CN114972286A - Pulmonary nodule auxiliary positioning system based on image processing - Google Patents
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Abstract
The invention belongs to the technical field of pulmonary nodule positioning, and particularly discloses an auxiliary pulmonary nodule positioning system based on image processing, which comprises: the near infrared light emitting module is used for emitting near infrared rays to the excised lung tissues and adjusting the radiation intensity of the near infrared rays within a specific range; the digital image acquisition module is used for acquiring image information of lung tissues; the identification module is used for identifying the position of the micro ground glass nodule according to the image information in the change process of the near infrared ray intensity; according to the method, the positions and the ranges of the nodules are comprehensively judged according to the image information under different radiation intensities, the problems of misjudgment caused by single data and missed judgment caused by unobvious imaging of the positions of the nodules under certain radiation intensity can be solved, the accuracy of micro-nodule identification can be improved, and the collection process of pathological samples by a pathological sampling doctor is facilitated.
Description
Technical Field
The invention relates to the technical field of pulmonary nodule positioning, in particular to a pulmonary nodule auxiliary positioning system based on image processing.
Background
The Ground Glass Nodules (GGN) of the lung refer to cloudy light thin images with slightly increased density like ground glass on CT images; the frosted glass component in the GGN corresponds to a pathological scale-like growth mode, and abnormally proliferated epithelial cells or well-differentiated tumor cells grow in the scale-like mode to form a frosted glass image on an image; a large number of researches prove that most of small grinded vitreous nodules (less than or equal to 1cm) of the lung (hereinafter referred to as lung nodules) are early lung adenocarcinoma, the development of the lung adenocarcinoma is a continuous development process, the lung adenocarcinoma grows from atypical hyperplasia of alveolar wall epithelial cells to the fact that tumor cells grow along the alveolar wall and finally infiltrate into surrounding tissues, and the tumor image expression also shows corresponding changes in the process. Since the clinical treatment of pre-invasive lesions (atypical adenomatous hyperplasia AAH and in situ adenocarcinoma AIS) and invasive lesions (micro-invasive carcinoma MIA and invasive adenocarcinoma IAC) are significantly different, usually, the pulmonary minimal ground glass nodules are excised by pulmonary wedge resection or segmental pulmonary resection.
Due to the special shape of the pulmonary microgyro nodule, part of the pulmonary microgyro nodule is difficult to be seen directly by naked eyes, and the presence or absence of the nodule can be determined after pathological material taking doctors widely take materials and under-mirror observation, so that the general material taking of the pulmonary microgyro nodule is difficult, time-consuming and labor-consuming.
The existing lung nodule identification and positioning system mainly identifies CT images, and positions nodules on the lung by a machine training identification mode, the effect is to find the obvious nodule positions on the lung, but the pathological material taking of the lung tiny grinded glass nodules is realized, the effect of the system is very limited, only the reference basis of a material-taking doctor can be used, the small nodules cannot be visually presented in front of the eyes of the material-taking doctor, and the auxiliary material taking help is small.
Disclosure of Invention
The invention aims to provide an image processing-based lung nodule auxiliary positioning system, which solves the following technical problems:
how to assist a pathological material-taking doctor to quickly and accurately discover the pulmonary nodules.
The purpose of the invention can be realized by the following technical scheme:
an image processing based lung nodule assisted localization system, the system comprising:
the near infrared light emitting module is used for emitting near infrared rays to the excised lung tissues and adjusting the radiation intensity of the near infrared rays within a specific range;
the digital image acquisition module is used for acquiring image information of lung tissues;
and the identification module is used for identifying the position of the micro ground glass nodule according to the image information in the change process of the near infrared ray intensity.
In an embodiment, the method for identifying the position of the micro ground glass nodule includes:
s1, sequentially applying S through the near infrared light emitting modules in equal gradient 1 、S 2 、…S n Near infrared light of large and small radiation intensities;
s2, respectively intercepting the image information collected by the digital image collection module 1 、S 2 、…S n A corresponding single frame image under the radiation intensity;
and S3, respectively carrying out position point identification on the single-frame images under different radiation intensities, and determining the positions of the micro ground glass nodules according to the identification results of the multiple single-frame images.
Further, the method for identifying the positions of the micro ground glass nodules further comprises the following steps:
and S4, carrying out colorimetric change analysis on the identified nodule position, and judging the final positioning position according to the analysis result.
Further, the colorimetric change analysis is as follows:
different radiation intensities are brought into the chromaticity radiation intensity function, and the obtained chromaticity values are respectively compared with corresponding actual chromaticity values under different radiation intensities;
if the chromatic value deviations under different radiation intensities are within a preset range, judging that micro ground glass nodules exist in the position;
otherwise, the location point is marked.
In one embodiment, the identification module is corrected by the condition of the lung tissue prior to identifying the nodule.
Further, the correction process is as follows:
collecting the colorimetric value of lung tissue under normal illumination, comparing the colorimetric value with preset information, and adjusting the related parameters of the colorimetric radiation intensity function.
In one embodiment, the system further comprises a distribution check module;
and the distribution checking module is used for determining the distribution condition of the nodules according to the positions of the nodules identified by the identification module and a preset strategy.
Further, the preset policy is:
identifying the structural characteristics of the sampled lung tissue, and determining the position of the sampled lung tissue;
and predicting the distribution condition of the nodules in the lung according to the distribution rule corresponding to the positions of the nodules.
In one embodiment, the system further comprises an auxiliary positioning module;
the auxiliary positioning module is used for indicating the identified nodule position points.
Further, the auxiliary positioning module is realized by adopting a projection device;
the projection equipment is arranged above a platform for placing lung tissues, and after the position point of the nodule is determined, the position of the nodule is indicated through the projection sent by the projection equipment. The invention has the beneficial effects that:
(1) the absorption rate of the micro ground glass nodules in the lung tissue to near infrared light is different from that of other tissues, the near infrared light is emitted to the cut lung tissue through the near infrared light emitting module, and the positions of the micro ground glass nodules in the lung tissue can be displayed; simultaneously, near infrared rays with different radiation intensities are emitted to the lung tissue sample through the near infrared light emitting module, the node position and the range are comprehensively judged according to image information under different radiation intensities, misjudgment caused by single data and the problem of missing judgment caused by the fact that the node position is not obviously displayed under certain radiation intensity can be avoided, the accuracy of micro-node identification can be improved, and the collection process of a pathological sampling doctor on a pathological sample is facilitated.
(2) According to the invention, through the chromaticity change rule generated by the change of the micro-nodules along with the near infrared light, whether the identified position point is a lung micro ground glass nodule or not can be judged, whether the position is the lung micro ground glass nodule or not can be accurately judged, and the accurate verification of the obtained nodule position point is further realized.
(3) Before the nodule is identified, the identification module is corrected through the color and the chromaticity of the lung tissue, the chromaticity value of the lung tissue under normal illumination is collected, the chromaticity value is compared with preset information, the corresponding parameter of the chromaticity radiation intensity function is found according to the chromaticity value of the sample, the chromaticity change analysis of different initial chromaticity samples can be met by adjusting the related parameter of the chromaticity radiation intensity function, and the accuracy of the chromaticity analysis is ensured.
(4) According to the method, the actual distribution condition is compared with the distribution conditions of the nodules at different positions of the lung tissue according to the distribution conditions of the nodules of the collected lung tissue sample, the integral distribution condition of the nodules corresponding to the actual distribution condition can be found according to the comparison, the distribution condition of the nodules in a non-tissue sample area can be preliminarily pre-judged through the integral distribution condition of the nodules, and a doctor is assisted in judging the pathological change degree of the nodules.
(5) According to the invention, the in-situ projection of the micro ground glass nodule in the lung tissue is displayed on the surface of the lung tissue through the auxiliary positioning module, so that a material taking doctor can clearly identify the position of the nodule in the lung tissue, and the material taking of the lung tissue is more convenient.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a logic block diagram of an image processing-based lung nodule auxiliary positioning system of the present invention;
FIG. 2 is a flow chart of a method of identifying the location of a ground glass nodule in accordance with the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in an embodiment, an image processing-based lung nodule auxiliary positioning system is provided, which utilizes that an absorption rate of a small ground glass nodule in lung tissue to near infrared light is different from that of other tissues, emits near infrared light to the excised lung tissue, and collects and processes lung tissue image data under irradiation of the near infrared light, so as to show a position of the small ground glass nodule in the lung tissue.
In the specific abnormal region identification process, a mode of gray processing and combination of a Canny edge algorithm can be adopted, a corresponding frame image in image information is firstly intercepted, and the micro ground glass nodule is obviously different from surrounding tissues in chromaticity under the irradiation of near infrared light, so that after the gray processing, the position of the micro ground glass nodule can determine the external contour of the micro ground glass nodule through the Canny edge algorithm, and meanwhile, the position point can also be determined.
In addition, in order to further improve the accuracy of nodule position and range identification, the present embodiment transmits near infrared rays with different radiation intensities to the lung tissue sample through the near infrared light emitting module, and the radiation intensity of the near infrared rays is performed according to the set range and gradient, so that the nodule position and the range are comprehensively judged according to the image information under different radiation intensities, thereby avoiding misjudgment caused by single data and the problem of missing judgment caused by unobvious imaging of the nodule position under a certain radiation intensity, and further, the identification module identifies the position of the micro ground glass nodule according to the image information in the change process of the near infrared intensity, and can improve the accuracy of micro nodule identification, and further facilitate the collection process of pathological sampling doctors on pathological samples.
Compared with a conventional pulmonary nodule identification system, the system in the embodiment identifies the micro ground glass nodule position points of the in-vitro tissue, and has the effects of assisting a sampling doctor to sample the micro nodules.
Further, referring to fig. 2, the embodiment provides a specific implementation method for identifying the position of a micro ground glass nodule, firstly, S is sequentially applied by gradient through a near infrared light emitting module and the like 1 、S 2 、…S n Near infrared light of large or small radiation intensity, wherein S 1 、S 2 、…S n Respectively represent different magnitudes of radiation intensity, and S 1 ～S n The range and the dividing mode of the micro ground glass nodule are determined according to the change characteristics of the micro ground glass nodule under the irradiation of near infrared light, the micro ground glass nodule is obtained according to historical multi-group sample data statistical analysis, and then the image information acquired by a digital image acquisition module is respectively intercepted S 1 、S 2 、…S n The single-frame images corresponding to the radiation intensity can further obtain the development image information under different near-infrared radiation intensities, and the position point identification is carried out on the single-frame images under each radiation intensity respectively, so that specific micro-nodule information can be obtained on each image information, the positions and the ranges of the micro-nodules on each image information are overlapped, the parts with the most overlapping degree are selected, obviously, the difference between the absorption rate of the parts with the most overlapping degree to near-infrared light and surrounding tissues is large, and the ranges and the positions of the micro-nodules can be further accurately obtained; meanwhile, the nodule contour range under different radiation intensities can also help a doctor to acquire the condition of the edge of the micro ground glass nodule, so that the doctor can be assisted to judge the state of the joint of the micro ground glass nodule and lung tissue.
As shown in fig. 2, as an embodiment of the present invention, under different radiation intensities, the chromaticity of the small ground glass lung nodule in the acquired digital image may generate different chromaticity changes, and in order to further improve the accuracy of obtaining the position of the small nodule, the present embodiment further provides a method for analyzing chromaticity changes to verify the obtained nodule position point, and according to a chromaticity change rule generated by the small nodule along with the change of near-infrared light radiation, it can be determined whether the identified position point is the small ground glass lung nodule, and obviously, when the chromaticity of the position point under different radiation intensities meets the change rule of the small ground glass lung nodule along with the radiation intensity, it can be determined that the position is the small ground glass lung nodule; when the chromaticity of the position point under different radiation intensities does not accord with the change rule of the lung tiny frosted glass nodule along with the radiation intensity, the possibility that other types of pathological changes exist in the position point is shown, and further analysis is needed.
Further, this embodiment provides a specific manner of analyzing the chromaticity variation, specifically, firstly, a chromaticity radiation intensity function F(s) is established according to the characteristics of the small vitreous nodules of the lung, and the chromaticity radiation intensity function in this embodiment adopts an RGB mode, so that the radiation intensity function F(s) includes F R (S)，F G (S) and F B (S), therefore, different radiation intensities S 1 、S 2 、…S n Function F of each channel brought under radiation intensity function F (S) respectively R (S)，F G (S) and F B In (S), the standard chromaticity F under different radiation intensities can be obtained R 、F G And F B Then, the actual chromaticity (F) of the nodule position point is acquired through the frame images under different radiation intensities obtained by the digital image acquisition module R fruit 、F Fruit of G type And F Fruit of B ) F under different illumination R And F R fruit Comparison is carried out, F G And F Fruit of G type Comparison is carried out, F B And F Fruit of B Comparing, it is obvious that when the deviation between the standard chromaticity and the actual chromaticity is less (i.e. the chromaticity value deviation is in the preset range) under different radiation intensities, the indicator shows that the chromaticity of the position point changes with the illuminationAccording to the characteristic that the lung micro ground glass nodule changes along with the near infrared light radiation intensity, the micro ground glass nodule at the position can be accurately judged, the verification effect on the obtained position point is realized, and the judgment accuracy is ensured; similarly, when there is some to confirm that the position point does not conform to the tiny mill glass nodule of lung when near-infrared ray radiation intensity variation characteristic, then need further through microscope judgement by the doctor this moment, consequently, mark it this moment, can improve the convenience that the doctor judged the collection.
It should be noted that, because the chrominance data of the same lung small ground glass nodule also has differences among the pixel points, the chrominance data of the nodule position point is obtained by means of average value of the pixel chrominance in the nodule region, and meanwhile, in the actual chrominance analysis process, the difference of the pixel chrominance of the image in the nodule range of the same part is not large, so that the accuracy is not affected by calculation in the average value mode.
Further, this embodiment is a further supplement to the specific implementation of the chromaticity change analysis, and because the initial colors of different lung samples are different, when the chromaticity change analysis is performed, the color difference of the samples affects the accuracy of obtaining the standard chromaticity by the chromaticity radiation intensity function, so before the nodule is identified, the identification module is corrected by the color chromaticity of the lung tissue, specifically, the chromaticity value of the lung tissue under normal illumination is collected, the chromaticity value is compared with the preset information, and then the corresponding parameter of the chromaticity radiation intensity function is found according to the chromaticity value of the sample, and by adjusting the relevant parameter of the chromaticity radiation intensity function, the chromaticity change analysis of different initial chromaticity samples can be satisfied, and the accuracy of the chromaticity analysis is ensured.
It should be noted that the preset information includes function parameters in different chromaticity ranges, so that by obtaining the chromaticity value of the sample, that is, by determining the corresponding coefficient according to the corresponding range, the corresponding chromaticity radiation intensity function is determined.
Further, the chromaticity of the middle nodule area is an average value of the chromaticity of each pixel of the image in the nodule area, and since the chromaticity of each pixel of the image in the nodule area at the same position is not greatly different, the average value of the chromaticity can represent the chromaticity value of the nodule.
As an embodiment of the present invention, in order to assist a doctor in determining a lesion degree of a nodule, the system in this embodiment further includes a distribution checking module, the distribution checking module can predict a distribution status of the nodule according to a whole region of a removed lung sample on the basis of identifying a position point of the nodule, specifically, first, by image recognition of a sampled lung tissue sample, where the image recognition can adopt an existing machine recognition method, and then can roughly determine a position of the tissue in the whole lung, and then, according to a distribution status of the nodule of the collected lung tissue sample, compare an actual distribution status with a distribution status of the nodule at a position of the lung tissue to a different extent, and then, according to the comparison, can find a distribution status of the nodule integrity corresponding to the actual distribution status, and further, according to the distribution status of the nodule integrity, preliminary prejudgment can be carried out on the distribution condition of the nodules in the non-tissue sample region, and then doctors can be effectively assisted to judge the lesion degree of the nodules.
Further, the distribution check module in this embodiment assists the doctor in analyzing the disease condition, and the effect is predictive, and the prediction method is based on the nodule distribution analysis summary of a plurality of sets of sample data, so the result predicted by the distribution check module does not represent the actual lesion condition of the tissue, and only assists the doctor in judging.
As an embodiment of the present invention, in order to effectively assist the pathologic sampling physician during the operation stage, the present embodiment provides an auxiliary positioning module, which has the function that, after the determination of the position and the range of the node is completed, the position point is specifically indicated, so as to help a pathological sampling doctor to sample the nodule at the position point, the auxiliary positioning module can be realized in various ways, such as indicating the position and the range of the nodule through a laser indicator, furthermore, accurate sampling can be visually assisted by a pathological tissue drawing doctor, meanwhile, the projection equipment can be adopted to complete the indication function, and the in-situ projection of the micro ground glass nodule in the lung tissue is displayed on the surface of the lung tissue, so that the tissue drawing doctor can clearly identify the position of the micro ground glass nodule in the lung tissue, and the material drawing of the lung tissue is more convenient; specifically, the existing mature DLP projection scheme can be utilized, so that a doctor is helped to irradiate the pulmonary nodule which is difficult to be directly seen by naked eyes, meanwhile, the doctor can conveniently determine the specific position of the nodule and the specific contour range of the nodule in the sampling process, and the use performance and the operation safety are further guaranteed.
The working principle of the invention is as follows: according to the invention, the absorption rate of the micro ground glass nodules in the lung tissue to near infrared light is different from that of other tissues, and the near infrared light is emitted to the cut lung tissue through the near infrared light emitting module, so that the positions of the micro ground glass nodules in the lung can be displayed; meanwhile, near infrared rays with different intensities are emitted to the lung tissue sample through the near infrared light emitting module, and the positions and the ranges of the nodules are comprehensively judged according to the image information under different radiation intensities, so that the problems of misjudgment caused by single data and missed judgment caused by unobvious imaging of the positions of the nodules under certain radiation intensity can be avoided, the accuracy of micro-nodule identification can be improved, and the collection process of pathological samples by a pathological material taking doctor is facilitated; according to the method, the positions and the ranges of the micro nodules on each piece of image information are overlapped, and the part with the largest overlapping degree is selected, so that the ranges and the positions of the micro nodules can be accurately obtained; according to the method, through the chromaticity change rule generated by the change of the micro nodules along with the near infrared light, whether the identified position point is the lung micro ground glass nodule or not can be judged, whether the position is the lung micro ground glass nodule or not can be accurately judged, and therefore the verification of the obtained nodule position point is realized; before the nodules are identified, the identification module is corrected through the color and the chromaticity of the lung tissue, the chromaticity value of the lung tissue under normal illumination is collected, the chromaticity value is compared with preset information, the corresponding parameter of the chromaticity radiation intensity function is found according to the chromaticity value of the sample, the chromaticity change analysis of different initial chromaticity samples can be met by adjusting the related parameter of the chromaticity radiation intensity function, and the accuracy of the chromaticity analysis is guaranteed; according to the method, the actual distribution condition is compared with the distribution conditions of the nodules at different positions of the lung tissue according to the distribution conditions of the nodules in the collected lung tissue sample, the distribution condition of the nodule integrity corresponding to the actual distribution condition can be found through the distribution condition of the nodule integrity according to the comparison, the distribution condition of the nodules in a non-tissue sample area can be preliminarily pre-judged, and a doctor is assisted in judging the lesion degree of the nodules; according to the invention, the in-situ projection of the micro ground glass nodule in the lung tissue is displayed on the surface of the lung tissue through the auxiliary positioning module, so that a doctor taking materials can clearly identify the position of the nodule in the lung tissue, the doctor can conveniently determine the specific contour range of the nodule in the sampling process, and the doctor can more conveniently take materials for the lung tissue.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. An image processing-based lung nodule auxiliary positioning system, the system comprising:
the near infrared light emitting module is used for emitting near infrared rays to the excised lung tissues and adjusting the radiation intensity of the near infrared rays within a specific range;
the digital image acquisition module is used for acquiring image information of lung tissues;
and the identification module is used for identifying the position of the micro ground glass nodule according to the image information in the change process of the near infrared ray intensity.
2. The image processing-based lung nodule auxiliary positioning system according to claim 1, wherein the method for identifying the position of the micro ground glass nodule is as follows:
s1, emitting the die by near infrared lightSequential application of uniform gradients of blocks 1 、S 2 、…S n Near infrared light of large and small radiation intensities;
s2, respectively intercepting the image information collected by the digital image collection module 1 、S 2 、…S n A corresponding single frame image under the radiation intensity;
and S3, respectively carrying out position point identification on the single-frame images under different radiation intensities, and determining the positions of the micro ground glass nodules according to the identification results of the multiple single-frame images.
3. The image processing-based lung nodule auxiliary positioning system according to claim 2, wherein the method of micro-frosted nodule position identification further comprises:
and S4, carrying out colorimetric change analysis on the identified nodule position, and judging the final positioning position according to the analysis result.
4. The image processing-based lung nodule auxiliary localization system of claim 3, wherein the colorimetric change analysis is:
different radiation intensities are brought into the chromaticity radiation intensity function, and the obtained chromaticity values are respectively compared with corresponding actual chromaticity values under different radiation intensities;
if the chromatic value deviations under different radiation intensities are within a preset range, judging that micro ground glass nodules exist in the position;
otherwise, the location point is marked.
5. The image processing-based lung nodule auxiliary localization system of claim 4, wherein the identification module is corrected by the condition of lung tissue prior to identifying a nodule.
6. The image processing-based lung nodule auxiliary localization system of claim 5, wherein the correction is performed by:
collecting the colorimetric value of lung tissue under normal illumination, comparing the colorimetric value with preset information, and adjusting the related parameters of the colorimetric radiation intensity function.
7. The image processing-based lung nodule auxiliary localization system of claim 1, wherein the system further comprises a distribution check module;
and the distribution checking module is used for determining the distribution condition of the nodules according to the positions of the nodules identified by the identification module and a preset strategy.
8. The image processing-based lung nodule auxiliary localization system of claim 7, wherein the preset strategy is:
identifying the structural characteristics of the sampled lung tissue, and determining the position of the sampled lung tissue;
and predicting the distribution condition of the nodules in the lung according to the distribution rule corresponding to the positions of the nodules.
9. The image processing-based lung nodule auxiliary localization system of claim 1, further comprising an auxiliary localization module;
the auxiliary positioning module is used for indicating the identified nodule position points.
10. The image processing-based lung nodule auxiliary positioning system of claim 9, wherein the auxiliary positioning module is implemented using a projection device;
the projection equipment is arranged above a platform for placing lung tissues, and after the position point of the nodule is determined, the position of the nodule is indicated through the projection sent by the projection equipment.
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| CN115541579A (en) * | 2022-10-09 | 2022-12-30 | 广州医科大学附属第一医院（广州呼吸中心） | Method and device for analyzing proportion of Ki-67 positive tumor cells in tumor section |
| CN115541579B (en) * | 2022-10-09 | 2023-07-07 | 广州医科大学附属第一医院（广州呼吸中心） | Method and device for analyzing Ki-67 positive tumor cell proportion in tumor section for non-diagnosis and treatment purposes |
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