CN112509077A

CN112509077A - Intracranial blood vessel image segmentation and display method based on intelligent medical treatment

Info

Publication number: CN112509077A
Application number: CN202011322246.2A
Authority: CN
Inventors: 贾艳楠
Original assignee: Xian Cresun Innovation Technology Co Ltd
Current assignee: Xian Cresun Innovation Technology Co Ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-03-16

Abstract

The invention discloses an intelligent medical treatment-based intracranial blood vessel image segmentation and display method, which comprises the following steps: acquiring a bright blood image group, a black blood image group and an enhanced black blood image group of an intracranial vascular site; obtaining a group of bright blood images after registration by using a mutual information based on Gaussian distribution sampling and a registration method of an image pyramid; obtaining an artifact-eliminated enhanced black blood image group by using the registered bright blood image group; establishing a blood three-dimensional model and a blood vessel three-dimensional model by using the registered bright blood image group; removing and enhancing the black blood image group and the black blood image group based on the artifact to obtain a contrast enhanced three-dimensional model; obtaining an angiography enhanced three-dimensional model based on the blood three-dimensional model, the blood vessel three-dimensional model and the angiography enhanced three-dimensional model; marking the angiography enhanced three-dimensional model to obtain an intracranial angiography enhanced three-dimensional narrowing analysis model; displaying the angiography enhanced three-dimensional narrowing analysis model. The method of the invention can assist doctors to visually judge the focus.

Description

Intracranial blood vessel image segmentation and display method based on intelligent medical treatment

Technical Field

The invention belongs to the field of image processing, and particularly relates to an intracranial blood vessel image segmentation and display method based on intelligent medical treatment.

Background

With the rapid development of national economy, people pay more and more attention to health problems. A paper published by Lancet in 2019 in 6 months analyzes the death reasons of residents in 34 provinces (including Hongkong and Australia) in China from 1990 to 2017, and the first death reason of high-centrality Chinese people is found to be stroke. Cerebral apoplexy is a series of symptoms caused by brain tissue necrosis caused by rupture, stenosis or blockage of intracranial blood vessels, including cerebral hemorrhage, cerebral infarction and the like, and if treatment is not timely, a patient can die; even if the treatment is timely, the disability of the patient can be caused.

Currently, for clinically assessing the degree of intracranial vascular lesion and vascular stenosis, lumen-based imaging methods, such as Digital Subtraction Angiography (DSA), CT Angiography (CTA), Magnetic Resonance Angiography (MRA), and High-Resolution Magnetic Resonance Angiography (HRMRA), are commonly used. The intracranial artery blood vessel is connected with the carotid artery and the vertebral artery, and forms a ring structure at the bottom of the brain, and has special structural form, zigzag and extremely thin tube wall thickness. By means of the magnetic resonance blood vessel imaging technology, the path of the intracranial artery blood vessel can be clearly described.

The MRA and the HRMRA are used as a non-invasive imaging method for a patient, the vascular wall structure of the intracranial blood vessel can be clearly detected and analyzed, the magnetic resonance image obtained by scanning has high resolution ratio on soft tissues, no bone artifacts and good image quality, and the tissue structures with different imaging characteristics can be obtained by using multiple sequence scanning, so that the method has obvious superiority in displaying the intracranial blood vessel.

However, since images corresponding to the bright blood sequence and the black blood sequence obtained by the MRA and HRMRA techniques are both two-dimensional images, in clinical practice, a doctor needs to obtain a comprehensive condition of an intracranial blood vessel by combining information of the two images through experience so as to analyze intracranial vascular lesions. However, the two-dimensional image has limitations, which is not beneficial to simply and rapidly obtaining the real information of the intracranial blood vessel. Moreover, analysis data about the intracranial vascular stenosis degree cannot be intuitively and quickly obtained from the image obtained by the imaging method, and the positioning analysis of the intracranial vascular lesion area is not facilitated clinically.

Disclosure of Invention

In order to be used in clinical application, real information of intracranial blood vessels and analysis data about the degree of intracranial blood vessel stenosis are simply, quickly and intuitively obtained to carry out intracranial blood vessel lesion analysis. The embodiment of the invention provides an intelligent medical treatment-based intracranial blood vessel image segmentation and display method. The method comprises the following steps:

acquiring a bright blood image group, a black blood image group and an enhanced black blood image group of an intracranial vascular site; the bright blood image group, the black blood image group and the enhanced black blood image group respectively comprise K bright blood images, black blood images and enhanced black blood images; the images in the bright blood image group, the black blood image group and the enhanced black blood image group are in one-to-one correspondence; k is a natural number greater than 2;

taking the enhanced black blood image group as a reference, and performing image registration on the bright blood image group by using a mutual information based on Gaussian distribution sampling and an image pyramid registration method to obtain a registered bright blood image group;

performing flow-space artifact removing operation on the enhanced black blood image in the enhanced black blood image group by using the registered bright blood image group to obtain an artifact-removed enhanced black blood image group;

establishing a blood three-dimensional model by using the registered bright blood image group;

establishing a blood vessel three-dimensional model of blood boundary expansion by using the registered bright blood image group;

eliminating and enhancing the black blood image group and the black blood image group based on the artifact to obtain a contrast enhanced three-dimensional model;

obtaining an angiography enhanced three-dimensional model based on the blood three-dimensional model, the blood vessel three-dimensional model and the angiography enhanced three-dimensional model;

and obtaining the numerical value of a target parameter representing the angiostenosis degree of each section of blood vessel in the angiography enhanced three-dimensional model, and marking the angiography enhanced three-dimensional model by using the numerical value of the target parameter of each section of blood vessel to obtain an intracranial angiography enhanced three-dimensional stenosis analysis model.

The scheme provided by the embodiment of the invention can simply, conveniently, quickly and intuitively obtain the real information of the intracranial blood vessel and the analysis data about the intracranial blood vessel stenosis degree in clinical application, and assist doctors to more accurately and intuitively analyze and judge the focus.

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic flowchart of an intelligent medical intracranial blood vessel image segmentation and display method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a region to be registered of an intracranial vascular magnetic resonance image in accordance with an embodiment of the invention;

fig. 3(a) is a bright blood gaussian pyramid and a black blood gaussian pyramid of an intracranial vascular magnetic resonance image according to an embodiment of the invention; fig. 3(b) is a bright blood laplacian pyramid and a black blood laplacian pyramid of an intracranial vascular magnetic resonance image according to an embodiment of the present invention;

FIG. 4 is a result of registration of Laplacian pyramid images of intracranial vascular magnetic resonance images according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a Gaussian pyramid image registration step based on mutual information for an intracranial vascular magnetic resonance image according to an embodiment of the invention;

FIG. 6 is a normalized mutual information for different iterations according to an embodiment of the present invention;

FIG. 7 is a registration result of an intracranial vascular magnetic resonance image including a plurality of registration methods of a mutual information pyramid method;

fig. 8 is a result of the registration of the mutual information and image pyramid based on gaussian distribution sampling and the intracranial vascular magnetic resonance image of the mutual information pyramid method in the embodiment of the present invention;

FIG. 9 is a schematic diagram of gray scale linear transformation and parameter setting according to an embodiment of the present invention;

FIG. 10 is a graph of the result of linear gray scale transformation according to an embodiment of the present invention;

FIG. 11 is a diagram illustrating an image binarization result according to an embodiment of the present invention;

FIG. 12 is a flow-empty artifact removal result obtained by a different method for an intracranial blood vessel in an embodiment of the present invention;

fig. 13(a), (b) and (c) are respectively a blood three-dimensional model effect diagram, a blood vessel three-dimensional model effect diagram and a contrast enhanced three-dimensional model effect diagram for intracranial blood vessels according to an embodiment of the present invention;

FIG. 14 is a diagram of the effect of a contrast enhanced three-dimensional model for intracranial vessels according to an embodiment of the invention;

FIG. 15 is a graph of the effect of an intracranial angiographic enhanced three-dimensional stenosis analysis model according to an embodiment of the present invention;

FIG. 16 is a diagram showing the effect of an enhanced three-dimensional stenosis analysis model of intracranial angiography and a sectional view according to an embodiment of the present invention;

fig. 17 is a naked eye 3D holographic visualization image of an angiography enhanced three-dimensional stenosis analysis model of an intracranial vessel provided by an embodiment of the present invention;

fig. 18 is a schematic diagram of gesture recognition performed on a naked-eye 3D holographic display result of an angiography-enhanced three-dimensional stenosis analysis model of an intracranial blood vessel according to an embodiment of the present invention;

fig. 19 is a 3D printed result diagram of an angiographic enhanced three-dimensional stenosis analysis model of intracranial vessels according to an embodiment of the present invention.

Detailed Description

As shown in fig. 1, an intelligent medical intracranial blood vessel image segmentation and display method provided by an embodiment of the present invention may include the following steps:

s1, acquiring a bright blood image group, a black blood image group and an enhanced black blood image group of the intracranial vascular site;

the bright blood image group, the black blood image group and the enhanced black blood image group respectively comprise K bright blood images, black blood images and enhanced black blood images; the images in the bright blood image group, the black blood image group and the enhanced black blood image group are in one-to-one correspondence; k is a natural number greater than 2;

the bright blood image group is preferably an image group obtained by performing bright blood sequence scanning on an intracranial vascular part by using an HRMRA (high resolution contrast agent) technology. The black blood image group is preferably an image group obtained by performing black blood sequence scanning on an intracranial vascular site using the HRMRA technique. The enhanced black blood image set is preferably an image set obtained by injecting a paramagnetic contrast agent into a patient and then performing black blood sequence scanning on an intracranial vascular site by using an HRMRA technique.

The K images in the group of bright blood images, the group of black blood images and the group of enhanced black blood images are in one-to-one correspondence in such a way that the images formed according to the scanning time are in the same order.

S2, taking the enhanced black blood image group as a reference, and performing image registration on the bright blood image group by using mutual information based on Gaussian distribution sampling and a registration method of an image pyramid to obtain a registered bright blood image group;

in an alternative embodiment, S2 may include S21 and S22:

s21, taking each bright blood image and the corresponding enhanced black blood image as an image pair, and preprocessing each image pair to obtain a first bright blood image and a first black blood image of the image pair;

in another alternative embodiment, the preprocessing is performed on each image pair to obtain a first bright blood image and a first black blood image of the image pair, and may include S211 and S212:

s211, aiming at each image pair, taking the enhanced black blood image as a reference, carrying out coordinate transformation and image interpolation on the bright blood image, using the similarity measurement based on mutual information, and adopting a preset search strategy to obtain a first bright blood image after pre-registration;

specifically, the enhanced black blood image and the bright blood image are to-be-registered images, and the enhanced black blood image is used as a reference image, the bright blood image is used as a floating image, and the bright blood image is subjected to coordinate transformation according to the orientation tag information in the DICOM file of the bright blood image, so that the purpose of rotating the bright blood image to the same coordinate system as the enhanced black blood image is achieved, and the scanning direction of the rotated bright blood image is also changed into a coronal plane.

To facilitate an understanding of the method of the embodiments of the present invention, a brief description is provided below in connection with an image registration process, which can be understood by referring to the related art.

For the registration of the two images a and B, each coordinate position in the image a is actually mapped to the image B through a mapping relationship. Because the intracranial blood vessel can be regarded as a rigid body, the embodiment of the invention selects rigid body transformation as a coordinate transformation method.

However, in the coordinate transformation process, the coordinate system of the floating image may stretch or deform, the image pixel coordinate after the coordinate transformation does not completely coincide with the sampling grid of the original image, that is, the original integer pixel coordinate point may not be an integer after the coordinate transformation, which causes some areas of the image to lose part of pixels, therefore, in the image coordinate transformation process, the image needs to be resampled and interpolated at the same time to determine the gray value of the image pixel coordinate point after the coordinate transformation, which is convenient for the subsequent processing. The image interpolation method comprises nearest neighbor interpolation, bilinear interpolation, bicubic interpolation and the like. The embodiment of the invention performs experiments on three interpolation methods, and sets 5 evaluation indexes which are respectively root mean square error RMSE, peak signal-to-noise ratio PSNR, normalized cross correlation coefficient NCC, normalized mutual information NMI and Time consumption Time, wherein the smaller the RMSE is, the more accurate the registration is, and the higher the PSNR, NCC and NMI values are, the more accurate the registration is. From the whole experimental data, the accuracy of bicubic interpolation is obviously better than that of nearest neighbor interpolation and bilinear interpolation, so that bicubic interpolation is selected.

After image restoration is carried out on missing pixel points by using an image interpolation method, certain similarity measurement is needed to be used for calculating the similarity between a reference image and a changed floating image, then the optimal similarity measurement is found by using a search strategy, iteration optimization is carried out repeatedly until the similarity measurement of two images reaches the optimal value, iteration is stopped, and finally coordinate conversion is carried out on the floating image according to a determined space transformation matrix (rotation matrix) so as to realize complete image registration. After the images to be registered are optimized by an iterative algorithm, the spatial position registration relationship and the registered images of the two images can be calculated, so that the similarity between the registered floating images and the reference images is the highest.

In the embodiment of the invention, the intracranial blood vessel can be regarded as a rigid body, hardly deforms, and organs such as heart or lung change along with movement such as respiration of a person, so that mutual information or normalized mutual information can be selected as similarity measurement for the intracranial blood vessel, and the registration effect is more accurate.

Image registration is essentially a multi-parameter optimization problem, namely, spatial coordinate change is performed on images by using a certain search strategy, and finally, the similarity measurement of the two images is optimized, wherein the search strategy and the spatial coordinate change are performed in a mutual intersection manner in the actual calculation process. In the embodiment of the invention, the two search strategies are tested, and the registration image effect of (1+1) -ES is displayed more clearly and is better than that of a gradient descent optimizer; thus, embodiments of the present invention use (1+1) -ES as the predetermined search strategy.

Through the pre-registration of the step, the magnetic resonance images of the same scanning layer can be compared under the same coordinate system preliminarily, but because the scanning time of the bright blood sequence and the scanning time of the black blood sequence are different, and the patient possibly moves slightly before and after the scanning, the operation is only a rough coordinate transformation, the complete registration of the multi-mode magnetic resonance images can not be realized only through the pre-registration, but the step can omit unnecessary processing procedures for the subsequent accurate registration link, and the processing speed is improved.

S212, the same region content as the scanning range of the first bright blood image is extracted from the enhanced black blood image, and a first black blood image is formed.

Because the scanning ranges of the blood vessel imaging in different magnetic resonance sequences are different, after the bright blood image is subjected to image coordinate transformation, the information of the coronal plane of the bright blood image is not rich in the information of the enhanced black blood image, so that the same scanning area can be extracted from the enhanced black blood image according to the scanning area of the first bright blood image, and the registration range of the subsequent image is reduced.

Optionally, S212 may include the following steps:

1. obtaining edge contour information of a blood vessel in the first bright blood image;

specifically, the edge contour information may be obtained by using a Sobel edge detection method or the like. The edge profile information contains coordinate values of the respective edge points.

2. Extracting the minimum value and the maximum value of the abscissa and the ordinate from the edge profile information, and determining an initial extraction frame based on the obtained four coordinate values;

in other words, in the edge profile information, extracting a minimum abscissa value, a maximum abscissa value, a minimum ordinate value and a maximum ordinate value, and determining four vertexes of the square frame by using the four coordinate values, thereby obtaining an initial extracted frame;

3. in the size range of the first bright blood image, the size of the initial extraction frame is respectively enlarged by a preset number of pixels along four directions to obtain a final extraction frame;

wherein, the four directions are respectively the positive and negative directions of the horizontal and vertical coordinates; the preset number is reasonably selected according to the type of the blood vessel image, so as to ensure that the expanded final extraction frame does not exceed the size range of the first bright blood image, for example, the preset number may be 20.

4. And extracting the corresponding area content in the final extracted frame from the enhanced black blood image to form a first black blood image.

And extracting the content of the corresponding area in the enhanced black blood image according to the coordinate range defined by the final extraction frame, and forming the extracted content into a first black blood image. The step obtains the common scanning range of the magnetic resonance images under the two modes by extracting the region to be registered, thereby being beneficial to subsequent rapid registration.

Referring to fig. 2, fig. 2 is a schematic diagram of a region to be registered of an intracranial vascular magnetic resonance image according to an embodiment of the present invention, where the left image is a first bright blood image after pre-registration, the right image is an enhanced black blood image, and the box is a region to be extracted in the enhanced black blood image. The region contains the common scanning range of a bright blood sequence and a black blood sequence in an intracranial vascular magnetic resonance image, and useful information can be focused more quickly by determining the region to be extracted.

The two-step preprocessing process of the embodiment of the invention plays a very important role, the preprocessed image can pay more attention to useful information and exclude irrelevant information, and in actual use, the image preprocessing can be used for improving the reliability of intracranial blood vessel image registration and identification.

S22, aiming at each first bright blood image, taking the corresponding first black blood image as a reference, and carrying out image registration by using a mutual information based on Gaussian distribution sampling and an image pyramid registration method to obtain a registered bright blood image group comprising K registered bright blood images;

in an alternative embodiment, S22 may include S221 to S224:

s221, sampling and selecting a preprocessed partial image pair as a test image pair by adopting Gaussian distribution;

the test image pair of the embodiment of the invention is the image pair to be registered, and the random selection of the image pair to be registered of the embodiment of the invention adopts Gaussian distribution sampling. The scanning directions of the bright blood image and the enhanced black blood image are different, and in the image preprocessing process, in order to observe the bright blood image and the enhanced black blood image on the same imaging layer, the bright blood image is subjected to coordinate transformation and interpolation, so that each bright blood image corresponds to the enhanced black blood image on the current layer; meanwhile, due to the fact that the scanning ranges of the bright blood image and the enhanced black blood image are different, data of the edge layer of the bright blood image may not be complete. In summary, the bright blood data and the enhanced black blood data of the scanned middle layer are most abundant, so that the gaussian mean μ is selected to be half of the total number of the images to be registered, and the probability of registration of the images in the middle layer selected by gaussian random is the largest.

S222, performing image registration on the first bright blood image and the first black blood image in each test image pair by adopting a registration method based on mutual information and an image pyramid to obtain a rotation matrix corresponding to the first bright blood image in the test image pair after registration; in an optional embodiment, S222 may specifically include steps a1 to a 4:

a1, aiming at each test image pair, based on down-sampling processing, obtaining a bright blood Gaussian pyramid from the first bright blood image, and obtaining a black blood Gaussian pyramid from the first black blood image; the bright blood Gaussian pyramid and the black blood Gaussian pyramid comprise m images with resolution ratios which are sequentially reduced from bottom to top; m is a natural number greater than 3;

in order to improve the accuracy of image registration and avoid the convergence of an image to a local maximum value in the registration process, a multi-resolution strategy can be used for solving the problem of a local extreme value, and meanwhile, the multi-resolution strategy can improve the execution speed of the algorithm and increase the robustness under the condition of meeting the image registration precision. The method is an effective way to improve the registration accuracy and speed by increasing the complexity of the model, namely, in the registration process, the registration is performed in the order from coarse registration to fine registration, firstly, the registration is performed on the low-resolution image, and then, on the basis of the completion of the registration of the low-resolution image, the registration is performed on the high-resolution image. In an alternative embodiment, the a1 step may include:

obtaining an input image of an ith layer, filtering the input image of the ith layer by using a Gaussian kernel, and deleting even rows and even columns of the filtered image to obtain an image G of the ith layer of the Gaussian pyramid_iAnd the ith layer image G_iObtaining an i +1 layer image G of a Gaussian pyramid as an i +1 layer input image_i+1；

Wherein i is 1, 2, …, m-1; when the gaussian pyramid is a bright blood gaussian pyramid, the input image of the 1 st layer is a first bright blood image, and when the gaussian pyramid is a black blood gaussian pyramid, the input image of the 1 st layer is a first black blood image.

Specifically, the multiple images in the gaussian pyramid are corresponding to the same original image with different resolutions. The Gaussian pyramid acquires an image through Gaussian filtering and downsampling, and each layer of construction steps can be divided into two steps: firstly, smoothing filtering is carried out on an image by using Gaussian filtering, namely filtering is carried out by using a Gaussian kernel; and then deleting even rows and even columns of the filtered image, namely reducing the width and height of the lower layer image by half to obtain the current layer image, so that the current layer image is one fourth of the size of the lower layer image, and finally obtaining the Gaussian pyramid by continuously iterating the steps.

Although the effect of blurring the image can be achieved by using the two-dimensional Gaussian template, when one point is on the boundary and there are not enough points around, the edge image is lost due to the relationship of the weight matrix, so the embodiment of the invention optimizes the two-dimensional Gaussian template. The two-dimensional Gaussian filter can be split into two independent one-dimensional Gaussian filters, and image filtering is performed in the horizontal direction and the vertical direction respectively. The Gaussian function is separated, so that the edge generated by the two-dimensional Gaussian template can be eliminated, and the running speed of the program can be greatly accelerated. Compared with other blurring filters, the Gaussian filtering can not only realize the blurring effect of the image, but also better keep the marginal effect.

In this step, the first bright blood image and the first black blood image after the preprocessing are subjected to the processing, so that a bright blood gaussian pyramid and a black blood gaussian pyramid can be obtained. As shown in fig. 3(a), fig. 3(a) is a bright blood gaussian pyramid and a black blood gaussian pyramid of an intracranial vascular magnetic resonance image according to an embodiment of the present invention. The image with the highest resolution is located at the bottom of the pyramid, and the image with the lowest resolution is located at the top of the pyramid. In the aspect of image information processing, the multi-resolution images can more easily acquire the essential characteristics of the images compared with the traditional single-resolution images.

A2, based on the upsampling processing, obtaining a bright blood Laplacian pyramid by utilizing a bright blood Gaussian pyramid, and obtaining a black blood Laplacian pyramid by utilizing a black blood Gaussian pyramid; wherein the bright blood Laplacian pyramid and the black blood Laplacian pyramid comprise m-1 images with resolution which is sequentially reduced from bottom to top;

since the gaussian pyramid is downsampled, i.e., the image is reduced, a portion of the data of the image is lost. Therefore, in order to avoid data loss of the image in the zooming process and recover detailed data, the embodiment of the invention uses the Laplacian pyramid to realize image reconstruction together with the Gaussian pyramid, and details are highlighted on the basis of the Gaussian pyramid image.

In an alternative embodiment, the a2 step may include:

for the i +1 layer image G of the Gaussian pyramid_i+1Performing upsampling, and filling the newly added rows and columns with data 0 to obtain a filled image; performing convolution on the filling image by utilizing a Gaussian kernel to obtain an approximate value of the filling pixel to obtain an amplified image; the ith layer image G of the Gaussian pyramid_iSubtracting the amplified image to obtain the ith layer image L of the Laplacian pyramid_i；

When the gaussian pyramid is the bright blood gaussian pyramid, the laplacian pyramid is the bright blood laplacian pyramid, and when the gaussian pyramid is the black blood laplacian pyramid, the laplacian pyramid is the black blood laplacian pyramid.

Since the laplacian pyramid is a residual between the image and the original image after downsampling, the laplacian pyramid is compared from bottom to top, and the laplacian pyramid has one layer of higher-level image less than the laplacian pyramid structure.

Specifically, the mathematical formula for generating the Laplacian pyramid structure is shown as (1), wherein L_iIndicating the Laplacian pyramid (bright blood Laplacian pyramid or black blood Laplacian pyramid) of the i-th layer G_iRepresenting the i-th level gaussian pyramid (bright blood gaussian pyramid or black blood gaussian pyramid), and the UP operation is an UP-sampled magnified image, symbol

Is a sign of the convolution of the symbols,

is the gaussian kernel used in constructing the gaussian pyramid. The formula shows that the laplacian pyramid is essentially formed by subtracting residual data of an image which is reduced and then enlarged from an original image, and is a residual prediction pyramid. Since a part of information lost in the previous downsampling operation cannot be completely restored by upsampling, that is, downsampling is irreversible, the display effect of the image after downsampling and upsampling is blurred compared with the original image. By storing the residual between the image and the original image after the down-sampling operation, the detail can be added to the images of different frequency layers on the basis of the Gaussian pyramid image, and the detail and the like can be highlighted.

Corresponding to the gaussian pyramid with 4 layers, the step can obtain a bright blood laplacian pyramid and a black blood laplacian pyramid with 3 image layers. As shown in fig. 3(b), fig. 3(b) is a bright blood laplacian pyramid and a black blood laplacian pyramid of an intracranial vascular magnetic resonance image according to an embodiment of the present invention. The image display uses gamma correction to achieve a clearer effect, and the gamma value is 0.5.

A3, registering images of corresponding layers in the bright blood Laplacian pyramid and the black blood Laplacian pyramid to obtain a registered bright blood Laplacian pyramid;

in an alternative embodiment, the a3 step may include:

aiming at each layer of the bright blood Laplacian pyramid and the black blood Laplacian pyramid, taking the corresponding black blood Laplacian image of the layer as a reference image, taking the corresponding bright blood Laplacian image of the layer as a floating image, using a similarity measure based on mutual information, and adopting a preset search strategy to realize image registration to obtain the registered bright blood Laplacian image of the layer;

forming a registered Laplacian pyramid of the bright blood from bottom to top according to the sequence of the sequential reduction of the resolution by the registered multilayer Laplacian images of the bright blood;

the black blood laplacian image is an image in the black blood laplacian pyramid, and the bright blood laplacian image is an image in the bright blood laplacian pyramid.

The registration process in this step is similar to the pre-registration process, and the image registration is realized by performing coordinate transformation and image interpolation on the bright blood laplacian image and using the similarity measure and the predetermined search strategy, so that the registered bright blood laplacian image can be obtained. The coordinate transformation, the image interpolation, the similarity measurement and the predetermined search strategy are not repeated.

As shown in fig. 4, fig. 4 is a registration result of laplacian pyramid images of an intracranial vascular magnetic resonance image according to an embodiment of the present invention, where the left image is a reference image in a black blood laplacian pyramid, the middle image is a registered image in a bright blood laplacian pyramid, and the right image is an effect image obtained by directly superimposing the left and middle images (the image in the figure is an image of an original image subjected to gray processing, and the color is not shown).

And A4, registering images of each layer in the bright blood Gaussian pyramid and the black blood Gaussian pyramid from top to bottom by using the registered bright blood Laplacian pyramid as superposition information to obtain a registered bright blood Gaussian pyramid, and obtaining a rotation matrix corresponding to a first bright blood image in the test image pair after registration.

In the registration of the step, images with different resolutions in the Gaussian pyramid need to be registered, and the registration of the low-resolution images can easily hold essential characteristics of the images, so that the embodiment of the invention registers the high-resolution images on the basis of the registration of the low-resolution images, namely, the images of the Gaussian pyramid are registered from top to bottom, and the registration result of the image of the upper layer is used as the registration input of the image of the lower layer.

In an alternative embodiment, a4 may include:

for the j-th layer from top to bottom in the bright blood Gaussian pyramid and the black blood Gaussian pyramid, taking the black blood Gaussian image corresponding to the layer as a reference image, taking the bright blood Gaussian image corresponding to the layer as a floating image, using similarity measurement based on mutual information, and adopting a preset search strategy to realize image registration to obtain a registered j-th layer bright blood Gaussian image;

performing up-sampling operation on the registered jth layer of bright blood Gaussian image, adding the up-sampling operation to the registered corresponding layer of bright blood Laplacian image, and replacing the jth +1 layer of bright blood Gaussian image in the bright blood Gaussian pyramid by using the added image;

taking the black blood Gaussian image of the j +1 th layer as a reference image, taking the replaced bright blood Gaussian image of the j +1 th layer as a floating image, and using a preset similarity measure and a preset search strategy to realize image registration to obtain a registered bright blood Gaussian image of the j +1 th layer;

where j is 1, 2, …, m-1, the black blood gaussian image is an image in the black blood gaussian pyramid, and the bright blood gaussian image is an image in the bright blood gaussian pyramid.

And repeating the operations until the high-resolution registration of the bottom layer Gaussian pyramid image is completed to obtain the registered bright blood Gaussian pyramid. In the registration process, the pre-registration process is similar to the one described above. The coordinate transformation, the image interpolation, the similarity measurement and the predetermined search strategy are not repeated.

The specific steps of mutual information-based gaussian pyramid image registration are shown in fig. 5, and fig. 5 is a schematic diagram of mutual information-based gaussian pyramid image registration steps of an intracranial vascular magnetic resonance image in an embodiment of the present invention. Firstly, registering the low-resolution black blood Gaussian image of the top layer and the low-resolution bright blood Gaussian image of the top layer based on mutual information; then, performing up-sampling operation on the registered bright blood Gaussian image, and adding the up-sampled bright blood Gaussian image and the bright blood Laplacian image of the corresponding layer which retains high-frequency information and is registered according to the operation to be used as a next layer of bright blood Gaussian image; and then, taking the bright blood Gaussian image obtained by the operation as an input image, registering the input image with the black blood Gaussian image of the corresponding layer, and repeating the operation until the high-resolution registration of the bottom layer Gaussian pyramid image is completed.

In the registration of Gaussian pyramid images based on mutual information, the registration of each layer of bright blood Gaussian image and black blood Gaussian image is carried out by taking normalized mutual information as similarity measurement, and the NMI of the two images is calculated through loop iteration until the NMI reaches the maximum. When the iteration times are too small, accurate registration of the image cannot be completed, but when the iteration times are too large, the calculated amount is increased rapidly, fig. 6 is normalized mutual information under different iteration times of the embodiment of the invention, and when the registration of the bottom layer image with the highest resolution in the gaussian pyramid reaches the maximum NMI value and the data is stable, the iteration is stopped.

Thus, a registered bright blood Gaussian pyramid is obtained, the coordinate system of the bright blood image is consistent with the coordinate system of the enhanced black blood image, and the images have high similarity, so that the blood vessel image registration process of the embodiment of the invention can be completed. And after registration, a rotation matrix corresponding to the first bright blood image in the test image pair after registration can be obtained.

In order to verify the effectiveness and practicability of the mutual information and image pyramid based registration method (referred to as the mutual information pyramid method for short) in the embodiment of the invention, a comparison experiment is carried out, intracranial vascular magnetic resonance images of five patients are used together, and meanwhile, an algorithm for carrying out registration only by using DICOM image orientation label information and a registration algorithm based on mutual information measurement are selected and compared with the mutual information pyramid method in the embodiment of the invention, wherein the algorithm based on mutual information measurement is to search the optimal transformation between a reference image and a floating image by a multi-parameter optimization method, so that the mutual information value of the two images is the maximum, and the image pyramid algorithm is not used. The experimental platform was Matlab R2016 b. Aiming at the image registration result of an experiment, in the aspect of qualitative analysis, because large gray difference exists between multi-modal medical images, a difference image obtained by subtracting the registration image from a reference image cannot effectively reflect the registration result of the multi-modal medical images, the embodiment of the invention obtains a color overlapping image capable of reflecting the alignment degree of the registration image and the reference image by overlapping the registration image and the reference image, qualitatively analyzes the registration effect of a multi-modal registration algorithm through the color overlapping image, shows the registration result of the multi-modal intracranial vascular magnetic resonance image in fig. 7, and shows the registration result of the intracranial vascular magnetic resonance image of a plurality of registration methods including a mutual information pyramid method in fig. 7. Wherein, (a) is a reference image; (b) is a floating image; (c) is an overlay image based on image orientation label information; (d) is an overlay image based on a mutual information metric; (e) the invention discloses a superposed image of a mutual information pyramid method. The figures are gray scale images of the original image, not shown in color. In the aspect of quantitative analysis, a normalized cross-correlation coefficient NCC and normalized mutual information NMI are used as evaluation indexes, when the values of the normalized cross-correlation coefficient NCC and the normalized mutual information NMI are larger, the higher the image registration precision is, and table 1 shows the evaluation index result analysis of different registration algorithms. Only patient a data is shown, subject to space.

Table 1 analysis of the results of different registration methods

^aThe value in (1) is the mean value of the evaluation index +/-mean square error based on the registration of a plurality of images of a patient

As is apparent from the overlaid images of fig. 7, the method based on mutual information metric has a large registration shift, and the analysis reason may be that it is easy to fall into a local optimum value rather than a global optimum value only using the method based on mutual information metric; the registration effect based on the image orientation label information is not good enough, and the images are partially not overlapped; the mutual information pyramid method has good image registration effect, the images are displayed more clearly, and the images are almost completely overlapped. As can be seen from table 1, from the two evaluation indexes NCC and NMI, compared with the registration algorithm using only the orientation tag information of the DICOM image and the registration algorithm based on the mutual information measurement, the mutual information pyramid method according to the embodiment of the present invention is improved in registration accuracy, which shows that the registration method based on the mutual information and the image pyramid according to the embodiment of the present invention can well process the registration of the multi-modal intracranial vascular magnetic resonance image.

S223, obtaining the mean value of the rotation matrix of all the test image pairs;

in the last step, the rotation matrix corresponding to the first bright blood image after registration in each test image pair can be obtained, and then the mean value of the rotation matrices of all the test image pairs can be calculated and obtained.

And S224, performing coordinate transformation on the first bright blood image in the rest of the preprocessed image pairs except the test image pair by using the mean value of the rotation matrix to complete image registration to obtain a plurality of registered image pairs.

Considering that when a patient uses a magnetic resonance bright blood sequence scan, if slight movement occurs, the coordinate position of an intracranial blood vessel image obtained by the bright blood sequence scan slightly changes, and then each bright blood image needs to be subjected to a spatial coordinate transformation operation so as to keep the same coordinate position as that of an enhanced black blood image. Mutual information of every two images to be registered needs to be continuously and iteratively calculated in the registration process of the registration method based on the mutual information and the image pyramid, when the size and the number of the images are large, time consumption is overlarge, and if the registration method based on the mutual information and the image pyramid is used for all the images to be registered, the calculation speed is slow. The inventor considers that the intracranial blood vessel can be regarded as a rigid body, which is different from organs such as heart or lung and the like which change along with the movement of human breath and the like, so the space coordinate transformation operation of each bright blood image is almost consistent, namely almost the same rotation matrix is used. Then, the calculated rotation matrix can be registered by a few bright blood images of the patient to perform the same spatial coordinate transformation on all the bright blood images without the need of solving the rotation matrix for each bright blood image, thereby accelerating the image registration process. In the step, the mean value of the rotation matrix, namely a new rotation matrix, is used for carrying out coordinate transformation on the first bright blood image in the rest of the preprocessed image pairs, so that the registration of all images can be completed quickly, and the registration speed is improved greatly. After the step, a plurality of registered bright blood images can be obtained, and the bright blood images and the corresponding enhanced black blood images are in the same coordinate system and have higher similarity.

In order to verify the feasibility of the registration method based on the mutual information of gaussian distribution sampling and the image pyramid in the embodiment of the present invention, intracranial vascular magnetic resonance images of five patients were used together for registration, wherein the number of the enhanced black blood images and the number of the bright blood images of patient A, B, C, D were 160, and the number of the enhanced black blood images and the number of the bright blood images of patient E were 150, respectively. Fig. 8 shows a comparison of the registration results of the multi-modal intracranial vascular magnetic resonance images. Fig. 8 is a result of the registration of the intracranial vascular magnetic resonance image based on the mutual information of gaussian distribution sampling and the image pyramid and the mutual information pyramid method in the embodiment of the present invention. Wherein (a) is a reference image; (b) is a floating image; (c) an overlay image for mutual information pyramid method; (d) for the overlapped images of the method of the invention, the standard deviation sigma is taken as 1; (e) for the overlapped images of the method of the invention, the standard deviation sigma is taken as 2; (f) for the overlapped images of the method of the invention, the standard deviation sigma is taken as 3; (g) for the overlapped images of the method of the invention, the standard deviation sigma is taken as 4; (h) for the overlapped images of the method of the invention, the standard deviation sigma is taken as 5; (i) for the overlaid images of the method of the invention, the standard deviation σ is taken to be 6. Each image is a processed gray scale image, not shown in color. In the aspect of quantitative analysis, a normalized cross-correlation coefficient NCC is adopted, normalized mutual information NMI is used as an evaluation index, and the higher the value of NCC and NMI is, the higher the image registration precision is. Table 2 shows the registration results of the patient a image pair using the mutual information and image pyramid-based registration method (referred to as the mutual information pyramid method for short) and the registration method using the mutual information and image pyramid based on gaussian distribution sampling proposed in the embodiment of the present invention (referred to as the present invention method for short) (the rest of the patient data is not shown due to space limitation). As the method of the invention does not need to register all images, only needs to randomly select a few images for registration, the experiment sets the Gaussian distribution mean value mu to be half of the total number of the images to be registered, and randomly extracts 20 enhanced black blood images to register with the corresponding bright blood images when the standard deviation sigma is 1, 2, 3, 4, 5 and 6 respectively.

TABLE 2 analysis of results of different registration algorithms

^aThe value in (1) is based on the mean value of the evaluation indexes of the registration of 160 bright blood images and 160 enhanced black blood images +/-mean square error

As is apparent from the overlapped images of fig. 8, the registered images of the mutual information pyramid method and the registered images of the method of the present invention have good performance, and the images are almost completely overlapped together; as can be seen from table 2, from the two evaluation indexes of NCC and NMI, although the accuracy of the method of the present invention is lower than that of the mutual information pyramid method, the difference between them is not too large under different gaussian distribution function settings. When the size of the images participating in registration is large and the number of the images is large, the mutual information pyramid method has a large calculation amount. Experimental results prove that the time consumed by the method for registering is only one fifth of the registering time of the mutual information pyramid method, and the registering speed can be greatly improved.

In the registration scheme provided by the embodiment of the invention, the intracranial blood vessel can be regarded as a rigid body, and the space coordinate transformation operation of each bright blood image is almost consistent, so that the same rotation matrix can be used. Therefore, on one hand, a small number of image pairs are selected for carrying out image registration of the bright blood images, the average value of the rotation matrix of the registered small number of bright blood images is utilized, the same space coordinate transformation is carried out on the bright blood images of the rest image pairs, and the rotation matrix of each of the rest bright blood images is not required to be solved, so that the image registration process can be accelerated. On the other hand, in the image registration process, mutual information is used as similarity measurement, and an image pyramid algorithm is adopted to increase the complexity of the model, so that the registration accuracy and speed can be improved. Compared with the prior art, the method needs doctors to observe the bright blood image and the black blood image of the intracranial blood vessel according to spatial imagination and subjective experience. The embodiment of the invention adopts the image registration method to unify the bright blood image and the enhanced black blood image in the same coordinate system, so that doctors can conveniently understand the intracranial blood vessel images corresponding to the black blood sequence and the bright blood sequence, the comprehensive information required by diagnosis can be simply, conveniently and quickly obtained, and accurate and reliable reference information can be provided for subsequent medical diagnosis, operation plan formulation, radiotherapy plan and the like. Meanwhile, the image registration is an important step of subsequent flow null artifact elimination. The registration scheme provided by the embodiment of the invention can provide a better reference mode for the registration of other medical images, and has great clinical application value. Meanwhile, the image registration process of the embodiment of the invention is an important basis for eliminating the flow-space artifact subsequently.

After image registration, flow and empty artifacts in the black blood image enhanced after registration can be eliminated, wherein the flow and empty artifacts occur because blood vessels are too small, the blood flow velocity at the tortuous part is slow, and peripheral blood and tissue fluid may have signal pollution and other problems during imaging of blood vessel walls, so that in the image obtained by scanning the black blood sequence, blood information which should be black is instead bright, thereby simulating wall thickening or plaque appearance of normal individuals and exaggerating the degree of blood vessel stenosis. The embodiment of the invention considers that the blood information in the bright blood image after registration is utilized to correct the blood information with incorrect signal display in the enhanced black blood image after registration, and the blood information in the bright blood image after registration is embedded into the enhanced black blood image after registration so as to achieve the effect of image fusion. The method can be realized by the following steps:

s3, carrying out flow-space artifact removing operation on the enhanced black blood image in the enhanced black blood image group by using the registered bright blood image group to obtain an artifact-removed enhanced black blood image group;

in an alternative embodiment, S3 may include S31-S34:

s31, aiming at each post-registration bright blood image, improving the contrast of the post-registration bright blood image to obtain a contrast enhanced bright blood image;

in an implementation mode with optional steps, according to the characteristic that blood in the bright blood image is high-signal and peripheral brain tissue is low-signal, the gray scale linear transformation is performed on the bright blood image after registration, the gray scale range of the image is adjusted, and the purpose of improving the image contrast is achieved.

For example, a specific gray scale linear transformation and parameter setting used for the registered bright blood image is shown in fig. 9, and fig. 9 is a schematic diagram of the gray scale linear transformation and parameter setting provided by the embodiment of the present invention. By using the gray scale linear transformation shown in fig. 9, the smaller gray scale value change interval in the original post-registration bright blood image f can be expanded to the larger gray scale value change interval in the new post-registration bright blood image f1 (contrast enhanced bright blood image), and the image gray scale range can be adjusted to achieve the purpose of improving the contrast of the post-registration bright blood image. By this step, a contrast-enhanced bright blood image can be obtained. Referring to fig. 10, fig. 10 is a graph of a result of gray scale linear transformation according to an embodiment of the present invention, that is, a result of gray scale linear transformation performed on a registered bright blood image. The left image is the bright blood image after registration, the right image is the result image after gray scale linear transformation, and it can be seen that the contrast of the blood part in the right image is obviously enhanced compared with the surrounding pixels. As the pixel range of the medical image is large and may be-1000- +1000, the pixel range can be normalized to 0-255 through the step, so that the pixel range is in accordance with the general image processing, and the subsequent processing can be facilitated. The specific process of the gray scale linear transformation can be referred to in the related art, and is not described in detail herein.

S32, extracting blood information from the contrast enhanced bright blood image to obtain a bright blood characteristic diagram;

in an alternative embodiment, S32 may include the following steps:

s321, determining a first threshold value by using a preset image binarization method;

s322, extracting blood information from the contrast enhanced bright blood image by using a first threshold value;

the method used in this step is called threshold segmentation.

S323, a bright blood feature map is obtained from the extracted blood information.

According to the embodiment of the invention, the blood information in the contrast enhanced bright blood image can be highlighted as white and the irrelevant information can be displayed as black through a preset image binarization method, so that a bright blood characteristic diagram corresponding to the blood information can be extracted conveniently. The preset image binarization method in the embodiment of the invention can comprise a maximum inter-class variance method OTSU, kittle and the like.

The formula for extracting blood information is shown in (2), where T (x, y) is the gray-level value of the contrast-enhanced bright blood image, F (x, y) is the gray-level value of the bright blood feature map, and T is the first threshold.

In an optional implementation manner, the maximum inter-class variance method OTSU is adopted, and the result is shown in fig. 11, where fig. 11 is an image binarization result diagram of the embodiment of the present invention, a left diagram is a contrast enhanced bright blood image, and a right diagram is blood information obtained after the contrast enhanced bright blood image is subjected to threshold extraction. It can be seen that the portion of the right image that appears bright is only blood related information.

S33, carrying out image fusion on the bright blood characteristic image and the enhanced black blood image corresponding to the bright blood image after registration according to a preset fusion formula to obtain a target enhanced black blood image with the flow space artifact eliminated corresponding to the enhanced black blood image;

in the step, firstly, a spatial mapping relation between the bright blood characteristic diagram and the corresponding enhanced black blood image is established, the bright blood characteristic diagram is mapped into the corresponding enhanced black blood image, and image fusion is performed according to a preset fusion formula, wherein the preset fusion formula is as follows:

wherein, F (x, y) is the gray value of the bright blood feature map, R (x, y) is the gray value of the corresponding enhanced black blood image, and g (x, y) is the gray value of the fused target enhanced black blood image.

Through the above operations, the gray value of the flow-space artifact which is supposed to be black but appears as bright color in the corresponding enhanced black blood image can be changed into black, so that the purpose of eliminating the flow-space artifact is achieved. Referring to fig. 12, fig. 12 is a flow-null artifact removal result obtained by a different method for an intracranial blood vessel in an embodiment of the present invention, wherein, the arrow shows the flowing and empty artifact, the left image is the original image of the encephalic blood vessel enhanced black blood image with the flowing and empty artifact, the left two images are the results obtained by the flowing and empty artifact eliminating method based on the mutual information and image pyramid registering method, the left three images are the results obtained by the flowing and empty artifact eliminating method based on the mutual information of Gaussian distribution sampling and the image pyramid registering method, the standard deviation sigma of the gaussian distribution is 3, and it can be seen that the elimination effect of the flow-space artifact elimination method based on the mutual information of the gaussian distribution sampling and the registration method of the image pyramid adopted in the embodiment of the present invention is better than the elimination effect of the flow-space artifact elimination method based on the mutual information and the registration method of the image pyramid.

And S34, obtaining an artifact-eliminated enhanced black blood image group according to the target enhanced black blood images corresponding to the K enhanced black blood images.

After all the enhanced black blood images are subjected to the flow-space artifact elimination, an artifact eliminated enhanced black blood image group can be obtained.

In the scheme provided by the embodiment of the invention, the blood information is extracted from the registered bright blood image through threshold segmentation and is fused into the registered enhanced black blood image, so that the blood information with incorrect signal display in the registered enhanced black blood image is corrected, the gray value of the flow-space artifact expressed as bright color is changed into black, the aim of eliminating the flow-space artifact is fulfilled, and the intracranial blood vessel image which is displayed more accurately and comprehensively is obtained. The scheme provided by the embodiment of the invention is to eliminate the flow-space artifact from the angle of image post-processing without using a new imaging technology, an imaging mode or a pulse sequence, so that the flow-space artifact can be simply, accurately and quickly eliminated, and the better popularization can be realized in clinical application.

S4, establishing a blood three-dimensional model by using the registered bright blood image group;

it can be understood that the registered bright blood images are two-dimensional images, and the blood information can be represented as a three-dimensional structure by performing three-dimensional reconstruction on the registered bright blood images, so that a three-dimensional model of the bleeding fluid is established. The process of obtaining a three-dimensional model with a stereoscopic effect from a two-dimensional image by interpolation is called three-dimensional reconstruction. Current three-dimensional reconstruction techniques include a Marching Cubes (MC) method, a Maximum Intensity Projection (MIP) method, a surface shading cover method (SSD), a Volume Roaming Technique (VRT), a curved surface reconstruction method (CPR), a virtual endoscopy technique (VE), and the like. The embodiment of the invention can adopt any three-dimensional reconstruction method to establish a blood three-dimensional model. The blood three-dimensional model can preliminarily simulate a three-dimensional blood vessel and visually display the trend of the blood vessel, a focus area and the like.

In an alternative embodiment, S4 may include S41-S43:

s41, acquiring first three-dimensional volume data formed by K contrast enhanced bright blood images;

k contrast enhanced bright blood images obtained in step S31 may be acquired. It will be understood by those skilled in the art that the K contrast enhanced bright blood images are actually stacked as a three-dimensional cube of data. For the sake of convenience of distinction, this is named as first three-dimensional volume data in the embodiment of the present invention.

S42, calculating a second threshold corresponding to the centered second three-dimensional volume data in the first three-dimensional volume data by using a maximum inter-class variance method;

in this step, the maximum inter-class variance OTSU is used to determine a threshold value, but unlike the determination of the first threshold value in S321, one threshold value corresponding to a plurality of contrast-enhanced bright blood images in one small cube (referred to as second three-dimensional volume data) located near the middle part of the large three-dimensional cube of the first three-dimensional volume data is determined as the second threshold value using the maximum inter-class variance OTSU.

Since the blood information is substantially concentrated in the middle of the image in the contrast enhanced image, the second threshold value is determined by selecting the small cube data (second three-dimensional volume data) centered in the first three-dimensional volume data, so that the calculation amount of the threshold value can be reduced, the calculation speed can be increased, and the second threshold value is accurately applied to all the blood information in the first three-dimensional volume data.

For the size of the second three-dimensional volume data, the size of the second three-dimensional volume data may be determined by first determining a center point of the first three-dimensional volume data and then extending in six directions corresponding to the cube with a preset side length, where the preset side length may be determined according to an empirical value including a Willis ring, such as 1/4 that is the side length of the cube of the first three-dimensional volume data. The Willis loop is the most important collateral circulation pathway in the cranium, linking the bilateral hemisphere with the anterior and posterior circulation.

And S43, processing the first three-dimensional volume data by using the moving cube method by taking the second threshold as an input threshold of the moving cube method to obtain the blood three-dimensional model.

As mentioned above, the moving cube method (MC for short) is a three-dimensional reconstruction method, and can directly obtain a blood three-dimensional model by processing the first three-dimensional volume data according to a given input threshold.

Compared with other surface drawing algorithms, the method for moving the cube has the advantage of good grid generation quality. For a specific processing procedure of the first three-dimensional volume data by the moving cube method, please refer to related prior art, which is not described herein.

Specific results referring to fig. 13(a), fig. 13(a) is a blood three-dimensional model effect diagram for intracranial blood vessels according to an embodiment of the present invention.

S5, establishing a blood vessel three-dimensional model of blood boundary expansion by using the registered bright blood image group;

the step S4 is to obtain a three-dimensional model of blood, which represents the flow direction and regional distribution of intracranial blood, and because there is a blood vessel wall at the periphery of blood in practice, the three-dimensional model of blood cannot represent the actual intracranial blood vessel condition completely.

Therefore, in step S5, the blood boundary in the registered bright blood image may be expanded so that the expanded blood boundary can cover the range of the intracranial blood vessel wall to form the effect of a hollow tube, and then the three-dimensional model is generated by the three-dimensional reconstruction method for the two-dimensional image after the blood boundary is expanded, so as to obtain the three-dimensional model of the blood vessel closer to the real intracranial blood vessel condition than the three-dimensional model of the blood in step S4.

The expansion of the blood boundary can be realized by detecting blood boundary pixel points in the registered bright blood image and expanding the detected pixel points to preset pixel points in a preset direction, and the preset pixel points can be selected according to experience values obtained by a large amount of intracranial vessel diameter and vessel wall thickness data. Of course, the manner of expanding the blood boundary in the embodiment of the present invention is not limited thereto.

In an alternative embodiment, S5 may include S51-S55:

s51, obtaining K bright blood characteristic graphs;

namely, the K bright blood feature maps obtained in step S32 are obtained.

S52, expanding the boundary of the blood in each bright blood characteristic map by utilizing an expansion operation to obtain an expanded bright blood characteristic map corresponding to the bright blood characteristic map;

in an alternative embodiment, the bright blood feature map may be expanded in multiple steps by using a circular inner core with a radius of 1 until the maximum gradient position is reached, so as to determine the boundary of the outer wall of the blood vessel, realize the segmentation of the blood vessel wall, and obtain an expanded bright blood feature map corresponding to the bright blood feature map. Since the blood vessel wall is tightly attached to the blood and the vessel wall is extremely thin, the expanded range is assumed to be the range of the blood vessel wall, and the operation can include the region of the blood vessel wall near the blood as the search range of the contrast enhancement characteristic of the blood vessel wall. The specific implementation process of the expansion operation can be referred to in the related art, and is not described herein.

S53, obtaining a difference characteristic diagram corresponding to the bright blood characteristic diagram by subtracting the expanded bright blood characteristic diagram corresponding to the bright blood characteristic diagram from the bright blood characteristic diagram;

the difference feature map obtained by this step for each bright blood feature map is a two-dimensional plan similar to a hollow blood vessel. Similarly, the pixel values of the difference feature map are only 0 and 255.

S54, determining a third threshold;

this step may select a pixel value as the third threshold value for all difference feature maps according to empirical values, for example, any value between 100 and 200, for example, 128, may be selected as the third threshold value.

And S55, taking the third threshold as an input threshold of the moving cube method, and processing the K difference feature maps by using the moving cube method to obtain the blood vessel three-dimensional model with the blood boundary expanded.

The moving cube method uses the third threshold as an input threshold, and a blood vessel three-dimensional model of blood boundary expansion can be obtained from the K difference feature maps. The specific implementation process of the method for moving cubes is not described herein.

Specific results referring to fig. 13(b), fig. 13(b) is a diagram of the effect of the blood vessel three-dimensional model for intracranial blood vessels according to the embodiment of the present invention. The image is subjected to gradation processing, and in practice, the image can be displayed in a color such as blue.

S6, eliminating and enhancing the black blood image group and the black blood image group based on the artifact to obtain a contrast enhanced three-dimensional model;

in an alternative embodiment, S6 includes S61 and S62:

s61, subtracting the corresponding image in the artifact removal enhanced black blood image group and the black blood image group to obtain K contrast enhanced images;

subtracting the corresponding black blood image from each target enhanced black blood image to obtain a contrast enhanced image with a contrast enhanced effect, and subtracting the corresponding black blood image from all the target enhanced black blood images to obtain K contrast enhanced images.

And S62, establishing a contrast enhanced three-dimensional model by using the K contrast enhanced images.

This step can be implemented by using a moving cube method, see S4 and S5, which are not described herein. Specific results referring to fig. 13(c), fig. 13(c) is a graph of the effect of the contrast enhanced three-dimensional model for intracranial vessels according to the embodiment of the present invention. The image is subjected to gradation processing, and in practice, the image can be displayed in a color such as red.

S7, obtaining an angiography enhanced three-dimensional model based on the blood three-dimensional model, the blood vessel three-dimensional model and the angiography enhanced three-dimensional model;

in an alternative embodiment, S7 may include the following steps:

s71, reserving the overlapped part of the contrast enhanced three-dimensional model and the blood vessel three-dimensional model to obtain a reserved contrast enhanced three-dimensional model;

since the contrast enhanced three-dimensional model obtained in S6 does not only include contrast enhancement of blood vessels, but also needs to exclude enhancement characteristics of unrelated tissues, the search range of the vascular wall contrast enhancement characteristics in the vascular three-dimensional model obtained in S5 is used to determine whether the contrast enhanced three-dimensional model obtained in S6 is located in a vascular wall region near blood, that is, whether there is an overlapping portion with the vascular three-dimensional model in the contrast enhanced three-dimensional model, and if so, it indicates that the overlapping portion is located within the search range, and the overlapping portion needs to be retained, so that the retained contrast enhanced three-dimensional model is obtained.

And S72, fusing the reserved contrast enhanced three-dimensional model with the blood three-dimensional model to obtain the angiography enhanced three-dimensional model.

The reserved contrast enhanced three-dimensional model representing angiography enhancement is fused with the blood three-dimensional model representing blood information, so that the blood vessel wall with obvious contrast enhancement can be visually displayed, the contrast enhancement effect in which part range of the intracranial blood vessel is most obvious can be clearly seen, and then atherosclerosis or vulnerable plaques possibly appear in the region.

In an optional embodiment, a contrast-enhanced quantitative analysis may be obtained in the angiography-enhanced three-dimensional model, and specifically, a plaque enhancement index CE may be obtained for any one point on a blood vessel wall in the angiography-enhanced three-dimensional model, where CE is defined as:

wherein S is_preBBMRAnd S_postBBMRSignal intensity in the black blood image and the contrast enhanced black blood image, respectively.

As will be understood by those skilled in the art, S_preBBMRAnd S_postBBMRThe information carried in the images after the black blood image and the contrast enhanced black blood image are taken, respectively. The plaque enhancement index CE of each point of the edge of the intracranial vascular wall is obtained by utilizing the information and is embodied in the angiography enhanced three-dimensional model, so that a doctor can conveniently obtain more detailed vascular information, and particularly, when the CE is greater than a plaque threshold value, such as 0.5, the plaque enhancement index CE indicates that plaque appears on the vascular wall at the position, so that the plaque enhancement index CE is helpful for identifying responsible intracranial arterial plaque and the like by measuring the plaque enhancement index CE of the vascular wall area, and valuable diagnosis auxiliary information can be provided. The fusion technique of the two three-dimensional models can be implemented by using the prior art, and is not described herein.

Specific results referring to fig. 14, fig. 14 is a diagram illustrating the effect of the angiography enhanced three-dimensional model for intracranial vessels according to the embodiment of the present invention. Wherein the image is grey scale processed. In practice, different colors can be used for the distinction in fig. 14, for example, blue is the blood vessel part where no contrast enhancement appears, and red is the blood vessel part where contrast enhancement appears. In the attached drawings of the specification, the bright-colored part in the white coil is an intracranial vascular part with contrast enhancement, namely, intracranial atherosclerosis diseases or vulnerable plaques possibly appear at the part, the other part is a vascular part without contrast enhancement, and the angiography enhancement three-dimensional model can realize basic functions of rotation, amplification and reduction and the like, so that a doctor is assisted to position a focus area and make a more accurate judgment.

S8, obtaining the numerical value of the target parameter representing the angiostenosis degree of each segment of blood vessel in the angiography enhanced three-dimensional model, and marking the angiography enhanced three-dimensional model by using the numerical value of the target parameter of each segment of blood vessel to obtain the intracranial angiography enhanced three-dimensional stenosis analysis model.

In an alternative embodiment, S8 may include S81-S84:

s81, segmenting each segment of blood vessel in the angiography enhanced three-dimensional model from three preset directions to obtain two-dimensional sectional diagrams of each direction;

in this step, the blood vessels in the angiography enhanced three-dimensional model may be divided, and for each segment of blood vessel, the segmentation may be performed from three preset orientations to obtain two-dimensional sectional views in each orientation.

Wherein, three preset positions include: axial, coronal, and sagittal.

The segmentation of a certain orientation of the angiography enhanced three-dimensional model to obtain a two-dimensional sectional view of the orientation can be realized by adopting the prior art, and details are not repeated here.

S82, carrying out corrosion operation on the blood vessel in the two-dimensional sectional diagram of each direction, and recording the target corrosion times when the blood vessel is corroded to a single pixel;

the corrosion operation is one of morphological operations, the corrosion operation can eliminate edge data of an object, the corroded object has a smaller area than the original area and even completely disappears, and corrosion can break some small and long communication areas.

When the blood vessel is thick, a plurality of corrosion operations can be carried out, and when the blood vessel is thin, only a few corrosion operations can be carried out. It will be appreciated by those skilled in the art that the blood vessel erodes to a single pixel, i.e., to the thinnest state, which may be a point or a line. The specific process of the etching operation can be referred to the related art, and is not described herein.

In step S82, performing erosion operation on the blood vessel in the axial two-dimensional sectional view, and recording the target erosion times n corresponding to the erosion of the blood vessel in the axial two-dimensional sectional view to a single pixel₁(ii) a Carrying out corrosion operation on the blood vessel in the two-dimensional sectional diagram of the coronal position, and recording the corresponding target corrosion times n when the blood vessel in the two-dimensional sectional diagram of the azimuth corrodes to a single pixel₂(ii) a Carrying out corrosion operation on the blood vessel in the two-dimensional sectional diagram of the sagittal position, and recording the corresponding target corrosion times n when the blood vessel in the two-dimensional sectional diagram of the azimuth corrodes to a single pixel₃。

S83, obtaining the value of the target parameter representing the stenosis degree of the section of the blood vessel according to the target corrosion times of the section of the blood vessel corresponding to the three directions respectively;

in an alternative embodiment, the target parameter includes stenosis rate and/or flatness; those skilled in the art will appreciate that both of these parameters may be indicative of the degree of vascular stenosis.

When the target parameter includes a stenosis rate, S83 may include:

according to n₁、n₂、n₃Obtaining the value of the stenosis rate of the section of blood vessel by using a stenosis rate formula of the blood vessel; wherein, the stenosis rate formula is:

wherein, the resolution is the resolution of each azimuth two-dimensional sectional image (the resolution of the three azimuth two-dimensional sectional images is the same), and the smaller the numerical value of the stenosis rate is, the narrower the blood vessel is.

When the target parameter includes flatness, S83 may include:

according to n₁、n₂、n₃Obtaining the value of the flatness of the section of the blood vessel by using a blood vessel flatness formula; wherein, the flatness formula is as follows:

a larger value of the degree of flattening indicates a narrower vessel.

S84, marking the angiography enhanced three-dimensional model by using the numerical value of the target parameter of each section of blood vessel to obtain the intracranial angiography enhanced three-dimensional stenosis analysis model.

Through the steps, the numerical value of the target parameter of each segment of blood vessel can be obtained, and then the numerical values of each segment of blood vessel can be marked on the angiography enhanced three-dimensional model to obtain the intracranial angiography enhanced three-dimensional stenosis analysis model. The numerical value of the target parameter of each point is embedded into the intracranial angiography enhanced three-dimensional stenosis analysis model, so that the numerical value of the target parameter of each point can be extracted and displayed when needed, a doctor can conveniently obtain the data of the vascular stenosis degree of each position in time when observing the overall three-dimensional vascular state, for example, when the intracranial angiography enhanced three-dimensional stenosis analysis model is displayed on a display screen of a computer, the numerical value of the stenosis rate and/or the flatness of the mouse position point can be displayed in a blank area of the model.

In an alternative embodiment, S84 may include:

and marking the angiography enhancement three-dimensional model by using the numerical values of the target parameters of each section of blood vessel and adopting the color corresponding to each numerical value to obtain the intracranial angiography enhancement three-dimensional stenosis analysis model.

For convenience of visual display, different numerical values can be marked on the angiography enhanced three-dimensional model by different colors to obtain the angiography enhanced three-dimensional stenosis analysis model, for example, multiple colors from light to dark can be correspondingly marked for stenosis rate numerical values from small to large, and for flatness numerical values, because the numerical values are fewer and only 2 numerical values are possible, two color corresponding marks distinguished from the stenosis rate can be adopted. The narrowing degree of the blood vessel can be more intuitively shown by adopting the color display of different tones, so that the attention of a doctor can be attracted.

FIG. 15 is a graph showing the effect of an angiographic enhanced three-dimensional stenosis analysis model of intracranial vessels, in accordance with an embodiment of the present invention. Wherein the left graph is the stenosis rate marking effect and the right graph is the flatness marking effect. In practice, different colors are displayed on the model, so that the degree of narrowing can be distinguished, for example, a thinner part of a blood vessel is warm, the narrowest part is red, a thicker part of the blood vessel is cool, the thickest part is green, and the like, a white arrow indicates abrupt narrowing of the intracranial blood vessel, and color display with different colors can more intuitively show the narrowing of the blood vessel. In the figure are the effects of the grey scale processing, the colours not being shown.

In a preferred embodiment, the stenosis rate values can be marked by colors corresponding to different values on one intracranial angiography enhanced three-dimensional stenosis analysis model, and the flatness values can be marked by colors corresponding to different values on the other intracranial angiography enhanced three-dimensional stenosis analysis model, so that a doctor can observe the stenosis rate condition and the flatness condition respectively.

Furthermore, since doctors are used to observe the two-dimensional medical images of the tangent plane, the embodiment of the invention can provide the simulated three-dimensional vascular stenosis analysis model and simultaneously provide the two-dimensional tangent plane images of three directions, i.e. the images of the coronal plane, the sagittal plane and the axial plane where the current point corresponding to each point in the simulated three-dimensional vascular stenosis analysis model is located can be displayed. Referring to fig. 16, fig. 16 is a diagram showing the effect of an angiographic enhanced three-dimensional stenosis analysis model and a sectional view of an intracranial vessel according to an embodiment of the present invention. In fig. 16, there may be a blood vessel narrowing at the warm tone of the blood vessel, there is no obvious blood vessel narrowing at the cold tone, and the three two-dimensional images on the right side of the image are respectively imaged from top to bottom on the axial plane, the sagittal plane and the coronal plane where the current point is located; when the simulated three-dimensional vascular stenosis analysis model is displayed, the functions of measuring the distance by two points and measuring the angle by three points can be realized by using the points with three colors such as red, green and blue, the three points are displayed on the left lower side of the display screen, and the volume size of the currently selected model is displayed on the right lower side of the display screen. So that the doctor can obtain more detailed data of the intracranial blood vessel.

S9, the angiographic enhanced three-dimensional narrowing analysis model is displayed.

The angiography enhanced three-dimensional stenosis analysis model for marking the vascular stenosis obtained in the steps can be directly displayed on a computer display screen through software, and of course, other more intuitive methods can also be adopted for displaying.

Referring to fig. 17, fig. 17 is a naked eye 3D holographic visualization image of an angiography enhanced three-dimensional stenosis analysis model of an intracranial blood vessel according to an embodiment of the present invention, in which four views, namely, a front view, a rear view, a left view, and a right view, are combined together to implement naked eye 3D holographic visualization. As an embodiment of the present invention, the angiography enhanced three-dimensional stenosis analysis model is displayed, and specifically, the display may be performed by using a naked eye 3D holographic display system. According to the scheme of the invention, no wearable equipment such as VR or MR glasses is required, but a naked eye 3D holographic display system is adopted, images at four angles of front, back, left and right are respectively projected onto pyramid holographic glass through software, so that a plurality of doctors can conveniently surround the pyramid holographic glass, and the three-dimensional structure and lesion positions of intracranial blood vessels can be clearly seen; and the method has the advantages of large imaging space, high resolution, silence, convenient discussion, lower cost and the like.

Referring to fig. 18, fig. 18 is a schematic diagram of gesture recognition performed on a naked eye 3D holographic display result of an angiography enhanced three-dimensional stenosis analysis model of an intracranial blood vessel according to an embodiment of the present invention. In order to further enhance the stereoscopic feeling of the obtained blood vessel model and increase the viewing substitution feeling of a doctor, on the basis of naked eye 3D holographic display, gesture recognition can be further adopted to operate the angiography enhanced three-dimensional narrowing analysis model of the naked eye 3D holographic display, for example, the gesture recognition can adopt a Leap Motion somatosensory controller to perform operations such as manual zooming, rotation, cutting, virtual surgery and the like. The gesture recognition technology adopted by the scheme of the invention can acquire data of both hands by using an infrared LED + gray-scale camera; the former measures depth by using the principle of binocular vision, and the latter extracts key points, thereby reconstructing information of the palm in the real three-dimensional world.

Of course, the operations such as manual scaling, rotation, cutting, virtual surgery and the like can also be directly performed on the angiography enhanced three-dimensional narrowing analysis model output on the computer display screen by adopting gesture recognition. The gesture recognition has the advantages of small size, high recognition precision, no limitation of an ambient light source and capability of measuring distance.

Referring to fig. 19, fig. 19 is a 3D printed result diagram of an angiographic enhanced three-dimensional stenosis analysis model of intracranial vessels according to an embodiment of the present invention. In another embodiment of the present invention, the angiography-enhanced three-dimensional stenosis analysis model is displayed, and specifically, the angiography-enhanced three-dimensional stenosis analysis model may be exported as an STL file and displayed by 3D printing. The finally obtained blood vessel model is subjected to 3D printing display, and compared with a normal blood vessel three-dimensional model, the position of the blood vessel with stenosis can be visually seen, and lesion occurs.

It should be noted that, the naked eye 3D holographic display, the gesture recognition, and the 3D printing for display may all adopt corresponding technologies in the prior art, and are not described herein again.

In the scheme provided by the embodiment of the invention, firstly, the bright blood image and the enhanced black blood image obtained by scanning the magnetic resonance technology are subjected to image registration by adopting a mutual information and image pyramid registration method based on Gaussian distribution sampling, so that the registration efficiency can be improved, and the registration accuracy of the images is improved layer by layer from low resolution to high resolution. The bright blood image and the enhanced black blood image can be unified under the same coordinate system through the image registration. And secondly, the registered bright blood image is used for carrying out flow-space artifact elimination operation on the enhanced black blood image, so that more accurate and comprehensive blood vessel information can be displayed. The scheme provided by the embodiment of the invention is to eliminate the flow-space artifact from the angle of image post-processing without using a new imaging technology, an imaging mode or a pulse sequence, so that the flow-space artifact can be simply, accurately and quickly eliminated, and the better popularization can be realized in clinical application. Thirdly, establishing a blood three-dimensional model and a blood vessel three-dimensional model with blood boundary expansion by using the registered bright blood image, and eliminating and enhancing the black blood image group and the black blood image group based on the artifact to obtain a contrast enhanced three-dimensional model with a contrast enhancement effect; and then obtaining an angiography enhancement three-dimensional model corresponding to the vascular wall with an angiography enhancement effect based on the blood three-dimensional model, the blood vessel three-dimensional model and the angiography enhancement three-dimensional model. And finally, marking the numerical value of the target parameter for representing the angiostenosis degree in the angiography enhanced three-dimensional model to obtain the intracranial angiography enhanced three-dimensional stenosis analysis model. The encephalic angiography enhanced three-dimensional stenosis analysis model realizes three-dimensional visualization of encephalic blood vessels, does not need a doctor to restore tissue structures, disease characteristics and the like of the encephalic blood vessels through imagination, can provide vivid three-dimensional spatial information of the encephalic blood vessels, is convenient for visual observation, and is convenient for positioning and displaying a narrow focus region. The method can simply, conveniently, quickly and intuitively obtain the real information of the intracranial blood vessel and the analysis data about the intracranial blood vessel stenosis degree in clinical application.

Note: the patient experimental data in the embodiment of the invention are all from people hospitals in Shaanxi province, and the images can be used for general scientific research.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. An intelligent medical treatment-based intracranial blood vessel image segmentation and display method is characterized by comprising the following steps:

obtaining the numerical value of a target parameter representing the angiostenosis degree of each section of blood vessel in the angiography enhanced three-dimensional model, and marking the angiography enhanced three-dimensional model by using the numerical value of the target parameter of each section of blood vessel to obtain an intracranial angiography enhanced three-dimensional stenosis analysis model;

displaying the angiography enhanced three-dimensional narrowing analysis model.

2. The method according to claim 1, wherein the image registration of the group of bright blood images by using a registration method based on mutual information of Gaussian distribution sampling and an image pyramid is performed on the group of bright blood images with the group of enhanced black blood images as a reference, so as to obtain a group of registered bright blood images, comprising:

taking each bright blood image and the corresponding enhanced black blood image as an image pair, and preprocessing each image pair to obtain a first bright blood image and a first black blood image of the image pair;

and aiming at each first bright blood image, taking the corresponding first black blood image as a reference, and performing image registration by using a mutual information based on Gaussian distribution sampling and an image pyramid registration method to obtain a registered bright blood image group comprising K registered bright blood images.

3. The method according to claim 2, wherein the performing, for each first bright blood image, image registration by using a registration method based on mutual information of gaussian distribution sampling and an image pyramid with reference to a corresponding first black blood image to obtain a group of registered bright blood images including K registered bright blood images comprises:

adopting Gaussian distribution sampling to select a part of preprocessed image pair as a test image pair;

performing image registration on the first bright blood image and the first black blood image in each test image pair by adopting a registration method based on mutual information and an image pyramid to obtain a rotation matrix corresponding to the first bright blood image in the test image pair after registration;

obtaining the mean value of the rotation matrix of all the test image pairs;

and performing coordinate transformation on the first bright blood image in the other preprocessed image pairs except the test image pair by using the mean value of the rotation matrix to complete image registration to obtain a registered bright blood image group comprising K registered bright blood images.

4. The method according to claim 1 or 3, wherein said performing an empty artifact removing operation on the enhanced black blood image in the enhanced black blood image group by using the post-registration bright blood image group to obtain an artifact-removed enhanced black blood image group comprises:

for each post-registration bright blood image, improving the contrast of the post-registration bright blood image to obtain a contrast enhanced bright blood image;

extracting blood information from the contrast enhanced bright blood image to obtain a bright blood characteristic diagram;

carrying out image fusion on the bright blood characteristic graph and the enhanced black blood image corresponding to the registered bright blood image according to a preset fusion formula to obtain a target enhanced black blood image with the air artifact removed corresponding to the enhanced black blood image;

and enhancing the black blood image by using the targets corresponding to the K enhanced black blood images to obtain an artifact-eliminated enhanced black blood image group.

5. The method of claim 4, wherein said using said set of registered bright blood images to build a three-dimensional model of blood comprises:

acquiring first three-dimensional volume data consisting of K contrast enhanced bright blood images;

calculating a second threshold corresponding to centered second three-dimensional volume data in the first three-dimensional volume data by using a maximum inter-class variance method;

and taking the second threshold as an input threshold of a moving cube method, and processing the first three-dimensional volume data by using the moving cube method to obtain a blood three-dimensional model.

6. The method of claim 5, wherein the establishing a three-dimensional model of a blood vessel with blood boundary expansion using the set of registered bright blood images comprises:

acquiring K bright blood characteristic maps;

expanding the boundary of blood in each bright blood characteristic map by utilizing an expansion operation to obtain an expanded bright blood characteristic map corresponding to the bright blood characteristic map;

obtaining a difference value characteristic diagram corresponding to the bright blood characteristic diagram by subtracting the expanded bright blood characteristic diagram corresponding to the bright blood characteristic diagram from the bright blood characteristic diagram;

determining a third threshold;

and taking the third threshold as an input threshold of a moving cube method, and processing the K difference feature maps by using the moving cube method to obtain a blood vessel three-dimensional model with an expanded blood boundary.

7. The method of claim 1, wherein deriving an angiogram-enhanced three-dimensional model based on the blood three-dimensional model, the blood vessel three-dimensional model, and the contrast-enhanced three-dimensional model comprises:

reserving an overlapped part of the contrast enhanced three-dimensional model and the blood vessel three-dimensional model to obtain a reserved contrast enhanced three-dimensional model;

and fusing the reserved contrast enhanced three-dimensional model with the blood three-dimensional model to obtain an angiography enhanced three-dimensional model.

8. The method according to claim 1 or 7, wherein the obtaining of the value of the target parameter representing the degree of stenosis of the blood vessels in each segment of the angiography-enhanced three-dimensional model and the labeling of the angiography-enhanced three-dimensional model with the value of the target parameter of each segment of the blood vessels to obtain the intracranial angiography-enhanced three-dimensional stenosis analysis model comprises:

segmenting each section of blood vessel in the angiography enhanced three-dimensional model from three preset directions to obtain two-dimensional sectional graphs of all directions;

carrying out corrosion operation on the blood vessel in the two-dimensional sectional diagram of each direction, and recording the target corrosion times when the blood vessel is corroded to a single pixel;

obtaining a numerical value of a target parameter representing the stenosis degree of the section of the blood vessel according to the target corrosion times of the section of the blood vessel in the three directions respectively;

and marking the angiography enhanced three-dimensional model by using the numerical value of the target parameter of each section of blood vessel to obtain an intracranial angiography enhanced three-dimensional stenosis analysis model.

9. The method of claim 1, wherein displaying the angiographic enhanced three-dimensional stenosis analysis model comprises:

displaying the angiography enhanced three-dimensional narrowing analysis model through a computer display screen; or displaying by adopting a naked eye 3D holographic display system; or exporting the angiography enhanced three-dimensional narrowing analysis model as an STL file and displaying the STL file through 3D printing.

10. The method of claim 9, wherein after the angiographic enhanced three-dimensional stenosis analysis model is displayed by a computer screen or a naked eye 3D holographic display system, further comprising:

and performing manual scaling, rotation, cutting and virtual operation on the displayed angiography enhanced three-dimensional narrowing analysis model by adopting gesture recognition.