CN111882510A - Projection method, image processing method and device for CTA three-dimensional reconstruction mirror image data - Google Patents
Projection method, image processing method and device for CTA three-dimensional reconstruction mirror image data Download PDFInfo
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Abstract
The invention discloses a projection method, an image processing method and an image processing device of CTA three-dimensional reconstruction mirror image data capable of being accurately fused with angiography. The projection method comprises the following steps: CTA three-dimensional reconstruction mirror image data is obtained; setting an image projection mode of CTA three-dimensional reconstruction mirror image data as a perspective projection mode; correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen to be the distance from an X-ray tube ball to a detector; and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the target organ to be the distance from the X-ray tube ball to the catheter bed; the screen center of the perspective projection of the CTA three-dimensional reconstructed mirror image data is superimposed with the center of the DSA contrast image. The invention can realize the precise fusion of the three-dimensional image reconstructed by CTA and coronary angiography, and can help the coronary intervention operator to quickly establish the three-dimensional perception of coronary angiography, thereby obviously improving the level of the coronary intervention operator, reducing the difficulty of the intervention operation and obviously improving the prognosis of the patient.
Description
Technical Field
The invention relates to a projection method, an image processing method and a device of CTA three-dimensional reconstruction mirror image data capable of being accurately fused with angiography, and belongs to the technical field of medical image processing.
Background
A Digital Subtraction Angiography (DSA) machine is an angiography X-ray machine with digital subtraction function and pulse perspective function, is mainly used for angiography diagnosis and interventional therapy of heart, cerebral vessels and peripheral vessels, and can perform real-time shooting and playback of images and lesion path indication in the cardiovascular operation process. The DSA machine comprises a rotatable gantry (comprising a C arm and a P arm), a catheter bed which can move horizontally/longitudinally/up and down, a high-voltage generator, an X-ray bulb tube, an image intensifier, a camera system (detector), an image digital processing system, a DSA display screen and an external data storage system. It can reduce the radiation of X-ray to patients and surgeons, and is increasingly popular in recent years.
In Percutaneous Coronary Intervention (PCI) surgery, physicians have relied on X-ray fluoroscopy to guide the procedure. However, since fluoroscopy is limited to two-dimensional projection, the physician understands the treatment primarily through intuitive and tactile feedback, and the accuracy of the procedure is not guaranteed. It is well known that CT angiography (CTA) can clearly visualize coronary arteries and their branches. CTA three-dimensional reconstruction can reconstruct not only the coronary arteries but also the aorta, atrium and ventricle, allowing the physician to intuitively understand the three-dimensional contours and adjacent structures of the coronary arteries. The resolution is much higher than images obtained by Coronary Angiography (CAG) performed by DSA machines. In order to make up for the deficiency of X-ray two-dimensional projection in coronary intervention, a method for realizing the fusion registration of CTA and CAG has become a research hotspot.
As shown in fig. 1, the current fusion registration method, such as Innova HeartVision or visualization, directly superimposes a CTA reconstructed three-dimensional image in a CT workstation on a CAG image, and uses the position of a doctor's eye or a detector as a viewpoint. The image fusion mode is not accurate, and the fusion can be performed only under the condition that the C arm rotates left and right, so that the method cannot be applied to the application scene that the DSA frame rotates left and right and the head and foot positions simultaneously in coronary intervention, and can only be used for the aorta intervention operation at present.
In the chinese utility model patent No. ZL 200820123994.6, the position of the C-arm during the operation is used to match the CT three-dimensional reconstructed image before the operation with the DSA contrast image. In the chinese patent application No. 201610201387.6, a CTA image and a DSA image of a coronary artery are registered with the centerline of the CTA image and the centerline of the DSA image (the DSA image of the frame having the highest similarity to the CTA image) to obtain a fused image. Since only centerline fusion is required, the fused images lack depth information, and this fusion registration method will greatly reduce the stereoscopic Perception of Coronary Intervention (PCI) surgeons, while the stereoscopic perception of DSA images is extremely important for PCI surgeons. In addition, these methods do not address the essential differences between CAG and CTA from the perspective of PCI practitioners. The generated fusion image is the superposition of various complex algorithms, the operation process is complex, the precision is low, and the fusion image is difficult to understand and accept by PCI operators.
Disclosure of Invention
The invention aims to solve the primary technical problem of providing a CTA three-dimensional reconstruction mirror image data projection method.
Another technical problem to be solved by the present invention is to provide an image processing method for CTA three-dimensional reconstruction mirror image data.
The invention also aims to provide a CTA three-dimensional reconstruction mirror image data projection device.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to a first aspect of embodiments of the present invention, there is provided a method of projecting CTA three-dimensional reconstructed mirror image data, the angiography being obtained using a DSA machine having an X-ray tube, a catheter bed, a detector, and a DSA display screen, comprising the steps of:
CTA three-dimensional reconstruction mirror image data is obtained;
setting an image projection mode of the CTA three-dimensional reconstruction mirror image data to a perspective projection mode;
correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen to be the distance from the X-ray tube ball to the detector; and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstructed mirror image data to the target organ to the distance from the X-ray tube ball to the catheter bed;
the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror data is overlapped with the center of the DSA contrast image.
Wherein preferably said target organ is the spine.
Preferably, the distance from the X-ray tube ball of the DSA machine to the guide tube bed and the distance from the X-ray tube ball to the guide tube bed are the distances of the DSA machine in an orthostatic state.
According to a second aspect of embodiments of the present invention, there is provided an image processing method for CTA three-dimensional reconstruction mirror image data for precise fusion with an angiogram obtained using a DSA machine having an X-ray tube, a catheter bed, and a DSA display screen, comprising the steps of:
CTA three-dimensional reconstruction mirror image data is obtained;
setting an image projection mode of the CTA three-dimensional reconstruction mirror image data to a perspective projection mode;
correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to a DSA display screen to be the distance from the X-ray tube ball to the detector; and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstructed mirror image data to the target organ to the distance from the X-ray tube ball to the catheter bed;
displaying the perspective projection of the adjusted CTA three-dimensional reconstruction mirror image data on a DSA display screen of the fusion device;
enabling the X-ray projection of the spine in the DSA contrast image and the perspective projection of the spine in CT three-dimensional reconstruction mirror image data to be accurately fused;
rotating the perspective projection of the reconstructed mirror image data according to a rotation angle of a gantry of the DSA machine;
a fused image is obtained and output.
Preferably, the distance from the projection center to the focus is adjusted according to the distance from the X-ray tube ball to the catheter bed in the current state of the DSA machine, so that the distance from the projection center to the focus is equal to the distance from the X-ray tube ball to the catheter bed in the current state of the DSA machine; and according to the distance from the X-ray tube ball to the detector, the distance from the projection center of the CTA image to the screen is adjusted to be equal.
Wherein preferably the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror data overlaps the center of the DSA contrast image.
Wherein preferably the CTA three-dimensionally reconstructs a perspective projection image of mirrored data, having an X-axis and a Z-axis,
when the image of the perspective projection of the CTA three-dimensional reconstruction mirror image data is in a front view, the C-arm angle of the DSA machine rotates the X-axis in the current state, and then the Z-axis rotates according to the P-arm angle.
According to a third aspect of the embodiments of the present invention, there is provided a CTA three-dimensional reconstruction mirror image data projection apparatus, which is connected to a DSA machine to realize projection of CTA three-dimensional reconstruction mirror image data, the DSA machine including a C-arm, a detector, a catheter bed, an X-ray tube, and a DSA display screen, wherein:
the projection of the CTA three-dimensional reconstruction mirror image data is in a perspective projection mode; the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the human target organ is equal to the distance from the X-ray tube bulb to the catheter bed; the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen is the distance from the X-ray tube ball to the detector.
Preferably, a perspective projection of the CTA three-dimensional reconstruction mirror image data is displayed on the projection device, and the display position is such that the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror image data overlaps with the center of the DSA contrast image.
Preferably, the image of the perspective projection of the CTA three-dimensional reconstructed mirror image data is in a front view, the X-axis is rotated at the angle of the C-arm of the DSA machine in the current state, and then the Z-axis is rotated at the angle of the P-arm.
By utilizing the method provided by the invention, the three-dimensional reconstruction of the CTA image and the DSA image can realize accurate fusion, correct registration, consistent view points, correct spatial relationship and no distortion of the images. The method can realize the accurate fusion of the CTA three-dimensional reconstructed image and the DSA radiography, can help an operator of an interventional operation to quickly establish the three-dimensional perception of the DSA radiography, obviously improves the level of the operator of the interventional operation, facilitates the formulation of a treatment scheme, reduces the difficulty of the interventional operation, and obviously improves the prognosis of a patient.
Drawings
FIG. 1 is a diagram illustrating the fusion effect of a contrast image and a CTA three-dimensional reconstruction data image in the prior art;
FIG. 2 is a schematic illustration of the effect of the rotation sequence on the image fusion effect;
FIGS. 3A to 3E are schematic diagrams illustrating the effect of the rotation sequence of the stereo images on the image fusion effect according to the embodiment of the present invention;
FIGS. 4A-4B are flow charts of a CTA three-dimensional reconstruction data image processing method that can be accurately fused with DSA contrast in an embodiment of the present invention;
FIGS. 5A-5G are graphs illustrating the simulated effect of processed images after CTA three-dimensional reconstruction data that can be accurately fused with angiography, in accordance with embodiments of the present invention;
fig. 6 is a diagram showing the actual effect of processing images after CTA three-dimensional reconstruction data which can be accurately fused with angiography in the present invention.
Detailed Description
The technical contents of the invention are described in detail below with reference to the accompanying drawings and specific embodiments.
To clearly illustrate the technical content of the present invention, the reason for the formation of the fusion error between the CTA image and the CAG image and the influence thereof on the CAG stereoscopic perception of the operator of the coronary artery interventional operation will be described first. However, the invention is only exemplified by CTA images, and is not limited to coronary intervention, and the method provided by the invention can be applied to realize fusion as long as the images obtained by the DSA machine and the CT machine are obtained. For example, the projection method of the present invention and the image processing method based on the projection method can be applied by fusing images of the same region captured by a CT machine and a DSA machine, which are obtained by using images of the bone system, the digestive system, the reproductive system, the urinary system, and the like, respectively.
Moreover, the method provided by the present invention can be applied to any device that can fuse an image generated by a device for fluoroscopic imaging (e.g., a DSA machine) with an image generated by a device for parallel projection imaging (e.g., a CT machine).
The X-ray imaging is equivalent to perspective projection taking a tube ball as a projection center and is equal-scale enlargement of a perspective view, so the X-ray imaging completely conforms to the perspective principle and is the same as the perspective view in nature, and the theoretical basis for obtaining stereoscopic impression through two-dimensional X-ray imaging is also provided.
Another projection method for displaying a three-dimensional object on a two-dimensional screen, corresponding to perspective projection, is called parallel projection, where all projection lines are parallel to each other when the projection center is moved to infinity from the object, and such a projection method in which the projection lines are parallel to each other is called parallel projection, and almost all CT workstations display three-dimensional CT reconstruction data by parallel projection.
The X-ray imaging of the DSA machine is equivalent to the perspective projection taking a bulb as a projection center (viewpoint), and the X-ray imaging completely conforms to the perspective principle. Because coronary angiography (X-ray fluoroscopy) belongs to fluoroscopy projection, the coronary angiography cannot be directly fused with a parallel projection view of a CT workstation, and a mainstream view adopted by current image fusion, such as an InnoveHeartVision system of general technology group medical health Co., Ltd, mistakenly takes the view angle of an operator or a detector as the view point of a coronary angiography image, and due to the wrong view point selection, a CTA post-processing image obtained by fluoroscopy projection is just opposite to the coronary angiography, so that the stereoscopic perception of the coronary angiography is further lost.
To correct for this error, the present invention first proposes to convert the CTA three-dimensional reconstructed mirror data from parallel projections into perspective projections to obtain a fully fused stereo image with a coronary angiogram. Therefore, accurate fusion can be achieved, and meanwhile, the stereoscopic image can be directly displayed in front of eyes of a doctor, so that the doctor can be helped to quickly establish the stereoscopic impression of coronary angiography.
The C-arm rotation can cause the contrast image to be transformed, and further cause errors in the fusion with the CT image. For this reason, it is necessary to understand how the three-dimensional stereoscopic image is rotated on the display screen. For ease of understanding, the rotating shaft is simply studied and the following description will be given by taking a 16 cube magic cube as an example. As shown in fig. 2, the 16 cube magic cube is placed on a DSA machine platform, the intersecting perpendicular line of the X, Y, Z axes of the magic cube can be clearly seen under X-rays (fig. 2A shows the X-ray image of the magic cube with the DSA gantry in the right position), X-ray images of the magic cube under different DSA gantry angles are acquired, and a digital model of the magic cube is built using UG NX11.0 (fig. 2B shows the front view of the digital model and its X, Y, Z axis). Depending on the angle of the DSA gantry, the digital model of the cube can be rotated in two ways to get the rotated effect shown in fig. 2C (DSA image spin effect map of the cube) and fig. 2D (spin effect map of the digital model): the first method is to rotate the Z axis at the P-arm angle in the elevation view shown in fig. 2B and then rotate the X axis at the C-arm angle (resulting in the effect shown in fig. 2E). The second method is to rotate the X axis at the C-arm angle in the elevation view and then rotate the Z axis at the P-arm angle (resulting in the effect shown in fig. 2F). In fig. 2F, the X, Y, Z axis in the magic cube digital model was found to be completely coincident with the X, Y, Z axis in the magic cube DSA image in the second way (as shown in fig. 2F, the perspective view of the magic cube in light gray representation is superimposed with the view of the digital model in dark representation); the effect maps obtained in the first way do not overlap (as shown in fig. 2E, the perspective view of the cube shown in light grey does not overlap the digital model map shown in dark colour). Because the X axis in the front view of the magic cube digital model is parallel to the upper edge and the lower edge of the screen, the Z axis after the X axis rotates forms an angle (the angle is equal to the rotation angle of the X axis) with the left edge and the right edge of the display screen, the C arm rotation axis of the DSA contrast image can be obtained to be parallel to the upper edge and the lower edge of the display screen, the P arm rotation axis responsible for left and right rotation forms an angle with the left edge and the right edge of the display screen along with the angle change of the head and foot positions, and the formed angle is equal to the angle of the.
The following describes in detail the corresponding positional relationship between the rotation of the DSA machine during surgery and the DSA images displayed on the DSA display screen 4. As shown in fig. 3A, when the C-arm of the DSA machine is in the right position (not rotated), the detector 2 is positioned directly above the catheter bed 3, and the X-ray tube 5 is positioned directly below the catheter bed 3, aligned up and down with the detector 2. The DSA images can be rotated about the head-foot rotation axis as the C-arm 1 rotates, and can be rotated about the left and right rotation axes as the P-arm rotates.
Since the image displayed on the DSA display screen 4 used in combination with the DSA machine is the image of the detection range of the detector 2, the edge of the detector 2 of the DSA machine is the same as the edge of the DSA display screen 4. As shown in fig. 3A, the detection range of the detector 2 and the DSA display screen 4 are each rectangular, having a left edge, a right edge, an upper edge, and a lower edge. The upper/lower edges are equal and perpendicular to the left/right edges. As shown in fig. 3A, the left edge of the detector 2 is shown on the left edge of the DSA display screen 4; the right edge of the detector 2 is shown on the right edge of the DSA display screen 4.
Determination of the head-foot rotation axis: since the detector is fixed on the C-arm responsible for the rotation of the head and feet, the rotation axis of the C-arm is always parallel to the upper and lower edges of the detector, so the head and foot rotation axis of the DSA image is also always parallel to the upper and lower edges of the DSA display screen 4, no matter how the angle of the P-arm changes.
Determination of left and right rotation axes: when the C-arm responsible for the rotation of the head and feet is rotated, the C-arm generates relative motion with respect to the P-arm responsible for the left-right rotation of the DSA images, and therefore, the detector fixed on the C-arm also generates relative motion with respect to the P-arm rotation axis. Further, as shown in fig. 3B, the normal angle between the position of the detector at the normal position (position marked 2 in the figure) and the position of the detector at the foot position of 30 degrees (position marked 2' in the figure) is the C-arm rotation angle θ. The included angle gamma between the plane of the detector 2 (the plane perpendicular to the normal of the detector) and the rotating axis of the P arm is equal to the head-foot rotating angle theta by using the geometric knowledge. The angle between the left and right rotation axes of the DSA image and the left and right edges of the DSA display screen is changed along with the angle of the head and foot positions of the C arm, and the included angle is equal to the angle of the head and foot positions of the C arm.
As shown in fig. 3C. Correspondingly, during DSA radiography, the head and foot rotating shafts of the DSA images are always parallel to the upper edge and the lower edge of the DSA display screen 4 no matter how the head and foot rotating shafts of the DSA images rotate, and the included angles between the left rotating shaft and the plane where the upper edge and the lower edge of the DSA display screen 4 are located change along with the rotating angle of the C-arm rotating shaft.
As is well known, the 3D fusion (3D fusion) technique coordinates two dissimilar volume acquisitions using a DSA 3D rotation technique and a CTA three-dimensional reconstruction technique. The 3D fusion technique requires that a plurality of anatomical points with anatomical landmarks are accurately selected on a DSA angiographic 3D image (X-ray angiographic image) and then corresponding anatomical points are found on a previously acquired CTA three-dimensional projection image of the same patient for fusion. The technology replaces the rotation of the C arm with the three-dimensional rotation function of the computer, reduces the radiation dose and is simple and convenient to operate.
Based on the magic cube and the rotation mode analysis of the digital model, the embodiment of the invention provides a CTA three-dimensional reconstruction data image projection method capable of being accurately fused with angiography and an image processing method based on the projection method. As shown in fig. 4A and 4B, the CTA three-dimensional projection method capable of being precisely fused with angiography provided by the present invention comprises the following steps:
s1: obtaining three-dimensional reconstructed mirror image data
And (3) importing three-dimensional reconstruction mirror image data obtained by CT scanning, such as CTA three-dimensional data, into UG NX11.0 or other three-dimensional software. Therefore, CTA three-dimensional data of the spine and CTA three-dimensional data of the position of the focus can be obtained. CTA three-dimensional data of the spine, thoracic vertebrae, ribs, etc., is used as a reference site for the position of CTA three-dimensional data of the lesion, but the spine is preferred. In other words, the relative position of the lesion (relative to the position of the spine) is the key positional information for reconstruction. Here, the lesion may be a heart, a kidney, or the like.
S2: setting image projection mode of CTA three-dimensional reconstruction mirror image data to perspective projection mode
As described above, the CTA three-dimensional reconstruction mirror image data is set to a perspective projection by the configuration of professional software so that the CTA image has the same projection mode (perspective mode) as the DSA contrast image.
S3: the projection center to spine distance of the perspective projection of the CTA three-dimensional reconstructed mirror image data is corrected to the X-ray tube ball to catheter bed distance.
In DSA imaging, the spine is closely attached to the catheter bed, and therefore, the positions of the two can be regarded as the same. The distance from the projection center of the perspective projection of the three-dimensional reconstruction mirrored data of CTA to the spine can be regarded as the distance from the projection center of the perspective projection of the three-dimensional reconstruction mirrored data of CTA to the catheter bed (more precisely, the distance from the projection center to the surface of the catheter bed).
S4: and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen to be the distance from the X-ray tube ball to the detector.
By modifying the parameter configuration of the professional software, the distance from the projection center to the focus can be adjusted to be equal to the distance from the X-ray tube ball to the detector in the DSA contrast image. The distance between the two images is adjusted to be equal, so that the sizes of the focuses in the two images can be ensured to be consistent. Here, the distance from the X-ray tube ball of the DSA machine to the guide tube bed and the distance from the X-ray tube ball to the guide tube bed are both the distances of the DSA machine in the normal state.
S5: and overlapping the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror image data adjusted in the steps with the screen center of the DSA contrast image.
The center of the DSA display screen 4 in the embodiment of the present invention is the position of the origin of coordinates when the DSA contrast image is displayed. The screen center of the perspective projection of the CTA three-dimensional reconstructed mirror image data is the screen center of the DSA display screen 4. The screen centers of the two images are overlapped, so that the relative position of the projection of the CTA three-dimensional reconstruction mirror image data and the DSA contrast image can be fixed, and the two images have a common coordinate origin.
Here, the center of the DSA contrast image screen is the center of the screen on which the DSA contrast image is displayed; the screen center of the perspective projection of the CTA three-dimensional reconstructed mirror image data is the center point of the screen displaying the projection. If the two screens are in the same location, this step can be omitted.
Perspective projection of the CTA three-dimensional reconstructed mirror image data is completed through steps S1-S5.
S6: the spine X-ray projection in the DSA contrast image is fused with the perspective projection of the CT three-dimensional reconstruction mirror image data of the spine, and basic registration is completed (the position and the posture of a patient in operation are ensured to be consistent with those in CT).
Here, the X-ray projection of the spine in the DSA contrast image can be superimposed with a perspective projection of CTA three-dimensional reconstruction mirror data of the spine by moving the patient. Of course, if the patient is in the same posture, the spine can be superimposed on the spine in the DSA contrast image by moving the perspective projection of the CTA three-dimensional reconstruction mirror image data.
Through the adjustment of the foregoing steps S2-S6, the perspective projection of the CTA three-dimensional reconstruction mirror image data has the same projection mode (perspective mode), the same viewpoint and the same position and orientation as those of the DSA contrast image, and has the condition of performing accurate fusion, thereby completing the basic registration of the CTA three-dimensional reconstruction mirror image data.
After the aforementioned basic registration, as shown in fig. 4B, the image processing method in the DSA contrast operation is as follows.
S7: adjusting parameters according to the distance from the X-ray tube ball of the DSA machine to the catheter bed and the distance from the tube ball to the detector in the operation
During operation, the doctor can adjust the relative position of the catheter bed and the detector or the relative position of the catheter bed and the X-ray tube ball based on the position of a focus and the like. Therefore, after the position of the catheter bed is adjusted, a doctor needs to call parameters in professional software, and adjusts the distance from the projection center to the focus according to the distance from the X-ray tube ball of the DSA machine to the catheter bed to ensure that the two are equal; and the distance from the projection center of the CTA image to the screen is adjusted to be equal according to the distance from the tube ball to the detector. Of course, if the catheter bed is not positionally adjusted, this step may be omitted.
Here, the distance from the X-ray tube ball of the DSA machine to the guide tube bed and the distance from the X-ray tube ball to the guide tube bed are the distances of the DSA machine in the current state.
S8: rotating CTA three-dimensional images according to the rotation angle of DSA gantry
The physician can rotate the perspective projection of the CTA three-dimensional reconstruction mirror data by the same angle as the rotation angle of the DSA gantry to overlay the DSA contrast image.
In a perspective projection of the CTA three-dimensional reconstructed mirror image data, the X-axis is rotated at the corresponding C-arm angle in elevation. The Z axis is then rotated according to the P arm angle. After the three-dimensional image of the CTA three-dimensional data is rotated in the order of X axis first and Z axis later, the reconstructed three-dimensional image of the CTA three-dimensional data is accurately aligned with the DSA contrast image.
S9: adjusting the image position in real time according to the pose change of the DSA machine
In operation, the operator needs to adjust the position of the perspective projection of the CTA three-dimensional reconstruction mirror image data in the DSA display screen 4 in real time, so that the CT three-dimensional reconstruction image is always overlapped with the DSA image.
S10: obtaining and outputting a fused image
In steps S7 to S10, the fluoroscopic projection of the CTA three-dimensional reconstructed mirror image data is superimposed on the contrast image to form a fusion image, and a stereoscopic image completely coincident with the radiographic image in the interventional procedure is obtained.
The technical effects of the image processing method using the CTA three-dimensional reconstruction mirror image data provided by the present invention and capable of being accurately fused with angiography will be described below.
As shown in fig. 5A-5C, the effect of the DSA gantry's normal motion on two-dimensional X-ray images in PCI surgery was simulated using UG NX 11.0. Because the model projection image is uniformly zoomed, when the image is projected in parallel (as shown in fig. 5A) or projected in X-ray (perspective), the detector (screen) is lifted, and the image is unchanged (as shown in fig. 5B); conversely, since all the X-rays come from a small focus (viewpoint) of the X-ray tube, the closer the tube or viewpoint is to the heart model (e.g., lowering the catheter bed of the DSA machine), the more uneven the projection image is zoomed, the more significant the image distortion, and vice versa (FIG. 5C). In addition, when the position of the DSA images in the screen is changed by translating the catheter bed, the X-ray from the focal point of the bulb to the object will be angled (not parallel) with the X-ray from the focal point of the bulb to the object before moving, resulting in automatic rotation of the X-ray images when the surgical platform (catheter bed) is moved horizontally (fig. 5D); when an object is located at the ISO center of the DSA machine, the X-ray from the X-ray tube sphere (viewpoint) to the object always points to the fixed position of the detector, regardless of the C-arm angle; thus, the X-ray image of the model can maintain its position on the screen regardless of the DSA gantry angle changes (fig. 5E); when the object is below the ISO center of the DSA machine, the position of the X-ray pointing detector from the X-ray tube sphere (viewpoint) to the object changes after the DSA machine rotates, and as a result, the X-ray image rotation angle (angle 2) is greater than the C-arm rotation angle (angle 3), which is consistent with the mechanism of fig. 5D. The surgical table can be moved horizontally after the DSA gantry is rotated to project the X-rays back to their pre-screen position, i.e., at an image rotation angle equal to the DSA gantry rotation angle (fig. 5F, 5G). Therefore, the transformation of the projection graph is completely determined by the relative spatial position relationship between the X-ray tube ball and the target object, the distance from the tube ball to the catheter bed, the position of the DSA target image in the screen, namely the relative position of the DSA target image and the screen center of the DSA display screen (the screen center is the projection of the tube ball center on the detector), and the angle of the DSA frame, and the relative spatial position relationship between the tube ball and the target object can be obtained by combining the three. And the distance of the tube ball from the detector determines the zoom size of the projected image. Furthermore, the contrast image is also affected because DSA gantry rotation causes the DSA image to change position in the screen of the DSA display screen.
As shown in fig. 6, the CTA three-dimensional image processing method capable of being precisely fused with angiography provided by the present invention can obtain a high quality fused image. As can be seen from fig. 6, the perspective projection of the CTA three-dimensional reconstructed mirror image data and the angiographic image achieve precise fusion in a plurality of contrast positions (four positions a-D, such as the foot position of 27.7 degrees). In the fused image, the registration is correct, the viewpoints are consistent, the spatial relationship is correct, and the image is not distorted.
According to the data model processed by the steps, the accurate fusion of the three-dimensional data image reconstructed by CTA and the coronary angiography can be realized, the depth information of the blood vessel anatomical structure is provided, the coronary intervention operator can be helped to quickly establish the three-dimensional perception of the coronary angiography, the level of the coronary intervention operator is obviously improved, a treatment scheme is conveniently formulated, the difficulty of the intervention operation is reduced, and the prognosis of a patient is obviously improved.
The invention also provides a projection device for three-dimensionally reconstructing mirror image data by using the CTA three-dimensional reconstruction mirror image data. The projection device is connected with a DSA machine to realize the projection of CTA three-dimensional reconstruction mirror image data. The DSA machine comprises a C arm, a detector, a guide pipe bed, an X-ray bulb tube, a DSA display screen and an image digital processing system. When the image digital processing system rotates CTA three-dimensional reconstruction mirror image data, the X axis of the reconstructed three-dimensional image is rotated according to the angle of the C arm when the reconstructed three-dimensional image is in the right position, and then the Z axis of the reconstructed three-dimensional image is rotated according to the angle of the P arm.
In a three-dimensional image displayed by the projection device of the CTA three-dimensional reconstruction mirror image data provided by the invention, a head and foot position rotating shaft is parallel to the upper edge and the lower edge of a screen, and a left rotating shaft and a right rotating shaft form an angle with the left edge and the right edge of the screen, wherein the angle is a head and foot position angle. The reconstructed or integrated image displayed on the DSA display screen of the projection device for CTA three-dimensional reconstruction mirror image data has the following characteristics:
1. CTA three-dimensional data is mirror image data, and an image projection mode is a perspective projection mode;
2. the distance from the projection center of the CTA three-dimensional image to a target organ (such as the spine) of the human body is equal to the distance from the X-ray tube bulb to the catheter bed;
3. the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the screen is the distance from the X-ray tube ball to the detector;
4. the screen center of the perspective projection of the CTA three-dimensional reconstructed mirror image data overlaps the center of the DSA machine screen.
5. The cephalopod rotation axis of the DSA image is parallel to the upper and lower edges of the DSA display screen or view plane, while the left and right rotation axes are at an angle to the left and right edges of the DSA screen or view plane, and this angle is equal to the cephalopod rotation angle. These features are not the same as the display features of CTA three-dimensional reconstruction data in CT workstations.
The projection method, image processing method and apparatus for CTA three-dimensional reconstruction mirror image data provided by the present invention are explained in detail above. It will be apparent to those skilled in the art that any obvious modifications thereof can be made without departing from the spirit of the invention, which infringes the patent right of the invention and bears the corresponding legal responsibility.
Claims (13)
1. A method of projecting CTA three-dimensional reconstructed mirror data, the angiogram being acquired using a DSA machine having an X-ray tube, a catheter bed, a detector, and a DSA display screen, comprising the steps of:
CTA three-dimensional reconstruction mirror image data is obtained;
setting an image projection mode of the CTA three-dimensional reconstruction mirror image data to a perspective projection mode;
correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen to be the distance from the X-ray tube ball to the detector; and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstructed mirror image data to the target organ to the distance from the X-ray tube ball to the catheter bed;
the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror data is overlapped with the center of the DSA contrast image.
2. The projection method of claim 1, wherein:
the target organ is the spine.
3. The projection method of claim 1 or 2, characterized by:
the distance from the X-ray tube ball of the DSA machine to the guide tube bed and the distance from the X-ray tube ball to the guide tube bed are the distances of the DSA machine in a normal state.
4. The projection method of claim 1 or 2, characterized by:
the head and foot rotation axes of the perspective projected image of the CTA three-dimensional reconstruction mirror image data are parallel to the upper and lower edges of the view plane of the projection device or parallel to the upper and lower edges of the DSA display screen;
the left and right rotational axes of the image of the perspective projection of the CTA three-dimensional reconstructed mirror image data are angled from the left and right edges of the DSA display screen or from the left and right edges of the view plane of the projection device and are equal to the cephalopod rotation angle.
5. An image processing method of CTA three-dimensional reconstruction mirror image data, used for precise fusion with angiography obtained using a DSA machine having an X-ray tube, a catheter bed and a DSA display screen, characterized by comprising the steps of:
CTA three-dimensional reconstruction mirror image data is obtained;
setting an image projection mode of the CTA three-dimensional reconstruction mirror image data to a perspective projection mode;
correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to a DSA display screen to be the distance from the X-ray tube ball to the detector; and correcting the distance from the projection center of the perspective projection of the CTA three-dimensional reconstructed mirror image data to the target organ to the distance from the X-ray tube ball to the catheter bed;
displaying the perspective projection of the adjusted CTA three-dimensional reconstruction mirror image data on a DSA display screen of the fusion device;
enabling the X-ray projection of the spine in the DSA contrast image and the perspective projection of the spine in CT three-dimensional reconstruction mirror image data to be accurately fused;
rotating the perspective projection of the reconstructed mirror image data according to a rotation angle of a gantry of the DSA machine;
a fused image is obtained and output.
6. The image processing method according to claim 5, further comprising:
adjusting the distance from the projection center to the focus according to the distance from the X-ray tube ball to the catheter bed in the current state of the DSA machine to ensure that the distance from the projection center to the focus is equal to the distance from the X-ray tube ball to the catheter bed in the current state of the DSA machine; and according to the distance from the X-ray tube ball to the detector, the distance from the projection center of the CTA image to the screen is adjusted to be equal.
7. The image processing method according to claim 5, further comprising:
the screen center of the perspective projection of the CTA three-dimensional reconstruction mirror data is overlapped with the center of the DSA contrast image.
8. The image processing method according to claim 5 or 6, characterized by:
the CTA three-dimensionally reconstructs a perspective projected image of the mirrored data, having X and Z axes,
when the image of the perspective projection of the CTA three-dimensional reconstruction mirror image data is in a front view, the C-arm angle of the DSA machine rotates the X-axis in the current state, and then the Z-axis rotates according to the P-arm angle.
9. The projection method of claim 5 or 6, wherein:
the head and foot rotation axes of the perspective projected image of the CTA three-dimensional reconstruction mirror image data are parallel to the upper and lower edges of the view plane of the projection device or parallel to the upper and lower edges of the DSA display screen;
the left and right rotational axes of the image of the perspective projection of the CTA three-dimensional reconstructed mirror image data are angled from the left and right edges of the DSA display screen or from the left and right edges of the view plane of the projection device and are equal to the cephalopod rotation angle.
10. A projection arrangement for CTA three-dimensional reconstructed mirror data connected to a DSA machine for projection of the CTA three-dimensional reconstructed mirror data, the DSA machine comprising a C-arm, a detector, a catheter bed, an X-ray tube and a DSA display screen, wherein:
the projection mode of the CTA three-dimensional reconstruction mirror image data is a perspective projection mode; the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the human target organ is equal to the distance from the X-ray tube bulb to the catheter bed; the distance from the projection center of the perspective projection of the CTA three-dimensional reconstruction mirror image data to the DSA display screen is the distance from the X-ray tube ball to the detector.
11. A projection device as claimed in claim 10, wherein:
a perspective projection of the CTA three-dimensional reconstructed mirror image data is displayed on the projection device, and the display position is such that a screen center of the perspective projection of the CTA three-dimensional reconstructed mirror image data overlaps a center of the DSA contrast image.
12. A projection device as claimed in claim 11, wherein:
when the image of the perspective projection of the CTA three-dimensional reconstruction mirror image data is in a front view, the X axis is rotated by the angle of the C arm of the DSA machine in the current state, and then the Z axis is rotated according to the angle of the P arm.
13. A projection device as claimed in claim 12, wherein:
the head and foot rotation axes of the perspective projected image of the CTA three-dimensional reconstruction mirror image data are parallel to the upper and lower edges of the view plane of the projection device or parallel to the upper and lower edges of the DSA display screen;
the left and right rotational axes of the image of the perspective projection of the CTA three-dimensional reconstructed mirror image data are angled from the left and right edges of the DSA display screen or from the left and right edges of the view plane of the projection device and are equal to the cephalopod rotation angle.
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| CN113487626A (en) * | 2021-07-01 | 2021-10-08 | 杭州三坛医疗科技有限公司 | Mirror image identification method and device, electronic equipment and storage medium |
| CN113796960A (en) * | 2021-09-07 | 2021-12-17 | 上海联影医疗科技股份有限公司 | Catheter navigation method, device, equipment and storage medium |
| CN114596311A (en) * | 2022-04-22 | 2022-06-07 | 深圳科亚医疗科技有限公司 | Blood vessel function evaluation method and blood vessel function evaluation device based on blood vessel image |
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| DE10325003A1 (en) * | 2003-06-03 | 2004-12-30 | Siemens Ag | Visualization of 2D / 3D-merged image data for catheter angiography |
| JP5702572B2 (en) * | 2009-10-29 | 2015-04-15 | 株式会社東芝 | X-ray equipment |
| CN102013116B (en) * | 2010-11-30 | 2012-11-07 | 华润万东医疗装备股份有限公司 | Cerebral rotational angiography-based three-dimensional reconstruction method |
| CN103892861B (en) * | 2012-12-28 | 2016-05-11 | 北京思创贯宇科技开发有限公司 | A kind of analogue navigation system and method merging based on CT-XA image multi-dimensional |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113487626A (en) * | 2021-07-01 | 2021-10-08 | 杭州三坛医疗科技有限公司 | Mirror image identification method and device, electronic equipment and storage medium |
| CN113487626B (en) * | 2021-07-01 | 2024-03-15 | 杭州三坛医疗科技有限公司 | Mirror image identification method and device, electronic equipment and storage medium |
| CN113796960A (en) * | 2021-09-07 | 2021-12-17 | 上海联影医疗科技股份有限公司 | Catheter navigation method, device, equipment and storage medium |
| CN113796960B (en) * | 2021-09-07 | 2023-11-21 | 上海联影医疗科技股份有限公司 | Catheter navigation device, apparatus and storage medium |
| CN114596311A (en) * | 2022-04-22 | 2022-06-07 | 深圳科亚医疗科技有限公司 | Blood vessel function evaluation method and blood vessel function evaluation device based on blood vessel image |
| CN114596311B (en) * | 2022-04-22 | 2022-08-12 | 深圳科亚医疗科技有限公司 | Blood vessel function evaluation method and blood vessel function evaluation device based on blood vessel image |
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