CN116385540A - Catheter positioning method and catheter positioning device for angiographic non-filling frame - Google Patents
Catheter positioning method and catheter positioning device for angiographic non-filling frame Download PDFInfo
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Abstract
The application provides a catheter positioning method and a catheter positioning device for angiographic non-filling frames, wherein the method comprises the following steps: determining a dynamic gray scale mark graph by using gray scale values corresponding to a plurality of edge pixel points in each frame of contrast image in an angiography video, and determining a starting point of a catheter in each frame of contrast image by using the dynamic gray scale mark graph; for each frame of contrast image, calculating the area of the catheter in the contrast image, which corresponds to the catheter area; and skeletonizing a catheter area in the termination frame contrast image to obtain a catheter center line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter center line. According to the catheter positioning method and the catheter positioning device, the starting point of the catheter can be accurately positioned, so that the catheter position in the non-filling termination frame contrast image is determined, and an important basis is provided for subsequent filling frame catheter positioning.
Description
Technical Field
The application relates to the technical field of medical image processing, in particular to a catheter positioning method and a catheter positioning device for an angiographic non-filling frame.
Background
In angiographic images, the positioning of the catheter is an important premise for the positioning of the starting point of the blood vessel, and the automatic positioning of the catheter is an important premise for the automatic analysis of the blood vessel. The automatic positioning of the catheter of the non-filling frame has important reference significance for the automatic positioning of the catheter of the subsequent filling frame.
Currently, for catheter positioning in angiography, the most commonly used method is mainly based on a deep learning method, wherein a large amount of catheter 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 limitation of this method is that a large amount of data and accurate manual labeling are required, and a large amount of subsequent model training time is required; while the deep learning method is limited by the data, the catheter position may be at any edge of the image, and the model is poorly adapted to such any direction. Another method is a semi-automatic method, such as manually determining a seed point and then growing based on the seed point, which is less automated and requires a point to be selected for each frame, which is cumbersome and complex.
Disclosure of Invention
In view of the foregoing, an object of the present application is to provide a catheter positioning method and a catheter positioning device for non-filling frames of angiography, which can automatically and rapidly and continuously acquire the catheter position of angiography, and accurately position the starting point of the catheter, so as to determine the catheter position in the non-filling termination frame angiography image, and provide an important basis for the catheter positioning of the subsequent filling frames.
In a first aspect, embodiments of the present application provide a catheter positioning method of an angiographic non-filling frame, the catheter positioning method comprising:
acquiring an angiography video, and determining a plurality of edge pixel points in the angiography video;
determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of contrast image in the angiography video, and determining a starting point of a catheter in each frame of contrast image by using the dynamic gray scale mark graph;
for each frame of contrast image, calculating the area of the catheter in the contrast image corresponding to the catheter by using the starting point of the catheter in the contrast image;
sequentially comparing the catheter areas of the catheter areas in any two adjacent frames of angiography images, and taking the previous frame of angiography image as a termination frame of angiography image in a non-filling state when the difference between the catheter area of the catheter area in the next frame of angiography image in the two adjacent frames of angiography images and the catheter area of the catheter area in the previous frame of angiography image in the two adjacent frames of angiography images is larger than or equal to an area difference threshold;
And skeletonizing a catheter area in the termination frame contrast image to obtain a catheter center line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter center line.
Further, the determining a dynamic gray scale mark map by using gray scale values corresponding to a plurality of edge pixel coordinates in each frame of the contrast image, and determining a starting point of the catheter in each frame of the contrast image by using the dynamic gray scale mark map includes:
taking the pixel coordinate values of the edge pixel points in any one frame of contrast image as a horizontal axis and the frame number corresponding to the angiography video as a vertical axis to generate a blank gray scale mark graph;
judging whether the gray value of each edge pixel point in each frame of contrast image is smaller than or equal to a gray threshold value or not;
if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate the dynamic gray scale mark graph;
determining the starting point of the catheter in each frame of contrast image by utilizing a plurality of pixel blocks in the dynamic gray scale mark graph; wherein the pixel block is composed of a plurality of adjacent pixel blocks.
Further, the determining the starting point of the catheter in each frame of the contrast image by using a plurality of pixel blocks in the dynamic gray scale mark map includes:
screening a plurality of pixel blocks in the dynamic gray scale mark graph to determine a target pixel block;
for each row of pixel blocks in the target pixel block, calculating a centroid by using pixel coordinate values corresponding to each pixel block in the row to obtain a centroid coordinate;
and determining the target frame number corresponding to the line of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
Further, the filtering the multiple pixel blocks in the dynamic gray scale mark graph to determine a target pixel block includes:
for each pixel block, judging whether the pixel width of the pixel block is within a preset pixel width range;
if the pixel width of the pixel block is within the pixel width range, continuously judging whether the pixel height of the pixel block is larger than or equal to a preset pixel height threshold value;
And if the pixel height of the pixel block is greater than or equal to the pixel height threshold, determining the pixel block as the target pixel block.
Further, the calculating, by using the starting point of the catheter in the contrast image, the catheter area of the catheter area corresponding to the catheter in the contrast image includes:
taking the starting point as a catheter pixel point, and acquiring a pixel value of the catheter pixel point in the contrast image;
for each adjacent pixel point adjacent to the catheter pixel point in the contrast image, acquiring a pixel value of the adjacent pixel point, and judging whether a difference value between the pixel value of the adjacent pixel point and the pixel value of the catheter pixel point is within a preset range;
if yes, determining the adjacent pixel point as the catheter pixel point;
returning to execute the step of acquiring the pixel value of each adjacent pixel point adjacent to the catheter pixel point in the contrast image until the adjacent pixel point adjacent to the catheter pixel point does not exist in the contrast image, so as to obtain all the catheter pixel points in the contrast image;
and determining the catheter area according to all the catheter pixel points in the contrast image, and calculating the catheter area corresponding to the catheter area according to the number of all the catheter pixel points.
In a second aspect, embodiments of the present application also provide a catheter positioning device for angiographic non-filling frames, the catheter positioning device comprising:
the edge pixel point determining module is used for acquiring angiography video and determining a plurality of edge pixel points in the angiography video;
the catheter starting point determining module is used for determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of contrast image in the angiography video, and determining the starting point of the catheter in each frame of contrast image by using the dynamic gray scale mark graph;
the catheter area determining module is used for calculating the catheter area of the catheter area corresponding to the catheter in the contrast image by utilizing the starting point of the catheter in the contrast image for each frame of the contrast image;
a termination frame contrast image determining module, configured to sequentially compare the catheter areas of the catheter areas in any two adjacent frames of contrast images in the angiographic video, and when a difference between the catheter area of the catheter area in a next frame of contrast image in the two adjacent frames of contrast images and the catheter area of the catheter area in a previous frame of contrast image in the two adjacent frames of contrast images is greater than or equal to an area difference threshold, take the previous frame of contrast image as a termination frame contrast image in a non-filling state;
And the catheter termination point determining module is used for skeletonizing the catheter area in the termination frame contrast image to obtain a catheter central line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter central line.
Further, when the catheter start point determining module is configured to determine a dynamic gray scale marker map by using gray scale values corresponding to a plurality of edge pixel coordinates in each frame of the contrast image, and determine a start point of the catheter in each frame of the contrast image by using the dynamic gray scale marker map, the catheter start point determining module is further configured to:
taking the pixel coordinate values of the edge pixel points in any one frame of contrast image as a horizontal axis and the frame number corresponding to the angiography video as a vertical axis to generate a blank gray scale mark graph;
judging whether the gray value of each edge pixel point in each frame of contrast image is smaller than or equal to a gray threshold value or not;
if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate the dynamic gray scale mark graph;
Determining the starting point of the catheter in each frame of contrast image by utilizing a plurality of pixel blocks in the dynamic gray scale mark graph; wherein the pixel block is composed of a plurality of adjacent pixel blocks.
Further, the catheter start point determining module is further configured to, when configured to determine a start point of the catheter in the each frame of contrast image using the plurality of pixel blocks in the dynamic gray scale map,:
screening a plurality of pixel blocks in the dynamic gray scale mark graph to determine a target pixel block;
for each row of pixel blocks in the target pixel block, calculating a centroid by using pixel coordinate values corresponding to each pixel block in the row to obtain a centroid coordinate;
and determining the target frame number corresponding to the line of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via the bus when the electronic device is running, said machine readable instructions when executed by said processor performing the steps of the catheter positioning method of angiographic non-filling frames as described above.
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 the catheter positioning method of angiographic non-filling frames as described above.
According to the catheter positioning method of the angiography non-filling frame, firstly, angiography video is obtained, and a plurality of edge pixel points in the angiography video are determined; then, determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of the angiography image in the angiography video, and determining a starting point of the catheter in each frame of the angiography image by using the dynamic gray scale mark graph; for each frame of contrast image, calculating the area of the catheter in the contrast image corresponding to the catheter by using the starting point of the catheter in the contrast image; sequentially comparing the catheter areas of the catheter areas in any two adjacent frames of angiography images, and taking the previous frame of angiography image as a termination frame of angiography image in a non-filling state when the difference between the catheter area of the catheter area in the next frame of angiography image in the two adjacent frames of angiography images and the catheter area of the catheter area in the previous frame of angiography image in the two adjacent frames of angiography images is larger than or equal to an area difference threshold; and finally, skeletonizing the catheter area in the termination frame contrast image to obtain a catheter central line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter central line.
According to the catheter positioning method for the angiography non-filling frame, the catheter starting point in each frame of angiography image is obtained through dynamic analysis of the gray level of the peripheral pixels of the angiography image, then the region grows to obtain the end position of the catheter, the catheter position of the angiography can be automatically and rapidly and continuously obtained, the starting point of the catheter is accurately positioned, and therefore the catheter position in the non-filling end frame angiography image is determined, and an important basis is provided for the subsequent filling frame catheter positioning.
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 is a flow chart of a catheter positioning method for angiographic non-filling frames according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a dynamic gray scale map according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a catheter positioning device for angiographic non-filling frames according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. 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. Based on the embodiments of the present application, every other embodiment that a person skilled in the art would obtain without making any inventive effort is within the scope of protection of the present application.
First, application scenarios applicable to the present application will be described. The method and the device can be applied to the technical field of medical image processing.
In angiographic images, the positioning of the catheter is an important premise for the positioning of the starting point of the blood vessel, and the automatic positioning of the catheter is an important premise for the automatic analysis of the blood vessel. The automatic positioning of the catheter of the non-filling frame has important reference significance for the automatic positioning of the catheter of the subsequent filling frame.
According to research, at present, aiming at catheter positioning in angiography, the most commonly used method is mainly based on a deep learning method, a large amount of catheter 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 limitation of this method is that a large amount of data and accurate manual labeling are required, and a large amount of subsequent model training time is required; while the deep learning method is limited by the data, the catheter position may be at any edge of the image, and the model is poorly adapted to such any direction. Another method is a semi-automatic method, such as manually determining a seed point and then growing based on the seed point, which is less automated and requires a point to be selected for each frame, which is cumbersome and complex.
Based on this, the embodiment of the application provides a catheter positioning method of an angiographic non-filling frame, so as to automatically and quickly determine the catheter position in a non-filling termination frame angiographic image.
Referring to fig. 1, fig. 1 is a flowchart of a catheter positioning method for angiographic non-filling frames according to an embodiment of the present application. As shown in fig. 1, a catheter positioning method provided in an embodiment of the present application includes:
s101, acquiring angiography video, and determining a plurality of edge pixel points in the angiography video.
It should be noted that, the edge pixel points refer to the pixel points of the edge in each frame of the angiographic image in the angiographic video.
Since the catheter may enter the contrast image from different directions, a plurality of edge pixels need to be determined to locate the catheter origin. For the above step S101, in implementation, an angiographic video is acquired, and a plurality of edge pixel points in the angiographic video are determined. Here, when determining the edge pixel points, any frame of the angiographic video image may be selected, all the boundary pixels in the angiographic video image may be selected as the edge pixel points, and the position of each edge pixel point is recorded, for example, the pixel coordinates of the edge pixel points in the angiographic image include (0, 0), (455,0), (0,455), (455), and the like, where the abscissa and the ordinate must satisfy at least one maximum value of 0 or at least one pixel size of the angiographic image.
S102, determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of the angiography image in the angiography video, and determining a starting point of the catheter in each frame of the angiography image by using the dynamic gray scale mark graph.
It should be noted that the dynamic gray scale marker is used for recording whether the gray scale value of each edge pixel point in each frame of contrast image meets the preset gray scale value condition.
For the step S102, in implementation, a dynamic gray scale mark map is determined by using gray scale values corresponding to a plurality of edge pixel points in each frame of the angiographic image in the angiographic video, and a starting point of the catheter in each frame of the angiographic image is determined by using the dynamic gray scale mark map.
Specifically, for the step S102, the determining a dynamic gray scale map by using gray scale values corresponding to a plurality of edge pixel coordinates in each frame of the contrast image, and determining a starting point of the catheter in each frame of the contrast image by using the dynamic gray scale map includes:
and 1021, generating a blank gray scale mark graph by taking a pixel coordinate value of the plurality of edge pixel points in any one frame of the angiography image as a horizontal axis and taking the frame number corresponding to the angiography video as a vertical axis.
The blank gray scale mark map refers to a blank mark map generated based on pixel coordinates of a plurality of edge pixel points and the number of frames of a contrast image in an angiographic video. The pixel coordinates of the plurality of edge pixel points in the contrast image are ordered according to a preset sequence, the pixel coordinates serve as the horizontal axis of the blank gray scale mark image, the frame number N of the contrast image in the angiography video is assumed, and the frame number is ordered sequentially from 0 to N, so that the pixel coordinates serve as the vertical axis of the blank gray scale mark image.
In the specific implementation of step 1021, a blank gray scale map is generated by taking the pixel coordinate values of a plurality of edge pixel points in any one frame of the angiographic image as the horizontal axis and the number of frames corresponding to the angiographic video as the vertical axis. Here, the horizontal axis in the blank gray scale mark chart indicates the pixel coordinates of each edge pixel point in the contrast image, and the vertical axis indicates the number of frames of the contrast image in the angiographic video. As an example, when the number of frames of the contrast image in the angiographic video is N, the vertical axis of the blank gray scale mark map is sorted in ascending order from 0 to N. Each grid in the horizontal direction corresponds to the pixel coordinates of one edge pixel point, and each grid in the vertical direction corresponds to the frame number of one frame of contrast image in the angiographic video.
Step 1022, for each edge pixel in each frame of the contrast image, determines whether the gray value of the edge pixel in the contrast image is less than or equal to the gray threshold.
Step 1023, if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video, so as to generate the dynamic gray scale mark graph.
The gray threshold is a gray threshold that is preset to determine whether the edge pixel can be marked. For example, the gray threshold value may be set to 100 in advance, and the present application is not particularly limited.
For the steps 1022-1023, in implementation, the position of the catheter in the contrast image is displayed darker due to the contrast agent, so that the edge pixel point with the gray value less than or equal to the gray threshold needs to be screened out. For each edge pixel point in each frame of contrast image, judging whether the gray value of the edge pixel point in the contrast image is smaller than or equal to a gray threshold value. If so, drawing a pixel block corresponding to the edge pixel point in a blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate a dynamic gray scale mark graph.
Referring to fig. 2, fig. 2 is a schematic diagram of a dynamic gray scale mark according to an embodiment of the present application. As shown in fig. 2, each black pixel block in fig. 2 represents an edge pixel point satisfying the condition.
Step 1024, determining a starting point of the catheter in the each frame of contrast image by using the pixel blocks in the dynamic gray scale marker map.
Here, the pixel block is composed of a plurality of adjacent pixel blocks.
For the above step 1024, when the dynamic gray scale map is drawn, a plurality of pixel blocks in the dynamic gray scale map are determined, where the pixel blocks are composed of a plurality of adjacent pixel blocks. The starting point of the catheter in each frame of contrast image is then determined using the plurality of pixel blocks in the dynamic gray scale map. Here, as shown in fig. 2 as an example, four pixel blocks, namely, a pixel block a, a pixel block B, a pixel block C, and a pixel block D are included in fig. 2.
Specifically, for step 1024, determining the starting point of the catheter in the each frame of contrast image by using the multiple pixel blocks in the dynamic gray scale marker map includes:
And 10241, screening the pixel blocks in the dynamic gray scale mark graph to determine a target pixel block.
For the above step 10241, in implementation, the multiple pixel blocks in the dynamic gray scale map are filtered to determine the target pixel block.
Specifically, for the step 10241, the filtering the multiple pixel blocks in the dynamic gray scale marker map to determine the target pixel block includes:
a: for each pixel block, it is determined whether the pixel width of the pixel block is within a preset pixel width range.
The pixel width range is a preset width range for determining whether the pixel blocks satisfy the screening condition. For example, the pixel width range is set in advance to be greater than 4 pixel widths and less than 10 pixel widths.
Here, the size of the conduit is generally 5F or 6F, and is expressed as about 6 pixels on the image, so that pixel blocks whose pixel width is not within the pixel width range need to be excluded. For the step a, in the implementation, for each pixel block, it is determined whether the pixel width of the pixel block is within a preset pixel width range, if not, the pixel block is screened out, and if yes, the following step B is continuously executed.
B: if the pixel width of the pixel block is within the pixel width range, continuing to judge whether the pixel height of the pixel block is greater than or equal to a preset pixel height threshold.
C: and if the pixel height of the pixel block is greater than or equal to the pixel height threshold, determining the pixel block as the target pixel block.
The pixel height threshold is a preset height threshold for determining whether the pixel blocks satisfy the screening condition. For example, the pixel height threshold may be set to 0.9 times the number of contrast image frames.
For the above step B, in implementation, since the catheter is always present on the contrast image, it is necessary to determine whether the pixel height of the pixel block is greater than or equal to the preset pixel height threshold, if not, the pixel block is screened out, if yes, the above step C is continuously performed, and the pixel block is determined as the target pixel block.
As an alternative embodiment, since the catheter is dynamically changing, some pixel patches in the dynamic gray scale map represent static, and also need to be screened out. After the above three conditions are screened out, there is still more than one pixel block, and at this time, the pixel block with the highest pixel height (longest existing time) is selected as the target pixel block. Here, as shown in fig. 2, for example, the pixel block a in fig. 2 is the finally determined target pixel block that meets the filtering condition.
Step 10242, for each row of pixel blocks in the target pixel block, calculating a centroid by using the pixel coordinate value corresponding to each pixel block in the row to obtain a centroid coordinate.
For the above step 10242, in the implementation, after the target pixel block is determined, for each row of pixel blocks in the target pixel block, the centroid is calculated by using the pixel coordinate value corresponding to each pixel block in the row, so as to obtain the centroid coordinate. Specifically, the centroid calculation method is as follows:
where i denotes the i-th frame, c (i) =c (x, y) denotes the centroid coordinates of the i-th frame, M denotes that there are M pixel blocks on the i-th frame, e.g., as in pixel block a in fig. 2, there are two pixel blocks on line 0, where m=2, and (x) j ，y j ) Representing the pixel coordinate values corresponding to the pixel blocks in the horizontal axis.
And 10243, determining a target frame number corresponding to the row of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
For the above step 10243, in the implementation, after the centroid coordinates corresponding to the row of pixel blocks are determined, the target frame number corresponding to the row of pixel blocks is determined in the dynamic gray scale mark map, and the starting point of the catheter in the contrast image corresponding to the target frame number in the angiographic video is determined according to the centroid coordinates. Here, since the vertical axis of the dynamic gray scale mark represents the number of frames, the number of target frames corresponding to the line of pixel blocks is determined, and the contrast image corresponding to the number of target frames is determined in the angiographic video, and the point corresponding to the centroid coordinate in the contrast image is the starting point of the catheter in the contrast image.
S103, for each frame of contrast image, calculating the area of the catheter in the contrast image, corresponding to the catheter, by using the starting point of the catheter in the contrast image.
In the specific implementation of step S103, the catheter area of the catheter region corresponding to the catheter in the contrast image is calculated by using the start point of the catheter in the contrast image for each frame of the contrast image.
Specifically, for the step S103, the calculating, by using the starting point of the catheter in the contrast image, the catheter area of the catheter region corresponding to the catheter in the contrast image includes:
step 1031, taking the starting point as a catheter pixel point, and acquiring a pixel value of the catheter pixel point in the contrast image.
Step 1032, for each adjacent pixel point adjacent to the catheter pixel point in the contrast image, acquiring a pixel value of the adjacent pixel point, and determining whether a difference value between the pixel value of the adjacent pixel point and the pixel value of the catheter pixel point is within a preset range.
And step 1033, if yes, determining the adjacent pixel point as the catheter pixel point.
And step 1034, returning to execute the step of obtaining the pixel value of each adjacent pixel point adjacent to the catheter pixel point in the contrast image until the adjacent pixel point adjacent to the catheter pixel point does not exist in the contrast image, and obtaining all the catheter pixel points in the contrast image.
Here, in order to determine the region of the catheter in each frame of the contrast image, region generation needs to be performed from the start point of the catheter. For the above steps 1031-1034, in implementation, the starting point is taken as the catheter pixel point, and the pixel value of the catheter pixel point in the contrast image is obtained. For each adjacent pixel point adjacent to the catheter pixel point in the contrast image, acquiring a pixel value of the adjacent pixel point, and judging whether a difference value between the pixel value of the adjacent pixel point and the pixel value of the catheter pixel point is within a preset range. If yes, the adjacent pixel point is determined to be the conduit pixel point. And then continuously extending forward according to the above condition, and returning to execute the step of obtaining the pixel value of each adjacent pixel point in the contrast image for each adjacent pixel point adjacent to the catheter pixel point in the step 1032 until the adjacent pixel point adjacent to the catheter pixel point does not exist in the contrast image, and then considering that all the pixel points cannot grow outwards, thus obtaining all the catheter pixel points in the contrast image.
Step 1035, determining the catheter area according to the total catheter pixel points in the contrast image, and calculating the catheter area corresponding to the catheter area according to the number of the total catheter pixel points.
For the above step 1035, in a specific implementation, after all the catheter pixels in the contrast image are determined, all the catheter pixels are determined as the catheter area, and then the catheter area corresponding to the catheter area is calculated according to the number of all the catheter pixels. Here, the catheter area is calculated by the following formula:
wherein S is i Representing the area of the catheter corresponding to the catheter region of the ith frame, M is the number of all catheter pixels after the growth of the ith frame is completed, where it can be considered that the area of each catheter pixel is 1, then S i I.e. the number of catheter pixels multiplied by 1.
And S104, sequentially comparing the catheter areas of the catheter areas in any two adjacent frames of angiography images, and taking the previous frame of angiography image as a termination frame of angiography image in a non-filling state when the difference between the catheter area of the catheter area in the next frame of angiography image in the two adjacent frames and the catheter area of the catheter area in the previous frame of angiography image in the two adjacent frames is larger than or equal to an area difference threshold.
The adjacent two-frame contrast image refers to any adjacent two-frame contrast image in the angiographic video. For example, the 0 th frame of contrast image and the 1 st frame of contrast image are two adjacent frames of contrast images, at this time, the 0 th frame of contrast image is the previous frame of contrast image in the two adjacent frames of contrast images, and the 1 st frame of contrast image is the next frame of contrast image in the two adjacent frames of contrast images. The area difference threshold may be 30% of the catheter area of the catheter region in the previous frame of the contrast image, which is not particularly limited in this application.
For the step S104, in the implementation, the catheter areas of the catheter areas in any two adjacent frames of angiographic images in the angiographic video are sequentially compared, and when the ratio between the catheter area of the catheter area in the next frame of angiographic image in the two adjacent frames and the catheter area of the catheter area in the previous frame of angiographic image in the two adjacent frames is greater than or equal to the area difference threshold, the previous frame of angiographic image is taken as the termination frame of angiographic image in the non-filling state. Here, starting from the 0 th frame of contrast image, when the catheter area in the subsequent frame of contrast image is increased dramatically compared with the catheter area in the previous frame of contrast image, for example, if the catheter area in the subsequent frame of contrast image is set to be more than 30% of the catheter area in the previous frame of contrast image, the contrast agent starts to fill, the subsequent frame of contrast image is the first frame in the filled state, and the previous frame is the last frame in the non-filled state.
S105, skeletonizing the catheter area in the termination frame contrast image to obtain a catheter center line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter center line.
In the specific implementation of step S105, the catheter region in the end-frame contrast image is determined, and then the catheter region is skeletonized, thereby obtaining the catheter center line. Here, digital image skeletonization (skeletonization) is a process of changing a foreground region in a binarized image into its "skeleton". In general, the step of skeletonizing a digital image can be summarized as follows: 1. image preprocessing: it is often necessary to perform some preprocessing operations on the image, such as removing noise, smoothing, etc., in order to better extract the image skeleton. 2. Extracting edges: edges in the image may be extracted using some edge detection algorithm, such as the Canny algorithm, etc. 3. Extracting a central axis: the edge lines are contracted inwards until the central axis is extracted. Common algorithms include distance transformation, refinement algorithms, and the like. 4. Refining the skeleton: and carrying out some post-treatment operations on the extracted skeleton so as to make the skeleton finer and continuous. Such as breakpoint connection, outlier removal, etc. The other end point after skeletonization is the conduit end point. The other end point of the catheter centerline, except for the start point of the catheter, may be determined as the end point of the catheter in the end frame contrast image.
According to the catheter positioning method of the angiography non-filling frame, firstly, angiography video is obtained, and a plurality of edge pixel points in the angiography video are determined; then, determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of the angiography image in the angiography video, and determining a starting point of the catheter in each frame of the angiography image by using the dynamic gray scale mark graph; for each frame of contrast image, calculating the area of the catheter in the contrast image corresponding to the catheter by using the starting point of the catheter in the contrast image; sequentially comparing the catheter areas of the catheter areas in any two adjacent frames of angiography images, and taking the previous frame of angiography image as a termination frame of angiography image in a non-filling state when the difference between the catheter area of the catheter area in the next frame of angiography image in the two adjacent frames of angiography images and the catheter area of the catheter area in the previous frame of angiography image in the two adjacent frames of angiography images is larger than or equal to an area difference threshold; and finally, skeletonizing the catheter area in the termination frame contrast image to obtain a catheter central line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter central line.
According to the catheter positioning method for the angiography non-filling frame, the catheter starting point in each frame of angiography image is obtained through dynamic analysis of the gray level of the peripheral pixels of the angiography image, then the region grows to obtain the end position of the catheter, the catheter position of the angiography can be automatically and rapidly and continuously obtained, the starting point of the catheter is accurately positioned, and therefore the catheter position in the non-filling end frame angiography image is determined, and an important basis is provided for the subsequent filling frame catheter positioning.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a catheter positioning device for angiographic non-filling frames according to an embodiment of the present application. As shown in fig. 3, the catheter positioning device 300 includes:
an edge pixel point determining module 301, configured to acquire an angiography video, and determine a plurality of edge pixel points in the angiography video;
a catheter start point determining module 302, configured to determine a dynamic gray scale mark map according to gray scale values corresponding to the plurality of edge pixel points in each frame of the angiographic image in the angiographic video, and determine a start point of a catheter in each frame of the angiographic image according to the dynamic gray scale mark map;
A catheter area determining module 303, configured to calculate, for each frame of a contrast image, a catheter area of a catheter area corresponding to the catheter in the contrast image, using a start point of the catheter in the contrast image;
a termination frame contrast image determining module 304, configured to sequentially compare the catheter areas of the catheter areas in any two adjacent frames of contrast images in the angiographic video, and when a difference between the catheter area of the catheter area in a next frame of contrast image in the two adjacent frames of contrast images and the catheter area of the catheter area in a previous frame of contrast image in the two adjacent frames of contrast images is greater than or equal to an area difference threshold, take the previous frame of contrast image as a termination frame contrast image in a non-filling state;
the catheter termination point determining module 305 is configured to skeletonize a catheter region in the termination frame contrast image to obtain a catheter centerline, and determine a termination point of the catheter in the termination frame contrast image based on the catheter centerline.
Further, when the catheter start point determining module 302 is configured to determine a dynamic gray scale map by using gray scale values corresponding to a plurality of edge pixel coordinates in each of the contrast images, and determine a start point of the catheter in each of the contrast images by using the dynamic gray scale map, the catheter start point determining module 302 is further configured to:
Taking the pixel coordinate values of the edge pixel points in any one frame of contrast image as a horizontal axis and the frame number corresponding to the angiography video as a vertical axis to generate a blank gray scale mark graph;
judging whether the gray value of each edge pixel point in each frame of contrast image is smaller than or equal to a gray threshold value or not;
if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate the dynamic gray scale mark graph;
determining the starting point of the catheter in each frame of contrast image by utilizing a plurality of pixel blocks in the dynamic gray scale mark graph; wherein the pixel block is composed of a plurality of adjacent pixel blocks.
Further, when the catheter start point determining module 302 is configured to determine the start point of the catheter in the each frame of contrast image using the plurality of pixel blocks in the dynamic gray scale map, the catheter start point determining module 302 is further configured to:
screening a plurality of pixel blocks in the dynamic gray scale mark graph to determine a target pixel block;
For each row of pixel blocks in the target pixel block, calculating a centroid by using pixel coordinate values corresponding to each pixel block in the row to obtain a centroid coordinate;
and determining the target frame number corresponding to the line of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
Further, when the catheter start point determining module 302 is configured to screen the plurality of pixel blocks in the dynamic gray scale map to determine the target pixel block, the catheter start point determining module 302 is further configured to:
for each pixel block, judging whether the pixel width of the pixel block is within a preset pixel width range;
if the pixel width of the pixel block is within the pixel width range, continuously judging whether the pixel height of the pixel block is larger than or equal to a preset pixel height threshold value;
and if the pixel height of the pixel block is greater than or equal to the pixel height threshold, determining the pixel block as the target pixel block.
Further, when the catheter area determining module 303 is configured to calculate the catheter area of the catheter area corresponding to the catheter in the contrast image using the starting point of the catheter in the contrast image, the catheter area determining module 303 is further configured to:
Taking the starting point as a catheter pixel point, and acquiring a pixel value of the catheter pixel point in the contrast image;
for each adjacent pixel point adjacent to the catheter pixel point in the contrast image, acquiring a pixel value of the adjacent pixel point, and judging whether a difference value between the pixel value of the adjacent pixel point and the pixel value of the catheter pixel point is within a preset range;
if yes, determining the adjacent pixel point as the catheter pixel point;
returning to execute the step of acquiring the pixel value of each adjacent pixel point adjacent to the catheter pixel point in the contrast image until the adjacent pixel point adjacent to the catheter pixel point does not exist in the contrast image, so as to obtain all the catheter pixel points in the contrast image;
and determining the catheter area according to all the catheter pixel points in the contrast image, and calculating the catheter area corresponding to the catheter area according to the number of all the catheter pixel points.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.
The memory 420 stores machine-readable instructions executable by the processor 410, and when the electronic device 400 is running, the processor 410 communicates with the memory 420 through the bus 430, and when the machine-readable instructions are executed by the processor 410, the steps of the catheter positioning method of the angiographic non-filling frame in the method embodiment shown in fig. 1 can be executed, and detailed implementation can be referred to the method embodiment and will not be repeated herein.
The embodiment of the present application further provides 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 catheter positioning method of angiographic non-filling frames in the method embodiment shown in fig. 1 may be executed, and a specific implementation manner may refer to the method embodiment and will not be described 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.
It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
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 catheter positioning method of an angiographic non-filling frame, the catheter positioning method comprising:
acquiring an angiography video, and determining a plurality of edge pixel points in the angiography video;
determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of contrast image in the angiography video, and determining a starting point of a catheter in each frame of contrast image by using the dynamic gray scale mark graph;
for each frame of contrast image, calculating the area of the catheter in the contrast image corresponding to the catheter by using the starting point of the catheter in the contrast image;
sequentially comparing the catheter areas of the catheter areas in any two adjacent frames of angiography images, and taking the previous frame of angiography image as a termination frame of angiography image in a non-filling state when the difference between the catheter area of the catheter area in the next frame of angiography image in the two adjacent frames of angiography images and the catheter area of the catheter area in the previous frame of angiography image in the two adjacent frames of angiography images is larger than or equal to an area difference threshold;
And skeletonizing a catheter area in the termination frame contrast image to obtain a catheter center line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter center line.
2. The catheter positioning method according to claim 1, wherein determining a dynamic gray scale map using gray scale values corresponding to a plurality of edge pixel coordinates in each of the plurality of contrast images, and determining a start point of the catheter in each of the plurality of contrast images using the dynamic gray scale map, comprises:
taking the pixel coordinate values of the edge pixel points in any one frame of contrast image as a horizontal axis and the frame number corresponding to the angiography video as a vertical axis to generate a blank gray scale mark graph;
judging whether the gray value of each edge pixel point in each frame of contrast image is smaller than or equal to a gray threshold value or not;
if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate the dynamic gray scale mark graph;
Determining the starting point of the catheter in each frame of contrast image by utilizing a plurality of pixel blocks in the dynamic gray scale mark graph; wherein the pixel block is composed of a plurality of adjacent pixel blocks.
3. The catheter positioning method of claim 2, wherein determining a starting point of the catheter in the each frame of the contrast image using the plurality of pixel patches in the dynamic gray scale map comprises:
screening a plurality of pixel blocks in the dynamic gray scale mark graph to determine a target pixel block;
for each row of pixel blocks in the target pixel block, calculating a centroid by using pixel coordinate values corresponding to each pixel block in the row to obtain a centroid coordinate;
and determining the target frame number corresponding to the line of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
4. A catheter positioning method according to claim 3, wherein said filtering the plurality of pixel segments in the dynamic gray scale map to determine a target pixel segment comprises:
For each pixel block, judging whether the pixel width of the pixel block is within a preset pixel width range;
if the pixel width of the pixel block is within the pixel width range, continuously judging whether the pixel height of the pixel block is larger than or equal to a preset pixel height threshold value;
and if the pixel height of the pixel block is greater than or equal to the pixel height threshold, determining the pixel block as the target pixel block.
5. The catheter positioning method according to claim 1, wherein the calculating the catheter area of the catheter region corresponding to the catheter in the contrast image using the starting point of the catheter in the contrast image includes:
taking the starting point as a catheter pixel point, and acquiring a pixel value of the catheter pixel point in the contrast image;
for each adjacent pixel point adjacent to the catheter pixel point in the contrast image, acquiring a pixel value of the adjacent pixel point, and judging whether a difference value between the pixel value of the adjacent pixel point and the pixel value of the catheter pixel point is within a preset range;
if yes, determining the adjacent pixel point as the catheter pixel point;
Returning to execute the step of acquiring the pixel value of each adjacent pixel point adjacent to the catheter pixel point in the contrast image until the adjacent pixel point adjacent to the catheter pixel point does not exist in the contrast image, so as to obtain all the catheter pixel points in the contrast image;
and determining the catheter area according to all the catheter pixel points in the contrast image, and calculating the catheter area corresponding to the catheter area according to the number of all the catheter pixel points.
6. A catheter positioning device for angiographic non-filling frames, said catheter positioning device comprising:
the edge pixel point determining module is used for acquiring angiography video and determining a plurality of edge pixel points in the angiography video;
the catheter starting point determining module is used for determining a dynamic gray scale mark graph by using gray scale values corresponding to the edge pixel points in each frame of contrast image in the angiography video, and determining the starting point of the catheter in each frame of contrast image by using the dynamic gray scale mark graph;
the catheter area determining module is used for calculating the catheter area of the catheter area corresponding to the catheter in the contrast image by utilizing the starting point of the catheter in the contrast image for each frame of the contrast image;
A termination frame contrast image determining module, configured to sequentially compare the catheter areas of the catheter areas in any two adjacent frames of contrast images in the angiographic video, and when a difference between the catheter area of the catheter area in a next frame of contrast image in the two adjacent frames of contrast images and the catheter area of the catheter area in a previous frame of contrast image in the two adjacent frames of contrast images is greater than or equal to an area difference threshold, take the previous frame of contrast image as a termination frame contrast image in a non-filling state;
and the catheter termination point determining module is used for skeletonizing the catheter area in the termination frame contrast image to obtain a catheter central line, and determining the termination point of the catheter in the termination frame contrast image based on the catheter central line.
7. The catheter positioning device of claim 6, wherein the catheter start point determination module, when configured to determine a dynamic gray scale map using gray scale values corresponding to a plurality of edge pixel coordinates in each of the plurality of contrast images, and determine a start point of a catheter in each of the plurality of contrast images using the dynamic gray scale map, is further configured to:
Taking the pixel coordinate values of the edge pixel points in any one frame of contrast image as a horizontal axis and the frame number corresponding to the angiography video as a vertical axis to generate a blank gray scale mark graph;
judging whether the gray value of each edge pixel point in each frame of contrast image is smaller than or equal to a gray threshold value or not;
if yes, drawing a pixel block corresponding to the edge pixel point in the blank gray scale mark graph according to the pixel coordinate value of the edge pixel point in the contrast image and the frame number corresponding to the contrast image in the angiography video so as to generate the dynamic gray scale mark graph;
determining the starting point of the catheter in each frame of contrast image by utilizing a plurality of pixel blocks in the dynamic gray scale mark graph; wherein the pixel block is composed of a plurality of adjacent pixel blocks.
8. The catheter positioning device of claim 7, wherein the catheter start point determination module, when configured to determine a start point of the catheter in the per-frame contrast image using a plurality of pixel patches in the dynamic gray scale map, is further configured to:
Screening a plurality of pixel blocks in the dynamic gray scale mark graph to determine a target pixel block;
for each row of pixel blocks in the target pixel block, calculating a centroid by using pixel coordinate values corresponding to each pixel block in the row to obtain a centroid coordinate;
and determining the target frame number corresponding to the line of pixel blocks in the dynamic gray scale mark graph, and determining the starting point of the catheter in a contrast image corresponding to the target frame number in the angiography video according to the centroid coordinates.
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 catheter localization method of angiographic non-filling frames according to any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, performs the steps of the catheter localization method of angiographic non-filling frames according to any one of claims 1 to 5.
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| CN116616804B (en) * | 2023-07-25 | 2023-10-13 | 杭州脉流科技有限公司 | Method, device, equipment and storage medium for acquiring intracranial arterial stenosis evaluation parameters |
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