CN113057677B - Heart image modeling method, system and equipment for fusing ultrasonic image and CT image - Google Patents
Heart image modeling method, system and equipment for fusing ultrasonic image and CT image Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0883—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/466—Displaying means of special interest adapted to display 3D data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/50—Clinical applications
- A61B6/503—Clinical applications involving diagnosis of heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
Abstract
The invention discloses a heart image modeling method for fusing ultrasonic images and CT images, which is applied to embedded equipment integrating heart image modeling and a fusion system thereof and comprises the following steps: acquiring CT images and mitral valve ultrasonic image data of a heart chamber of a human body; carrying out threshold segmentation on the CT image of the human heart; establishing a three-dimensional model of the heart chamber based on the result after threshold segmentation; selecting point cloud data on the ultrasonic image data of the mitral valve of the patient, and fitting the middle contour line of the mitral valve by using a spline curve to obtain a contour line of the mitral valve; obtaining a curved surface model of the mitral valve leaflet through curved surface fitting; and carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image. The invention also discloses a corresponding system and equipment. The fusion model can provide the physician with a dynamic visualization of the heart.
Description
Technical Field
The invention relates to the technical field of three-dimensional reconstruction of medical image data, in particular to a heart image modeling method, system and device for fusing ultrasonic images and CT images.
Background
Heart diseases have become one of the first diseases endangering human health and life safety at present. Heart diseases are of various types, and are commonly coronary heart disease, arrhythmia, cardiomyopathy, valvular heart disease and the like, wherein the incidence rate of valvular heart disease, especially mitral valve disease, is increased year by year. The deep analysis of the mitral valve and the model structure thereof in the atrioventricular chamber by using the medical image has important significance for the prevention and diagnosis of valvular heart disease.
With the rapid development of medical imaging technology, clearer cardiac tomography and ultrasound images can help doctors to accurately diagnose heart diseases. The CT image can avoid the overlapping of images and clearly display the anatomical morphology and the connection relation of the heart chamber; meanwhile, CT film scanning is beneficial to displaying the motion of the ventricular wall, and is helpful for diagnosing various valvular diseases. As for the ultrasound image, the transesophageal three-dimensional echocardiogram is superior to the CT image in displaying the heart valve (mitral valve). The ultrasonic three-dimensional reconstruction heart valve structure has higher spatial resolution and accuracy. However, single CT images or ultrasound images have inevitable drawbacks in reflecting the overall structure of the heart chamber and mitral valve. The mitral valve on the CT image is fuzzy and unclear, the boundary is difficult to define, and the structure can not be well reflected; ultrasound images have difficulty displaying the anatomical image of the heart chamber in its entirety. Although individually long, single modality imaging techniques do not fully and hierarchically reflect the overall structure of a patient's heart and assess disease status.
Two-dimensional images have natural defects in representing three-dimensional objects, and the abundant information contained in the images obtained by a powerful imaging system cannot be better utilized, and in addition, the heart structure of a human body is very complex, so that the requirements on clinical experience of a diagnostician are very high. The dynamic three-dimensional model of the heart is established by utilizing the heart medical image, the dynamic visualization effect of the heart can be provided for a doctor, and the functional parameters calculated by the three-dimensional model are favorable for the doctor to diagnose the heart diseases.
Although scholars have built mathematical models of the heart from the anatomical structure of the heart and three-dimensional models of the heart using medical images. However, most studies only use single-modality images for cardiac modeling, with the inherent drawbacks of single modality (Huangqiongong, Hangfei, Zhu Jiang, Cen Jiang, Huangmei Lian. a method for simulation and evaluation of cardiac surgery for structural heart disease by cardiac models [ P ]. Guangdong province: CN107126257B, 2020-05-22.). The model established by the ultrasonic image and the CT image is fused, so that the advantages of the two imaging modes are fully exerted, an accurate and complete heart model structure is obtained, a doctor can conveniently analyze the morphological characteristics of the mitral valve in the large environment of a heart chamber, and the evaluation on valvular heart disease is further facilitated.
Disclosure of Invention
The invention aims to solve the problem that the existing heart three-dimensional reconstruction model can not reflect the structures of a human body mitral valve and a heart chamber at the same time, and therefore provides a heart image modeling method, a system and equipment for fusing ultrasonic and CT images.
In order to solve the technical problems, the invention provides a heart image modeling method for fusing ultrasonic images and CT images, which is applied to embedded equipment integrating a heart image modeling and fusing system and comprises the following steps:
acquiring CT images and mitral valve ultrasonic image data of a heart chamber of a human body;
carrying out threshold segmentation on the CT image of the human heart;
establishing a three-dimensional model of the heart chamber based on the result after threshold segmentation;
selecting point cloud data on the ultrasonic image data of the mitral valve of the patient, and fitting the middle contour line of the mitral valve by using a spline curve to obtain a contour line of the mitral valve;
obtaining a curved surface model of the mitral valve leaflet by curved surface fitting based on the contour line of the mitral valve leaflet;
and carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image.
In the further improvement of the scheme of the invention, in the acquisition of the CT image of the heart chamber of the human body and the ultrasonic image data of the mitral valve, a medical detection instrument is used for acquiring the CT image data of the heart chamber of the patient and the ultrasonic data of the mitral valve.
In a further improvement of the aspect of the present invention, the thresholding of the CT image of the human heart includes:
determining a threshold segmentation range according to the gray threshold condition of the cardiac structure of the patient;
assigning a position and a diameter size of a threshold segmentation seed point for each chamber;
threshold segmentation is performed.
In a further improvement of the inventive solution, in the process of creating a three-dimensional model of the heart chamber, discrete voxels are removed from the whole heart tissue by region growing, and tissue not related to the heart structure is removed.
In a further improvement of the present invention, the selecting point cloud data on the ultrasonic image data of the mitral valve of the patient and fitting the middle contour line of the mitral valve leaflet with a spline curve includes:
importing the mitral valve ultrasonic image data into medical three-dimensional visualization software;
selecting a mitral valve ultrasonic image slice in diastole, and respectively taking points on the anterior valve and the posterior valve to form point cloud data;
and fitting the middle contour line of the mitral valve leaflet by utilizing a spline curve based on the point cloud data.
In a further improvement of the present invention, the obtaining of the curved surface model of the mitral valve leaflet by surface fitting includes:
respectively connecting the starting point and the end point of the contour of the mitral valve leaflet based on the contour line of the mitral valve leaflet and fitting to form a contour line of a mitral valve annulus and a contour line of the end of the mitral valve leaflet;
the contour line of the mitral valve leaflet is taken as a cross section contour, the contour line of the mitral valve annulus and the contour line of the tail end of the mitral valve leaflet are taken as guide lines, and a spline surface tool is used for fitting and constructing a curved surface model of the mitral valve leaflet.
In a further improvement of the present invention, the spatial registration of the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain the heart image fusion model based on the ultrasound-CT image includes: fixing the three-dimensional model of the heart chamber, selecting a plurality of registration points on the curved surface model of the mitral valve leaflet, aligning and coinciding the corresponding registration points on the curved surface model of the mitral valve leaflet with the three-dimensional model of the heart chamber through coordinate transformation, and obtaining the heart image fusion model of the ultrasonic-CT image.
The invention also provides a cardiac image modeling system for ultrasound and CT image fusion, comprising:
the data acquisition module is used for acquiring a CT image of a human heart chamber and ultrasonic image data of a mitral valve;
the threshold segmentation module is used for carrying out threshold segmentation operation on the CT image of the human heart;
the model reconstruction module is used for performing three-dimensional reconstruction and optimization on the cardiac CT data subjected to threshold segmentation to obtain a complete three-dimensional model of the heart chamber;
the curve fitting module is used for selecting point cloud data on the ultrasonic image data of the mitral valve of the patient and fitting the middle contour line of the mitral valve leaflet by utilizing a spline curve to obtain the contour line of the mitral valve leaflet;
the curved surface construction module is used for obtaining a curved surface model of the mitral valve leaflet through curved surface fitting based on the contour line of the mitral valve leaflet;
and the spatial registration module is used for carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image.
In a further refinement of the system, the surface construction module comprises:
the valve ring and valve leaflet contour forming submodule is used for respectively connecting the starting point and the end point of the valve leaflet contour based on the valve leaflet contour line and fitting the two points to form a valve annulus contour line and a valve leaflet end contour line;
and the curved surface model construction sub-module of the mitral valve leaflet is used for fitting and constructing the curved surface model of the mitral valve leaflet by using the obtained contour line of the mitral valve leaflet as a section contour and using the contour line of the mitral valve annulus and the contour line of the tail end of the mitral valve leaflet as guide lines and using a spline curved surface tool.
The present invention also provides an embedded device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of any of the above described ultrasound and CT image fused cardiac image modeling methods when executing the computer program.
The invention provides a heart image modeling method for ultrasonic and CT image fusion, which can obtain a complete and clear visualized heart model by carrying out image fusion on a curved surface model of a reconstructed ultrasonic mitral valve leaflet and a three-dimensional model of a heart chamber. The fusion model can provide the physician with a dynamic visualization of the heart.
The invention also provides a heart image modeling system and equipment for fusing the ultrasonic image and the CT image, and the heart image modeling system and equipment have the same beneficial effects as the method.
Drawings
Fig. 1 is a flowchart illustrating a cardiac image modeling and fusion method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of spline fitting of the mitral valve leaflet middle contour line in the embodiment of the present invention.
FIG. 3 is a schematic diagram of an ultrasound valve and heart chamber CT model fusion in an embodiment of the invention.
FIG. 4 is a schematic structural diagram of a cardiac image modeling system for ultrasound and CT image fusion according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the method for cardiac image modeling and fusion thereof according to the present invention is applied to an embedded device integrated with a cardiac image modeling and fusion system, and includes the following steps:
step 1: and acquiring the CT image and the mitral valve ultrasonic image data of the human heart.
In one embodiment of the present invention, the step specifically includes: the medical detection instrument is used for collecting cardiac chamber CT image data and mitral valve ultrasonic data of a patient. With CT enhanced scanning, contrast is injected intravenously and CT images of the patient are saved in DICOM format.
Step 2: a CT image of a human heart is thresholded.
In one embodiment of the present invention, the step specifically includes:
step 2.1: importing the obtained CT image data of the heart of the patient into Mimics software for identification and storage, and generating an mcs file which can be identified by a computer;
step 2.2: selecting a gray threshold range for the CT image data imported in the step 2.1 in the Mimics software, appointing the position and the diameter of a seed point for each chamber of the heart, and performing threshold segmentation.
Selecting a suitable threshold segmentation range according to the gray level threshold condition of each patient's cardiac structure such that most of the cardiac tissue can be separated from other extraneous tissue; using the CT Heart Segmentation tool of the Mimics software, the location and diameter size of the thresholding seed points are specified for each chamber (e.g., left atrium, left ventricle, etc.), followed by automatic thresholding calculations by the software.
And step 3: the results after the threshold segmentation are processed and a three-dimensional model of the heart chamber is built.
In one embodiment of the present invention, a Region Growing method is used to remove discrete voxels from the whole heart tissue, and a manual editing (Edit) method in software is used to remove tissues such as blood vessels that are not related to the heart structure, thereby obtaining a three-dimensional model of the complete heart chamber.
And 4, step 4: and (3) selecting point cloud data on the patient mitral valve ultrasonic image data obtained in the step (1), and fitting the middle contour line of the mitral valve leaflet by using a spline curve.
In one embodiment of the invention, mitral valve ultrasound image data is imported into medical image three-dimensional visualization software. Selecting a mitral valve ultrasonic image slice in diastole, selecting certain points on an anterior valve and a posterior valve respectively to form point cloud data, and fitting a middle contour line of a mitral valve leaflet by using a spline curve.
In one embodiment of the invention, the three-dimensional visualization software of the medical image is 3D Slicer software. In the expansion module SlicerHeart of the software, a virtual view function can be used to perform 360 ° rotational viewing with the atrial-to-ventricular direction as the axis of rotation. Spline curves are used to fit the mitral valve leaflet contour of the viewed slices.
And 5: and based on the spline curve, obtaining a curved surface model of the mitral valve leaflet through surface fitting.
In one embodiment of the present invention, the step specifically includes:
step 5.1: importing the spline curve obtained in the step 4 into computer aided design software (such as CAD software), respectively connecting the starting point and the end point of the mitral valve leaflet outline and fitting to form a mitral valve annulus contour line and a mitral valve leaflet end contour line;
step 5.2: and (4) taking the contour line of the mitral valve leaflet obtained in the step (4) as a cross-sectional contour, taking the contour line of the valve annulus and the contour line of the tail end of the valve leaflet as guide lines, and fitting and constructing a curved surface model of the mitral valve leaflet by using a spline surface tool.
Using specialized three-dimensional modeling software (such as CATIA), a multi-section surface function is used to fit the mitral valve surface model in a generative contouring module.
Step 6: and carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image.
In one embodiment of the present invention, the step specifically includes: and (3) fixing the three-dimensional model of the heart chamber obtained in the step (3), taking the central point of the anterior valve annulus, the central point of the posterior valve annulus, the anterolateral joint point and the posteromedial joint point of the curved surface model of the mitral valve leaflet obtained in the step (5) as registration points, and aligning and registering the corresponding registration point of the mitral valve model with the atria ventricular model through coordinate transformation. The registered heart three-dimensional model is a heart image fusion model based on the ultrasonic-CT image.
In one embodiment of the present invention, a three-dimensional modeling software (e.g., 3-Matic software) is used to fuse the moving CT heart chamber image with the ultrasound mitral valve image. Adjusting the space position and the opening position of the mitral valve, roughly matching the valve ring planes, aligning and coinciding the alignment points on the valve ring and the points on the heart chamber one by one, and repeatedly fine-tuning to ensure that the positions of the mitral valve ultrasonic model and the valve ring in the CT chamber model coincide.
In the invention, the heart image modeling system fusing the ultrasonic image and the CT image is integrated in the embedded equipment, so that the cost and the operation difficulty of the equipment can be effectively reduced, and the portability is improved.
In the invention, the CT image data is used for reflecting and establishing the model structure of the heart chamber model, the ultrasonic image is used for reflecting and establishing the mitral valve model structure, and the fusion of the two can comprehensively reflect and analyze the morphological characteristics of the mitral valve in the large environment of the heart chamber. By the heart image modeling method of ultrasonic and CT image fusion, the heart model which is complete and clear in visualization is obtained by carrying out image fusion on the reconstructed ultrasonic valve model and the reconstructed CT heart cavity model. The fusion model can provide the physician with a dynamic visualization of the heart.
Referring to fig. 4, in an embodiment of the present invention, a system for cardiac image modeling with ultrasound and CT image fusion is further provided, including:
the data acquisition module is used for acquiring and acquiring CT images of a heart chamber of a human body and ultrasonic image data of a mitral valve;
the threshold segmentation module is used for carrying out threshold segmentation on the CT image of the human heart;
the model reconstruction module is used for performing three-dimensional reconstruction and optimization on the cardiac CT data after threshold segmentation to obtain a complete cardiac chamber three-dimensional model;
the curve fitting module is used for selecting point cloud data on the ultrasonic image data of the mitral valve of the patient and fitting the middle contour line of the mitral valve leaflet by using a spline curve;
the curved surface construction module is used for obtaining a curved surface model of the mitral valve leaflet through curved surface fitting based on a spline curve;
and the spatial registration module is used for carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image.
In one embodiment of the present invention, the method further comprises:
and the data importing module is used for importing the cardiac CT image data and the mitral valve ultrasonic image of the patient into medical image visualization software and then performing threshold segmentation operation through the threshold segmentation module.
In one embodiment of the present invention, the curved surface constructing module includes:
the valve ring and valve leaflet contour forming submodule is used for respectively connecting the starting point and the end point of the valve leaflet contour based on the valve leaflet contour line and fitting the two points to form a valve annulus contour line and a valve leaflet end contour line;
and the curved surface model construction sub-module of the mitral valve leaflet is used for fitting and constructing the curved surface model of the mitral valve leaflet by using the obtained contour line of the mitral valve leaflet as a section contour and using the contour line of the mitral valve annulus and the contour line of the tail end of the mitral valve leaflet as guide lines and using a spline curved surface tool.
The present invention also provides an embedded device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of any one of the above methods of cardiac image modeling with ultrasound and CT image fusion when executing the computer program.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the mitral valve automatic modeling system and the embedded device disclosed by the embodiment, the description is relatively simple because the mitral valve automatic modeling system and the embedded device correspond to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The heart image modeling method of ultrasonic and CT image fusion is applied to embedded equipment of a heart image modeling system integrating ultrasonic and CT image fusion, and is characterized by comprising the following steps of:
acquiring CT images and mitral valve ultrasonic image data of a heart chamber of a human body;
carrying out threshold segmentation on the CT image of the human heart;
establishing a three-dimensional model of the heart chamber based on the result after threshold segmentation;
selecting point cloud data on the ultrasonic image data of the mitral valve of the patient, and fitting the middle contour line of the mitral valve by using a spline curve to obtain a contour line of the mitral valve;
obtaining a curved surface model of the mitral valve leaflet by curved surface fitting based on the contour line of the mitral valve leaflet;
carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on an ultrasonic-CT image;
wherein, the curved surface model of mitral valve leaflet is obtained through surface fitting includes:
respectively connecting the starting point and the end point of the contour of the mitral valve leaflet based on the contour line of the mitral valve leaflet and fitting to form a contour line of a mitral valve annulus and a contour line of the end of the mitral valve leaflet;
the obtained contour line of the mitral valve leaflet is taken as a cross section contour, the contour line of the mitral valve annulus and the contour line of the tail end of the mitral valve leaflet are taken as guide lines, and a spline surface tool is used for fitting and constructing a curved surface model of the mitral valve leaflet.
2. The ultrasound-CT image fused cardiac image modeling method of claim 1, wherein in acquiring the CT image of the heart chamber of the human body and the ultrasound image data of the mitral valve, a medical inspection instrument is used to acquire the CT image data of the heart chamber of the patient and the ultrasound data of the mitral valve.
3. The method of claim 1, wherein the thresholding of the CT image of the human heart comprises:
determining a threshold segmentation range according to the gray threshold condition of the cardiac structure of the patient;
assigning a position and a diameter size of a threshold segmentation seed point for each chamber;
threshold segmentation is performed.
4. The method of claim 1, wherein the three-dimensional model of the heart chamber is created by removing discrete voxels from the bulk heart tissue and removing tissue not related to the heart structure using region growing.
5. The method of claim 1, wherein the selecting point cloud data on the ultrasound image data of the mitral valve of the patient and fitting the intermediate contour line of the mitral valve leaflet with a spline curve comprises:
importing the mitral valve ultrasonic image data into medical three-dimensional visualization software;
selecting a mitral valve ultrasonic image slice in diastole, and respectively taking points on the anterior valve and the posterior valve to form point cloud data;
and fitting the intermediate contour line of the mitral valve leaflet by utilizing a spline curve based on the point cloud data.
6. The ultrasound-CT image fused cardiac image modeling method according to any one of claims 1-5, wherein said spatially registering the three-dimensional model of the heart chamber and the curved model of the mitral valve leaflet to obtain the ultrasound-CT image based cardiac image fused model comprises: fixing the three-dimensional model of the heart chamber, selecting a plurality of registration points on the curved surface model of the mitral valve leaflet, aligning and coinciding the corresponding registration points on the curved surface model of the mitral valve leaflet with the three-dimensional model of the heart chamber through coordinate transformation, and obtaining the heart image fusion model of the ultrasonic-CT image.
7. A cardiac image modeling system for ultrasound and CT image fusion, for implementing the method of any of claims 1-6, comprising:
the data acquisition module is used for acquiring a CT image of a human heart chamber and ultrasonic image data of a mitral valve;
the threshold segmentation module is used for carrying out threshold segmentation operation on the CT image of the human heart;
the model reconstruction module is used for performing three-dimensional reconstruction and optimization on the cardiac CT data after threshold segmentation to obtain a complete cardiac chamber three-dimensional model;
the curve fitting module is used for selecting point cloud data on the ultrasonic image data of the mitral valve of the patient and fitting the middle contour line of the mitral valve leaflet by utilizing a spline curve to obtain the contour line of the mitral valve leaflet;
the curved surface construction module is used for obtaining a curved surface model of the mitral valve leaflet through curved surface fitting based on the contour line of the mitral valve leaflet;
and the spatial registration module is used for carrying out spatial registration on the three-dimensional model of the heart chamber and the curved surface model of the mitral valve leaflet to obtain a heart image fusion model based on the ultrasonic-CT image.
8. The ultrasound and CT image fused cardiac image modeling system of claim 7, wherein the curved surface construction module comprises:
the valve ring and valve leaflet contour forming submodule is used for respectively connecting the starting point and the end point of the valve leaflet contour based on the valve leaflet contour line and fitting the two points to form a valve annulus contour line and a valve leaflet end contour line;
and the curved surface model construction sub-module of the mitral valve leaflet is used for fitting and constructing the curved surface model of the mitral valve leaflet by taking the obtained contour line of the mitral valve leaflet as a cross-sectional contour, taking the contour line of the mitral valve annulus and the contour line of the tail end of the mitral valve leaflet as guide lines and using a spline curved surface.
9. An embedded device, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the ultrasound and CT image fused cardiac image modeling method of any of claims 1-6 when executing said computer program.
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