CN117197393A - Bone data processing method, readable storage medium, and bone data processing apparatus - Google Patents
Bone data processing method, readable storage medium, and bone data processing apparatus Download PDFInfo
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Abstract
The application relates to a bone data processing method, a readable storage medium and bone data processing equipment, which are used for acquiring a target bone image, acquiring a surface patch and a vertex of a grid model by utilizing the grid model of a rasping tool suitable for the target bone, and further extracting a rasping surface of the rasping tool; primarily screening the target skeleton image according to the size of the grid model to obtain a first region to be ground; and further screening the target bone image according to the grinding file, obtaining a second region to be ground, and obtaining the total region to be ground of the target bone according to the first region to be ground and the second region to be ground. The skeleton image data does not need to be converted into a grid model data format of the file grinding tool, the region to be ground can be obtained, the timeliness of skeleton image data processing is improved, and the region to be ground maintains the image data characteristics, so that the skeleton image data processing method can be used for displaying effects, performing more image post-processing operations, storing the image post-processing data as new data and expanding the scope of image post-processing.
Description
The application is a divisional application with the application date 2021, 3 months and 17 days, the application number 202110284935.7 and the name of bone data processing method, system, readable storage medium and device.
Technical Field
The application relates to the technical field of medical images, in particular to a bone data processing method, a readable storage medium and bone data processing equipment.
Background
At present, the incidence rate of diseases of bone joints is high, especially the proliferation medium of bones, and the bone repair is considered as a better treatment scheme, so that the method can be applied to diseases such as fracture, bone necrosis, congenital bone dysplasia and the like.
In the practical application of bone repair, a rasping tool is often used to rasp bones, and how to determine the area to be rasped of the bones is a key step. In the related art, bone data is generally converted into a grid model data format of the rasping tool, and an intersection between the grid model of the bone and the grid model of the rasping tool when the bone model is placed at a planned position is calculated to determine a region to be rasped. The calculation of the region to be grinded is usually only used for displaying the visual effect of the region to be grinded, and the image post-processing operation is difficult to execute in the grid model environment, so that the expansibility of the image post-processing algorithm is reduced.
Disclosure of Invention
Based on this, it is necessary to provide a bone data processing method, a readable storage medium and a bone data processing apparatus for solving the problem that the image post-processing operation is difficult to be performed for the calculation of the region to be ground in the related art, and the expansibility of the image post-processing algorithm is reduced.
In a first aspect, the present application provides a bone data processing method, comprising the steps of:
acquiring a target skeleton image;
analyzing a grid model of a file grinding tool applicable to a target bone, obtaining a surface piece and a vertex of the grid model, and extracting a file grinding surface of the file grinding tool according to the surface piece and the vertex; wherein the vertex is located at the edge of the dough sheet;
screening the target skeleton image according to the size of the grid model to obtain a first region to be ground;
screening the target bone image according to the grinding file to obtain a second region to be ground;
and setting labels for the first to-be-ground area and the second to-be-ground area to obtain screening results with labels, and outputting and displaying the screening results.
In one embodiment, the rasping surface of the rasping tool according to the patch and vertex extraction includes the steps of:
traversing the normal vector of the patch of the grid model, and screening the patch according to the normal vector to obtain a first patch, wherein the direction of the normal vector of the first patch points to the outer side of the grid model;
And obtaining a rasping surface according to the first surface piece.
In one embodiment, obtaining rasped surfaces from a first sheet includes the steps of:
traversing the vertexes of the first surface sheet, obtaining the distance from the vertexes of the first surface sheet to the center point of the grid model as a first distance, and taking the vertexes of the first surface sheet as first body pixels of the rasping surface if the absolute difference value between the first distance and the size of the grid model is smaller than a preset value so as to obtain the rasping surface.
In one embodiment, the screening the target bone image according to the size of the grid model, and obtaining the second voxel point of the target bone image located in the grid model area as the first to-be-ground area includes the following steps:
and matching the positions of the grid model and the target bone image, and obtaining the distance between the second voxel point and the center point of the grid model as a second distance, wherein the second voxel point comprises voxel points of the target bone image, and if the second distance is smaller than the difference between the size of the grid model and the threshold value, taking the set of the second voxel points as a first region to be ground.
In one embodiment, the step of screening the target bone image according to the rasping, and obtaining the third voxel point inside the rasping surface of the mesh model as the second area to be rasped includes the steps of:
Matching the positions of the grid model and the target bone image, and obtaining a voxel point of the target bone image as a third voxel point, wherein the distance between the third voxel point and the central point of the grid model is within a preset range, the maximum value of the preset range is the sum of the size of the grid model and a threshold value, and the minimum value of the preset range is the difference between the size of the grid model and the threshold value;
and if the third voxel point is on the inner side of the surface patch of the grid model, taking the set of the third voxel point as a second region to be ground.
In one embodiment, if the third voxel point is inside the patch of the mesh model, taking the set of third voxel points as the second region to be ground includes the following steps:
acquiring a first direction vector of a third voxel point relative to a central point of the grid model and a normal vector of a surface patch of the rasped surface;
determining a second panel closest to the third voxel point according to the included angle between the first direction vector and the normal vector;
and acquiring a second direction vector from the third voxel point to the vertex of the second panel, and judging whether the third voxel point is on the inner side of the second panel according to the included angle between the second direction vector and the normal vector of the second panel.
In one embodiment, the bone data processing method further includes:
Acquiring a total region to be ground of the target bone according to the first region to be ground and the second region to be ground;
in the case where there is an overlap portion between the first region to be ground and the second region to be ground, the overlap portion is acquired once.
In one embodiment, the target bone image comprises a hip joint image and the mesh model of the rasping tool comprises a sphere.
In a second aspect, the present application provides a readable storage medium having stored thereon an executable program which when executed by a processor performs the steps of any of the above bone data processing methods.
In a third aspect, the present application provides a bone data processing apparatus comprising a robotic arm, an electric file and an optical navigation instrument; the optical navigation instrument is used for driving the mechanical arm to move according to the first to-be-ground area and the second to-be-ground area determined by the bone data processing method; the electric file is positioned at the tail end of the mechanical arm, and when the mechanical arm moves to the appointed position of the target bone, the target bone is ground and filed.
In a fourth aspect, the present application provides a medical device comprising a scanner, a network, one or more terminals, a processing engine, and a memory;
the medical equipment is used for realizing any bone data processing method.
Compared with the related art, the bone data processing method, the readable storage medium and the bone data processing equipment provided by the application are used for acquiring a target bone image, acquiring a surface piece and a vertex of a grid model by utilizing the grid model of a file grinding tool applicable to the target bone, and further extracting a file grinding surface of the file grinding tool; primarily screening the target skeleton image according to the size of the grid model to obtain a first region to be ground; and further screening the target bone image according to the grinding file, setting labels for the first to-be-ground area and the second to-be-ground area, obtaining a screening result with the labels, and outputting and displaying the screening result. In the specific implementation process, the bone image data does not need to be converted into a grid model data format of the file grinding tool, the region to be ground can be obtained, the timeliness of bone image data processing is improved, and the region to be ground maintains the image data characteristics, so that the method can be used for displaying effects, performing more image post-processing operations and storing the image post-processing data as new data, and the scope of image post-processing is expanded.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a schematic diagram of an exemplary medical device 100 in one embodiment;
FIG. 2 is a schematic diagram of exemplary hardware and/or software components of an exemplary computing device 200 on which processing engine 140 is implemented in one embodiment;
FIG. 3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device 300 on which terminal 130 may be implemented in one embodiment;
FIG. 4 is a flow diagram of a bone data processing method in one embodiment;
FIG. 5 is a rendering of a mesh model of the rasping tool in one embodiment;
FIG. 6 is a schematic drawing of an extraction flow of a rasped surface in one embodiment;
FIG. 7 is a schematic diagram showing the effect of screening a region to be ground in one embodiment;
FIG. 8 is a schematic diagram of selecting nearest neighbor patches in one embodiment;
FIG. 9 is a schematic diagram of determining voxel points inside and outside a patch in one embodiment;
FIG. 10 is a graph of the visualization effect of all vertices of an acetabular file mesh model in one embodiment;
FIG. 11 is an extraction effect plot of the rasped surface of the acetabular rasp mesh model in one embodiment;
FIG. 12 is a schematic view of a scene simulation of an acetabular rasp in one embodiment;
FIG. 13 is a schematic view showing the effect of an acetabular rasp in one embodiment;
FIG. 14 is a schematic diagram of a skeletal data processing system in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the scope of the application.
As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
While the present application makes various references to certain modules in a system according to embodiments of the present application, any number of different modules may be used and run on an imaging system and/or processor. The modules are merely illustrative and different aspects of the systems and methods may use different modules.
A flowchart is used in the present application to describe the operations performed by a system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.
FIG. 1 is a schematic diagram of an exemplary medical device 100 for skeletal data processing, according to one embodiment. Referring to fig. 1, a medical device 100 may include a scanner 110, a network 120, one or more terminals 130, a processing engine 140, and a memory 150. All components in the medical device 100 may be interconnected by a network 120.
The scanner 110 may scan an object and generate bone scan data related to the scanned object. In some embodiments, the scanner 110 may be a medical imaging device, such as a CT device, PET device, SPECT device, MRI device, or the like, or any combination thereof (e.g., a PET-CT device or a CT-MRI device).
Reference to "an image" in the present application may refer to a 2D image, a 3D image, a 4D image, and/or any related data, and is not intended to limit the scope of the present application. Various modifications and alterations will occur to those skilled in the art under the guidance of this application.
Scanner 110 may include a support assembly 111, a detector assembly 112, a scanner bed 114, an electronics module 115, and a cooling assembly 116.
The support assembly 111 may support one or more components of the scanner 110, such as the detector assembly 112, the electronics module 115, the cooling assembly 116, and the like. In some embodiments, the support assembly 111 may include a main frame, a frame base, a front cover plate, and a rear cover plate (not shown). The front cover plate may be connected to the chassis base. The front cover plate may be perpendicular to the chassis base. The main frame may be mounted to a side of the front cover plate. The main chassis may include one or more support shelves to house the detector assembly 112 and/or the electronics module 115. The mainframe may include a circular opening (e.g., detection zone 113) to accommodate a subject. In some embodiments, the opening of the main frame may be other shapes, including, for example, oval. The back cover plate may be mounted to the main frame on a side of the main frame opposite the front cover plate. The chassis base may support the front cover plate, the main chassis, and/or the rear cover plate. In some embodiments, scanner 110 may include a housing to cover and protect the main frame.
The detector assembly 112 may detect radiation events (e.g., X-ray signals, etc.) emitted from the detection region 113. In some embodiments, the detector assembly 112 may receive radiation (e.g., X-ray signals, etc.) and generate electrical signals. The detector assembly 112 may include one or more detector units. One or more detector units may be packaged to form a detector block. One or more detector blocks may be packaged to form a detector box. One or more of the cassette may be mounted to form a probe ring. One or more detector rings may be mounted to form a detector module.
The scanning bed 114 may support and position the subject at a desired location in the detection zone 113. In some embodiments, the subject may be on the scanner bed 114. The scanning bed 114 may be moved and brought to a desired position in the detection zone 113. In some embodiments, the scanner 110 may have a relatively long axial field of view, for example, an axial field of view that is 2 meters long. Accordingly, the scan bed 114 may move in a wide range (e.g., greater than 2 meters) along the axial direction.
The electronics module 115 may collect and/or process electrical signals generated by the detector assembly 112. The electronic module 115 may include one or a combination of several of an adder, multiplier, subtractor, amplifier, driver circuit, differential circuit, integrating circuit, counter, filter, analog-to-digital converter, lower limit detection circuit, constant coefficient discriminator circuit, time-to-digital converter, coincidence circuit, etc. The electronics module 115 may convert analog signals related to the energy of the radiation received by the detector assembly 112 into digital signals. The electronics module 115 may compare the plurality of digital signals, analyze the plurality of digital signals, and determine image data from the energy of the radiation received in the detector assembly 112. In some embodiments, if the detector assembly 112 has a large axial field of view (e.g., 0.75 meters to 2 meters), the electronics module 115 may have a high data input rate from multiple detector channels. For example, the electronic module 115 may process billions of events per second. In some embodiments, the data input rate may be related to the number of detector cells in the detector assembly 112.
The cooling assembly 116 may generate, transfer, transport, conduct, or circulate a cooling medium through the scanner 110 to absorb heat generated by the scanner 110 during imaging. In some embodiments, the cooling component 116 may be fully integrated into the scanner 110 and become a part of the scanner 110. In some embodiments, the cooling component 116 may be partially integrated into the scanner 110 and associated with the scanner 110. The cooling assembly 116 may allow the scanner 110 to maintain a suitable and stable operating temperature (e.g., 25 ℃, 30 ℃, 35 ℃, etc.). In some embodiments, the cooling assembly 116 may control the temperature of one or more target components of the scanner 110. The target components may include the detector assembly 112, the electronics module 115, and/or any other components that generate heat during operation. The cooling medium may be one or a combination of several of a gaseous state, a liquid state (e.g., water), and the like. In some embodiments, the gaseous cooling medium may be air.
The scanner 110 may scan an object located within its detection region and generate a plurality of imaging data related to the object. In the present application, "subject target" and "object" are used interchangeably. For example only, the subject target may include a scan target, an artificial object, and the like. In another embodiment, the subject may include scanning a particular portion, organ, and/or tissue of the subject. For example, the subject target may include a head, brain, neck, body, shoulder, arm, chest, heart, stomach, blood vessels, soft tissue, knee, foot, or other site, or the like, or any combination thereof. In the present application, the subject is primarily bone.
Network 120 may include any suitable network capable of facilitating the exchange of information and/or data by medical device 100. In some embodiments, one or more components of the medical device 100 (e.g., the scanner 110, the terminal 130, the processing engine 140, the memory 150, etc.) may communicate information and/or data with one or more other components of the medical device 100 over the network 120. For example, processing engine 140 may obtain image data from scanner 110 over network 120. As another example, processing engine 140 may obtain user instructions from terminal 130 over network 120. The one or more terminals 130 include a mobile device 131, a tablet 132, a notebook 133, and the like, or any combination thereof. In some embodiments, mobile device 131 may include a smart home device, a wearable device, a mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof.
The processing engine 140 may process data and/or information obtained from the scanner 110, the terminal 130, and/or the memory 150. In some embodiments, the processing engine 140 may be a single server or a group of servers. The server farm may be centralized or distributed. In some embodiments, processing engine 140 may be local or remote. For example, processing engine 140 may access information and/or data stored in scanner 110, terminal 130, and/or memory 150 via network 120. As another example, processing engine 140 may be directly connected to scanner 110, terminal 130, and/or memory 150 to access stored information and/or data. In some embodiments, processing engine 140 may be implemented on a cloud platform. For example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an interconnected cloud, multiple clouds, or the like, or any combination thereof. In some embodiments, processing engine 140 may be implemented by computing device 200 having one or more components shown in fig. 2.
Memory 150 may store data, instructions, and/or any other information. In some embodiments, memory 150 may store data obtained from terminal 130 and/or processing engine 140. In some embodiments, memory 150 may store data and/or instructions that processing engine 140 may execute or use to perform the exemplary methods described in this disclosure. In some embodiments, memory 150 may include a mass storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), and the like, or any combination thereof.
In some embodiments, the memory 150 may be connected to the network 120 to communicate with one or more other components in the medical device 100 (e.g., the processing engine 140, the terminal 130, etc.). One or more components in the medical device 100 may access data or instructions stored in the memory 150 through the network 120. In some embodiments, the memory 150 may be directly connected to or in communication with one or more other components (e.g., the processing engine 140, the terminal 130, etc.) in the medical device 100. In some embodiments, memory 150 may be part of processing engine 140.
FIG. 2 is a schematic diagram of exemplary hardware and/or software components of an exemplary computing device 200 on which processing engine 140 may be implemented, according to one embodiment. As shown in FIG. 2, computing device 200 may include an internal communication bus 210, a processor 220, a Read Only Memory (ROM) 230, a Random Access Memory (RAM) 240, a communication port 250, an input/output component 260, a hard disk 270, and a user interface device 280.
Fig. 3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device 300 on which terminal 130 may be implemented, according to one embodiment. As shown in fig. 3, mobile device 300 may include an antenna 310, a display 320, a Graphics Processing Unit (GPU) 330, a Central Processing Unit (CPU) 340, an input output unit (I/O) 350, a memory 360, and a storage 390. In some embodiments, any other suitable components may also be included in mobile device 300, including but not limited to a system bus or controller (not shown). In some embodiments, a mobile operating system 370 (e.g., iOS, android, windows Phone, etc.) and one or more application programs 380 may be loaded from storage 390 into memory 360 for execution by CPU 340. Application 380 may include a browser or any other suitable mobile application for receiving and rendering information related to image processing or other information from processing engine 140. User interaction with the information stream may be accomplished through I/O350 and provided to processing engine 140 and/or other components of medical device 100 through network 120.
To implement the various modules, units, and functions thereof described in this disclosure, a computer hardware platform may be used as the hardware platform(s) for one or more of the elements described herein. A computer with user interface elements may be used as a Personal Computer (PC) or any other type of workstation or terminal device. A computer may also act as a server if properly programmed. Bone data processing methods, systems, etc. may be implemented in the medical device 100.
Referring to fig. 4, a flow chart of a bone data processing method according to an embodiment of the application is shown. The bone data processing method in this embodiment includes the steps of:
step S410: acquiring a target skeleton image;
in this step, the target bone image may be an image of various bones in the human body, such as different bone structures of hip joint, knee joint, ankle joint, etc., the target bone image may be obtained from the memory 150, a database may be set in the memory 150 for storing bone images, and data of the bone images may also be obtained from the electronic module 115 after scanning, which specifically includes: the target object may be placed on a scanner bed 114 of the medical device scanner 110, enter a detection region 113 of the scanner 110, take a scan, directly acquire data from the electronics module 115, and acquire bone images via an image algorithm.
Further, the bone image obtained by scanning and shooting includes a plurality of bones in the human body, after the bone image is obtained, the bone image can be preprocessed, for example, the target bones needing to be processed are segmented for subsequent processing, and the technologies of image segmentation algorithm, deep learning and the like can be adopted during preprocessing.
Step S420: analyzing a grid model of a file grinding tool applicable to a target bone, obtaining a surface piece and a vertex of the grid model, and extracting a file grinding surface of the file grinding tool according to the surface piece and the vertex; wherein the vertex is located at the edge of the dough sheet;
in this step, the rasping tool is a tool for rasping a target bone, and the specific type thereof may be various, and may be generally spherical, rasp bar, plate, etc., and adaptively matched with the structure of the target bone after rasping. The Mesh model is a structural model for building objects, generally using polygonal meshes, also called "Mesh", and is a data structure used in computer graphics to model various irregular objects. The object surface in the real world is intuitively formed by a curved surface; in the computer world, curved surfaces in the real world are actually composed of numerous small polygonal patches in the computer, since only discrete structures can be used to simulate real-world continuous things. The rendering of the mesh model of the rasping tool shown in fig. 5 is a very smooth surface seen by the naked eye after computer rendering, and in practice, a large number of small triangular patches are used inside the computer to make up such a shape. Such a collection of patches is called a Mesh. Mesh may be composed of triangles or other planar shapes such as quadrangles, pentagons, etc.; since planar polygons can in fact be subdivided into triangles. It is therefore also common to represent the object surface using a triangular Mesh (triangulated Mesh) consisting entirely of triangles. Vertices refer to points at the edge corners of a panel, e.g., a triangular panel may have three vertices. The external side surface of the rasping tool, i.e. the rasping surface, for contacting the bone can be extracted and defined by the patches and the vertices.
Step S430: screening the target skeleton image according to the size of the grid model to obtain a first region to be ground;
in this step, since the rasping tool is adaptively matched with the structure of the target bone after rasping, the size of the mesh model of the rasping tool may be used to perform preliminary screening on the target bone image, and the voxel points that may contact the rasping tool may be preliminarily screened as the first region to be rasped.
Step S440: and screening the target bone image according to the grinding file to obtain a second region to be ground.
In the step, the rasping surface can be contacted with bones, the area to be rasped near the rasping surface is finer, and the position and the size of the rasping surface are utilized to further screen the target bone image, so that a fine second area to be rasped is obtained.
Step S450: and acquiring the total region to be ground of the target bone according to the first region to be ground and the second region to be ground.
In this step, the first region to be ground is a voxel point in a larger range of the preliminary screening, and the second region to be ground is a voxel point in a smaller range of the further screening, and the two regions are combined to obtain a required total region to be ground, so that the file grinding tool performs file grinding operation on the target bone.
In the embodiment, a target bone image is acquired, a grid model of a rasping tool suitable for the target bone is utilized, a face piece and a vertex of the grid model are acquired, and a rasping surface of the rasping tool is further extracted; primarily screening the target skeleton image according to the size of the grid model to obtain a first region to be ground; and further screening the target bone image according to the grinding file, obtaining a second region to be ground, and obtaining the total region to be ground of the target bone according to the first region to be ground and the second region to be ground. In the specific implementation process, the bone image data does not need to be converted into a grid model data format of the file grinding tool, the region to be ground can be obtained, the timeliness of bone image data processing is improved, and the region to be ground maintains the image data characteristics, so that the method can be used for displaying effects, performing more image post-processing operations and storing the image post-processing data as new data, and the scope of image post-processing is expanded.
It should be noted that the above bone data processing method may be performed on a console of the medical device, on a post-processing workstation of the medical device, or on the exemplary computing device 200 that implements a processing engine on the terminal 130 capable of communicating with the medical device, and is not limited thereto, and may be modified according to the needs of practical applications.
Further, the first region to be ground and the second region to be ground may have overlapping portions, and the overlapping portions are recorded only once when the total region to be ground is obtained.
Further, after the first to-be-ground area and the second to-be-ground area are obtained through screening, labels can be arranged on the first to-be-ground area and the second to-be-ground area, and screening results with the labels are output and displayed.
In one embodiment, the rasping surface of the rasping tool includes the steps of:
traversing the normal vector of the patch of the grid model, and screening the patch according to the normal vector to obtain a first patch, wherein the direction of the normal vector of the first patch points to the outer side of the grid model;
and obtaining a rasping surface according to the first surface piece.
In this embodiment, since the mesh model mainly corresponds to the surface area of the rasping tool, the outer side surface and the inner side surface of the mesh model each have different patches and vertices, and the rasping surface associated with the area to be rasped includes only the outer side surface. Because the normal vector directions of the patches on the outer side surface and the inner side surface are opposite, the first patch on the outer side surface of the grid model can be screened out by traversing the normal vector of the patch of the grid model, and then an accurate file grinding surface is obtained.
In one embodiment, obtaining rasped surfaces from a first sheet includes the steps of:
traversing the vertexes of the first surface sheet, obtaining the distance from the vertexes of the first surface sheet to the center point of the grid model as a first distance, and taking the vertexes of the first surface sheet as first body pixels of the rasping surface if the absolute difference value between the first distance and the size of the grid model is smaller than a preset value so as to obtain the rasping surface.
In this embodiment, the mesh model is an expression mode of geometric shapes and topological relations of a surface area of the rasping tool, and the rasping surface on the general mesh model is at a position far from a central point of the rasping surface, and the vertex of the first surface piece of the mesh model can be quickly selected as a first body pixel point of the rasping surface by taking the size and a preset value of the mesh model as references, so as to obtain the rasping surface.
Specifically, taking a grid model as an example, determining a center point of the grid model, traversing the vertexes of a first surface sheet of the grid model, obtaining the distance from each vertex to the center point as a first distance, wherein the size of the grid model can be selected as a spherical radius, a preset value represents a preset surface distance threshold value, and each vertex with the absolute difference value between the first distance and the radius being smaller than the preset value is used as a first body element point of the rasping surface to obtain the rasping surface.
Since the patches are connected to each other, the first voxel (also, vertex) may belong to different patches, and thus, there may be a plurality of normal vectors of the patches to which the first voxel belongs, and as long as there is one normal vector of the patches to which the external surface belongs, the first voxel may be regarded as a voxel point of the rasped surface.
Specifically, taking a grid model as an example, the normal vectors of the patches on the inner side surface are all directed to the center of the sphere, and the normal vectors of the patches on the outer side surface are opposite, so that most patches and vertices on the inner side surface can be filtered by utilizing the characteristics. The surface patches and the vertexes of the individual inner side surfaces may not be completely filtered out due to the holes on the inner surface of the grid model, and the surface patches and the vertexes far away from the outer side surfaces can be filtered out by combining the radius of the grid model, so that the grid model with the surface patches and the vertexes only on the outer side surfaces can be obtained.
As shown in fig. 6, the Z component of the normal vector of the patch of the lateral surface may be set to be greater than 0, the Z component of the normal vector of the patch of the medial surface may be set to be less than 0, and if the Z component of the normal vector of the traversal is greater than 0, it may be considered to be the outer surface; traversing the vertexes of the surface sheet of the outer surface, calculating the distance d between the vertexes and the center point of the model, judging whether the absolute difference between the distance d and the spherical radius R of the model is smaller than a preset value Tmin, and if so, considering the absolute difference as the vertexes of the outer surface and recording and storing.
In one embodiment, screening the target bone image according to the size of the mesh model, and obtaining the first region to be ground includes the following steps:
and matching the positions of the grid model and the target bone image, and obtaining the distance between the second voxel point and the center point of the grid model as a second distance, wherein the second voxel point comprises voxel points of the target bone image, and if the second distance is smaller than the difference between the size of the grid model and the threshold value, taking the set of the second voxel points as a first region to be ground.
In this embodiment, after the grid model is adaptively matched with the structure after the target bone is ground and filed, after the positions of the grid model and the target bone image are matched, there is an overlapping area between the grid model and the target bone image, a second voxel point of the target bone image located in the grid model area can be selected as a first area to be ground, specifically, the distance between the voxel point of the target bone image and the center point of the grid model can be calculated as a second distance, if the second distance is smaller than the difference between the size of the grid model and the threshold value, it is indicated that the voxel point is the second voxel point in the grinding range, namely, belongs to the first area to be ground. Because most voxels of the target bone are in the non-to-be-ground area, if the relation between the target bone and the model surface is used for judging whether the grinding is needed, a large amount of operation time is wasted, and the operation efficiency of the algorithm is reduced.
Specifically, taking the mesh model as a sphere as an example, determining the center point of the mesh model, setting a proper threshold value TH, wherein the size of the mesh model can be selected as a sphere radius R, determining voxels with a distance between a voxel and a center coordinate of the model in the target bone image being greater than (radius r+threshold value TH) as non-voxels to be ground, and determining voxels with a distance between the voxel and the center coordinate of the model being less than (radius R-threshold value TH) as voxels to be ground, as shown in fig. 7.
In one embodiment, the screening of the target bone image according to the rasp to obtain the second area to be rasped includes the steps of:
matching the positions of the grid model and the target bone image, and obtaining a voxel point of the target bone image as a third voxel point, wherein the distance between the third voxel point and the center point of the grid model is within a preset range;
and if the third voxel point is on the inner side of the surface patch of the grid model, taking the set of the third voxel point as a second region to be ground.
In this embodiment, after the mesh model is adaptively matched with the structure after the target bone is ground and the positions of the mesh model and the target bone image are matched, a third voxel point near the grinding surface of the mesh model can be selected as a second to-be-ground area to be ground further, specifically, the distance between the voxel point of the target bone image and the center point of the mesh model can be calculated first, if the distance is within the preset range, the voxel point is the third voxel point, and the third voxel point is inside the surface patch of the mesh model, which indicates that the third voxel point is within the grinding range, namely, belongs to the second to-be-ground area. Through the mode, the fine file grinding area near the file grinding surface can be determined, and the accuracy of file grinding is improved.
Further, the maximum value of the preset range can be selected as the sum of the size of the grid model and the threshold value, the minimum value of the preset range can be selected as the difference between the size of the grid model and the threshold value, and the threshold value can be adjusted according to actual needs. Specifically, taking a grid model as an example, determining a central point of the grid model, setting a proper threshold value TH, selecting the size of the grid model as a spherical radius R, traversing voxels with the distance from the central point between (radius R-threshold value TH) and (radius R+threshold value TH), and judging whether the voxel point is a voxel point to be ground or not by judging whether the voxel point is outside the outer side surface of the grid model.
It should be noted that, since the target skeleton image is generated according to the scan data, the mesh model is additionally constructed, and operations such as moving, rotating, scaling and the like can be performed on the mesh model, so that the positions of the mesh model and the target skeleton image are matched, so as to select the region to be ground.
In one embodiment, if the third voxel point is inside the patch of the mesh model, taking the set of third voxel points as the second region to be ground includes the following steps:
acquiring a first direction vector of a third voxel point relative to a central point of the grid model and a normal vector of a surface patch of the rasped surface;
Determining a second panel closest to the third voxel point according to the included angle between the first direction vector and the normal vector;
and acquiring a second direction vector from the third voxel point to the vertex of the second panel, and judging whether the third voxel point is on the inner side of the second panel according to the included angle between the second direction vector and the normal vector of the second panel.
In the embodiment, a first direction vector of a third voxel point relative to a central point of the grid model is firstly obtained, and is compared with a normal vector of a surface patch of a rasped surface, and a second surface patch closest to the third voxel point is determined through an included angle between the first direction vector and the normal vector, wherein the smaller the included angle is, the closer the distance is; and obtaining a second direction vector from the third voxel point to the vertex of the second panel, wherein the third voxel point is arranged on the outer side or the inner side of the second panel, and the included angle between the second direction vector and the normal vector of the second panel is different, so that the position of the third voxel point relative to the target panel can be judged.
Specifically, taking the grid model as a sphere as an example, determining the center point of the grid model, calculating the direction vector of the voxel point and the origin of the sphere, and finding out the corresponding patch with the smallest included angle, namely the nearest neighbor patch, by calculating the included angle between the direction vector and the normal vector of all patches of the rasped surface, wherein as shown in fig. 8, the value of theta 1 is smaller than that of theta 2, so that the patch corresponding to theta 1 with the smaller included angle is considered to be the patch closer to the voxel point.
After determining the nearest neighbor of the voxel point to the surface patch, calculating the direction vector of any vertex coordinate from the voxel point to the surface patch, calculating the included angle between the direction vector and the normal vector of the surface patch, judging whether the voxel point is on the inner side or the outer side of the surface patch by judging whether the included angle is an acute angle or an obtuse angle, if the included angle is on the outer side, judging that the voxel point is not the voxel point to be ground, otherwise, judging that the voxel point to be ground is the voxel point to be ground. As shown in fig. 9, the included angle θ1 is an obtuse angle, i.e., on the outer side of the mesh model surface, so the corresponding voxel point is determined as a non-voxel point to be ground, and the included angle θ2 is an acute angle, i.e., on the inner side of the mesh model surface, so the corresponding voxel point is determined as a voxel point to be ground.
In one embodiment, the target bone image comprises a hip joint image and the mesh model of the rasping tool comprises a sphere.
In this embodiment, the bone data processing method may be applied to a bone processing process of a hip joint or the like, where the hip joint is rasped by a rasping tool such as a ball.
The application of the bone data processing method is not limited to the hip joint, but can be applied to other bones of a human body such as knee joint and ankle joint, the shape of the rasping tool is limited to a sphere, and grinding bars, rods, plates and the like can be used.
Specifically, a bone is taken as a hip joint, and a rasping tool is taken as a spherical acetabular rasp. The process of obtaining the hip joint region to be ground is as follows:
1. reading hip joint image data, and dividing the pelvic bones and the thighbones in the image to obtain a division result;
2. reading acetabulum file grid model data, and analyzing to obtain a surface patch and a vertex;
3. separating the surface piece and the vertex of the outer surface of the acetabular file model;
4. coarsely screening the segmentation result by utilizing the radius of the acetabular file model, and primarily judging whether voxels in the segmentation result belong to a region to be ground or not;
5. finely screening the segmentation result by using information such as normal vector of the surface patches of the outer surface of the model;
6. outputting the segmentation result with the label.
Since the acetabular file mesh model is a representation of the geometry and topology of the acetabular file surface region, there are different vertices and facets on the outer and inner surfaces of the acetabular file, as shown in fig. 5. The rasping surface associated with the calculation of the area to be rasped includes only the outer surface of the acetabular rasp model, so the apexes and patches of the inner surface of the model should be screened out.
The normal vector of the surface patch of the inner side surface points to the sphere center, and the normal vector of the outer side surface is opposite, so that most of the vertexes and the surface patches of the inner side surface can be filtered out by utilizing the principle. The individual inside surface vertices and patches may not be completely filtered out due to the holes in the model inner surface, and further filtering out vertices and patches far from the outer surface radius by the physical radius of the model, so as to obtain a mesh model with only outer surface vertices and patches, as shown in fig. 10 and 11, where R is the radius of the acetabular file mesh model and Tmin is the set surface distance threshold.
In the process of coarse screening of the segmentation result, most voxels are in a non-to-be-ground area, if the relation between the voxels and the model surface is only used for judging whether file grinding is needed, a large amount of operation time is wasted, and the operation efficiency of an algorithm is reduced. At this time, if the physical radius of the model is combined, voxels far from the sphere center point of the model are coarsely screened, so that the operation time of the algorithm is greatly reduced.
Voxels with a voxel-to-model center coordinate distance greater than the radius R + threshold TH may be determined as non-voxels to be ground by setting an appropriate threshold TH, and voxels with a voxel-to-model center coordinate distance less than the radius R-threshold TH may be determined as voxels to be ground, as shown in fig. 7.
In the process of fine screening the segmentation result, the fine screening of the rasping voxels near the surface of the acetabular rasp model is divided into two steps, namely, traversing voxels between a radius R-threshold TH and a radius R+ threshold TH, searching a patch closest to the voxel on the model for each voxel, and judging whether the point is a voxel to be grated or not by judging the inside and outside of the patch.
Nearest neighbor patches are first found. And calculating the direction vector of the origin of the voxel and the sphere center, and finding out the corresponding patch with the smallest included angle as the nearest neighbor patch by calculating the included angle between the direction vector and the normal vector of all patches, wherein as shown in fig. 8, the value of theta 1 is smaller than that of theta 2, so that the patch corresponding to theta 1 with the smaller included angle is considered to be the patch closer to the voxel.
And secondly, judging the inside and outside of the voxels in the surface patch. After the nearest neighbor surface patch of the voxel is found, calculating a direction vector of any vertex coordinate from the voxel to the surface patch, calculating an included angle between the direction vector and the surface patch normal vector, judging whether the voxel is on the inner side or the outer side of the surface patch by judging whether the included angle is an acute angle or an obtuse angle, if the voxel is on the outer side, judging that the voxel is not to be ground, otherwise, judging that the voxel is to be ground. As shown in fig. 9, the included angle θ1 is an obtuse angle, i.e., on the outer side of the acetabular file model surface, so the corresponding voxel is determined as a non-to-be-ground voxel, and the included angle θ2 is an acute angle, i.e., on the inner side of the acetabular file model surface, so the corresponding voxel is determined as a to-be-ground voxel.
The scene simulation and effect of the hip milling file is shown in fig. 12 and 13.
In the prior art, the segmentation result of the hip joint is usually converted into a mesh model identical to that of the rasping tool through an algorithm such as Maring probes, and then the intersection generated when the mesh model of the hip joint and the mesh model of the rasping tool are placed according to the planning position is automatically calculated through a three-party library such as VTK.
In the scheme of intersection of the current grid model, the calculation of the region to be ground is usually only used for displaying the visual effect of the region to be ground, and the voxel coordinates of the region to be ground are not stored or output, so that more image post-processing operations cannot be completed, and the expansibility of a post-processing algorithm is reduced. Even though the correlation algorithm may increase the operation of dividing the result by the mesh model transformation, the increased two inter-transformation processes of the mesh model and the division result may have a reduced timeliness.
According to the scheme of the application, the step of converting the hip joint segmentation result into the grid model in the related algorithm can be omitted, and the voxel coordinates of the region to be ground can be automatically calculated and output by the grid model of the grinding and filing tool according to the hip joint segmentation result. Compared with a related algorithm, the to-be-ground region result can be used for displaying an effect, can be stored into new volume data, and expands the scope of image post-processing.
According to the above bone data processing method, the embodiment of the present application further provides a bone data processing system, and the following details about the embodiment of the bone data processing system are described.
Referring to FIG. 14, a schematic diagram of a bone data processing system according to one embodiment is shown. The bone data processing system in this embodiment includes:
an image acquisition unit 510 for acquiring a target bone image;
the model processing unit 520 is configured to parse a mesh model of the rasping tool applicable to the target bone, obtain a patch and a vertex of the mesh model, and extract a rasping surface of the rasping tool according to the patch and the vertex; wherein the vertex is located at the edge of the dough sheet;
a first screening unit 530, configured to screen the target bone image according to the size of the mesh model, to obtain a first region to be ground;
A second screening unit 540, configured to screen the target bone image according to the rasp, and obtain a second region to be grinded;
the region determining unit 550 is configured to obtain a total region to be ground of the target bone according to the first region to be ground and the second region to be ground.
In the present embodiment, the bone data processing system includes an image acquisition unit 510, a model processing unit 520, a first screening unit 530, a second screening unit 540, and a region determination unit 550; the image acquisition unit 510 acquires an image of a target bone, the model processing unit 520 acquires a patch and a vertex of the mesh model by using the mesh model of the rasping tool suitable for the target bone, and further extracts a rasping surface of the rasping tool; the first screening unit 530 performs preliminary screening on the target bone image according to the size of the mesh model, and obtains a first region to be ground; the second screening unit 540 further screens the target bone image according to the rasp to obtain a second region to be grinded, and the region determining unit 550 obtains a total region to be grinded of the target bone according to the first region to be grinded and the second region to be grinded. In the specific implementation process, the bone image data does not need to be converted into a grid model data format of the file grinding tool, the region to be ground can be obtained, the timeliness of bone image data processing is improved, and the region to be ground maintains the image data characteristics, so that the method can be used for displaying effects, performing more image post-processing operations and storing the image post-processing data as new data, and the scope of image post-processing is expanded.
In one embodiment, the model processing unit 520 is further configured to traverse a normal vector of a patch of the mesh model, and screen the patch according to the normal vector to obtain a first patch, where a direction of the normal vector of the first patch points to an outside of the mesh model; and obtaining a rasping surface according to the first surface piece.
In one embodiment, the model processing unit 520 is further configured to traverse the vertex of the first panel, obtain a distance from the vertex of the first panel to a center point of the mesh model as the first distance, and use the vertex of the first panel as the first voxel point of the rasping surface to obtain the rasping surface if an absolute difference between the first distance and the size of the mesh model is smaller than a preset value.
In one embodiment, the first filtering unit 530 is further configured to match the positions of the grid model and the target bone image, obtain a distance between the second voxel point and the center point of the grid model as the second distance, where the second voxel point includes voxel points of the target bone image, and use the set of the second voxel points as the first region to be ground if the second distance is less than a difference between the size of the grid model and the threshold value.
In one embodiment, the second filtering unit 540 is further configured to match the positions of the grid model and the target bone image, and obtain a voxel point of the target bone image as a third voxel point, where a distance between the third voxel point and a center point of the grid model is within a preset range; and if the third voxel point is on the inner side of the surface patch of the grid model, taking the set of the third voxel point as a second region to be ground.
In one embodiment, the second filtering unit 540 is further configured to obtain a first direction vector of the third voxel point relative to the center point of the mesh model, and a normal vector of the patch of the mesh model; determining a second panel closest to the third voxel point according to the included angle between the first direction vector and the normal vector; and acquiring a second direction vector from the third voxel point to the vertex of the second panel, and judging whether the third voxel point is on the inner side of the second panel according to the included angle between the second direction vector and the normal vector of the second panel.
In one embodiment, the target bone image comprises a hip joint image and the mesh model of the rasping tool comprises a sphere.
The bone data processing system according to the embodiment of the application corresponds to the bone data processing method one by one, and the technical features and the beneficial effects described in the embodiment of the bone data processing method are applicable to the embodiment of the bone data processing system.
A readable storage medium having stored thereon an executable program which when executed by a processor performs the steps of the bone data processing method described above.
According to the readable storage medium, the executable program is run on the processor, so that bone image data can be obtained without being converted into a grid model data format of a file grinding tool, a region to be ground can be obtained, timeliness of bone image data processing is improved, and the region to be ground can be used for displaying effects and performing more image post-processing operations and is stored as new data, so that the range of image post-processing is widened.
A bone data processing device, comprising a mechanical arm, an electric file and an optical navigation instrument; the optical navigation instrument is used for driving the mechanical arm to move according to the first to-be-ground area and the second to-be-ground area determined by the bone data processing method; the electric file is positioned at the tail end of the mechanical arm, and when the mechanical arm moves to the appointed position of the target bone, the target bone is ground and filed.
In this embodiment, the optical navigation apparatus uses the first region to be ground and the second region to be ground determined by the above bone data processing method to drive the mechanical arm to move, so as to achieve the purpose of corresponding the actual physical space coordinates to the coordinates planned by the software, guide the mechanical arm to move to the designated position of the target bone, and connect the tail end of the mechanical arm with an electric file for grinding the target bone.
The bone data processing device may be provided in the medical device 100.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in implementing the methods of the embodiments described above may be implemented by programming instructions associated with hardware. The program may be stored in a readable storage medium. The program, when executed, comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disks, optical disks, etc.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (11)
1. A method of bone data processing, the method comprising the steps of:
acquiring a target skeleton image;
analyzing a grid model of a file grinding tool applicable to the target bone, obtaining a surface piece and a vertex of the grid model, and extracting a file grinding surface of the file grinding tool according to the surface piece and the vertex; wherein the vertex is located at an edge of the dough sheet;
Screening the target bone image according to the size of the grid model, and obtaining a second voxel point of the target bone image in the grid model area as a first area to be ground;
screening the target bone image according to the rasping surface, and acquiring a third voxel point on the inner side of the rasping surface of the grid model as a second region to be rasped;
and setting labels for the first to-be-ground area and the second to-be-ground area to obtain a screening result with the labels, and outputting and displaying the screening result.
2. A bone data processing method according to claim 1, wherein the extracting of the rasping surface of the rasping tool from the patches and vertices comprises the steps of:
traversing the normal vector of the patches of the grid model, and screening the patches according to the normal vector to obtain a first patch, wherein the direction of the normal vector of the first patch points to the outer side of the grid model;
and obtaining the rasping surface according to the first surface piece.
3. The bone data processing method of claim 2, wherein the obtaining the rasped surface from the first panel includes the steps of:
Traversing the vertexes of the first surface sheet, obtaining the distance from the vertexes of the first surface sheet to the center point of the grid model as a first distance, and if the absolute difference value between the first distance and the size of the grid model is smaller than a preset value, taking the vertexes of the first surface sheet as first body pixels of the file grinding surface to obtain the file grinding surface.
4. The bone data processing method according to claim 1, wherein the step of screening the target bone image according to the size of the mesh model to obtain a second voxel point of the target bone image located in the mesh model area as a first region to be ground comprises the steps of:
and matching the positions of the grid model and the target bone image, and acquiring the distance between a second voxel point and the center point of the grid model as a second distance, wherein the second voxel point comprises voxel points of the target bone image, and if the second distance is smaller than the difference between the size of the grid model and a threshold value, taking the set of the second voxel points as the first region to be ground.
5. The bone data processing method according to claim 1, wherein the step of screening the target bone image according to the rasping surface, and obtaining a third voxel point inside the rasping surface of the mesh model as a second region to be rasped includes the steps of:
Matching the positions of the grid model and the target bone image, and acquiring a voxel point of the target bone image as a third voxel point, wherein the distance between the third voxel point and the central point of the grid model is within a preset range;
and if the third voxel point is on the inner side of the surface patch of the grid model, taking the set of the third voxel point as the second region to be ground.
6. The bone data processing method according to claim 5, wherein if the third voxel point is inside a patch of the mesh model, the step of regarding the set of third voxel points as the second region to be ground includes:
acquiring a first direction vector of the third voxel point relative to a central point of the grid model and a normal vector of the surface patch of the rasped surface;
determining a second panel closest to the third voxel point according to the included angle between the first direction vector and the normal vector;
and acquiring a second direction vector from the third voxel point to the vertex of the second panel, and judging whether the third voxel point is on the inner side of the second panel according to an included angle between the second direction vector and a normal vector of the second panel.
7. The bone data processing method of claim 1, wherein the method further comprises:
acquiring a total region to be ground of the target bone according to the first region to be ground and the second region to be ground;
and in the case that an overlapping part exists between the first to-be-ground area and the second to-be-ground area, acquiring the overlapping part once.
8. A bone data processing method according to any one of claims 1 to 7, wherein the target bone image comprises a hip joint image and the mesh model of the rasping tool comprises a sphere.
9. A readable storage medium having stored thereon an executable program, wherein the executable program when executed by a processor implements the steps of the bone data processing method of any of claims 1 to 8.
10. A bone data processing device, characterized in that the device comprises a mechanical arm, an electric file and an optical navigation instrument;
the optical navigation instrument is used for driving the mechanical arm to move according to a first to-be-ground area and a second to-be-ground area determined by the bone data processing method according to any one of claims 1 to 8;
the electric file is positioned at the tail end of the mechanical arm, and when the mechanical arm moves to the appointed position of the target bone, the target bone is ground and filed.
11. A medical device comprising a scanner, a network, one or more terminals, a processing engine, and a memory;
the medical device is for implementing the bone data processing method of any one of claims 1 to 8.
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