the accurate registration technique of target image, permissible
Quickly and accurately pelvis parameter measurement is realized, without the need for manual intervention；Meanwhile, this method allows the pelvis parameter of mass automatic
Measurement, is that great amount of samples quantitative analyses provide a set of more intelligent, easily pelvis measurement method of parameters.
Claims (7)
1. a kind of human pelvis parameter auto-testing method of three-dimensional visualization, it is characterised in that：Which comprises the following steps：
A, the characteristic point of template pelvis are demarcated：
A1, the pelvis CT image of selection averaged deformation error minimum are used as template pelvis CT image；
A2, the threedimensional model based on template pelvis CT image generation pelvic tissue；
A3, the N number of labelling point of demarcation are used for calculating pelvic dimensions and form parameter；
A4, the profile of extraction pelvic inlet are used for calculating plane of pelvic inlet area；
B, target pelvis CT image are registering with template pelvis CT image, obtain target pelvis CT image and template pelvis CT image
Between mapping relations：
B1, so that the CT image of pelvis parameter need to be measured as target pelvis CT image；
B2, by target pelvis CT image by linear affine transformed mappings to template pelvis CT image identical coordinate space；
The statistic deformable model that B3, utilization are trained, the list between guide template pelvis CT image and the target pelvis CT image
Level nonlinear transformation, obtains optimal initialization deformation matrix；
B4, using the initialization deformation matrix as input, carry out the non-linear registration based on free deformation model of three levels, obtain
To accurate target pelvis CT image to the nonlinear mapping relation between template pelvis CT image；
C, the automatic calculating of target pelvis CT image pelvis parameter：
C1, using target pelvis CT image to the nonlinear mapping relation between template pelvis CT image, template bone will have been demarcated
N number of labelling point of basin CT image and pelvic inlet profile point are mapped to target pelvis CT image space；
C2, the N number of labelling point for obtaining target pelvis CT image approximate and pelvic inlet profile point；
C3, according to N number of labelling point of target pelvis CT image approximate and geometrical relationship and the pelvis parameter of pelvic inlet profile point
Definition calculate pelvis parameter.
2. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 1, it is characterised in that：Institute
State and using Adaptive Thresholding, pelvis is split in step A2 and three-dimensional reconstruction obtains the threedimensional model of pelvic tissue.
3. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 1, it is characterised in that：Institute
The value for stating N in step A3 is 15, demarcates 15 labelling points as calculating by specialist is manual on template pelvis CT image
The characteristic point of pelvis parameter.
4. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 1, it is characterised in that：Institute
State the concrete steps of the profile that template pelvic inlet is extracted in step A4：
A4-1, on template pelvis CT image intercept generate pelvic inlet cross-sectional view；
A4-2, CT tomography picture corresponding to the cross section carry out pelvic inlet segmentation；
A4-3, using MARCHING SQUARE algorithm extract pelvic inlet profile.
5. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 1, it is characterised in that：Institute
State the free deformation model that statistic deformable model in step B3 is based on B- batten, and the B-spline control point of free deformation model
Optimization be limited in the free deformation model space.
6. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 1, it is characterised in that：Institute
Stating pelvis parameter includes that diameter before and after pelvic inlet, pelvic inlet transverse diameter, pelvic inlet clino-diagonal, biischial diameter, pelvis go out
Diameter, pubic symphysis height, the distance of sacral promontory to coccyx, pelvis depth between diameter, sacrum shame internal diameter, midpelvis spinous process before and after mouthful
Degree, the distance of sacral promontory to S3/S4 intervertebral disc, the distance of S3/S4 intervertebral disc to apex of coccyx, angle of subpubic arch, pelvic inlet
Plane normal and pelvis depth line angle, pelvic incidence, angle, the pelvis of plane of pelvic inlet and sacral promontory and coccyx line
The angle of pelvic outlet plane and sacral promontory and coccyx line, sacral promontory to S3 intervertebral disc line and coccyx are to the folder of S3 intervertebral disc line
The ratio of diameter and pelvis depth, plane of pelvic inlet area before and after angle, pelvic inlet.
7. the human pelvis parameter auto-testing method of a kind of three-dimensional visualization according to claim 6, it is characterised in that：Institute
The concrete calculation procedure for stating plane of pelvic inlet area is：
C3-1, realized using PCA target pelvis CT image pelvic inlet profile point two-dimensional projection, build which
Approximate contours point in conplane pelvic inlet；
C3-2, based on projection approximate contours point approximately ask method to obtain the bone of target pelvis CT image using round area triangle
The area of plane of basin entrance.
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