CN108648170B - Blood vessel path determining method, device, terminal and storage medium - Google Patents

Blood vessel path determining method, device, terminal and storage medium Download PDF

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CN108648170B
CN108648170B CN201810283583.1A CN201810283583A CN108648170B CN 108648170 B CN108648170 B CN 108648170B CN 201810283583 A CN201810283583 A CN 201810283583A CN 108648170 B CN108648170 B CN 108648170B
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吴乙荣
陈永健
朱玲
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Qingdao Hisense Medical Equipment Co Ltd
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Abstract

The application discloses a blood vessel path determining method, a blood vessel path determining device, a terminal and a storage medium, and belongs to the field of image processing. The blood vessel path determining method comprises the following steps: obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point among pixel points positioned at the edge of the interested area; acquiring the tangential direction of a second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity graph function to obtain a minimum activity graph function from the first predetermined point to the second predetermined point, and solving the minimum activity graph function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point; and if the second predetermined point is the end point, merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path. The method and the device for determining the blood vessel path from the DR image accurately achieve the effect of improving the medical efficiency.

Description

Blood vessel path determining method, device, terminal and storage medium
Technical Field
The present application relates to the field of image processing, and in particular, to a method, an apparatus, a terminal, and a storage medium for determining a blood vessel path.
Background
At present, many people neglect the problem of eating habits, cause excessive lipid and alcohol in the diet, do not have reasonable movement to promote the metabolism, and are easy to cause cardiovascular and cerebrovascular diseases, so a large number of patients with cardiovascular and cerebrovascular diseases appear.
Due to the fact that medical resource distribution is unreasonable, certain hospitals are full of patients, and if medical efficiency is not improved, the patients cannot be detected and treated timely, so that digital medical treatment comes to life, and diagnosis and treatment efficiency of the hospitals can be effectively improved through implementation of the digital medical treatment.
In Digital medical equipment, a direct Digital Radiography (DR) system is considered to have a high diagnostic value for cardiovascular and cerebrovascular diseases, and the rapid and accurate determination of a blood vessel path from a DR image has important significance for improving medical efficiency.
Disclosure of Invention
In order to solve the problem that the speed and accuracy of a method for determining a blood vessel path from a DR image in the related art are poor, embodiments of the present application provide a blood vessel path determining method, apparatus, terminal and storage medium. The technical scheme is as follows:
in a first aspect, a method for determining a blood vessel path is provided, the method comprising:
step a, acquiring a starting point and an ending point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
step b, obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point from pixel points positioned at the edge of the interested area;
step c, acquiring a tangential direction of the second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity map function to obtain a minimum activity map function from the first predetermined point to the second predetermined point, and solving the minimum activity map function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point;
step d, if the second predetermined point is not the end point, setting the second predetermined point as a first predetermined point, and turning to execute the step b; merging the minimum paths solved by all minimum activity map functions into the vessel path if the second predetermined point is the end point.
In a second aspect, there is provided a vessel path determination apparatus, the apparatus comprising:
the acquisition module is used for acquiring a starting point and an end point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
the determining module is used for obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point from pixel points positioned at the edge of the interested area;
the first solving module is used for obtaining the tangential direction of the second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity map function to obtain the minimum activity map function from the first predetermined point to the second predetermined point, and solving the minimum activity map function from the first predetermined point to the second predetermined point to obtain the minimum path from the first predetermined point to the second predetermined point;
the determining module is further configured to set the second predetermined point as a first predetermined point if the second predetermined point is not the end point, obtain an interested area according to a preset spherical radius with the first predetermined point as a spherical center, and determine a pixel point with the smallest potential energy function value among pixel points located at an edge of the interested area as the second predetermined point;
and the second solving module is used for merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path if the second predetermined point is the end point.
In a third aspect, there is provided a terminal comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the vessel path determination method according to the first aspect.
In a fourth aspect, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, which is loaded and executed by a processor to implement the vessel path determination method according to the first aspect.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
in determining the vessel path between the first predetermined point and the second predetermined point, taking into account a tangential direction of the second predetermined point on the vessel path; the trend of the blood vessel path can be calculated more accurately by considering the tangential direction, so that the problem of poor accuracy of the method for determining the blood vessel path from the DR image in the related art is solved, the blood vessel path can be determined accurately from the DR image, and the effect of improving the medical efficiency is achieved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1A illustrates a method flow diagram of a vessel path determination method provided by an embodiment of the present application;
FIG. 1B illustrates a schematic diagram of a DR image provided by one embodiment of the present application;
FIG. 1C shows a schematic view of a vascular path provided by one embodiment of the present application;
FIG. 1D shows a smoothness comparison schematic of a vascular pathway provided by one embodiment of the present application;
FIG. 2A illustrates a method flow diagram of a vessel path determination method provided by one embodiment of the present application;
FIG. 2B illustrates a block diagram provided by an embodiment of the present application
Figure BDA0001615394840000031
A path schematic diagram of the contour lines;
fig. 3 is a block diagram showing the structure of a blood vessel path determination apparatus provided in an embodiment of the present application;
fig. 4 shows a block diagram of a terminal 400 according to an exemplary embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
In the embodiment of the application, the vessel path determining method is provided, and the trend of the vessel path can be calculated more accurately by considering the tangential direction, so that the problem of poor accuracy of the method for determining the vessel path from the DR image in the related art is solved, the vessel path can be determined from the DR image accurately, and the effect of improving the medical efficiency is achieved. The embodiments of the present application will be described in further detail below based on the common aspects related to the embodiments of the present application described above.
Example 1
Referring to fig. 1A, a method flowchart of a blood vessel path determining method according to an embodiment of the present application is shown. The blood vessel path determination method may include the steps of:
step 101, acquiring a starting point and an end point of a blood vessel path in a DR image, and setting the starting point as a first predetermined point.
The start and end points of the blood vessel path in the DR image are given by the user.
And 102, obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point among pixel points positioned at the edge of the interested area.
Please refer to fig. 1B, which illustrates a schematic diagram of a DR image according to an embodiment of the present application. In the DR image, since the color of the blood vessel path is black, the grayscale value is low; the background image is gray and has a high gray value, so that the pixel point with the minimum potential energy function value among the pixel points positioned at the edge of the interested region has a high probability on the blood vessel path.
Referring to fig. 1C, a schematic diagram of a vascular path provided by an embodiment of the present application is shown. At starting point xstartThe end point is xendOn the vascular path of (1), in xstartObtaining a region of interest Y1 according to a preset sphere radius R _ ROI as a circle center, and in the region of interest Y1, selecting a pixel point x with the minimum potential energy function value from pixel points at the edge of the region of interest Y11Determined as the second predetermined point.
It should be noted that the minimum activity diagram function of a pixel point is positively correlated with the potential energy function value of the pixel point, and the minimum activity diagram function value of the pixel point is calculated byThe pixel point with the minimum potential energy function value is the pixel point with the minimum activity graph function, so that the pixel point x1 with the minimum potential energy function value in the pixel points at the edge of the interested area Y1 can be replaced by: the pixel point x with the minimum activity graph function is the pixel point x located at the edge of the interested region Y11Determined as the second predetermined point.
The minimum activity graph function of a pixel point represents the minimum path accumulated energy from the starting point to the pixel point.
Step 103, obtaining a tangential direction of the second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity graph function to obtain a minimum activity graph function from the first predetermined point to the second predetermined point, and solving the minimum activity graph function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point.
After the second predetermined point is obtained, backtracking from the second predetermined point to the first predetermined point in the direction of the starting point is carried out, and then the minimum path from the first predetermined point to the second predetermined point is obtained.
The preset minimum activity diagram function is obtained by deducing an energy minimization model, wherein the energy minimization model is shown in a formula (1):
E(C)＝∫Ωp (C (s)) ds formula (1)
Where s is the arc length parameter on curve C and P is the potential energy function associated with the image.
The preset minimum activity graph function from the first predetermined point to the arbitrary point p is shown by equation (2):
Figure BDA0001615394840000051
wherein the content of the first and second substances,
Figure BDA0001615394840000052
is x1All paths to point p, minimum activity graph
Figure BDA0001615394840000053
The value at point p is the minimum energy integrated along the path from x1 to point p.
Substituting the tangential direction into the formula (2) to obtain the value x1Minimum energy integrated along the path to point p
Figure BDA0001615394840000054
Wherein the content of the first and second substances,
Figure BDA0001615394840000055
wherein s is an arc length parameter of a path between a first predetermined point and a second predetermined point, P is a preset potential energy function,
Figure BDA0001615394840000056
is a path between a first predetermined point and a second predetermined point,
Figure BDA0001615394840000057
the minimum energy resulting from the integration of the path from the first predetermined point to the second predetermined point.
For the smoothness of the vessel path, the tangential direction of the second predetermined point on the vessel path is substituted in the calculation of the potential energy function P. Optionally, the specific process of acquiring the tangential direction of the second predetermined point on the blood vessel path includes: and determining a third predetermined point and a fourth predetermined point which are less than the preset distance from the second predetermined point and less than the preset threshold value in gray scale value, and determining the tangential direction of the second predetermined point on the blood vessel path according to the third predetermined point and the fourth predetermined point.
Let x be1，m-1，x1，m-2Are respectively [ x ]1，x2]And a second predetermined point x on the interval2A third predetermined point and a fourth predetermined point having a distance therebetween smaller than the preset distance and a gray value smaller than the preset threshold, then the second predetermined point x2In the tangential direction of
Figure BDA0001615394840000058
Wherein m is [ x ]1，x2]The total number of points on the smallest path on the interval,
Figure BDA0001615394840000059
and
Figure BDA00016153948400000510
respectively, from a third predetermined point x2，m-1To a second predetermined point x2And from the fourth predetermined point x2，m-2To a second predetermined point x2The vector of (2). The calculation formula of the potential energy function p (x) is shown in formula (3):
Figure BDA00016153948400000511
wherein, grey is the gray value of all pixel points in the region of interest, meangreyIs the gray average value, T, of all pixel points in the region of interest1λ is a constant, k 1, n-1, which is the tangential direction of the second predetermined point on the vessel path.
Substituting the formula (3) into the formula (2), and
Figure BDA00016153948400000512
solving for the first predetermined point x1To a second predetermined point x2The smallest path of (c).
Referring to fig. 1D, a smoothness comparison diagram of a vascular pathway provided by one embodiment of the present application is shown. Among them, the vessel path determining method in fig. 1D (1) does not consider the tangential direction, and the vessel path determining method in fig. 1D (2) considers the tangential direction. Comparing fig. 1D (1) and 1D (2), the vascular path in fig. 1D (2) is smoother with fewer cusps than in fig. 1D (1). The local images at the position of '1' in fig. 1D (1) and fig. 1D (2) are respectively amplified to obtain fig. 1D (11) and fig. 1D (21), and the local images at the position of '2' in fig. 1D (1) and fig. 1D (2) are respectively amplified to obtain fig. 1D (12) and fig. 1D (22), as can be seen from comparing fig. 1D (11) and fig. 1D (21) with fig. 1D (12) and fig. 1D (22), the tangential direction is substituted into the potential energy function P, the calculated blood vessel path is more gradual, the number of cusps is less, and the characteristic that the blood vessel path is relatively smooth is met.
Step 104, if the second predetermined point is not the end point, the second predetermined point is set as the first predetermined point, and step 102 is executed.
After the minimum path from the first preset point to the second preset point is obtained, the second preset point is set as the first preset point, the region of interest is obtained continuously according to the preset spherical radius, the pixel point with the minimum potential energy function value is determined as the second preset point in the pixel points positioned at the edge of the region of interest, the tangential direction of the second preset point on the blood vessel path is obtained, the tangential direction is substituted into the preset minimum activity graph function, the minimum activity graph function from the first preset point to the second preset point is obtained, the minimum activity graph function from the first preset point to the second preset point is solved, the minimum path from the first preset point to the second preset point is obtained, and the minimum path from the first preset point to the second preset point is obtained until the second preset point is the end point.
And 105, if the second predetermined point is the end point, merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path.
If the second predetermined point is the end point, it means that the terminal has completed the calculation of all the minimum paths from the start point to the end point, and the calculated minimum paths are combined to obtain the blood vessel path from the start point to the end point.
Finally, the pixel value of each pixel point passed by the blood vessel path is changed to the same preset value (for example, the pixel value is changed to 1), and the segmentation of the blood vessel path in the DR image is completed.
Still referring to FIG. 1C, in obtaining xstartTo x1After the minimum path, x is determined from the coordinates1Whether it is the end point xendIf x is1Not being the end point xendThen with x1As the center of a circle, in the region of interest with the preset spherical radius, the pixel point x with the minimum potential energy function value2Determining as the second predetermined point, and continuing to acquire x1To x2Until x is obtainedn-1To xendUntil the minimum path of (c).
In summary, the method provided by the embodiment of the present application considers the tangential direction of the second predetermined point on the blood vessel path in the process of determining the blood vessel path between the first predetermined point and the second predetermined point; the trend of the blood vessel path can be calculated more accurately by considering the tangential direction, so that the problem of poor accuracy of the method for determining the blood vessel path from the DR image in the related art is solved, the blood vessel path can be determined accurately from the DR image, and the effect of improving the medical efficiency is achieved.
It should be noted that, without limiting the specific length of the preset spherical radius, the second predetermined point determined in step 102 may or may not be an end point.
When the second predetermined point is the end point, it is described that the region of interest obtained by presetting the spherical radius includes the end point, that is, there is no iterative process in the calculation of the minimum path; when the second predetermined point is the end point, it indicates that the region of interest obtained by presetting the spherical radius does not include the end point, that is, the blood vessel path in the region of interest is smaller than the blood vessel path between the start point and the end point, and there is an iterative process in the calculation of the minimum path.
In practical application, the calculation time corresponding to the process of calculating the minimum path without iteration and the process with iteration is shown in table 1:
Figure BDA0001615394840000071
TABLE 1
As can be seen from table 1, the calculation time corresponding to the minimum path method in which the iterative process exists is significantly shorter than the calculation time corresponding to the minimum path method in which the iterative process does not exist. Particularly, in a three-dimensional image, the calculation time corresponding to the minimum path method without an iterative process is long. Since the blood vessel path in the region of interest obtained according to the preset spherical radius is smaller than the blood vessel path between the starting point and the ending point when the preset spherical radius is smaller than the distance between the starting point and the ending point, it is preferable that the preset spherical radius in step 102 is smaller than xstartTo xendThe distance between them.
Example 2
In a possible implementation, since the starting point and the end point of the blood vessel path are given by the user, the starting point or the end point selected by the user may not be on the blood vessel path due to noise of the image and subjective factors, and therefore the starting point to be given to the user needs to be corrected to the center point of the blood vessel. Referring to fig. 2A, a flowchart of a method of determining a blood vessel path according to an embodiment of the present application is shown. The blood vessel path determination method may include the steps of:
in step 201, a starting point and an ending point of a blood vessel path in a DR image are obtained.
Step 202, taking the starting point as a sphere center, obtaining a predetermined area according to a preset sphere radius, determining a point with the lowest gray value in the predetermined area, and determining the point with the lowest gray value as the starting point.
And step 203, taking the end point as a sphere center, obtaining a preset area according to a preset sphere radius, determining a point with the lowest gray value in the preset area, and determining the point with the lowest gray value as the end point.
Still referring to fig. 1B, since the gray-scale value of the blood vessel is lower than that of the background, but is affected by noise of the image and subjective factors, the starting point or the ending point selected by the user may not be on the path of the blood vessel, and thus, after the user selects the starting point or the ending point, the starting point and the ending point may be corrected.
With the starting point as xstartThe end point is xendFor example, the predetermined sphere radius is R _ initial when x is givenstartFor the center of sphere, obtaining the point x with the lowest gray value in the preset area according to R _ initialmaxWhen x is greater than xstartChange the coordinate of (2) to xmaxThe coordinates of (a). For xendThe same correction as above.
In step 204, the starting point is set to a first predetermined point.
And step 205, obtaining the region of interest according to the preset sphere radius by taking the first predetermined point as the sphere center, and determining the pixel point with the minimum potential energy function value as a second predetermined point among the pixel points positioned at the edge of the region of interest.
And step 206, acquiring a tangential direction of the second predetermined point on the blood vessel path, and substituting the tangential direction into the preset potential energy function to obtain the potential energy function from the first predetermined point to the second predetermined point.
The calculation formula of the potential energy function P may be expressed by formula (4) in addition to formula (3):
Figure BDA0001615394840000081
wherein, grey is the gray value of all pixel points in the region of interest, meangreyIs the gray average value of all pixel points in the region of interest, lambda is a constant, T1For the tangent direction of the second predetermined point on the blood vessel path, angle ═ a × T1+b*dkIs a point x1In the tangential direction, a and b are normal numbers, dk＝xend-xk，k＝1，...，n-1。
Since the formula (4) relates to the tangential direction and dkThe smaller the value of P of the pixel point in the blood vessel path direction is, the higher the propagation speed of the wave surface in the blood vessel direction is, and therefore, the smoothness of the determined blood vessel is effectively ensured.
And step 207, substituting the potential energy function from the first preset point to the second preset point into the preset minimum activity graph function to obtain the minimum activity graph function from the first preset point to the second preset point.
After Eikonal equation is solved for formula (2), the minimum activity diagram can be obtained
Figure BDA0001615394840000082
Where P is the potential energy function (inverse of the wave-front outward propagation velocity) associated with the image:
Figure BDA0001615394840000091
preferably, since the spherical radius of each region of interest is equal, the length of the vessel path in each region of interest can be considered equal, i.e. let
Figure BDA0001615394840000092
And D is a matrix with the same size as the image, and each element in D represents the path length of each pixel point from the starting point.
And step 208, solving the minimum activity graph according to the steepest descent method to obtain a minimum path from the first predetermined point to the second predetermined point.
Refer to FIG. 2B, which illustrates an embodiment of the present application
Figure BDA0001615394840000093
Path schematic of contour lines. In combination with the formula (2), since
Figure BDA0001615394840000094
Is from xstartTo xendIs incremented and includes a global minimum xstartThus, a maximum of x can be obtained along the steepest descent directionendTo xstartSo that the following equation is solved by the steepest descent method to complete xendTo xstartThe backtracking process comprises the following steps:
Figure BDA0001615394840000095
C(0)＝xend。
from this, it can be derived that the following equation is solved by the steepest descent method, and the minimum path from the first predetermined point to the second predetermined point is obtained:
Figure BDA0001615394840000096
C(0)＝x2。
step 209, if the second predetermined point is not the end point, set the second predetermined point as the first predetermined point, and proceed to step 205.
And step 210, if the second predetermined point is the end point, merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path.
It should be noted that step 201 is similar to step 101, step 205 is similar to step 102, and step 209 to step 210 are similar to step 104 to step 105 in this embodiment, so that steps 201, step 205, and step 209 to step 210 are not described again in this embodiment.
In summary, the method provided by the embodiment of the present application considers the tangential direction of the second predetermined point on the blood vessel path in the process of determining the blood vessel path between the first predetermined point and the second predetermined point; the trend of the blood vessel path can be calculated more accurately by considering the tangential direction, so that the problem of poor accuracy of the method for determining the blood vessel path from the DR image in the related art is solved, the blood vessel path can be determined accurately from the DR image, and the effect of improving the medical efficiency is achieved.
In this embodiment, since the starting point and the ending point of the blood vessel path are given by the user, and the starting point or the ending point selected by the user may not be on the blood vessel path due to the influence of noise of the image and subjective factors, the starting point to be given by the user needs to be corrected to the center point of the blood vessel.
In embodiment 1 and embodiment 2 of the present application, the termination condition of the minimum path calculation is the propagation of a wave to the end point. In a possible implementation manner, when the terminal acquires only the starting point and the initial direction of the blood vessel path, if the blood vessel path is to be determined, the termination condition of the minimum path calculation needs to be adjusted. Namely in combining equations (3) and
Figure BDA0001615394840000101
calculating a first predetermined point x1To a second predetermined point x2Is followed by a second predetermined point x2And if the average gray level of the pixels in the cut-off area is smaller than the blood vessel gray level threshold value, finishing the calculation of the minimum path.
The calculation formula of the average gray level of the pixels in the cut-off region is shown as formula (5):
Figure BDA0001615394840000102
wherein the content of the first and second substances,
Figure BDA0001615394840000103
is given by xiIs the center of a sphere riA radius cutoff area, grey (x) xiGray value of pixel at point, meangreyIndicates the cut-off region
Figure BDA0001615394840000104
Average gray scale of inner pixels.
Optionally, the blood vessel gray threshold value grey is calculated according to the gray values of the blood vessel and the backgroundthreshold. Mean ofgrey＜greythresholdAnd when so, ending the calculation of the minimum path.
The following are embodiments of the apparatus of the present application, and for details not described in detail in the embodiments of the apparatus, reference may be made to the above-mentioned one-to-one corresponding method embodiments.
Referring to fig. 3, fig. 3 is a block diagram illustrating a structure of a blood vessel path determining apparatus according to an embodiment of the present application. The blood vessel path determining method comprises the following steps: an acquisition module 301, a determination module 302, a first solving module 303, and a second solving module 304.
An obtaining module 301, configured to obtain a starting point and an ending point of a blood vessel path in an electronic computed tomography (ct) Digital Radiography (DR) image, and set the starting point as a first predetermined point;
the determining module 302 is configured to obtain an area of interest according to a preset spherical radius by taking the first predetermined point as a spherical center, and determine, as a second predetermined point, a pixel point located at an edge of the area of interest, where a potential energy function takes a minimum value;
the first solving module 303 is configured to obtain a tangential direction of the second predetermined point on the blood vessel path, obtain a minimum activity map function from the first predetermined point to the second predetermined point after substituting the tangential direction into a preset minimum activity map function, and solve the minimum activity map function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point;
the determining module 302 is further configured to set the second predetermined point as the first predetermined point if the second predetermined point is not the end point, obtain the region of interest according to the preset spherical radius with the first predetermined point as the spherical center, and determine, among the pixel points located at the edge of the region of interest, the pixel point with the smallest potential energy function value as the second predetermined point;
a second solving module 304, configured to merge the minimum paths solved by all the minimum activity map functions into a blood vessel path if the second predetermined point is the end point.
In a possible implementation manner, the first solving module 303 is further configured to determine a third predetermined point and a fourth predetermined point, where a distance between the third predetermined point and the second predetermined point is smaller than a preset distance and a gray value of the third predetermined point is smaller than a preset threshold, and determine a tangential direction of the second predetermined point on the blood vessel path according to the third predetermined point and the fourth predetermined point.
In one possible implementation, the first solving module 303 includes: a first calculation unit and a second calculation unit.
The first calculation unit is used for substituting the tangential direction into a preset potential energy function to obtain a potential energy function from a first preset point to a second preset point;
the second calculation unit is used for substituting the potential energy function from the first preset point to the second preset point into the preset minimum activity graph function to obtain the minimum activity graph function from the first preset point to the second preset point;
wherein the preset potential energy function is as follows:
Figure BDA0001615394840000111
the preset minimum activity graph function is as follows:
Figure BDA0001615394840000112
the minimum activity graph function from the first predetermined point to the second predetermined point is:
Figure BDA0001615394840000113
wherein, grey is the gray value of all pixel points in the region of interest, meangreyIs the gray average value of all pixel points in the region of interest, lambda is a constant, T1Is the tangential direction of the second predetermined point on the blood vessel path, s is the arc length parameter of the path between the first predetermined point and the second predetermined point, P (x) is a preset potential energy function,
Figure BDA0001615394840000114
is a path between a first predetermined point and a second predetermined point,
Figure BDA0001615394840000115
the minimum energy resulting from the integration of the path from the first predetermined point to the second predetermined point.
In a possible implementation manner, the first solving module 303 is further configured to solve the minimum activity graph according to a steepest descent method to obtain a minimum path from the first predetermined point to the second predetermined point.
In one possible implementation, the apparatus further includes: the device comprises a first determination module and a second determination module.
The first determining module is used for obtaining a preset area according to a preset spherical radius by taking the starting point as a spherical center after the starting point and the end point of the blood vessel path in the DR image are obtained; determining a point with the lowest gray value in a preset area, and determining the point with the lowest gray value as a starting point;
the second determining module is used for obtaining a preset area according to a preset spherical radius by taking the end point as a spherical center; and determining a point with the lowest gray value in the preset area, and determining the point with the lowest gray value as an end point.
In summary, the device provided in the embodiment of the present application considers the tangential direction of the second predetermined point on the blood vessel path in the process of determining the blood vessel path between the first predetermined point and the second predetermined point; the trend of the blood vessel path can be calculated more accurately by considering the tangential direction, so that the problem of poor accuracy of the method for determining the blood vessel path from the DR image in the related art is solved, the blood vessel path can be determined accurately from the DR image, and the effect of improving the medical efficiency is achieved.
In this embodiment, since the starting point and the ending point of the blood vessel path are given by the user, and the starting point or the ending point selected by the user may not be on the blood vessel path due to the influence of noise of the image and subjective factors, the starting point to be given by the user needs to be corrected to the center point of the blood vessel.
It should be noted that: the blood vessel path determining apparatus provided in the above embodiment is only illustrated by the division of the above functional modules when determining the blood vessel path, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the terminal is divided into different functional modules to complete all or part of the above described functions. In addition, the blood vessel path determining apparatus provided in the above embodiment and the blood vessel path determining method embodiment belong to the same concept, and specific implementation processes thereof are described in the method embodiment and are not described herein again.
An exemplary embodiment of the present application provides a terminal, which can implement the blood vessel path determining method provided by the present application, and the terminal includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step a, acquiring a starting point and an end point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
step b, obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point among pixel points positioned at the edge of the interested area;
step c, acquiring the tangential direction of a second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity graph function to obtain the minimum activity graph function from the first predetermined point to the second predetermined point, and solving the minimum activity graph function from the first predetermined point to the second predetermined point to obtain the minimum path from the first predetermined point to the second predetermined point;
d, if the second preset point is not the end point, setting the second preset point as the first preset point, and turning to execute the step b; and if the second predetermined point is the end point, merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path.
An exemplary embodiment of the present invention provides a computer-readable storage medium, which when executed by a processor performs the steps of:
step a, acquiring a starting point and an end point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
step b, obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point among pixel points positioned at the edge of the interested area;
step c, acquiring the tangential direction of a second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity graph function to obtain the minimum activity graph function from the first predetermined point to the second predetermined point, and solving the minimum activity graph function from the first predetermined point to the second predetermined point to obtain the minimum path from the first predetermined point to the second predetermined point;
d, if the second preset point is not the end point, setting the second preset point as the first preset point, and turning to execute the step b; and if the second predetermined point is the end point, merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path.
Fig. 4 shows a block diagram of a terminal 400 according to an exemplary embodiment of the present application. The terminal 400 may be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and the like.
Generally, the terminal 400 includes: a processor 401 and a memory 402.
Processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 401 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 401 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 401 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed by the display screen.
Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 402 is used to store at least one instruction for execution by processor 401 to implement the abnormal data reporting method provided by the method embodiments herein.
In some embodiments, the terminal 400 may further optionally include: a peripheral interface 403 and at least one peripheral. The processor 401, memory 402 and peripheral interface 403 may be connected by bus or signal lines. Each peripheral may be connected to the peripheral interface 403 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 404, touch screen display 405, camera 406, audio circuitry 407, positioning components 408, and power supply 409.
The peripheral interface 403 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 401 and the memory 402. In some embodiments, processor 401, memory 402, and peripheral interface 403 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 401, the memory 402 and the peripheral interface 403 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.
The Radio Frequency circuit 404 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 404 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 404 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 404 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 404 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 404 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 405 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 405 is a touch display screen, the display screen 405 also has the ability to capture touch signals on or over the surface of the display screen 405. The touch signal may be input to the processor 401 as a control signal for processing. At this point, the display screen 405 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 405 may be one, providing the front panel of the terminal 400; in other embodiments, the display screen 405 may be at least two, respectively disposed on different surfaces of the terminal 400 or in a folded design; in still other embodiments, the display 405 may be a flexible display disposed on a curved surface or a folded surface of the terminal 400. Even further, the display screen 405 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display screen 405 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The camera assembly 406 is used to capture images or video. Optionally, camera assembly 406 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal.
The audio circuit 407 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 401 for processing, or inputting the electric signals to the radio frequency circuit 404 for realizing voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different portions of the terminal 400. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 401 or the radio frequency circuit 404 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 407 may also include a headphone jack.
The power supply 408 is used to power various components in the terminal 400. Power source 408 can be alternating current, direct current, disposable batteries, or rechargeable batteries. When power source 408 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the terminal 400 also includes one or more sensors 409. The one or more sensors 409 include, but are not limited to: acceleration sensor 410, gyro sensor 411, pressure sensor 412, fingerprint sensor 413, optical sensor 414 and proximity sensor 415.
The acceleration sensor 410 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the terminal 400. For example, the acceleration sensor 410 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 401 may control the touch display screen 405 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 410. The acceleration sensor 410 may also be used for game or user motion data acquisition.
The gyro sensor 411 may detect a body direction and a rotation angle of the terminal 400, and the gyro sensor 411 may cooperate with the acceleration sensor 410 to acquire a 3D motion of the user with respect to the terminal 400. From the data collected by the gyro sensor 411, the processor 401 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
The pressure sensors 412 may be disposed on the side bezel of the terminal 400 and/or on the lower layer of the touch screen display 405. When the pressure sensor 412 is disposed on the side frame of the terminal 400, the holding signal of the user to the terminal 400 can be detected, and the processor 401 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 412. When the pressure sensor 412 is disposed at the lower layer of the touch display screen 405, the processor 401 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 405. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 413 is configured to collect a fingerprint of the user, and the processor 401 identifies the user according to the fingerprint collected by the fingerprint sensor 414, or the fingerprint sensor 413 identifies the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, processor 401 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 413 may be provided at the front, rear, or side of the terminal 400. When a physical button or a vendor Logo is provided on the terminal 400, the fingerprint sensor 413 may be integrated with the physical button or the vendor Logo.
The optical sensor 414 is used to collect the ambient light intensity. In one embodiment, the processor 401 may control the display brightness of the touch display screen 405 based on the ambient light intensity collected by the optical sensor 414. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 405 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 405 is turned down. In another embodiment, processor 401 may also dynamically adjust the shooting parameters of camera head assembly 406 based on the ambient light intensity collected by optical sensor 414.
A proximity sensor 415, also referred to as a distance sensor, is typically disposed on the front panel of the terminal 400. The proximity sensor 415 is used to collect the distance between the user and the front surface of the terminal 400. In one embodiment, when the proximity sensor 415 detects that the distance between the user and the front surface of the terminal 400 gradually decreases, the processor 401 controls the touch display screen 405 to switch from the bright screen state to the dark screen state; when the proximity sensor 415 detects that the distance between the user and the front surface of the terminal 400 gradually becomes larger, the processor 401 controls the touch display screen 405 to switch from the breath screen state to the bright screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 4 is not intended to be limiting of terminal 400 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A method of vessel path determination, the method comprising:
step a, acquiring a starting point and an ending point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
step b, obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point among pixel points positioned at the edge of the interested area, wherein the potential energy function is used for determining the potential energy of any pixel point at the edge of the interested area;
step c, acquiring a tangential direction of the second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity map function to obtain a minimum activity map function from the first predetermined point to the second predetermined point, and solving the minimum activity map function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point;
step d, if the second predetermined point is not the end point, setting the second predetermined point as a first predetermined point, and turning to execute the step b; merging the minimum paths solved by all minimum activity map functions into the vessel path if the second predetermined point is the end point.
2. The method of claim 1, wherein said obtaining a tangential direction of said second predetermined point on said vessel path comprises:
and determining a third predetermined point and a fourth predetermined point which are less than a preset distance from the second predetermined point and less than a preset threshold in gray scale value, and determining the tangent direction of the second predetermined point on the blood vessel path according to the third predetermined point and the fourth predetermined point.
3. The method of claim 1, wherein substituting the tangential direction into a preset minimum activity map function comprises:
substituting the tangential direction into a preset potential energy function to obtain a potential energy function from the first preset point to the second preset point;
substituting the potential energy function from the first preset point to the second preset point into the preset minimum activity graph function to obtain the minimum activity graph function from the first preset point to the second preset point;
wherein the preset potential energy function is:
Figure FDA0002593012480000011
the preset minimum activity graph function is as follows:
Figure FDA0002593012480000021
the minimum activity graph function from the first predetermined point to the second predetermined point is:
Figure FDA0002593012480000022
wherein, the grey is the gray value of all pixel points in the region of interest, and the mean isgreyThe gray level average value of all pixel points in the region of interest is shown, wherein lambda is a constant, beta is a constant, and T is1Is a tangential direction of the second predetermined point on the vascular path, the x1Is the first predetermined point, the x2Is the second predetermined point, the xkIs the k-th predetermined point, n is a natural number greater than 1, Ω is P (x) and x1Is the lower limit of2An integral interval of an upper limit, wherein p is any point on the blood vessel path, x is any point in Ω, and θ is a unit vector of the tangential direction, x and xkAngle of unit vector of connecting line, angleS is an arc length parameter of a path between the first predetermined point and the second predetermined point, P (x) is the preset potential energy function, and
Figure FDA0002593012480000023
for a path between said first predetermined point and said second predetermined point, said
Figure FDA0002593012480000024
The minimum energy resulting from the integration of the path extending from the first predetermined point to the second predetermined point.
4. The method of claim 1, wherein solving the minimum activity map function from the first predetermined point to the second predetermined point to obtain a minimum path from the first predetermined point to the second predetermined point comprises:
and solving the minimum activity graph function according to a steepest descent method to obtain a minimum path from the first predetermined point to the second predetermined point.
5. The method according to any of claims 1-4, wherein after acquiring the start and end points of the vessel path in the electron-computed tomography digital radiography DR image, the method further comprises:
obtaining a preset area according to a preset spherical radius by taking the starting point as a spherical center; determining a point with the lowest gray value in the preset area, and determining the point with the lowest gray value as a starting point;
obtaining a preset area according to a preset spherical radius by taking the end point as a spherical center; and determining a point with the lowest gray value in the preset area, and determining the point with the lowest gray value as an end point.
6. A blood vessel path determination apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring a starting point and an end point of a blood vessel path in an electronic computed tomography Digital Radiography (DR) image, and setting the starting point as a first preset point;
the determining module is used for obtaining an interested area according to a preset spherical radius by taking the first predetermined point as a spherical center, and determining a pixel point with the minimum potential energy function value as a second predetermined point from pixel points positioned at the edge of the interested area, wherein the potential energy function is used for determining the potential energy of any pixel point at the edge of the interested area;
the first solving module is used for obtaining the tangential direction of the second predetermined point on the blood vessel path, substituting the tangential direction into a preset minimum activity map function to obtain the minimum activity map function from the first predetermined point to the second predetermined point, and solving the minimum activity map function from the first predetermined point to the second predetermined point to obtain the minimum path from the first predetermined point to the second predetermined point;
the determining module is further configured to set the second predetermined point as a first predetermined point if the second predetermined point is not the end point, obtain an interested area according to a preset spherical radius with the first predetermined point as a spherical center, and determine a pixel point with the smallest potential energy function value among pixel points located at an edge of the interested area as the second predetermined point;
and the second solving module is used for merging the minimum paths obtained by solving all the minimum activity map functions into the blood vessel path if the second predetermined point is the end point.
7. The apparatus according to claim 6, wherein the first solving module is further configured to determine a third predetermined point and a fourth predetermined point which are separated from the second predetermined point by a distance smaller than a preset distance and have a gray value smaller than a preset threshold, and determine a tangential direction of the second predetermined point on the blood vessel path according to the third predetermined point and the fourth predetermined point.
8. The apparatus of claim 6, wherein the first solving module comprises:
the first calculation unit is used for substituting the tangential direction into a preset potential energy function to obtain a potential energy function from the first preset point to the second preset point;
a second calculating unit, configured to substitute the potential energy function from the first predetermined point to the second predetermined point into the preset minimum activity map function to obtain a minimum activity map function from the first predetermined point to the second predetermined point;
wherein the preset potential energy function is:
Figure FDA0002593012480000031
the preset minimum activity graph function is as follows:
Figure FDA0002593012480000041
the minimum activity graph function from the first predetermined point to the second predetermined point is:
Figure FDA0002593012480000042
wherein, the grey is the gray value of all pixel points in the region of interest, and the mean isgreyThe gray level average value of all pixel points in the region of interest is shown, wherein lambda is a constant, beta is a constant, and T is1Is a tangential direction of the second predetermined point on the vascular path, the x1Is the first predetermined point, the x2Is the second predetermined point, the xkIs the k-th predetermined point, n is a natural number greater than 1, Ω is P (x) and x1Is the lower limit of2An integral interval of an upper limit, wherein p is any point on the blood vessel path, x is any point in Ω, and θ is a unit vector of the tangential direction, x and xkAn included angle of a unit vector of the connecting line, wherein s is a distance between the first predetermined point and the second predetermined pointAn arc length parameter of a path, said P (x) being said preset potential energy function, said
Figure FDA0002593012480000043
A path between the first predetermined point and the second predetermined point, the
Figure FDA0002593012480000044
The minimum energy resulting from the integration of the path extending from the first predetermined point to the second predetermined point.
9. A terminal, characterized in that it comprises a processor and a memory, in which at least one instruction, at least one program, a set of codes or a set of instructions is stored, which is loaded and executed by the processor to implement the steps of the vessel routing method according to any of claims 1-5.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to carry out the steps of the vessel routing method according to any one of claims 1 to 5.
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