CN115546301A - Light source correction method and device - Google Patents
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Abstract
The invention discloses a light source correction method and a light source correction device. Wherein, the method comprises the following steps: acquiring coordinates of one or more key points of the target blood vessel on different projection surfaces, wherein the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively; and correcting the correction light source based on the fixed light source and the coordinates until corresponding points of one or more key points have a preset relation. The invention solves the technical problem that the three-dimensional reconstruction of the blood vessel can not be carried out due to the change of the shape and the space position of the blood vessel in different projection planes in the related technology.
Description
The present application is a divisional application based on a case filed by the chinese patent office on 27/04/2021 with the application number of 2021104624733 entitled "light source correction method and apparatus".
Technical Field
The invention relates to the technical field of computer-aided DSA image processing, in particular to a light source correction method and device.
Background
When a digital silhouette angiography DSA image examination is clinically carried out, a doctor can shoot an image at the clearest imaging angle according to the actual situation of a patient at a narrow blood vessel, and generally two-angle images are taken for storage and analysis. Mechanical errors which are difficult to avoid are generated in the translation and rotation process of the camera, so that the space positions of the camera at two angles are not completely accurate, and a lot of difficulties are added to three-dimensional reconstruction of blood vessels. In contrast, the camera position, that is, the light source position needs to be corrected before the three-dimensional reconstruction processing. For blood vessels which are not deformed but have offset spatial positions, such as cranial blood vessels, the light source correction can be realized by one-time translation. For coronary vessels affected by alternating diastole and systole, the shape and spatial position of the coronary vessels at different times will change simultaneously, and fig. 1 (a) (fig. 1 (a) is a first three-frame continuous DSA image taken by the same vessel under the same light source according to the prior art), fig. 1 (b) (fig. 1 (b) is a second three-frame continuous DSA image taken by the same vessel under the same light source according to the prior art), and fig. 1 (c) (fig. 1 (c) is a third three-frame continuous DSA image taken by the same vessel under the same light source according to the prior art) are schematic diagrams of three-frame continuous DSA images taken by the same vessel under the same light source according to the prior art, respectively, as can be seen from fig. 1, the vessels in the three-frame images are deformed to different degrees, and if the position of the light source is corrected by only translation, the corrected result is still difficult to reconstruct a three-dimensional model.
In view of the above-mentioned problem that the three-dimensional reconstruction of the blood vessel cannot be performed due to the change of the shape and the spatial position of the blood vessel in different projection planes in the related art, no effective solution has been proposed at present. A means of
Disclosure of Invention
The embodiment of the invention provides a light source correction method and a light source correction device, which at least solve the technical problem that three-dimensional reconstruction of blood vessels cannot be performed due to changes of blood vessel shapes and space positions in different projection planes in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a light source correction method, including: acquiring coordinates of one or more key points of a target blood vessel on different projection surfaces, wherein the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively; correcting the correction light source based on the fixed light source and the coordinates until corresponding points of the one or more key points have a predetermined relationship; wherein correcting the corrective light source based on the fixed light source and the coordinates until corresponding points of the plurality of key points have a predetermined relationship comprises: controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the requirements are met: under the condition that the key points are multiple, the coincidence of corresponding points of a first key point and the corresponding points of a second key point are on the same polar line, and the first key point and the second key point are points in the multiple key points; in a case where the plurality of key points are present, correcting the correction light source based on the fixed light source and the coordinates includes: and determining the translation amount and the rotation matrix of the correction light source according to the optimal solution of the objective function, wherein in the process of determining the optimal solution of the objective function, the translation amount is gradually close to zero, and the deviation matrix of the rotation matrix and the unit matrix is gradually close to a zero matrix.
Optionally, acquiring coordinates of one or more key points of the target blood vessel on different projection planes, including: projecting light sources to the target blood vessel from different angles by using the fixed light source and the correction light source respectively to obtain a blood vessel contour of the target blood vessel; analyzing the blood vessel contour to determine the one or more key points; and acquiring the coordinates of the one or more key points on the different projection surfaces.
Optionally, before acquiring the coordinates of one or more key points of the target blood vessel on different projection planes, the method further includes: when the target blood vessel is determined to have only spatial position deviation, determining the key point to be one; determining the key points to be multiple when the target blood vessel is determined to be deformed and the spatial position offset exists.
Optionally, the number of the key points is two, and the correcting the light source based on the fixed light source and the coordinates includes: determining a first coordinate point and a third coordinate point on a first projection plane formed by the key points under the projection of the fixed light source; determining a second coordinate point and a fourth coordinate point on a second projection plane formed by the key points under the projection of the correction light source; and controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the first coordinate point and the second coordinate point coincide with each other, and the third coordinate point and the fourth coordinate point are on a polar line.
Optionally, controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source includes: and controlling a vector I corresponding to the fixed light source and the coordinate point I to be unchanged, and simultaneously translating and rotating a vector II corresponding to the correction light source and the coordinate point II until the fixed light source, the coordinate point I, the correction light source and the coordinate point II are coplanar.
Optionally, controlling the position of the fixed light source to be unchanged, and translating the corrective light source, includes: calculating the translation amount and the rotation matrix of the correction light source when the fixed light source, the first coordinate point, the correction light source and the second coordinate point are coplanar; and controlling the correction light source to translate and rotate according to the translation amount and the rotation matrix.
Optionally, when the fixed light source, the coordinate point one, the correction light source, and the coordinate point two are coplanar, calculating a translation amount and a rotation matrix of the correction light source includes: initializing the translation amount and the rotation matrix to obtain an initialized translation amount and an initialized rotation matrix; constructing the target function by utilizing the initialized translation amount, the initialized rotation matrix and the unit matrix, and constructing a Lagrangian equation by utilizing the initialized translation amount, the initialized rotation matrix and the coplanar equation; and determining the optimal solution of the objective function by using the Lagrange equation to obtain the translation amount and the rotation matrix.
Optionally, before the correction light source is corrected, a first blood vessel contour of the target blood vessel has a position deviation from a second blood vessel contour of the target blood vessel, where the first blood vessel contour is a contour of the target blood vessel on a first projection plane of the different projection planes, and the second blood vessel contour is a contour of the target blood vessel on a projection plane of the different projection planes except the first projection plane; after the correction light source is corrected, the first blood vessel contour of the target blood vessel is coincided with at least one group of corresponding points of the second blood vessel contour of the target blood vessel.
According to another aspect of the embodiments of the present invention, there is also provided a light source rectification apparatus including: the device comprises an acquisition unit, a correction unit and a processing unit, wherein the acquisition unit is used for acquiring coordinates of one or more key points of a target blood vessel on different projection surfaces, and the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively; the correcting unit is used for correcting the correcting light source based on the fixed light source and the coordinates until corresponding points of the one or more key points have a preset relation; wherein, the correction unit is further used for controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the requirements of: under the condition that the key points are multiple, the coincidence of corresponding points of a first key point and the corresponding points of a second key point are on the same polar line, and the first key point and the second key point are points in the multiple key points; the apparatus is further configured to perform the steps of: in a case where the plurality of key points are present, correcting the correction light source based on the fixed light source and the coordinates includes: and determining the translation amount and the rotation matrix of the correction light source according to the optimal solution of the objective function, wherein in the process of determining the optimal solution of the objective function, the translation amount is gradually close to zero, and the deviation matrix of the rotation matrix and the identity matrix is gradually close to a zero matrix.
In the embodiment of the invention, the coordinates of one or more key points of a target blood vessel on different projection surfaces are obtained, wherein the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively; and correcting the correction light source based on the fixed light source and the coordinates until corresponding points of one or more key points have a preset relation. The light source correction method provided by the embodiment of the invention realizes the purpose of adjusting the correction light source by utilizing the position relation of key points formed by coordinates of the key points on the target blood vessel on different projection planes, provides a foundation for the three-dimensional reconstruction of the target blood vessel, improves the reliability of the subsequent three-dimensional reconstruction of the target blood vessel, and further solves the technical problem that the three-dimensional reconstruction of the blood vessel cannot be carried out due to the change of the shape and the space position of the blood vessel in different projection planes in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 (a) is a DSA image I of three consecutive frames of the same blood vessel taken under the same light source according to the prior art;
FIG. 1 (b) is a two-frame DSA image of the same blood vessel taken under the same light source;
FIG. 1 (c) is a three-frame DSA image taken by the same blood vessel under the same light source according to the prior art;
FIG. 2 is a flow chart of a method for light source rectification according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a light source corrected projection according to an embodiment of the invention;
FIG. 4 (a) is a schematic diagram of two projections in a projection plane before correction, according to an embodiment of the invention;
FIG. 4 (b) is a schematic diagram of two corrected projections in the projection plane according to an embodiment of the invention;
FIG. 5 is a schematic view of a blood vessel from two angles of the same blood vessel according to an embodiment of the present invention;
FIG. 6 (a) is a schematic diagram of an embodiment of the present invention showing a projection plane m 1 A schematic representation of an internal vessel prior to contour correction;
FIG. 6 (b) is a view at m 'of a projection plane according to an embodiment of the present invention' 1 A schematic representation of the corrected contour of the internal blood vessel;
FIG. 6 (c) is a diagram of a projection plane m according to an embodiment of the present invention 2 A schematic representation of an internal vessel prior to contour correction;
FIG. 6 (d) is at projection plane m 'according to an embodiment of the present invention' 2 The schematic diagram after the inner blood vessel contour correction;
FIG. 7 (a) is a schematic diagram of a blood vessel profile before a corrective light source is corrected according to an embodiment of the present invention;
FIG. 7 (b) is a schematic view of a vessel contour after translating a corrective light source according to an embodiment of the present invention;
FIG. 7 (c) is a schematic diagram of a blood vessel profile after rotation of a corrective light source according to an embodiment of the present invention;
FIG. 8 is a schematic view of a light source rectification apparatus according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For the above technical problem, two-angle light source imaging is taken as an example for analysis. Specifically, it is known that two light sources respectively irradiate target blood vessels (e.g., coronary blood vessels) at different periods to obtain two projection planes at two angles and two different blood vessel contours, and the two projection planes at two angles can reconstruct a three-dimensional model of the blood vessels. It should be noted that, after the three-dimensional model obtained by restoring the projection at one angle is required to be projected to the second angle, there is a correspondence relationship with the corresponding point in the second projection, but due to the offset of the camera and the deformation of the target, there is no clear correspondence relationship between the corresponding points on the two contours. In the embodiment of the invention, a multi-corresponding-point correction method is realized by adopting a mode of combining light source translation and rotation, a brand new mathematical model is established, and an equation is solved to realize the correction of the light source.
The following describes a light source correction method and apparatus provided in the embodiments of the present invention with reference to specific embodiments.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method for light source remediation, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 2 is a flowchart of a light source correction method according to an embodiment of the present invention, as shown in fig. 2, the light source correction method includes the following steps:
step S202, coordinates of one or more key points of the target blood vessel on different projection surfaces are obtained, wherein the different projection surfaces are projection surfaces formed by respectively projecting light sources from different angles to the target blood vessel by the fixed light source and the correction light source.
Alternatively, the target blood vessel may be a coronary blood vessel or other blood vessels.
Alternatively, the key points may be selected from more distinct points on the target vessel, such as a stenosis, bifurcation, etc. of the target vessel.
Here, two light sources (i.e., a fixed light source and a correction light source) can be respectively represented by S 1 、S 2 Projecting surface m with two angles obtained by irradiating target blood vessels at different periods 1 、m 2 And two different vessel contours. FIG. 3 is a schematic view of a light source rectification projection according to an embodiment of the invention, as shown in FIG. 3, having two light sources S 1 、S 2 The projection plane m with two angles is obtained by irradiating target blood vessels (such as target coronary blood vessels) at different periods 1 、m 2 And two different vessel contours, P in the figure 11 、P 12 The point is the coordinate of the same position in two projection planes obtained by manual interaction, P 11 、P 12 Is a set of corresponding points. As shown in fig. 3, before the light source correction is performed, when the three-dimensional model restored by projection at one angle is projected to a second angle, the position of the corresponding point in the second projection is as shown in fig. 4 (a) (fig. 4 (a) is a schematic diagram of two projections in the projection plane according to the embodiment of the present invention before correction), and the two blood vessel contours have position offset; by fixing the light source S 1 To correct the light source S 2 And after the projection plane is corrected by translation, the corresponding points on the two blood vessel contours are overlapped, as shown in fig. 4 (b) (fig. 4 (b) is a schematic diagram of two corrected projections in the projection plane according to the embodiment of the present invention).
And step S204, correcting the correction light source based on the fixed light source and the coordinates until corresponding points of one or more key points have a preset relation.
In this embodiment, the predetermined relationship may include: under the condition that one key point is provided, the coincidence of the corresponding points of the key points is met; and under the condition that a plurality of key points exist, the coincidence of corresponding points of the first key point and the corresponding points of the second key point are on the same polar line, and the first key point and the second key point are points in the plurality of key points.
For example, when the target blood vessel has only a spatial position shift and does not have a deformation, one key point on the target blood vessel may be selected, and in this case, in the process of correcting the correction light source, when the corresponding points of the key points are found to coincide, it is determined that the correction is completed; conversely, when the target blood vessel has not only a spatial position shift but also a deformation, two or more points on the target blood vessel may be selected as the key points, in which case, it is found that the corresponding points of one key point of the two or more points coincide with each other, and the corresponding point of the other key point is on one polar line.
As can be seen from the above, in the embodiment of the present invention, coordinates of one or more key points of the target blood vessel on different projection surfaces are obtained, where the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by the fixed light source and the correction light source, respectively; the correction light source is corrected based on the fixed light source and the coordinates until corresponding points of one or more key points have a preset relationship, so that the aim of adjusting the correction light source by using the position relationship of the key points formed by the coordinates of the key points on different projection surfaces on the target blood vessel is fulfilled, a foundation is provided for the three-dimensional reconstruction of the target blood vessel, and the reliability of the subsequent three-dimensional reconstruction of the target blood vessel is improved.
Therefore, the light source correction method provided by the embodiment of the invention solves the technical problem that the three-dimensional reconstruction of the blood vessel cannot be carried out due to the change of the shape and the space position of the blood vessel in different projection planes in the related technology.
In step S202, obtaining coordinates of one or more key points of the target blood vessel on different projection planes may include: respectively projecting light sources to a target blood vessel from different angles by using a fixed light source and a correction light source to obtain a blood vessel profile of the target blood vessel; analyzing the blood vessel contour to determine one or more key points; coordinates of one or more keypoints on different projection surfaces are obtained.
In this embodiment, the fixed light source and the correction light source may be used to project the light source to the target blood vessel from different angles, respectively, so as to form different projection planes and blood vessel contours of the target blood vessel on the different projection planes; the vessel contour is then analyzed to select keypoints, e.g., stenosis points, bifurcation points, etc., and to obtain the coordinates of one or more keypoints on different projection planes.
It should be noted that, before acquiring the coordinates of one or more key points of the target blood vessel on different projection surfaces, the light source correction method may further include: when the target blood vessel is determined to have only spatial position deviation, determining one key point; when the target blood vessel is determined to be deformed and the spatial position deviation exists, the key points are determined to be multiple.
Wherein, when the key point is one, correct the light source based on fixed light source and coordinate and correct, include: determining a first coordinate point on a first projection plane formed by the key point under the projection of the fixed light source; determining a second coordinate point on a second projection surface formed by the key point under the projection of the correction light source; determining the coordinate point I and the coordinate point II as a group of corresponding points; and controlling the position of the fixed light source to be unchanged, and translating the correction light source until the positions of corresponding points coincide.
As shown in fig. 4 (a), before the correction light source is corrected, the corresponding points in the projection plane do not correspond to each other, and the corresponding points in the second projection plane can be caused to correspond to each other by the position of the correction light source. The corresponding points respectively obtain a first group of corresponding coordinates P11 and P12 through coordinates of the same position in two projection planes in a manual interaction mode, and obvious key points on the blood vessel, such as a stenosis point, a bifurcation point and the like, can be selected according to the experience of a predetermined person. By correcting a group of corresponding coordinates, the offset of the spatial positions of the two cameras can be removed, namely, the correction of blood vessels (such as craniocerebral blood vessels) which have no deformation but have offset spatial positions is realized.
Optionally, controlling the position of the fixed light source to be unchanged, and translating the correction light source may include: and controlling the first vector corresponding to the fixed light source and the first coordinate point to be unchanged, and simultaneously translating the second vector corresponding to the correction light source and the second coordinate point until the fixed light source, the first coordinate point, the correction light source and the second coordinate point are coplanar.
That is, before the correction light source is corrected, when the three-dimensional model restored by projection at one angle is projected at a second angle, the positions of the corresponding points in the second projection are shown in fig. 4 (a), and the two blood vessel contours have position deviation; by fixing the light source S 1 To correct the light source S 2 After the projection plane is corrected by translation, the corresponding points on the two blood vessel contours are overlapped, as shown in fig. 4 (b).
Specifically, controlling the position of the fixed light source to be unchanged and translating the correction light source may include: calculating the translation amount of the correction light source when the fixed light source, the coordinate point I, the correction light source and the coordinate point II are in the same plane; and controlling the correction light source to translate according to the translation amount.
For example, S may be fixed 1 、P N1 Two points
By simultaneously pairing S 2 、P N2 Two points
Performing a translation operation such that S 1 、P 11 、S′ 2 、P 1 ′ 2 Four points are coplanar.
Then, can set
When four points are in the same plane, the normal vector of the plane can be set as follows:
can be solved to obtain
For the amount of translation of the light source:
the corrective light source may then be translated based on the direction and distance to which the amount of translation corresponds.
As can be seen from the above, taking the schematic diagrams of the cranial and cerebral vessels at two angles of the same blood vessel as an example, a group of corresponding points is selected for correction, and the blood vessel has no deformation but has a spatial position offset.
It should be noted that, in the embodiment of the present invention, for a blood vessel with a deformation and a deviation in spatial position, a rotation operation needs to be added on the basis of a translation to perform joint correction. Here the determination of the angle of rotation requires the additional selection of one or more pairs of points, e.g. P 21 、P 22 Wherein, in the embodiment of the present invention, the corresponding points required for correction are collectively referred to as P N1 、P N2 The selection method is the same as P 11 、P 12 . Here, a stationary light source S may be used 1 And a corrective light source S 2 As can be seen from the actual situation, the light source S is corrected 2 And the relative position of its projection surface, i.e. S, need to remain constant 2 、P N2 Two points require simultaneous translational and rotational operations, i.e. fixing S 1 、P N1 Point, correcting S by translational and rotational operations 2 、P N2 . Wherein before correction, the line segment S between the two light sources and the corresponding point on the blood vessel contour 1 P N1 、S 2 P N2 The non-coplanar surface has no intersection point in the space; after correction, the two light sources are coplanar with the line segment between the corresponding points on the blood vessel contour, and an intersection point is formed in the space.
Specifically, when there are two key points, the correcting light source is corrected based on the fixed light source and the coordinates, which may include: determining a first coordinate point and a third coordinate point on a first projection plane formed by the key points under the projection of the fixed light source; determining a second coordinate point and a fourth coordinate point on a second projection surface formed by the key points under the projection of the correction light source; and controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the coordinate point I and the coordinate point II coincide with each other and the coordinate point III and the coordinate point IV are on the same polar line.
For example, S may be fixed 1 、P N1 Two points
By simultaneously pairing S 2 、P N2 Two points
Performing translation and rotation operations such that S 1 、P N1 、S′ 2 、P′ N2 Four points being coplanar, the normal vector of the plane being
As shown in fig. 3. Due to S 1 、P N1 、S 2 、P N2 Known, so there is the following definition:
n =1,2,3.; the rotation matrix r (α, β, γ) and the amount of translation can then be set to
Where the equation unknowns are α, β, γ, x, y, z, as follows:
S′ 2 is S 2 Corrected position, P N ′ 2 Is P N2 The corrected position. The following equation can be constructed:
the allocation rate can be:
the rotation of the mixing product then yields:
order:
setting the objective function as
In the following formula, "-" is a similar symbol, i.e., the closer the rotation matrix is to the identity matrix I, the better, the smaller the representative rotation offset is, the better; in addition, the closer the translation amount is to 0, the better, the smaller rotation offset can reach the optimal solution of the objective function, wherein the objective function is as follows:
for the objective function, a lagrangian multiplier method can be used for solving an optimization problem, the problem is an optimization problem with constraint, a lagrangian equation is formed, the optimal solution of the objective function is solved, and a lagrangian equation L (alpha, beta, gamma, x, y, z and lambda) is formed as follows:
the unknowns in the equation are alpha, beta, gamma, x, y, z and lambda, the rest quantity is known, partial derivatives of the Lagrangian function to the alpha, beta, gamma, x, y, z and lambda are calculated respectively, the partial derivatives are made to be zero, seven equation sets are combined, and the optimal solution of the function is obtained. The following description will be given with reference to specific examples.
From the above, in the embodiment of the present invention, it should be noted that, in the process of constructing the objective function, in order to obtain the optimal solution of the objective function, it may be ensured that the difference between the translation amount and 0 is smaller than the predetermined threshold, where the predetermined threshold is close to 0; and meanwhile, the deviation matrix of the rotation matrix and the identity matrix is close to a 0-zero matrix.
Fig. 5 is a schematic view of two angles of the same blood vessel, where, taking the schematic view of two angles of the same blood vessel as an example, two sets of corresponding points are selected for correction, as shown in fig. 5, and the blood vessel has a deformation and a spatial position offset. Specifically, two light sources are known as S 1 、S 2 Projection plane m with two angles obtained by irradiating target blood vessels (for example, target coronary blood vessels) at different periods 1 、m 2 And two different vessel contours, P in the figure 11 、P 12 The point is the coordinate of the same position in two projection planes obtained by manual interaction, P 11 、P 12 Is a first set of corresponding points, P 21 、P 22 Is the second set of corresponding points. Before correction, when the three-dimensional model restored by projection at one angle is projected to a second angle, the position of the corresponding point in the second projection can be as shown in fig. 6 (a) (fig. 6 (a) is on the projection plane m according to the embodiment of the invention 1 Schematic before correction of inner vessel contour) and 6 (c) (fig. 6 (c) is a schematic diagram of the inner vessel contour before correction in projection plane m according to the embodiment of the present invention 2 Schematic diagram before correction of the contour of the internal blood vessel), the two groups of corresponding points have no definite position relation; by fixing the light source S 1 To correct the light source S 2 And the projected surface of the two blood vessels are corrected by the translation and rotation operations, the corresponding point positions on the two blood vessel contours are as shown in FIG. 6 (b) (FIG. 6 (b) is the projected surface m 'according to the embodiment of the present invention' 1 Schematic view after correction of inner vessel contour) and (d) (fig. 6 (d) is a view on a projection plane m 'according to an embodiment of the present invention' 2 A schematic view after correction of the contour of the internal blood vessel). In fig. 6 (b) there is a set of parallel lines, which are epipolar lines that can constrain the corresponding points to a straight line from the whole image. Only when the vessel in the first projection plane is corrected from FIG. 6 (a) to FIG. 6 (b) by translation and rotation in three-dimensional space, the vessel in the second projection planeIt would be rectified from fig. 6 (c) to fig. 6 (d) so that the corresponding points in the second projection coincide.
In order to correct the blood vessel in the first projection plane from fig. 7 (a) to fig. 7 (c), the following steps are performed.
Wherein, the fixed light source position of control is unchangeable, carries out translation and rotation to correcting the light source, includes: and controlling the first vector corresponding to the fixed light source and the first coordinate point to be unchanged, and simultaneously translating and rotating the second vector corresponding to the correction light source and the second coordinate point until the fixed light source, the first coordinate point, the correction light source and the second coordinate point are coplanar. The correction process is shown in fig. 7 (a) (fig. 7 (a) is a schematic diagram of the blood vessel profile before the correction light source is corrected according to the embodiment of the invention), fig. 7 (b) (fig. 7 (b) is a schematic diagram of the blood vessel profile after the correction light source is translated according to the embodiment of the invention), and fig. 7 (c) (fig. 7 (c) is a schematic diagram of the blood vessel profile after the correction light source is rotated according to the embodiment of the invention).
For example, before the corrective light source is corrected, the two light sources and the line segment S between the corresponding points on the contour 1 P N1 、S 2 P N2 The non-coplanar surface has no intersection point in the space; after the correction light sources are corrected, the two light sources are coplanar with line segments between corresponding points on the contour, and an intersection point exists in space.
Wherein, the fixed light source position of control is unchangeable, carries out the translation to correcting the light source, includes: calculating the translation amount and the rotation matrix of the correction light source when the fixed light source, the coordinate point I, the correction light source and the coordinate point II are coplanar; and controlling the translation and the rotation of the correction light source according to the translation amount and the rotation matrix.
Specifically, when a fixed light source, a first coordinate point, a corrected light source and a second coordinate point are calculated, the translation amount and the rotation matrix of the corrected light source comprise: initializing the translation amount and the rotation matrix to obtain an initialized translation amount and an initialized rotation matrix; constructing an objective function by utilizing the initialized translation amount, the initialized rotation matrix and the unit matrix, and constructing a Lagrangian equation by utilizing the initialized translation amount, the initialized rotation matrix and the coplanar equation; determining the optimal solution of the target function by using the Lagrange equation to obtain a flat valueShift amount and rotation matrix. Among other things, the coplanar equation here can be represented by the following formula:
and
it should be noted that the initialization here is to set the translation amount and the rotation matrix, for example, the rotation matrix is characterized by a rotation matrix, and in the embodiment of the present invention, the rotation matrix is a 3 × 3 matrix.
For example, it is possible to set:
based on this, it is possible to set:
as shown in the figure, the two-point correction is taken as an example, i.e. two sets of corresponding point corrections are taken as an example, and n is a normal vector of a plane when four points are in the same plane.
In the prior art are known
Then it can be set:
then, the allocation rate can be obtained as follows:
the rotation of the mixing product yields:
order:
the same principle is that:
hypothesis constant vector
Then, the following steps are simplified to obtain:
the above objective function
Comprises the following steps:
then, a lagrangian equation can be constructed to solve the optimal solution of the objective function, wherein the lagrangian equation is as follows:
respectively calculating partial derivatives of the Lagrange equation to alpha, beta, gamma, x, y, z and lambda, and making the partial derivatives zero, wherein the seven equations are combined as follows:
and solving the unknowns as the translation amount and the rotation matrix of the light source.
Optionally, in an embodiment of the present invention, before the correction light source is corrected, a blood vessel profile i of the target blood vessel and a blood vessel profile ii of the target blood vessel have a position deviation, where the blood vessel profile i is a profile of the target blood vessel on a projection plane i in different projection planes, and the blood vessel profile ii is a profile of the target blood vessel on other projection planes except the projection plane i in the different projection planes; after the correction light source is corrected, the blood vessel contour I of the target blood vessel is coincided with at least one group of corresponding points of the blood vessel contour II of the target blood vessel.
As can be seen from the above, in the embodiment of the present invention, different correction methods are adopted according to different situations of a blood vessel, including a translation method or a method combining translation and rotation, and a lagrangian multiplier equation is used to solve a translation amount and a rotation matrix to implement multi-point correction, that is, multi-corresponding-point correction. A light source multi-corresponding point correction method based on multi-angle DSA images solves the problem that three-dimensional reconstruction cannot be achieved due to changes of blood vessel shapes and space positions in different projection planes, and two blood vessel light source correction methods are analyzed, wherein one method is that aiming at blood vessels with only light source space position changes, such as craniocerebral blood vessels, the correction method adopts a light source translation mode to enable corresponding points to coincide; the other method is to make the corresponding points have corresponding relation by adopting a translation and rotation combined mode aiming at the blood vessels with the changed shapes besides the light source space position, such as coronary blood vessels. In addition, the optimization problem with constraint is solved by using a Lagrange multiplier method in the embodiment of the invention, a mode of combining translation and rotation is firstly provided when the light source is corrected, a multi-corresponding-point correction method is realized, a brand-new mathematical model is established, and an equation is solved to realize the correction of the light source, so that a foundation is laid for the subsequent three-dimensional reconstruction of the blood vessel.
Example 2
According to another aspect of an embodiment of the present invention, there is provided a light source rectification apparatus, and fig. 8 is a schematic view of the light source rectification apparatus according to an embodiment of the present invention, and as shown in fig. 8, the light source rectification apparatus may include: an acquisition unit 81 and a correction unit 83. The following describes the light source correction device.
The obtaining unit 81 is configured to obtain coordinates of one or more key points of the target blood vessel on different projection planes, where the different projection planes are projection planes formed by projecting the light source from different angles to the target blood vessel by the fixed light source and the correction light source, respectively.
And the correcting unit 83 is used for correcting the correcting light source based on the fixed light source and the coordinates until the corresponding points of the one or more key points have a predetermined relation.
It should be noted that the acquiring unit 81 and the correcting unit 83 correspond to steps S202 to S208 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the modules described above as part of an apparatus may be implemented in a computer system such as a set of computer-executable instructions.
As can be seen from the above, in the embodiment of the present invention, the coordinates of one or more key points of the target blood vessel on different projection planes may be obtained by the obtaining unit, where the different projection planes are projection planes formed by the fixed light source and the correction light source respectively projecting light sources from different angles to the target blood vessel; and correcting the correction light source by using the correction unit based on the fixed light source and the coordinates until corresponding points of one or more key points have a predetermined relationship. The light source correction device provided by the embodiment of the invention realizes the purpose of adjusting the correction light source by utilizing the position relation of key points formed by coordinates of the key points on the target blood vessel on different projection planes, provides a foundation for the three-dimensional reconstruction of the target blood vessel, improves the reliability of the subsequent three-dimensional reconstruction of the target blood vessel, and solves the technical problem that the three-dimensional reconstruction of the blood vessel cannot be carried out due to the change of the shape and the space position of the blood vessel in different projection planes in the related technology.
In an alternative embodiment, the predetermined relationship comprises: under the condition that one key point is adopted, the coincidence of the corresponding points of the key points is met; and under the condition that a plurality of key points exist, the coincidence of corresponding points of the first key point and the corresponding points of the second key point are on the same polar line, and the first key point and the second key point are points in the plurality of key points.
In an alternative embodiment, the obtaining unit includes: the projection subunit is used for projecting light sources to the target blood vessel from different angles by utilizing the fixed light source and the correction light source respectively to obtain a blood vessel outline of the target blood vessel; the analysis subunit is used for analyzing the blood vessel contour and determining one or more key points; and the acquisition subunit is used for acquiring the coordinates of one or more key points on different projection surfaces.
In an alternative embodiment, the light source rectification apparatus further comprises: the first determining unit is used for determining one key point when determining that the target blood vessel only has spatial position deviation before acquiring the coordinates of one or more key points of the target blood vessel on different projection surfaces; and the second determining unit is used for determining a plurality of key points when the target blood vessel is determined to be deformed and the spatial position deviation exists.
In an alternative embodiment, the key point is one, the orthotic device, comprising: the first determining subunit is used for determining a first coordinate point on a first projection plane formed by the key point under the projection of the fixed light source; the second determining subunit is used for determining a second coordinate point on a second projection surface formed by the key point under the projection of the correction light source; a third determining subunit, configured to determine the first coordinate point and the second coordinate point as a set of corresponding points; and the first correction subunit is used for controlling the position of the fixed light source to be unchanged and translating the correction light source until the positions of corresponding points coincide.
In an alternative embodiment, the first orthotic subunit, comprises: and the first correction module is used for controlling the first vector corresponding to the fixed light source and the first coordinate point to be unchanged, and simultaneously translating the second vector corresponding to the corrected light source and the second coordinate point until the fixed light source, the first coordinate point, the corrected light source and the second coordinate point are coplanar.
In an alternative embodiment, the first orthotic subunit, comprises: the first calculation module is used for calculating the translation amount of the correction light source when the fixed light source, the first coordinate point, the correction light source and the second coordinate point are in the same plane; and the second correction module is used for controlling the correction light source to translate according to the translation amount.
In an alternative embodiment, the key points are two, the orthotic unit comprising: the fourth determining subunit is used for determining a first coordinate point and a third coordinate point on a first projection plane formed by the key points under the projection of the fixed light source; the fifth determining subunit is used for determining a second coordinate point and a fourth coordinate point on a second projection plane formed by the key points under the projection of the correction light source; and the second correction subunit is used for controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the coordinate point I and the coordinate point II coincide with each other and the coordinate point III and the coordinate point IV are on the same polar line.
In an alternative embodiment, the second orthotic subunit comprises: and the third correction module is used for controlling the fixed light source and the vector I corresponding to the coordinate point I to be unchanged, and simultaneously translating and rotating the vector II corresponding to the corrected light source and the coordinate point II until the fixed light source, the coordinate point I, the corrected light source and the coordinate point II are coplanar.
In an alternative embodiment, the second orthotic subunit comprises: the second calculation module is used for calculating the translation amount and the rotation matrix of the correction light source when the fixed light source, the first coordinate point, the correction light source and the second coordinate point are coplanar; and the fourth correction module is used for controlling the correction light source to translate and rotate according to the translation amount and the rotation matrix.
In an alternative embodiment, the second computing module includes: the initialization submodule is used for initializing the translation amount and the rotation matrix to obtain an initialized translation amount and an initialized rotation matrix; the construction submodule is used for constructing an objective function by utilizing the initialized translation amount, the initialized rotation matrix and the unit matrix, and constructing a Lagrangian equation by utilizing the initialized translation amount, the initialized rotation matrix and the coplanar equation; and the acquisition submodule is used for determining the optimal solution of the target function by utilizing the Lagrange equation to obtain the translation amount and the rotation matrix.
In an optional embodiment, before the correction light source is corrected, a blood vessel profile I of a target blood vessel has a position deviation with a blood vessel profile II of the target blood vessel, wherein the blood vessel profile I is a profile of the target blood vessel on a projection plane I in different projection planes, and the blood vessel profile II is a profile of the target blood vessel on other projection planes except the projection plane I in the different projection planes; after the correction light source is corrected, the blood vessel contour I of the target blood vessel is coincided with at least one group of corresponding points of the blood vessel contour II of the target blood vessel.
Example 3
According to another aspect of the embodiment of the present invention, there is provided a computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, an apparatus in which the computer-readable storage medium is located is controlled to execute any one of the light source correction methods described above.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a computer program, wherein the computer program executes to execute the light source rectification method of any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A method for correcting a light source, comprising:
acquiring coordinates of one or more key points of a target blood vessel on different projection surfaces, wherein the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively;
correcting the correction light source based on the fixed light source and the coordinates until corresponding points of the one or more key points have a predetermined relationship;
wherein correcting the correction light source based on the fixed light source and the coordinates until corresponding points of the plurality of key points have a predetermined relationship comprises:
controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the requirements are met: under the condition that the key points are multiple, the coincidence of corresponding points of a first key point and the corresponding points of a second key point are on the same polar line, and the first key point and the second key point are points in the multiple key points;
in a case where the plurality of key points are present, correcting the correction light source based on the fixed light source and the coordinates includes:
and determining the translation amount and the rotation matrix of the correction light source according to the optimal solution of the objective function, wherein in the process of determining the optimal solution of the objective function, the translation amount is gradually close to zero, and the deviation matrix of the rotation matrix and the identity matrix is gradually close to a zero matrix.
2. The method of claim 1, wherein obtaining coordinates of one or more keypoints of the target vessel on different projection planes comprises:
projecting light sources to the target blood vessel from different angles by using the fixed light source and the correction light source respectively to obtain a blood vessel contour of the target blood vessel;
analyzing the blood vessel contour to determine the one or more key points;
and acquiring the coordinates of the one or more key points on the different projection surfaces.
3. The method of claim 1, further comprising, prior to obtaining coordinates of one or more keypoints of the target vessel on different projection planes:
when the target blood vessel is determined to have only spatial position deviation, determining the key point to be one;
determining the key points to be multiple when the target blood vessel is determined to be deformed and the spatial position offset exists.
4. The method of claim 1, wherein the key points are two, and wherein rectifying the rectified light source based on the fixed light source and the coordinates comprises:
determining a first coordinate point and a third coordinate point on a first projection plane formed by the key points under the projection of the fixed light source;
determining a second coordinate point and a fourth coordinate point on a second projection plane formed by the key points under the projection of the correction light source;
and controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the first coordinate point and the second coordinate point coincide with each other, and the third coordinate point and the fourth coordinate point are on the same polar line.
5. The method of claim 4, wherein controlling the fixed light source position to be constant, translating and rotating the corrective light source comprises:
and controlling the fixed light source and a vector I corresponding to the coordinate point I to be unchanged, and simultaneously translating and rotating the correction light source and a vector II corresponding to the coordinate point II until the fixed light source, the coordinate point I, the correction light source and the coordinate point II are coplanar.
6. The method of claim 5, wherein controlling the fixed light source position to be constant and translating the corrective light source comprises:
calculating the translation amount and the rotation matrix of the correction light source when the fixed light source, the first coordinate point, the correction light source and the second coordinate point are coplanar;
and controlling the correction light source to translate and rotate according to the translation amount and the rotation matrix.
7. The method of claim 6, wherein calculating a translation amount and a rotation matrix of the corrective light source when the fixed light source, the coordinate point one, the corrective light source, and the coordinate point two are coplanar comprises:
initializing the translation amount and the rotation matrix to obtain an initialized translation amount and an initialized rotation matrix;
constructing the target function by utilizing the initialized translation amount, the initialized rotation matrix and the unit matrix, and constructing a Lagrangian equation by utilizing the initialized translation amount, the initialized rotation matrix and the coplanar equation;
and determining the optimal solution of the objective function by using the Lagrange equation to obtain the translation amount and the rotation matrix.
8. The method according to any one of claims 1 to 7, wherein before the correction light source is corrected, a first blood vessel contour of the target blood vessel is deviated from a second blood vessel contour of the target blood vessel, wherein the first blood vessel contour is a contour of the target blood vessel on a first projection plane in the different projection planes, and the second blood vessel contour is a contour of the target blood vessel on a projection plane other than the first projection plane in the different projection planes; after the correction light source is corrected, the first blood vessel contour of the target blood vessel coincides with at least one group of corresponding points of the second blood vessel contour of the target blood vessel.
9. A light source rectification device, comprising:
the device comprises an acquisition unit, a correction unit and a processing unit, wherein the acquisition unit is used for acquiring coordinates of one or more key points of a target blood vessel on different projection surfaces, and the different projection surfaces are projection surfaces formed by projecting light sources from different angles to the target blood vessel by a fixed light source and a correction light source respectively;
the correction unit is used for correcting the correction light source based on the fixed light source and the coordinates until corresponding points of the one or more key points have a preset relation;
wherein, the correction unit is further used for controlling the position of the fixed light source to be unchanged, and translating and rotating the correction light source until the requirements of: under the condition that the key points are multiple, the coincidence of corresponding points of a first key point and the corresponding points of a second key point are on the same polar line, and the first key point and the second key point are points in the multiple key points;
the apparatus is further configured to perform the steps of:
when the key points are multiple, correcting the correction light source based on the fixed light source and the coordinates, including:
and determining the translation amount and the rotation matrix of the correction light source according to the optimal solution of the objective function, wherein in the process of determining the optimal solution of the objective function, the translation amount is gradually close to zero, and the deviation matrix of the rotation matrix and the identity matrix is gradually close to a zero matrix.
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