CN115294124B - 基于多模态医学图像配准的超声穿刺引导规划系统 - Google Patents
基于多模态医学图像配准的超声穿刺引导规划系统 Download PDFInfo
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Abstract
本发明提供一种基于多模态医学图像配准的超声穿刺引导规划系统,包括:MRI序列图像渲染单元,接收MRI序列图像,进行三维渲染并绘制穿刺点;超声序列图像重建单元,接收超声序列图像,重建超声体数据;配准单元,进行三维配准操作得到配准变换系数;穿刺规划单元,接收超声探头获取的人体超声图像,根据系统穿刺点及当前超声图像生成穿刺规划图像,并进行显示。本发明的系统通过多模态医学图像配准将超声下电磁坐标系统一到MRI世界坐标系下,判断穿刺点是否在超声平面上来引导超声进行精准穿刺,进一步提高了穿刺引导的精度,辅助医生更快的对病灶靶点进行穿刺,有效的减少穿刺用时及并发症发生率。
Description
技术领域
本发明属于图像处理技术领域,尤其是涉及一种基于多模态医学图像配准的超声穿刺引导规划系统。
背景技术
随着科学技术的发展,近些年快速发展起来的医学影像技术主要有CT影像、MRI影像及超声影像。由于各自影像本身的特点不同,CT影像对骨性结构显影优秀,而MRI影像对软组织显影卓越,超声影像具有实时反馈的特性。因此,通过多模态医学影像配准、融合来达到更精准的病灶查找和定位受到越来多的临床关注。
由于超声能够实时显示人体内部组织结构,超声穿刺引导技术应运而生。该技术就是在实时超声影像的监视和引导下,对体内目标靶点进行穿刺的临床技术。如何将针准确的穿入目标靶点进行治疗或吸出少量细胞或组织进行病理检查,减少穿刺对周围组织的损伤,用最短的时间进行穿刺等避免引发严重的并发症是临床的痛点及难点。
超声穿刺引导可以实时显示穿刺针在组织内的运动情况,为穿刺路径选择提供依据,是超声辅助治疗的重要手段。但是常规的超声引导穿刺严重依赖操作者的经验及超声设备性能,可能存在穿刺次数较多及操作时间较长等问题,进而导致并发症发生率增加。
为此,我们提出一种基于多模态医学图像配准的超声穿刺引导规划系统来解决上述问题。
发明内容
本发明的目的是针对常规的超声引导穿刺严重依赖操作者的经验及超声设备性能,可能存在穿刺次数较多及操作时间较长,容易导致并发症发生率增加的问题,提出一种基于多模态医学图像配准的超声穿刺引导规划系统。
本发明的技术方案是:
本发明提供一种基于多模态医学图像配准的超声穿刺引导规划系统,该系统包括:
MRI序列图像渲染单元:接收人体核磁共振序列图像即MRI序列图像,并对所述的MRI序列图像进行三维渲染并绘制穿刺点;
超声序列图像重建单元:接收人体超声序列图像,提取每帧超声序列图像四个顶点的三维坐标,重建超声体数据;
配准单元:使用ICP迭代算法对重建后的超声体数据和渲染后的MRI数据进行三维配准操作,得到配准变换系数,所述的配准变换系数用于将超声数据对应的三维坐标转换到MRI数据对应的三维坐标系下;
穿刺规划单元:接收超声探头获取的人体超声图像,根据系统穿刺点及当前超声图像生成穿刺规划图像,并进行显示。
进一步地,所述人体MRI序列图像利用大型核磁共振设备获取。
进一步地,所述的MRI序列图像渲染单元根据MRI序列图像的医学数字成像和通信信息DICOM中的病人位置信息进行三维重建渲染获取影像信息,并根据影像信息绘制穿刺点。
进一步地,所述的穿刺点包括系统穿刺点和/或靶向穿刺点,系统穿刺点为12个,在三维重建渲染获得的影像信息上均匀分布,所述的靶向穿刺点为疑似病灶位置。
进一步地,所述超声探头的手柄位置配置有穿刺板,所述穿刺板上设置有若干个进针孔,且所述进针孔均值布置,所述穿刺板的尺寸能够覆盖穿刺器官(例如前列腺)的大小;且超声显示平面也按照穿刺板上各孔的实际位置、间距进行对应编号。
进一步地,所述的人体超声序列图像通过连续转动超声探头手动采集一组超声序列图像,所述超声探头上绑定有电磁传感器,且该电磁传感器连接电磁定位系统,用于获取超声序列图像顶点的三维坐标。
进一步地,所述的重建超声体数据具体为:
基于每帧超声序列图像四个顶点的三维坐标和像素坐标,采用下述坐标转换公式得到每帧超声序列图像中各像素对应的三维坐标,得到超声数据的三维源点云:
P(x,y,z) = Q(x,y,z) + uH(x,y,z) + vK(x,y,z);
其中:(u,v)为超声序列图像的像素坐标,P(x,y,z)为转换后的三维坐标,Q为超声图像中左上顶点的三维坐标,H为三维空间的x方向向量,K为三维空间的y方向向量;
对每帧超声图像执行上述转换并得到各帧图像中所有像素点的三维坐标,计算前后两帧图像相同像素位置对应的三维坐标,然后将该三维坐标转换为体像素位置,在前后帧图像相同像素位置点云所在的截面上进行插值,得到重建后的超声体数据。
进一步地,配准单元执行以下操作:
对于重建后的超声体数据进行三角网格化处理并进行平滑操作,下采样得到重建后超声体数据的三维源点云;
采用KNN树对重建后超声体数据的三维源点云和MRI序列渲染后影像信息的三维目标点云进行结构配对,确定三维源点云与三维目标点云的对应点对,进行ICP迭代完成配准,得到配准变换系数,所述的配准变换系数包括配准旋转矩阵R和配准平移量T。
进一步地,穿刺规划单元执行以下步骤:
对每个系统穿刺点构建半径为r的球体,对球体表面均匀采样若干个点;
接收超声探头获取的人体超声图像,提取该图像四个顶点的三维坐标;
对每个穿刺点,遍历穿刺点所构建球体表面采样点与当前探头平面的空间位置关系,获取位于当前超声图像上的穿刺点;
将该穿刺点的三维坐标投影到超声图像上,提取该穿刺点在超声图像上对应的进针孔编号,生成穿刺规划图像,即在二维的当前超声图像上绘制当前穿刺点和穿刺引导线及对应的进针孔高亮;
根据穿刺引导线及进针孔编号实现精准穿刺。
进一步地,穿刺规划单元中:
获取位于当前超声图像上的穿刺点具体包括以下步骤:
获取采样点与超声图像左上顶点构成的空间向量;
获取超声图像空间即顶点p0-p3的法向量,
计算前述空间向量与法向量夹角的余弦值;
将计算的余弦值与设定的阈值进行比较,如果余弦值小于阈值,则认为该穿刺点在当前超声图像上;所述的阈值为0.01-0.02。
进一步地,穿刺规划单元中:
将穿刺点的三维坐标投影到超声图像上具体包括:
根据配准变换系数将穿刺点MRI数据转换至超声体数据对应的三维坐标下;
根据穿刺点超声体数据的三维坐标Pi(x,y,z),将其投影在当前超声图像的矢状面上,投影步骤包括:
首先,计算穿刺点Pi(x,y,z)与当前超声图像左上顶点p3(x0,y0,z0)的方向向量vec(x-x0,y-y0,z-z0),i表示穿刺点的编号;
最后,根据超声像素物理间距pixelSpace计算穿刺点在超声平面的x方向像素坐标X:X= Value/pixelSpace;
同理,穿刺点在超声平面y方向上投影坐标计算同上。
进一步地,该系统还包括穿刺引导单元,该单元能够实时接收超声探头获取的实时人体超声图像,执行穿刺规划单元进行穿刺规划,并且实时显示超声图像及穿刺规划图像。
本发明的有益效果:
本发明通过多模态医学图像配准将超声下电磁系即二维坐标统一到MRI世界坐标系即三维坐标下,通过超声切面来切换到MRI坐标系下,判断穿刺点是否在超声平面上,将位于超声平面上的穿刺点转换至二维坐标,在超声平面上规划引导图进行精准穿刺,进一步提高了穿刺引导的精度和准确性,辅助医生更快的对病灶靶点进行穿刺,有效的减少穿刺用时,降低了并发症的发生率。
本发明的其它特征和优点将在随后具体实施方式部分予以详细说明。
附图说明
通过结合附图对本发明示例性实施方式进行更详细的描述,本发明的上述以及其它目的、特征和优势将变得更加明显,其中,在本发明示例性实施方式中,相同的参考标号通常代表相同部件。
图1为本发明的系统结构图;
图2为超声序列图像及其顶点坐标的示意图;
图3为前列腺横截面穿刺点分布示意图;
图4为前列腺MRI渲染示意图;
图5为挡板与超声矢状面以不同数字对应的方式进行超声穿刺引导示意图;
图6为挡板与超声矢状面以不同颜色对应的方式进行超声穿刺引导示意图;
图7为超声穿刺规划的效果图。
具体实施方式
下面将参照附图更详细地描述本发明的优选实施方式。虽然附图中显示了本发明的优选实施方式,然而应该理解,可以以各种形式实现本发明而不应被这里阐述的实施方式所限制。
本发明提供一种基于多模态医学图像配准的超声穿刺引导规划系统,该系统包括:
MRI序列图像渲染单元:接收人体核磁共振序列图像即MRI序列图像,并对所述的MRI序列图像进行三维渲染并绘制穿刺点;
其中,所述人体MRI序列图像利用大型核磁共振设备获取;所述的MRI序列图像渲染单元根据MRI序列图像的医学数字成像和通信信息DICOM中的病人位置信息进行三维重建渲染获取影像信息,并根据影像信息绘制穿刺点;所述的穿刺点包括系统穿刺点和/或靶向穿刺点;其中,系统穿刺点为12个,在三维重建渲染获得的影像信息上均匀分布,或者依据前列腺穿刺中国专家共识进行设置,所述的靶向穿刺点为疑似病灶位置,由操作者或医生确定。
超声序列图像重建单元:接收人体超声序列图像,提取每帧超声序列图像四个顶点的三维坐标,重建超声体数据;
其中:所述超声探头的手柄位置配置有穿刺板,如图5所示,所述穿刺板上设置有若干个进针孔,且所述进针孔均值布置,所述穿刺板的尺寸能够覆盖穿刺器官(例如前列腺)的大小;且超声显示平面也按照穿刺板上各孔的实际位置、间距进行对应编号;所述的人体超声序列图像通过连续转动超声探头手动采集一组超声序列图像,如图2所示,所述超声探头上绑定有电磁传感器,且该电磁传感器连接电磁定位系统,用于获取超声序列图像顶点的三维坐标。
所述的重建超声体数据具体为:
基于每帧超声序列图像四个顶点的三维坐标和像素坐标,采用下述坐标转换公式得到每帧超声序列图像中各像素对应的三维坐标,得到超声数据的三维源点云:
P(x,y,z) = Q(x,y,z) + uH(x,y,z) + vK(x,y,z);
其中:(u,v)为超声序列图像的像素坐标,P(x,y,z)为转换后的三维坐标,Q为超声图像中左上顶点的三维坐标,H为三维空间的x方向向量,K为三维空间的y方向向量;
对每帧超声图像执行上述转换并得到各帧图像中所有像素点的三维坐标,计算前后两帧图像相同像素位置对应的三维坐标,然后将该三维坐标转换为体像素位置,在前后帧图像相同像素位置点云所在的截面上进行插值,得到重建后的超声体数据。
配准单元:使用ICP迭代算法对重建后的超声体数据和渲染后的MRI数据进行三维配准操作,得到配准变换系数,所述的配准变换系数用于将超声数据对应的三维坐标转换到MRI数据对应的三维坐标系下;配准单元具体执行以下操作:
对于重建后的超声体数据进行三角网格化处理并进行平滑操作,下采样得到重建后超声体数据的三维源点云;
采用KNN树对重建后超声体数据的三维源点云和MRI序列渲染后影像信息的三维目标点云进行结构配对,确定三维源点云与三维目标点云的对应点对,进行ICP迭代完成配准,得到配准变换系数,所述的配准变换系数包括配准旋转矩阵R和配准平移量T。
穿刺规划单元:接收超声探头获取的人体超声图像,根据系统穿刺点及当前超声图像生成穿刺规划图像,并进行显示。穿刺规划单元具体执行以下步骤:
对每个系统穿刺点构建半径为r的球体,对球体表面均匀采样若干个点;
接收超声探头获取的人体超声图像,提取该图像四个顶点的三维坐标;
对每个穿刺点,遍历穿刺点所构建球体表面采样点与当前探头平面的空间位置关系,获取位于当前超声图像上的穿刺点,具体为:
首先,获取采样点与超声图像左上顶点构成的空间向量;
其次,获取超声图像空间即顶点p0-p3的法向量,
第三,计算前述空间向量与法向量夹角的余弦值;
最后,将计算的余弦值与设定的阈值进行比较,如果余弦值小于阈值,则认为该穿刺点在当前超声图像上;所述的阈值为0.01-0.02。
将该穿刺点的三维坐标投影到超声图像上,提取该穿刺点在超声图像上对应的进针孔编号,生成穿刺规划图像,即在二维的当前超声图像上绘制当前穿刺点和穿刺引导线及对应的进针孔高亮;其中,将穿刺点的三维坐标投影到超声图像上具体包括:
根据配准变换系数将穿刺点MRI数据转换至超声体数据对应的三维坐标下;
根据穿刺点超声体数据的三维坐标Pi(x,y,z),将其投影在当前超声图像的矢状面上,投影步骤包括:
首先,计算穿刺点Pi(x,y,z)与当前超声图像左上顶点p3(x0,y0,z0)的方向向量vec(x-x0,y-y0,z-z0),i表示穿刺点的编号;
其次,计算向量vec在超声平面x方向的投影值,得到穿刺点在x方向距离超声左上顶点的物理距离Value:Value=vec·H,H为超声平面x方向单位向量;
最后,根据超声像素物理间距pixelSpace计算穿刺点在超声平面的x方向像素坐标X:X= Value/pixelSpace;
同理,穿刺点在超声平面y方向上投影坐标计算同上。
根据穿刺引导线及进针孔编号实现精准穿刺。
本发明的基于多模态医学图像配准的超声穿刺引导规划系统,还包括穿刺引导单元,该单元能够实时接收超声探头获取的实时人体超声图像,执行穿刺规划单元进行穿刺规划,并且实时显示超声图像及穿刺规划图像。
具体实施时:
如图1至图7所示,本发明的基于多模态医学图像配准的超声穿刺引导规划系统,应用于前列腺超声穿刺引导规划中,执行以下步骤:
S1、采用MRI序列图像渲染单元接收人体核磁共振序列图像即MRI序列图像,并对所述的MRI序列图像进行三维渲染并绘制穿刺点;
根据医学数字成像和通信DICOM信息中的病人位置信息,同时结合医学数字成像和通信DICOM信息中病人影像位置的信息进行三维重建渲染,以人体前列腺为例,根据影像信息绘制系统及靶向(存在情况下,由操作者或医生确定)穿刺点(如图4所示,为前列腺MRI三维渲染后的示意图,其中编号1-12为绘制的穿刺点分布示意),前列腺系统穿刺点分布横截面示意图如图3所示,可以直观的显示穿刺点的位置方便后续穿刺;
S2、将电磁传感器绑定超声探头,利用超声探头手动采集一组超声序列图像,并保存每帧超声序列图像四个顶点的三维坐标,具体步骤为:
首先,连接电磁定位系统,将电磁与传感器连接,并将传感器绑定在超声探头上;然后,通过程序控制开始采集,连续采集一组超声序列图像及相应的每帧图像对应的四个顶点坐标;最后,通过程序控制结束采集,将采集到的超声序列图像及相应的每帧图像对应的四个顶点坐标保存在内存中,如图2所示;p3表示左上顶点,p2表示右上顶点,p0表示左下顶点,p1表示右下顶点。
S3、基于上述超声数据重建超声体数据,通过多模态配准统一坐标系为世界坐标系下,具体步骤包括:
执行重建超声体数据:基于每帧超声序列图像四个顶点的三维坐标和像素坐标,采用下述坐标转换公式得到每帧超声序列图像中各像素对应的三维坐标,得到超声数据的三维源点云:
P(x,y,z) = Q(x,y,z) + uH(x,y,z) + vK(x,y,z);
其中:(u,v)为超声序列图像的像素坐标,P(x,y,z)为转换后的三维坐标,Q为超声图像中左上顶点的三维坐标,H为三维空间的x方向向量,K为三维空间的y方向向量;
对每帧超声图像执行上述转换并得到各帧图像中所有像素点的三维坐标,计算前后两帧图像相同像素位置对应的三维坐标,然后将该三维坐标转换为体像素位置,在前后帧图像相同像素位置点云所在的截面上进行插值,得到重建后的超声体数据。
执行多模态配准步骤:对于重建后的超声体数据进行三角网格化处理并进行平滑操作,下采样得到重建后超声体数据的三维源点云;
采用KNN树对重建后超声体数据的三维源点云和MRI序列渲染后影像信息的三维目标点云进行结构配对,确定三维源点云与三维目标点云的对应点对,进行ICP迭代完成配准,得到配准变换系数,所述的配准变换系数包括配准旋转矩阵R和配准平移量T:通过变换系数将超声绑定的电磁坐标系转换到MRI世界坐标系下。
S4、接收超声探头获取的人体超声图像,根据穿刺点的空间位置及超声探头平面的空间位置生成穿刺引导图像,具体为;
首先,对每个穿刺点构建半径为1mm,球心为穿刺点坐标的球体,并对球体表面均匀采样若干个点(本系统选取49个);
其次,转动超声探头实时获取二维超声图像;
最后,对每个穿刺点,遍历该球体表面点与当前探头平面的空间位置关系,若满足一定误差范围内点在探头平面上,则生成穿刺引导图像,即在二维超声平面内实时绘制当前穿刺点(根据配准变换系数将穿刺点MRI数据转换至超声体数据对应的三维坐标下;再根据穿刺点超声体数据的三维坐标,将其投影在当前超声图像的矢状面上)、穿刺引导线,根据穿刺引导线选择穿刺挡板进针孔号实现精准穿刺,图5及图6为穿刺引导两种示意图,图中左边显示的是穿刺点满足一定误差范围在超声空间平面上前列腺MRI横截面的分布情况,右边超声显示的是前列腺矢状面并将横截面上的穿刺点投影到二维超声矢状面上,可以清楚的显示穿刺针从4,6号进针孔进针分别对穿刺点11,8进行穿刺。图5、6左边示意的是核磁上前列腺穿刺点(示意了两个穿刺点),右边示意的是超声探头成像并且有两个穿刺点在成像平面内。
S5、根据步骤S4可以显示超声图像及穿刺规划图像,如图7所示;
应用层把穿刺架按照比例绘制在超声平面内,其中穿刺点以黄色圆形标记,被穿刺的孔号和穿刺引导线以红色标记,可以清楚的显示当前穿刺针从9,3号进针孔进针分别对穿刺点1,10进行穿刺,最终超声图像平面内实现了穿刺位置与穿刺线重合,完成了快速、高效、精确的整个穿刺过程。
当系统实时接收超声探头获取的实时人体超声图像,执行穿刺规划单元进行穿刺规划时,能够实时显示超声图像及穿刺规划图像。
本发明的系统通过进行通过多模态医学图像配准将超声下电磁坐标系统一到MRI世界坐标系下,通过实时超声切面来切换到MRI坐标系下,判断穿刺点是否在超声平面上来引导超声进行精准穿刺,进一步提高了穿刺引导的精度,其可以辅助医生更快的对病灶靶点进行穿刺,有效的减少穿刺用时及并发症发生率。
以上已经描述了本发明的各实施例,上述说明是示例性的,并非穷尽性的,并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下,对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。
Claims (9)
1.一种基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:该系统包括:
MRI序列图像渲染单元:接收人体核磁共振序列图像即MRI序列图像,并对所述的MRI序列图像进行三维渲染并绘制穿刺点;
超声序列图像重建单元:接收人体超声序列图像,提取每帧超声序列图像四个顶点的三维坐标,重建超声体数据;
配准单元:使用ICP迭代算法对重建后的超声体数据和渲染后的MRI数据进行三维配准操作,得到配准变换系数,所述的配准变换系数用于将超声数据对应的三维坐标转换到MRI数据对应的三维坐标系下;
穿刺规划单元:接收超声探头获取的人体超声图像,根据系统穿刺点及当前超声图像生成穿刺规划图像,并进行显示;
所述的穿刺规划单元执行以下步骤:
对每个系统穿刺点构建半径为r的球体,对球体表面均匀采样若干个点;接收超声探头获取的人体超声图像,提取该图像四个顶点的三维坐标;对每个穿刺点,遍历穿刺点所构建球体表面采样点与当前探头平面的空间位置关系,获取位于当前超声图像上的穿刺点;将该穿刺点的三维坐标投影到超声图像上,提取该穿刺点在超声图像上对应的进针孔编号,生成穿刺规划图像,即在二维的当前超声图像上绘制当前穿刺点和穿刺引导线及对应的进针孔高亮;根据穿刺引导线及进针孔编号实现精准穿刺;
其中:获取位于当前超声图像上的穿刺点具体包括以下步骤:
获取采样点与超声图像左上顶点构成的空间向量,获取超声图像空间即顶点p0-p3的法向量,计算前述空间向量与法向量夹角的余弦值,将计算的余弦值与设定的阈值进行比较,如果余弦值小于阈值,则认为该穿刺点在当前超声图像上;
其中:将穿刺点的三维坐标投影到超声图像上具体包括以下步骤:
根据配准变换系数将穿刺点MRI数据转换至超声体数据对应的三维坐标下;根据穿刺点超声体数据的三维坐标Pi(x,y,z),将其投影在当前超声图像的矢状面上。
2.根据权利要求1所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:所述MRI序列图像利用大型核磁共振设备获取;所述的MRI序列图像渲染单元根据MRI序列图像的医学数字成像和通信信息DICOM中的病人位置信息进行三维重建渲染获取影像信息,并根据影像信息绘制穿刺点。
3.根据权利要求2所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:所述的穿刺点包括系统穿刺点和/或靶向穿刺点;其中:系统穿刺点为12个,在三维重建渲染获得的影像信息上均匀分布,所述的靶向穿刺点为疑似病灶位置。
4.根据权利要求1所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:所述的人体超声序列图像通过连续转动超声探头手动采集一组超声序列图像,所述超声探头上绑定有电磁传感器,且该电磁传感器连接电磁定位系统,用于获取超声序列图像顶点的三维坐标。
5.根据权利要求1所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:所述超声探头的手柄位置配置有穿刺板,所述穿刺板上设置有若干个进针孔,且所述进针孔均值布置,所述穿刺板的尺寸能够覆盖穿刺器官的大小;且超声显示平面也按照穿刺板上各孔的实际位置、间距进行对应编号。
6.根据权利要求4所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:所述的重建超声体数据具体为:
基于每帧超声序列图像四个顶点的三维坐标和像素坐标,采用下述坐标转换公式得到每帧超声序列图像中各像素对应的三维坐标,得到超声数据的三维源点云:
P(x,y,z) = Q(x,y,z) + uH(x,y,z) + vK(x,y,z);
其中:(u,v)为超声序列图像的像素坐标,P(x,y,z)为转换后的三维坐标,Q为超声图像中左上顶点的三维坐标,H为三维空间的x方向向量,K为三维空间的y方向向量;
对每帧超声图像执行上述转换并得到各帧图像中所有像素点的三维坐标,计算前后两帧图像相同像素位置对应的三维坐标,然后将该三维坐标转换为体像素位置,在前后帧图像相同像素位置点云所在的截面上进行插值,得到重建后的超声体数据。
7.根据权利要求1所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:配准单元执行以下操作:
对于重建后的超声体数据进行三角网格化处理并进行平滑操作,下采样得到重建后超声体数据的三维源点云;
采用KNN树对重建后超声体数据的三维源点云和MRI序列渲染后影像信息的三维目标点云进行结构配对,确定三维源点云与三维目标点云的对应点对,进行ICP迭代完成配准,得到配准变换系数,所述的配准变换系数包括配准旋转矩阵R和配准平移量T。
8.根据权利要求1所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:
获取位于当前超声图像上的穿刺点步骤中,所述的阈值为0.01-0.02;
将穿刺点的三维坐标投影到超声图像上步骤中,所述的投影包括:
首先,计算穿刺点Pi(x,y,z)与当前超声图像左上顶点p3(x0,y0,z0)的方向向量vec(x-x0,y-y0,z-z0),i表示穿刺点的编号;
其次,计算向量vec在超声平面x方向的投影值,得到穿刺点在x方向距离超声左上顶点的物理距离Value:Value=vec·H,H为超声平面x方向单位向量;
最后,根据超声像素物理间距pixelSpace计算穿刺点在超声平面的x方向像素坐标X:X= Value/pixelSpace;
同理,穿刺点在超声平面y方向上投影坐标计算同上。
9.根据权利要求1-8之一所述的基于多模态医学图像配准的超声穿刺引导规划系统,其特征在于:该系统还包括穿刺引导单元,该单元能够实时接收超声探头获取的实时人体超声图像,执行穿刺规划单元进行穿刺规划,并且实时显示超声图像及穿刺规划图像。
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