CN108492299B - Cutting method of three-dimensional image - Google Patents
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Abstract
A three-dimensional image cutting method relates to the field of image processing, and comprises the following steps: acquiring cutting lines of three-dimensional images generated by at least two-dimensional image sequences; determining a target cutting area of the three-dimensional image according to the cutting line; the method can be used for cutting any position of the three-dimensional image, is simple, effectively improves the cutting precision, improves the user experience of simulated cutting, and can be used for cutting any 4D image.
Description
Technical Field
The invention relates to the field of image processing, in particular to a three-dimensional image cutting method.
Background
With the improvement of the medical technology level, X-ray photography, CT photography and MR photography have been widely applied to clinical diagnosis or teaching practice, and these technical means can help medical staff clearly see the lesion occurred in the patient, and the cutting of volume data is one of the important interactive operations. The simplest method is to set the removed voxels as transparent, and to ignore the contribution of these data to the three-dimensional model during the reconstruction process, thereby finally generating the effect that some parts are cut off. However, this is only a volume rendering process with a smaller data set size, and when the cut-off portion is smaller, the data size is still quite large, and the resampling process of the cut-off surface data is also time-consuming, which are not favorable for real-time interaction.
At present, when a simulated operation is performed, a corresponding three-dimensional image is generally cut according to a planned operation scheme, and in the three-dimensional image composed of volume data, the cutting operation of the image is indispensable; based on three-dimensional image closed curve cutting, the initial mode is that a curve is divided into a plurality of straight lines, and after straight line plane cutting is carried out, cutting results are integrated, so that the cutting result of the method has errors, the cutting precision is low, and the method is complex; or in some three-dimensional image cutting methods, a cutting line is drawn on a two-dimensional image to perform orthogonal projection to determine a cutting area, wherein the three-dimensional model curve cutting method disclosed by the authorization notice number CN101794458B can only perform curve cutting of a three-dimensional model, cannot perform straight line cutting, is single in cutting, and cannot realize arbitrary cutting of the three-dimensional image.
Disclosure of Invention
In order to solve the problems of complexity, low precision and inconvenience for interaction of a three-dimensional image cutting method in the prior art, the invention provides the three-dimensional image cutting method, which utilizes a mouse to draw a closed region or a linear cutting track with any shape on a three-dimensional image so as to realize the arbitrary interactive cutting in the image diagnosis, medical teaching practice and simulated operation process.
The technical scheme of the invention is as follows: a three-dimensional image cutting method comprises the following steps:
acquiring cutting lines of three-dimensional images generated by at least two-dimensional image sequences;
and determining a target cutting area of the three-dimensional image according to the cutting line.
Further, the step of determining the target cutting area of the three-dimensional image according to the cutting line comprises the following steps: step S11, generating a blank image sequence according to the two-dimensional image sequence;
s12, acquiring a two-dimensional coordinate point sequence of the cutting line, and converting to generate a three-dimensional coordinate point sequence;
step S13, sequentially connecting the three-dimensional coordinate point sequence to form a closed area;
and step S14, extending the closed area borderline to the direction vertical to the visual plane to obtain the target cutting area.
The method for obtaining the target cutting area by extending the edge line of the closed area to the direction vertical to the visual plane comprises the following steps: step S141: generating a blank image according to the closed region side line, and generating a closed region side line image on the blank image by a projection matrix transformation method;
step S142: rasterizing the closed region side line image, wherein different pixel values are respectively arranged on blank images of an internal region and an external region of the closed region side line image;
step S143: determining the target cutting area.
The step of determining the target cutting area comprises the following steps: judging whether the direction of the visual plane of the blank image is respectively vertical to the X axis, the Y axis or the Z axis of the three-dimensional coordinate, if so, traversing the space pixel point coordinate of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, traversing the space pixel point coordinates of the blank image sequence, taking any point of the coordinate point, converting the three-dimensional coordinates of the point into the two-dimensional coordinates of the blank image by a projection matrix transformation method, and endowing the pixel value corresponding to the two-dimensional coordinates to the pixel value of the corresponding point of the blank image sequence; and performing logical AND operation on the pixel value and a pixel value corresponding to the three-dimensional medical image, and if the calculation result is an original value, obtaining a target cutting area.
Further, the step of determining the target cutting area of the three-dimensional image according to the cutting line comprises the following steps: step S21, generating a blank image sequence according to the two-dimensional image sequence;
s22, acquiring a two-dimensional coordinate point sequence of the cutting line, and converting to generate a three-dimensional coordinate point sequence;
step S23: sequentially connecting the three-dimensional coordinate point sequences to form a three-dimensional space straight line;
step S24: and determining a target cutting area according to the three-dimensional space straight line.
The method for obtaining the target cutting area by extending the three-dimensional space straight line to the direction vertical to the visual plane comprises the following steps: step S241: distributing a blank image according to the three-dimensional space straight line, and generating a three-dimensional space straight line image on the blank image by a projection transformation method;
step S242: reversely extending to the three-dimensional image boundary according to the starting point coordinate and the end point coordinate of the cutting line three-dimensional coordinate point sequence;
step S243: rasterizing the three-dimensional space straight line image, and respectively setting different pixel values on blank images at two sides of the three-dimensional space straight line;
step S244: determining the target cutting area.
The step of determining the target cutting area comprises the following steps: judging whether the direction of the view plane of the blank image is respectively vertical to the X axis, the Y axis or the Z axis of the three-dimensional coordinate, if so, traversing the space pixel point coordinate of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, traversing the space pixel point coordinates of the blank image sequence, taking any point of the coordinate point, converting the three-dimensional coordinates of the point into the two-dimensional coordinates of the blank image by a projection matrix transformation method, and endowing the pixel value corresponding to the two-dimensional coordinates to the pixel value of the corresponding point of the blank image sequence; and performing logical AND operation on the pixel value and a pixel value corresponding to the three-dimensional medical image, and if the calculation result is an original value, obtaining a target cutting area.
Further, the step of determining the target cutting area of the three-dimensional image according to the cutting line comprises the following steps: step S31, acquiring the normal line and the origin of the cutting line plane;
step S32, determining a cutting line plane equation through the plane normal and the origin;
and step S33, determining the target cutting area.
The steps of obtaining the normal line and the origin of the cutting line plane are as follows:
step S311: acquiring two-dimensional coordinate points of the starting point and the end point of the cutting line;
step S312: converting the two-dimensional coordinate points into three-dimensional coordinate points by an inverse transformation method of projection transformation;
step S313: obtaining a vector of the cutting line through the three-dimensional coordinate point;
step S314: determining a cutting plane normal line through the cutting line vector and the view plane normal vector;
step S315: and the midpoint of a connecting line of the starting point coordinate point and the end point coordinate point of the cutting line is used as the origin of the cutting plane.
The method for determining the cutting line plane equation through the plane normal and the origin is as follows: determining a plane equation by adopting a formula method: nx (X-Ox) + Ny (Y-Oy) + Nz (Z-Oz) = 0.
The method for determining the target cutting area comprises the following steps: and traversing any point coordinate point of the three-dimensional image, judging whether the plane equation value is more than 0, if so, keeping the pixel point, and obtaining a target cutting area.
The method has the advantages that the obtained cutting line is processed in the generated blank image sequence to obtain the target cutting area, so that the original three-dimensional image can be prevented from being damaged by directly performing cutting operation on the original three-dimensional image, the processing process of cutting the three-dimensional image is simplified, and the cutting precision is effectively improved; the method can be used for cutting any position of the three-dimensional medical image, is simple, and improves the user experience of simulated cutting; the medical image cutting device can expose a certain part of a three-dimensional medical image which is required to be observed in a focused mode by medical workers, is convenient and quick, and can cut any position of a 4D image.
Drawings
Fig. 1 is a flowchart of a three-dimensional medical image segmentation method according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a position relationship between a two-dimensional medical image sequence and a blank image sequence according to an embodiment of the present invention.
Fig. 3 and 4 are flowcharts of a three-dimensional medical image curve cutting method provided in embodiment 1 of the present invention.
Fig. 5 and fig. 6 are flowcharts of a three-dimensional medical image straight line cutting method provided in embodiment 2 of the present invention.
Fig. 7 and 8 are flowcharts of another three-dimensional medical image straight line cutting method provided in embodiment 3 of the present invention.
FIG. 9-1 and FIG. 9-2 are diagrams illustrating the effect of the curve cutting method for three-dimensional medical images according to the embodiment of the present invention.
FIG. 10-1 and FIG. 10-2 are diagrams illustrating the effect of the method for linear cutting of three-dimensional medical images according to the embodiment of the present invention.
Detailed Description
The invention is further illustrated below with reference to the accompanying drawings.
Example 1: a method for curve cutting a three-dimensional medical image as shown in fig. 1, the method for curve cutting a three-dimensional medical image comprises:
step S1, a cut line of a three-dimensional medical image generated from at least two sequences of two-dimensional medical images is acquired.
The three-dimensional medical image can be a plurality of organs of a human body, or can be a three-dimensional medical image of one organ of the human body; the two-dimensional medical image sequence comprises a plurality of original two-dimensional medical images which are sequentially arranged, wherein the original two-dimensional medical images can be CT image images, nuclear magnetic resonance image images or tissue slices and the like.
The cutting line is a trajectory line formed on the viewing plane by a mouse operation, indicating an area to be cut in the three-dimensional medical image.
Step S2, determining a target cutting region of the three-dimensional medical image to be cut according to the cutting line, as shown in fig. 3:
and step S11, generating a blank image sequence according to the two-dimensional medical image sequence.
The blank image sequence is independent of the two-dimensional medical image sequence, and the images in the blank image sequence correspond to the images in the two-dimensional medical image sequence one by one, as shown in fig. 2, the two-dimensional medical image sequence includes 40 two-dimensional medical nuclear magnetic resonance images which are sequentially arranged, the images are respectively from the head to the tail from the 1 st to the 40 th, the size of each two-dimensional medical image is 512 x 512, the pixel value range is (-1024-4096), correspondingly, the generated blank image sequence also includes 40 two-dimensional images, the images are respectively from the head to the tail from the 1 'to the 40' th, the size of each image is 512 x 512, the size and the arrangement sequence of the images in the blank image sequence are the same as those of the two-dimensional medical image sequence, and the pixel value of the pixel in each blank image is 0.
Step S12, obtaining the two-dimensional coordinate point sequence (X1, Y1), (X2, Y2) … … (Xn, Yn) of the cutting line, and generating the corresponding three-dimensional coordinate point sequence (X1, Y1, Z1), (X2, Y2, Z2) … … (Xn, Yn, Zn) by a projection matrix transformation method.
Step S13, sequentially connecting the three-dimensional coordinate point sequences (Xn, Yn, Zn) end to form a closed area A, and generating an inner area P and an outer area Q of the closed area side line A by taking the closed area side line A as an area boundary;
step S14, extending the closed area side line A to the direction vertical to the visual plane to obtain a target cutting area; as shown in fig. 4, specifically:
step S141, generating a blank image according to the closed region edge A, and generating a closed region edge image A' on the blank image by a projection matrix transformation method; the blank image is a two-dimensional image which is consistent with the direction of a visual plane and is independent of an original image, and the pixel value is 0 or 1.
Step S142, rasterizing the closed region edge image a ', and setting different pixel values on the blank images of the inner region P and the outer region Q of the closed region edge image a', respectively, where in this embodiment, the pixel value of the inner region P is set to 1, and the pixel value of the outer region Q is set to 0; the rasterization refers to converting an image into an image formed by grids.
Step S143, determining the target cutting region, specifically as follows:
step S1431: judging whether the direction of a view plane of the blank image is respectively vertical to an X axis, a Y axis or a Z axis, if so, traversing the spatial pixel point coordinates of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, go to step S1432;
step S1432: traversing the space pixel point coordinates of the blank image sequence, and taking any point of the coordinate point to convert the three-dimensional coordinates of the point into the two-dimensional coordinates of the blank image by a projection matrix transformation method; assigning the pixel value corresponding to the two-dimensional coordinate to the pixel value of the corresponding point in the blank image sequence space;
step S1433: and if the calculation result is an original value, obtaining a target cutting image, and deleting the rest parts. Wherein the curve shown in fig. 9-1 is a cutting curve of the three-dimensional medical image, when the mouse clicks the inner region P of the curve as a reserved region, the outer region Q is deleted as shown in fig. 9-2.
The closed region mentioned in this embodiment may be any closed curve region, such as a region formed by one of regular or irregular circles, squares, or irregular random closed lines.
Example 2: the embodiment of the invention provides a three-dimensional medical image linear cutting method, as shown in fig. 1, the three-dimensional medical image linear cutting method comprises the following steps:
step S1, a cut line of a three-dimensional medical image generated from at least two sequences of two-dimensional medical images is acquired.
The three-dimensional medical image can be a plurality of organs of a human body, or can be a three-dimensional medical image of one organ of the human body; the two-dimensional medical image sequence comprises a plurality of original two-dimensional medical images which are sequentially arranged, and the original two-dimensional medical images can be CT image images, nuclear magnetic resonance image images or tissue slices.
The cutting line is a trajectory line formed on the viewing plane by mouse operation, indicating an area to be cut in the three-dimensional medical image.
Step S2, determining a target cutting area of the three-dimensional medical image to be cut according to the cutting line, as shown in fig. 5, specifically:
and step S21, generating a blank image sequence according to the two-dimensional medical image sequence.
The blank image sequence is independent of the two-dimensional medical image sequence, and the images in the blank image sequence correspond to the images in the two-dimensional medical image sequence one by one, as shown in fig. 2, the two-dimensional medical image sequence includes 40 two-dimensional medical CT images arranged in sequence, the number from the head to the tail is respectively from 1 to 40, the size of each two-dimensional medical image is 512 x 512, the pixel value range is (-1024-4096), correspondingly, the generated blank image sequence also includes 40 two-dimensional images, the number from the head to the tail is respectively from 1 'to 40', the size of each image is 512 x 512, the size and the arrangement sequence of the images in the blank image sequence are the same as those in the two-dimensional medical image sequence, and the pixel value of the pixel in each image is 0.
Step S22, obtaining the two-dimensional coordinate point sequence (X1, Y1), (X2, Y2) … … (Xn, Yn) of the cutting line, and generating the corresponding three-dimensional coordinate point sequence (X1, Y1, Z1), (X2, Y2, Z2) … … (Xn, Yn, Zn) by a projection matrix transformation method.
Step S23, sequentially connecting the three-dimensional coordinate point sequences (Xn, Yn, Zn) to form a three-dimensional space straight line B, and dividing the three-dimensional space straight line B into two side regions P 'and Q' with the three-dimensional space straight line B as a region boundary.
Step S24, determining a target cutting region according to the three-dimensional space straight line B, as shown in fig. 6, specifically as follows:
step S241: and distributing a blank image according to the three-dimensional space straight line B, and generating a three-dimensional space straight line image B' on the blank image by a projection transformation method.
Step S242: the start coordinates (X1, Y1, Z1) and end coordinates (X2, Y2, Z2) of the cut line three-dimensional coordinate point sequence are extended backward to the three-dimensional image boundary.
Step S243: rasterizing a three-dimensional space straight line image B ', and setting different pixel values on blank images on two sides of the three-dimensional space straight line B respectively, wherein in the embodiment, the pixel value of a left region P ' is set to be 1, and the pixel value of a right region Q ' is set to be 0.
Step S244: determining the target cutting area, wherein the specific method comprises the following steps:
step S2441: judging whether the direction of a view plane of the blank image is respectively vertical to an X axis, a Y axis or a Z axis, if so, traversing the spatial pixel point coordinates of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, go to step S2442;
step S2442: traversing the space pixel point coordinates of the blank image sequence, taking any point of the coordinate point, and converting the three-dimensional coordinates of the point into the two-dimensional coordinates of the blank image by a projection matrix transformation method; assigning the pixel value corresponding to the two-dimensional coordinate to the pixel value of the corresponding point in the blank image sequence space;
step S2443: and performing logic AND operation on the pixel value of the corresponding point of the target cutting area and the pixel value corresponding to the three-dimensional medical image if the calculation result is the original value to obtain the target cutting image, and deleting the rest parts. Wherein the straight line as in fig. 10-1 is a cutting straight line of the three-dimensional medical image, and when the right region P 'of the mouse click straight line is a reserved region, the left region Q' is deleted as shown in fig. 10-2.
Example 3: an embodiment of the present invention provides another three-dimensional medical image linear cutting method, as shown in fig. 1, the three-dimensional medical image linear cutting method includes:
step S1, a cut line of a three-dimensional medical image generated from at least two sequences of two-dimensional medical images is acquired.
The three-dimensional medical image can be a plurality of organs of a human body, or can be a three-dimensional medical image of one organ of the human body; the two-dimensional medical image sequence comprises a plurality of original two-dimensional medical images which are sequentially arranged, wherein the original two-dimensional medical images can be CT image images, nuclear magnetic resonance image images or tissue slices and the like.
The cutting line is a trajectory line formed on the viewing plane by mouse operation, indicating an area to be cut in the three-dimensional medical image.
Step S2, determining a target cutting region of the three-dimensional medical tissue slice image to be cut according to the cutting line, as shown in fig. 7:
step S31, obtaining a cutting line plane normal and an origin, where the plane normal is a vector perpendicular to the cutting plane, as shown in fig. 8:
step S311: two-dimensional coordinate points (X1, Y1), (X2, Y2) of the start point and the end point of the cutting line are acquired.
Step S312: the two-dimensional coordinate points (X1, Y1), (X2, Y2) are converted into three-dimensional coordinate points (X1, Y1, Z1), (X2, Y2, Z2) by an inverse transformation method of projection transformation.
Step S313: subtracting (X2-X1, Y2-Y1, Z2-Z1) the cutting line endpoint coordinate point and the start point coordinate point to obtain a vector V1 of the cutting line.
Step S314: and performing cross product operation through the cutting line vector V1 and the view plane normal vector V2 to obtain a cutting plane normal N, wherein the view plane normal vector V2 is acquired in a camera of the three-dimensional scene renderer.
Step S315: and taking the middle point of a connecting line of the three-dimensional coordinate starting point coordinate point (X1, Y1, Z1) and the end point coordinate point (X2, Y2, Z2) as the origin O of the cutting plane.
Step S32, determining a cutting line plane equation M by using a formula method through the plane normal and the origin: nx (X-Ox) + Ny (Y-Oy) + Nz (Z-Oz) = 0.
Step S33, determining the target cutting area, which comprises the following specific steps:
traversing any point coordinate point of the three-dimensional medical image, namely substituting the coordinate point into Nx (X-Ox) + Ny (Y-Oy) + Nz (Z-Oz) =0 in the formula of the step S32, judging whether the value of the plane equation M is greater than or equal to 0, if so, reserving the pixel point at the position, and reserving the area of the pixel point to be the target cutting area; the straight line shown in fig. 10-1 is a cutting straight line of the three-dimensional medical image, and when the right region P 'of the mouse click straight line is a reserved region, the left region Q' is deleted as shown in fig. 10-2.
In addition, the method disclosed in the above embodiment 1 and embodiment 2 can be used to perform 4D image segmentation, and perform logical and operation on the three-dimensional images of other phases and the pixel values of the corresponding points of the target segmentation region in sequence, so as to finally complete linear or curved segmentation on the 4D image; when the method disclosed by the embodiment 3 is adopted to cut the 4D image, whether the plane equation value of the cutting line corresponding to the three-dimensional images of other phases is larger than 0 is judged, if yes, the pixel points are reserved to obtain a target cutting area, and finally the linear cutting of the 4D image is completed; the 4D image is a concept of adding time to a three-dimensional image, that is, a dynamic stereoscopic image.
Claims (3)
1. A method for cutting a three-dimensional image is characterized by comprising the following steps:
acquiring cutting lines of three-dimensional images generated by at least two-dimensional image sequences;
determining a target cutting area of the three-dimensional image according to the cutting line;
wherein: the method for determining the target cutting area of the three-dimensional image according to the cutting line comprises the following steps:
step S11, generating a blank image sequence according to the two-dimensional image sequence;
s12, acquiring a two-dimensional coordinate point sequence of the cutting line, and converting to generate a three-dimensional coordinate point sequence;
step S13, sequentially connecting the three-dimensional coordinate point sequence end to form a closed area;
step S14, extending the closed area borderline to the direction vertical to the visual plane to obtain the target cutting area, including the following steps:
step S141: generating a blank image according to the closed region edge, and generating a closed region edge image on the blank image by a projection matrix transformation method;
step S142: rasterizing the closed region side line image, wherein different pixel values are respectively arranged on blank images of an internal region and an external region of the closed region side line image;
step S143: determining the target cutting area, comprising the steps of:
step S1431: judging whether the direction of the view plane of the blank image is respectively vertical to the X axis, the Y axis or the Z axis of the three-dimensional coordinate, if so, traversing the space pixel point coordinate of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, go to step S1432;
step S1432: traversing the space pixel point coordinates of the blank image sequence, taking any point from the space pixel point coordinates, and converting the three-dimensional coordinates of the point into two-dimensional coordinates of the blank image by a projection matrix transformation method; assigning the pixel value corresponding to the two-dimensional coordinate to the pixel value of the corresponding point of the blank image sequence;
step S1433: and if the calculation result is the original value, obtaining a target cutting image, and deleting the rest parts.
2. The method for cutting a three-dimensional image according to claim 1, wherein the step of determining the target cutting region of the three-dimensional image according to the cutting line comprises the steps of:
step S21, generating a blank image sequence according to the two-dimensional image sequence;
s22, acquiring a two-dimensional coordinate point sequence of the cutting line, and converting to generate a three-dimensional coordinate point sequence;
step S23: sequentially connecting the three-dimensional coordinate point sequences to form a three-dimensional space straight line;
step S24: determining a target cutting area according to the three-dimensional space straight line, comprising the following steps:
step S241: distributing a blank image according to the three-dimensional space straight line, and generating a three-dimensional space straight line image on the blank image by a projection transformation method;
step S242: reversely extending to the three-dimensional image boundary according to the starting point coordinate and the end point coordinate of the cutting line three-dimensional coordinate point sequence;
step S243: rasterizing the three-dimensional space straight line image, wherein blank images on two sides of the three-dimensional space straight line are respectively provided with different pixel values;
step S244: determining the target cutting area, comprising the steps of:
step S2441: judging whether the direction of the view plane of the blank image is respectively vertical to the X axis, the Y axis or the Z axis of the three-dimensional coordinate, if so, traversing the space pixel point coordinate of the blank image sequence, and copying the pixel value of the point on the blank image to the pixel value of the point on the blank image sequence; if not, go to step S2442;
step S2442: traversing the space pixel point coordinates of the blank image sequence, taking any point from the space pixel point coordinates, and converting the three-dimensional coordinates of the point into two-dimensional coordinates of the blank image by a projection matrix transformation method; assigning the pixel value corresponding to the two-dimensional coordinate to the pixel value of the corresponding point of the blank image sequence;
step S2443: and performing logical AND operation on the pixel value of the corresponding point of the blank image sequence and the pixel value corresponding to the three-dimensional image if the calculation result is the original value to obtain a target cutting image, and deleting the rest parts.
3. The method for cutting a three-dimensional image according to any one of claims 1 or 2, wherein the size and arrangement order of the images in the blank image sequence are the same as those in the two-dimensional image sequence, and the pixel value of the pixel in each blank image is 0.
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