CN107945157B - Method/system for measuring end plate on sacrum, computer readable storage medium and equipment - Google Patents

Method/system for measuring end plate on sacrum, computer readable storage medium and equipment Download PDF

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CN107945157B
CN107945157B CN201711126819.2A CN201711126819A CN107945157B CN 107945157 B CN107945157 B CN 107945157B CN 201711126819 A CN201711126819 A CN 201711126819A CN 107945157 B CN107945157 B CN 107945157B
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赵长清
陈宏方
汪轶平
赵杰
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Ninth Peoples Hospital Shanghai Jiaotong University School of Medicine
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Abstract

The invention provides a sacrum superior endplate measuring method/system, a computer readable storage medium and a device, wherein the measuring method comprises the following steps: obtaining a three-dimensional surface grid model of a pelvis region; inputting a selected marking point in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model; based on the selected marking point, randomly extracting a plurality of points on the model surface of the marking point P0 according to the sequence from near to far from the marking point P0 to form a surface point cloud of the upper end plate of the sacrum; and establishing a local coordinate system of the upper end plate of the sacrum at the sagittal position according to the surface point cloud of the upper end plate of the sacrum, and calculating the measurement parameters of the upper end plate of the sacrum at the sagittal position based on the local coordinate system. The three-dimensional measurement method based on the CT can obtain more accurate morphological information of the pelvis and the sacrum, and greatly improves the measurement precision.

Description

Method/system for measuring end plate on sacrum, computer readable storage medium and equipment
Technical Field
The invention belongs to the technical field of medical image processing, relates to a measuring method and a measuring system, and particularly relates to a method/system for measuring an upper end plate of a sacrum, a computer-readable storage medium and equipment.
Background
Pelvic Index (PI) is currently considered to be the most important anatomical parameter describing the state of balance of the sagittal plane of the spine, pelvis. Under the pathological state of the deformation of the upper end plate of the sacrum, the PI value is difficult to accurately measure, and the sagittal plane balance of the pelvis of the spine needs to be understood by other pelvic anatomical parameters. Pelvic identity, PI. The individual difference of the anatomical morphology of the pelvis is described through an included angle formed by a perpendicular line of the middle point of the upper end plate of the sacrum and a connecting line of a femoral head rotating shaft and the middle point of the upper end plate of the sacrum, the position change of a spine-pelvis complex when a human body stands upright is described through a sacrum inclination angle (Sacral Slope, SS, an included angle formed by a horizontal line of the rear upper corner of the upper end plate of the sacrum and the upper end plate of the sacrum) and a pelvis rotation angle (Pellic Tilt, PT, an included angle formed by a perpendicular line of the femoral head rotating shaft and a connecting line of the femoral head rotating shaft and the middle point of the upper end plate of the sacrum), and the overall balance state of the human body is described through the distance between a plumb line of a neck 7 and the femoral head rotating shaft and the rear upper corner of the upper end plate of the sacrum. Researches show that the measurement accuracy of PI, PT and SS can be influenced by non-overlapping of bilateral femoral heads caused by pelvic rotation or inclination; in addition, in certain pathological conditions, such as severe lumbar 5 slippage, the sacral superior endplate may undergo "dome" or "doming" changes, and it may also be difficult to locate the midpoint of the sacral superior endplate on the two-dimensional X-ray lateral slice, making it difficult to accurately measure PI. If the PI cannot be accurately measured, the ideal lumbar lordosis of a spinal surgery patient is difficult to fit preoperatively through the PI, and related complications can occur. The measurement of parameters such as PI, PT, SS and the like needs to determine the upper sacral endplate first, and the accuracy of the existing method for measuring the upper sacral endplate based on the X-ray lateral position sheet is not high.
Therefore, how to provide a method/system for measuring the upper end plate of the sacrum, a computer readable storage medium and a device thereof to solve the problems of the prior art that the individual difference of the three-dimensional pelvis model is large, the morphological complexity is high, and the accurate measurement is difficult, has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a method/system, a computer-readable storage medium and a device for measuring the upper end plate of the sacrum, which are used to solve the problem of the prior art that accurate measurement is difficult due to large individual differences and high morphological complexity of a three-dimensional pelvis model.
To achieve the above and other related objects, there is provided, in one aspect, a method for measuring an endplate of a sacrum, including: obtaining a three-dimensional surface grid model of a pelvis region; inputting a selected marking point in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model; based on the selected marking point, randomly extracting a plurality of points on the model surface of the marking point P0 according to the sequence from near to far from the marking point P0 to form a surface point cloud of the upper end plate of the sacrum; and establishing a local coordinate system of the upper end plate of the sacrum at the sagittal position according to the surface point cloud of the upper end plate of the sacrum, and calculating the measurement parameters of the upper end plate of the sacrum at the sagittal position based on the local coordinate system.
In an embodiment of the present invention, the step of obtaining the three-dimensional mesh model of the pelvic region includes: acquiring a medical image, and segmenting the medical image to acquire a pelvic region image; and performing three-dimensional reconstruction on the image of the pelvis region to obtain a three-dimensional surface mesh model of the pelvis region.
In an embodiment of the present invention, the step of establishing a local coordinate system of the upper end plate of the sacrum in a sagittal position according to the surface point cloud of the upper end plate of the sacrum includes: selecting a first point set for fitting a plane to be calibrated from the surface point cloud of the upper end plate of the sacrum; performing plane fitting on the first point set to obtain a density center in the first point set and a plane to be calibrated; and acquiring a normal vector in the sagittal direction, and calibrating the plane to be calibrated by using the normal vector in the sagittal direction so as to establish a local coordinate system of the upper end plate of the sacrum in the sagittal direction with the density center as the center.
In an embodiment of the invention, an included angle between a normal vector of a point in the first point set corresponding to the model surface and a normal vector of a landmark point corresponding to the model surface is smaller than a predetermined included angle.
In an embodiment of the invention, the local coordinate system includes a first axis where a normal vector in a sagittal direction is located, a second axis located on the to-be-standard plane and perpendicular to the first axis, and a third axis where a normal vector of the to-be-calibrated plane is located.
In an embodiment of the present invention, the step of calibrating the plane to be calibrated by using a normal vector in a sagittal direction includes; calibrating the second axis; calibrating the second shaft by multiplying the normal vector of the plane to be calibrated by the normal vector of the vector phase direction; calibrating a third axis; calibrating a third axis by multiplying the normal vector in the sagittal direction by the calibrated second axis; wherein the second and third axes form a sagittal plane and the first and second axes form another sagittal plane.
In an embodiment of the present invention, the step of calculating the measured parameter of the endplate on the sacrum comprises: projecting the first point set to the sagittal plane to obtain a second point set on the sagittal plane; projecting the second point set onto the second shaft, acquiring a straight line for searching a front edge point and a rear edge point of the upper sacral endplate, and calculating a front point set and a rear point set of the upper sacral endplate; searching a point which is farthest away from the density center on a point set in front of the upper end plate of the sacrum, wherein the point is a front edge point of the upper end plate of the sacrum; searching a point which is farthest away from the density center in a rear point set of the upper sacral endplate, wherein the point is a rear edge point of the upper sacral endplate; from the anterior and posterior border points, the center point of the endplate on the sacrum is calculated.
In another aspect, the invention provides a sacral endplate measurement system comprising: the acquisition module is used for acquiring a three-dimensional surface grid model of the pelvic region; the input module is used for inputting the selected mark points in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model; an extraction module for extracting the mark point P based on the selected mark point0According to the distance from the mark point P0Randomly extracting a plurality of points from near to far to form a surface point cloud of the upper end plate of the sacrum; and the processing module is used for establishing a local coordinate system of the upper end plate of the sacrum in the sagittal position according to the point cloud on the surface of the upper end plate of the sacrum and calculating the measurement parameters of the upper end plate of the sacrum in the sagittal position based on the local coordinate system.
Yet another aspect of the invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for superior endplate measurement of the sacrum.
A final aspect of the invention provides an apparatus comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the terminal to execute the sacral superior endplate measuring method
As described above, the method/system for measuring the end plate on the sacrum, the computer readable storage medium and the computer readable storage medium of the present invention have the following advantages:
the three-dimensional measuring method/system, the computer readable storage medium and the equipment for the upper end plate of the sacrum can obtain more accurate morphological information of the pelvis and the sacrum based on the CT three-dimensional measuring method, and greatly improve the measuring precision.
Drawings
Fig. 1A is a flow chart illustrating a method for measuring an endplate of a sacrum according to an embodiment of the present invention.
Fig. 1B is a schematic view illustrating a process flow of S14 in the method for measuring an endplate on a sacrum according to the present invention.
Fig. 1C is a schematic view illustrating a flow of S15 in the method for measuring the endplate of the sacrum according to the present invention.
Fig. 2 is a schematic view of the local coordinate system and measured parameters of the upper end plate of the sacrum on the sacrum according to the present invention.
Fig. 3 is a schematic view of the schematic structure of the superior sacral endplate measurement system of the present invention in one embodiment.
Description of the element reference numerals
3 sacrum superior endplate measuring system
31 acquisition module
32 input module
33 extraction module
34 processing module
S11-S15
S141 to S143 steps
Steps S151 to S155
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example one
The present embodiments provide a method of measuring an endplate on a sacrum, comprising:
obtaining a three-dimensional surface grid model of a pelvis region;
inputting a selected marking point in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model;
based on the selected marking point, at the marking point P0According to the distance from the mark point P0Randomly extracting a plurality of points from near to far to form a surface point cloud of the upper end plate of the sacrum;
and establishing a local coordinate system of the upper end plate of the sacrum at the sagittal position according to the surface point cloud of the upper end plate of the sacrum, and calculating the measurement parameters of the upper end plate of the sacrum at the sagittal position based on the local coordinate system.
The method for measuring the end plate on the sacrum provided by the present embodiment will be described in detail with reference to the drawings. Referring to fig. 1A, a schematic flow chart of a method for measuring an endplate of a sacrum in an embodiment is shown. As shown in fig. 1A, the method of measuring the superior end plate of the sacrum specifically includes the steps of:
and S11, acquiring a three-dimensional surface grid model of the pelvis region.
Specifically, the S11 includes:
a medical image is acquired and segmented to acquire a pelvic region image. In this embodiment, the medical image is a CT medical image. And segmenting the CT medical image by adopting a threshold value and region growing image segmentation algorithm to acquire a pelvis region image in the CT medical image.
And performing three-dimensional reconstruction on the image of the pelvis region to obtain a three-dimensional surface mesh model of the pelvis region.
S12, inputting a mark point P selected in the central range of the surface of the upper end plate of the sacrum0. The mark point P0And selecting the three-dimensional surface mesh model.
S13, based on the selected mark point P0At said marker point P0According to the distance from the mark point P0Randomly extracting a plurality of points P from near to fariTo form a point cloud S on the surface of the upper end plate of the sacrum0. Wherein, the surface of the upper end plate of the sacrum is dotted with clouds S0＝{Pi|i＝0，1，2，…，n}。
And S14, establishing a local coordinate system of the upper end plate of the sacrum in the sagittal position according to the point cloud on the surface of the upper end plate of the sacrum. Please refer to fig. 1B, which shows a schematic flow chart of S14. As shown in fig. 1B, the S14 includes:
s141, selecting a first point set S for fitting a plane to be calibrated from the surface point cloud of the upper end plate of the sacrum1. In this embodiment, the first set of points S1Point P iniNormal vector corresponding to model surface
Figure BDA0001468530760000051
And a mark point P0Normal vector corresponding to model surface
Figure BDA0001468530760000052
Is less than a predetermined angle a. In the present embodiment, the predetermined included angle a is between 30 degrees and 60 degrees.
In particular, the amount of the solvent to be used,
Figure BDA0001468530760000053
s142, aiming at the first point set S1Performing plane fitting to obtain the first point set S1Center of density of1And a plane to be calibrated. In the present embodiment, the first set of points S is subjected to a plane fitting algorithm (e.g., least squares)1Fitting is carried out, and the obtained normal vector is Z0To said first set of points S1All the points are added and averaged to obtain a density center O1。
S143, obtaining a normal vector in the sagittal direction, and calibrating the plane to be calibrated by using the normal vector in the sagittal direction to establish a local coordinate system of the upper end plate of the sacrum in the sagittal direction with the density center as the center.
In this embodiment, the step of obtaining the normal vector in the sagittal direction includes: firstly, a plane a is fitted to four points of a left anterior superior iliac spine, a right anterior superior iliac spine, a left pubic tubercle and a right pubic tubercle in a three-dimensional surface grid model of a pelvic region through a plane fitting algorithm, then a midpoint is taken from the left point and the right point, a straight line in the plane a is obtained from the two points, then a plane b is obtained through the straight line and is vertical to the plane a, and the normal vector of the plane b is the normal vector of the sagittal position direction
Figure BDA0001468530760000054
In this embodiment, the local coordinate system is defined by a normal vector in the sagittal direction
Figure BDA0001468530760000055
A first axis X, a second axis Y which is positioned on the plane to be standard and is vertical to the first axis1And the normal vector Z of the plane to be calibrated0On a third axis Z1I.e. local coordinate system O1XY1Z1。
The step of calibrating the plane to be calibrated by using a normal vector in the sagittal direction comprises the following steps;
calibrating the second axis Y1(ii) a And calibrating the second shaft by multiplying the normal vector of the plane to be standard by the normal vector of the vector phase direction.
In particular to
Figure BDA0001468530760000056
Calibrating the third axis Z1(ii) a The third axis is calibrated by multiplying the normal vector in the sagittal direction by the calibrated second axis.
In particular to
Figure BDA0001468530760000057
Wherein the second and third axes form a sagittal plane O1 Y1 Z1The first and second axes form another sagittal plane O1X Y1。
S15, calculating the measured parameters of the endplate on the sacrum in the sagittal position based on the local coordinate system. Please refer to fig. 1C, which shows a schematic flow chart of S15. As shown in fig. 1C, the S15 specifically includes the following steps:
s151, collecting the first point set S1Projected onto the sagittal bitplane O1 Y1 Z1Obtaining a second set of points S on the sagittal plane2。
S152, projecting the second point set to the second shaft, obtaining a straight line L for searching a front edge point and a rear edge point of the sacrum upper end plate, and calculating a front point set and a rear point set of the sacrum upper end plate.
Specific anterior point set of upper end plate of sacrum
Figure BDA0001468530760000061
Posterior point set of upper end plate of sacrum
Figure BDA0001468530760000062
S153, set of points S anterior to the superior end plate of the sacrumAFind the point farthest from the density center
Figure BDA0001468530760000063
This point is the anterior border point of the superior end plate of the sacrum;
s154, set of points S posterior to the end plate on the sacrumPFinding points farthest from the density center
Figure BDA0001468530760000064
This point is posterior to the upper end plate of the sacrumAnd (4) edge points.
S155, calculating the central point P of the upper end plate of the sacrum according to the front edge point and the rear edge point0. Please refer to fig. 2, which is a schematic diagram showing a local coordinate system and measured parameters of the end plate on the sacrum.
The present embodiments also provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the above-described method of superior sacral endplate measurement. Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The three-dimensional measuring method based on CT of the method for measuring the upper end plate of the sacrum can obtain more accurate morphological information of the pelvis and the sacrum, and greatly improves the measuring precision.
Example two
The present embodiments provide a sacral superior endplate measurement system comprising:
the acquisition module is used for acquiring a three-dimensional surface grid model of the pelvic region;
the input module is used for inputting the selected mark points in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model;
an extraction module for extracting the mark point P based on the selected mark point0According to the distance from the mark point P0Randomly extracting a plurality of points from near to far to form a surface point cloud of the upper end plate of the sacrum;
and the processing module is used for establishing a local coordinate system of the upper end plate of the sacrum in the sagittal position according to the point cloud on the surface of the upper end plate of the sacrum and calculating the measurement parameters of the upper end plate of the sacrum in the sagittal position based on the local coordinate system.
The sacral superior endplate measurement system provided by the present embodiments will be described in detail below with reference to the drawings. It should be noted that the division of the modules of the above system is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Referring to fig. 3, a schematic structural diagram of a sacral superior endplate measurement system in one embodiment is shown. As shown in fig. 3, the sacral superior endplate measurement system 3 includes an acquisition module 31, an input module 32, an extraction module 33, and a processing module 34.
The acquisition module 31 is configured to acquire a three-dimensional mesh model of the pelvic region.
Specifically, the obtaining module 31 is configured to obtain a medical image, segment the medical image to obtain a pelvic region image, and perform three-dimensional reconstruction on the pelvic region image to obtain a three-dimensional surface mesh model of the pelvic region. In this embodiment, the medical image is a CT medical image. And segmenting the CT medical image by adopting a threshold value and region growing image segmentation algorithm to acquire a pelvis region image in the CT medical image.
An input module 32 coupled to the acquisition module 31 is used for inputting a selected mark point P in the central range of the surface of the upper end plate of the sacrum0. The mark point P0And selecting the three-dimensional surface mesh model.
An extraction module 33 coupled to the input module 32 for extracting the marking point P based on the selected marking point0At said marker point P0According to the distance from the mark point P0Randomly extracting a plurality of points P from near to fariTo form a point cloud S on the surface of the upper end plate of the sacrum0. Wherein, the surface of the upper end plate of the sacrum is dotted with clouds S0＝{Pi|i＝0，1，2，…，n}。
A processing module 34 coupled to the input module 32 and the extraction module 33 is configured to establish a local coordinate system of the upper endplate of the sacrum in the sagittal position based on the cloud of surface points of the upper endplate of the sacrum.
The processing module 34 is specifically configured to select a first point set for fitting a plane to be calibrated from a cloud of end plate surface points on the sacrum; performing plane fitting on the first point set to obtain a density center in the first point set and a plane to be calibrated; and acquiring a normal vector in the sagittal direction, and calibrating the plane to be calibrated by using the normal vector in the sagittal direction so as to establish a local coordinate system of the upper end plate of the sacrum in the sagittal direction with the density center as the center.
In this embodiment, the first set of points S1Point P iniCorresponding to the model tableNormal vector of face
Figure BDA0001468530760000081
And a mark point P0Normal vector corresponding to model surface
Figure BDA0001468530760000082
Is less than a predetermined angle a. In the present embodiment, the predetermined included angle a is between 30 degrees and 60 degrees.
In particular, the amount of the solvent to be used,
Figure BDA0001468530760000083
in the present embodiment, the first set of points S is subjected to a plane fitting algorithm (e.g., least squares)1Fitting is carried out, and the obtained normal vector is Z0To said first set of points S1All the points are added and averaged to obtain a density center O1。
In this embodiment, the step of obtaining the normal vector in the sagittal direction includes: firstly, a plane a is fitted to four points of a left anterior superior iliac spine, a right anterior superior iliac spine, a left pubic tubercle and a right pubic tubercle in a three-dimensional surface grid model of a pelvic region through a plane fitting algorithm, then a midpoint is taken from the left point and the right point, a straight line in the plane a is obtained from the two points, then a plane b is obtained through the straight line and is vertical to the plane a, and the normal vector of the plane b is the normal vector of the sagittal position direction
Figure BDA0001468530760000084
In this embodiment, the local coordinate system is defined by a normal vector in the sagittal direction
Figure BDA0001468530760000085
A first axis X, a second axis Y which is positioned on the plane to be standard and is vertical to the first axis1And the normal vector Z of the plane to be calibrated0On a third axis Z1I.e. local coordinate system O1X Y1 Z1。
The step of calibrating the plane to be calibrated by using a normal vector in the sagittal direction comprises the following steps;
calibrating the second axis Y1(ii) a And calibrating the second shaft by multiplying the normal vector of the plane to be standard by the normal vector of the vector phase direction.
In particular to
Figure BDA0001468530760000086
Calibrating the third axis Z1(ii) a The third axis is calibrated by multiplying the normal vector in the sagittal direction by the calibrated second axis.
In particular to
Figure BDA0001468530760000087
Wherein the second and third axes form a sagittal plane O1 Y1 Z1The first and second axes form another sagittal plane O1X Y1。
The processing module 34 is also configured to calculate a measured parameter of the endplate on the sacrum in the sagittal position based on the local coordinate system. In particular, the processing module 34 is configured to project the first set of points onto the sagittal plane, resulting in a second set of points located on the sagittal plane; projecting the second point set onto the second shaft, acquiring a straight line for searching a front edge point and a rear edge point of the upper sacral endplate, and calculating a front point set and a rear point set of the upper sacral endplate; searching a point which is farthest away from the density center on a point set in front of the upper end plate of the sacrum, wherein the point is a front edge point of the upper end plate of the sacrum; searching a point which is farthest away from the density center in a rear point set of the upper sacral endplate, wherein the point is a rear edge point of the upper sacral endplate; from the anterior and posterior border points, the center point of the endplate on the sacrum is calculated. The anterior point set of the end plate on the sacrum is
Figure BDA0001468530760000091
Set of posterior points of the upper end plate of the sacrum
Figure BDA0001468530760000092
EXAMPLE III
The present embodiment provides an apparatus, comprising: a processor, a memory, a transceiver, a communication interface, and a system bus; the memory is used for storing a computer program, the communication interface is used for communicating with other equipment, and the processor and the transceiver are used for running the computer program to enable the X device to execute the steps of the sacrum upper endplate measuring method.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The memory may include a Random Access Memory (RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the integrated circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.
In summary, the three-dimensional measuring method/system, the computer-readable storage medium and the equipment for the upper end plate of the sacrum can obtain more accurate morphological information of the pelvis and the sacrum based on the CT three-dimensional measuring method, and the measuring precision is greatly improved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (7)

1. A method of measuring an endplate on a sacrum, comprising:
obtaining a three-dimensional surface grid model of a pelvis region;
inputting a selected marking point in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model;
based on the selected marking point, randomly extracting a plurality of points on the model surface of the marking point P0 according to the sequence from near to far from the marking point P0 to form a surface point cloud of the upper end plate of the sacrum;
establishing a local coordinate system of the upper end plate of the sacrum in the sagittal position according to the surface point cloud of the upper end plate of the sacrum, and calculating the measurement parameters of the upper end plate of the sacrum in the sagittal position based on the local coordinate system; wherein the step of establishing a sagittal sacral superior endplate local coordinate system based on the sacral superior endplate surface point cloud comprises:
selecting a first point set for fitting a plane to be calibrated from the surface point cloud of the upper end plate of the sacrum;
performing plane fitting on the first point set to obtain a density center in the first point set and a plane to be calibrated;
acquiring a normal vector in the sagittal direction, and calibrating the plane to be calibrated by using the normal vector in the sagittal direction to establish a local coordinate system of an upper end plate of the sacrum in the sagittal direction with the density center as the center; the local coordinate system comprises a first axis where a normal vector in the sagittal direction is located, a second axis which is located on the plane to be calibrated and is perpendicular to the first axis, and a third axis where the normal vector of the plane to be calibrated is located; the step of calibrating the plane to be calibrated by using a normal vector in the sagittal direction comprises the following steps; calibrating the second axis; calibrating the second axis by multiplying a normal vector of the plane to be calibrated by a normal vector of a vector phase direction; calibrating a third axis; calibrating a third axis by multiplying the normal vector in the sagittal direction by the calibrated second axis; wherein the second and third axes form a sagittal plane and the first and second axes form another sagittal plane.
2. The method of suprasacral endplate measurement according to claim 1, wherein said step of obtaining a three-dimensional planar mesh model of the pelvic region comprises:
acquiring a medical image, and segmenting the medical image to acquire a pelvic region image;
and performing three-dimensional reconstruction on the image of the pelvis region to obtain a three-dimensional surface mesh model of the pelvis region.
3. The method of measuring the endplate of the sacrum as claimed in claim 1, wherein the points in the first set of points subtend an angle with a normal vector to the model surface at which the landmark points subtend an angle less than a predetermined angle.
4. The method of measuring the superior end plate of the sacrum according to claim 1 wherein said step of calculating a measured parameter of the superior end plate of the sagittal sacrum based on the local coordinate system comprises:
projecting the first point set to the sagittal plane to obtain a second point set on the sagittal plane;
projecting the second point set onto the second shaft, acquiring a straight line for searching a front edge point and a rear edge point of the upper sacral endplate, and calculating a front point set and a rear point set of the upper sacral endplate;
finding the point farthest away from the density center on the front point set of the end plate on the sacrum, wherein the point is the front edge point of the end plate on the sacrum(ii) a The front point set is
Figure FDA0003009275860000021
Searching a point which is farthest away from the density center in a rear point set of the upper sacral endplate, wherein the point is a rear edge point of the upper sacral endplate; the rear set of points is
Figure FDA0003009275860000022
From the anterior and posterior border points, the center point of the endplate on the sacrum is calculated.
5. A sacral superior endplate measurement system, comprising:
the acquisition module is used for acquiring a three-dimensional surface grid model of the pelvic region;
the input module is used for inputting the selected mark points in the central range of the surface of the upper end plate of the sacrum; the mark points are selected from the three-dimensional surface grid model;
an extraction module for extracting the mark point P based on the selected mark point0According to the distance from the mark point P0Randomly extracting a plurality of points from near to far to form a surface point cloud of the upper end plate of the sacrum;
the processing module is used for establishing a local coordinate system of the upper end plate of the sacrum in the sagittal position according to the point cloud on the surface of the upper end plate of the sacrum and calculating the measurement parameters of the upper end plate of the sacrum in the sagittal position based on the local coordinate system; the processing module selects a first point set used for fitting a plane to be calibrated from the surface point cloud of the upper end plate of the sacrum; performing plane fitting on the first point set to obtain a density center in the first point set and a plane to be calibrated; acquiring a normal vector in the sagittal direction, and calibrating the plane to be calibrated by using the normal vector in the sagittal direction to establish a local coordinate system of an upper end plate of the sacrum in the sagittal direction with the density center as the center; the local coordinate system establishes a local coordinate system of an upper endplate of a sacrum in a sagittal position by a first axis where a normal vector in the sagittal position direction is located, a second axis which is located on the plane to be calibrated and is perpendicular to the first axis, and a third axis where the normal vector of the plane to be calibrated is located; the processing module calibrates a second axis; calibrating the second axis by multiplying a normal vector of the plane to be calibrated by a normal vector of a vector phase direction; calibrating a third axis; calibrating a third axis by multiplying the normal vector in the sagittal direction by the calibrated second axis; wherein the second axis and the third axis form a sagittal plane, and the first axis and the second axis form another sagittal plane for calibrating the plane to be calibrated.
6. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of suprasacral endplate measurement according to any one of claims 1 to 4.
7. An upper sacral endplate measurement device, comprising: a processor and a memory;
the memory is configured to store a computer program and the processor is configured to execute the computer program stored by the memory to cause the sacral superior endplate measurement device to perform the sacral superior endplate measurement method of any of claims 1-4.
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