WO2019000479A1 - 冠脉血管的三维重建方法、装置、设备及存储介质 - Google Patents

冠脉血管的三维重建方法、装置、设备及存储介质 Download PDF

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WO2019000479A1
WO2019000479A1 PCT/CN2017/091573 CN2017091573W WO2019000479A1 WO 2019000479 A1 WO2019000479 A1 WO 2019000479A1 CN 2017091573 W CN2017091573 W CN 2017091573W WO 2019000479 A1 WO2019000479 A1 WO 2019000479A1
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guide wire
intravascular ultrasound
image
ultrasound image
dimensional guide
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PCT/CN2017/091573
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English (en)
French (fr)
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张勇
吴显淞
张贺晔
高智凡
刘欣
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深圳大学
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Priority to JP2019531641A priority Critical patent/JP6717514B2/ja
Priority to US16/166,117 priority patent/US20190117198A1/en
Publication of WO2019000479A1 publication Critical patent/WO2019000479A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0883—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0891—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5223—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for extracting a diagnostic or physiological parameter from medical diagnostic data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
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    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/30—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for calculating health indices; for individual health risk assessment
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    • G06T2207/30004—Biomedical image processing
    • G06T2207/30021—Catheter; Guide wire
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    • G06T2211/40—Computed tomography
    • G06T2211/404—Angiography

Definitions

  • the invention belongs to the technical field of computers, and in particular relates to a three-dimensional reconstruction method, device, device and storage medium for coronary blood vessels.
  • CAG Coronary Angiography
  • IVUS Intravascular UItrasound
  • the method of realizing the complementary advantages of CAG and IVUS in coronary morphological display is mainly based on the principle of binocular imaging to realize three-dimensional reconstruction of guide wire.
  • This method requires relatively high requirements for parameters, and most of the clinical contrast images Only the contrast angle of the contrast process is recorded, the linear distance from the source to the contrast plane is not recorded, and the loss of the recorded parameters may occur, which brings a large error to the three-dimensional reconstruction.
  • the object of the present invention is to provide a three-dimensional reconstruction method, device, device and storage medium for coronary blood vessels, which aims to solve the method for collecting and merging CAG and IVUS image data in the prior art.
  • the known degree of the number is relatively high, resulting in a large error in the three-dimensional reconstruction of coronary vessels, and the accuracy is not high.
  • the invention provides a three-dimensional reconstruction method for coronary vessels, the method comprising the steps of:
  • Pre-processing the input coronary angiography image Pre-processing the input coronary angiography image, extracting the blood vessel edge contour and the two-dimensional guide wire in the pre-processed coronary angiography image, and performing the inner and outer membrane segmentation on the input associated intravascular ultrasound image;
  • Rotating the intravascular ultrasound image at the corresponding position of the tangential vector at different angles on a vertical plane of the tangential vector, and backprojecting the rotated intravascular ultrasound image in the coronary angiography Determining, according to a distance between the back projection of the intravascular ultrasound image and the contour of the blood vessel edge to the three-dimensional guide wire, respectively, determining an optimal orientation angle of the intravascular ultrasound image of each frame;
  • the present invention provides a three-dimensional reconstruction device for coronary vessels, the device comprising:
  • An image processing unit configured to preprocess an input coronary angiography image, extract a blood vessel edge contour and a two-dimensional guide wire in the pre-processed coronary angiography image, and perform an input intravascular ultrasound image Inner and outer membrane segmentation;
  • a guide wire reconstruction unit for translating the two-dimensional guide wire in the coronary angiography image respectively located in the preset first contrast plane and the second contrast plane to the same starting point, according to the translation a two-dimensional guide wire, a curved surface intersecting each other perpendicularly, and an intersection line of the mutually perpendicularly intersecting curved surfaces is set as a three-dimensional guide wire;
  • An ultrasonic image positioning unit configured to arrange the intravascular ultrasound images of each frame at equal intervals along the three-dimensional guide wire according to a tangent vector at a position of the intravascular ultrasound image on the three-dimensional guide wire, Rotating the blood vessel ultrasound image to a position perpendicular to the tangent vector;
  • an ultrasound image orientation unit configured to rotate the intravascular ultrasound image at the corresponding position of the tangential vector at different angles on a vertical plane of the tangential vector, and reverse the rotated intravascular ultrasound image Projecting on the coronary angiography image, determining an optimal orientation of the intravascular ultrasound image per frame according to a back projection of the intravascular ultrasound image and a distance from the vessel edge contour to the three-dimensional guide wire, respectively Angle;
  • a surface reconstruction unit configured to rotate the intravascular ultrasound image of each frame to a corresponding optimal orientation angle, according to a span difference between intima in each intravascular ultrasound image on the three-dimensional guide wire And a span difference between the adventitia, surface reconstruction of the coronary angiography image and the blood vessel of the intravascular ultrasound image.
  • the present invention also provides a medical device comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor implementing the computer program The steps described in the above three-dimensional reconstruction method of coronary vessels.
  • the present invention provides a computer readable storage medium storing a computer program, which when executed by a processor, implements a three-dimensional reconstruction method such as a coronary vessel A step of.
  • the invention preprocesses the coronary angiography image, extracts the contour of the blood vessel edge, extracts the two-dimensional guide wire, and performs the inner and outer film segmentation on the intravascular ultrasound image, and the coronary artery is respectively located in the preset first contrast plane and the second contrast plane.
  • the angiography image is translated, and after the translation, the curved surfaces intersecting each other perpendicularly are constructed according to the two-dimensional guide wire, and the intersection line of the curved surface is set as a three-dimensional guide wire, and the intravascular ultrasound images of each frame are equally arranged along the three-dimensional guide wire.
  • the fusion of coronary angiography and intravascular ultrasound images can be performed, so that the shape and structure of the blood vessels and the information of the luminal lesions can be simultaneously examined.
  • the effect of image noise caused by the patient's breathing on the revascularization is effectively reduced, and the problem is effectively solved.
  • the lack of contrast imaging parameters or the incomplete calibration of parameters can effectively improve the efficiency and accuracy of 3D reconstruction of coronary vessels.
  • FIG. 1 is a flowchart showing an implementation of a method for reconstructing a coronary vessel according to a first embodiment of the present invention
  • FIG. 2 is a view showing an example of a blood vessel edge contour and a two-dimensional guide wire extraction in a three-dimensional reconstruction method of coronary blood vessels according to Embodiment 1 of the present invention
  • FIG. 3 is a diagram showing an example of three-dimensional guide wire generation in a three-dimensional reconstruction method of coronary vessels according to Embodiment 1 of the present invention
  • FIG. 4 is a view showing an example of the distance between the intravascular ultrasound image back projection and the blood vessel edge contour to the three-dimensional guide wire in the three-dimensional reconstruction method of the coronary vessel according to the first embodiment of the present invention
  • FIG. 5 is a view showing an example of reconstructing a blood vessel surface by an upper and lower target contour line in a three-dimensional reconstruction method of a coronary artery according to a first embodiment of the present invention
  • FIG. 6 is a schematic structural view of a three-dimensional reconstruction device for coronary vessels according to a second embodiment of the present invention.
  • FIG. 7 is a schematic view showing a preferred structure of a three-dimensional reconstruction device for a coronary blood vessel according to a second embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a medical device according to Embodiment 3 of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • FIG. 1 is a flowchart showing an implementation process of a three-dimensional reconstruction method of coronary blood vessels according to Embodiment 1 of the present invention. For convenience of description, only parts related to the embodiments of the present invention are shown, which are described in detail as follows:
  • step S101 the input coronary angiography image is preprocessed, and in the pre-processed coronary angiography image, the blood vessel edge contour and the two-dimensional guide wire are extracted, and the input associated intravascular ultrasound image is subjected to the inner and outer membranes. segmentation.
  • the input coronary angiography image and the corresponding or associated intravascular ultrasound image may be from a medical database provided by the hospital, wherein the coronary angiography device may record the coronary angiography image of the patient from multiple angles
  • the input coronary angiography image may be a coronary angiography image in any two directions, and these two directions are referred to herein as a first contrast plane and a second contrast plane.
  • the input intravascular ultrasound image is a multi-frame blood vessel cross-sectional image recorded when the guide wire is uniformly withdrawn from the distal end of the target variable portion.
  • the coronary angiography image is interfered by various factors in the imaging, transmission, and storage processes, noise is easily generated on the image, and in order to more accurately process the coronary angiography image, it is necessary to pre-predict the coronary angiography image. deal with.
  • a filter can be applied to map the coronary angiography image to a new image, and then enhance the contrast of the coronary angiography image (eg, adjust the low intensity value of the preset percentage of the image intensity value to a lower level, The high intensity value is adjusted to a higher level, thereby removing some false artifacts of the coronary angiography image, such as the anatomy of the bone and muscle tissue of the patient's chest may be displayed as blood vessels on the local vascular imaging image, and at the same time, it is easier to extract the coronary shape more clearly.
  • Vascular contours and guidewires in angiographic images Since the noise of the coronary angiography image mainly includes Gaussian noise and salt and pepper noise, random noise and salt and pepper noise in the coronary angiography image can be processed through a preset Gaussian low-pass filter.
  • the contour of the blood vessel edge and the two-dimensional shape are then extracted in the coronary angiography image.
  • the guide wire, the two-dimensional guide wire can be understood as the blood vessel centerline in the coronary angiography image.
  • the contour of the vessel edge can be extracted by a preset Gaussian-Laplace (LOG) operator to smooth the contour of the vessel edge and eliminate the noise generated when extracting the contour of the vessel's edge.
  • the two-dimensional guide wire can be extracted by a preset Hessian matrix. Specifically, the Hessian matrix of the coronary angiography image can be obtained by performing a second-order Taylor series expansion on the coronary angiography image:
  • I is n-dimensional data, here represents two-dimensional image data, that is, a coronary angiography image, and P is a point in the two-dimensional image data.
  • H(P) is the Hessian matrix of point P.
  • the Hessian matrix of the coronary angiography image can be expressed as:
  • I xx , I xy , I yx , and I yy are second-order differentials of coronary angiography images, which can be obtained by convolving the second derivative of the coronary angiography image with a Gaussian filter.
  • the eigenvalues with larger absolute values of the Hessian matrix and the corresponding eigenvectors represent the intensity and direction of the curvature of the P-point.
  • the eigenvalues with smaller absolute values and the corresponding eigenvectors represent the intensity and direction with less curvature of the P-point.
  • the eigenvalue corresponding to the eigenvalue of the Hessian matrix with larger absolute value of the coronary angiography image is perpendicular to the local vascular skeleton, and the eigenvector corresponding to the eigenvalue with smaller absolute value is parallel to the local vascular skeleton, and the absolute value can be utilized.
  • the feature vector corresponding to the feature value is parallel to the characteristics of the local vascular skeleton, and the two-dimensional guide wire is extracted. After the extraction, the extracted image of the two-dimensional guide wire can be etched, refined, eliminated from the perpendicular to the vascular orientation, and the connected branch with a relatively small area is eliminated, and then the interpolation is fitted to obtain the guide of the two-dimensional blood vessel.
  • the lead wire curve that is, the two-dimensional guide wire, can still find the exact position of the two-dimensional guide wire when the angiogenesis is abrupt.
  • the endoluminal segmentation of the intravascular ultrasound image can be performed by the IVUS Angio tool software (a publicly available software that can be used for intravascular image processing) to perform inner and outer membrane segmentation of each intravascular ultrasound image.
  • the software can combine the electrocardiogram to identify the IVUS image of the end diastolic on the basis of R wave detection, and realize the automatic segmentation of the inner and outer membranes. If the ECG is not available at the same time, the IVUS image of the end diastolic can be manually selected and manually corrected.
  • FIG 2 by the A in the figure To C is the extraction of the contour of the blood vessel edge, and from A to B to D is the extraction of the two-dimensional guide wire.
  • step S102 the two-dimensional guide wires respectively located in the coronary angiography images of the preset first contrast plane and the second contrast plane are translated to the same starting point, and the two-dimensional guiding wires after the translation are constructed to intersect each other perpendicularly.
  • the surface of the surface, the intersection of the surfaces perpendicular to each other is set as a three-dimensional guide wire.
  • the two-dimensional guiding wire in the coronary angiography image in different directions (the first contrast plane and the second contrast plane) needs to be moved to the same starting point (or The same height), after the translation is completed, according to the two-dimensional guide wire, constructing a first curved surface perpendicularly intersecting the coronary angiography image on the first contrast plane, and constructing a vertical intersection with the coronary angiography image on the second contrast plane
  • the second curved surface vertically intersects the first curved surface and the second curved surface, and sets the obtained intersection line as a three-dimensional guiding wire, that is, a three-dimensional curve of the guiding wire, thereby effectively reducing some parameters or parameters that are not calibrated by the contrasting device.
  • the error caused by the deviation of the three-dimensional guide wire caused by the deviation, and the geometric distortion caused by the patient's breathing is reduced.
  • the YOZ plane is a first contrast plane
  • the XOZ plane is a second contrast plane
  • the middle two curved lines and realized surfaces respectively intersect perpendicularly to the first contrast plane.
  • a first curved surface, a second curved surface perpendicular to the second contrast plane, and a cross line obtained by vertically intersecting the first curved surface and the second curved surface is a three-dimensional guiding wire.
  • the two-dimensional guide wire of the coronary angiography image on the first or second contrast plane may be set as the reference target, and the two-dimensional guide wire of the other contrast plane coronary angiography image may be The Z coordinate is compared with the Z coordinate of the reference target. When the difference is within the preset threshold range, the Z coordinate of the reference target can be considered as the intersection of the two curved surfaces.
  • the two-dimensional guide wire is interpolated to generate a B-spline curve, and the curved surface is constructed according to the B-spline curve, thereby making the curve smoother.
  • Step S103 the intravascular ultrasound images of each frame are arranged at equal intervals along the three-dimensional guide wire, and the intravascular ultrasound image is rotated to be perpendicular to the tangent vector according to the tangent vector at the position of the intravascular ultrasound image on the three-dimensional guide wire. position.
  • each intravascular ultrasound image is positioned on a three-dimensional guidewire.
  • the intravascular ultrasound image is obtained by the motor pulling the ultrasonic probe to move at a constant speed along the guide wire at a set speed.
  • the cut surface image of the blood vessel can be calculated by the chord length method to obtain the position of the intravascular ultrasound image on each of the three-dimensional guide wires, so that the intravascular ultrasound images of each frame are equally spaced on the three-dimensional guide wire.
  • the known parameter is the frame number, the number of frames, and the total length of the retraction of the intravascular ultrasound image
  • the distance of the intravascular ultrasound image from the retracement point of each frame can be calculated, thereby determining the intravascular ultrasound image of each frame.
  • the position of the three-dimensional guide wire When the known parameter is the number of frames of the intravascular ultrasound image, the frame rate, and the withdrawal rate, the total length of the withdrawal can be calculated, and the distance of the ultrasound image in the adjacent blood vessel can be calculated according to the number of the inner and outer membranes of the intravascular ultrasound image. Since the intravascular ultrasound image records the cross section of the blood vessel, it is also necessary to rotate the intravascular ultrasound image perpendicular to the tangent vector corresponding to the position of the three-dimensional guide wire.
  • each intravascular ultrasound image can be sequentially translated from a local coordinate system in which the three-dimensional guide wire is located to a preset world coordinate system (also a coordinate system in which the coronary angiography image is located), and after the translation, the intravascular ultrasound pattern is performed.
  • the position of the three-dimensional guide wire coincides with the origin of the world coordinate system.
  • the tangential vector of the position of the intravascular ultrasound image on the three-dimensional guide wire is obtained, and the intravascular ultrasound image is rotated according to the angle between the tangential vector and the XOZ plane and YOZ of the world coordinate system.
  • step S104 on the vertical plane of the tangent vector, the intravascular ultrasound image at the corresponding position of the tangent vector is rotated at different angles, and the rotated intravascular ultrasound image is backprojected on the coronary angiography image according to the intravascular
  • the tangential vector is a tangential vector of the position of the intravascular ultrasound image on the three-dimensional guide wire. Since the blood vessel is not a regular cylinder and the section is not a standard circle, the intravascular ultrasound image needs to be perpendicular to the tangential vector. Rotating at different angles on the plane (for example, the intravascular ultrasound image can be set to rotate 2 degrees each time, a total of 360 degrees), and the intravascular ultrasound image is backprojected in the first contrast plane and the second contrast plane after each rotation.
  • the optimal directional angle of the intravascular ultrasound image per frame is found based on the back projection of the intravascular ultrasound image and the distance from the vessel edge contour to the three-dimensional guide wire, respectively, effectively reducing the three-dimensional reconstruction of the vessel surface. error.
  • P 1 ⁇ and P 2 ⁇ are the distances between the back projection of the intravascular ultrasound image and the three-dimensional guide wire
  • V 1 ⁇ and V 2 ⁇ are the contours of the blood vessel edge and the three-dimensional guide wire. the distance.
  • the reconstruction error corresponding to the different angles of the intravascular ultrasound image rotation may be calculated according to the preset error accumulation formula.
  • the error accumulation formula is:
  • e ⁇ is a reconstruction error corresponding to the rotation ⁇ of the intravascular ultrasound image.
  • the minimum reconstruction error corresponding to the intravascular ultrasound image of each frame is selected in all reconstruction errors, and the rotation angle corresponding to the minimum reconstruction error is the optimal orientation angle corresponding to the corresponding intravascular ultrasound image, which effectively reduces the calculation amount of intravascular ultrasound image orientation. .
  • step S105 the intravascular ultrasound image of each frame is rotated to a corresponding optimal orientation angle, according to the span difference between the intima and the span between the outer membranes in each intravascular ultrasound image on the three-dimensional guide wire.
  • the intravascular ultrasound image is rotated to the corresponding optimal orientation angle, and the intravascular ultrasound image is completed on the coronary angiography image. Positioning and targeting. It can be seen that the intravascular ultrasound image is composed of an inner membrane and an outer membrane, and an inner membrane and an outer membrane composed of discrete points can be obtained after the inner membrane outer membrane is divided. Two inner membranes are selected in the inner membrane of all intravascular ultrasound images, and the selected two inner membranes are set as the target contours of the upper and lower layers, as shown in FIG. 5, P 1 , . . . , P i , P i +1 ,...
  • the reconstruction of the blood vessel surface can be performed according to a preset shortest span method.
  • the span is P j Q i is based on constructing a triangle connecting the upper and lower target contours, that is, Q j and P i are set as two vertices of the triangle, and then determining the third vertex of the triangle according to the shortest span criterion: The length from P i Q j+1 is less than the length of the span P i+1 Q j , then the third vertex of the triangle is Q j+1 , connecting three vertices to form a triangle ⁇ Q j P i Q j+ 1 , otherwise the third vertex of the triangle is P i+1 , connecting three vertices to form a triangle ⁇ Q j P i P i+1 .
  • the coronary angiography image is preprocessed, which effectively reduces the adverse effect of image noise on the accuracy of three-dimensional reconstruction of the blood vessel, extracts the contour of the blood vessel edge in the pre-processed coronary angiography image, and passes Hessian
  • the matrix extracts the two-dimensional guide wire in the coronary angiography image, so that the exact position of the two-dimensional guide wire can still be found when the angiogenesis is abrupt, the endovascular segmentation of the intravascular ultrasound image is performed, and according to the two-dimensional guide wire,
  • the first contrast plane and the second contrast plane of the coronary angiography image generate a three-dimensional guide wire, which effectively reduces the error of the three-dimensional guide wire generated by the uncalibrated part of the parameters or parameters of the contrast device, and determines the three-dimensional shape.
  • the position and orientation of the intravascular ultrasound image on the three-dimensional guide wire are positioned and oriented, and the amount of calculation is effectively reduced by back projection during orientation, and finally the reconstruction of the blood vessel surface is performed to realize the coronary artery
  • the fusion of angiography and intravascular ultrasound images allows simultaneous examination of the shape and structure of the blood vessels and The luminal lesion information effectively improves the efficiency and accuracy of three-dimensional reconstruction of coronary vessels.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • FIG. 6 shows a structure of a three-dimensional reconstruction device for a coronary artery according to a second embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown, including:
  • the image processing unit 61 is configured to preprocess the input coronary angiography image, extract the contour of the blood vessel edge and the two-dimensional guide wire in the pre-processed coronary angiography image, and perform internal and external ultrasound images of the input associated intravascular blood vessel Membrane segmentation
  • the guide wire reconstruction unit 62 is configured to translate the two-dimensional guide wire respectively located in the coronary angiography image of the preset first contrast plane and the second contrast plane to the same starting point, according to the two-dimensional guide wire after the translation, Constructing surfaces intersecting each other perpendicularly, and setting intersection lines of curved surfaces perpendicular to each other as three-dimensional guide wires;
  • the ultrasonic image positioning unit 63 is configured to arrange the intravascular ultrasound images of each frame at equal intervals along the three-dimensional guide wire, and rotate the blood vessel ultrasound image to and according to the tangent vector at the position of the intravascular ultrasound image on the three-dimensional guide wire. Cut the position of the vector vertically;
  • the ultrasonic image orientation unit 64 is configured to position the tangent vector on the vertical plane of the tangent vector
  • the intravascular ultrasound image is rotated at different angles, and the rotated intravascular ultrasound image is backprojected on the coronary angiography image, according to the back projection of the intravascular ultrasound image and the contour of the blood vessel edge to the distance of the three-dimensional guide wire, Determining the optimal orientation angle of the intravascular ultrasound image per frame;
  • the surface reconstruction unit 65 is configured to rotate each frame of the intravascular ultrasound image to a corresponding optimal orientation angle according to the span difference between the intima and the span between the outer membranes in each intravascular ultrasound image on the three-dimensional guide wire. Poor, surface reconstruction of blood vessels in coronary angiography images and intravascular ultrasound images.
  • the image processing unit 61 includes:
  • the image extracting unit 712 is configured to extract a blood vessel edge contour on the coronary angiography image, and extract a two-dimensional guide wire of the blood vessel in the coronary angiography image according to a preset Hessian matrix extraction manner.
  • the guide wire reconstruction unit 62 comprises:
  • a surface constructing unit 721 configured to respectively construct a first curved surface perpendicular to the first contrast plane and a second curved surface perpendicularly intersecting the second contrast plane according to the translated two-dimensional guide wire;
  • the intersection line generating unit 722 is configured to vertically intersect the first curved surface and the second curved surface to generate an intersection line, and set the intersection line as a three-dimensional guide wire.
  • the coronary angiography image is preprocessed, which effectively reduces the adverse effect of image noise on the accuracy of three-dimensional reconstruction of the blood vessel, extracts the contour of the blood vessel edge in the pre-processed coronary angiography image, and passes Hessian
  • the matrix extracts the two-dimensional guide wire in the coronary angiography image, so that the exact position of the two-dimensional guide wire can still be found when the angiogenesis is abrupt, the endovascular segmentation of the intravascular ultrasound image is performed, and according to the two-dimensional guide wire,
  • the first contrast plane and the second contrast plane of the coronary angiography image generate a three-dimensional guide wire, which effectively reduces the error of the three-dimensional guide wire generated by the uncalibrated part of the parameters or parameters of the contrast device, and determines the three-dimensional shape.
  • the position and orientation of the intravascular ultrasound image on the three-dimensional guide wire are positioned and oriented, and the amount of calculation is effectively reduced by back projection during orientation, and finally the reconstruction of the blood vessel surface is performed to realize the coronary artery
  • the fusion of angiography and intravascular ultrasound images allows simultaneous examination of the shape and structure of the blood vessels and Endoluminal lesion Information effectively improves the efficiency and accuracy of 3D reconstruction of coronary vessels.
  • each unit of the three-dimensional reconstruction device of the coronary blood vessel can be implemented by a corresponding hardware or software unit, and each unit can be an independent software and hardware unit, or can be integrated into a soft and hardware unit. To limit the invention.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • FIG. 8 shows the structure of a medical device according to a third embodiment of the present invention. For the convenience of description, only parts related to the embodiment of the present invention are shown.
  • the medical device 8 of an embodiment of the present invention includes a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and operable on the processor 80.
  • the processor 80 executes the computer program 82 to implement the steps in the above-described method embodiments, such as steps S101 through S105 shown in FIG.
  • processor 80 when executing computer program 82, implements the functions of the various units of the apparatus embodiments described above, such as the functions of units 61 through 65 shown in FIG.
  • the coronary angiography image is preprocessed, the blood vessel edge contour is extracted, the two-dimensional guide wire is extracted, and the intravascular and superficial images are segmented.
  • Translating the coronary angiography images respectively located in the preset first contrast plane and the second contrast plane, so that the two-dimensional guide wire in the coronary angiography image of the first contrast plane and the coronary angiography of the second contrast plane The starting point of the two-dimensional guide wire in the image is the same.
  • the curved surfaces intersecting each other perpendicularly are constructed according to the two-dimensional guide wire, and the intersection line of the curved surface is set as the three-dimensional guide wire.
  • Each intravascular ultrasound image is arranged at equal intervals along the three-dimensional guide wire, and the intravascular ultrasound image is rotated such that the intravascular ultrasound image is perpendicular to the tangent vector at the corresponding position of the three-dimensional guide wire.
  • the corresponding intravascular ultrasound image is rotated at different angles, and the rotated intravascular ultrasound image is backprojected on the coronary angiography image, respectively, according to the back projection and the contour of the blood vessel edge to the three-dimensional guidance
  • the distance of the filaments determines the optimal orientation angle of the intravascular ultrasound image per frame.
  • the vessel surface reconstruction is performed according to the span difference between the intima and the span between the epithelium in each intravascular ultrasound image on the three-dimensional guide wire.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • a computer readable storage medium storing a computer program, which when executed by a processor, implements the steps in the foregoing method embodiments, for example, FIG. Steps S101 to S105 are shown.
  • the computer program when executed by the processor, implements the functions of the various units of the apparatus embodiments described above, such as the functions of units 61 through 65 shown in FIG.
  • the coronary angiography image is preprocessed, the blood vessel edge contour is extracted, the two-dimensional guide wire is extracted, and the intravascular and superficial images are segmented.
  • Translating the coronary angiography images respectively located in the preset first contrast plane and the second contrast plane, so that the two-dimensional guide wire in the coronary angiography image of the first contrast plane and the coronary angiography of the second contrast plane The starting point of the two-dimensional guide wire in the image is the same.
  • the curved surfaces intersecting each other perpendicularly are constructed according to the two-dimensional guide wire, and the intersection line of the curved surface is set as the three-dimensional guide wire.
  • Each intravascular ultrasound image is arranged at equal intervals along the three-dimensional guide wire, and the intravascular ultrasound image is rotated such that the intravascular ultrasound image is perpendicular to the tangent vector at the corresponding position of the three-dimensional guide wire.
  • the corresponding intravascular ultrasound image is rotated at different angles, and the rotated intravascular ultrasound image is backprojected on the coronary angiography image, respectively, according to the back projection and the contour of the blood vessel edge to the three-dimensional guidance
  • the distance of the filaments determines the optimal orientation angle of the intravascular ultrasound image per frame.
  • the vessel surface reconstruction is performed according to the span difference between the intima and the span between the epithelium in each intravascular ultrasound image on the three-dimensional guide wire.
  • the fusion of coronary angiography and intravascular ultrasound images can be performed, so that the shape and structure of the blood vessels and the information of the luminal lesions can be simultaneously examined.
  • the effect of image noise caused by the patient's breathing on the revascularization is effectively reduced, and the problem is effectively solved.
  • the lack of contrast imaging parameters or the incomplete calibration of parameters can effectively improve the efficiency and accuracy of 3D reconstruction of coronary vessels.
  • the computer readable storage medium of an embodiment of the invention may comprise a computer program code capable of carrying Any entity or device, recording medium, such as ROM/RAM, magnetic disk, optical disk, flash memory, etc.

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Abstract

一种冠脉血管的三维重建方法、装置、设备以及存储介质，适用计算机技术领域，该方法包括：对冠状动脉造影(CAG)图像进行预处理、血管边缘轮廓与二维导引丝的提取，对血管内超声图像(IVUS)进行内外膜分割；将分别位于第一造影平面、第二造影平面的CAG图像中的二维导引丝平移至同一起点，构建垂直相交曲面，将交线设置为三维导引丝；在三维导引丝上将每帧IVUS图像等间隔排列、并旋转至与相应位置的切矢量垂直；在切矢量垂直平面旋转IVUS图像，并反投影于CAG图像，根据反投影和血管边缘轮廓到三维导引丝的距离，确定最佳定向角度，最后重建血管表面，从而同时检查血管的外形形态结构和内腔病变信息，提高了冠脉血管三维重建的效率和准确度。

Description

冠脉血管的三维重建方法、装置、设备及存储介质 技术领域
本发明属于计算机技术领域，尤其涉及一种冠脉血管的三维重建方法、装置、设备及存储介质。
背景技术
近年来冠心病的发病率和病患死亡率呈上升趋势，在临床上对冠心病的主要诊断方式为冠状动脉造影(Coronary Angiography，CAG)和血管内超声(Intravascular UItrasound，IVUS)。CAG作为目前冠心病诊断的“金标准”，通过CAG可以明确冠状动脉有无狭窄和狭窄的部位、程度、范围等，通过IVUS可以获得冠状动脉内的管壁形态及狭窄程度。然而，CAG图像无法提供血管壁的结构信息和病变程度，IVUS无法提供血管截面的轴向位置和空间方向。为了能够同时检查血管的外形形态结构和内腔病变信息，需要一种技术手段能够将CAG和IVUS各自在冠状动脉形态显示上的优势进行互补，真实地反映出血管的解剖结构和空间几何形态。
目前，实现CAG和IVUS各自在冠状动脉形态显示上的优势互补的方法主要为基于双目成像原理实现导引丝三维重建，该方法对参数的已知情况要求比较高，临床上大部分造影图像只记录造影过程的造影角度，不记录射线源到造影平面的直线距离，还有可能出现记录参数丢失的情况，给三维重建带来较大的误差。
发明内容
本发明的目的在于提供一种冠脉血管的三维重建方法、装置、设备及存储介质，旨在解决由于现有技术中采集融合CAG和IVUS图像数据的方法，对参 数的已知程度要求比较高，导致冠脉血管的三维重建存在较大误差、准确度不高的问题。
一方面，本发明提供了一种冠脉血管的三维重建方法，所述方法包括下述步骤：
对输入的冠状动脉造影图像进行预处理，在所述预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维导引丝，并对输入的关联血管内超声图像进行内外膜分割；
将分别位于预设第一造影平面、第二造影平面的所述冠状动脉造影图像中的所述二维导引丝平移至同一起点，根据平移后的所述二维导引丝，构建互相垂直相交的曲面，将所述互相垂直相交的曲面的交线设置为三维导引丝；
将所述每帧血管内超声图像沿着所述三维导引丝进行等间隔排列，根据所述三维导引丝上所述血管内超声图像所在位置处的切矢量，将所述血管内超声图像旋转至与所述切矢量垂直的位置；
在所述切矢量的垂直平面上，将所述切矢量对应位置处的所述血管内超声图像进行不同角度的旋转，并将旋转后的所述血管内超声图像反投影在所述冠状动脉造影图像上，根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，确定所述每帧血管内超声图像的最佳定向角度；
将所述每帧血管内超声图像旋转至对应的所述最佳定向角度，根据所述三维导引丝上所述每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对所述冠状动脉造影图像和血管内超声图像的血管进行表面重建。
另一方面，本发明提供了一种冠脉血管的三维重建装置，所述装置包括：
图像处理单元，用于对输入的冠状动脉造影图像进行预处理，在所述预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维引导丝，并对输入的关联血管内超声图像进行内外膜分割；
导引丝重建单元，用于将分别位于预设第一造影平面、第二造影平面的所述冠状动脉造影图像中的所述二维导引丝平移至同一起点，根据平移后的所述 二维导引丝，构建互相垂直相交的曲面，将所述互相垂直相交的曲面的交线设置为三维导引丝；
超声图像定位单元，用于将所述每帧血管内超声图像沿着所述三维导引丝进行等间隔排列，根据所述三维导引丝上所述血管内超声图像所在位置处的切矢量，将所述血管超声图像旋转至与所述切矢量垂直的位置；
超声图像定向单元，用于在所述切矢量的垂直平面上，将所述切矢量对应位置处的所述血管内超声图像进行不同角度的旋转，并将旋转后的所述血管内超声图像反投影在所述冠状动脉造影图像上，根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，确定所述每帧血管内超声图像的最佳定向角度；以及
表面重建单元，用于将所述每帧血管内超声图像旋转至对应的所述最佳定向角度，根据所述三维导引丝上所述每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对所述冠状动脉造影图像和血管内超声图像的血管进行表面重建。
另一方面，本发明还提供了一种医疗设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述一种冠脉血管的三维重建方法所述的步骤。
另一方面，本发明还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如一种冠脉血管的三维重建方法所述的步骤。
本发明对冠状动脉造影图像进行预处理、血管边缘轮廓提取、二维导引丝提取，对血管内超声图像进行内外膜分割，并对分别位于预设第一造影平面、第二造影平面的冠状动脉造影图像进行平移，平移后根据二维导引丝构建互相垂直相交的曲面，将曲面的交线设置为三维导引丝，将每帧血管内超声图像沿着三维导引丝等间隔排列，旋转血管内超声图像，以使血管内超声图像与三维导引丝对应位置处的切矢量垂直，在切矢量的垂直平面上将相应的血管内超声 图像进行不同角度的旋转，将旋转后的血管内超声图像反投影在冠状动脉造影图像上，根据反投影和血管边缘轮廓分别到三维导引丝的距离，确定每帧血管内超声图像的最佳定向角度，再根据三维导引丝上每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，进行血管表面重建。从而实现冠状动脉造影与血管内超声图像的融合，使得可以同时检查血管的外形形态结构和内腔病变信息，此外，有效地降低了患者呼吸引起的图像噪声对血管重建的影响，有效地解决了造影设备参数缺失或参数标定不完全带来的影响，有效地提高了冠脉血管三维重建的效率和准确度。
附图说明
图1是本发明实施例一提供的冠脉血管的三维重建方法的实现流程图；
图2是本发明实施例一提供的冠脉血管的三维重建方法中血管边缘轮廓和二维导引丝提取的示例图；
图3是本发明实施例一提供的冠脉血管的三维重建方法中三维导引丝生成的示例图；
图4是本发明实施例一提供的冠脉血管的三维重建方法中血管内超声图像反投影和血管边缘轮廓分别到三维导引丝的距离的示例图；
图5是本发明实施例一提供的冠脉血管的三维重建方法中通过上下层目标轮廓线进行血管表面重建的示例图；
图6是本发明实施例二提供的冠脉血管的三维重建装置的结构示意图；
图7是本发明实施例二提供的冠状血管的三维重建装置的优选结构示意图；以及
图8是本发明实施例三提供的医疗设备的结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实 施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
以下结合具体实施例对本发明的具体实现进行详细描述：
实施例一：
图1示出了本发明实施例一提供的冠脉血管的三维重建方法的实现流程，为了便于说明，仅示出了与本发明实施例相关的部分，详述如下：
在步骤S101中，对输入的冠状动脉造影图像进行预处理，在预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维导引丝，并对输入的关联血管内超声图像进行内外膜分割。
在本发明实施例中，输入的冠状动脉造影图像和对应的或关联的血管内超声图像可来自于医院提供的医疗数据库，其中，冠状动脉造影设备可从多个角度记录患者的冠状动脉造影图像，输入的冠状动脉造影图像可为任意两个方向的冠状动脉造影图像，在这里将这两个方向称为第一造影平面、第二造影平面。输入的血管内超声图像为导引丝从靶变部位远端匀速撤回时记录的多帧血管截面图像。
在本发明实施例中，由于冠状动脉造影图像在成像、传输、存储过程受到各种因素的干扰，图像上容易产生噪声，为了更准确地处理冠状动脉造影图像，需要对冠状动脉造影图像进行预处理。在预处理过程中，可应用滤波器将冠状动脉造影图像映射到新的图像中，再增强冠状动脉造影图像的对比度(例如，将图像强度值中预设百分比的低强度值调节到更低、高强度值调节到更高)，从而去除冠状动脉造影图像的一些伪假象，如患者胸部的骨骼和肌肉组织等解剖部位在局部血管成像图上可能会显示为血管，同时便于更清晰地提取冠状动脉造影图像中的血管轮廓及导引丝。由于冠状动脉造影图像的噪声主要包括高斯噪声、椒盐噪声，因此，可再通过预设的高斯低通滤波器对冠状动脉造影图像中的随机噪声和椒盐噪声进行处理。
在本发明实施例中，接着在冠状动脉造影图像中提取血管边缘轮廓和二维 导引丝，二维导引丝可理解为冠状动脉造影图像中的血管中心线。可通过预设的高斯--拉普拉斯(LOG)算子提取血管边缘轮廓，以平滑血管边缘轮廓并消除提取血管边缘轮廓时产生的噪声。可通过预设的黑塞(Hessian)矩阵提取二维导引丝，具体地，可通过对冠状动脉造影图像进行二阶泰勒(Taylor)级数展开获得冠状动脉造影图像的Hessian矩阵：
Figure PCTCN2017091573-appb-000001
其中，I为n维数据，在这里表示二维图像数据，即冠状动脉造影图像，P为二维图像数据中的点，
Figure PCTCN2017091573-appb-000002
为P点的梯度矢量，H(P)为P点的Hessian矩阵。冠状动脉造影图像的Hessian矩阵可表示以为：
Figure PCTCN2017091573-appb-000003
其中，
Figure PCTCN2017091573-appb-000004
Ixx、Ixy、Iyx、Iyy为冠状动脉造影图像的二阶微分，可由冠状动脉造影图像的二阶导数与高斯滤波器卷积得到。Hessian矩阵绝对值较大的特征值和对应的特征向量代表着P点曲率较大的强度和方向，绝对值较小的特征值和对应的特征向量代表着P点曲率较小的强度和方向，可见冠状动脉造影图像的Hessian矩阵的绝对值较大的特征值对应的特征向量垂直于局部血管骨架，绝对值较小的特征值对应的特征向量平行于局部血管骨架，可利用绝对值较小的特征值对应的特征向量平行于局部血管骨架的特点，进行二维导引丝的提取。在提取之后，可对提取到的二维导引丝的图像进行腐蚀、细化、消除垂直于血管走向的干扰、消除面积比较小的连通分支，再进行插值拟合，得到二维血管的导引丝曲线，即二维导引丝，从而在血管发生突变时依旧可以找到二维导引丝的准确位置。
在本发明实施例中，对血管内超声图像进行内外膜分割，可通过IVUS Angio tool软件(一种可用于血管内影像处理的公共可用软件)对每帧血管内超声图像进行内外膜分割，该软件可结合心电图，在R波检测基础上识别心脏舒张末期的IVUS图像，实现内外膜的自动分割。若未同时提供心电图，可手动选择心脏舒张末期的IVUS图像并进行手动校正。如图2所示，由图中的A 到C为血管边缘轮廓的提取，由A到B到D为二维导引丝的提取。
在步骤S102中，将分别位于预设第一造影平面、第二造影平面的冠状动脉造影图像中的二维导引丝平移至同一起点，根据平移后的二维导引丝，构建互相垂直相交的曲面，将互相垂直相交的曲面的交线设置为三维导引丝。
在本发明实施例中，由于导引丝的起点是固定的，需将不同方向(第一造影平面、第二造影平面)的冠状动脉造影图像中的二维导引丝移至同一起点(或同一高度)，平移好后，根据二维导引丝，构建与第一造影平面上的冠状动脉造影图像垂直相交的第一曲面，构建与第二造影平面上的冠状动脉造影图像垂直相交的第二曲面，将第一曲面、第二曲面进行垂直相交，并将得到的交线设置为三维导引丝，即导引丝的三维曲线，从而有效地降低了因为造影设备未标定部分参数或参数发生偏差所带来的三维导引丝生成的误差，并减小了由于病人呼吸引起的几何失真。
在本发明实施例中，如图3所示，YOZ平面为第一造影平面，XOZ平面为第二造影平面，中间的两个由虚线和实现构成的曲面分别为与第一造影平面垂直相交的第一曲面、与第二造影平面垂直相交的第二曲面，第一曲面和第二曲面垂直相交后得到的交线即三维导引丝。在求解两曲面的交线时，可以将第一或第二造影平面上冠状动脉造影图像的二维导引丝设为参考目标，将另一造影平面冠状动脉造影图像的二维导引丝的Z坐标与参考目标的Z坐标进行一一比较，当差值在预设阈值范围内时，可认为参考目标的Z坐标为两曲面的交点。
优选地，在二维导引丝进行平移后，对二维导引丝进行插值处理生成B样条曲线，根据B样条曲线构建曲面，从而使得曲线更为平滑。
步骤S103，将每帧血管内超声图像沿着三维导引丝进行等间隔排列，根据三维导引丝上血管内超声图像所在位置处的切矢量，将血管内超声图像旋转至与切矢量垂直的位置。
在本发明实施例中，在三维导引丝上对每帧血管内超声图像进行定位。血管内超声图像是由马达牵引超声探头沿导引丝以设定速度匀速移动，得到的整 个血管的切面图像，可通过弦长法计算得到每帧血管内超声图像在三维导引丝上的位置，使得每帧血管内超声图像在三维导引丝上等间隔排列。作为实例地，当已知参数为血管内超声图像的帧序号、帧数以及回撤总长度时，可计算每帧血管内超声图像离回撤点的距离，进而确定每帧血管内超声图像在三维导引丝的位置。当已知参数为血管内超声图像的帧数、帧速率以及回撤速率时，可计算出回撤总长度，再根据血管内超声图像内外膜数量可计算得到相邻血管内超声图像的间距。由于血管内超声图像记录的为血管的截面，还需将血管内超声图像旋转至与三维导引丝对应位置的切矢量垂直。
具体地，可依次将每帧血管内超声图像从三维导引丝所在的局部坐标系，平移至预设的世界坐标系(也为冠状动脉造影图像所在坐标系)，平移后，血管内超声图形在三维导引丝的位置与世界坐标系的原点重合。获取三维导引丝上血管内超声图像所在位置的切矢量，可根据该切矢量分别与世界坐标系的XOZ平面、YOZ的夹角，对血管内超声图像进行旋转。
步骤S104中，在切矢量的垂直平面上，将切矢量对应位置处的血管内超声图像进行不同角度的旋转，并将旋转后的血管内超声图像反投影在冠状动脉造影图像上，根据血管内超声图像的反投影和血管边缘轮廓分别到三维导引丝的距离，确定每帧血管内超声图像的最佳定向角度。
在本发明实施例中，切矢量为三维导引丝上血管内超声图像所在位置的切矢量，由于血管不是规则的圆柱，截面也不是标准的圆，需要将血管内超声图像在切矢量的垂直平面上进行不同角度的旋转(例如，可设置血管内超声图像每次旋转2度，一共旋转360度)，每次旋转后将血管内超声图像反投影在第一造影平面、第二造影平面的冠状动脉造影图像上，以根据血管内超声图像的反投影和血管边缘轮廓分别到三维导引丝的距离，找到每帧血管内超声图像的最佳定向角度，有效地较小血管表面三维重建的误差。如图4所示，血管内超声图像旋转θ角度后，P1θ和P2θ为血管内超声图像的反投影与三维导引丝的距离，V1θ和V2θ为血管边缘轮廓与三维导引丝的距离。
在本发明实施例中，根据血管内超声图像的反投影和血管边缘轮廓分别到三维导引丝的距离，可根据预设的误差累积公式，计算血管内超声图像旋转不同角度对应的重建误差，误差累积公式为：
Figure PCTCN2017091573-appb-000005
其中，eθ为血管内超声图像旋转θ对应的重建误差。在所有重建误差中选取每帧血管内超声图像对应的最小重建误差，最小重建误差对应的旋转角度为相应血管内超声图像对应的最佳定向角度，有效地降低了血管内超声图像定向的计算量。
在步骤S105中，将每帧血管内超声图像旋转至对应的最佳定向角度，根据三维导引丝上每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对冠状动脉造影图像和血管内超声图像的血管进行表面重建。
在本发明实施例中，确定每帧血管超声图像对应的最佳定向角度后，将每帧血管内超声图像旋转至对应的最佳定向角度，便完成了血管内超声图像在冠状动脉造影图像上的定位和定向。可知，血管内超声图像由内膜和外膜构成，内膜外膜分割后可得到由离散点组成的内膜、外膜。在所有血管内超声图像的内膜中选取两层内膜，并将选取的两层内膜设置为上下两层的目标轮廓线，如图5所示，P1,…,Pi,Pi+1,…为上层目标轮廓线上的顶点序列、Q1,…,Qi,Qi+1,…为下层目标轮廓线上的顶点序列，这些数据即选取的两层内膜上的离散点。同理，可在所有血管内超声图像的外膜中选取两层外膜。
在本发明实施例中，可根据预设的最短跨距法进行血管表面的重建，具体地，如图5所示，当上层目标轮廓线上距离Qj最近的为Pi，则以跨距PjQi为基础构建连接上下层目标轮廓线的三角片，即将Qj和Pi设置为三角片的两个顶点，再依据最短跨距准则确定该三角片的第三个顶点：若跨距PiQj+1的长度小于跨距Pi+1Qj的长度，则三角片的第三个顶点为Qj+1，连接三个顶点，构成三角片ΔQjPiQj+1，否则三角片的第三个顶点为Pi+1，连接三个顶点，构成三角片ΔQjPiPi+1。连续循环迭代进行三角片的连接，直至绕所有轮廓顶点一周。可按照内膜或者 外膜的层次顺序、及从外膜到内膜的顺序进行上述操作，最后完成血管表面的重建。
在本发明实施例中，对冠状动脉造影图像进行预处理，有效地降低了图像噪声对血管三维重建准确度的不利影响，在预处理后的冠状动脉造影图像中提取血管边缘轮廓，并通过Hessian矩阵提取冠状动脉造影图像中的二维导引丝，使得在血管发生突变时依旧可以找到二维导引丝的准确位置，对血管内超声图像进行内外膜分割，并根据二维导引丝、冠状动脉造影图像的第一造影平面、第二造影平面，生成三维导引丝，有效地降低了因为造影设备未标定部分参数或参数发生偏差所带来的三维导引丝生成的误差，确定三维导引丝后，对血管内超声图像在三维导引丝上的位置和方向进行定位和定向，在定向时通过反投影有效地降低了计算量，最后再进行血管表面的重建，从而实现冠状动脉造影与血管内超声图像的融合，使得可以同时检查血管的外形形态结构和内腔病变信息，有效地提高了冠脉血管三维重建的效率和准确度。
实施例二：
图6示出了本发明实施例二提供的冠脉血管的三维重建装置的结构，为了便于说明，仅示出了与本发明实施例相关的部分，其中包括：
图像处理单元61，用于对输入的冠状动脉造影图像进行预处理，在预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维引导丝，并对输入的关联血管内超声图像进行内外膜分割；
导引丝重建单元62，用于将分别位于预设第一造影平面、第二造影平面的冠状动脉造影图像中的二维导引丝平移至同一起点，根据平移后的二维导引丝，构建互相垂直相交的曲面，将互相垂直相交的曲面的交线设置为三维导引丝；
超声图像定位单元63，用于将每帧血管内超声图像沿着三维导引丝进行等间隔排列，根据三维导引丝上血管内超声图像所在位置处的切矢量，将血管超声图像旋转至与切矢量垂直的位置；
超声图像定向单元64，用于在切矢量的垂直平面上，将切矢量对应位置处 的血管内超声图像进行不同角度的旋转，并将旋转后的血管内超声图像反投影在冠状动脉造影图像上，根据血管内超声图像的反投影和血管边缘轮廓分别到三维导引丝的距离，确定每帧血管内超声图像的最佳定向角度；以及
表面重建单元65，用于将每帧血管内超声图像旋转至对应的最佳定向角度，根据三维导引丝上每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对冠状动脉造影图像和血管内超声图像的血管进行表面重建。
优选地，如图7所示，图像处理单元61包括：
图像增强去噪单元711，用于对冠状动脉造影图像进行对比度增强，并对冠状动脉造影图像上的噪声进行平滑处理；以及
图像提取单元712，用于提取冠状动脉造影图像上的血管边缘轮廓，并根据预设的Hessian矩阵提取方式，提取冠状动脉造影图像中血管的二维导引丝。
优选地，导引丝重建单元62包括：
曲面构建单元721，用于根据平移后的二维导引丝，分别构建与第一造影平面垂直相交的第一曲面、与第二造影平面垂直相交的第二曲面；以及
交线生成单元722，用于将分别与第一曲面、第二曲面进行垂直相交，生成交线，将交线设置为三维导引丝。
在本发明实施例中，对冠状动脉造影图像进行预处理，有效地降低了图像噪声对血管三维重建准确度的不利影响，在预处理后的冠状动脉造影图像中提取血管边缘轮廓，并通过Hessian矩阵提取冠状动脉造影图像中的二维导引丝，使得在血管发生突变时依旧可以找到二维导引丝的准确位置，对血管内超声图像进行内外膜分割，并根据二维导引丝、冠状动脉造影图像的第一造影平面、第二造影平面，生成三维导引丝，有效地降低了因为造影设备未标定部分参数或参数发生偏差所带来的三维导引丝生成的误差，确定三维导引丝后，对血管内超声图像在三维导引丝上的位置和方向进行定位和定向，在定向时通过反投影有效地降低了计算量，最后再进行血管表面的重建，从而实现冠状动脉造影与血管内超声图像的融合，使得可以同时检查血管的外形形态结构和内腔病变 信息，有效地提高了冠脉血管三维重建的效率和准确度。本发明实施例的各单元的具体实施内容可参照实施例一中对应步骤的描述，不再赘述。
在本发明实施例中，冠脉血管的三维重建装置的各单元可由相应的硬件或软件单元实现，各单元可以为独立的软、硬件单元，也可以集成为一个软、硬件单元，在此不用以限制本发明。
实施例三：
图8示出了本发明实施例三提供的医疗设备的结构，为了便于说明，仅示出了与本发明实施例相关的部分。
本发明实施例的医疗设备8包括处理器80、存储器81以及存储在存储器81中并可在处理器80上运行的计算机程序82。该处理器80执行计算机程序82时实现上述方法实施例中的步骤，例如图1所示的步骤S101至S105。或者，处理器80执行计算机程序82时实现上述装置实施例中各单元的功能，例如图6所示单元61至65的功能。
在本发明实施例中，对冠状动脉造影图像进行预处理、血管边缘轮廓提取、二维导引丝提取，对血管内超声图像进行内外膜分割。对分别位于预设第一造影平面、第二造影平面的冠状动脉造影图像进行平移，以使得第一造影平面的冠状动脉造影图像中的二维导引丝、与第二造影平面的冠状动脉造影图像中的二维导引丝起点一致，平移后，根据二维导引丝构建互相垂直相交的曲面，将曲面的交线设置为三维导引丝。将每帧血管内超声图像沿着三维导引丝等间隔排列，旋转血管内超声图像，以使血管内超声图像与三维导引丝对应位置处的切矢量垂直。在切矢量的垂直平面上，将相应的血管内超声图像进行不同角度的旋转，将旋转后的血管内超声图像反投影在冠状动脉造影图像上，根据反投影和血管边缘轮廓分别到三维导引丝的距离，确定每帧血管内超声图像的最佳定向角度。再根据三维导引丝上每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，进行血管表面重建。从而实现冠状动脉造影与血管内超声图像的融合，使得可以同时检查血管的外形形态结构和内腔病变信息，此外，有效地 降低了患者呼吸引起的图像噪声对血管重建的影响，有效地解决了造影设备参数缺失或参数标定不完全带来的影响，有效地提高了冠脉血管三维重建的效率和准确度。
实施例四：
在本发明实施例中，提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现上述方法实施例中的步骤，例如，图1所示的步骤S101至S105。或者，该计算机程序被处理器执行时实现上述装置实施例中各单元的功能，例如图6所示单元61至65的功能。
在本发明实施例中，对冠状动脉造影图像进行预处理、血管边缘轮廓提取、二维导引丝提取，对血管内超声图像进行内外膜分割。对分别位于预设第一造影平面、第二造影平面的冠状动脉造影图像进行平移，以使得第一造影平面的冠状动脉造影图像中的二维导引丝、与第二造影平面的冠状动脉造影图像中的二维导引丝起点一致，平移后，根据二维导引丝构建互相垂直相交的曲面，将曲面的交线设置为三维导引丝。将每帧血管内超声图像沿着三维导引丝等间隔排列，旋转血管内超声图像，以使血管内超声图像与三维导引丝对应位置处的切矢量垂直。在切矢量的垂直平面上，将相应的血管内超声图像进行不同角度的旋转，将旋转后的血管内超声图像反投影在冠状动脉造影图像上，根据反投影和血管边缘轮廓分别到三维导引丝的距离，确定每帧血管内超声图像的最佳定向角度。再根据三维导引丝上每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，进行血管表面重建。从而实现冠状动脉造影与血管内超声图像的融合，使得可以同时检查血管的外形形态结构和内腔病变信息，此外，有效地降低了患者呼吸引起的图像噪声对血管重建的影响，有效地解决了造影设备参数缺失或参数标定不完全带来的影响，有效地提高了冠脉血管三维重建的效率和准确度。
本发明实施例的计算机可读存储介质可以包括能够携带计算机程序代码的 任何实体或装置、记录介质，例如，ROM/RAM、磁盘、光盘、闪存等存储器。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种冠脉血管的三维重建方法，其特征在于，所述方法包括下述步骤：
    对输入的冠状动脉造影图像进行预处理，在所述预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维导引丝，并对输入的关联血管内超声图像进行内外膜分割；
    将分别位于预设第一造影平面、第二造影平面的所述冠状动脉造影图像中的所述二维导引丝平移至同一起点，根据平移后的所述二维导引丝，构建互相垂直相交的曲面，将所述互相垂直相交的曲面的交线设置为三维导引丝；
    将所述每帧血管内超声图像沿着所述三维导引丝进行等间隔排列，根据所述三维导引丝上所述血管内超声图像所在位置处的切矢量，将所述血管内超声图像旋转至与所述切矢量垂直的位置；
    在所述切矢量的垂直平面上，将所述切矢量对应位置处的所述血管内超声图像进行不同角度的旋转，并将旋转后的所述血管内超声图像反投影在所述冠状动脉造影图像上，根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，确定所述每帧血管内超声图像的最佳定向角度；
    将所述每帧血管内超声图像旋转至对应的所述最佳定向角度，根据所述三维导引丝上所述每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对所述冠状动脉造影图像和血管内超声图像的血管进行表面重建。
  2. 如权利要求1所述的方法，其特征在于，对输入的冠状动脉造影图像进行预处理，在所述预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维导引丝的步骤，包括：
    对所述冠状动脉造影图像进行对比度增强，并对所述冠状动脉造影图像上的噪声进行平滑处理；
    提取所述冠状动脉造影图像上的血管边缘轮廓，并根据预设的Hessian矩阵提取方式，提取所述冠状动脉造影图像中的二维导引丝。
  3. 如权利要求1所述的方法，其特征在于，根据平移后的所述二维导引丝， 构建互相垂直相交的曲面，将所述互相垂直相交的曲面的交线设置为三维导引丝的步骤，包括：
    根据所述平移后的二维导引丝，分别构建与所述第一造影平面垂直相交的第一曲面、与所述第二造影平面垂直相交的第二曲面；
    将所述第一曲面和所述第二曲面进行垂直相交，生成所述交线，将所述交线设置为所述三维导引丝。
  4. 如权利要求1所述的方法，其特征在于，将所述每帧血管内超声图像沿着所述三维导引丝进行等间隔排列，根据所述三维导引丝在所述血管内超声图像所在位置处的切矢量，将所述血管内超声图像旋转至与所述切矢量垂直的位置的步骤，包括：
    计算所述每帧血管内超声图像在所述三维导引丝上对应的位置，根据所述对应的位置将所述每帧血管内超声图像沿着所述三维导引丝进行等间距排列；
    将所述每帧血管内超声图像平移至预设的世界坐标系中，根据所述血管内超声图像对应的所述切矢量在所述世界坐标系的方向，对所述每帧血管内超声图像进行旋转，以使所述每帧血管内超声图像所在平面与对应的所述切矢量垂直，并将所述每帧血管内超声图像平移至所述三维导引丝所在坐标系。
  5. 如权利要求1所述的方法，其特征在于，根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，确定所述每帧血管内超声图像的最佳定向角度的步骤，包括：
    根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，并根据预设的误差累积公式，计算所述每帧血管内超声图像在所述垂直平面上旋转不同角度对应的重建误差，所述误差累积公式为：
    Figure PCTCN2017091573-appb-100001
    其中，θ为所述血管内超声图形在所述垂直平面上旋转的角度，eθ为所述血管内超声图像旋转θ对应的重建误差，P1θ和P2θ为所述血管内超声图像的反投影与所述三维导引丝的距离，V1θ和V2θ为所述血管边缘轮廓与所述三维导引丝的距离；
    获取所述每帧血管内超声图像对应的最小重建误差，将所述每个最小重建误差对应的旋转角度相应地设置为所述每帧血管内超声图像的最佳定向角度。
  6. 一种冠脉血管的三维重建装置，其特征在于，所述装置包括：
    图像处理单元，用于对输入的冠状动脉造影图像进行预处理，在所述预处理后的冠状动脉造影图像中，提取血管边缘轮廓和二维引导丝，并对输入的关联血管内超声图像进行内外膜分割；
    导引丝重建单元，用于将分别位于预设第一造影平面、第二造影平面的所述冠状动脉造影图像中的所述二维导引丝平移至同一起点，根据平移后的所述二维导引丝，构建互相垂直相交的曲面，将所述互相垂直相交的曲面的交线设置为三维导引丝；
    超声图像定位单元，用于将所述每帧血管内超声图像沿着所述三维导引丝进行等间隔排列，根据所述三维导引丝上所述血管内超声图像所在位置处的切矢量，将所述血管超声图像旋转至与所述切矢量垂直的位置；
    超声图像定向单元，用于在所述切矢量的垂直平面上，将所述切矢量对应位置处的所述血管内超声图像进行不同角度的旋转，并将旋转后的所述血管内超声图像反投影在所述冠状动脉造影图像上，根据所述血管内超声图像的反投影和所述血管边缘轮廓分别到所述三维导引丝的距离，确定所述每帧血管内超声图像的最佳定向角度；以及
    表面重建单元，用于将所述每帧血管内超声图像旋转至对应的所述最佳定向角度，根据所述三维导引丝上所述每帧血管内超声图像中内膜间的跨距差、外膜间的跨距差，对所述冠状动脉造影图像和血管内超声图像的血管进行表面重建。
  7. 如权利要求6所述的装置，其特征在于，所述图像处理单元包括：
    图像增强去噪单元，用于对所述冠状动脉造影图像进行对比度增强，并对所述冠状动脉造影图像上的噪声进行平滑处理；以及
    图像提取单元，用于提取所述冠状动脉造影图像上的血管边缘轮廓，并根 据预设的Hessian矩阵提取方式，提取所述冠状动脉造影图像中血管的二维导引丝。
  8. 如权利要求6所述的装置，其特征在于，所述导引丝重建单元包括：
    曲面构建单元，用于根据所述平移后的二维导引丝，分别构建与所述第一造影平面垂直相交的第一曲面、与所述第二造影平面垂直相交的第二曲面；以及
    交线生成单元，用于将所述第一曲面和所述第二曲面进行垂直相交，生成所述交线，将所述交线设置为所述三维导引丝。
  9. 一种医疗设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1至5任一项所述方法的步骤。
  10. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至5任一项所述方法的步骤。
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CN117115150B (zh) * 2023-10-20 2024-01-26 柏意慧心(杭州)网络科技有限公司 用于确定分支血管的方法、计算设备和介质

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