CN114170114B - Method and device for enhancing spine CT image and spine surgical robot - Google Patents

Method and device for enhancing spine CT image and spine surgical robot Download PDF

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CN114170114B
CN114170114B CN202111525518.3A CN202111525518A CN114170114B CN 114170114 B CN114170114 B CN 114170114B CN 202111525518 A CN202111525518 A CN 202111525518A CN 114170114 B CN114170114 B CN 114170114B
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spine
morphological
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actual
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CN114170114A (en
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李亚
谢永召
宫明波
要文杰
陈露
田庆
赵海霞
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Beijing Baihui Weikang Technology Co Ltd
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Abstract

The invention provides a method and a device for enhancing a spine CT image, electronic equipment and a spine surgical robot, wherein the method for enhancing the spine CT image comprises the following steps: carrying out morphological expansion processing on the spine CT image to generate a morphological expansion image; performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image; and generating an enhanced spine CT image according to the morphological closed processing image, and further performing image segmentation without manually delineating a foreground region and a background region, thereby reducing the implementation difficulty of image segmentation.

Description

Method and device for enhancing spine CT image and spine surgical robot
Technical Field
The invention relates to the technical field of medical robots, in particular to a method and a device for enhancing a spine CT image, electronic equipment and a spine surgical robot.
Background
Medically, in order to achieve certain medical purposes, such as image-guided surgery, medical image processing is relied on, for example, CT images of normal tissues or diseased tissues can be processed by image segmentation, feature extraction, quantitative analysis, three-dimensional reconstruction and the like in sequence, so that image segmentation is the basis of subsequent processing. In the spine surgery, since the spine includes a plurality of vertebral bodies, a plurality of vertebral body images are formed on the spine CT image, and thus, the image segmentation difficulty for the spine CT image is large.
In the prior art, graph cut algorithm is generally relied on for implementation.
For the image segmentation algorithm, one of the prerequisite processing steps is to manually select a target image frame from a spine CT image and then delineate a foreground region and a background region on the target frame, but the spine CT image includes more image frames, which results in higher complexity of the image segmentation algorithm and lower segmentation efficiency, and finally results in higher implementation difficulty.
Disclosure of Invention
The embodiment of the invention provides a method and a device for enhancing a spine CT image, electronic equipment and a spine surgical robot, which are used for overcoming or relieving the problems in the prior art.
The technical scheme adopted by the invention is as follows:
a method of enhancing a CT image of a spine, comprising:
carrying out morphological expansion processing on the spine CT image to generate a morphological expansion image;
performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image;
and generating an enhanced spine CT image according to the morphological closed processing image.
An apparatus for enhancing a CT image of a spine, comprising:
the morphological expansion unit is used for performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
the morphological erosion unit is used for carrying out morphological erosion processing on the morphological expansion image to generate a morphological closed processing image;
and the enhanced image generation unit is used for generating an enhanced spine CT image according to the morphological closed processing image.
An electronic device, the device comprising:
a processor, a memory for storing at least one executable instruction that causes the processor to perform a method as in any one of the embodiments of the present application.
A computer storage medium, having stored thereon a computer program which, when executed by a processor, implements the method of any one of the embodiments of the present application.
A spinal surgical robot comprising an image processing device for performing the steps of:
performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image;
and generating an enhanced spine CT image according to the morphological closed processing image.
Determining an edge between an estimated foreground region and an estimated background region on the enhanced spine CT image, and drawing a system graph based on each voxel in the edge;
according to the directed graph, determining a minimum cut of the enhanced spine CT image so as to segment the enhanced spine CT image into an actual foreground region comprising the spine imaging and an actual background region comprising a non-spine image;
determining at least the actual foreground region on the enhanced spine CT image based on the minimal cut;
determining a candidate imaging area of each vertebral body in the actual foreground area, and determining the center and the mass center of each candidate imaging area;
and identifying the actual imaging area corresponding to the vertebral body according to the center and the mass center of each candidate imaging area.
According to the technical scheme provided by the embodiment of the invention, the spine CT image is subjected to morphological expansion processing to generate a morphological expansion image; performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image; and generating an enhanced spine CT image according to the morphological closed processing image, and further performing image segmentation without manually delineating a foreground region and a background region, thereby reducing the implementation difficulty of image segmentation.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for enhancing a spine CT image according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a spinal CT image according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an enhanced spinal CT image according to an embodiment of the present disclosure;
FIG. 4 is a flowchart illustrating a method for segmenting a spinal CT image according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart illustrating a method for identifying vertebral body imaging according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of an apparatus for enhancing a CT image of a spine according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a segmentation apparatus for a CT image of a spine according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of an identification device for vertebral body imaging according to an embodiment of the present disclosure;
fig. 9 is a schematic diagram of a specific hardware structure of an electronic device according to an embodiment of the present application;
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, apparatus, steps, etc. In other instances, well-known structures, methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Furthermore, the terms "pre-estimated," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "predictive" or "second" may explicitly or implicitly include one or more of the feature. In the description of the present disclosure, "plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise. The symbol "/" generally indicates that the former and latter associated objects are in an "or" relationship.
In the present disclosure, unless otherwise expressly specified or limited, the terms "connected" and the like are to be construed broadly, e.g., as meaning electrically connected or in communication with each other; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
According to the technical scheme provided by the embodiment of the invention, the spine CT image is subjected to morphological expansion processing to generate a morphological expansion image; performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image; generating an enhanced spine CT image according to the morphological closed processing image, further performing image segmentation processing, the foreground area and the background area do not need to be sketched manually, so that the implementation difficulty of image segmentation is reduced.
FIG. 1 is a schematic flow chart illustrating a method for enhancing a spine CT image according to an embodiment of the present disclosure; as in fig. 1, it comprises:
s101, performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
optionally, in this embodiment, the performing morphological dilation processing on the spine CT image to generate a morphological dilation image includes:
scanning voxel values on the spine CT image using the first volume of structural elements, so as to perform morphological dilation processing on the spine CT image.
In this embodiment, the voxel values represent the opacity of the body tissue to X-rays (or alternatively referred to as attenuation values after absorption of X-rays through the body tissue).
In this embodiment, each voxel in the CT image is expanded through morphological expansion to fill some holes in the image.
Illustratively, the element value of the first structural element body is 1 or 0; therefore, the scanning voxel values on the spine CT image by using the first structural element body to perform morphological dilation processing on the spine CT image includes:
s111, sequentially determining a target area on the spine CT image according to a mode of the specifications of the first structural element body and the like;
in this embodiment, the first structural element may be specifically used to cover the spine CT image, so that the step S111 may be quickly implemented, where an area covered by the first structural element on the spine CT image is a target area.
In this example, the specification reflects the size of the structural element body, the larger the number of elements in the first structural element body, the larger the specification of the first structural element body. In the present embodiment, the size of the first structural element body is not particularly limited, and may be arranged according to an application scenario.
And S121, performing AND operation on the element value of the first structure element body and the voxel value of the first target region every time a first target region is determined, modifying the voxel value of the central voxel of the first target region into the maximum voxel value subjected to the AND operation, and modifying the voxel values of other voxels into 0, so as to perform morphological expansion processing on the spine CT image.
In the present embodiment, when performing an and operation on the element value of the first structural element body and the voxel value of the first target region, the element value of the first structural element body and the voxel value at the first target region in the same position are subjected to an and operation.
S102, performing morphological erosion processing on the morphological expansion image to generate a morphological closed processing image;
optionally, in this embodiment, the performing morphological erosion processing on the morphological dilation image to generate a morphological closure processing image includes:
and scanning voxel values of the morphological dilation image by using a second structural element body to perform morphological erosion processing on the morphological dilation image to generate a morphological occlusion processing image.
Optionally, in this embodiment, the element value of the second structural element body is 1 or 0;
the scanning the voxel values of the morphological dilation image by using the second structural element body to perform morphological erosion processing on the morphological dilation image to generate a morphological closed processing image, comprising:
sequentially determining a second target area on the morphological expansion image according to a mode of specification equal to that of the second structural element body;
and performing AND operation on the element value of the second structural element body and the voxel value of the second target region every time a second target region is determined, modifying the voxel value of the central voxel of the second target region into the minimum voxel value of the AND operation, and modifying the voxel values of other voxels into 0 so as to perform morphological erosion on the spine CT image.
In one scenario, the first structural element is: a sphere with the radius of 1 to connect small cavities of the bone surface which appear on the spine CT image due to the poor bone quality of the vertebral body.
In one scenario, the second structural element body is: a sphere of radius 2 to break the spurious connection between each pyramidal spine on the spine CT image.
Specifically, the first structural element body and the second structural element body correspond to a matrix as follows: assuming that the radius of the sphere is r, the matrix is a three-dimensional matrix of (2r + 1), in which the value of the area covered by the sphere with radius r is 1, and the other positions are 0.
And S103, generating an enhanced spine CT image according to the morphological closed processing image.
Optionally, in this embodiment, the generating an enhanced spine CT image according to the morphologically closed-loop processing image includes:
s113, generating a ridge-valley characteristic image based on the difference of voxel values between the spine CT image and the morphological closed processing image;
and S123, generating an enhanced spine CT image based on the difference of the voxel values of the spine CT image and the ridge-valley characteristic image.
In this embodiment, the gray contrast between neighboring pixels (i.e. the ridge-valley feature or the valley feature) is more obvious on the ridge-valley feature image through the processing in step S113, so that the gray contrast between neighboring pixels is further improved on the enhanced spine CT image obtained through the processing in step S123. In addition, through the processing of the steps in the embodiment, the discrimination of cortical bone imaging on the spine CT image is enhanced, and false connection between cones is avoided.
FIG. 2 is a schematic view of a spinal CT image according to an embodiment of the present disclosure; FIG. 3 is a schematic view of an enhanced spinal CT image according to an embodiment of the present disclosure; as can be seen from comparing fig. 2 and fig. 3, the gray contrast between the neighboring pixels in fig. 3 is significantly higher than that between the neighboring pixels in fig. 2, or it can be referred to as image definition, especially for the region with the pyramid (i.e. foreground region), the boundary between the pyramids is more significant, and for the region with the pyramid (i.e. foreground region) and the region without the pyramid (i.e. background region), the boundary is more significant. In fig. 2 and 3, a black box is shown as a partial cone imaging region.
FIG. 4 is a flowchart illustrating a method for segmenting a spinal CT image according to an embodiment of the present disclosure; as shown in fig. 4, it includes:
s401, determining an edge between an estimated foreground region and an estimated background region on an enhanced spine CT image, and drawing a directed graph based on each voxel in the edge;
optionally, in this embodiment, the enhanced spine CT image is generated according to the enhancement method of any one of the embodiments of the present application; for example, reference may be made specifically to the embodiment shown in fig. 1 described above.
Optionally, in this embodiment, the determining an edge between an estimated foreground region and an estimated background region on the enhanced spine CT image, and drawing a directed graph based on each voxel in the edge, includes: and predicting a foreground region including the spine CT image and a background region not including the spine CT image on the enhanced spine CT image so as to respectively generate the predicted foreground region and the predicted background region.
Of course, if in some embodiments the estimated foreground region and the estimated background region are already generated, the above-described step of generating the estimated foreground region and the estimated background region may be omitted.
Optionally, in this embodiment, the predicting the foreground region including the spine CT image and the background region not including the spine CT image on the enhanced spine CT image to generate the predicted foreground region and the predicted background region respectively includes:
acquiring a voxel value of each voxel on the enhanced spine CT image;
according to a set voxel value threshold and the voxel value of each voxel, a foreground area including the spine CT image and a background area not including the spine CT image on the enhanced spine CT image are estimated, so that the estimated foreground area and the estimated background area are generated respectively.
For example, in a specific application scenario, since the voxel value (also referred to as CT value) of normal cortical bone is greater than 200Hounsfield; the voxel value of the liquid is around 0Hounsfield; the voxel value of fat is between-70 and-90 Hounsfield; the voxel value of tissue is typically 30 to 50Hounsfield; the voxel value of air is at least nearly-1000 Hounsfield. Therefore, the voxel value threshold used for the foreground region to be estimated is set to 200Hounsfield, and the voxel value threshold used for the background region to be estimated is set to 50, i.e., voxels with voxel values greater than 200Hounsfield are retained to form the estimated foreground region, and voxels with voxel values less than 50Hounsfield are retained to form the estimated background region, and the voxels with voxel values between 50 and 200Hounsfield are regarded as invalid voxels, and are directly discarded.
Rapidly and accurately predicting a cortical bone imaging area of the cone on the enhanced spine CT image in a mode of the set voxel value threshold value, and directly using the cortical bone imaging area as a predicted foreground area; and rapidly and accurately estimating non-cortical imaging regions such as air, fat, tissue and the like on the enhanced spine CT image, and directly using the estimated background regions.
In this embodiment, because the edge between the estimated foreground region and the estimated background region may include a voxel that should belong to vertebral body imaging in the estimated background region, and a voxel that should belong to non-vertebral body imaging in the estimated foreground region, for this reason, in this embodiment, it is equivalent to using the edge between the estimated foreground region and the estimated background region as an initial object of image segmentation, and rapidly implementing the segmentation between the actual foreground region including the spine imaging and the actual background region including the non-spine image.
Specifically, the drawing a directed graph based on each voxel in the edge includes:
determining a source point set and a sink point set, wherein the source point set comprises: a plurality of voxels that are actually imaged for the vertebral body, the set of sinks comprising: a number of voxels that are actually non-pyramidal imaged;
and taking each voxel in the edge, the source point set and the sink point set as a vertex in the directed graph, and taking a connecting line between every two voxels in the edge, the source point set and the sink point set as an edge of the directed graph so as to draw the directed graph.
S402, determining a minimum cut of the enhanced spine CT image according to the directed graph so as to segment the enhanced spine CT image into an actual foreground region comprising the spine imaging and an actual background region comprising a non-spine image;
optionally, in this embodiment, determining a minimum cut of the enhanced spine CT image according to the directed graph to segment the enhanced spine CT image into an actual foreground region including the spine image and an actual background region including a non-spine image includes:
s412, determining a region item and a boundary item of each edge in the directed graph, and generating a plurality of candidate image cuts between an actual foreground region including the spine imaging and an actual background region including a non-spine image according to the region item and the boundary item of each edge;
in this embodiment, determining the area item of each edge in the directed graph may specifically include: and counting the difference of the voxel value of each vertex corresponding to each edge relative to each voxel in the source point set and the sink point set respectively and using the difference as a regional voxel difference value, and determining the regional item of each edge according to all regional voxel difference values corresponding to two vertices on each edge. The smaller the regional voxel difference value is, the larger the possibility that the corresponding voxel belongs to the vertebral body imaging is, and vice versa.
In this embodiment, determining the boundary item of each edge in the directed graph specifically may include: and counting the difference of voxel values between the voxel corresponding to each vertex on each edge and the voxel of the neighborhood, taking the difference as a boundary voxel difference value, and determining the boundary item of each edge according to all the boundary voxel difference values corresponding to two vertices on each edge. The smaller the boundary voxel difference value is, the larger the possibility that the two corresponding voxels belong to both cone imaging and non-cone imaging is.
Therefore, whether the corresponding voxel belongs to the vertebral body imaging or the non-vertebral body imaging can be determined based on the region term, and whether the two voxels belong to the vertebral body imaging or the non-vertebral body imaging can be determined according to the boundary term, so that a plurality of record image cuts can be formed, and each alternative image cut comprises a plurality of edges.
S422, counting the energy of each alternative image cut, and selecting one alternative image cut with the minimum energy as the minimum cut so as to segment the enhanced spine CT image into an actual foreground region comprising the spine imaging and an actual background region comprising the non-spine image.
The energy of each edge can be determined based on the boundary term and the region term corresponding to each edge, therefore, when the energy of each candidate image cut is counted, the energy of each edge included in the energy of each candidate image cut is summed, the energy of each candidate image cut can be obtained, and then a candidate image cut with the minimum energy is selected as the minimum cut through energy comparison.
S403, based on the minimum cut, at least the actual foreground area is determined on the enhanced spine CT image.
As mentioned above, since the candidate image segment has a plurality of edges, and each edge is actually composed of voxels, it is equivalent to accurately separate the real-time foreground region of the enhanced spine CT image by the connecting lines between voxels.
FIG. 5 is a schematic flow chart illustrating a method for identifying vertebral body imaging according to an embodiment of the present disclosure; as shown in fig. 5, it includes:
s501, determining a candidate imaging area of each vertebral body in an actual foreground area, and determining the center and the mass center of each candidate imaging area, wherein the actual foreground area is determined according to the segmentation method of any one embodiment of the application;
optionally, in this embodiment, the determining the candidate imaging region of each vertebral body in the actual foreground region includes:
and determining a candidate imaging region of each cone in the actual foreground region according to a set single cone imaging region area threshold.
In this embodiment, the area threshold of the single vertebral body imaging region may be obtained according to statistical analysis of sample data.
S502, identifying the actual imaging area of the corresponding vertebral body according to the center and the mass center of each candidate imaging area.
Optionally, in this embodiment, the identifying an actual imaging region of a corresponding vertebral body according to the center and the centroid of each candidate imaging region includes:
respectively determining X coordinates of the center and the mass center in an X-Z coordinate system;
and identifying an actual imaging area corresponding to the vertebral body according to the X coordinate difference value of the center and the mass center and a set X coordinate difference value threshold.
In this embodiment, a corresponding centroid is calculated according to voxel values of all voxels included in the candidate imaging region, and the centroid also corresponds to a voxel on the candidate imaging region. The center of the candidate imaging region also corresponds to a voxel on the candidate imaging region, so that the actual imaging region corresponding to a single vertebral body can be accurately identified through the X coordinate difference value of the center and the mass center.
Specifically, for example, the actual imaging area of a single vertebral body is determined according to the formula | C _ X-I _ X | < d, and an area where the absolute value of the difference between the X coordinates of the center and the centroid satisfies | C _ X-I _ X | < d is taken as the actual imaging area of the single vertebral body, where C _ X is the X coordinate of the centroid, I _ X is the X coordinate of the center, d is a set X coordinate difference threshold, and the size of d is set according to the requirements of the application scenario. By setting the X coordinate difference threshold, the method not only can be used for determining the actual imaging area formed by the deformation of the vertebral body, but also can be applied to determining the actual imaging area formed by the deformation of the vertebral body.
Further, in an embodiment, considering that there are usually multiple actual imaging regions corresponding to vertebral bodies on the spine CT image, and therefore, it is convenient to distinguish between the actual imaging regions corresponding to the vertebral bodies, identifying the actual imaging region corresponding to the vertebral body according to the center and the center of mass of each candidate imaging region may further include:
respectively determining the Z coordinate of each centroid in an X-Z coordinate system, and sequencing all the determined Z coordinates;
and identifying the adjacent position relation of the actual imaging area of the vertebral body on the spine CT image according to the sequence of all the Z coordinates.
Such as from large to small or from small to large. The first Z coordinate corresponds to the uppermost vertebral body on the spine CT image when ordered from large to small, and the first Z coordinate corresponds to the lowermost vertebral body on the spine CT image when ordered from small to small.
FIG. 6 is a schematic structural diagram of an apparatus for enhancing a CT image of a spine according to an embodiment of the present disclosure; as shown in fig. 6, it includes:
a morphological dilation unit 601, configured to perform morphological dilation processing on the spine CT image to generate a morphological dilation image;
a morphological erosion unit 602, configured to perform morphological erosion processing on the morphological dilated image to generate a morphological closed-loop processed image;
an enhanced image generation unit 603, configured to generate an enhanced spine CT image according to the morphological closing processing image.
Optionally, the morphological dilation unit 601 is specifically configured to: and scanning voxel values on the spine CT image by using the first structural element body so as to perform morphological expansion processing on the spine CT image.
Optionally, the morphological dilation unit 601 is specifically configured to: sequentially determining a target area on the spine CT image according to a mode of the first structural element body and the like; and performing AND operation on the element value of the first structure element body and the voxel value of the first target region every time a first target region is determined, modifying the voxel value of the central voxel of the first target region into the maximum voxel value of the AND operation, and modifying the voxel values of other voxels into 0, so as to perform morphological expansion processing on the spine CT image.
Optionally, the morphological erosion unit 602 is specifically configured to: and scanning voxel values of the morphological dilation image by using a second structural element body to perform morphological erosion processing on the morphological dilation image to generate a morphological occlusion processing image.
Optionally, the morphological erosion unit 602 is specifically configured to: sequentially determining a second target area on the form expansion image according to a mode of the specification equal to that of the second structural element body; and performing AND operation on the element value of the second structural element body and the voxel value of the second target region every time a second target region is determined, modifying the voxel value of the central voxel of the second target region into the minimum voxel value of the AND operation, and modifying the voxel values of other voxels into 0 so as to perform morphological erosion on the spine CT image.
Optionally, the enhanced image generating unit 603 is specifically configured to: generating a ridge-valley feature image based on a difference in voxel values between the spine CT image and the morphologically closed-processing image; generating an enhanced spine CT image based on a difference between voxel values of the spine CT image and the ridge-valley feature image.
FIG. 7 is a schematic structural diagram of a segmentation apparatus for a CT image of a spine according to an embodiment of the present disclosure; as shown in fig. 7, it includes:
an edge processing unit 701, configured to determine an edge between an estimated foreground region and an estimated background region on an enhanced spine CT image, and draw a directed graph based on each voxel in the edge, where the enhanced spine CT image is generated according to the enhancement method according to any one of the embodiments of the present application;
a minimal cut unit 702, configured to determine a minimal cut of the enhanced spine CT image according to the directed graph, so as to segment the enhanced spine CT image into an actual foreground region including the spine imaging and an actual background region including a non-spine image;
an actual foreground determining unit 703, configured to determine at least the actual foreground region on the enhanced spine CT image based on the minimal cut.
Optionally, the spine CT image segmentation apparatus further includes: the preprocessing unit is used for predicting a foreground region including the spine CT image and a background region not including the spine CT image on the enhanced spine CT image before determining an edge between the predicted foreground region and the predicted background region on the enhanced spine CT image and drawing a directed graph based on each voxel in the edge so as to respectively generate the predicted foreground region and the predicted background region.
Optionally, the preprocessing unit is specifically configured to: acquiring a voxel value of each voxel on the enhanced spine CT image; and according to a set voxel value threshold and the voxel value of each voxel, predicting a foreground region including the spine CT image and a background region not including the spine CT image on the enhanced spine CT image so as to respectively generate the predicted foreground region and the predicted background region.
FIG. 8 is a schematic structural diagram of an identification device for vertebral body imaging according to an embodiment of the present disclosure; as shown in fig. 8, it includes:
a candidate imaging region unit 801, configured to determine a candidate imaging region of each vertebral body in an actual foreground region, and determine a center and a centroid of each candidate imaging region, where the actual foreground region is determined according to any segmentation method in an embodiment of the present application;
and an actual imaging identification unit 802, configured to identify an actual imaging region of the corresponding vertebral body according to the center and the centroid of each candidate imaging region.
Optionally, the candidate imaging region unit 801 is specifically configured to: and determining a candidate imaging region of each cone in the actual foreground region according to a set single-cone imaging region area threshold.
Optionally, the actual imaging recognition unit 802 is configured to: respectively determining X coordinates of the center and the mass center in an X-Z coordinate system; and identifying an actual imaging area corresponding to the vertebral body according to the X coordinate difference value of the center and the mass center and a set X coordinate difference value threshold.
Optionally, the actual imaging recognition unit 802 is further configured to determine a Z coordinate of each centroid in the X-Z coordinate system, and rank all the determined Z coordinates; and identifying the adjacent position relation of the actual imaging area of the vertebral body on the spine CT image according to the sequence of all the Z coordinates.
An embodiment of the present application further provides an electronic device, where the device includes: a processor, a memory for storing at least one executable instruction, the executable instruction causing the processor to perform a method according to any one of the embodiments of the present application.
The embodiments of the present application also provide a computer storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method according to any one of the embodiments of the present application.
The embodiment of the present application further provides a spinal surgical robot, which includes an image processing device, where the image processing device is configured to execute the following steps:
performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image;
and generating an enhanced spine CT image according to the morphological closed processing image.
Determining an edge between an estimated foreground region and an estimated background region on the enhanced spine CT image, and drawing a directed graph based on each voxel in the edge;
determining a minimal cut of the enhanced spine CT image according to the directed graph so as to segment the enhanced spine CT image into an actual foreground region comprising the spine image and an actual background region comprising a non-spine image;
determining at least the actual foreground region on the enhanced spine CT image based on the minimal cut;
determining a candidate imaging area of each vertebral body in the actual foreground area, and determining the center and the mass center of each candidate imaging area;
and identifying the actual imaging area of the corresponding vertebral body according to the center and the mass center of each candidate imaging area.
Fig. 9 is a schematic diagram of a specific hardware structure of an electronic device according to an embodiment of the present application; as shown in fig. 9, the electronic device may include: a processor (processor) 902, a communication Interface 904, a memory 906, and a communication bus 908.
Wherein:
the processor 902, communication interface 904, and memory 906 communicate with one another via a communication bus 908.
A communication interface 904 for communicating with other electronic devices or servers.
The processor 902 is configured to execute the program 910, and may specifically execute the relevant steps in the above-described check code generation method embodiment.
In particular, the program 910 may include program code that includes computer operating instructions.
The processor 902 may be a central processing unit CPU, or an Application Specific Integrated Circuit ASIC (Application Specific Integrated Circuit), or one or more Integrated circuits configured to implement embodiments of the present Application. The intelligent device comprises one or more processors which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
A memory 906 for storing a program 910. The memory 906 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 910 may be specifically configured to cause the processor 902 to perform a method according to any of the embodiments described above.
For specific implementation of each step in the program 910, reference may be made to corresponding steps and corresponding descriptions in units in the method embodiments, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, a RAM, a floppy disk, a hard disk, or a magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the methods described herein may be stored in such software processes on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA. It will be understood that a computer, processor, microprocessor controller or programmable hardware includes a memory component that can store or receive software or computer code (e.g., RAM, ROM, flash memory, etc.) that when accessed and executed by a computer, processor or hardware implement the check code generation methods described herein. Further, when a general-purpose computer accesses code for implementing the check code generation method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the check code generation method shown herein.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only used for illustrating the embodiments of the present application, and not for limiting the embodiments of the present application, and those skilled in the relevant art can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also belong to the scope of the embodiments of the present application, and the scope of patent protection of the embodiments of the present application should be defined by the claims.

Claims (10)

1. A method for enhancing a spine CT image is characterized by comprising the following steps:
performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image;
generating an enhanced spine CT image according to the morphological closed processing image;
determining an edge between an estimated foreground region and an estimated background region on the enhanced spine CT image, and drawing a directed graph based on each voxel in the edge;
determining a minimal cut of the enhanced spine CT image according to the directed graph so as to segment the enhanced spine CT image into an actual foreground region comprising the spine image and an actual background region comprising a non-spine image;
determining at least the actual foreground region on the enhanced spine CT image based on the minimal cut;
determining a candidate imaging area of each vertebral body in the actual foreground area, and determining the center and the mass center of each candidate imaging area;
identifying an actual imaging area of the corresponding vertebral body according to the center and the mass center of each candidate imaging area;
the identifying the actual imaging area of the corresponding vertebral body according to the center and the center of mass of each candidate imaging area comprises:
respectively determining X coordinates of the center and the mass center in an X-Z coordinate system;
identifying an actual imaging area corresponding to the vertebral body according to the X coordinate difference value of the center and the mass center and a set X coordinate difference value threshold;
the actual imaging area of the single vertebral body is determined according to a formula | C _ X-I _ X | < d, and an area, of which the absolute value of the difference value of the X coordinates of the center and the centroid satisfies | C _ X-I _ X | < d, is taken as the actual imaging area of the single vertebral body, wherein C _ X is the X coordinate of the centroid, I _ X is the X coordinate of the center, and d is a set X coordinate difference threshold.
2. The enhancement method according to claim 1, wherein said performing morphological dilation processing on said spine CT image to generate a morphological dilation image comprises:
and scanning voxel values on the spine CT image by using the first structural element body so as to perform morphological expansion processing on the spine CT image.
3. The enhancement method according to claim 2, wherein the scanning voxel values on the spine CT image using the first structural element volume to perform morphological dilation processing on the spine CT image comprises:
sequentially determining a target area on the spine CT image according to a mode of the first structural element body and the like;
and performing AND operation on the element value of the first structure element body and the voxel value of the first target region every time a first target region is determined, modifying the voxel value of the central voxel of the first target region into the maximum voxel value of the AND operation, and modifying the voxel values of other voxels into 0, so as to perform morphological expansion processing on the spine CT image.
4. The enhancement method according to claim 1, wherein said performing morphological erosion processing on said morphological dilation image to generate a morphological occlusion processing image comprises:
and scanning voxel values of the morphological dilation image by using a second structural element body to perform morphological erosion processing on the morphological dilation image to generate a morphological occlusion processing image.
5. The enhancement method according to claim 4, wherein the scanning voxel values of the morphological dilation image using the second structural element volume to perform morphological erosion processing on the morphological dilation image to generate a morphological occlusion processing image comprises:
sequentially determining a second target area on the morphological expansion image according to a mode of specification equal to that of the second structural element body;
and performing AND operation on the element value of the second structural element body and the voxel value of the second target region every time a second target region is determined, modifying the voxel value of the central voxel of the second target region into the minimum voxel value of the AND operation, and modifying the voxel values of other voxels into 0 so as to perform morphological erosion on the spine CT image.
6. The enhancement method according to any one of claims 1-5, wherein generating an enhanced spine CT image from the morphologically closed processed image comprises:
generating a ridge-valley feature image based on a difference in voxel values between the spine CT image and the morphological closed-processing image;
generating an enhanced spine CT image based on a difference between voxel values of the spine CT image and the ridge-valley feature image.
7. An apparatus for enhancing a CT image of a spine, comprising:
the morphological expansion unit is used for performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
the morphological erosion unit is used for carrying out morphological erosion processing on the morphological expansion image to generate a morphological closed processing image;
the enhanced image generation unit is used for generating an enhanced spine CT image according to the morphological closed processing image;
an edge processing unit for determining an edge between an estimated foreground region and an estimated background region on an enhanced spine CT image generated according to the enhancement method of any one of claims 1-6, and rendering a directed graph based on each voxel in the edge;
the minimal cut unit is used for determining a minimal cut of the enhanced spine CT image according to the directed graph so as to segment the enhanced spine CT image into an actual foreground region comprising the spine imaging and an actual background region comprising a non-spine image;
an actual foreground determination unit, configured to determine at least the actual foreground region on the enhanced spine CT image based on the minimal cut;
the candidate imaging area unit is used for determining a candidate imaging area of each cone in the actual foreground area and determining the center and the mass center of each candidate imaging area;
the actual imaging identification unit is used for identifying the actual imaging area of the corresponding vertebral body according to the center and the mass center of each candidate imaging area; wherein, according to the center and the mass center of each candidate imaging region, identifying the actual imaging region of the corresponding vertebral body comprises: respectively determining X coordinates of the center and the mass center in an X-Z coordinate system; and identifying an actual imaging area corresponding to the vertebral body according to the X coordinate difference value of the center and the mass center and a set X coordinate difference value threshold, wherein the actual imaging area of a single vertebral body is determined according to a formula | C _ X-I _ X | < d, and an area of which the absolute value of the X coordinate difference value of the center and the mass center meets | C _ X-I _ X | < d is used as the actual imaging area of the single vertebral body, wherein C _ X is the X coordinate of the mass center, I _ X is the X coordinate of the center, and d is the set X coordinate difference value threshold.
8. An electronic device, characterized in that the device comprises:
a processor, a memory, the memory for storing at least one executable instruction, the executable instruction causing the processor to perform the method of any one of claims 1-6.
9. A computer storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 1 to 6.
10. A spinal surgical robot comprising image processing means for performing the steps of:
performing morphological expansion processing on the spine CT image to generate a morphological expansion image;
performing morphological erosion processing on the morphological dilation image to generate a morphological closed processing image;
generating an enhanced spine CT image according to the morphological closed processing image;
determining an edge between an estimated foreground region and an estimated background region on the enhanced spine CT image, and drawing a directed graph based on each voxel in the edge;
determining a minimal cut of the enhanced spine CT image according to the directed graph so as to segment the enhanced spine CT image into an actual foreground region comprising the spine image and an actual background region comprising a non-spine image;
determining at least the actual foreground region on the enhanced spine CT image based on the minimal cut;
determining a candidate imaging area of each vertebral body in the actual foreground area, and determining the center and the mass center of each candidate imaging area;
identifying an actual imaging area of the corresponding vertebral body according to the center and the mass center of each candidate imaging area;
wherein, the identifying the actual imaging area of the corresponding vertebral body according to the center and the centroid of each candidate imaging area comprises:
respectively determining X coordinates of the center and the mass center in an X-Z coordinate system;
identifying an actual imaging area corresponding to the vertebral body according to the X coordinate difference value of the center and the mass center and a set X coordinate difference value threshold;
determining an actual imaging area of a single vertebral body according to a formula | C _ X-I _ X | < d, and taking an area, of which the absolute value of the difference value of the X coordinates of the center and the centroid satisfies | C _ X-I _ X | < d, as the actual imaging area of the single vertebral body, wherein C _ X is the X coordinate of the centroid, I _ X is the X coordinate of the center, and d is a set X coordinate difference threshold.
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