CN111821032B - Medical image alignment method - Google Patents
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Abstract
A medical image registration method for image registering an ultrasound image and one of a plurality of computed tomography images associated with a plurality of different portions of a patient's bone, the ultrasound image being associated with one of the plurality of different portions of the patient's bone and being implemented by a computer device, comprising: (A) obtaining an ultrasonic target image of the ultrasonic image; (B) for each computed tomography image, obtaining a to-be-compared scanned image of the computed tomography image; (C) for each scanned image to be compared, obtaining a similarity between the scanned image to be compared and the ultrasonic target image; (D) obtaining a corresponding target scanning image with the highest similarity from the scanning images to be compared; (E) and carrying out image alignment on the ultrasonic target image and the target scanning image. The surgeon may be assisted in real time during the procedure to determine the location to be operated on.
Description
Technical Field
The present invention relates to an image registration method, and more particularly, to an image registration method suitable for medical images.
Background
At first, a surgeon can only rely on all relevant information (e.g., computed tomography) of a patient before an operation to determine a position to be operated, and moreover, the surgeon is more likely to move the patient body slightly due to the actions (e.g., bone screw driving) of the surgeon during the operation, which causes the position of the subsequent operation to be shifted, thereby affecting the accuracy of the operation.
However, currently, when a surgeon wants to accurately determine the position to be operated during an operation, the surgeon must take a computed tomography during the operation to determine the position, but this method cannot detect the error caused by the movement of the patient in real time, and further causes the patient to absorb excessive radiation dose.
Therefore, it is a primary objective of the present invention to provide a method for assisting a surgeon to determine a desired operation position in real time during an operation without excessive radiation dose absorption by the patient.
Disclosure of Invention
It is an object of the present invention to provide a method for assisting a surgeon in determining the location to be operated on in real time during an operation without the patient having to absorb an excessive dose of radiation.
The medical image registration method of the present invention is suitable for performing image registration on one of a plurality of computed tomography images respectively associated with a plurality of different portions of a patient's bone, the ultrasound image being associated with one of the plurality of different portions of the patient's bone, and is implemented by a computer device, the medical image registration method comprising a step (A), a step (B), a step (C), a step (D), and a step (E).
The step (A) is to obtain an ultrasonic target image corresponding to a region of interest of the ultrasonic image by the computer device.
The step (B) is to obtain a to-be-compared scanned image corresponding to a region of interest of the computed tomography image by the computer device for each computed tomography image.
The step (C) is to obtain a similarity between the scanned image to be compared and the ultrasonic target image by the computer device for each scanned image to be compared.
The step (D) is to obtain a corresponding target scanning image with the highest similarity from the scanning images to be compared by the computer device.
The step (E) is to perform image alignment on the ultrasonic target image and the target scanning image by the computer device.
The medical image registration method of the present invention further includes, between the step (B) and the step (C), the steps of:
(F) determining whether the size of the ultrasonic target image is the same as the size of any scanned image to be compared by the computer device; and
(G) when the computer determines that the size of the ultrasonic target image is different from the size of any one of the comparison scanned images, the computer corrects the ultrasonic target image according to the size of any one of the comparison scanned images so that the size of the corrected ultrasonic target image is the same as the size of any one of the comparison scanned images;
wherein, in the step (C), the computer device obtains a similarity corresponding to each of the to-be-compared scanned images and the corrected ultrasonic target image, and in the step (E), the computer device performs image registration on the corrected ultrasonic target image and the target scanned image.
The medical image registration method of the present invention further includes, between the step (B) and the step (C), the steps of:
(H) for each scanned image to be compared, extracting the upper contour feature of the object in the scanned image to be compared by the computer device, so that the extracted scanned image to be compared only retains the upper contour of the object contained in the scanned image to be compared; and
in the step (C), the computer device obtains a similarity corresponding to each extracted to-be-compared scanned image and the ultrasonic target image, and in the step (D), the computer device obtains the target scanned image corresponding to the highest similarity from the extracted to-be-compared scanned images.
In the step (H), the computer device extracts the upper contour feature of the object in the scanned image to be compared by keeping the pixel value of the pixel whose first pixel value in each column of the scanned image to be compared is not zero and setting the pixel values of other pixels to be zero.
In the step (C), the computer device obtains the similarity between the scanned image to be compared and the ultrasound target image by using a maximum mutual information method.
The medical image alignment method of the invention comprises the following steps:
in the step (C), the computer device not only obtains the similarity between the scanned image to be compared and the ultrasonic target image, but also obtains a geometric transformation parameter set of mapping relationship between the scanned image to be compared and the ultrasonic target image by using the maximum interactive message method; and
in the step (E), the computer device performs image registration on the ultrasonic target image and the target scan image according to the set of geometric transformation parameters corresponding to the target scan image and the ultrasonic target image.
In the step (H), the computer device further sets the pixel values of all non-zero pixels remained in the scanned image to be compared to 255.
The invention has the beneficial effects that: the computer device analyzes the similarity of the ultrasonic target image corresponding to the ultrasonic image and the to-be-compared scanned image corresponding to each computed tomography image, obtains the target scanned image corresponding to the highest similarity, and finally aligns the ultrasonic target image and the target scanned image, so that a surgeon can be assisted in real time to determine the position to be operated under the condition that a patient does not need to absorb excessive radiation dose.
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Other features and effects of the present invention will become apparent from the following detailed description of the embodiments with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram illustrating a computer device for performing the medical image registration method of the present invention electrically connected to an ultrasound imaging device;
FIG. 2 is a schematic diagram illustrating one of a plurality of computed tomography images stored by the computer device;
FIG. 3 is a schematic diagram illustrating an ultrasound image captured by the ultrasound imaging device;
FIG. 4 is a flowchart illustrating steps 51, 52, 53 and 54 of the embodiment of the medical image registration method according to the present invention;
FIG. 5 is a flowchart, which follows FIG. 4, illustrating steps 55, 56, 57 and 58 of the medical image registration method according to the embodiment of the present invention;
FIG. 6 is a flowchart illustrating steps 51 ', 52', 53 'and 54' of another embodiment of the medical image registration method according to the present invention;
FIG. 7 is a schematic diagram illustrating an ultrasound target image corresponding to the ultrasound image;
FIG. 8 is a schematic view illustrating a scanned image to be compared corresponding to one of the computed tomography images;
FIG. 9 is a diagram illustrating an image of the scanned image to be compared after extracting the upper contour features; and
FIG. 10 is a schematic diagram illustrating the result of image registration of the ultrasound target image with a target scan image.
Detailed Description
Before the present invention is described in detail, it should be noted that like components are represented by like numerals throughout the following description.
Referring to fig. 1, a computer device 1 for performing the medical image alignment method according to an embodiment of the present invention, and an ultrasound image capturing device 2 electrically connected to the computer device 1 are shown.
The computer device 1 includes a memory module 11, an input module 12, a display module 13, and a processing module 14 electrically connected to the memory module 11, the input module 12, and the display module 13.
The storage module 11 stores a plurality of Computed Tomography (CT) images respectively related to a plurality of different parts of a patient's bone. Specifically, the patient's bone is, for example, a spine comprising a plurality of spinal segments, each of the spinal segments being divisible into a plurality of segments, each of the computed tomography images being associated with a corresponding segment (see fig. 2). In addition, the spinous process 21 in the segmented portion of each computed tomography image corresponding to the segment of the vertebra is above in the computed tomography image, and the lamina 22 in the segmented portion of each computed tomography image corresponding to the segment of the vertebra is below in the computed tomography image.
The Ultrasound image capturing device 2 is used for capturing an Ultrasound image (Ultrasound) of one of a plurality of different parts of the bone of the patient and transmitting the Ultrasound image to the computer device 1. It should be noted that, in the above example, the ultrasonic imaging device 2 captures the ultrasonic image of one of the segments of the spine of the patient (see fig. 3) when the patient is in a prone position, so that the spinous process 31 in the segment portion corresponding to the segment of the spine in the ultrasonic image is above in the ultrasonic image, and the vertebral plate 32 in the segment portion corresponding to the segment of the spine in the ultrasonic image is below in the ultrasonic image. Thus, the orientation of the segmented portion of the spine presented in the ultrasound image is the same as the orientation of the segmented portion of the spine presented in the computed tomography image.
In the embodiment, the implementation mode of the computer device 1 is, for example, a personal computer, a server, or a cloud host, but not limited thereto.
In this embodiment, the ultrasonic imaging apparatus 2 is implemented as an ultrasonic diagnostic apparatus, but not limited thereto.
Referring to fig. 4 and 5, the operation details of the computer device 1 and the components of the ultrasound imaging apparatus 2 will be described below by using the embodiment of the medical image registration method according to the present invention, which includes a step 51, a step 52, a step 53, a step 54, a step 55, a step 56, a step 57, and a step 58.
In step 51, the computer device 1 obtains an ultrasound target image corresponding to a region of interest of the ultrasound image after receiving the ultrasound image (see fig. 7). Specifically, the computer device 1 responds to the operation of the surgeon and generates an input signal, and obtains the ultrasonic target image corresponding to the ultrasonic image according to the input signal. It is to be noted that, in other embodiments, the ultrasonic target image corresponding to the ultrasonic image may be obtained by using a conventional image recognition method.
In step 52, for each computed tomography image, the computer device 1 obtains a to-be-compared scanned image corresponding to a region of interest of the computed tomography image (see fig. 8). It should be noted that, for each computed tomography image, the computer device 1 responds to the operation of the surgeon and generates another input signal, and obtains the to-be-compared scanned image corresponding to the computed tomography image according to the other input signal. It is to be noted that, in other embodiments, the to-be-compared scanned image corresponding to the computed tomography image may be obtained by using a conventional image recognition method.
In step 53, for each scanned image to be compared, the computer device 1 performs upper contour feature extraction on the object in the scanned image to be compared, so that the extracted scanned image to be compared only retains the upper contour of the object (see fig. 9). Specifically, in the embodiment, the computer device 1 removes noise in the scanned image to be compared, and then extracts the upper contour feature of the object in the scanned image to be compared by keeping the pixel value of the pixel whose first pixel value in each column of the scanned image to be compared is not zero and setting the pixel values of other pixels to zero. In other embodiments, the computer device 1 may further set the pixel values of all non-zero pixels remained in the scanned image to be compared to 255, so as to extract the upper contour feature of the object in the scanned image to be compared.
Referring to fig. 6, in particular, in another embodiment, substantially similar to the above embodiment, the only difference is that the step 51 ' related to the ultrasound image can be performed simultaneously with the step 52 ' and the step 53 ' related to the computed tomography image, so as to complete the medical image registration method at a faster speed.
It should be noted that, when the similarity analysis is performed on the to-be-compared scanned image with the extracted upper contour feature in the step 53, since the noise overlapping condition between the lower contour feature and the ultrasonic target image is not generated, the accuracy of image alignment is better than that when the similarity analysis is performed on the to-be-compared scanned image without the extracted upper contour feature.
In step 54, the computer device 1 determines whether the size of the ultrasound target image is the same as the size of any of the scanned images to be compared. When the computer device 1 determines that the size of the ultrasonic target image is the same as the size of any scanned image to be compared, the procedure proceeds to step 56; when the computer device 1 determines that the size of the ultrasound target image is not the same as that of any comparison scanned image, the process proceeds to step 55.
In step 55, the computer device 1 corrects the ultrasonic target image according to the size of any one of the comparison scan images, so that the corrected ultrasonic target image has the same size as that of any one of the comparison scan images.
In step 56, for each extracted scan image to be compared, the computer device 1 obtains a similarity between the extracted scan image to be compared and the corrected ultrasonic target image (if the step 55 is not needed, the ultrasonic target image is used). It should be noted that, in the embodiment, the computer device 1 utilizes a maximum Mutual Information (MI) method to obtain the similarity between the extracted to-be-compared scanned image and the corrected ultrasonic target image and a geometric transformation parameter set of the mapping relationship between the extracted to-be-compared scanned image and the corrected ultrasonic target image. In other embodiments, the computer device 1 may also use an Iterative Closest point algorithm (ICP) to obtain the similarity between the extracted to-be-compared scanned image and the corrected ultrasonic target image.
In step 57, the computer device 1 obtains a corresponding target scan image with the highest similarity from the extracted scan images to be compared.
In step 58, the computer device 1 performs image alignment on the corrected ultrasonic target image and the target scan image, and the result of the image alignment (see fig. 10) of the corrected ultrasonic target image and the target scan image is displayed on the display module 13 for the surgeon to refer to during the operation to determine the position to be operated. It should be noted that, in this embodiment, the computer device 1 performs image registration on the corrected ultrasonic target image and the target scanned image according to the set of geometric transformation parameters corresponding to the corrected (if the step 55 is not needed, the ultrasonic target image is used) and the target scanned image. In other embodiments, the computer device 1 may also perform image registration by using an image registration algorithm (e.g., B-spline).
In summary, according to the medical image alignment method of the present invention, the computer device 1 obtains the target scan image corresponding to the highest similarity from the extracted scan images to be compared according to the ultrasound target image corresponding to the ultrasound image and the scan image to be compared corresponding to each computed tomography image, and by using the maximum interaction information method, and performs image alignment on the corrected ultrasound target image and the target scan image, so as to assist the surgeon in determining the position to be operated in real time during the operation without the patient absorbing excessive radiation dose. Therefore, the object of the present invention can be achieved.
It should be understood that the above description is only exemplary of the present invention, and not intended to limit the scope of the present invention, and all simple equivalent changes and modifications made according to the claims and the detailed description of the present invention are included in the scope of the present invention.
Claims (6)
1. A medical image registration method for image registration of an ultrasound image and one of a plurality of computed tomography images respectively associated with a plurality of different portions of a patient's bone, the ultrasound image being associated with one of the plurality of different portions of the patient's bone and being implemented by a computer device, the method comprising: the medical image alignment method comprises the following steps:
(A) obtaining an ultrasonic target image corresponding to a region of interest of the ultrasonic image by the computer device;
(B) for each computed tomography image, obtaining a to-be-compared scanned image corresponding to an interested area of the computed tomography image by the computer device;
(C) for each scanned image to be compared, extracting the upper contour feature of the object in the scanned image to be compared by the computer device, so that the extracted scanned image to be compared only retains the upper contour of the object contained in the scanned image to be compared;
(D) for each scanned image to be compared, obtaining a similarity between the scanned image to be compared and the ultrasonic target image by the computer device;
(E) obtaining a corresponding target scanning image with the highest similarity from the scanning images to be compared by the computer device; and
(F) performing image alignment on the ultrasonic target image and the target scanning image by using the computer device;
in the step (D), the computer device obtains the similarity corresponding to each extracted to-be-compared scanned image and the ultrasonic target image, and in the step (E), the computer device obtains the target scanned image corresponding to the highest similarity from the extracted to-be-compared scanned images.
2. The medical image registration method according to claim 1, wherein: between the step (C) and the step (D), the following steps are further included:
(G) determining whether the size of the ultrasonic target image is the same as that of any scanned image to be compared by the computer device; and
(H) when the computer determines that the size of the ultrasonic target image is different from the size of any one of the comparison scanned images, the computer corrects the ultrasonic target image according to the size of any one of the comparison scanned images so that the size of the corrected ultrasonic target image is the same as the size of any one of the comparison scanned images;
wherein, in the step (D), the computer device obtains a similarity corresponding to each extracted to-be-compared scanned image and the corrected ultrasonic target image, and in the step (F), the computer device performs image registration on the corrected ultrasonic target image and the target scanned image.
3. The medical image registration method according to claim 1, wherein: in the step (C), the computer device extracts the upper contour feature of the object in the scanned image to be compared by keeping the pixel value of the pixel whose first pixel value in each column of the scanned image to be compared is not zero and setting the pixel values of other pixels to zero.
4. The medical image registration method according to claim 1, wherein: in the step (D), the computer device uses a maximum mutual information method to obtain the similarity between the extracted to-be-compared scanned image and the ultrasonic target image.
5. The medical image registration method according to claim 4, wherein:
in the step (D), the computer device not only obtains the similarity between the extracted to-be-compared scanned image and the ultrasonic target image, but also obtains a set of geometric transformation parameters of the mapping relationship between the extracted to-be-compared scanned image and the ultrasonic target image by using the maximum interaction message method; and
in step (F), the computer device performs image registration on the ultrasound target image and the target scan image according to the set of geometric transformation parameters corresponding to the target scan image and the ultrasound target image.
6. The medical image registration method according to claim 3, wherein: in the step (C), the computer device further sets the pixel values of all non-zero pixels remained in the scanned image to be compared to 255.
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| CN107595387B (en) * | 2017-07-28 | 2020-08-07 | 浙江大学 | Spine image generation system based on ultrasonic rubbing technology and spine operation navigation and positioning system |
| JP6995535B2 (en) * | 2017-08-31 | 2022-01-14 | キヤノン株式会社 | Image processing equipment, image processing methods and programs |
| CN109118508B (en) * | 2018-08-31 | 2022-03-25 | 成都美律科技有限公司 | IVOCT image blood vessel wall lumen contour extraction method |
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| CN102232835A (en) * | 2010-04-21 | 2011-11-09 | 清华大学 | Positioning method for use in image-guided radiotherapy |
| CN103202709A (en) * | 2012-01-16 | 2013-07-17 | 株式会社东芝 | Ultrasonic Diagnostic Apparatus, Medical Image Processing Apparatus, And Medical Image Parallel Display Method |
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