CN107895364B - A kind of three-dimensional reconstruction system for the preoperative planning of virtual operation - Google Patents
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Abstract
The invention belongs to medical image technical fields, particular for the preoperative planning of system of virtual operation.The present invention, image segmentation is carried out by denoising, smooth and enhanced image, introduces cavity processing, makes every effort to image and do not lack information completely by pre-processing to CT or MRI image after segmentation.The complete image after segmentation is subjected to three-dimensional reconstruction again, three-dimensional reconstruction uses improved MC algorithm, 9 kinds are increased on the basis of basic topology configuration in original algorithm 15, compensate for the deficiency of original algorithm connectivity problem, fitting surface is promoted more completely to be not likely to produce cavity, it is finally introducing smooth treatment, the curved surface after making fitting is smooth, and the model after reconstruction is used directly for virtual operation cutting below and collision detection application.The present invention is used for the preoperative planning of virtual operation, can more intuitive and convenient analysis lesions position, when giveing training to doctor, ocular and clear analyzes the state of an illness, improves successful surgery probability, reduces operation risk.
Description
Technical field
The invention belongs to computer medical imaging technology fields, and in particular to a kind of three for the preoperative planning of virtual operation
Tie up reconstructing system.
Background technique
Along with fast development scientific and technical in recent years, system of virtual operation is increasingly mature, a perfect virtual hand
Art system should include Geometric Modeling, biomethanics modeling, cutting and collision detection etc.；And three-dimensional reconstruction then belongs to geometry and builds
Mould is prepared for the preoperative analysis of virtual operation and building model for next stage.
General medicine three-dimensional reconstruction is divided into iso-surface patch and volume drawing, and for volume drawing due to computationally intensive, process is cumbersome and real-time
The reasons such as property is not strong are not particularly suited for system of virtual operation, so system of virtual operation generally uses iso-surface patch, iso-surface patch algorithm
Much wherein most classic is MC algorithm.
MC algorithm has the characteristics that efficient, convenient, strong real-time；However MC algorithm also has many defects, it is most common to ask
Topic is to be easy to produce cavity when tri patch connects fitting surface, and it is easily raised to be fitted back curve portion line segment, and connection is easy
Cusp occur causes curved surface rough.The present invention exactly proposes a kind of new improved MC algorithm in view of this, has modified
Problem is stated, beats next good start for system of virtual operation, provides easily analysis environment for doctor.
Summary of the invention
The purpose of the present invention is to provide a kind of convenient, efficient, accurate three-dimensional reconstruction systems, which can be virtual hand
Art makes accurately analysis and provides accurate model in next step for virtual operation.
Three-dimensional reconstruction system proposed by the present invention is used for the preoperative planning of virtual operation.The system passes through acquisition
CT or MRI image pre-processed, divided, three-dimensional reconstruction and visualization processing, it is three-dimensional, intuitively present lesions position
Three-dimensional stereo model, the lesion of more convenient analysis lesions position.Corresponding system is made of 5 modules: obtaining data module
(1), preprocessing module (2), image segmentation module (3), three-dimensional reconstruction module (4) and visualization display module (5).Wherein:
The data acquisition module (1) be system input starting point, for obtaining the data such as CT or MRI, herein we
The surface sweeping image input of the lesions position of patient is entered, and format should be DICOM format；
The preprocessing module (2) includes: denoising module (2.1), enhances module (2.2) and Leveling Block (2.3), by
The image obtained in data acquisition module (1) carries out Laplce's denoising in denoising module (2.1) first, removes extra useless
Interference signal；Image after denoising enters enhancing module (2.2) and the image of reduction is carried out enhancing processing；Enhanced image
Into Leveling Block (2.3) irregular picture smooth treatment, good image is provided as far as possible for segmentation in next step；
Described image segmentation module (3) include: manual segmentation module (3.1) and cavity processing module (3.2), it is pretreated
Image afterwards enters image segmentation module (3), cut zone is chosen manually in manual segmentation module (3.1), in lesions position
Manual segmentation is to rebuild to be ready in next step；Cavity is generated after segmentation in order to prevent, so introducing empty processing module
(3.2), " cavity " can be generated come edge when preventing segmentation；
The three-dimensional reconstruction module (4) uses improved MC algorithm (4.1), and 15 kinds in its original classics MC algorithm are basic
9 kinds of new topology configurations have been newly increased on the basis of topological structure, enter three by the image come out after image segmentation module (3) segmentation
Dimension rebuilds module (4) Lai Jinhang three-dimensional reconstruction, in this module in processing, initially sets up a triangulation topology configuration and searches
Table, i.e., look-up table in original classics MC algorithm on the basis of improved look-up table, it includes 256 index entries, each index
Comprising index, graphical property and be directed toward 24 kinds of triangulation topology configuration structures pointer, improved MC algorithm to cube
8 vertex of body are classified by threshold value carrys out the subdivision mode in certainty equivalents face, and threshold value is independently arranged by this system, vertex classification
Rule are as follows:
If 1) numerical value of cube apex is less than contour surface threshold value, which is located within contour surface, is denoted as 1；
If 2) numerical value of cube apex is more than or equal to contour surface threshold value, which is located at except contour surface, is denoted as 0；
Because each voxel one shares 8 vertex, there are two types of states on each vertex, so 256 kinds of assembled states are shared, by
In mutual symmetry, i.e. vertex position label is set anti-, can be by 256 kinds further according to the properties such as rotational symmetry and figure combination
Configuration is reduced to 24 kinds, wherein containing 15 kinds of basic configurations of classical MC algorithm, 9 kinds of configurations of additional new addition are enriched
The intension of topology configuration improves the problem that cavity is easy to produce when neighboring cubes connection.
The key step of improved MC algorithm (4.1) is as follows:
(1) adjacent two layers data are successively scanned, construct cube one by one；
(2) sum of the grayscale values on each vertex of cube is given contour surface threshold value to be compared, computation index value；
(3) for the cube containing contour surface, the gradient on its vertex is calculated with grey scale difference；
(4) improved concordance list is looked by index value, obtains the intersection edges for the current cube for having intersection point with contour surface；
(5) according to two vertex of intersection edges and its normal vector, pass through interpolation calculation equivalent point coordinate and normal vector；
(6) the triangular plate concordance list for improving and expanding is looked into according to index value, determine constitute in current cube triangular plate etc.
It is worth the combination of point；
(7) contour surface is constituted by each cube of intracorporal triangular plate；
(8) whether system detection contour surface is smooth, and smoothing step, perfect surface model are entered if rough；
The visualization display module (5) is system final step, and display, which is carried to visualize on MITK platform by C++, calculates
Method is developed, and the image after improved MC algoritic module (4.1) is rebuild in above-mentioned three-dimensional reconstruction module (4) can in this module
It is shown depending on changing.
In above-mentioned technical proposal, whole system is all based on the basis C++ and carries the independent research and development of MITK platform in fact
Existing.
In above-mentioned technical proposal, the three-dimensional reconstruction module in system uses improved MC algorithm, and is opened based on C++ and MITK
Source software is implemented in combination with.
The beneficial effects of the present invention are: a kind of three-dimensional reconstruction system for the preoperative planning of virtual operation of the invention, no
Accurate three-dimensional model can be only provided, more can provide model in next step for virtual operation；Heretofore described system collection figure
As acquisition, pretreatment, image segmentation, three-dimensional reconstruction and visualization five functional, conventional two-dimensional faultage image is broken to certain
Diseased region observes unsharp disadvantage, the lesion of clear and intuitive analysis lesions position；Wherein three-dimensional reconstruction uses
Newest improvement MC algorithm, has not only expanded topological relation structure, and smoothing step is introduced inside algorithm, so that
Model position after reconstruction is more flat and smooth.
Detailed description of the invention
Fig. 1 is system flow structure chart of the invention.
Fig. 2 is improved MC algorithm flow chart.
Fig. 3 is 24 kinds of topology diagrams after expanding in improved MC algorithm.
Specific embodiment
The present invention is further explained in the following with reference to the drawings and specific embodiments.
A kind of three-dimensional reconstruction system for the preoperative planning of virtual operation of the invention, by taking sufferer hip lesion as an example, such as
Shown in Fig. 1, the CT of the lesions position hip acquired from patient or MRI scan data are imported among this system, data lattice
Formula should be DICOM；And then system carries out image preprocessing, denoises first to hip image in preprocessing module, uses
Laplce's denoising method filters out extra interference signal, and the module carries out enhancing operation to image after denoising, avoids upper
One step disturbs normal information when denoising, and the module carries out smooth operation to it after enhancing, by irregular image into one
Step optimizes, and provides the model of a complete and smooth as far as possible for segmentation in next step, and smooth rear system smoothly checks image,
Smooth operation is repeated if unsmooth.
Image after pretreatment enters image segmentation module, and hip position is carried out image segmentation, extracts useful information,
The module also carries out empty processing to it after segmentation, for preventing the cavity that hip edge after image segmentation is easy to produce, it
Whether the automatic detection image of system still has cavity afterwards, if still there is repetition cavity processing operation.
Enter three-dimensional reconstruction part after image segmentation to rebuild to hip, three-dimensional reconstruction part uses improved MC
Algorithm has newly increased 9 kinds of new topology configurations on the basis of 15 kinds of Basic Topologicals of its original classics MC algorithm, in this mould
In block in processing, a triangulation topology configuration look-up table, i.e. the look-up table base in original classics MC algorithm are initially set up
Improved look-up table on plinth, it includes 256 index entries, and each index entry includes 24 kind three of index, graphical property and direction
The pointer of angle subdivision structure, system determine its structure shape according to its index in triangulation topology configuration look-up table first
Then formula determines final combination, this system three-dimensional reconstruction process such as Fig. 2 further according to the graphical property parameter in index entry
It is shown, the specific steps are as follows:
A. adjacent two layers CT data are successively scanned, construct cube one by one；
B. the sum of the grayscale values on each vertex of cube is given contour surface threshold value to be compared, computation index value；
C. for the cube containing contour surface, the gradient on its vertex is calculated with grey scale difference；
D. improved concordance list is looked by index value, obtains the intersection edges for the current cube for having intersection point with contour surface；
E. according to two vertex of intersection edges and its normal vector, pass through interpolation calculation equivalent point coordinate and normal vector；
F. the triangular plate concordance list for improving and expanding is looked into according to index value, and three are constituted in current cube as shown in figure 3, determining
The combination of the equivalent point of cornual plate, wherein stain indicates to be labeled as 1 angle point；
G. contour surface fitting hip shape is made of each cube of intracorporal triangular plate；
H. whether system detection contour surface is smooth, and smoothing step is entered if rough, improves hip surface model；
Hip model after reconstruction enters visualization model display and presents, and visualization model is encapsulated based on MITK platform
What good visualization procedure developed with C++, hip model after rebuilding can it is clear herein, three-dimensional, intuitively show
Before doctor, to help doctor's analysing patient's condition.
Obviously, above-mentioned case study on implementation is merely to illustrate that the citing for understanding that invention thought is done, not to embodiment
It is defined with position is rebuild.For the scientific research personnel of affiliated research field, on all bases of above explained virtual operation
On can also do the variation of many different forms, such as femur rebuilds analysis, lung rebuilds analysis, need not be exhaustive herein,
And thus amplify it is all obviously change it is within the scope of the present invention.
Claims (3)
1. a kind of three-dimensional reconstruction system for the preoperative planning of virtual operation carries MITK platform programming development, feature by C++
It is that system is made of 5 modules: obtains data module (1), preprocessing module (2), image segmentation module (3), three-dimensional reconstruction
Module (4) and visualization display module (5)；Wherein:
It is described to obtain the starting point that data module (1) is system input, the scan image of patient's lesions position is inputted wherein, is used to
It obtains CT or MRI data and prepares for pretreatment in next step, format should be DICOM format；
The preprocessing module (2) includes: denoising module (2.1), enhancing module (2.2) and Leveling Block (2.3), by data
The image for obtaining acquisition in module (1) carries out Laplce's denoising in denoising module (2.1) first, removes extra lengthy and jumbled do
It disturbs；Image after denoising enters enhancing module (2.2) and the image of reduction is carried out enhancing processing；Enhanced image enters smooth
Module (2.3) is irregular picture smooth treatment；
Described image segmentation module (3) includes: manual segmentation module (3.1) and empty processing module (3.2), after pretreated
Image enters image segmentation module (3), chooses cut zone manually in manual segmentation module (3.1), manual in lesions position
It is divided into rebuild in next step and be ready；Cavity is generated after segmentation in order to prevent, so empty processing module (3.2) is introduced,
" cavity " can be generated come edge when preventing segmentation；
The three-dimensional reconstruction module (4) uses improved MC algorithm (4.1), in 15 kinds of basic topology knots of original classics MC algorithm
9 kinds of new topology configurations have been newly increased on the basis of structure, and three-dimensional reconstruction is entered by the image come out after image segmentation module (3) segmentation
Module (4) Lai Jinhang three-dimensional reconstruction initially sets up a triangulation topology configuration look-up table, i.e., in this module in processing
Improved look-up table on the basis of look-up table in original classics MC algorithm, it includes 256 index entries, and each index entry includes
Index, graphical property and be directed toward 24 kinds of triangulation topology configuration structures pointer, improved MC algorithm (4.1) it is main
Steps are as follows:
A. adjacent two layers data are successively scanned, construct cube one by one；
B. the sum of the grayscale values on each vertex of cube is given contour surface threshold value to be compared, computation index value；
C. for the cube containing contour surface, the gradient on its vertex is calculated with grey scale difference；
D. improved look-up table is looked by index value, obtains the intersection edges for the current cube for having intersection point with contour surface；
E. according to two vertex of intersection edges and its normal vector, pass through interpolation calculation equivalent point coordinate and normal vector；
F. the triangular plate look-up table for improving and expanding is looked into according to index value, determines the equivalent point that triangular plate is constituted in current cube
Combination；
G. contour surface is constituted by each cube of intracorporal triangular plate；
H. whether system detection contour surface is smooth, and smoothing step, perfect surface model are entered if rough；
The visualization display module (5) is system final step, and display is opened by visualized algorithm on C++ carrying MITK platform
It sends out, the image after improved MC algoritic module (4.1) is rebuild in above-mentioned three-dimensional reconstruction module (4) visualizes in this module
Stereoscopic display.
2. a kind of three-dimensional reconstruction system for the preoperative planning of virtual operation according to claim 1, it is characterised in that institute
The improved MC algoritic module (4.1) stated in three-dimensional reconstruction module (4) uses newest improvement MC algorithm, passes through at original 15 kinds
9 kinds of new topology configurations are increased in the basic topology configuration of allusion quotation MC algorithm；Improved MC algorithm presses threshold to 8 vertex of cube
Value, which is classified, carrys out the subdivision mode in certainty equivalents face, and threshold value is independently arranged by this system, vertex classification rule are as follows:
(1) if the numerical value of cube apex is less than threshold value, which is located within contour surface, is denoted as 1；
(2) if the numerical value of cube apex is more than or equal to threshold value, which is located at except contour surface, is denoted as 0；
Because each voxel one shares 8 vertex, there are two types of states on each vertex, so 256 kinds of assembled states are shared, due to mutual
Symmetry is mended, i.e. vertex position label is set anti-, can be by 256 kinds of configuration letters further according to rotational symmetry and figure combinatorial property
24 kinds are turned to, wherein containing 15 kinds of basic configurations of classical MC algorithm, 9 kinds of configurations of additional new addition enrich topological structure
The intension of type improves the problem that cavity is easy to produce when neighboring cubes connection.
3. a kind of three-dimensional reconstruction system for the preoperative planning of virtual operation according to claim 1, it is characterised in that institute
It states in improved MC algoritic module (4.1) and introduces smoothing step, system is examined automatically after triangular plate forms contour surface
Whether altimetric image is smooth, and rough image then enters smoothing step, this step is generated for image after eliminating three-dimensional reconstruction
Connection " cusp " or line segment " protrusion ".
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| CN108803516A (en) * | 2018-06-22 | 2018-11-13 | 李燕汝 | A kind of automatic intelligent appliance control system based on Internet of Things |
| CN109492069B (en) * | 2018-11-02 | 2020-06-26 | 中国地质大学（武汉） | Ray computing unit-based mobile cube parallel computing method and system |
| US11744643B2 (en) * | 2019-02-04 | 2023-09-05 | Covidien Lp | Systems and methods facilitating pre-operative prediction of post-operative tissue function |
| CN109934922A (en) * | 2019-03-14 | 2019-06-25 | 哈尔滨理工大学 | A kind of three-dimensional rebuilding method based on improvement MC algorithm |
| CN110610478B (en) * | 2019-07-24 | 2021-05-25 | 浙江大学 | Medical image three-dimensional reconstruction method based on neighborhood topology |
| CN110458950A (en) * | 2019-08-14 | 2019-11-15 | 首都医科大学附属北京天坛医院 | A kind of method for reconstructing three-dimensional model, mobile terminal, storage medium and electronic equipment |
| CN110458949A (en) * | 2019-08-14 | 2019-11-15 | 首都医科大学附属北京天坛医院 | Method for reconstructing, mobile terminal and the electronic equipment of the two-dimentional tangent plane of threedimensional model |
| CN117437350B (en) * | 2023-09-12 | 2024-05-03 | 南京诺源医疗器械有限公司 | Three-dimensional reconstruction system and method for preoperative planning |
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| CN103824328A (en) * | 2014-03-27 | 2014-05-28 | 东北大学 | OpenCL (Open Computing Language)-based marching cube method |
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| CN105912874B (en) * | 2016-04-29 | 2024-04-19 | 青岛大学附属医院 | Liver three-dimensional database system constructed based on DICOM medical image |
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| CN103824328A (en) * | 2014-03-27 | 2014-05-28 | 东北大学 | OpenCL (Open Computing Language)-based marching cube method |
| CN106408648A (en) * | 2015-08-03 | 2017-02-15 | 青岛海信医疗设备股份有限公司 | Medical-tissue slice-image three-dimensional reconstruction method and equipment thereof |
| CN105809730A (en) * | 2016-03-07 | 2016-07-27 | 哈尔滨工程大学 | Long bone fracture surface point cloud extraction method |
| CN106373168A (en) * | 2016-11-24 | 2017-02-01 | 北京三体高创科技有限公司 | Medical image based segmentation and 3D reconstruction method and 3D printing system |
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