CN116012898A - Extraction method and device of lumen contour of blood vessel, electronic equipment and storage medium - Google Patents
Extraction method and device of lumen contour of blood vessel, electronic equipment and storage medium Download PDFInfo
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Abstract
The application provides a method and a device for extracting lumen outlines of blood vessels, electronic equipment and a storage medium, wherein the extraction method comprises the following steps: taking the first video frame in the obtained vascular lumen video sequence as a current video frame to obtain the current lumen contour of the current video frame; denoising the current lumen contour of the current video frame to obtain an initial lumen contour of the current video frame; optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame; and taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, and updating the next video frame of the current video frame into the current video frame to continue optimizing until the last video frame in the lumen video sequence. By adopting the technical scheme provided by the application, the efficiency and the accuracy of extracting the lumen contour of the blood vessel can be improved.
Description
Technical Field
The present disclosure relates to the field of medical image technologies, and in particular, to a method and an apparatus for extracting a lumen contour of a blood vessel, an electronic device, and a storage medium.
Background
Intravascular lumen imaging is largely divided into intravascular ultrasound (intravascular ultrasound, IVUS) and optical coherence tomography (Optical coherence tomography, OCT). The intravascular image (IVUS/OCT) has extremely high resolution, and the lumen and plaque conditions of the blood vessel can be clearly seen. Obtaining the lumen contour is a critical precondition for lumen diameter/area calculation of the blood vessel, and analysis of stenosis and subsequent reconstruction of the lumen of the blood vessel. In intracavity image shooting operation, acquire smooth accurate lumen profile fast and automatically, can shorten operation time to a great extent to and observe preoperative postoperative vascular lumen condition, alleviate doctor and patient's burden.
Currently, two main types of methods for extracting (dividing) lumen contours of intra-lumen images are available, one type is a deep learning-based method, wherein a large amount of lumen data is marked manually, a large amount of time is spent to obtain a final training model, and the final training model is directly applied to new data; the other is to obtain the vessel boundary by polar coordinate transformation and then use gradient, and then connect the vessel boundary into a contour. The former is limited in that a large amount of data and accurate manual labeling are required, and a large amount of subsequent model training time is required; the latter needs to carry out polar coordinate conversion, and the contour obtained by simply utilizing gradient has certain noise, and a reasonable noise removing method is needed to obtain an accurate and smooth contour; therefore, how to extract the lumen contour of the blood vessel becomes a problem to be solved.
Disclosure of Invention
In view of this, an object of the present application is to provide a method, an apparatus, an electronic device, and a storage medium for extracting a lumen contour of a blood vessel, which can obtain an initial lumen contour by denoising a current lumen contour of an extracted first video frame without labeling the lumen and performing polar coordinate conversion, and optimize the initial lumen contour to obtain a target lumen contour, and further optimize the target lumen contour as an initial lumen contour of a next video frame, thereby extracting a lumen contour of the blood vessel, so as to obtain an accurate and smooth lumen contour, and improve efficiency and accuracy of extracting the lumen contour of the blood vessel.
The application mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a method for extracting a lumen contour of a blood vessel, where the method includes:
acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel;
taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
Denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame;
optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame;
and determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Further, the step of obtaining the current lumen contour of the current video frame by using the first video frame in the lumen video sequence as the current video frame includes:
taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray at intervals of a preset degree by taking a central point of the current video frame as a center to obtain a plurality of rays;
For each ray, determining a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
and sequentially connecting the lumen contour points of each ray to obtain the current lumen contour of the current video frame.
Further, the step of determining, for each ray, a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame includes:
for each ray, acquiring sampling points on the ray, and respectively determining the distances between the sampling points and four pixel points around the sampling points through Euclidean distances;
determining a pixel point corresponding to the distance with the smallest value as a pixel point through which the ray passes;
sequentially arranging pixel points through which the rays pass according to the irradiation line direction to obtain a pixel sequence;
and carrying out sliding convolution processing on the pixel sequence to obtain the gray level difference of each pixel point in the pixel sequence.
Further, the step of denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as the initial lumen contour of the current video frame includes:
Based on the current lumen contour of the current video frame, determining a sector area with a preset angle from the current lumen contour of the current video frame at each preset interval angle;
determining, for each sector, a distance of each lumen contour point in the sector from a center point of the current video frame based on each lumen contour point in the current lumen contour of the current video frame;
determining a variance of the sector based on a distance of each lumen contour point in the sector from a center point of the current video frame;
in the variance of each sector, determining a continuous sector with the largest variance as a target sector;
determining, for each lumen contour point in the target sector, an updated position of each lumen contour point in the target sector;
and updating the current lumen contour based on the updated position of each lumen contour point in the target sector, and determining the updated current lumen contour as the initial lumen contour of the current video frame.
Further, the step of determining, for each lumen contour point in the target sector, an updated position of each lumen contour point in the target sector includes:
For each lumen contour point in the target sector, determining an update distance from the lumen contour point to the center point of the current video frame based on an angle corresponding to the lumen contour point, a minimum angle of the target sector, a distance from the lumen contour point corresponding to the minimum angle to the center point of the current video frame, a maximum angle of the target sector, and a distance from the lumen contour point corresponding to the maximum angle to the center point of the current video frame;
an updated position of each lumen contour point in the target sector is determined based on the updated distance of each lumen contour point in the target sector and the angle of each lumen contour point in the target sector.
Further, the initial lumen contour of the current video frame is optimized, and the target lumen contour of the current video frame is determined by the following steps:
determining a current energy of each lumen contour point based on a position of each lumen contour point in an initial lumen contour of the current video frame;
moving the lumen contour point according to a preset moving mode aiming at each lumen contour point to obtain the moved position of the lumen contour point, and re-determining the energy of the lumen contour point based on the moved position of the lumen contour point;
If the energy of the lumen contour point is smaller than the current energy of the lumen contour point, updating the energy of the lumen contour point to the current energy of the lumen contour point, and continuing to move the lumen contour point until the energy of the lumen contour point after movement is not smaller than the current energy of the lumen contour point, so as to obtain the target position of the lumen contour point;
and updating the initial lumen contour of the current video frame based on the target position of each lumen contour point, and determining the updated initial lumen contour of the current video frame as the target lumen contour of the current video frame.
In a second aspect, embodiments of the present application further provide an extraction device for a lumen contour of a blood vessel, the extraction device comprising:
the acquisition module is used for acquiring a lumen video sequence of the blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel;
the first extraction module is used for taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
the second extraction module is used for denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame;
The third extraction module is used for optimizing the initial lumen contour of the current video frame and determining the target lumen contour of the current video frame;
and the determining module is used for determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Further, the first extraction module is specifically configured to:
taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray at intervals of a preset degree by taking a central point of the current video frame as a center to obtain a plurality of rays;
for each ray, determining a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
And sequentially connecting the lumen contour points of each ray to obtain the current lumen contour of the current video frame.
In a third aspect, embodiments of the present application further provide an electronic device, including: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory are communicated through the bus when the electronic device is running, and the machine-readable instructions are executed by the processor to perform the steps of the method for extracting lumen contour of a blood vessel.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for extracting a lumen contour of a blood vessel as described above.
The embodiment of the application provides a method, a device, electronic equipment and a storage medium for extracting lumen outlines of blood vessels, wherein the method for extracting the lumen outlines of the blood vessels comprises the following steps: acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel; taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame; denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame; optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame; and determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Like this, adopt the technical scheme that this application provided can need not to annotate the lumen, also need not to carry out polar coordinate conversion, through carrying out the denoising to the current lumen profile of the first video frame that draws and obtain initial lumen profile, optimize initial lumen profile again, obtain target lumen profile, continue to optimize as the initial lumen profile of next video frame with target lumen profile to extract the lumen profile of blood vessel, in order to obtain accurate glossy lumen profile, improved the efficiency and the accuracy that the lumen profile of blood vessel draws.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flowchart of a method for extracting a lumen contour of a blood vessel according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating another method for extracting lumen contour of a blood vessel according to an embodiment of the present application;
FIG. 3 illustrates a schematic diagram of a sliding convolution calculation provided by an embodiment of the present application;
FIG. 4 illustrates a schematic diagram of a noise removal provided by an embodiment of the present application;
FIG. 5 is a block diagram of a device for extracting a lumen contour of a blood vessel according to an embodiment of the present application;
fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In order to enable one skilled in the art to use the present disclosure, the following embodiments are provided in connection with a specific application scenario "extraction of lumen contour of a blood vessel", and it is possible for one skilled in the art to apply the general principles defined herein to other embodiments and application scenarios without departing from the spirit and scope of the present disclosure.
The following method, apparatus, electronic device or computer readable storage medium may be applied to any scenario in which a lumen contour of a blood vessel needs to be extracted, and the embodiments of the present application do not limit a specific application scenario, and any scheme using the method, apparatus, electronic device and storage medium for extracting a lumen contour of a blood vessel provided in the embodiments of the present application is within the scope of protection of the present application.
Notably, intra-coronary imaging: intravascular ultrasound (intravascular ultrasound, IVUS) and optical coherence tomography (Optical coherence tomography, OCT) are largely divided. The IVUS is used for sending the miniature ultrasonic probe into a blood vessel cavity through a catheter technology, scanning 360 degrees in the blood vessel, clearly displaying the structure and lesions of the blood vessel of the heart through a display screen, and displaying the cross-sectional image of the blood vessel, so as to provide an image in the body blood vessel cavity, unlike the coronary artery imaging which displays the coronary artery through the outline of the cavity filled with contrast agent. The IVUS can accurately measure the diameters of a lumen and a blood vessel and judge the severity and the nature of the lesion, and plays a very important role in improving the understanding of coronary lesions and guiding interventional therapy. The OCT principle is to place an imaging catheter inside a blood vessel, convert internal structural information into a high resolution image by analyzing the time delay of the reflection of the built-in light source to the vessel wall tissue, and present it on a display. The intravascular image (IVUS/OCT) has extremely high resolution, and the lumen and plaque conditions of the blood vessel can be clearly seen. Obtaining the lumen contour is a critical precondition for lumen diameter/area calculation of the blood vessel, and analysis of stenosis and subsequent reconstruction of the lumen of the blood vessel. In intracavity image shooting operation, acquire smooth accurate lumen profile fast and automatically, can shorten operation time to a great extent to and observe preoperative postoperative vascular lumen condition, alleviate doctor and patient's burden.
At present, two main types of methods for extracting (dividing) the contour of an intra-cavity image exist, one type is a method based on deep learning, wherein a large amount of lumen data is marked manually, a large amount of time is spent for obtaining a final training model, and the final training model is directly applied to new data; the other is to obtain the vessel boundary by polar coordinate transformation and then use gradient, and then connect the vessel boundary into a contour. The former is limited in that a large amount of data and accurate manual labeling are required, and a large amount of subsequent model training time is required; the latter needs to carry out polar coordinate conversion, and the contour obtained by simply utilizing gradient has certain noise, and a reasonable noise removing method is needed to obtain an accurate and smooth contour; therefore, how to extract the lumen contour of the blood vessel becomes a problem to be solved.
Based on this, the application provides a method, a device, an electronic device and a storage medium for extracting a lumen contour of a blood vessel, wherein the extracting method comprises the following steps: acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel; taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame; denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame; optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame; and determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Like this, adopt the technical scheme that this application provided can need not to annotate the lumen, also need not to carry out polar coordinate conversion, through carrying out the denoising to the current lumen profile of the first video frame that draws and obtain initial lumen profile, optimize initial lumen profile again, obtain target lumen profile, continue to optimize as the initial lumen profile of next video frame with target lumen profile to extract the lumen profile of blood vessel, in order to obtain accurate glossy lumen profile, improved the efficiency and the accuracy that the lumen profile of blood vessel draws.
In order to facilitate understanding of the present application, the technical solutions provided in the present application will be described in detail below with reference to specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart of a method for extracting a lumen contour of a blood vessel according to an embodiment of the present application, as shown in fig. 1, the method includes:
s101, acquiring a lumen video sequence of a blood vessel;
in this step, the lumen video sequence is a sequence of a plurality of video frames taken at intervals along the vessel trend. Here, the capturing of the intra-lumen image of the blood vessel is performed continuously and intermittently along the direction of the blood vessel, for example, capturing a frame every 0.2mm, and displaying the captured image as a cross section of the blood vessel, and the cross sections are stacked together to form a lumen video sequence having a size of nxwxh, where N is the number of video frames of the lumen video sequence, and W and H are the width and height of each video frame image.
S102, taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
in the step, when extracting the lumen contour, firstly selecting a first video frame in a lumen video sequence, and determining the current lumen contour of the first video frame.
It should be noted that, referring to fig. 2, fig. 2 is a flowchart of another method for extracting a lumen contour of a blood vessel according to an embodiment of the present application, and as shown in fig. 2, a step of obtaining a current lumen contour of a current video frame by using a first video frame in a lumen video sequence as the current video frame includes:
s201, taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray every preset degree by taking the central point of the current video frame as the center to obtain a plurality of rays;
in the step, starting from the center of the first video frame, transmitting a ray around the center at intervals of preset degrees, wherein the preset degrees can be preset according to historical experience or experimental data; for example, one ray is emitted every 1 ° and traversed through a circle, a total of 360 rays may be obtained.
S202, determining a pixel point through which each ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
in the step, sliding convolution calculation is carried out according to the image pixels through which each ray passes in the first video frame, and a pixel point with the largest gray level difference is determined and used as one of the current lumen contour points of the first video frame.
It should be noted that, for each ray, the step of determining, in the current video frame, the pixel point through which the ray passes and the gray level difference of each pixel point through which the ray passes includes:
s2021, for each ray, acquiring a sampling point on the ray, and respectively determining the distances between the sampling point and four pixel points around the sampling point through Euclidean distance;
in the step, each ray is composed of a plurality of sampling points, the sampling points on each ray can be obtained, and the nearest point set of each sampling point is determined by adopting Euclidean distance.
Specifically, the Euclidean distance is as follows:
wherein p is i Representing the nearest neighbor point to be solved, (x) i ，y i ) Representing the position coordinates of a sample point on the ray, (x) j ，y j ) (j=1, …, 4) are the position coordinates of four pixels around the sampling point, respectively, and the pixel closest to the sampling point among the four pixels around the sampling point is obtained as the nearest neighbor point of the sampling point.
S2022, determining the pixel point corresponding to the distance with the smallest value as the pixel point through which the ray passes;
in this step, the nearest point of the sampling point obtained by the euclidean distance is determined as the pixel point through which the ray passes.
S2023, arranging pixel points through which the ray passes in sequence according to the irradiation line direction to obtain a pixel sequence;
in the step, based on the nearest point of each sampling point on the ray, a plurality of pixel points through which the ray passes can be obtained, and the plurality of pixel points through which the ray passes are sequentially arranged according to the irradiation line direction, so as to obtain a pixel sequence. For example, assuming that K nearest points are calculated along the ray, the K nearest points are connected in a row, and then the gray level difference of each pixel point on the K nearest points is calculated by sliding convolution in step S2024.
S2024, carrying out sliding convolution processing on the pixel sequence to obtain the gray level difference of each pixel point in the pixel sequence.
For example, referring to fig. 3, fig. 3 is a schematic diagram of a sliding convolution calculation according to an embodiment of the present application, as shown in fig. 3, a plurality of pixel points through which the ray passes are sequentially arranged along the direction of the irradiation line, and a pixel sequence consisting of k=9 nearest neighboring points is [45, 53, 50, 55, 44, 149, 154, 144, 134 ] ]The method comprises the steps of carrying out a first treatment on the surface of the The convolution kernel in the sliding convolution process may be k toward the ray direction 1 ＝[-1，0，1]May be k at the edge 2 ＝[-1，1]The specific formula of the sliding convolution process is as follows:
wherein f (x) is the gray value of the xth pixel point in the pixel sequence, x=i-1+j, i is the ith pixel point in the pixel sequence, j is the jth value on the convolution kernel, k 1 K is the number of pixel points in the pixel sequence and is the first convolution kernel 2 G (i) is the gray level difference of the ith pixel point in the pixel sequence; the gray value of each pixel point in the pixel sequence is carried into the specific formula of the sliding convolution processing, and convolution results [8,5,2, -6, 94, 110, -5, -20, -10 can be obtained]I.e. the gray level difference of each pixel point in the pixel sequence.
S203, determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
in the step, the maximum point is found in the convolution result by the following formula, namely, the gray level difference with the maximum value is determined in the gray level differences:
where g (n) is the gray level difference corresponding to the nth pixel point (i.e., the gray level difference with the largest value in the convolution result; for example, g (n) may be the gray level difference 110 corresponding to the 6 th pixel point in fig. 3), as shown in fig. 3, the 6 th pixel point in the pixel sequence may be determined as the lumen contour point of the ray.
And S204, sequentially connecting lumen contour points of each ray to obtain the current lumen contour of the current video frame.
Illustratively, the calculation is performed on all 360 rays to obtain lumen contour points of each ray, and the current lumen contour of the first video frame can be obtained by sequentially connecting the 360 lumen contour points.
S103, denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame;
in the step, due to the influence of artifacts of the guide wire, when the sampling ray passes through the position of the guide wire, the lumen of the blood vessel is shielded, the gray level change of the guide wire is more gentle, and lumen contour points cannot be obtained correctly, so that the points need to be identified, noise removal and optimization are carried out, and the initial lumen contour is obtained.
Specifically, firstly, the distances from all lumen contour points in the current lumen contour to the center point of the first video frame image can be calculated, then, the local distance variance calculation is carried out in a fan-shaped sliding convolution or curve smooth fitting mode and the like, a range with larger variance is obtained and is used as a noise area, and finally, the local contour points are optimized for each noise area.
It should be noted that, based on the current lumen contour of the current video frame, denoising the current lumen contour of the current video frame, and determining the denoised current lumen contour as the initial lumen contour of the current video frame, the method includes:
s1031, determining a sector area with a preset angle in the current lumen contour of the current video frame based on the current lumen contour of the current video frame at preset intervals;
in this step, the preset interval angle and the preset angle may be preset according to historical experience or experimental data; by way of example, the preset spacing angle may be set to 1 °, the preset angle may be set to 10 °, the first sector may range from 0 °,10 °, the second sector may range from 1 °,11 °, and so on, resulting in a plurality of sectors.
S1032, determining, for each sector area, a distance from each lumen contour point in the sector area to a center point of the current video frame based on each lumen contour point in the current lumen contour of the current video frame;
illustratively, there are 360 lumen contour points in the current lumen contour, and based on the coordinates of each lumen contour point in the current lumen contour, the distances from the 360 lumen contour points to the center point of the first video frame image are calculated, so that 360 distances can be obtained.
S1033, determining the variance of the sector area based on the distance between each lumen contour point in the sector area and the center point of the current video frame;
the variance of the sector area is determined by:
wherein s is i Is the variance, x of the sector area where the ith lumen contour point is located j For the distance of the j-th lumen contour point in the sector from the center point of the current video frame,
the average distance from all lumen contour points in the sector to the center point of the current video frame.
S1034, determining a continuous sector area with the largest variance as a target sector area in variances of all sector areas;
exemplary, the variance of each sector is combined into a set s= { S 1 ，s 2 ，...，s 360 The variance of the sector where each point is located is represented, and a continuous region [ r ] is found where the variance is the greatest i ，r j ]Such as [10 °,36 ]]The region is determined as a target sector region.
S1035, determining an updated position of each lumen contour point in the target sector for each lumen contour point in the target sector;
the step of determining an update position of each lumen contour point in the target sector for each lumen contour point in the target sector includes:
1) Determining, for each lumen contour point in the target sector, an update distance from the lumen contour point to a center point of the current video frame based on an angle corresponding to the lumen contour point, a minimum angle of the target sector, a distance from the lumen contour point corresponding to the minimum angle to the center point of the current video frame, a maximum angle of the target sector, and a distance from the lumen contour point corresponding to the maximum angle to the center point of the current video frame;
it should be noted that, the update distance from the lumen contour point to the center point of the current video frame is determined by:
wherein l k R is i To r j An updating distance r from a kth lumen contour point to a central point of the current video frame in an angle range k R is i To r j An angle corresponding to a kth lumen contour point in the angle range, r i For the minimum angle of the target sector, l i Is the minimum angle r of the target sector i The distance r from the corresponding lumen contour point to the center point of the current video frame j For the maximum angle of the target sector, l j For the maximum angle r of the target sector j And the distance from the corresponding lumen contour point to the central point of the current video frame.
For example, referring to fig. 4, fig. 4 is a schematic diagram of noise removal provided in the embodiment of the present application, as shown in fig. 4, a boundary line similar to a circle is a current lumen contour, a black point in the current lumen contour is a center point of a current video frame, an area where an angle α is located in the current lumen contour is a target sector area,there are 5 lumen contour points A, B, C, D, E in the target sector; alpha is in the range of [ r ] i ，r j ]Angle r i The distance from the corresponding lumen contour point A to the center point of the current video frame is l i Angle r j The distance from the corresponding lumen contour point E to the center point of the current video frame is l j Can be according to r i ，r j 、l i 、l j And the angles of the lumen contour points B, C, D are respectively determined B, C, D to update distances from the center point of the current video frame, and after calculation, the length change of the obtained lumen contour points is excessive and smoother, and the variance of the obtained lumen contour points is smaller.
2) And determining an updated position of each lumen contour point in the target sector based on the updated distance of each lumen contour point in the target sector and the angle of each lumen contour point in the target sector.
In this step, the updated position of each lumen contour point in the target sector is calculated by the angle and the updated distance determined in the above step 1), and the specific formula is as follows:
p k ＝(l k cos(r k )，l k sin(r k ))；
Wherein p is k Is the updated position of the kth lumen contour point in the target sector.
And S1036, updating the current lumen contour based on the updated position of each lumen contour point in the target sector, and determining the updated current lumen contour as the initial lumen contour of the current video frame.
S104, optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame;
in the step, the initial lumen contour of the current video frame can be optimized through an energy equation or an optimization mode such as a gradient method.
Here, if only the gray level difference and noise removal are used, a completely accurate contour cannot be obtained, so that the initial lumen contour is optimized again through the active contour model to obtain a contour which is more fit with the edge of the blood vessel. For example, the active profile model needs to build an energy equation, which consists of two parts, namely internal energy (internal force) and external energy (external force), and when the energy is minimum, the energy is the optimal solution of the profile, so as to obtain the profile of the target lumen.
It should be noted that, the initial lumen contour of the current video frame is optimized, and the target lumen contour of the current video frame is determined by the following steps:
S1041, determining the current energy of each lumen contour point based on the position of each lumen contour point in the initial lumen contour of the current video frame;
in this step, the energy equation is as follows:
where I represents the current video frame and E (I, j) represents the energy of the lumen contour point at coordinates (I, j).
S1042, moving the lumen contour point according to a preset moving mode aiming at each lumen contour point to obtain the moved position of the lumen contour point, and re-determining the energy of the lumen contour point based on the moved position of the lumen contour point;
s1043, if the energy of the lumen contour point is smaller than the current energy of the lumen contour point, updating the energy of the lumen contour point to the current energy of the lumen contour point, and continuing to move the lumen contour point until the energy of the lumen contour point after movement is not smaller than the current energy of the lumen contour point, so as to obtain the target position of the lumen contour point;
in steps S1042-S1043, after calculating the energy of one lumen contour point each time, performing multidirectional position shift on the lumen contour point, for example, shifting up by one point, updating the position of the lumen contour point, calculating the energy of the lumen contour point again based on the updated position, if the calculated energy is lower, then shifting up the lumen contour point again until the energy of the lumen contour point is no longer lower, then determining the last updated position of the lumen contour point as the target position of the lumen contour point.
S1044, updating the initial lumen contour of the current video frame based on the target position of each lumen contour point, and determining the updated initial lumen contour of the current video frame as the target lumen contour of the current video frame.
In this step, in step S1043, lumen contour points whose positions need to be updated to target positions are obtained in the initial lumen contour, and positions of these lumen contour points are updated to target positions, that is, the initial lumen contour of the current video frame is updated to the target lumen contour of the current video frame.
S105, determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
In the step, until step S104, the target lumen contour of the first video frame in the intra-lumen image is obtained, and considering that there is a certain similarity between the lumen contours of the blood vessels between two consecutive frames of images, the target lumen contour of the first video frame is mapped onto the second video frame to be used as the initial lumen contour of the second video frame, after the optimization is performed on the active contour model, the target lumen contour of the second video frame is mapped onto the third video frame to be used as the initial lumen contour, and then the active contour model is used for optimization, so that the processing is continuously performed in a chained manner until the processing of the last video frame is completed, and the obtained target lumen contour of each video frame is the extracted lumen contour of the blood vessels. According to the embodiment, the lumen contour of the blood vessel can be automatically, quickly and continuously acquired, noise is positioned and eliminated, contour optimization is performed at the position where the guide wire is shielded, an accurate and smooth initial lumen contour is obtained, the initial lumen contour is optimized through the active contour model, and then chained automatic continuous lumen contour acquisition is performed, so that the efficiency and accuracy of extracting the lumen contour of the blood vessel are improved.
The embodiment of the application provides a method for extracting a lumen contour of a blood vessel, which comprises the following steps: acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel; taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame; denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame; optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame; and determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Like this, adopt the technical scheme that this application provided can need not to annotate the lumen, also need not to carry out polar coordinate conversion, through carrying out the denoising to the current lumen profile of the first video frame that draws and obtain initial lumen profile, optimize initial lumen profile again, obtain target lumen profile, continue to optimize as the initial lumen profile of next video frame with target lumen profile to extract the lumen profile of blood vessel, in order to obtain accurate glossy lumen profile, improved the efficiency and the accuracy that the lumen profile of blood vessel draws.
Based on the same application conception, the embodiment of the application also provides a device for extracting the lumen contour of the blood vessel, which corresponds to the method for extracting the lumen contour of the blood vessel in the embodiment, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the method for extracting the lumen contour of the blood vessel in the embodiment of the application, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.
Referring to fig. 5, fig. 5 is a block diagram of a device for extracting a lumen contour of a blood vessel according to an embodiment of the present application. As shown in fig. 5, the extracting device 510 includes:
An acquisition module 511 for acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel;
a first extraction module 512, configured to use a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
a second extraction module 513, configured to denoise a current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determine the denoised current lumen contour as an initial lumen contour of the current video frame;
a third extraction module 514, configured to optimize an initial lumen contour of the current video frame, and determine a target lumen contour of the current video frame;
a determining module 515, configured to determine whether the current video frame is the last video frame in the lumen video sequence, if not, take the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, update the next video frame of the current video frame to the current video frame, and continue to optimize until the last video frame in the lumen video sequence, and determine the target lumen contour of each video frame in the lumen video sequence as the lumen contour of the blood vessel.
Optionally, the first extracting module 512 is specifically configured to:
taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray at intervals of a preset degree by taking a central point of the current video frame as a center to obtain a plurality of rays;
for each ray, determining a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
and sequentially connecting the lumen contour points of each ray to obtain the current lumen contour of the current video frame.
Optionally, when the first extraction module 512 is configured to determine, for each ray, a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame, the first extraction module 512 is specifically configured to:
for each ray, acquiring sampling points on the ray, and respectively determining the distances between the sampling points and four pixel points around the sampling points through Euclidean distances;
determining a pixel point corresponding to the distance with the smallest value as a pixel point through which the ray passes;
Sequentially arranging pixel points through which the rays pass according to the irradiation line direction to obtain a pixel sequence;
and carrying out sliding convolution processing on the pixel sequence to obtain the gray level difference of each pixel point in the pixel sequence.
Optionally, when the second extraction module 513 is configured to denoise the current lumen contour of the current video frame based on the current lumen contour of the current video frame and determine the denoised current lumen contour as the initial lumen contour of the current video frame, the second extraction module 513 is specifically configured to:
based on the current lumen contour of the current video frame, determining a sector area with a preset angle from the current lumen contour of the current video frame at each preset interval angle;
determining, for each sector, a distance of each lumen contour point in the sector from a center point of the current video frame based on each lumen contour point in the current lumen contour of the current video frame;
determining a variance of the sector based on a distance of each lumen contour point in the sector from a center point of the current video frame;
in the variance of each sector, determining a continuous sector with the largest variance as a target sector;
Determining, for each lumen contour point in the target sector, an updated position of each lumen contour point in the target sector;
and updating the current lumen contour based on the updated position of each lumen contour point in the target sector, and determining the updated current lumen contour as the initial lumen contour of the current video frame.
Optionally, when the second extraction module 513 is configured to determine, for each lumen contour point in the target sector, an update location of each lumen contour point in the target sector, the second extraction module 513 is specifically configured to:
for each lumen contour point in the target sector, determining an update distance from the lumen contour point to the center point of the current video frame based on an angle corresponding to the lumen contour point, a minimum angle of the target sector, a distance from the lumen contour point corresponding to the minimum angle to the center point of the current video frame, a maximum angle of the target sector, and a distance from the lumen contour point corresponding to the maximum angle to the center point of the current video frame;
an updated position of each lumen contour point in the target sector is determined based on the updated distance of each lumen contour point in the target sector and the angle of each lumen contour point in the target sector.
Optionally, when the third extraction module 514 is configured to optimize the initial lumen contour of the current video frame and determine the target lumen contour of the current video frame, the third extraction module 514 is specifically configured to:
determining a current energy of each lumen contour point based on a position of each lumen contour point in an initial lumen contour of the current video frame;
moving the lumen contour point according to a preset moving mode aiming at each lumen contour point to obtain the moved position of the lumen contour point, and re-determining the energy of the lumen contour point based on the moved position of the lumen contour point;
if the energy of the lumen contour point is smaller than the current energy of the lumen contour point, updating the energy of the lumen contour point to the current energy of the lumen contour point, and continuing to move the lumen contour point until the energy of the lumen contour point after movement is not smaller than the current energy of the lumen contour point, so as to obtain the target position of the lumen contour point;
and updating the initial lumen contour of the current video frame based on the target position of each lumen contour point, and determining the updated initial lumen contour of the current video frame as the target lumen contour of the current video frame.
The embodiment of the application provides an extraction element of lumen profile of blood vessel, extraction element includes: the acquisition module is used for acquiring a lumen video sequence of the blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel; the first extraction module is used for taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame; the second extraction module is used for denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame; the third extraction module is used for optimizing the initial lumen contour of the current video frame and determining the target lumen contour of the current video frame; and the determining module is used for determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
Like this, adopt the technical scheme that this application provided can need not to annotate the lumen, also need not to carry out polar coordinate conversion, through carrying out the denoising to the current lumen profile of the first video frame that draws and obtain initial lumen profile, optimize initial lumen profile again, obtain target lumen profile, continue to optimize as the initial lumen profile of next video frame with target lumen profile to extract the lumen profile of blood vessel, in order to obtain accurate glossy lumen profile, improved the efficiency and the accuracy that the lumen profile of blood vessel draws.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 600 includes a processor 610, a memory 620, and a bus 630.
The memory 620 stores machine-readable instructions executable by the processor 610, when the electronic device 600 is running, the processor 610 communicates with the memory 620 through the bus 630, and when the machine-readable instructions are executed by the processor 610, the steps of the method for extracting a lumen contour of a blood vessel in the method embodiments shown in fig. 1 and fig. 2 can be executed, and detailed implementation manners of the method embodiments will be described herein.
The embodiments of the present application further provide a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method for extracting a lumen contour of a blood vessel in the method embodiments shown in fig. 1 and fig. 2 may be executed, and detailed implementation manners may refer to the method embodiments and are not repeated herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of extracting a lumen contour of a blood vessel, the method comprising:
acquiring a lumen video sequence of a blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel;
Taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame;
optimizing the initial lumen contour of the current video frame, and determining the target lumen contour of the current video frame;
and determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
2. The extraction method according to claim 1, wherein the step of obtaining the current lumen contour of the current video frame using the first video frame in the lumen video sequence as the current video frame comprises:
Taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray at intervals of a preset degree by taking a central point of the current video frame as a center to obtain a plurality of rays;
for each ray, determining a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
and sequentially connecting the lumen contour points of each ray to obtain the current lumen contour of the current video frame.
3. The extraction method according to claim 2, wherein the step of determining, for each ray, a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame includes:
for each ray, acquiring sampling points on the ray, and respectively determining the distances between the sampling points and four pixel points around the sampling points through Euclidean distances;
determining a pixel point corresponding to the distance with the smallest value as a pixel point through which the ray passes;
sequentially arranging pixel points through which the rays pass according to the irradiation line direction to obtain a pixel sequence;
And carrying out sliding convolution processing on the pixel sequence to obtain the gray level difference of each pixel point in the pixel sequence.
4. The extraction method according to claim 1, wherein the step of denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as the initial lumen contour of the current video frame includes:
based on the current lumen contour of the current video frame, determining a sector area with a preset angle from the current lumen contour of the current video frame at each preset interval angle;
determining, for each sector, a distance of each lumen contour point in the sector from a center point of the current video frame based on each lumen contour point in the current lumen contour of the current video frame;
determining a variance of the sector based on a distance of each lumen contour point in the sector from a center point of the current video frame;
in the variance of each sector, determining a continuous sector with the largest variance as a target sector;
determining, for each lumen contour point in the target sector, an updated position of each lumen contour point in the target sector;
And updating the current lumen contour based on the updated position of each lumen contour point in the target sector, and determining the updated current lumen contour as the initial lumen contour of the current video frame.
5. The extraction method according to claim 4, wherein the step of determining an updated position of each lumen contour point in the target sector for each lumen contour point in the target sector comprises:
for each lumen contour point in the target sector, determining an update distance from the lumen contour point to the center point of the current video frame based on an angle corresponding to the lumen contour point, a minimum angle of the target sector, a distance from the lumen contour point corresponding to the minimum angle to the center point of the current video frame, a maximum angle of the target sector, and a distance from the lumen contour point corresponding to the maximum angle to the center point of the current video frame;
an updated position of each lumen contour point in the target sector is determined based on the updated distance of each lumen contour point in the target sector and the angle of each lumen contour point in the target sector.
6. The extraction method according to claim 1, characterized in that the initial lumen contour of the current video frame is optimized, and the target lumen contour of the current video frame is determined by:
determining a current energy of each lumen contour point based on a position of each lumen contour point in an initial lumen contour of the current video frame;
moving the lumen contour point according to a preset moving mode aiming at each lumen contour point to obtain the moved position of the lumen contour point, and re-determining the energy of the lumen contour point based on the moved position of the lumen contour point;
if the energy of the lumen contour point is smaller than the current energy of the lumen contour point, updating the energy of the lumen contour point to the current energy of the lumen contour point, and continuing to move the lumen contour point until the energy of the lumen contour point after movement is not smaller than the current energy of the lumen contour point, so as to obtain the target position of the lumen contour point;
and updating the initial lumen contour of the current video frame based on the target position of each lumen contour point, and determining the updated initial lumen contour of the current video frame as the target lumen contour of the current video frame.
7. An extraction device for lumen contours of a blood vessel, the extraction device comprising:
the acquisition module is used for acquiring a lumen video sequence of the blood vessel; the lumen video sequence is a sequence formed by a plurality of video frames shot at intervals along the trend of the blood vessel;
the first extraction module is used for taking a first video frame in the lumen video sequence as a current video frame to obtain a current lumen contour of the current video frame;
the second extraction module is used for denoising the current lumen contour of the current video frame based on the current lumen contour of the current video frame, and determining the denoised current lumen contour as an initial lumen contour of the current video frame;
the third extraction module is used for optimizing the initial lumen contour of the current video frame and determining the target lumen contour of the current video frame;
and the determining module is used for determining whether the current video frame is the last video frame in the lumen video sequence, if not, taking the target lumen contour of the current video frame as the initial lumen contour of the next video frame of the current video frame, updating the next video frame of the current video frame into the current video frame, continuing to optimize until the last video frame in the lumen video sequence, and determining the target lumen contour of each video frame in the lumen video sequence as the lumen contour of a blood vessel.
8. The extraction device of claim 7, wherein the first extraction module is specifically configured to:
taking a first video frame in the lumen video sequence as a current video frame, and transmitting a ray at intervals of a preset degree by taking a central point of the current video frame as a center to obtain a plurality of rays;
for each ray, determining a pixel point through which the ray passes and a gray level difference of each pixel point through which the ray passes in the current video frame;
determining a pixel point corresponding to the gray level difference with the largest value as a lumen contour point of the ray;
and sequentially connecting the lumen contour points of each ray to obtain the current lumen contour of the current video frame.
9. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the method of extracting lumen contour of a blood vessel according to any of claims 1 to 6.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method of extracting lumen contour of a blood vessel according to any one of claims 1 to 6.
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