CN107392902A - A kind of tumour crack analysis method - Google Patents

A kind of tumour crack analysis method Download PDF

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CN107392902A
CN107392902A CN201710607059.0A CN201710607059A CN107392902A CN 107392902 A CN107392902 A CN 107392902A CN 201710607059 A CN201710607059 A CN 201710607059A CN 107392902 A CN107392902 A CN 107392902A
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mrow
msub
tumour
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node
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吕麟亚
邓先觉
叶筠松
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Chongqing Green Capsule Technology Co Ltd
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Chongqing Green Capsule Technology Co Ltd
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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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • 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]
    • 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

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Abstract

The invention discloses a kind of tumour crack analysis method, comprise the following steps：A kind of tumour crack analysis method, comprises the following steps：1) data by CT imagings carry out 3D point cloud modeling, obtain tumour point cloud file；2) according to tumour point cloud file, a node P on the blood vessel or internal organs of tumour covering is chosen1(p1x,p1y,p1z)；3) tumour any plane a definition coordinate m is chosen according to tumour point cloud file1(m1x,m1y,m1z), n1(n1x,n1y,n1z), q1(q1x,q1y,q1z).The present invention reaches the beeline of tumor surface by calculating intratumoral vasculature or internal organs; connect as sign line segment; the crack to be formed is grown with reference to the internal organs such as blood vessel are wrapped in Tumor Growth; so as to find the optimal path for entering intra-tumor important organ from knurl body surface face; reach complete or piecemeal tumor resection, and can protects the purpose of the internal organs such as important feature such as blood vessel in knurl body.

Description

A kind of tumour crack analysis method
Technical field
The present invention relates to analysis method, more particularly to a kind of tumour crack analysis method.
Background technology
Into ascendant trend, tumour easily wraps said structure growth, works as surgical procedure tumor incidence in growth course Easily cause said structure to damage during middle separation tumour, serious consequence, or even life-threatening occur.Therefore how to improve surgical operation The accurate operation of doctor, prevent operation is accidentally injured from performing the operation and ensureing that patient vitals are significant to successful implementation.It is clinical at present logical Focus is simulated frequently with 3D printing to reach the purpose of preoperative analysis tumour and its neighbour structural relation, but 3D printing needs are special Material, time-consuming, the drawback such as costly, printed product difficult degradation, is difficult to during clinical application by medical worker and patient Receive, therefore be highly desirable to find a kind of new method to analyze tumor operation approach, help operative doctor to carry out focus accurate Analysis, the purpose of guided operation.
Virtual Reality (Virtual Reality) is a kind of new technology to grow up in the eighties latter stage, and it is integrated Computer graphics, image procossing and pattern-recognition, intellectual technology, sensing technology, Language Processing and sound technique, network skill The multi-door subject such as art, computer disposal digital information is changed into the multidimensional with the various forms of expression that people can experience Information, it has the characteristics that the property immersed, interactivity, imagination.At present, the technology is widely used to Aero-Space, and building is set Many fields such as meter, education.Application of the VR technologies in terms of medical science gradually starts, but there is not yet using tumor operation art The report of preceding assessment.
In the prior art, lack the tumor operation that a kind of applicability is higher and the degree of accuracy is higher to analyze into path method, to swollen Knurl focus is emulated, and helps doctor precisely to analyze focus, guided operation.
Therefore those skilled in the art are directed to developing the tumor operation analysis that a kind of applicability is higher and the degree of accuracy is higher Enter path method, tumor focus is emulated, help doctor precisely to analyze focus, guided operation.
The content of the invention
In view of the drawbacks described above of prior art, it is higher that the technical problems to be solved by the invention are to provide a kind of applicability And the higher tumor operation of the degree of accuracy is analyzed into path method, is emulated to tumor focus, doctor is helped to carry out focus accurate Analysis, guided operation.
To achieve the above object, the invention provides a kind of blood vessel coordinate points and tumor surface position analysis method, including Following steps：
1) data by CT imagings carry out 3D point cloud modeling, obtain tumour point cloud file；
2) according to tumour point cloud file, a node P on the blood vessel or internal organs of tumour covering is chosen1(p1x,p1y, p1z)；
3) tumour any plane a definition coordinate m is chosen according to tumour point cloud file1(m1x,m1y,m1z), n1(n1x,n1y, n1z), q1(q1x,q1y,q1z)；
4) subpoint P of the node on the plane a is calculated respectively according to below equation11Coordinate：
Wherein, p1x, p1y, p1z, it is the node P1Coordinate, be known quantity；
q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
5) according to below equation decision node P1(p1x,p1y,p1z) in plane a subpoints P11(p1x,p1y,p1z) whether flat Face a definition coordinate m1(m1x,m1y,m1z), n1(n1x,n1y,n1z), q1(q1x,q1y,q1z) formed triangle Δ m1n1q1Within；
Wherein, q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
U, v are judgement factor；Work as u<0 or v<0 or u+v>Subpoint P is may determine that when 111(p1x,p1y,p1z) three Angular Δ m1n1q1Outside；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
If not in Δ m1n1q1Within, give up subpoint P11(p1x,p1y,p1z)；
If in Δ m1n1q1Within, keep in subpoint P11(α1,β1,γ1), and according to the following formula calculate node to throw The distance of shadow point | P1,Δm1n1q1|；
Wherein, | P1,Δm1n1q1| it is node P1(p1x,p1y,p1z) arrive its subpoint P11(α1,β1,γ1) distance；
6) step 3) is returned to step 5), chooses another plane b of tumour, the coordinate for defining plane b is m2(m2x,m2y, m2z), n2(n2x,n2y,n2z), q2(q2x,q2y,q2z) calculate node P1(p1x,p1y,p1z) projection point coordinates P on plane b12 (α2,β2,γ2), and judge subpoint P12(α2,β2,γ2) whether Δ m2n2q2Within；
7) according to step 1) to step 6), calculate node P1With the subpoint in other all faces of tumour in tumour point cloud file The distance between set, L1=| P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δmnnnqn|}；
8) L is chosen1The minimum value L of collection1min, L1min=min | P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δ mnnnqn| and projection coordinate P1n(αn,βn,γn)；
9) according to Lmin, P1n(αn,βn,γn) determine tumour crack position.
A kind of tumour crack analysis method is used according to above-mentioned blood vessel coordinate points and tumor surface position analysis method, used The blood vessel coordinate points of claim 1 and tumor surface position analysis method, wherein in step 2), exist according to tumour point cloud file Multiple point { P are taken on blood vessel or internal organs2……Pi, according to it is wherein described the step of 3) to step 9) calculate each point with Beeline { the L of tumor surface2min……Limin, and corresponding projection point coordinates { P2n(α2x,β2y,γ2z)……Pin (αix,βiy,γiz)}。。
Under normal circumstances, the selection of node is the sampling point set on blood vessel, and general ten nodes of selection are more conventional Technical scheme, in actual treatment, additions and deletions, the curvature and section of blood vessel can be carried out to node number according to the actual conditions of blood vessel Point number can be into positive correlation.
Preferably, the tumour crack analysis method, further comprising the steps of：
10) { the P by described in2……PiEach node projection coordinate { P2n(α2x,β2y,γ2z)……Pin(αix,βiy, γiz)}.Join end to end, draw tumour crack path；
11) projection coordinate's point that each node is marked out in tumour point cloud file connects the path curve to be formed and each Distance corresponding to individual node.
Preferably, the step 1) is completed to step 11) using computer.
Preferably, by the distance between tumour crack path curve and each node and corresponding subpoint letter Breath input computer, carries out virtual image.
The beneficial effects of the invention are as follows：The present invention reaches the most short distance of tumor surface by calculating intratumoral vasculature or internal organs From connecting turns into sign line segment, the crack to be formed is grown with reference to the internal organs such as blood vessel are wrapped in Tumor Growth, so as to look for To the optimal path for entering intra-tumor important organ from knurl body surface face, reach complete or piecemeal tumor resection, and can protection knurl body The purpose of the internal organs such as interior important feature such as blood vessel.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of blood vessel coordinate points of the present invention and tumor surface position analysis method.
Fig. 2 is the schematic flow sheet of tumour crack analysis method.
Fig. 3 is the exemplary plot according to Fig. 2 flow implementation output result.
Fig. 4 is Fig. 3 enlarged drawing.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As shown in Fig. 1 to accompanying drawing 3, a kind of blood vessel coordinate points and tumor surface position analysis method, comprise the following steps：
1) data by CT imagings carry out 3D point cloud modeling, obtain tumour point cloud file；
2) according to tumour point cloud file, a node P on the blood vessel or internal organs of tumour covering is chosen1(p1x,p1y, p1z)；
3) tumour any plane a definition coordinate m is chosen according to tumour point cloud file1(m1x,m1y,m1z), n1(n1x,n1y, n1z), q1(q1x,q1y,q1z)；
4) subpoint P of the calculate node on plane a is distinguished according to below equation11Coordinate：
Wherein, p1x, p1y, p1z, it is node P1Coordinate, be known quantity；
q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
5) according to below equation decision node P1(p1x,p1y,p1z) in plane a subpoints P11(p1x,p1y,p1z) whether flat Face a definition coordinate m1(m1x,m1y,m1z), n1(n1x,n1y,n1z), q1(q1x,q1y,q1z) formed triangle Δ m1n1q1Within；
Wherein, q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
U, v are judgement factor；Work as u<0 or v<0 or u+v>Subpoint P is may determine that when 111(p1x,p1y,p1z) three Angular Δ m1n1q1Outside；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
If not in Δ m1n1q1Within, give up subpoint P11(p1x,p1y,p1z)；
If in Δ m1n1q1Within, keep in subpoint P11(α1,β1,γ1), and according to the following formula calculate node to throw The distance of shadow point | P1,Δm1n1q1|；
Wherein, | P1,Δm1n1q1| it is node P1(p1x,p1y,p1z) arrive its subpoint P11(α1,β1,γ1) distance；
6) step 3) is returned to step 5), chooses another plane b of tumour, the coordinate for defining plane b is m2(m2x,m2y, m2z), n2(n2x,n2y,n2z), q2(q2x,q2y,q2z) calculate node P1(p1x,p1y,p1z) projection point coordinates P on plane b12 (α2,β2,γ2), and judge subpoint P12(α2,β2,γ2) whether Δ m2n2q2Within；
7) according to step 1) to step 6), calculate node P1With the subpoint in other all faces of tumour in tumour point cloud file The distance between set, L1=| P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δmnnnqn|}；
8) L is chosen1The minimum value L of collection1min, L1min=min | P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δ mnnnqn| and projection coordinate P1n(αn,βn,γn)；
9) according to Lmin, P1n(αn,βn,γn) determine tumour crack position.
A kind of tumour crack analysis method is used according to above-mentioned blood vessel coordinate points and tumor surface position analysis method, used The blood vessel coordinate points of claim 1 and tumor surface position analysis method, wherein in step 2), exist according to tumour point cloud file Multiple point { P are taken on blood vessel or internal organs2……Pi, according to step 3) wherein to step 9) calculate each point with tumour Beeline { the L on surface2min……Limin, and corresponding projection point coordinates { P2n(α2x,β2y,γ2z)……Pin(αix, βiy,γiz)}。
The tumour crack analysis method, it is further comprising the steps of：
10) by { P2……PiEach node projection coordinate { P2n(α2x,β2y,γ2z)……Pin(αix,βiy,γiz)}。 Join end to end, draw tumour crack path；
11) projection coordinate's point that each node is marked out in tumour point cloud file connects the path curve to be formed and each section Distance corresponding to point.
Step 1) is completed to step 11) using computer.
Tumour crack path curve and each node are inputted into computer with the distance between corresponding subpoint information, entered Row virtual image.
In actual implementation process, sample point (node) collection, ordinary circumstance can be chosen according to the actual conditions with reference to blood vessel Under, take ten sample points more preferably to realize projection mark, but there can be a variation according to blood vessel situation, number of sampling points can be with With reference to blood vessel curvature into positive correlation.
It is further comprising the steps of：10) projection coordinate of each node is joined end to end, draws tumour crack path D； 11) marked out in tumour point cloud file tumour crack path projection coordinate's point and each node corresponding to distance.Profit The step 1) is completed to step 11) with computer.By tumour crack path curve and each node with it is corresponding The distance between subpoint information inputs computer, carries out virtual image.
Fig. 2 to Fig. 3 is the method according to above-described embodiment, and sampled 13 node { P on blood vessel1……P13, root The output result schematic diagram for calculating according to the above method and being formed after exporting.13 sample points are taken, calculate intratumoral vasculature respectively Or internal organs reach the beeline of tumor surface and corresponding subpoint, connect as sign line segment D, given birth to reference to tumour The internal organs such as blood vessel are wrapped in growth process and grow the crack to be formed, enter intra-tumor important organ most so as to find from knurl body surface face Good path, reaches complete or piecemeal tumor resection, and and can protects the purpose of the internal organs such as important feature such as blood vessel in knurl body.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea Technical scheme, all should be in the protection domain being defined in the patent claims.

Claims (5)

1. a kind of blood vessel coordinate points and tumor surface position analysis method, it is characterized in that：Comprise the following steps：
1) data by CT imagings carry out 3D point cloud modeling, obtain tumour point cloud file；
2) according to tumour point cloud file, a node P on the blood vessel or internal organs of tumour covering is chosen1(p1x,p1y,p1z)；
3) tumour any plane a definition coordinate m is chosen according to tumour point cloud file1(m1x,m1y,m1z), n1(n1x,n1y,n1z), q1(q1x,q1y,q1z)；
4) subpoint P of the node on the plane a is calculated respectively according to below equation11Coordinate：
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> <mo>-</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;gamma;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> <mo>-</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;gamma;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> <mo>+</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> <mo>-</mo> <mo>(</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>&amp;gamma;</mi> <mn>1</mn> </msub> <mo>)</mo> <mo>(</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mrow> </mtd> </mtr> </mtable> </mfenced>
Wherein, p1x, p1y, p1z, it is the node P1Coordinate, be known quantity；
q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
5) according to below equation decision node P1(p1x,p1y,p1z) in plane a subpoints P11(p1x,p1y,p1z) whether in plane a Definition coordinate m1(m1x,m1y,m1z), n1(n1x,n1y,n1z), q1(q1x,q1y,q1z) formed triangle Δ m1n1q1Within；
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>+</mo> <mi>u</mi> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>v</mi> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>+</mo> <mi>u</mi> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>v</mi> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>+</mo> <mi>u</mi> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>v</mi> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>-</mo> <msub> <mi>m</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>
Wherein, q1x, q1y, q1z, n1x, n1y, n1z, m1x, m1y, m1zIt is known quantity；
U, v are judgement factor；Work as u<0 or v<0 or u+v>Subpoint P is may determine that when 111(p1x,p1y,p1z) in triangle Δm1n1q1Outside；
α1, β1, γ1Respectively subpoint P11In former coordinate system x-axis, y-axis, the coordinate in z-axis；
If not in Δ m1n1q1Within, give up subpoint P11(p1x,p1y,p1z)；
If in Δ m1n1q1Within, keep in subpoint P11(α1,β1,γ1), and according to the following formula calculate node to subpoint Distance | P1,Δm1n1q1|；
<mrow> <mo>|</mo> <msub> <mi>P</mi> <mn>1</mn> </msub> <mo>,</mo> <msub> <mi>&amp;Delta;m</mi> <mn>1</mn> </msub> <msub> <mi>n</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>1</mn> </msub> <mo>|</mo> <mo>=</mo> <msup> <mrow> <mo>(</mo> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>&amp;alpha;</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>x</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>&amp;beta;</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>y</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mrow> <msub> <mi>&amp;gamma;</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>p</mi> <mrow> <mn>1</mn> <mi>z</mi> </mrow> </msub> </mrow> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>)</mo> </mrow> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> </msup> </mrow>
Wherein, | P1,Δm1n1q1| it is node P1(p1x,p1y,p1z) arrive its subpoint P11(α1,β1,γ1) distance；
6) step 3) is returned to step 5), chooses another plane b of tumour, the coordinate for defining plane b is m2(m2x,m2y,m2z), n2 (n2x,n2y,n2z), q2(q2x,q2y,q2z) calculate node P1(p1x,p1y,p1z) projection point coordinates P on plane b12(α2,β2, γ2), and judge subpoint P12(α2,β2,γ2) whether Δ m2n2q2Within；
7) according to step 1) to step 6), calculate node P1Between the subpoint in other all faces of tumour in tumour point cloud file Distance set, L1=| P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δmnnnqn|}；
8) L is chosen1The minimum value L of collection1min, L1min=min | P1,Δm1n1q1|,|P1,Δm2n2q2|……|P1,Δmnnnqn|} And projection coordinate P1n(αn,βn,γn)；
9) according to Lmin, P1n(αn,βn,γn) determine tumour crack position.
2. a kind of tumour crack analysis method, it is characterized in that：Blood vessel coordinate points and tumor surface position point using claim 1 Analysis method, wherein in step 2), multiple point { P are taken on blood vessel or internal organs according to tumour point cloud file2……Pi, according to it Described in step 3) to step 9) calculate each point in the beeline { L with tumor surface2min……Limin, and Corresponding projection point coordinates { P2n(α2x,β2y,γ2z)……Pin(αix,βiy,γiz)}。
3. tumour crack as claimed in claim 2 analysis method, it is characterized in that：It is further comprising the steps of：
10) { the P by described in2……PiEach node projection coordinate { P2n(α2x,β2y,γ2z)……Pin(αix,βiy,γiz)}。 Join end to end, draw tumour crack path；
11) projection coordinate's point that each node is marked out in tumour point cloud file connects the path curve to be formed and each section Distance corresponding to point.
4. tumour crack as claimed in claim 1 analysis method, it is characterized in that：The step 1) is completed to step using computer It is rapid 11).
5. tumour crack as claimed in claim 4 analysis method, it is characterized in that：By tumour crack path curve and described Each node inputs computer with the distance between corresponding subpoint information, carries out virtual image.
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CN114927215A (en) * 2022-04-27 2022-08-19 苏州大学 Method and system for directly predicting tumor respiratory movement based on body surface point cloud data

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CN105701814A (en) * 2016-01-13 2016-06-22 天津大学 Ultra-wideband breast tumor imaging method based on magnetic resonance image compensation

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CN105147362A (en) * 2015-07-17 2015-12-16 哈尔滨工程大学 Brain tumor surgery incision locating and approach planning method
CN105701814A (en) * 2016-01-13 2016-06-22 天津大学 Ultra-wideband breast tumor imaging method based on magnetic resonance image compensation

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CN111613300A (en) * 2019-02-22 2020-09-01 未艾医疗技术(深圳)有限公司 Tumor and blood vessel Ai processing method and product based on VRDS4D medical image
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