CN111652919A - Method, device, computer equipment and storage medium for registering and positioning long axis and short axis based on left ventricle three-dimensional model - Google Patents

Method, device, computer equipment and storage medium for registering and positioning long axis and short axis based on left ventricle three-dimensional model Download PDF

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CN111652919A
CN111652919A CN202010630682.XA CN202010630682A CN111652919A CN 111652919 A CN111652919 A CN 111652919A CN 202010630682 A CN202010630682 A CN 202010630682A CN 111652919 A CN111652919 A CN 111652919A
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left ventricle
point
registered
point cloud
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姜文兵
夏永清
向建平
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Hangzhou Arteryflow Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30048—Heart; Cardiac

Abstract

The application relates to a method, a device, computer equipment and a storage medium for registering and positioning long and short axes based on a left ventricle three-dimensional model, wherein the method comprises the following steps: step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi(ii) a Step S200, calculating a point qiAnd point piThe minimum average distance between the two points is rigid body transformation, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation; step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d; step S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model according to the average distance d, and judging whether the left ventricle model to be registered is registered with the standard left ventricle model according to the standard left heartThe chamber model obtains the short axis and the long axis of the left ventricle model to be registered. By adopting the method, the automatic positioning of the long axis and the short axis of the left ventricle model to be registered can be realized, so that the positioning consistency and the positioning accuracy of the long axis and the short axis of the left ventricle model to be registered are ensured.

Description

Method, device, computer equipment and storage medium for registering and positioning long axis and short axis based on left ventricle three-dimensional model
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, a computer device, and a storage medium for registering and positioning a long axis and a short axis based on a left ventricle three-dimensional model.
Background
With the improvement of living standard of people, the incidence of heart diseases such as coronary heart disease, hypertensive heart disease, amyloidosis and the like is increased year by year. Cardiomyopathy is a group of heterogeneous myocardial diseases, in which the mechanical and electrical activity of the heart is abnormal due to different causes, manifested as inappropriate hypertrophy or dilation of the ventricles. Severe cardiomyopathy can cause cardiovascular death or progressive heart failure. The functional status of the left ventricle is particularly important when assessing the function of the heart.
To evaluate the function of the left ventricle, it is generally necessary to display the whole segment of the left ventricle, wherein the most important long and short axes are the ventricular section perpendicular to the long axis of the left ventricle, and the information such as the heart chamber inner diameter and the ventricular wall thickness can be clearly observed at the short axis. The two-chamber heart of the left ventricle refers to a long-axis section which can simultaneously display the structures of the left ventricle and the left atrium, and can be used for observing information such as a mitral valve, the anterior wall and the posterior wall of the left ventricle and the like. Therefore, left ventricular major and minor axis extraction is of paramount importance for a comprehensive assessment of left ventricular function.
The positions of the long axis and the short axis of the left ventricle are determined mainly by manually adjusting the image at present, the operation process is time-consuming, and the deviation is easily caused by the interference of human subjective factors, so that the requirement of modern clinical application cannot be met.
Disclosure of Invention
The method, the device, the computer equipment and the storage medium for registering and positioning the long axis and the short axis based on the left ventricle three-dimensional model are used for solving the technical problems that in the prior art, the process of confirming the positions of the long axis and the short axis of the left ventricle is time-consuming, deviation is easily caused by interference of human subjective factors, and the requirement of modern clinical application cannot be met.
A method for registering and locating a long axis and a short axis based on a left ventricle three-dimensional model, the method comprising:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
Optionally, in step S200:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
Optionally, in step S300:
the average distance d is:
Figure BDA0002564433190000021
optionally, the point Q in the point cloud Q is calculatediWith a point P in the point cloud PiThe method comprises the following steps:
establishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
Optionally, the method further includes:
step S500, rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered image at the bottom or the middle is annular, the layered image at the top is a circumferentially open structure, and the open structure is open towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
The application also provides the following technical scheme:
an apparatus for registering and locating a long axis and a short axis based on a left ventricle three-dimensional model, the apparatus comprising:
a first module for obtaining the point cloud Q of the standard left ventricle model and the point cloud P of the left ventricle model to be registered, and calculating the point Q in the point cloud QiWith a point P in the point cloud Pi；
A second module for calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
a third module for calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and the fourth module is used for judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining the short axis and the long axis of the left ventricle model to be registered according to the standard left ventricle model, and otherwise, updating the point cloud P by using the point cloud P'.
Optionally, in the second module:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
Optionally, in the third module:
the average distance d is:
Figure BDA0002564433190000031
the application also provides the following technical scheme:
a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
step S100, obtaining points of a standard left ventricle modelCloud Q and point cloud P of the left ventricle model to be registered, and a point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
The application also provides the following technical scheme:
a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and step S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and recalculating until the left ventricle model to be registered is registered with the standard left ventricle model.
The method, the device, the computer equipment and the storage medium for registering and positioning the long and short axes based on the left ventricle three-dimensional model can realize the automatic positioning of the long and short axes of the left ventricle model to be registered so as to ensure the consistency and the accuracy of the positioning of the long and short axes of the left ventricle model to be registered.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for registration positioning of the long and short axes based on a left ventricle three-dimensional model in one embodiment;
FIG. 2 is a schematic diagram of a layered image of the top of a left ventricular model to be registered;
FIG. 3 is a schematic diagram of a layered image of the bottom or middle of a left ventricular model to be registered;
FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, the method for positioning the long axis and the short axis based on the left ventricle three-dimensional model registration provided by the present application includes the following steps:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe minimum average distance between the two points is rigid body transformation, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
Firstly, a standard left ventricle three-dimensional model is simulated and manufactured, and a geometric model can be obtained by segmentation by taking a CT image of the left ventricle of a normal person as a standard. Wherein the long axis direction of the standard left ventricle model should be kept as the vertical direction, and the short axis direction should be ensured as the horizontal direction.
And reading in the left ventricle standard model, and obtaining a left ventricle geometric model of the patient by CT and MRA image segmentation as a left ventricle model to be registered. Processing the standard left ventricle model and the left ventricle model to be registered into a point cloud form, and preprocessing the point cloud: namely removing impurity points and downsampling point clouds.
The point cloud Q and the point cloud P are registered (rigid transformation), and the basic idea is as follows:
in the first step, the corresponding near point of each point in the point cloud P in the point cloud Q point set is calculated.
Secondly, obtaining rigid body transformation which enables the average distance of the corresponding points to be minimum, and obtaining translation parameters and rotation parameters;
thirdly, obtaining a new point cloud P' by using the translation and rotation parameters obtained in the previous step;
and fourthly, stopping iterative computation if the average distance between the new transformation point set and the reference point set is smaller than a given threshold value, or taking the new transformation point set as a new point cloud P' to continue iteration until the requirement of the objective function is met.
And transforming the left ventricle three-dimensional model to be registered by utilizing a transformation matrix (the result of the algorithm is stored in a 4 x 4 homogeneous matrix) to obtain the registered left ventricle three-dimensional model. The long axis direction of the registered three-dimensional model of the left ventricle is consistent with the long axis direction and the short axis direction of the known standard three-dimensional model of the left ventricle.
In step S300, a point Q in the point cloud Q is calculatediPoint P corresponding to point cloud Pi' average distance d between, in particular, when point pi' with one of the points qiAfter the calculation of the distance between the two is completed, q is usediIs not in use.
By the method, the automatic positioning of the long axis and the short axis of the left ventricle model to be registered can be realized, so that the positioning consistency and the positioning accuracy of the long axis and the short axis of the left ventricle model to be registered are ensured.
In another embodiment, in step S200:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
In another embodiment, in step S300:
the average distance d is:
Figure BDA0002564433190000061
where n is the number of nearest neighbor point pairs, piAs a point in the point cloud P, qiIs the point cloud Q neutralizes piThe corresponding closest point.
In another embodiment, a point Q in the point cloud Q is calculatediWith a point P in the point cloud PiThe method comprises the following steps:
to facilitate the calculation of point qiAnd point piEstablishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
In another embodiment, the method further comprises:
step S500, rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered image at the bottom or the middle is annular, the layered image at the top is a circumferentially open structure, and the open structure is open towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
A translational cut is made from the top of the left ventricle in a direction perpendicular to the long axis. The initially cut layered image is mostly circumferentially open (crescent shape as shown in fig. 2), and the subsequently cut layered image appears annular (as shown in fig. 3).
The intersection point On of the long axis and the cutting plane is used as a central point of scanning, all points of a cutting intersecting line are subjected to connected projection, and the projection position does not generate circulation in the direction, namely the intersecting line is the edge of a layered image. Conversely, the edge of the layered image can be determined, and the weighted average can be used as the short axis direction (the a direction shown in fig. 2) according to the connecting line vector of the layered image edge and the scanning center point.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, there is provided an apparatus for registering and positioning long and short axes based on a left ventricle three-dimensional model, the apparatus comprising:
a first module for obtaining the point cloud Q of the standard left ventricle model and the point cloud P of the left ventricle model to be registered, and calculating the point Q in the point cloud QiWith a point P in the point cloud Pi；
A second module for calculating a point qiAnd point piThe minimum average distance between the two points is rigid body transformation, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
a third module for calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and the fourth module is used for judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining the short axis and the long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and recalculating until the left ventricle model to be registered is registered with the standard left ventricle model.
In another embodiment, in the second module:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
In another embodiment, in the third module:
the average distance d is:
Figure BDA0002564433190000071
in another embodiment, the calculating point Q in the point cloud QiWith a point P in the point cloud PiThe method comprises the following steps:
establishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
In another embodiment, the apparatus further comprises:
the fifth module is used for rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered images positioned at the bottom or the middle part are annular, the layered images positioned at the top are in an open structure in the circumferential direction, and the open structure is opened towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
For specific definition of the device for registering and locating the long and short axes based on the three-dimensional model of the left ventricle, reference may be made to the above definition of the method for registering and locating the long and short axes based on the three-dimensional model of the left ventricle, and details are not repeated here. The modules in the device for positioning the long and short axes based on the registration of the left ventricle three-dimensional model can be fully or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for registering and locating the long and short axes based on the left ventricle three-dimensional model. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculatingPoint qiAnd point piThe minimum average distance between the two points is rigid body transformation, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
In another embodiment, in the step S200:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
In another embodiment, in the step S300:
the average distance d is:
Figure BDA0002564433190000091
in another embodiment, the calculating point Q in the point cloud QiWith a point P in the point cloud PiThe method comprises the following steps:
establishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
In another embodiment, the method further comprises:
step S500, rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered image at the bottom or the middle is annular, the layered image at the top is a circumferentially open structure, and the open structure is open towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe minimum average distance between the two points is rigid body transformation, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
In another embodiment, in the step S200:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
In another embodiment, in the step S300:
the average distance d is:
Figure BDA0002564433190000101
in another embodiment, the calculating point Q in the point cloud QiWith a point P in the point cloud PiThe method comprises the following steps:
establishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
In another embodiment, the method further comprises:
step S500, rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered image at the bottom or the middle is annular, the layered image at the top is a circumferentially open structure, and the open structure is open towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. The method for positioning the long axis and the short axis based on the left ventricle three-dimensional model registration is characterized by comprising the following steps:
step S100, point cloud Q of a standard left ventricle model and point cloud P of a left ventricle model to be registered are obtained, and point Q in the point cloud Q is calculatediWith a point P in the point cloud Pi；
Step S200, calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
step S300, calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and S400, judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining a short axis and a long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and returning to the step S100.
2. The method for positioning the long axis and the short axis based on the left ventricle three-dimensional model registration of claim 1, wherein in the step S200:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
3. The method for positioning the long axis and the short axis based on the left ventricle three-dimensional model registration according to claim 1, wherein in the step S300:
the average distance d is:
Figure FDA0002564433180000011
4. the method for positioning the long axis and the short axis based on the registration of the three-dimensional model of the left ventricle as claimed in claim 1, wherein the point Q in the point cloud Q is calculatediWith a point P in the point cloud PiThe method comprises the following steps:
establishing a longitude and latitude coordinate system for the standard left ventricle model and the left ventricle model to be registered, and respectively obtaining a point qiAnd point piThe coordinates of (a).
5. The left ventricular three-dimensional model based registration long and short axis positioning method according to claim 1, further comprising:
step S500, rotationally scanning the left ventricle model to be registered by taking each point of the long axis as a scanning center to obtain a plurality of layered images of the left ventricle vertical to the long axis, wherein the layered image at the bottom or the middle is annular, the layered image at the top is a circumferentially open structure, and the open structure is open towards the right ventricle;
and weighted average is carried out according to the connecting line vector of the top layered image edge and the scanning center, and the weighted average can be used as the short axis direction.
6. The device for positioning the long axis and the short axis based on the left ventricle three-dimensional model registration is characterized by comprising:
a first module for obtaining the point cloud Q of the standard left ventricle model and the point cloud P of the left ventricle model to be registered, and calculating the point Q in the point cloud QiWith a point P in the point cloud Pi；
A second module for calculating a point qiAnd point piThe rigid body transformation with the minimum average distance is carried out, and the point cloud P' of the transformed left ventricle model to be registered is obtained according to the rigid body transformation;
a third module for calculating a point Q in the point cloud QiPoint P corresponding to point cloud Pi' average distance between d;
and the fourth module is used for judging whether the left ventricle model to be registered is registered with the standard left ventricle model or not according to the average distance d, if so, obtaining the short axis and the long axis of the left ventricle model to be registered according to the standard left ventricle model, otherwise, updating the point cloud P by using the point cloud P', and recalculating until the left ventricle model to be registered is registered with the standard left ventricle model.
7. The apparatus for left ventricular based three-dimensional model registration for locating the long and short axes according to claim 6, wherein in the second module:
according to point qiAnd point piThe average distance between the two is minimum, a rotation matrix R and a translation matrix t corresponding to rigid body transformation are obtained, and the left ventricle model is registered to perform rotation translation according to the rotation matrix R and the translation matrix t.
8. An apparatus for left ventricular three-dimensional model registration based on long and short axes according to claim 6, wherein in the third module:
the average distance d is:
Figure FDA0002564433180000021
9. a computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
CN202010630682.XA 2020-07-01 2020-07-01 Method, device, computer equipment and storage medium for registering and positioning long axis and short axis based on left ventricle three-dimensional model Withdrawn CN111652919A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112581460A (en) * 2020-12-24 2021-03-30 上海联影医疗科技股份有限公司 Scanning planning method, device, computer equipment and storage medium
CN112734776A (en) * 2021-01-21 2021-04-30 中国科学院深圳先进技术研究院 Minimally invasive surgical instrument positioning method and system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112581460A (en) * 2020-12-24 2021-03-30 上海联影医疗科技股份有限公司 Scanning planning method, device, computer equipment and storage medium
CN112581460B (en) * 2020-12-24 2023-08-18 上海联影医疗科技股份有限公司 Scanning planning method, device, computer equipment and storage medium
CN112734776A (en) * 2021-01-21 2021-04-30 中国科学院深圳先进技术研究院 Minimally invasive surgical instrument positioning method and system
WO2022156425A1 (en) * 2021-01-21 2022-07-28 中国科学院深圳先进技术研究院 Minimally invasive surgery instrument positioning method and system
CN112734776B (en) * 2021-01-21 2023-04-18 中国科学院深圳先进技术研究院 Minimally invasive surgical instrument positioning method and system

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