CN107464275A - Human spine center line three-dimensional reconstruction method - Google Patents
Human spine center line three-dimensional reconstruction method Download PDFInfo
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- CN107464275A CN107464275A CN201710629252.4A CN201710629252A CN107464275A CN 107464275 A CN107464275 A CN 107464275A CN 201710629252 A CN201710629252 A CN 201710629252A CN 107464275 A CN107464275 A CN 107464275A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a kind of human spine center line three-dimensional reconstruction method.Its contour map by building human body back surface song looks, human body back center line is have found with reference to contour correlated characteristic, integer interpolation is carried out to dorsal midline and obtains each point curvature on dorsal midline, backbone torso length is tried to achieve using anatomic marker point and obtains vertebral body length expressions, finally substitute into correlation models reconstruct midspinal line three-dimensional curve, reconstruction precision is substantially increased, rebuilds excellent effect.
Description
Technical field
The invention belongs to technical field of image processing, more particularly to a kind of human spine center line three-dimensional reconstruction method.
Background technology
Backbone is the axis of human body, once lateral bending occurs, not only makes one lopsided outward appearance occur, but also can make children's spirit
By severe trauma.The deformity of spine occurred in one's early years, the development for influenceing children's cardiopulmonary and maturation, some also be can also affect on into ridge
Marrow and nerve.Scoliosis incidence in population is about 1%, many times influences smaller, many parents to life in early stage
Ignore, physical examination is nor conventional project.Cause many teenagers to miss and hold corrigibility opportunity, impact all one's life life matter
The health problem of amount.
Scoliosis is also known as scoliosis, is due to that spinal segments form deviation to center back line on human coronary face,
And caused by being bent to side.Typically also with symptoms such as the rear convex or lordosis in backbone rotation and sagittal plane.Cause backbone
The factor of lateral bending is a lot, and the wherein indefinite idiopathic scoliosis, Liu Shangli etc. that is referred to as of reason is in the generaI investigation of scoliosis
It was found that idiopathic patient accounts for 96.9%.Incomplete same for the criterion of scoliosis, some scholars will be in coronal-plane institute
Patient of the Cobb angles measured more than 5 ° is judged as scoliosis, and is usually that patient of the Cobb angles more than 10 ° is judged as into ridge
Post lateral bending.
Liu Shangli etc. has carried out scoliosis generaI investigation, illness rate 0.7500 in 2002 to 87546, Guangdong teenager.Week
Hui Qing etc. is generally investigated 32280 students in middle and primary schools' scoliosis of Fujian Province's Hui'an County for 2009, illness rate 0.73%.Ridge
Asymmetry of the post lateral bending except causing back, causes bodily form flaw, Secondary cases chest deformity can be caused when serious, and then causes interior
Dirty dysfunction, especially the teen-age body and mind of growth and development stage is caused serious injury.It was found from the result of above-mentioned generaI investigation, ridge
Post lateral bending has certain prevalence proportions in teenager, if can not find and treat as early as possible, can give many teen-age bodies and minds
Development damages.
The X-ray line of conventional spinal lateral bending detection has hot, and it is unfavorable that adolescent growth is developed.It is external newly developed
Harmless detecting system price it is high, it is difficult to allow the general patient in general hospital rise because at present simply Beijing have several,
Southwest West China Hospital does not have even, not to mention other hospitals.Thus study simple and easy scoliosis reviewing party
Method has highly important social value and meaning.
The method checked scoliosis has a lot, is broadly divided into physical measuring methods and image measuring method two
Class.Physical measuring methods refer to there is the method directly contacted with human body back when being measured to scoliosis, mainly have
Adams bend forward experiment, measure using scoliosis chi the methods of trunk anglec of rotation, measurement rib protuberantia；Image measurement
Method refers to the method not contacted directly with human body back when checking, mainly there is More's (Moire) image measurement method, X
Mating plate mensuration, structural light measurement method, laser scanner measurement method etc..Except observation such as the whether contour feature of both shoulders in generaI investigation
Outside, it all employ Adams to bend forward experiment, and suspicious patient further checked using X-ray mensuration.Patias
Measurement parameter Deng the various tests such as experiment, optical measuring technique that bent forward to Adams is made that explanation and compared.Bear
The self-control scoliosis measuring instrument such as dragon is used for scoliosis examination.
At present image processing techniques oneself through introducing medical field as a kind of effective vision-based detection instrument, wherein X-ray, not
Your image is used for relatively more in the detection of scoliosis.Because the radiativity of X-ray can cause potential hazard, X to health
Mating plate mensuration is generally not used for generally investigating, but the case for being screened to generaI investigation carries out further accurate check.Separately
Outside, Qiu Yong points out that X-ray mensuration only stresses the Cobb angles on coronal-plane, and for the detection of scoliosis caused by backbone rotation
Unobvious.Moir é pattern is the image that is obtained based on periodic, sensitive for the tiny rotation of object and deformation comparison.
Medically moir é pattern is also known as moire pattern.Scoliosis is carried out using moir é pattern to check that beginning is more early, 1979
Willner sets up the relation between the asymmetry of moir é pattern and Cobb angles, judges scoliosis with this, author also refers to
Go out in recessed position Moire fringe deformation seriously, and seem clear at convex position.Nineteen eighty-three Kamal, which gives, uses moir é pattern
A pair of asymmetric information on middle Moire fringe calculate the formula at Cobb angles.Guo Wei in 2008 etc. describes moire pattern in backbone
The effect of health screening and orthomorphia etc..During 1 years 2001, Kim etc. is utilizing human body back not
Your image symmetrical characteristic feature carries out having done a series of work in terms of scoliosis judgement.Gaal in 2010 etc. utilizes Kamal institutes
Carry formula, to same patient select moir é pattern in 7 pairs of asymmetric points, calculate 7 Cobb angles, using after its statistical average as
Final Cobb angles, are judged scoliosis with this.
First two image measuring method is all that characteristic information is extracted from two dimensional image to judge scoliosis, is sentenced to improve
The disconnected degree of accuracy, there has been proposed extract feature from the three-dimensional information at back to judge scoliosis.Berryman etc. is utilized
Rectangular configuration light reconstructs human body back, and extracts its three-dimensional symmetric characteristics to judge scoliosis.Ramirez etc. is utilized
The laser scanners of Minolta VIVID 700 obtain the three-dimensional precise information at back, according to its symmetric characteristics and supporting vector
Machine method judges scoliosis, and discrimination rate is 85%.Chong etc. proposes a kind of radiographic measurement skill for outdoor scoliosis
Art.
Because physical measuring methods are based on artificial detection, when generally investigating substantial amounts of crowd, artificial detection becomes
Must be quite cumbersome, it is less efficient, and also doctor can cause to misjudge and judge by accident due to fatigue.To reduce artificial participation, effect is improved
Rate, the error for avoiding doctor's subjective factor from bringing, carried out to scoliosis on test problems, image measuring method is relatively good
Method.
The content of the invention
The present invention goal of the invention be：In order to solve problem above present in prior art, the present invention proposes one kind
Human spine center line three-dimensional reconstruction method.
The technical scheme is that：A kind of human spine center line three-dimensional reconstruction method, comprises the following steps：
A, human body back 3-D view is obtained, contour processing is made to human body back 3-D view, obtains human body back etc.
High line chart；The extreme point of human body back spine regions contour in human body back contour map is calculated again, is obtained each on spinous process line
The three-dimensional coordinate of point；
B, each point normal and the angle of horizontal direction on spinous process line in calculation procedure A, obtain the surface of each point on spinous process line
Curvature；
C, the three-dimensional coordinate of human body back anatomic marker is calculated；
D, the correlation models of human body back and midspinal line are established, according to the three-dimensional of each point is sat on spinous process line in step A
Mark, the three-dimensional coordinate that anatomy marks in the surface curvature of each point and step C on spinous process line in step B enter to human spine center line
Row three-dimensionalreconstruction.
Further, each point normal on spinous process line is calculated in the step B also to be included the normal of a point on spinous process line
The normals of eight points adjacent with the point carry out it is vector superposed, then will be vector superposed after normal direction value as the point normal direction value.
Further, human body back anatomic marker is specially grand bone and the ilium of both sides under human body back in the step C
Upper spine afterwards；The starting point that wherein grand bone measures as backbone.
Further, the correlation models of human body back and midspinal line are expressed as in the step D：
xm=xs+L·sinθ
ym=ys
zm=zs+L·cosθ
Wherein, (xm,ym,zm) for the point coordinates on midspinal line, (xs,ys,zs) for the point on the symmetrical center line of human body back
Coordinate, L are backbone principal length, and θ is scoliosis angle.
Further, the calculation formula of backbone principal length has in the correlation models of the human body back and midspinal line
Body is：
L(ys)=0.132T-0.035ys
Wherein, T is backbone torso length.
The beneficial effects of the invention are as follows：Contour map of the invention by building human body back surface song looks, with reference to contour
Line correlated characteristic have found human body back center line, and integer interpolation is carried out to dorsal midline and obtains each point curvature on dorsal midline, profit
Backbone torso length is tried to achieve with anatomic marker point and obtains vertebral body length expressions, finally substitutes into correlation models reconstruct
Midspinal line three-dimensional curve, reconstruction precision is substantially increased, rebuild excellent effect.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the human spine center line three-dimensional reconstruction method of the present invention.
Fig. 2 is human body back contour schematic diagram in the embodiment of the present invention.
Fig. 3 is human body back spinous process line schematic diagram in the embodiment of the present invention.
Fig. 4 is symmetric points curvature schematic diagram in human body back surface in the embodiment of the present invention.
Fig. 5 is human body back anatomic marker schematic diagram in the embodiment of the present invention.
Fig. 6 is human body back midspinal line point schematic diagram in the embodiment of the present invention.
Fig. 7 is human body back midspinal line three-dimensionalreconstruction front view in the embodiment of the present invention.
Fig. 8 is human body back midspinal line three-dimensionalreconstruction side view in the embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
As shown in figure 1, the schematic flow sheet of the human spine center line three-dimensional reconstruction method for the present invention.A kind of human spine
Center line three-dimensional reconstruction method, comprises the following steps：
A, human body back 3-D view is obtained, contour processing is made to human body back 3-D view, obtains human body back etc.
High line chart；The extreme point of human body back spine regions contour in human body back contour map is calculated again, is obtained each on spinous process line
The three-dimensional coordinate of point；
B, each point normal and the angle of horizontal direction on spinous process line in calculation procedure A, obtain the surface of each point on spinous process line
Curvature；
C, the three-dimensional coordinate of human body back anatomic marker is calculated；
D, the correlation models of human body back and midspinal line are established, according to the three-dimensional of each point is sat on spinous process line in step A
Mark, the three-dimensional coordinate that anatomy marks in the surface curvature of each point and step C on spinous process line in step B enter to human spine center line
Row three-dimensionalreconstruction.
In step, spinous process line is the backbone from neck to buttocks in human body back median line, can be touched in body surface
Raised tip portion.The present invention estimates to obtain spinous process line according to the line of symmetry of human body back；Line of symmetry is made up of symmetric points
, symmetric points refer to that a horizontal back section is split into two halves so that have minimum horizontal asymmetry between two halves.
The present invention makees contour processing, such as Fig. 2 institutes by obtaining human body back 3-D view to human body back 3-D view
It is shown as human body back contour schematic diagram in the embodiment of the present invention；It can be obtained by back contour map, where the backbone of back
Local extreme point occurs in the contour in region；According to human body back pattern and contour correlation theory, can learn on ground
Mountain top correspond to human body shoulder blade peak dot (on acromion lateral border outwards most prominent point) in looks, formd among two shoulder blades and
The similar appearance structure of saddle, mountain valley correspond to where backbone region (after human body is stood erectly, the region counterpart where backbone
Body back both sides are recessed), backbone region contour summit or the symmetric points (spinous process that the point around it is human body back
Point).Therefore, the present invention obtains spine by calculating the extreme point of human body back spine regions contour in human body back contour map
The three-dimensional coordinate of each point on prominent line.It is illustrated in figure 3 human body back spinous process line schematic diagram in the embodiment of the present invention.
In stepb, in the present invention on spinous process line each point surface curvature by measurement surface normal and its in level side
Represented to the angle in (z-axis)；Grid where the point on the symmetrical center line asked can be analyzed according to human body back grid chart
Normal, each point normal and level on symmetrical center line are tried to achieve (i.e. perpendicular to human body back z-axis direction) according to the horizontal direction of definition
Direction obtains angle.Because obtained human body back line of symmetry is scatter diagram, the surface curvature of each scatterplot on the line of symmetry tried to achieve
Afterwards, the flatness changed according to backbone, enters row interpolation to scatterplot surface curvature on line of symmetry, obtains finer back pair
Claim line surface curvature value.As shown in figure 4, it is human body back surface symmetric points curvature schematic diagram in the embodiment of the present invention.
Because each scatterplot of human body back line of symmetry can have certain error during searching, (human body back is present
Block, the factor such as noise), thus it is of the invention by carrying out a filtering process to scatterplot on line of symmetry, by one on spinous process line
Point normal eight points adjacent with the point normal progress it is vector superposed, then will be vector superposed after normal direction value as the point method
To value, so as to obtain the surface curvature of each point on more accurate spinous process line.
In step C, anatomic marker of the invention refers to the skeletal structure under human body back, is respectively：Grand bone,
The posterior superior iliac spine of both sides.In anatomic marker, the mark of grand bone is used for as spinal three-dimensional body origin is established, simultaneously
Also as the starting point of backbone measurement；The present invention is sat by sticking corresponding mark on anatomic marker to obtain the three-dimensional of them
Cursor position, some measured values needed in model foundation, is measured by these marks, such as torso length (from
Vertical range of the grand bone to both sides posterior superior iliac spine midpoint).As shown in figure 5, it is human body back anatomy mark in the embodiment of the present invention
Will schematic diagram.
In step D, present invention setting Sx=(xs,ys,zs) for the point on the symmetrical center line of human body back, M=(xm,ym,
zm) it is corresponding point on midspinal line, the correlation models of human body back and midspinal line are established, are expressed as：
xm=xs+L·sinθ
ym=ys
zm=zs+L·cosθ
Wherein, (xm,ym,zm) for the point coordinates on midspinal line, (xs,ys,zs) for the point on the symmetrical center line of human body back
Coordinate, L are backbone principal length, and θ is scoliosis angle.Here backbone principal length L can use scale factor and backbone
The coordinate of torso length and longitudinal direction is calculated, and is expressed as
L(ys)=0.132T-0.035ys
Wherein, T is backbone torso length, i.e., from grand bone to both sides ilium after upper bone midpoint projector distance, for a spy
Fixed sample, it is the equal of a constant.
The present invention substitutes into the T=494.0mm measured in above formula, obtains the pass of the symmetrical center line of human body back and midspinal line
It is formula, is expressed as：
xm=xs+(65.2-0.035·ys)·sinθ
ym=ys
zm=zs+(65.2-0.035·ys)·cosθ
By the surface curvature of each point substitutes into above formula on spinous process line in the three-dimensional coordinate of each point, step B on spinous process line in step A
It can obtain human body back midspinal line three-dimensional point.As shown in fig. 6, show for human body back midspinal line point in the embodiment of the present invention
It is intended to.
Using grand bone point coordinates as origin, carry out coordinate and carry out translation transformation, the human body back pair after coordinate transform
Claim point (spinous points) three-dimensional coordinate and corresponding surface curvature to substitute into above formula, obtain human body back midspinal line point relative to right
Claim the three-dimensional coordinate of center line.As shown in fig. 7, it is human body back midspinal line three-dimensionalreconstruction front view in the embodiment of the present invention.Such as
It is human body back midspinal line three-dimensionalreconstruction side view in the embodiment of the present invention shown in Fig. 8.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
The specific deformation of kind and combination, these deform and combined still within the scope of the present invention.
Claims (5)
1. a kind of human spine center line three-dimensional reconstruction method, it is characterised in that comprise the following steps：
A, human body back 3-D view is obtained, contour processing is made to human body back 3-D view, obtains human body back contour
Figure；The extreme point of human body back spine regions contour in human body back contour map is calculated again, obtains each point on spinous process line
Three-dimensional coordinate；
B, each point normal and the angle of horizontal direction on spinous process line in calculation procedure A, obtain the surface curvature of each point on spinous process line；
C, the three-dimensional coordinate of human body back anatomic marker is calculated；
D, the correlation models of human body back and midspinal line are established, according to the three-dimensional coordinate of each point on spinous process line, step in step A
The three-dimensional coordinate that anatomy marks in the surface curvature of each point and step C on spinous process line in rapid B carries out three to human spine center line
Dimension reconstruct.
2. human spine center line three-dimensional reconstruction method as claimed in claim 1, it is characterised in that calculate spine in the step B
Each point normal also includes the normal progress of eight points adjacent with the point of the normal of a point on spinous process line is vector superposed on prominent line,
The normal direction value of normal direction value after again will be vector superposed as the point.
3. human spine center line three-dimensional reconstruction method as claimed in claim 1, it is characterised in that human body is carried on the back in the step C
Portion's anatomic marker is specially grand bone and the posterior superior iliac spine of both sides under human body back；The starting point that wherein grand bone measures as backbone.
4. human spine center line three-dimensional reconstruction method as claimed in claim 1, it is characterised in that human body is carried on the back in the step D
The correlation models of portion and midspinal line are expressed as：
xm=xs+L·sinθ
ym=ys
zm=zs+L·cosθ
Wherein, (xm,ym,zm) for the point coordinates on midspinal line, (xs,ys,zs) for the point coordinates on the symmetrical center line of human body back,
L is backbone principal length, and θ is scoliosis angle.
5. human spine center line three-dimensional reconstruction method as claimed in claim 4, it is characterised in that the human body back and backbone
The calculation formula of backbone principal length is specially in the correlation models of center line：
L(ys)=0.132T-0.035ys
Wherein, T is backbone torso length.
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| CN108510584A (en) * | 2018-04-04 | 2018-09-07 | 四川效率未来科技有限公司 | Vertebrae rotation angle computational methods |
| CN108764089A (en) * | 2018-05-18 | 2018-11-06 | 四川效率未来科技有限公司 | Human body back midspinal line recognition methods based on depth camera |
| CN109785297A (en) * | 2018-12-25 | 2019-05-21 | 韩山师范学院 | A kind of detection method and device of scoliosis |
| CN110327202A (en) * | 2019-05-05 | 2019-10-15 | 王立群 | The method and system at acupuncture point is found in a kind of Traditional Chinese medicine massage robot thermal imaging |
| CN113069076A (en) * | 2021-02-25 | 2021-07-06 | 芙索特(上海)医疗科技有限公司 | Scoliosis measuring method based on three-dimensional modeling |
| CN114092447A (en) * | 2021-11-23 | 2022-02-25 | 北京阿尔法三维科技有限公司 | Method, device and equipment for measuring scoliosis based on human body three-dimensional image |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108510584A (en) * | 2018-04-04 | 2018-09-07 | 四川效率未来科技有限公司 | Vertebrae rotation angle computational methods |
| CN108510584B (en) * | 2018-04-04 | 2022-02-18 | 深圳零动医疗科技有限公司 | Vertebra rotation angle calculation method |
| CN108764089A (en) * | 2018-05-18 | 2018-11-06 | 四川效率未来科技有限公司 | Human body back midspinal line recognition methods based on depth camera |
| CN108764089B (en) * | 2018-05-18 | 2021-04-13 | 四川效率未来科技有限公司 | Human back spine midline recognition method based on depth camera |
| CN109785297A (en) * | 2018-12-25 | 2019-05-21 | 韩山师范学院 | A kind of detection method and device of scoliosis |
| CN109785297B (en) * | 2018-12-25 | 2021-01-08 | 韩山师范学院 | Method and device for detecting scoliosis |
| CN110327202A (en) * | 2019-05-05 | 2019-10-15 | 王立群 | The method and system at acupuncture point is found in a kind of Traditional Chinese medicine massage robot thermal imaging |
| CN113069076A (en) * | 2021-02-25 | 2021-07-06 | 芙索特(上海)医疗科技有限公司 | Scoliosis measuring method based on three-dimensional modeling |
| CN113069076B (en) * | 2021-02-25 | 2023-09-29 | 芙索特(上海)医疗科技有限公司 | Scoliosis measurement method based on three-dimensional modeling |
| CN114092447A (en) * | 2021-11-23 | 2022-02-25 | 北京阿尔法三维科技有限公司 | Method, device and equipment for measuring scoliosis based on human body three-dimensional image |
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Application publication date: 20171212 |