WO2021097820A1 - 具有狭窄病变区间的血管三维建模方法、装置和系统 - Google Patents
具有狭窄病变区间的血管三维建模方法、装置和系统 Download PDFInfo
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30101—Blood vessel; Artery; Vein; Vascular
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- the present invention relates to the technical field of coronary artery medicine, and in particular to a three-dimensional modeling method, device, coronary artery analysis system and computer storage medium of a blood vessel with stenosis lesion interval.
- lipids and carbohydrates in human blood on the vascular wall will form plaques on the vascular wall, which will then cause vascular stenosis; especially the vascular stenosis that occurs near the coronary artery of the heart will cause insufficient blood supply to the myocardium and induce coronary heart disease Diseases such as angina and angina pectoris pose a serious threat to human health.
- coronary heart disease Diseases such as angina and angina pectoris pose a serious threat to human health.
- there are currently about 11 million patients with coronary heart disease in my country and the number of patients undergoing cardiovascular interventional surgery is increasing by more than 10% every year.
- Fractional flow reserve usually refers to the myocardial blood flow reserve, which is defined as the ratio of the maximum blood flow that the diseased coronary artery can provide to the myocardium to the maximum blood flow when the coronary artery is completely normal.
- the ratio of blood flow can be replaced by pressure. That is, the measurement of FFR value can be calculated by measuring the pressure at the distal end of coronary artery stenosis and the pressure at the proximal end of coronary artery stenosis through the pressure sensor under the state of maximum coronary congestion.
- the two-dimensional coronary angiography image is affected by the shooting angle, the stenosis lesion area of the angiography is blocked due to the overlap and entanglement of the blood vessels. Therefore, it is difficult to determine the vascular stenosis lesion area through the two-dimensional coronary angiography image, and it is impossible to image Show patients and doctors vividly the narrowed blood vessels with lesions; the error of coronary artery stenosis judged by two-dimensional angiography images is large.
- the present invention provides a three-dimensional modeling method, device and system for a blood vessel with a narrow lesion area, so as to solve the problem that the narrow lesion area cannot be accurately judged through a two-dimensional coronary angiography image in the prior art.
- the present application provides a three-dimensional modeling method for blood vessels with stenotic lesions, including:
- the above-mentioned three-dimensional modeling method for blood vessels with stenosis lesions is a method of extracting a blood vessel centerline from two-dimensional coronary arterial angiography images of at least two positions along the direction from the entrance of the coronary artery to the end of the coronary artery It also included:
- the partial blood vessel area map corresponding to the start point and the end point is segmented from the two-dimensional coronary angiography image.
- the method of segmenting the local blood vessel area map corresponding to the starting point and the ending point from the two-dimensional coronary angiography image further includes:
- the centerline of a blood vessel is extracted from the two-dimensional coronary artery angiography images in at least two positions along the direction from the entrance of the coronary artery to the end of the coronary artery.
- Methods include:
- One of the blood vessel path lines is selected as the blood vessel center line.
- the method of extracting at least one blood vessel path line from the local blood vessel area map of each body position respectively includes:
- the rough blood vessel map is meshed, and at least one blood vessel path line is extracted along the direction from the start point to the end point.
- the method of performing image enhancement processing on the local blood vessel area map to obtain a rough blood vessel map with strong contrast includes:
- the blood vessel segment of interest is used as the foreground and other regions are used as the background to strengthen the foreground and weaken the background to obtain the rough blood vessel map with strong contrast.
- the rough blood vessel map is meshed, and at least one blood vessel path line is extracted along the direction from the start point to the end point.
- Methods include:
- n is a positive integer greater than or equal to 1;
- a line connecting the blood vessel extending direction from the starting point to the ending point is used to obtain at least one blood vessel path line.
- the method of selecting one of the blood vessel path lines as the blood vessel centerline includes:
- the blood vessel path line with the least amount of time is taken as the blood vessel center line.
- the centerline of a blood vessel is extracted from the two-dimensional coronary artery angiography images in at least two positions along the direction from the entrance of the coronary artery to the end of the coronary artery.
- Methods include:
- the blood vessel centerline is extracted from the blood vessel skeleton.
- the method for extracting the centerline of the blood vessel from the blood vessel skeleton includes:
- the blood vessel skeleton is searched according to the RGB values, and the minimum value of the RGB difference between the starting point and the intersection on the surrounding m grids is searched for As the second point, search for the point where the minimum value of the RGB difference between the second point and the m grids on the periphery is located as the third point, and repeat the above steps for the third point , Until reaching the end point, where m is a positive integer greater than or equal to 1;
- connection select one connection as the centerline of the blood vessel.
- the method of obtaining a straightened blood vessel image according to the two-dimensional coronary angiography image includes:
- the correspondingly set image is the straightened blood vessel image.
- the method for obtaining a straightened blood vessel contour line based on the straightened blood vessel centerline and the straightened blood vessel image includes:
- Step by step the preset contour line of the blood vessel is moved closer to the center line of the blood vessel to obtain the straightened blood vessel contour line.
- the method of moving the preset contour line of the blood vessel to the center line of the blood vessel step by step to obtain the straightened blood vessel contour line includes:
- z points are respectively stepped closer to the center of the blood vessel to generate z close points, where z is a positive integer;
- the RGB difference threshold to the ⁇ RGB threshold .
- the RGB value of the close point is compared with the RGB value of the point on the center line of the blood vessel.
- the close-in point stops moving straight to the center of the blood vessel;
- the smooth curve formed by sequentially connecting the contour points is the blood vessel contour line.
- the geometric information of the blood vessel includes: the geometric information includes the real-time diameter D t of the blood vessel, the blood vessel stenosis point, the blood vessel stenosis interval and the blood vessel center linear length L.
- the method for acquiring the real-time diameter D t of the blood vessel includes:
- the distance between all the contour points set relative to each other is obtained, that is, the real-time diameter D t of the blood vessel.
- the method for obtaining the stenosis section includes:
- the simulated smooth curve of the normal blood vessel is compared with the smooth curve formed by the patient's true central straight length L-diameter D t to obtain the stenosis lesion zone.
- the method for obtaining a stenosis point of the blood vessel includes: picking up the patient's true centerline L-diameter D t in the narrow lesion area
- the point A of the smallest diameter of the smooth curve is the stenosis point of the blood vessel segment.
- performing three-dimensional modeling according to the geometric information, the center line and the contour line, and the method for obtaining a three-dimensional blood vessel model with a narrow lesion area includes:
- the real-time diameter D t of the blood vessel in the stenosis zone is projected onto the frustum three-dimensional model to obtain the three-dimensional blood vessel model with the stenosis lesion zone.
- the present application provides a blood vessel three-dimensional modeling device with a narrow lesion area, including: a centerline extraction unit, a straightening unit, a contour line unit, a geometric information unit, and a three-dimensional modeling unit that are sequentially connected;
- the straightening unit is connected with the geometric information unit, and the three-dimensional modeling unit is connected with the straightening unit and the contour line unit;
- the centerline extraction unit is configured to extract a blood vessel centerline from two-dimensional coronary angiography images of at least two positions along the direction from the entrance of the coronary artery to the end of the coronary artery;
- the straightening unit is configured to receive the blood vessel centerline sent by the centerline extraction unit, and obtain a straightened blood vessel image according to the two-dimensional coronary angiography image and the blood vessel centerline;
- the contour line unit is configured to receive the straightened blood vessel image sent by the straightening unit, and obtain the straightened blood vessel contour line according to the straightened blood vessel center line and the straightened blood vessel image;
- the geometric information unit is configured to receive the straightened blood vessel image sent by the straightening unit and the blood vessel contour line sent by the contour line unit, and obtain geometric information of the straightened blood vessel;
- the three-dimensional modeling unit is configured to receive the straightened blood vessel image sent by the straightening unit, the blood vessel contour line sent by the contour line unit, and the geometric information of the blood vessel sent by the geometric information unit, according to the geometric information ,
- the center line and the contour line are three-dimensionally modeled to obtain a three-dimensional blood vessel model with a narrow lesion area.
- the above-mentioned apparatus for three-dimensional modeling of blood vessels with narrow lesion sections further includes: an image segmentation unit connected to the centerline extraction unit;
- the image segmentation unit is used to segment the local blood vessel area map corresponding to the start point and the end point from the two-dimensional coronary angiography image, or to determine the start point, the seed point, and the two adjacent points of the end point. Segmentation of the two-dimensional angiographic image to obtain at least two partial blood vessel region maps.
- the centerline extraction unit further includes: a blood vessel path module and a blood vessel centerline extraction module connected in sequence, the blood vessel path module and the image segmentation unit connection;
- the blood vessel path module is configured to extract at least one blood vessel path line from the local blood vessel area map of each body position;
- the blood vessel centerline extraction module is configured to select one of the blood vessel path lines sent by the blood vessel path module as the blood vessel centerline.
- the present application provides a coronary artery analysis system, including: the above-mentioned three-dimensional blood vessel modeling device with stenotic lesion area.
- the present application provides a computer storage medium, and when the computer program is executed by a processor, the above-mentioned three-dimensional modeling method for blood vessels with stenotic lesions is realized.
- This application provides a three-dimensional modeling method for blood vessels with narrow lesions.
- the straightened blood vessel contour line is obtained according to the centerline; the straightened blood vessel is obtained Geometric information; perform three-dimensional modeling according to the geometric information, the center line, and the contour line to obtain a three-dimensional blood vessel model with a narrow lesion area; three-dimensionally display the narrow lesion area to patients and doctors through a three-dimensional blood vessel model , It is more vivid, and all angles of stenosis lesions can be displayed, which reduces the influence of the two-dimensional angiographic image shooting angle on the evaluation of coronary artery stenosis, and can accurately determine the stenosis lesion area of the blood vessel.
- FIG. 1 is a flowchart of Embodiment 1 of a method for three-dimensional modeling of a blood vessel with a narrow lesion area according to the present application;
- Embodiment 2 is a flowchart of Embodiment 2 of a method for three-dimensional modeling of a blood vessel with a narrow lesion area of the present application;
- FIG. 3 is a flow chart of S400 of this application.
- FIG. 4 is a flowchart of S500 of the application.
- FIG. 5 is a flowchart of the first method of S510 of this application.
- FIG. 6 is a flowchart of S520 of the application.
- FIG. 7 is a flowchart of the second method of S510 of this application.
- FIG. 8 is a flowchart of S530' of the application.
- Fig. 9 is a flowchart of S600 of this application.
- FIG. 10 is a flowchart of S700 of the application.
- FIG. 11 is a flowchart of S730 of this application.
- FIG. 12 is a flowchart of S900 of the application.
- Figure 13 is a three-dimensional blood vessel model with a narrow lesion area
- FIG. 14 is a structural block diagram of an embodiment of a blood vessel three-dimensional modeling device with narrow lesion area according to the present application.
- FIG. 15 is another structural block diagram of an embodiment of the blood vessel three-dimensional modeling device with narrow lesion area of the present application.
- the two-dimensional coronary angiography image is affected by the shooting angle, the stenosis lesion area of the angiography is blocked due to the overlap and entanglement of the blood vessels. Therefore, it is difficult to determine the vascular stenosis lesion area through the two-dimensional coronary angiography image, and it is impossible to image Show patients and doctors vividly the narrowed blood vessels with lesions; the error of coronary artery stenosis judged by two-dimensional angiography images is large.
- the present application provides a three-dimensional modeling method of blood vessels with stenosis lesions, including:
- S900 Perform three-dimensional modeling according to the geometric information, the center line, and the contour line to obtain a three-dimensional blood vessel model with a narrow lesion area.
- the present application provides a method for three-dimensional modeling of blood vessels with stenotic lesions, including:
- S400 segmenting a local blood vessel area map corresponding to the start point and the end point from the two-dimensional coronary angiography image, as shown in FIG. 3, including:
- S410 Pick up at least one seed point of the blood vessel segment of interest
- S420 Separate the two-dimensional contrast images between two adjacent points of the start point, the seed point, and the end point, respectively, to obtain at least two partial blood vessel area maps;
- the first method is:
- S510 Extract at least one blood vessel path line from the local blood vessel area map of each body position, as shown in FIG. 5, including:
- each local blood vessel area map take the blood vessel segment of interest as the foreground and other areas as the background, strengthen the foreground and weaken the background, to obtain a rough blood vessel map with strong contrast;
- S522 Take the blood vessel path line that is least in use as the blood vessel center line.
- the second method is:
- S600 Obtain a straightened blood vessel image according to the two-dimensional coronary angiography image and the blood vessel centerline, as shown in FIG. 9, including:
- S620 Divide the local blood vessel area map into x units along the blood vessel extension direction from the starting point to the ending point, where x is a positive integer;
- S630 Correspondingly set the blood vessel center line of each unit along the blood vessel center line;
- the correspondingly set image is a straightened blood vessel image
- S700 Obtain the straightened blood vessel contour line according to the straightened blood vessel center line and the straightened blood vessel image, as shown in FIG. 10, including:
- S731 Divide the preset contour line of the blood vessel into y units, where y is a positive integer;
- S736 The smooth curve formed by sequentially connecting contour points is the blood vessel contour line
- the geometric information of the blood vessel includes: the geometric information includes: (1) the real-time diameter of the blood vessel D t , (2) the vascular stenosis interval, (3) the blood vessel stenosis point (4) the center line of the blood vessel Length L;
- the methods for obtaining the real-time blood vessel diameter D t include:
- the distance between all the contour points set relative to each other is obtained, that is, the real-time diameter D t of the blood vessel.
- the methods of obtaining the vascular stenosis interval include:
- the smooth curve of the normal blood vessel generated by the simulation is compared with the smooth curve formed by the true central straight length L-diameter D t of the patient to obtain the stenosis lesion zone.
- Methods of obtaining vascular stenosis points include:
- point A is the stenosis point of the blood vessel segment.
- S900 Perform three-dimensional modeling according to the geometric information, centerline, and contour line to obtain a three-dimensional blood vessel model with a narrow lesion area, as shown in Figure 12, including:
- the present application provides a blood vessel three-dimensional modeling device with a narrow lesion area, including: a centerline extraction unit 100, a straightening unit 200, a contour line unit 300, a geometric information unit 400, and a three-dimensional Modeling unit 500; the straightening unit 200 is connected to the geometric information unit 400, and the three-dimensional modeling unit 500 is connected to the straightening unit 200 and the contour line unit 300; the centerline extraction unit 100 is used to follow the direction from the entrance of the coronary artery to the end of the coronary artery , Extracting a blood vessel centerline from the two-dimensional coronary angiography images of at least two positions; the straightening unit 200 is used to receive the blood vessel centerline sent by the centerline extraction unit 100, according to the coronary two-dimensional angiography image and the blood vessel centerline Obtain the straightened blood vessel image; the contour line unit 300 is used to receive the straightened blood vessel image sent by the straightening unit 200, and obtain the straightened blood vessel contour line according to the
- the above-mentioned device further includes: an image segmentation unit 600 connected to the centerline extraction unit 100; and the image segmentation unit 600 is used to segment the coronary artery two-dimensional angiography image.
- the local blood vessel area map corresponding to the start point and the end point, or the two-dimensional contrast image between two adjacent points of the start point, the seed point, and the end point are segmented to obtain at least two local blood vessel area maps.
- the centerline extraction unit 100 further includes: a blood vessel path module 110 and a blood vessel centerline extraction module 120 that are connected in sequence, and the blood vessel path module 110 is connected to the image segmentation unit 600; and the blood vessel path The module 110 is used to extract at least one blood vessel path line from the local blood vessel area map of each body position; the blood vessel center line extraction module 120 is used to select one of the blood vessel path lines sent by the blood vessel path module 110 as the blood vessel center line.
- the present application provides a coronary artery analysis system, which includes: the above-mentioned three-dimensional modeling device for blood vessels with stenotic lesions.
- the present application provides a computer storage medium, and when the computer program is executed by a processor, the above-mentioned three-dimensional modeling method for blood vessels with stenotic lesions is realized.
- aspects of the present invention can be implemented as a system, a method, or a computer program product. Therefore, various aspects of the present invention can be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, resident software, microcode, etc.), or a combination of hardware and software implementations, Here can be collectively referred to as "circuit", "module” or "system”.
- various aspects of the present invention may also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.
- the implementation of the method and/or system of the embodiments of the present invention may involve performing or completing selected tasks manually, automatically, or in a combination thereof.
- a data processor such as a computing platform for executing a plurality of instructions.
- the data processor includes a volatile memory for storing instructions and/or data and/or a non-volatile memory for storing instructions and/or data, for example, a magnetic hard disk and/or a Move the media.
- a network connection is also provided.
- a display and/or user input device such as a keyboard or mouse, is also provided.
- the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
- the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above. More specific examples (non-exhaustive list) of computer-readable storage media would include the following:
- the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.
- the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
- the computer-readable medium may send, propagate, or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
- the program code contained on the computer-readable medium can be transmitted by any suitable medium, including (but not limited to) wireless, wired, optical cable, RF, etc., or any suitable combination of the above.
- any combination of one or more programming languages can be used to write computer program codes for performing operations for various aspects of the present invention, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional process programming languages, such as "C" programming language or similar programming language.
- the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
- the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to pass Internet connection).
- LAN local area network
- WAN wide area network
- each block of the flowchart and/or block diagram and the combination of each block in the flowchart and/or block diagram can be implemented by computer program instructions.
- These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, or other programmable data processing devices, thereby producing a machine that makes these computer program instructions when executed by the processors of the computer or other programmable data processing devices , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced.
- These computer program instructions can also be stored in a computer-readable medium. These instructions make computers, other programmable data processing devices, or other devices work in a specific manner, so that the instructions stored in the computer-readable medium generate An article of manufacture that implements instructions for the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
- Computer program instructions can also be loaded onto a computer (for example, a coronary artery analysis system) or other programmable data processing equipment to cause a series of operation steps to be executed on the computer, other programmable data processing equipment or other equipment to produce a computer-implemented process , Causing instructions executed on a computer, other programmable device or other equipment to provide a process for implementing the functions/actions specified in the flowchart and/or one or more block diagrams.
- a computer for example, a coronary artery analysis system
- other programmable data processing equipment or other equipment to produce a computer-implemented process
- Causing instructions executed on a computer, other programmable device or other equipment to provide a process for implementing the functions/actions specified in the flowchart and/or one or more block diagrams.
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Abstract
Description
Claims (23)
- 一种具有狭窄病变区间的血管三维建模方法,其特征在于,包括:沿着冠脉入口至冠脉末端方向,从至少两个体位的冠状动脉二维造影图像中均提取一条血管中心线;根据所述冠状动脉二维造影图像和所述血管中心线获取拉直血管图像;根据拉直后的所述血管中心线和所述拉直血管图像,获取拉直后的血管轮廓线;获取拉直后的血管的几何信息;根据所述几何信息、所述中心线和所述轮廓线进行三维建模,获得具有狭窄病变区间的三维血管模型。
- 根据权利要求1所述的具有狭窄病变区间的血管三维建模方法,其特征在于,在沿着冠脉入口至冠脉末端方向,从至少两个体位的冠状动脉二维造影图像中均提取一条血管中心线的方法之前还包括:读取至少两个体位的冠状动脉二维造影图像;获取感兴趣的血管段;拾取所述感兴趣的血管段的起始点和结束点;从所述冠状动脉二维造影图像中分割出所述起始点、结束点对应的局部血管区域图。
- 根据权利要求2所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述从所述冠状动脉二维造影图像中分割出所述起始点、结束点对应的局部血管区域图的方法还包括:拾取所述感兴趣的血管段的至少一个种子点;分别对起始点、种子点、结束点的相邻两点间的二维造影图像进行分割,得到至少两个局部血管区域图。
- 根据权利要求2所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述沿着冠脉入口至冠脉末端方向,从至少两个体位的冠状动脉二维造影图像中均提取一条血管中心线的方法包括:分别从每个体位的所述局部血管区域图上提取至少一条血管路径线;选取一条所述血管路径线作为所述血管中心线。
- 根据权利要求4所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述分别从每个体位的所述局部血管区域图上提取至少一条血管路径线的方法包括:对所述局部血管区域图做图像增强处理,得到对比强烈的粗略血管图;对所述粗略血管图做网格划分,沿着所述起始点至所述结束点方向,提取至少一条血管路径线。
- 根据权利要求5所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述对所述局部血管区域图做图像增强处理,得到对比强烈的粗略血管图的方法,包括:在每幅所述局部血管区域图中,以所述感兴趣的血管段作为前景,其他区域作为背景,强化所述前景,弱化所述背景,得到对比强烈的所述粗略血管图。
- 根据权利要求5所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述对所述粗略血管图做网格划分,沿着所述起始点至所述结束点方向,提取至少一条血管路径线的方法,包括:对所述粗略血管图进行网格划分;沿着所述起始点至所述结束点的血管延伸方向,搜索所述起始点与周边n个网格上的交叉点的最短 时间路径作为第二个点,搜索所述第二个点与周边n个网格上的交叉点的最短时间路径作为第三个点,所述第三个点重复上述步骤,直至最短时间路径到达结束点,其中,n为大于等于1的正整数;按照搜索顺序,从所述起始点至所述结束点的血管延伸方向连线,获得至少一条血管路径线。
- 根据权利要求7所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述选取一条所述血管路径线作为所述血管中心线的方法包括:如果血管路径线为两条或两条以上,则对每条血管路径线从所述起始点至所述结束点所用的时间求和;取用时最少的所述血管路径线作为所述血管中心线。
- 根据权利要求2所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述沿着冠脉入口至冠脉末端方向,从至少两个体位的冠状动脉二维造影图像中均提取一条血管中心线的方法包括:对所述局部血管区域图进行图像处理,获取所述起始点和所述结束点之间的血管粗略走向线;获取血管粗略边缘线,包含有所述血管粗略走向线的所述血管粗略边缘线之间的图像即为血管骨架;从所述血管骨架上提取所述血管中心线。
- 根据权利要求9所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述从所述血管骨架上提取所述血管中心线的方法包括:对处理后的所述区域图像进行网格划分;沿着所述起始点至所述结束点方向,根据RGB值,对所述血管骨架进行搜索,搜索所述起始点与周边m个网格上的交叉点的RGB差值的最小值所在的点作为第二个点,搜索所述第二个点与周边m个网格上的交叉点的RGB差值的最小值所在的点作为第三个点,所述第三个点重复上述步骤,直至到达结束点,其中,m为大于等于1的正整数;按照搜索顺序,从所述起始点至所述结束点获得至少一条连线;如果连线为两条或两条以上,选取一条连线作为所述血管中心线。
- 根据权利要求2所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述根据所述冠状动脉二维造影图像获取拉直血管图像的方法包括:将所述血管中心线拉直,获得血管中心直线;沿着所述起始点至所述结束点的血管延伸方向,将所述局部血管区域图分为x个单元,其中x为正整数;将每个所述单元的血管中心线沿着所述血管中心直线对应设置;对应设置后的图像为所述拉直血管图像。
- 根据权利要求1所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述根据拉直后的所述血管中心线和所述拉直血管图像,获取拉直后的血管轮廓线的方法包括:在所述拉直血管图像上,设定血管直径阈值D 阈;根据所述D 阈,在所述血管中心直线两侧生成血管预设轮廓线;将所述血管预设轮廓线向所述血管中心直线逐级靠拢,获取拉直后的血管轮廓线。
- 根据权利要求12所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述将所述血管预设轮廓线向所述血管中心直线逐级靠拢,获取拉直后的血管轮廓线的方法包括:将所述血管预设轮廓线分成y个单元,其中y为正整数;获取每个所述单元的位于每条所述血管预设轮廓线上的z个点;沿着垂直于所述血管中心直线方向,将z个点分别向所述血管中心直线分级靠拢,产生z个靠拢点,其中z为正整数;设定RGB差值阈值为ΔRGB 阈,沿着垂直于所述血管中心直线方向,每次靠拢均将所述靠拢点的RGB值与所述血管中心直线上的点的RGB值作比较,当差值小于等于ΔRGB 阈时,则所述靠拢点停止向所述血管中心直线靠拢;获取所述靠拢点作为轮廓点;依次连接所述轮廓点形成的平滑曲线即为所述血管轮廓线。
- 根据权利要求13所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述血管的几何信息包括:所述几何信息包括血管实时直径D t、血管狭窄点、血管狭窄区间和血管中心直线长度L。
- 根据权利要求14所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述血管实时直径D t的获取方法包括:沿着垂直于所述血管中心直线方向,获取相对设置的所有所述轮廓点之间的距离,即为血管实时直径D t。
- 根据权利要求15所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述狭窄区间的获取方法包括:根据设置的正常血管延伸趋势,以及所述血管实时直径D t、所述血管中心直线长度L模拟生成正常血管的平滑曲线;将模拟生成的所述正常血管的平滑曲线与患者真实的所述中心直线长度L-直径D t构成的平滑曲线进行比较,获取狭窄病变区间。
- 根据权利要求16所述的具有狭窄病变区间的血管三维建模方法,其特征在于,所述血管狭窄点的获取方法包括:在所述狭窄病变区间内,拾取患者真实的所述中心线L-直径D t构成的平滑曲线的直径最小点A,所述点A为所述血管段的狭窄点。
- 根据权利要求17所述的具有狭窄病变区间的血管三维建模方法,其特征在于,根据所述几何信息、所述中心线和所述轮廓线进行三维建模,获得具有狭窄病变区间的三维血管模型的方法包括:从所述血管实时直径D t内获取血管起始直径D 起和血管结束直径D 末,以及血管中心直线长度L;根据所述D 起和D 末和L三维建模,形成圆台三维模型;将所述狭窄区间的中心直线对应投影到所述血管中线直线上;沿着与所述血管中心直线的垂直方向,在所述圆台三维模型上获取血管三维狭窄区间;将所述狭窄区间的血管实时直径D t投影到圆台三维模型上,获得所述具有狭窄病变区间的三维血管模型。
- 一种具有狭窄病变区间的血管三维建模装置,用于权利要求1~18任一项所述的具有狭窄病变区间的血管三维建模方法,其特征在于,包括:依次连接的中心线提取单元、拉直单元、轮廓线单元、几何信息单元和三维建模单元;所述拉直单元与所述几何信息单元连接,所述三维建模单元与所述拉直单元、所述轮廓线单元连接;所述中心线提取单元,用于沿着冠脉入口至冠脉末端方向,从至少两个体位的冠状动脉二维造影图 像中均提取一条血管中心线;所述拉直单元,用于接收所述中心线提取单元发送的血管中心线,根据所述冠状动脉二维造影图像和所述血管中心线获取拉直血管图像;所述轮廓线单元,用于接收所述拉直单元发送的拉直血管图像,根据拉直后的所述血管中心线和所述拉直血管图像,获取拉直后的血管轮廓线;所述几何信息单元,用于接收所述拉直单元发送的拉直血管图像、所述轮廓线单元发送的血管轮廓线,获取拉直后的血管的几何信息;所述三维建模单元,用于接收所述拉直单元发送的拉直血管图像、所述轮廓线单元发送的血管轮廓线、所述几何信息单元发送的血管的几何信息,根据所述几何信息、所述中心线和所述轮廓线进行三维建模,获得具有狭窄病变区间的三维血管模型。
- 根据权利要求19所述的具有狭窄病变区间的血管三维建模装置,其特征在于,还包括:与所述中心线提取单元连接的图像分割单元;所述图像分割单元,用于从冠状动脉二维造影图像中分割出起始点、结束点对应的局部血管区域图,或者对所述起始点、种子点、所述结束点的相邻两点间的二维造影图像进行分割,得到至少两个局部血管区域图。
- 根据权利要求20所述的具有狭窄病变区间的血管三维建模装置,其特征在于,所述中心线提取单元还包括:依次连接的血管路径模块和血管中心线提取模块,所述血管路径模块与所述图像分割单元连接;所述血管路径模块,用于分别从每个体位的所述局部血管区域图上提取至少一条血管路径线;所述血管中心线提取模块,用于从所述血管路径模块发送的血管路径线中选取一条作为所述血管中心线。
- 一种冠状动脉分析系统,其特征在于,包括:权利要求20或21所述的具有狭窄病变区间的血管三维建模装置。
- 一种计算机存储介质,其特征在于,计算机程序被处理器执行时实现权利要求1~18任一项所述的具有狭窄病变区间的血管三维建模方法。
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