CN114092447B - Method, device and equipment for measuring scoliosis based on human body three-dimensional image - Google Patents
Method, device and equipment for measuring scoliosis based on human body three-dimensional image Download PDFInfo
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- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
- G06T7/0014—Biomedical image inspection using an image reference approach
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
- G06T2207/30012—Spine; Backbone
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
Abstract
The invention discloses a method, a device and equipment for measuring scoliosis based on a human body three-dimensional image, which are used for solving the problems that the radiation of extracting vertebral coordinates by using X-rays is large, and other methods are low in accuracy or complicated in calculation process and large in calculation amount. The solution of the invention is as follows: registering a human body model in the three-dimensional image with a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected, then calculating the coordinate of each spine of the human body model to be detected, and further calculating the Cobb angle according to the obtained coordinate of each spine of the human body model to be detected. The three-dimensional characteristics of the spine can be well expressed through the acquired high-precision human body three-dimensional image to be detected, the precision is high, and meanwhile, the radiation of the traditional X-ray to the human body is avoided; in addition, the invention can measure the lateral bending degree of the spine without using complex and fussy algorithms, thereby greatly reducing the calculation amount.
Description
Technical Field
The application relates to the technical field of scoliosis prevention and treatment, in particular to a method, a device and equipment for measuring scoliosis based on a human body three-dimensional image.
Background
Scoliosis is a three-dimensional deformity of the spine, serious scoliosis can affect the appearance of people, even the respiratory and digestive functions, further deterioration can affect the spinal cord, and paralysis is caused, so the key points for preventing and treating the disease are early discovery, early diagnosis and early treatment.
The most frequently adopted index for judging the lateral curvature degree of the spine in the medical field is the Cobb angle of the spine, and the Cobb angle is calculated by extracting the coordinates of each vertebra of the spine based on an X-ray image in a more accurate mode at present, and the bending condition of the spine is judged through the Cobb angle. The method has the advantages that the position of the vertebra can be directly seen, the measurement result is accurate, but the defect is obvious, namely, X-rays are radiated to the human body, and the method has great health hazard.
In the prior art, other methods for measuring scoliosis are available, for example, patent document No. CN109431511A discloses a method for measuring the scoliosis angle of the back of a human body based on digital image processing, in which a digital camera is used to take a picture of the back of the human body, a two-dimensional image processing is used to extract a spinal line of the back, and then a Cobb angle is calculated. Although the method does not have radiation, a large amount of manual intervention processing procedures are needed, the obtained two-dimensional information only contains the spine of the human body, and the three-dimensional characteristics of the spine are not well expressed, so that the accuracy is not high.
For another example, patent document No. CN107481228A discloses a method for measuring the bending angle of the back of a human body based on computer vision, which includes taking an image of the back of the human body by a kinect depth sensor, processing the back image at the triangular part by a Lawson algorithm to obtain a three-dimensional reconstruction model of the back of the human body, performing contour line processing on the model and calculating relevant data of the spine, and finally establishing a correlation model and performing three-dimensional reconstruction on a three-dimensional curve of the central line of the spine of the human body to further calculate the Cobb angle. The Cobb angle calculation process is extremely complicated and large in calculation amount, and the accuracy of back information obtained through the depth camera is low.
Disclosure of Invention
Based on this, embodiments of the present invention provide a method, an apparatus, and a device for measuring scoliosis based on a three-dimensional image of a human body, in order to solve the above technical problems in the prior art for measuring the degree of scoliosis.
According to an aspect of an embodiment of the present invention, there is provided a method of measuring scoliosis based on a three-dimensional image of a human body, the method including:
registering a human body model in a three-dimensional image and a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected;
calculating the coordinate of each vertebra of the human body model to be detected;
and step three, calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
Further, the registering the human body model in the three-dimensional image and the standard spine model established in advance in the step one specifically includes:
based on three feature points of a seventh cervical vertebra C7, a left superior iliac spine DL and a right superior iliac spine DR of the human body model in the identified three-dimensional image, obtaining three-dimensional coordinates of the three feature points and coordinates of a vertex center of each three-dimensional spine model of the standard spine model;
respectively calculating the height S of the spine of the human body model to be measured0And the spinal height S of the standard spinal model1And calculating S0/S1The ratio a is multiplied by the value of the vertex center Z coordinate of each vertebra of the standard spine model;
calculating the Z coordinate value of the seventh cervical vertebra of the human body model to be measured based on the new value of the Z coordinate of the vertex center of each vertebra three-dimensional model of the standard spine model0The value Z of the Z coordinate of the seventh cervical vertebra of the standard spine model1And then adding the difference b to the value of the vertex center Z coordinate of each vertebra of the standard spine model.
Further, respectively calculating the height S of the spine of the human body model to be measured0And the height S of the spine of the standard spine model1The method specifically comprises the following steps:
calculating the three-dimensional coordinate of the middle point DLR _ center of the connecting line of the left posterior superior iliac spine DL and the right posterior superior iliac spine DR of the human body model to be detected;
calculating the distance in the vertical direction between the seventh cervical vertebra C7 and DLR _ center of the human model to be measured, wherein the distance is the height S of the vertebral column of the human model0；
Calculating the vertical distance between the seventh cervical vertebra and the left posterior superior iliac spine or the right posterior superior iliac spine of the standard spine model, wherein the vertical distance is the height S of the spine of the standard spine model1。
Further, the calculating the coordinates of each vertebra of the human body model to be measured in the second step specifically includes:
based on a new numerical value of the Z coordinate of the vertex center of each spine three-dimensional model of the standard spine model obtained after registration, respectively making a horizontal section on the human body model to be detected at the Z coordinate value of the vertex of each spine of the standard spine model;
and calculating the coordinates of the salient points on the section lines formed by each section and the human body model to be detected, wherein the obtained coordinates of each salient point are the coordinates of the spine center point of the human body model to be detected corresponding to the section where the salient point is located.
Preferably, the high-precision three-dimensional image of the human body to be detected obtained in the step one is obtained by scanning the human body through a high-precision three-dimensional human body scanner, and the three-dimensional image of the human body includes a whole body three-dimensional image and a back local three-dimensional image of the human body.
Further, the calculating the Cobb angle in the third step specifically includes:
connecting the central points of the vertebras of the obtained human body model to be detected from top to bottom in sequence to form continuous vectors, and calculating the included angle between each vector and a vertical axis;
and finding a vector corresponding to the maximum included angle and a vector corresponding to the minimum included angle, wherein the included angle of the two vectors on the coronal plane is the Cobb angle of the human body model to be detected.
According to another aspect of an embodiment of the present invention, there is provided an apparatus for measuring scoliosis based on a three-dimensional image of a human body, the apparatus including:
the human body model registration module is used for registering a human body model in the three-dimensional image with a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected;
the spine point coordinate calculation module is used for calculating the coordinate of each spine of the human body model to be measured;
and the Cobb angle calculation module is used for calculating the Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
According to another aspect of an embodiment of the present invention, there is provided an apparatus for measuring scoliosis based on a three-dimensional image of a human body, the apparatus including:
the high-precision three-dimensional human body scanner is used for scanning a human body and outputting a high-precision three-dimensional image of the human body to be detected;
data processing equipment, comprising a memory and a processor, for processing the three-dimensional image of the human body to be measured, wherein the memory stores a computer program, the processor implements the steps of the method according to any one of claims 1 to 6 when executing the computer program, and finally outputs a Cobb angle calculation result.
According to another aspect of an embodiment of the present invention, there is provided a method for measuring scoliosis based on a three-dimensional image of a human body, the method including:
registering the whole human body model in the three-dimensional image with a standard human body model established in advance based on the obtained high-precision three-dimensional image of the whole human body or the upper half part of the human body to be detected;
secondly, adjusting the body shape of the standard human body model according to the body shape of the human body model in the three-dimensional image to enable the position of each spine of the standard human body model to be consistent with the position of each spine of the human body model to be detected, wherein the obtained spine point coordinates of each standard human body model after being changed are the coordinates of each spine point corresponding to the human body model to be detected;
and step three, calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
Furthermore, the obtained high-precision three-dimensional image of the whole body or the upper half part of the human body to be detected is obtained by scanning the human body through a high-precision three-dimensional human body scanner.
The invention has at least the following beneficial effects:
according to the method, based on the obtained high-precision three-dimensional image of the human body to be detected, the human body model in the three-dimensional image is registered with a standard spine model established in advance, then the coordinate of each spine of the human body model to be detected is calculated, and the Cobb angle is calculated according to the obtained coordinate of each spine of the human body model to be detected. The three-dimensional characteristics of the spine can be well expressed through the acquired high-precision human body three-dimensional image to be detected, the precision is high, and meanwhile, the radiation of the traditional X-ray to the human body is avoided; in addition, the invention can measure the lateral curvature degree of the spine without using complex and fussy algorithms, thereby greatly reducing the calculation amount.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring scoliosis based on a three-dimensional image of a human body according to an embodiment of the present invention;
FIG. 2 is a CT image of a human spine according to an embodiment of the present invention;
FIG. 3 is a three-dimensional image of a human body according to an embodiment of the present invention;
FIG. 4 is a diagram of a standard spine model provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic horizontal cross-sectional view of a three-dimensional model of a human body according to an embodiment of the present invention;
FIG. 6 is a cross-sectional line schematic view of an embodiment of the present invention;
FIG. 7 is a substantially cut-away view of a human body according to one embodiment of the present invention;
FIG. 8 is a schematic view of an apparatus for measuring scoliosis based on three-dimensional images of a human body according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of a method for measuring thoracic curvature of spine based on three-dimensional images of human body according to an embodiment of the present invention;
FIG. 10 is a schematic view of calculating thoracic and lumbar curvatures provided in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of an apparatus for measuring thoracic curvature of spine based on three-dimensional images of human body according to an embodiment of the present invention;
fig. 12 is a schematic flow chart of a method for measuring spinal curvature of lumbar spine based on a three-dimensional image of a human body according to an embodiment of the present invention;
FIG. 13 is a schematic view of an apparatus for measuring spinal curvature of waist based on three-dimensional images of a human body according to an embodiment of the present invention;
FIG. 14 is a schematic flow chart of a method for measuring scoliosis based on three-dimensional images of a human body according to an embodiment of the present invention;
FIG. 15 is a schematic diagram of a body shape of a standard mannequin according to one embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. 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.
Example one
In the present embodiment, as shown in fig. 1, there is provided a method for measuring scoliosis based on a three-dimensional image of a human body, the method comprising the steps of:
and step S1, registering the human body model in the three-dimensional image with a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected.
And step S2, calculating the coordinates of each vertebra of the human body model to be detected.
And step S3, calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
Specifically, the registering the human body model in the three-dimensional image and the standard spine model established in advance in step S1 specifically includes the following steps:
step S101, based on three feature points of a seventh cervical vertebra C7, a left superior iliac spine DL and a right superior iliac spine DR in the identified three-dimensional image, three-dimensional coordinates of the three feature points are obtained, and coordinates of a vertex center of each three-dimensional model of each spine of the standard spine model are obtained, and the coordinates of the vertex center of each three-dimensional model of each spine of the standard spine model are recorded as C7[ x, y, z ], T1[ x, y, z ], T2[ x, y, z ], T3[ x, y, z ], T4[ x, y, z ], T5[ x, y, z ], T6[ x, y, z ], T7[ x, y, z ], T8[ x, y, z ], T9[ x, y, z ], T10[ x, y, z ], T11[ x, y, z ], T2[ x, y, z ], L8 [ x, y, z ], Z, L2[ x, y, z ], L3, z, X3, z, Z ], T2[ x, y, z ], L3, Z ], L638 [ x, Z ], L63x, Z ], X, Y, Z, X2, Z, X63x, Z, X7X, Z, X, Z, X, Y, Z, X638 [ x, Z ] X, Z, X638, X, Z, X, Y, Z, X638, Z, X63Z, X, Z, X63Z, Z, X, Z, X638, X638, X, Z, X, Z, X, Z, X, Z, X, Y, Z, X638, Z, X638, X, Y, Z, X, Z, X, Y, Z, X, Z, X, Z, X63Z, Z, X, Z, X, Z, Y, Z, X63Z, Z, X638, Z, L4[ x, y, z ], S1[ x, y, z ].
Referring to fig. 2, a CT image of a human spine is shown, in which an adult spine is formed by connecting 26 vertebrae (including 7 cervical vertebrae, 12 thoracic vertebrae, 5 lumbar vertebrae, 1 sacrum (formed by fusion of 5 sacral vertebrae) and 1 coccyx (formed by fusion of 3 to 4 coccyx)) via ligaments, joints and intervertebral discs, wherein C represents the cervical vertebrae, T represents the thoracic vertebrae, L represents the lumbar vertebrae, and S represents the sacral vertebrae.
Step S102, respectively calculating the height S of the spine of the human body model to be measured0And the height S of the spine of the standard spine model1And calculating S0/S1Then multiplying the value of the Z coordinate of the vertex center of each vertebra of the standard spine model by the ratio a to obtain the coordinate of the vertex center of each vertebra three-dimensional model of the new standard spine model, and marking as C7[ x, y, Z1]、T1[x,y,z1]、T2[x,y,z1]、T3[x,y,z1]、T4[x,y,z1]、T5[x,y,z1]、T6[x,y,z1]、T7[x,y,z1]、T8[x,y,z1]、T9[x,y,z1]、T10[x,y,z1]、T11[x,y,z1]、T12[x,y,z1]、L1[x,y,z1]、L2[x,y,z1]、L3[x,y,z1]、L4[x,y,z1]、S1[x,y,z1]This step allows the standard vertebral model to be stretched along the z-axis according to the phantom to be measured.
Step S103, calculating the Z coordinate value Z of the seventh cervical vertebra of the human body model to be detected based on the obtained new numerical value of the Z coordinate of the vertex center of each vertebra three-dimensional model of the standard spine model0The value Z of the Z coordinate of the seventh cervical vertebra of the standard spine model1I.e. b ═ z in the C7 coordinate system1-z0Then adding the difference b to the value of the Z coordinate of the vertex center of each vertebra of the standard spine model to obtain the coordinate of the vertex center of each vertebra three-dimensional model of the new standard spine model, and marking as C7[ x, y, Z ] coordinate2]、T1[x,y,z2]、T2[x,y,z2]、T3[x,y,z2]、T4[x,y,z2]、T5[x,y,z2]、T6[x,y,z2]、T7[x,y,z2]、T8[x,y,z2]、T9[x,y,z2]、T10[x,y,z2]、T11[x,y,z2]、T12[x,y,z2]、L1[x,y,z2]、L2[x,y,z2]、L3[x,y,z2]、L4[x,y,z2]、S1[x,y,z2]This step aligns the C7 point of the standard vertebral model with the C7 point of the manikin on the Z-axis (vertical).
Specifically, the spine height S of the human body model to be measured is calculated respectively0And the spinal height S of the standard spinal model1The description is made by referring to a three-dimensional image of a human body shown in fig. 3 and a standard spine model shown in fig. 4, and specifically includes the following steps:
and calculating the three-dimensional coordinate of the middle point DLR _ center of the connecting line of the left posterior superior iliac spine DL and the right posterior superior iliac spine DR of the human model to be detected.
Calculating the distance between the seventh cervical vertebra C7 and the DLR _ center of the human model to be measured in the vertical direction, wherein the distance is the height S of the vertebral column of the human model0Namely, the difference between the Z coordinate values corresponding to the C7 point and the DLR _ center point in the human body model to be tested is the height S of the spine of the human body model0。
Calculating the vertical distance between the seventh cervical vertebra and the left posterior superior iliac spine or the right posterior superior iliac spine of the standard spine model, wherein the vertical distance is the height S of the spine of the standard spine model1I.e. the difference between the values of the Z coordinates corresponding to C7 and the left or right posterior superior iliac spine in the standard spinal model, is the spinal height S of the standard spinal model1. In the standard spine model, the values of the Z-coordinate for the left and right posterior superior iliac spine are the same, and thus can be used to calculate the spine height.
Specifically, the step of calculating coordinates of each vertebra of the human body model to be measured in step S2 specifically includes the following steps:
step S201, based on the new numerical value of the Z coordinate of the vertex center of each spine three-dimensional model of the standard spine model obtained after registration, horizontal sections are respectively made on the human body model to be measured at the Z coordinate value of the vertex of each spine of the standard spine model. I.e. at C7[ x, y, z, respectively2]、T1[x,y,z2]、T2[x,y,z2]、T3[x,y,z2]、T4[x,y,z2]、T5[x,y,z2]、T6[x,y,z2]、T7[x,y,z2]、T8[x,y,z2]、T9[x,y,z2]、T10[x,y,z2]、T11[x,y,z2]、T12[x,y,z2]、L1[x,y,z2]、L2[x,y,z2]、L3[x,y,z2]、L4[x,y,z2]、S1[x,y,z2]The values Z of the Z coordinates corresponding to these coordinate points2Here, the horizontal cross section of the human body model to be measured, as shown in fig. 5, will form 18 cross sections.
Step S202, calculating the coordinates of the salient points on the section lines formed by each section and the human body model to be measured, wherein the obtained coordinates of each salient point are the coordinates of the spine center point of the human body model to be measured corresponding to the section where the salient point is located. Each cross section forms a cross section line with the contour of the human body, a salient point is arranged on the back part of the human body in the cross section line, as shown in fig. 6, the salient point is the position of the central point of the spine of the human body model to be measured corresponding to the cross section where the salient point is located, so that the coordinates corresponding to each spine of the human body model to be measured can be obtained, and the obtained coordinates are recorded as C7 '[ x, y, z ], T1' [ x, y, z ], T2 '[ x, y, z ], T3' [ x, y, z ], T4 '[ x, y, z ], T5' [ x, y, z ], T6 '[ x, y, z ], T7' [ x, y, z ], T8 '[ x, y, z ], T9' [ x, y, z ], T10 '[ x, y, z ], T11' [ x, y, z, T12 '[ x, y, z ], L1' [ x, y, z ], L2 '[ x, z, X, z, X2, z, Z, X2', z, L3 ' [ x, y, z ], L4 ' [ x, y, z ], S1 ' [ x, y, z ].
In the practical application process, if the coordinate position of a certain spine point of the obtained human body model to be measured has deviation, the coordinate point can be adjusted in an interactive mode, namely the coordinate point with the deviation in the three-dimensional rendering control is dragged to be in accordance with the practical situation.
Preferably, the high-precision three-dimensional image of the human body to be detected obtained in step S1 is obtained by scanning the human body with a high-precision three-dimensional human body scanner, and the three-dimensional image of the human body includes a whole body three-dimensional image and a back local three-dimensional image.
Specifically, the step of calculating the Cobb angle in step S3 specifically includes the following steps:
step S301, connecting the central points of each vertebra of the obtained human body model to be tested from top to bottom in sequence to form continuous vectors, calculating the included angle between each vector and the vertical axis, namely connecting the obtained C7 'x, y, z, T1' x, y, z, T2 'x, y, z, T3' x, y, z, T4 'x, y, z, T5' x, y, z, T6 'x, y, z, T7' x, y, z, T8 'x, y, z, T9' x, y, z, T10 'x, y, z, T11' x, y, z, T12 'x, y, z, L1' x, y, z, L2 'x, y, z, L3' x, y, z, L4 'x, y, z, T5842' x, Y, z, T1 'x, Y, Z, T5924' x, Y, Z ', C1' x, Y, Z, C1 ', C5924', C, Y, Z, C1 ', C, Y, Z', C1 ', C, Y, Z', C, And the continuous vectors of T1 '-T2', T2 '-T3' … … L2 '-L3' and L4 '-S1' are respectively used for calculating the included angles of the vectors and the vertical axis.
Step S302, finding a vector corresponding to the maximum included angle and a vector corresponding to the minimum included angle, where the included angle of the two vectors in the coronal plane of the human body is the Cobb angle of the human body model to be measured, and the position of the coronal plane is shown in fig. 7. For example, the vector corresponding to the maximum value of the included angle is T3 '-T4', and the vector corresponding to the minimum value is L2 '-L3', the included angle between the T3 '-T4' vector and the L2 '-L3' vector on the coronal plane is calculated, and the included angle is the Cobb angle of the to-be-measured human model to be calculated.
Example two
Corresponding to one of the above-mentioned first embodiments, there is provided an apparatus for measuring scoliosis based on a three-dimensional image of a human body, as shown in fig. 8, the apparatus comprising:
and the human body model registration module 81 is used for registering the human body model in the three-dimensional image with a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected.
And the vertebral point coordinate calculation module 82 is used for calculating the coordinate of each vertebra of the human body model to be detected.
And the Cobb angle calculating module 83 is used for calculating the Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
Specifically, the human body model registration module 81 includes:
a coordinate obtaining module 811, configured to obtain three-dimensional coordinates of three feature points, namely, C7, DL and DR of the left posterior superior iliac spine and the vertex center of each three-dimensional model of the standard spine based on the three feature points identified in the three-dimensional image, and to obtain coordinates of the vertex center of each three-dimensional model of the standard spine, where the coordinates of the vertex center of each three-dimensional model of the standard spine are C7[ x, y, z ], T1[ x, y, z ], T2[ x, y, z ], T3[ x, y, z ], T4[ x, y, z ], T5[ x, y, z ], T6[ x, y, z ], T7[ x, y, z ], T8[ x, y, z ], T9[ x, y, z ], T10[ x, y, z ], T11[ x, y, z ], T2[ x, y, z ], L1[ x, y, z ], L2[ x, z ], L3, z, x, z ], L2[ x, z ],596, y, z), L4[ x, y, z ], S1[ x, y, z ].
A spine stretching module 812 for respectively calculating the spine height S of the human body model to be measured0And the spinal height S of the standard spinal model1And calculating S0/S1Then multiplying the value of the Z coordinate of the vertex center of each vertebra of the standard spine model by the ratio a to obtain the coordinate of the vertex center of each vertebra three-dimensional model of the new standard spine model, and marking as C7[ x, y, Z1]、T1[x,y,z1]、T2[x,y,z1]、T3[x,y,z1]、T4[x,y,z1]、T5[x,y,z1]、T6[x,y,z1]、T7[x,y,z1]、T8[x,y,z1]、T9[x,y,z1]、T10[x,y,z1]、T11[x,y,z1]、T12[x,y,z1]、L1[x,y,z1]、L2[x,y,z1]、L3[x,y,z1]、L4[x,y,z1]、S1[x,y,z1]This step allows the standard vertebral model to be stretched along the z-axis according to the phantom to be measured.
The spine alignment module 813 is used for calculating the Z coordinate value of the seventh cervical vertebra of the human body model to be detected based on the new numerical value of the Z coordinate of the vertex center of each vertebra three-dimensional model of the obtained standard spine model0The value Z of the Z coordinate of the seventh cervical vertebra of the standard spine model1I.e. b ═ z in the C7 coordinate system1-z0Then adding the difference b to the value of the Z coordinate of the vertex center of each vertebra of the standard spine model to obtain the coordinate of the vertex center of each vertebra three-dimensional model of the new standard spine model, and marking as C7[ x, y, Z ] coordinate2]、T1[x,y,z2]、T2[x,y,z2]、T3[x,y,z2]、T4[x,y,z2]、T5[x,y,z2]、T6[x,y,z2]、T7[x,y,z2]、T8[x,y,z2]、T9[x,y,z2]、T10[x,y,z2]、T11[x,y,z2]、T12[x,y,z2]、L1[x,y,z2]、L2[x,y,z2]、L3[x,y,z2]、L4[x,y,z2]、S1[x,y,z2]This step aligns the C7 point of the standard spine model with the C7 point of the manikin in the Z-axis (vertical direction).
Specifically, the spine stretching modules 812 respectively calculate the spine height S of the human body model to be tested0And the height S of the spine of the standard spine model1The calculation is completed by a spine height calculation module 8121, and the spine height calculation module 8121 includes:
and the midpoint coordinate calculation module 81211 is used for calculating the three-dimensional coordinate of the midpoint DLR _ center of the connecting line of the left superior iliac spine DL and the right superior iliac spine DR of the human body model to be detected.
A human body model spine height calculation module 81212 for calculating the distance in the vertical direction between the seventh cervical vertebra C7 and DLR _ center of the human body model to be measured, wherein the distance is the human body model spine height S0Namely, the difference between the Z coordinate values corresponding to the C7 point and the DLR _ center point in the human body model to be tested is the height S of the spine of the human body model0。
A standard spine model spine height calculation module 81213 for calculating the vertical distance between the seventh cervical vertebra and the left posterior superior iliac spine or the right posterior superior iliac spine of the standard spine model, which is the spine height S of the standard spine model1I.e. the difference between the values of the Z coordinates corresponding to C7 and the left or right posterior superior iliac spine in the standard spinal model, is the spinal height S of the standard spinal model1. In the standard spine model, the values of the Z-coordinate for the left and right posterior superior iliac spine are the same, and thus can be used to calculate the spine height.
Specifically, the vertebral point coordinate calculation module 82 includes:
and a horizontal section forming module 821, configured to perform horizontal section on the human body model to be tested at the vertex Z coordinate value of each vertebra of the standard spine model respectively based on the new numerical value of the vertex center Z coordinate of each vertebra three-dimensional model of the standard spine model obtained after registration. I.e. at C7[ x, y, z, respectively2]、T1[x,y,z2]、T2[x,y,z2]、T3[x,y,z2]、T4[x,y,z2]、T5[x,y,z2]、T6[x,y,z2]、T7[x,y,z2]、T8[x,y,z2]、T9[x,y,z2]、T10[x,y,z2]、T11[x,y,z2]、T12[x,y,z2]、L1[x,y,z2]、L2[x,y,z2]、L3[x,y,z2]、L4[x,y,z2]、S1[x,y,z2]The value Z of the Z coordinate corresponding to these coordinate points2Here, the horizontal cross section of the human body model to be measured is formed into 18 cross sections as shown in fig. 5.
And the bump coordinate calculation module 822 is used for calculating bump coordinates on a section line formed by each section and the human body model to be detected, and the obtained coordinates of each bump are the coordinates of the spine center point of the human body model to be detected corresponding to the section where the bump is located. Each cross section forms a cross section line with the contour of the human body, a salient point is arranged on the back part of the human body in the cross section line, as shown in fig. 6, the salient point is the position of the central point of the spine of the human body model to be measured corresponding to the cross section where the salient point is located, so that the coordinates corresponding to each spine of the human body model to be measured can be obtained, and the obtained coordinates are marked as C7 ' [ x, y, z ], T1 ' [ x, y, z ], T2 ' [ x, y, z ], T3 ' [ x, y, z ], T4 ' [ x, y, z ], T5 ' [ x, y, z ], T6 ' [ x, y, z ], T7 ' [ x, y, z ], T8 ' [ x, y, z ], T9 ' [ x, y, z ], T10 ' [ x, y, z ], T11 ' [ x, y, z ], T12 ' [ x, L1 ' [ x, y ] y, z ], [ x, 2 ' [ z ], T2 ' [ x, z ], [ x, y, z ], [ x, z ], z ], T12 ' [ x, y, z ], T, L3 ' [ x, y, z ], L4 ' [ x, y, z ], S1 ' [ x, y, z ].
In the practical application process, if the coordinate position of a certain spine point of the obtained human body model to be measured has deviation, the coordinate point can be adjusted in an interactive mode, namely the coordinate point with the deviation in the three-dimensional rendering control is dragged to be in accordance with the practical situation.
Preferably, the high-precision three-dimensional image of the human body to be detected of the human body model registration module 81 is obtained by scanning the human body through a high-precision three-dimensional human body scanner, and the three-dimensional image of the human body includes a whole body three-dimensional image and a back local three-dimensional image of the human body.
Specifically, the Cobb angle calculation module 83 includes:
an included angle calculating module 831, which is used for connecting the central points of each vertebra of the obtained human body model to be measured in turn from top to bottom to form continuous vectors, calculating the included angle between each vector and a vertical axis, namely connecting the obtained C7 '[ x, y, z ], T1' [ x, y, z ], T2 '[ x, y, z ], T3' [ x, y, z ], T4 '[ x, y, z ], T5' [ x, y, z ], T6 '[ x, y, z ], T7' [ x, y, z ], T8 '[ x, y, z ], T9' [ x, y, z ], T2 '[ x, y, z ], T11' [ x, y, z ], T12 '[ x, y, z ], L1' [ x, y, z ], L8 '[ x, y, z, L3' [ x, y, z ], L12 '[ x, y, z ], L42' [ x, y, z ], S3527 '[ x, S, Z ] and S3', forming continuous vectors of C7 '-T1', T1 '-T2', T2 '-T3' … … L2 '-L3' and L4 '-S1', and then respectively calculating the included angles of the vectors and the vertical axis.
An included angle comparing module 832, configured to find a vector corresponding to the maximum included angle and a vector corresponding to the minimum included angle, where an included angle between the two vectors in the coronal plane is the Cobb angle of the human body model to be measured, for example, a vector corresponding to the maximum included angle is T3 '-T4', and a vector corresponding to the minimum included angle is L2 '-L3', an included angle between a vector T3 '-T4' and a vector L2 '-L3' in the coronal plane) is calculated, and the calculated included angle is the Cobb angle of the human body model to be measured.
EXAMPLE III
In this embodiment, there is provided an apparatus for measuring scoliosis based on a three-dimensional image of a human body, the apparatus including:
the high-precision three-dimensional human body scanner is used for scanning a human body and outputting a high-precision three-dimensional image of the human body to be detected.
And the data processing equipment comprises a memory and a processor, and is used for processing the three-dimensional image of the human body to be detected, the memory stores a computer program, the processor implements any step of the method in the first embodiment when executing the computer program, and finally outputs a Cobb angle calculation result.
Example four
In this embodiment, a method for measuring thoracic curvature of spine based on three-dimensional image of human body is provided, as shown in fig. 9, the same as the first two steps S1 and S2 of the method for measuring scoliosis based on three-dimensional image of human body provided in the first embodiment, and the last step is step S4, that is, thoracic curvature is calculated according to the obtained coordinates of each vertebra of the human body model to be measured.
Specifically, the calculating of the thoracic curve in step S4 specifically includes the following steps:
and S401, determining the coordinates of the first thoracic vertebra T1 ', the second thoracic vertebra T2', the twelfth thoracic vertebra T12 'and the first lumbar vertebra L1' based on the obtained coordinates of each vertebra of the human body model to be detected.
Step S402, as shown in FIG. 10, the human model to be tested T1 '[ x, y, z ] and T2' [ x, y, z ] are connected to form a vector, and L1 '[ x, y, z ] and T12' [ x, y, z ] are connected to form a vector, the included angle between the two vectors in the sagittal plane of the human body, i.e. the thoracic curve of the human model to be tested, and the position of the sagittal plane is shown in FIG. 7.
EXAMPLE five
Corresponding to the method for measuring the thoracic curve of the spine based on the three-dimensional image of the human body in the fourth embodiment, as shown in fig. 11, in this embodiment, an apparatus for measuring the thoracic curve of the spine based on the three-dimensional image of the human body is provided, the apparatus is the same as the first two modules of the human body model registration module 81 and the vertebral point coordinate calculation module 82 of the apparatus for measuring the lateral curvature of the spine based on the three-dimensional image of the human body provided in the second embodiment, and the third module is a thoracic curve calculation module 84, which is used for calculating the thoracic curve according to the obtained coordinates of each vertebra of the human body model to be measured.
Specifically, the thoracic curve calculation module 84 includes:
the first designated coordinate obtaining module 841 is configured to determine coordinates of the first thoracic vertebra T1 ', the second thoracic vertebra T2', the twelfth thoracic vertebra T12 'and the first lumbar vertebra L1' based on the obtained coordinates of each vertebra of the human model to be tested.
The first vector projection module 842, as shown in fig. 10, is configured to connect the human body model to be measured T1 '[ x, y, z ] and T2' [ x, y, z ] to form a vector, and connect L1 '[ x, y, z ] and T12' [ x, y, z ] to form a vector, where an included angle between the two vectors in a sagittal plane is the thoracic curve of the human body model to be measured.
Example six
In the present embodiment, a method for measuring the lumbar curvature of the spine based on the three-dimensional image of the human body is provided, as shown in fig. 12, the same as the first two steps S1 and S2 of the method for measuring the lateral curvature of the spine based on the three-dimensional image of the human body provided in the first embodiment, except that the coordinates of the second sacrum of the standard spine model and the human body model to be measured are obtained in S1 and S2; the last step is step S5, namely, calculating the lumbar curvature according to the obtained coordinates of each vertebra of the human body model to be measured.
Specifically, the calculating of the waist curve in step S5 specifically includes the following steps:
step S501, determining coordinates of a twelfth thoracic vertebra T12 ', a first lumbar vertebra L1', a first sacrum S1 'and a second sacrum S2' based on the obtained coordinates of each vertebra of the human body model to be tested.
Step S502, as shown in fig. 10, connects the human body model to be measured T12 '[ x, y, z ] and L1' [ x, y, z ] to form a vector, and connects S2 '[ x, y, z ] and S1' [ x, y, z ] to form a vector, where an included angle between the two vectors in a sagittal plane, i.e., the waist curve of the human body model to be measured, and a position of the sagittal plane is shown in fig. 7.
EXAMPLE seven
Corresponding to the method for measuring the spinal and lumbar curvature based on the three-dimensional image of the human body in the sixth embodiment, as shown in fig. 13, in this embodiment, a device for measuring the spinal and lumbar curvature based on the three-dimensional image of the human body is provided, the device is the same as the first two modules of human body model registration module 81 and the vertebral point coordinate calculation module 82 of the device for measuring the lateral curvature of the spinal based on the three-dimensional image of the human body provided in the second embodiment, and the third module is a lumbar curvature calculation module 85, and is used for calculating the lumbar curvature according to the obtained coordinates of each vertebra of the human body model to be measured.
Specifically, the thoracic curve calculating module 85 includes:
the second designated coordinate acquiring module 851 determines the coordinates of a twelfth thoracic vertebra T12 ', a first lumbar vertebra L1', a first sacrum S1 'and a second sacrum S2' based on the obtained coordinates of each vertebra of the human model to be tested.
The second vector projection module 852, as shown in fig. 10, is configured to connect the human body model T12 '[ x, y, z ] to be tested with L1' [ x, y, z ] to form a vector, and connect S2 '[ x, y, z ] with S1' [ x, y, z ] to form a vector, where an included angle between the two vectors in a sagittal plane is a waist curve of the human body model to be tested.
Example eight
In the present embodiment, as shown in fig. 14, there is provided a method for measuring scoliosis based on a three-dimensional image of a human body, the method comprising the steps of:
and step S141, registering the whole human body model in the three-dimensional image with a standard human body model established in advance based on the acquired high-precision three-dimensional image of the whole human body or the upper half part of the human body to be detected.
Step S142, adjusting the body shape of the standard human body model according to the body shape of the human body model in the three-dimensional image, as shown in fig. 15, that is, adjusting the standard human body model according to the weight and the body shape characteristics of the human body model to be measured, so that the position of each spine of the standard human body model is consistent with the position of each spine of the human body model to be measured, and the obtained spine point coordinates of each standard human body model after being changed are the coordinates of each spine point corresponding to the human body model to be measured.
Step S143, calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be measured, which is the same as step S3 of the method for measuring scoliosis based on the three-dimensional image of the human body provided in the first embodiment.
Specifically, the obtained high-precision three-dimensional image of the whole body or the upper half part of the human body to be detected is obtained by scanning the human body through a high-precision three-dimensional human body scanner.
In the embodiment, based on a high-precision three-dimensional human body image to be detected obtained by scanning a human body with a high-precision three-dimensional human body scanner, a human body model in the three-dimensional image is registered with a standard spine model established in advance, then the coordinate of each spine of the human body model to be detected is calculated, and then the Cobb angle and two spine related parameters of the thoracic curve and the lumbar curve are calculated according to the obtained coordinate of each spine of the human body model to be detected. The obtained high-precision human body three-dimensional image to be detected can well express the three-dimensional characteristics of the spine, the precision is high, and meanwhile, radiation of traditional X-rays to a human body is avoided; in addition, the invention can measure the lateral bending degree of the spine without using complex and fussy algorithms, thereby greatly reducing the calculation amount.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A method for measuring scoliosis based on a three-dimensional image of a human body, the method comprising:
the method comprises the steps of firstly, registering a human body model in a three-dimensional image and a standard spine model established in advance based on the obtained high-precision human body three-dimensional image to be detected;
the registering of the human body model in the three-dimensional image and the standard spine model established in advance specifically comprises:
acquiring three-dimensional coordinates of three characteristic points, namely a seventh cervical vertebra C7, a left posterior superior iliac spine DL and a right posterior superior iliac spine DR, of the human body model in the identified three-dimensional image, and acquiring coordinates of a vertex center of each three-dimensional vertebra model of the standard spine model;
respectively calculating the height S of the spine of the human body model to be measured0And the height S of the spine of the standard spine model1And calculating S0/S1Then multiplying the value of the Z coordinate of the vertex center of each vertebra of the standard spine model by the ratio a;
calculating the new value of the Z coordinate of the vertex center of each spine three-dimensional model of the standard spine model based on the obtained new valueZ coordinate value of model seventh cervical vertebra0The value Z of the Z coordinate of the seventh cervical vertebra of the standard spine model1Then adding the difference b to the value of the Z coordinate of the vertex center of each vertebra of the standard spine model;
calculating the coordinate of each vertebra of the human body model to be detected;
and step three, calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected.
2. Method according to claim 1, characterized in that the respective calculation of the vertebral column height S of the manikin to be tested is performed0And the spinal height S of the standard spinal model1The method specifically comprises the following steps:
calculating the three-dimensional coordinate of the middle point DLR _ center of the connecting line of the left posterior superior iliac spine DL and the right posterior superior iliac spine DR of the human body model to be detected;
calculating the distance between the seventh cervical vertebra C7 and the DLR _ center of the human model to be measured in the vertical direction, wherein the distance is the height S of the vertebral column of the human model0；
Calculating the vertical distance between the seventh cervical vertebra and the left posterior superior iliac spine or the right posterior superior iliac spine of the standard spine model, wherein the vertical distance is the height S of the spine of the standard spine model1。
3. The method according to claim 1, wherein the calculating coordinates of each vertebra of the human body model to be measured in the second step specifically comprises:
respectively making a horizontal section of the human body model to be measured at the vertex Z coordinate value of each spine of the standard spine model based on the new value of the vertex center Z coordinate of each spine three-dimensional model of the standard spine model obtained after registration;
and calculating the coordinates of the salient points on the section lines formed by each section and the human body model to be detected, wherein the obtained coordinates of each salient point are the coordinates of the spine center point of the human body model to be detected corresponding to the section where the salient point is located.
4. The method according to claim 1, wherein the high-precision three-dimensional image of the human body to be detected obtained in the step one is obtained by scanning the human body through a high-precision three-dimensional human body scanner, and the three-dimensional image of the human body comprises a whole body three-dimensional image and a back local three-dimensional image.
5. The method according to claim 1, wherein the calculating the Cobb angle in step three specifically comprises:
connecting the central points of the spines of the obtained human body models to be detected from top to bottom in sequence to form continuous vectors, and calculating the included angle between each vector and the vertical axis;
and finding a vector corresponding to the maximum included angle and a vector corresponding to the minimum included angle, wherein the included angle of the two vectors on the coronal plane is the Cobb angle of the human body model to be detected.
6. An apparatus for measuring scoliosis based on a three-dimensional image of a human body, the apparatus comprising:
the human body model registration module is used for registering a human body model in the three-dimensional image with a standard spine model established in advance based on the acquired high-precision human body three-dimensional image to be detected; the vertebral point coordinate calculation module is used for calculating the coordinate of each vertebra of the human body model to be detected;
the Cobb angle calculation module is used for calculating a Cobb angle according to the obtained coordinates of each vertebra of the human body model to be detected;
the manikin registration module includes:
the coordinate acquisition module is used for acquiring three-dimensional coordinates of three characteristic points, namely a seventh cervical vertebra C7, a left posterior superior iliac spine DL and a right posterior superior iliac spine DR of the human body model in the identified three-dimensional image, and acquiring coordinates of a vertex center of each three-dimensional model of the standard spine model;
a spine stretching module for respectively calculating the spine height S of the human body model to be measured0And the height S of the spine of the standard spine model1And calculate S0/S1A, then the standard spine model is applied to each vertebraThe value of the vertex center Z coordinate of (a) is multiplied by the ratio a;
the spine alignment module is used for calculating the Z coordinate value of the seventh cervical vertebra of the human body model to be measured based on the new numerical value of the Z coordinate of the vertex center of each spine three-dimensional model of the obtained standard spine model0The value Z of the Z coordinate of the seventh cervical vertebra of the standard spine model1And then adding the difference b to the value of the vertex center Z coordinate of each vertebra of the standard spine model.
7. An apparatus for measuring scoliosis based on a three-dimensional image of a human body, the apparatus comprising:
the high-precision three-dimensional human body scanner is used for scanning a human body and outputting a high-precision three-dimensional image of the human body to be detected;
data processing equipment, comprising a memory and a processor, for processing the three-dimensional image of the human body to be measured, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program, and finally outputs a Cobb angle calculation result.
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