WO2022109902A1

WO2022109902A1 - Three-dimensional vascular centerline synthesis method and system, and storage medium

Info

Publication number: WO2022109902A1
Application number: PCT/CN2020/131697
Authority: WO
Inventors: 王鹏; 刘广志; 王之元; 徐磊
Original assignee: 苏州润迈德医疗科技有限公司
Priority date: 2020-11-25
Filing date: 2020-11-26
Publication date: 2022-06-02
Also published as: CN112419277A; CN112419277B

Abstract

A three-dimensional vascular centerline synthesis method and system, and a storage medium. The method comprises: acquiring image information of at least two two-dimensional coronary arteriography images photographed at different angles (S100); extracting a two-dimensional vascular centerline from each two-dimensional arteriography image of interest (S200); and projecting each two-dimensional vascular centerline into a three-dimensional space according to the image information of each two-dimensional coronary arteriography image, so as to synthesize a three-dimensional vascular centerline (S300). By means of the method, requirements for multi-angle two-dimensional coronary arteriography images to have the same imaging time and the same imaging space are no longer required, such that, on the premise of precision being ensured, the application range is wider.

Description

Three-dimensional blood vessel centerline synthesis method, system and storage medium

technical field

The invention relates to the technical field of coronary medicine, in particular to a method, system and storage medium for synthesizing a three-dimensional blood vessel centerline.

Background technique

The deposition of lipids and carbohydrates in human blood on the blood vessel wall will form plaques on the blood vessel wall, which will then lead to vascular stenosis; especially the vascular stenosis near the coronary arteries of the heart will lead to insufficient blood supply to the heart muscle and induce coronary heart disease. , angina pectoris and other diseases pose a serious threat to human health. According to statistics, there are about 11 million coronary heart disease patients in my country, and the number of patients treated with cardiovascular interventional surgery is increasing by more than 10% every year.

Although conventional medical detection methods such as coronary angiography (CAG) and computed tomography (CT) can display the severity of coronary artery stenosis, they cannot accurately evaluate coronary ischemia. In order to improve the accuracy of coronary vascular function evaluation, in 1993, Pijls proposed a new index for calculating coronary vascular function through pressure measurement - Fractional Flow Reserve (FFR). After long-term basic and clinical research, FFR It has become the gold standard for functional evaluation of coronary stenosis.

Fractional flow reserve (FFR) usually refers to the fractional 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. In the state, the ratio of blood flow can be replaced by the pressure value. That is, the measurement of the FFR value can be calculated by measuring the pressure at the distal stenosis of the coronary artery and the pressure at the proximal end of the coronary stenosis through the pressure sensor under the state of maximum coronary hyperemia.

The existing problem is that in the process of imaging multi-angle coronary 2D angiography, most DSA imaging equipment can only take coronary 2D angiography images of the same angle at the same time. Angular two-dimensional coronary angiography images must be obtained at different times. It does not meet the image requirements of the direct three-dimensional blood vessel centerline synthesis method, so the synthesis results are mostly distorted.

SUMMARY OF THE INVENTION

The invention provides a three-dimensional blood vessel centerline synthesis method, system and storage medium to solve the problem that the time and space of multi-angle two-dimensional coronary angiography images must be the same for three-dimensional blood vessel centerline synthesis.

In order to achieve the above object, in a first aspect, the application provides a method for synthesizing a three-dimensional blood vessel centerline, comprising:

acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles;

extracting a two-dimensional blood vessel centerline from each of the two-dimensional angiographic images of interest;

According to the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected into a three-dimensional space to synthesize the three-dimensional blood vessel centerlines.

Optionally, in the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles includes:

Obtain at least two sets of two-dimensional coronary angiography image groups with different shooting angles;

reading the image information of each group of the two-dimensional coronary angiography image group, including the shooting angle and the detection distance;

According to the detection distance, a two-dimensional angiography image of interest is selected from each group of the two-dimensional coronary angiography images.

Optionally, in the above-mentioned method for synthesizing three-dimensional blood vessel centerlines, according to the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected into a three-dimensional space to synthesize the said two-dimensional blood vessel centerline. Methods for 3D vessel centerlines include:

Taking the heart as the coordinate origin, establish a three-dimensional coordinate system;

Obtain the left and right angle α, the front and rear angle β of each of the two-dimensional angiography images of interest, and the distance S between the human body and the flat panel detector, and the coordinates of each point on the two-dimensional blood vessel center line are (x, y );

Project each point (x, y) into the three-dimensional space to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z');

Projecting the radiation source into the three-dimensional space to form a radiation point R;

Connect each of the three-dimensional coordinate points P with the radiation point R, obtain the points on the three-dimensional blood vessel center line from the PR connecting line, and connect the points on the three-dimensional blood vessel center line in turn to obtain the The three-dimensional vessel centerline.

Optionally, in the above-mentioned method for synthesizing the centerline of a three-dimensional blood vessel, each point (x, y) is projected into a three-dimensional space to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z') methods, including:

Rotate each point (x, y) around the y-axis to obtain (x', y', z') series points, the specific formula is:

Rotate the (x', y', z') series of points around the x-axis to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z');

Optionally, the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for projecting a radiation source into the three-dimensional space to form a radiation point R, includes:

obtaining the distance S' between the human body and the radiation source in each of the two-dimensional contrast images of interest;

According to the formula

Among them, the coordinates of R in the three-dimensional space are (a, b, c).

Optionally, in the above-mentioned method for synthesizing the three-dimensional blood vessel centerline, the three-dimensional coordinate point P is connected with the radiation point R, and the three-dimensional blood vessel centerline is obtained from the PR connection line. The method for obtaining the three-dimensional blood vessel centerline by sequentially connecting the points on the three-dimensional blood vessel centerline includes:

Correspondingly connect a series of three-dimensional coordinate points P and radiation points R obtained from the same two-dimensional contrast image of interest to obtain a plurality of PR straight lines;

Obtain the points of the minimum distance between the two PR lines at the same position of the blood vessel, which are respectively point A and point B;

Connect the point A and the point B, and obtain the midpoint of the AB line segment as a point on the centerline of the three-dimensional blood vessel;

The obtained series of points on the centerline of the three-dimensional blood vessel are sequentially connected to obtain the three-dimensional blood vessel centerline.

Optionally, in the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for extracting a two-dimensional blood vessel centerline from each of the two-dimensional coronary angiography images includes:

Read two-dimensional coronary angiography images;

Obtain the vessel segment of interest;

Picking the start point, seed point and end point of the vessel segment of interest;

Segmenting the two-dimensional angiography images between two adjacent points of the starting point, the seed point, and the ending point, respectively, to obtain at least two local blood vessel area maps;

extracting at least one blood vessel local path line from each of said local blood vessel area maps;

connecting the corresponding blood vessel local path lines on each of the local blood vessel area maps to obtain at least one of the blood vessel path lines;

One of the blood vessel path lines is selected as the two-dimensional blood vessel centerline.

Optionally, in the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for extracting at least one local blood vessel path line from each of the local blood vessel area maps includes:

Perform image enhancement processing on the local blood vessel area map to obtain a rough blood vessel map with strong contrast;

Meshing the rough blood vessel map, and extracting at least one local path line of the blood vessel along the direction from the start point to the end point.

Optionally, the above-mentioned method for synthesizing the three-dimensional blood vessel centerline, 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:

In each local blood vessel area map, the blood vessel segment of interest is used as the foreground and other regions are used as the background, the foreground is enhanced and the background is weakened to obtain the rough blood vessel map with strong contrast.

Optionally, in the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for performing grid division on the rough blood vessel map, and along the direction from the start point to the end point, extracting at least one local path line of the blood vessel includes: :

meshing the rough blood vessel map;

Along the extension direction of the blood vessel from the starting point to the ending point, search for the shortest time path of the intersection between the starting point and the surrounding n grids as the second point, and search for the second point and the surrounding The shortest time path of the intersections on the n grids is used as the third point, and the third point repeats the above steps until the shortest time path reaches the end point, where n is a positive integer greater than or equal to 1;

According to the search sequence, connect a line in the extending direction of the blood vessel from the starting point to the ending point to obtain at least one local path line of the blood vessel.

Optionally, in the above-mentioned method for synthesizing a three-dimensional blood vessel centerline, the method for selecting one of the blood vessel path lines as the two-dimensional blood vessel centerline includes:

If there are two or more vessel path lines, summing the time taken for each vessel path line from the starting point to the ending point;

The blood vessel path line with the least amount of time is taken as the two-dimensional blood vessel center line.

In a second aspect, the present application provides a three-dimensional blood vessel centerline synthesis system for the above-mentioned three-dimensional blood vessel centerline synthesis method, comprising: an image reading device, a two-dimensional blood vessel centerline connected to the image reading device an extraction device and the three-dimensional blood vessel centerline acquisition device, the two-dimensional blood vessel centerline extraction device is connected to the three-dimensional blood vessel centerline acquisition device;

The image reading device is used for acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles;

The two-dimensional blood vessel centerline extraction device is configured to receive a coronary two-dimensional angiography image sent by the image reading device, and extract a two-dimensional blood vessel centerline from each of the two-dimensional angiographic images of interest;

The three-dimensional blood vessel centerline acquisition device is configured to receive the two-dimensional blood vessel centerline sent by the two-dimensional blood vessel centerline extraction device, and receive the coronary two-dimensional angiography image and image information sent by the image reading device, according to For the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected into a three-dimensional space to synthesize the three-dimensional blood vessel centerlines.

Optionally, in the above-mentioned three-dimensional blood vessel synthesis system, the image reading device includes: a two-dimensional image acquisition structure, an image information acquisition structure, and a screening image structure of interest, which are connected in sequence, and the screening image structure of interest is related to the two. Dimensional image acquisition of structural connections;

The two-dimensional image acquisition structure is used to acquire at least two sets of two-dimensional coronary angiography image groups with different shooting angles;

The image information acquisition structure is used to read the image information of each group of the coronary two-dimensional angiography image groups transmitted by the two-dimensional image acquisition structure, including the shooting angle and the detection distance;

The screening of the image structure of interest is used for selecting a two-dimensional angiography image of interest from each group of the two-dimensional coronary angiography images according to the detection distance.

In a third aspect, the present application provides a coronary artery analysis system, comprising: the above-mentioned three-dimensional blood vessel synthesis system.

In a fourth aspect, the present application provides a computer storage medium, and when the computer program is executed by a processor, the above-mentioned method for synthesizing a three-dimensional blood vessel is implemented.

The beneficial effects brought by the solutions provided in the embodiments of the present application include at least:

The present application provides a method for synthesizing three-dimensional blood vessels, which gets rid of the requirement of the same time and space for multi-angle two-dimensional coronary angiography images, and has wider application scope under the premise of ensuring accuracy. The method is adaptable to existing imaging devices deployed in real scenes.

Description of drawings

The accompanying drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is the flow chart of the synthesis method of the three-dimensional blood vessel centerline of the application;

Fig. 2 is the flow chart of S100 of this application;

Fig. 3 is the flow chart of S200 of this application;

4 is a flowchart of S260 of the application;

5 is a flowchart of S262 of the application;

6 is a flowchart of S270 of the application;

7 is a flowchart of S300 of the application;

8 is a flowchart of S350 of the application;

9 is a structural block diagram of the three-dimensional blood vessel centerline synthesis system of the present application;

FIG. 10 is a structural block diagram of the image reading apparatus 100 of the present application.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Various embodiments of the present invention will be disclosed in the drawings below, and for the sake of clarity, many practical details will be described together in the following description. It should be understood, however, that these practical details should not be used to limit the invention. That is, in some embodiments of the invention, these practical details are unnecessary. In addition, for the purpose of simplifying the drawings, some well-known structures and components will be shown in a simple schematic manner in the drawings.

Example 1:

As shown in FIG. 1 , in order to solve the above-mentioned problems, the present application provides a method for synthesizing a three-dimensional blood vessel centerline, including:

S100, acquiring image information of at least two two-dimensional coronary angiography images with different shooting angles;

S200, extracting a two-dimensional blood vessel centerline from each two-dimensional angiography image of interest;

S300 , project each two-dimensional blood vessel centerline into a three-dimensional space according to the image information of each coronary artery two-dimensional angiography image, and synthesize the three-dimensional blood vessel centerline.

Example 2:

In order to solve the above problems, the present application provides a method for synthesizing a three-dimensional blood vessel centerline, including:

S100, as shown in FIG. 2, acquiring image information of at least two coronary 2D angiography images with different shooting angles, including:

S110, acquiring at least two sets of two-dimensional coronary angiography image groups with different shooting angles;

S120, read the image information of each group of coronary two-dimensional angiography image groups, including the shooting angle and detection distance;

S130, according to the detection distance, select a two-dimensional angiography image of interest from each group of coronary two-dimensional angiography images respectively.

S200, as shown in Fig. 3, extracts a two-dimensional blood vessel centerline from each two-dimensional angiography image of interest, including:

S210, read the coronary two-dimensional angiography image;

S220, acquiring the blood vessel segment of interest;

S230, pick the start point, seed point and end point of the blood vessel segment of interest;

S240, segment the two-dimensional angiography images between two adjacent points of the starting point, the seed point, and the ending point, respectively, to obtain at least two local blood vessel area maps;

S250, extracting at least one local blood vessel path line from each local blood vessel area map;

S260, as shown in FIG. 4, connect the corresponding blood vessel local path lines on each local blood vessel area map to obtain at least one blood vessel path line, including:

S261: Perform image enhancement processing on the local blood vessel area map to obtain a rough blood vessel map with strong contrast, including: in each local blood vessel area map, the blood vessel segment of interest is used as the foreground, and other areas are used as the background to enhance the foreground and weaken the background. , to obtain a rough blood vessel map with strong contrast.

S262, as shown in FIG. 5, meshing the rough blood vessel map, and extracting at least one local path line of blood vessels along the direction from the start point to the end point, including:

S2621, meshing the rough blood vessel map;

S2622, along the extension direction of the blood vessel from the starting point to the ending point, search for the shortest time path of the intersection between the starting point and the surrounding n grids as the second point, and search for the second point and the surrounding n grids on the shortest time path. The shortest time path of the intersection is used as the third point, and the third point repeats the above steps until the shortest time path reaches the end point, where n is a positive integer greater than or equal to 1;

S2623, according to the search sequence, connect a line in the extension direction of the blood vessel from the starting point to the ending point, and obtain at least one local path line of the blood vessel.

S270, as shown in Figure 6, select a blood vessel path line as the two-dimensional blood vessel center line, including:

S271, if there are two or more blood vessel path lines, sum up the time taken for each blood vessel path line from the start point to the end point;

S272, taking the least used blood vessel path line as the two-dimensional blood vessel center line.

S300, as shown in FIG. 7, project each two-dimensional blood vessel centerline into a three-dimensional space according to the image information of each coronary 2D angiography image, and synthesize the three-dimensional blood vessel centerline, including:

S310, establishing a three-dimensional coordinate system with the heart as the coordinate origin;

S320, obtain the left and right angle α, the front and rear angle β of each two-dimensional angiography image of interest, and the distance S between the human body and the flat panel detector, and the coordinates of each point on the two-dimensional blood vessel center line are (x, y);

S330, project each point (x, y) into the three-dimensional space to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z'), including:

S340, project the radiation source into the three-dimensional space to form the radiation point R, including:

Obtain the distance S' between the human body and the radiation source in each 2D contrast image of interest;

According to the formula

Among them, the coordinates of R in the three-dimensional space are (a, b, c).

S350, as shown in FIG. 8, connect each three-dimensional coordinate point P with the radiation point R, obtain points on the center line of the three-dimensional blood vessel from the PR connecting line, and sequentially connect the points on the center line of the three-dimensional blood vessel to obtain the three-dimensional blood vessel center line. Vascular centerline, including:

S351, correspondingly connect a series of three-dimensional coordinate points P and radiation points R obtained from the same two-dimensional angiography image of interest to obtain a plurality of PR straight lines;

S352, obtaining the points of the minimum distance between the two PR lines at the same position of the blood vessel, which are point A and point B respectively;

S353, connecting point A and point B, and obtaining the midpoint of the AB line segment as a point on the centerline of the three-dimensional blood vessel;

S354, connecting the obtained series of points on the centerline of the three-dimensional blood vessel in sequence to obtain the centerline of the three-dimensional blood vessel.

As shown in FIG. 9 , the present application provides a three-dimensional blood vessel centerline synthesis system for the above-mentioned three-dimensional blood vessel centerline synthesis method, including: an image reading device 100 , a two-dimensional blood vessel connected to the image reading device 100 The centerline extraction device 200 and the three-dimensional blood vessel centerline acquisition device 300, the two-dimensional blood vessel centerline extraction device 200 is connected with the three-dimensional blood vessel centerline acquisition device 300; the image reading device 100 is used to obtain at least two coronary arteries with different shooting angles Image information of the two-dimensional angiography image; the two-dimensional blood vessel centerline extraction device 200 is configured to receive the two-dimensional coronary angiography image sent by the image reading device, and extract a two-dimensional blood vessel centerline from each two-dimensional angiography image of interest ; The three-dimensional blood vessel centerline acquisition device 300 is used to receive the two-dimensional blood vessel centerline sent by the two-dimensional blood vessel centerline extraction device 200, and receive the coronary two-dimensional angiography image and image information sent by the image reading device 100. The image information of the arterial two-dimensional angiography image is to project each two-dimensional blood vessel centerline into a three-dimensional space to synthesize the three-dimensional blood vessel centerline.

As shown in FIG. 10 , in an embodiment of the present application, the image reading device 100 includes: a two-dimensional image acquisition structure 110 , an image information acquisition structure 120 , a screening interest image structure 130 , and an interesting image structure screening 130 , which are connected in sequence. Connected with the two-dimensional image acquisition structure 110; the two-dimensional image acquisition structure 110 is used for acquiring at least two sets of two-dimensional coronary angiography image groups with different shooting angles; the image information acquisition structure 120 is used for reading each of the two-dimensional image acquisition structure transmissions. The image information of the group of two-dimensional coronary angiography images, including the shooting angle and the detection distance; the screen of interest image structure 130 is used to select a two-dimensional coronary angiography image of interest from each group of two-dimensional coronary angiography images according to the detection distance. Contrast image.

The present application provides a coronary artery analysis system, including: the above-mentioned three-dimensional blood vessel synthesis system.

The present application provides a computer storage medium, and when a computer program is executed by a processor, the above-mentioned method for synthesizing a three-dimensional blood vessel is implemented.

As will be appreciated by one skilled in the art, various aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, various aspects of the present invention may be embodied in the form of an entirely hardware implementation, an entirely software implementation (including firmware, resident software, microcode, etc.), or a combination of hardware and software aspects, It may be collectively referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, various aspects of the present invention may also be implemented in the form of a computer program product on one or more computer-readable media having computer-readable program code embodied thereon. Implementation of the method and/or system of embodiments of the invention may involve performing or completing selected tasks manually, automatically, or a combination thereof.

For example, hardware for performing selected tasks according to embodiments of the invention may be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention may be implemented as a plurality of software instructions executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of a method and/or system as herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes volatile storage for storing instructions and/or data and/or non-volatile storage for storing instructions and/or data, such as a magnetic hard disk and/or a Move media. Optionally, a network connection is also provided. A display and/or user input device, such as a keyboard or mouse, is optionally also provided.

Any combination of one or more computer readable may be utilized. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus 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:

Electrical connection with one or more wires, portable computer disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk Read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

For example, computer program code for performing operations for various aspects of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages, such as The "C" programming language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, 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, can be connected to an external computer (eg using an Internet service provider via Internet connection).

It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the computer program instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

These computer program instructions can also be stored on a computer readable medium, the instructions cause a computer, other programmable data processing apparatus, or other device to operate in a particular manner, whereby the instructions stored on the computer readable medium produce the An article of manufacture of instructions implementing the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

Computer program instructions can also be loaded on a computer (eg, a coronary artery analysis system) or other programmable data processing device to cause a series of operational steps to be performed on the computer, other programmable data processing device or other device to produce a computer-implemented process , such that instructions executing on a computer, other programmable apparatus, or other device provide a process for implementing the functions/acts specified in the flowchart and/or one or more block diagram blocks.

The above specific examples of the present invention further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

A method for synthesizing a three-dimensional blood vessel centerline, comprising:

acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles;

extracting a two-dimensional blood vessel centerline from each of the two-dimensional angiographic images of interest;

According to the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected into a three-dimensional space to synthesize the three-dimensional blood vessel centerlines.
The method for synthesizing three-dimensional blood vessel centerlines according to claim 1, wherein the method for acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles comprises:

Obtain at least two sets of two-dimensional coronary angiography image groups with different shooting angles;

reading the image information of each group of the two-dimensional coronary angiography image group, including the shooting angle and the detection distance;

According to the detection distance, a two-dimensional angiography image of interest is selected from each group of the two-dimensional coronary angiography images.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 2, wherein, according to the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected to a three-dimensional space Inside, the method of synthesizing the three-dimensional blood vessel centerline comprises:

Taking the heart as the coordinate origin, establish a three-dimensional coordinate system;

Obtain the left and right angle α, the front and rear angle β of each of the two-dimensional angiography images of interest, and the distance S between the human body and the flat panel detector, and the coordinates of each point on the two-dimensional blood vessel center line are (x, y );

Project each point (x, y) into the three-dimensional space to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z');

Projecting the radiation source into the three-dimensional space to form a radiation point R;

Connect each of the three-dimensional coordinate points P with the radiation point R, obtain the points on the three-dimensional blood vessel center line from the PR connecting line, and connect the points on the three-dimensional blood vessel center line in turn to obtain the The three-dimensional vessel centerline.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 3, wherein each point (x, y) is projected into the three-dimensional space to obtain a series of three-dimensional coordinate points P, and the coordinates are (x', y) ', z') methods, including:

Rotate each point (x, y) around the y-axis to obtain (x', y', z') series points, the specific formula is:

Rotate the (x', y', z') series of points around the x-axis to obtain a series of three-dimensional coordinate points P, whose coordinates are (x', y', z');
The method for synthesizing a three-dimensional blood vessel centerline according to claim 4, wherein the method for projecting a radiation source into the three-dimensional space to form a radiation point R comprises:

obtaining the distance S' between the human body and the radiation source in each of the two-dimensional contrast images of interest;

According to the formula

Among them, the coordinates of R in the three-dimensional space are (a, b, c).
The method for synthesizing a three-dimensional blood vessel centerline according to claim 5, wherein the three-dimensional coordinate point P is connected with the radiation point R, and the three-dimensional coordinate point P is obtained from the PR connecting line. A method for obtaining the three-dimensional blood vessel center line by sequentially connecting the points on the blood vessel center line to the points on the blood vessel center line, including:

Correspondingly connect a series of three-dimensional coordinate points P and radiation points R obtained from the same two-dimensional contrast image of interest to obtain a plurality of PR straight lines;

Obtain the points of the minimum distance between the two PR lines at the same position of the blood vessel, which are respectively point A and point B;

Connect the point A and the point B, and obtain the midpoint of the AB line segment as a point on the centerline of the three-dimensional blood vessel;

The obtained series of points on the centerline of the three-dimensional blood vessel are sequentially connected to obtain the three-dimensional blood vessel centerline.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 1, wherein the method for respectively extracting a two-dimensional blood vessel centerline from each of the two-dimensional coronary angiography images comprises:

Read two-dimensional coronary angiography images;

Obtain the vessel segment of interest;

Picking the start point, seed point and end point of the vessel segment of interest;

Segmenting the two-dimensional angiography images between two adjacent points of the starting point, the seed point and the ending point respectively, to obtain at least two local blood vessel area maps;

extracting at least one blood vessel local path line from each of said local blood vessel area maps;

connecting the corresponding blood vessel local path lines on each of the local blood vessel area maps to obtain at least one of the blood vessel path lines;

One of the blood vessel path lines is selected as the two-dimensional blood vessel centerline.
The method for synthesizing three-dimensional blood vessel centerlines according to claim 7, wherein the method for extracting at least one local blood vessel path line from each of the local blood vessel area maps comprises:

Perform image enhancement processing on the local blood vessel area map to obtain a rough blood vessel map with strong contrast;

Meshing the rough blood vessel map, and extracting at least one local path line of the blood vessel along the direction from the start point to the end point.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 8, wherein the method for performing image enhancement processing on the local blood vessel area map to obtain a rough blood vessel map with strong contrast comprises:

In each local blood vessel area map, the blood vessel segment of interest is used as the foreground and other regions are used as the background, the foreground is enhanced and the background is weakened to obtain the rough blood vessel map with strong contrast.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 9, wherein the rough blood vessel map is divided into grids, and at least one blood vessel part is extracted along the direction from the start point to the end point. Methods of path lines include:

meshing the rough blood vessel map;

Along the extension direction of the blood vessel from the starting point to the ending point, search for the shortest time path of the intersection between the starting point and the surrounding n grids as the second point, and search for the second point and the surrounding The shortest time path of the intersections on the n grids is used as the third point, and the third point repeats the above steps until the shortest time path reaches the end point, where n is a positive integer greater than or equal to 1;

According to the search sequence, connect a line in the extending direction of the blood vessel from the starting point to the ending point to obtain at least one local path line of the blood vessel.
The method for synthesizing a three-dimensional blood vessel centerline according to claim 10, wherein the method for selecting one of the blood vessel path lines as the two-dimensional blood vessel centerline comprises:

If there are two or more vessel path lines, summing the time taken for each vessel path line from the starting point to the ending point;

The blood vessel path line with the least amount of time is taken as the two-dimensional blood vessel center line.
A three-dimensional blood vessel centerline synthesis system, used for the three-dimensional blood vessel centerline synthesis method according to any one of claims 1 to 11, characterized in that, comprising: an image reading device, connected to the image reading device a two-dimensional blood vessel centerline extraction device and the three-dimensional blood vessel centerline acquisition device, wherein the two-dimensional blood vessel centerline extraction device is connected to the three-dimensional blood vessel centerline acquisition device;

The image reading device is used for acquiring image information of at least two coronary two-dimensional angiography images with different shooting angles;

The two-dimensional blood vessel centerline extraction device is configured to receive a coronary two-dimensional angiography image sent by the image reading device, and extract a two-dimensional blood vessel centerline from each of the two-dimensional angiographic images of interest;

The three-dimensional blood vessel centerline acquisition device is configured to receive the two-dimensional blood vessel centerline sent by the two-dimensional blood vessel centerline extraction device, and receive the coronary two-dimensional angiography image and image information sent by the image reading device, according to For the image information of each of the two-dimensional coronary angiography images, each of the two-dimensional blood vessel centerlines is projected into a three-dimensional space to synthesize the three-dimensional blood vessel centerlines.
The three-dimensional blood vessel synthesis system according to claim 12, wherein the image reading device comprises: a two-dimensional image acquisition structure, an image information acquisition structure, and a structure for screening images of interest, which are connected in sequence, and the screening for images of interest the structure is connected to the two-dimensional image acquisition structure;

The two-dimensional image acquisition structure is used to acquire at least two sets of two-dimensional coronary angiography image groups with different shooting angles;

The image information acquisition structure is used to read the image information of each group of the coronary two-dimensional angiography image groups transmitted by the two-dimensional image acquisition structure, including the shooting angle and the detection distance;

The screening of the image structure of interest is used for selecting a two-dimensional angiography image of interest from each group of the two-dimensional coronary angiography images according to the detection distance.
A coronary artery analysis system, comprising: the three-dimensional blood vessel synthesis system according to any one of claims 12 to 13.
A computer storage medium, characterized in that, when the computer program is executed by a processor, the method for synthesizing a three-dimensional blood vessel according to any one of claims 1 to 11 is implemented.