CN110706350B - Automatic edge-cutting generation method based on normal direction of occupied triangular surface patch - Google Patents

Automatic edge-cutting generation method based on normal direction of occupied triangular surface patch Download PDF

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CN110706350B
CN110706350B CN201910740526.6A CN201910740526A CN110706350B CN 110706350 B CN110706350 B CN 110706350B CN 201910740526 A CN201910740526 A CN 201910740526A CN 110706350 B CN110706350 B CN 110706350B
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郑军
鲍苏苏
何永刚
施万利
于旭阳
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Yang Junyao
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Hangzhou Incool Medical Technology Co ltd
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Abstract

The invention discloses an automatic edge-cutting generation method based on the normal direction of an occupying triangular patch, which comprises the following steps of obtaining an occupying model which is reconstructed in three dimensions; generating an outward vector on a triangular face of the placeholder model; and (3) taking the end point of the vector as the end point of a new triangular patch, and reconstructing the end point into a new model in three dimensions, wherein the reconstructed model is the tangent plane which is the same as the tangent edge. The invention can automatically form the required cutting edge, has simple and convenient operation and high accuracy, can obtain the cutting edge only by taking the vector end point as the vertex of the triangle of the new face sheet, can effectively bring convenience to an operation planner, and is beneficial to application and popularization.

Description

Automatic edge-cutting generation method based on normal direction of occupied triangular surface patch
Technical Field
The invention relates to the field of medical image processing, in particular to an automatic edge cutting generation method based on the normal direction of an occupation triangular patch.
Background
Often, the surgical operation requires a fixed value for the incisal margin of the tumor cut, such as the resection of a tumor in the liver, which is typically 2cm. In the currently known computer surgery planning system, there are two methods for cutting the tumor, one is to use a curved surface (or a plane) to simulate the effect of a scalpel by adjusting the position and the curved surface shape; the other method is to adopt a simulation instrument, control a simulation scalpel through external equipment and perform simulation cutting on a three-dimensional reconstructed entity. The two methods have high difficulty and low accuracy in the actual operation process, and can not realize automatic incisal edge generation, thereby bringing inconvenience to operation planners.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic edge-cutting generation method based on the normal direction of a triangular patch, which can directly generate a cutting edge with a given size outside a tumor.
In order to achieve the purpose, the invention adopts the following technical scheme:
the automatic edge cutting generation method based on the normal direction of the occupied triangular patch comprises the following steps,
s1, acquiring a three-dimensionally reconstructed occupancy model;
s2, generating an outward vector on the triangular face of the occupancy model;
and S3, taking the end point of the vector as the end point of a new triangular patch, and three-dimensionally reconstructing the new model, wherein the reconstructed model is the same section as the cutting edge.
Further, the step S2 specifically includes the following steps:
s21, setting three vertexes A (x) of the triangular patch 1 ,y 1 ,z 1 )，B(x 2 ,y 2 ,z 2 )，C(x 3 ,y 3 ,z 3 ) A, B, C may form 3 vectors, a vector
Figure GDA0003888630120000011
(Vector)
Figure GDA0003888630120000012
Sum vector
Figure GDA0003888630120000013
If the normal vector coordinate of the plane is (m, n, p), the following can be obtained according to the space analytic geometry knowledge:
(x 2 -x 1 )m+(y 2 -y 1 )n+(z 2 -z 1 )p＝0；
(x 3 -x 1 )m+(y 3 -y 1 )n+(z 3 -z 1 )p＝0；
(x 3 -x 2 )m+(y 3 -y 2 )n+(z 3 -z 2 )p＝0；
solving the simultaneous linear equation to obtain the normal vector coordinates (m, n, p) of the plane;
s22, calculating the centroid of the triangle, and calculating the centroid Q (x) according to the formula of calculating the centroid of the space triangle 0 ,y 0 ,z 0 )：
Figure GDA0003888630120000021
Further, the step S3 specifically includes the following steps:
s31, knowing the centroid Q and the normal vector of the space triangle, and making a linear equation which passes through the point and has the direction parallel to the normal vector:
Figure GDA0003888630120000022
s32, calculating the coordinate with the distance S between the point Q and the straight line,
two points in space Q (x) 0 ,y 0 ,z 0 ) Distance formula from w (x, y, z): (x-x) 0 ) 2 +(y-y 0 ) 2 +(z-z 0 ) 2 ＝S 2 ；
Will be provided with
Figure GDA0003888630120000023
And
Figure GDA0003888630120000024
substituting into the formula;
obtaining:
Figure GDA0003888630120000025
substituting the two formulas to obtain y and x, and obtaining a point which is a cutting edge w away from the triangular patch;
and S33, forming a closed curved surface with the distance S from the occupied place by the collection of the points w, namely, forming a tangent plane which is the same as the tangent edge.
Further, the length of the vector in S2 is the distance from the cut edge boundary to the occupancy model boundary.
Further, the vector length is 2CM.
Further, the placeholder model comprises a tumor placeholder model.
By adopting the technical scheme of the invention, the invention has the beneficial effects that: compared with the prior art, the method can automatically form the required cutting edge, is simple and convenient to operate and high in accuracy, the cutting edge can be obtained only by taking the vector end point as the vertex of the triangle of the new face slice, convenience can be effectively brought to an operation planner, and the method is beneficial to application and popularization.
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FIG. 1 is a vector generation schematic diagram of an automatic edge-cutting generation method based on the normal direction of a triangular patch according to the present invention;
fig. 2 is a schematic diagram of an automatic edge-cutting generation method based on the footprint triangular patch normal direction provided by the present invention.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
The occupied three-dimensional reconstruction structure is characterized in that the surface of the occupied three-dimensional reconstruction structure is covered by triangular patches. The excision of the placeholder needs to be at a distance from the placeholder called the margin of cut. The invention uses a triangular centroid point to grow a vertical line perpendicular to a triangular patch, such as the vertical line perpendicular to the triangular patch shown in figure 1, and takes a point which is away from the centroid as the length of a tangential edge on a straight line, and finally, the points of all the triangular patches form a curved surface, namely, a pre-tangential plane of the given tangential edge.
As shown in the figure, the automatic edge-cutting generation method based on the normal direction of the occupancy triangle patch comprises the following steps,
s1, acquiring a three-dimensionally reconstructed occupancy model;
s2, generating an outward vector on the triangular face of the occupancy model;
and S3, taking the end point of the vector as the end point of a new triangular patch, and three-dimensionally reconstructing the new model, wherein the reconstructed model is the same section as the cutting edge.
The S2 specifically comprises the following steps:
s21, setting a triangleThree vertices A (x) of a patch 1 ,y 1 ,z 1 )，B(x 2 ,y 2 ,z 2 )，C(x 3 ,y 3 ,z 3 ) A, B, C may form 3 vectors, a vector
Figure GDA0003888630120000031
(Vector)
Figure GDA0003888630120000032
Sum vector
Figure GDA0003888630120000033
The normal vector coordinate of the plane is (m, n, p), and the normal vector coordinate can be obtained according to the space analytic geometry knowledge:
(x 2 -x 1 )m+(y 2 -y 1 )n+(z 2 -z 1 )p＝0；
(x 3 -x 1 )m+(y 3 -y 1 )n+(z 3 -z 1 )p＝0；
(x 3 -x 2 )m+(y 3 -y 2 )n+(z 3 -z 2 )p＝0；
solving the simultaneous linear equation to obtain the normal vector coordinates (m, n, p) of the plane;
s22, calculating the centroid of the triangle, and calculating the centroid Q (x) according to the formula of calculating the centroid of the space triangle 0 ,y 0 ,z 0 )：
Figure GDA0003888630120000034
The S3 specifically comprises the following steps:
s31, knowing the centroid Q and the normal vector of the space triangle, and making a linear equation which passes through the point and has the direction parallel to the normal vector:
Figure GDA0003888630120000041
s32, calculating the coordinate with the distance S between the point Q and the straight line,
two points in space Q (x) 0 ,y 0 ,z 0 ) Distance from w (x, y, z) formula: (x-x) 0 ) 2 +(y-y 0 ) 2 +(z-z 0 ) 2 ＝S 2 ；
Will be provided with
Figure GDA0003888630120000042
And
Figure GDA0003888630120000043
substituting into the formula;
obtaining:
Figure GDA0003888630120000044
substituting the two formulas to obtain y and x, and obtaining a point which is far away from the triangular patch and is the cutting edge w;
and S33, forming a closed curved surface with the distance S from the occupied place by the collection of the points w, namely, forming a tangent plane which is the same as the tangent edge.
And the length of the vector in the S2 is the distance from the cutting edge boundary to the occupation model boundary. Typically, the distance from the cutting edge to the footprint is set to 2CM, thus setting the vector length to 2CM. The occupancy model comprises a tumor occupancy model.
In the present invention, occupancy refers to occupancy lesion, which is a term used in medical imaging diagnostics and usually appears in examination results such as X-ray, B-ultrasound, and CT. It means that there is a "extra thing" in the examined region, which can make the surrounding tissues pressed and displaced. Space occupying lesions generally refer to tumors (benign, malignant), parasites, etc., without involvement of the etiology of the disease.
The space occupying model is a three-dimensional stereo model established according to space occupying lesion (tumor and the like).
The incisal edges refer to the edges where the tissue of the placeholder is excised.
The triangular patch refers to a triangular patch block used for representing a triangular mesh under a three-dimensional modeling stl format.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (4)

1. The automatic edge cutting generation method based on the normal direction of the occupied triangular patch is characterized by comprising the following steps of,
s1, acquiring a three-dimensionally reconstructed occupancy model;
s2, generating an outward vector on the triangular face of the occupancy model;
s3, taking the end point of the vector as the end point of a new triangular patch, and reconstructing the end point into a new model in a three-dimensional mode, wherein the reconstructed model is the tangent plane which is the same as the tangent edge;
the S2 specifically comprises the following steps:
s21, setting three vertexes A (x) of the triangular patch 1 ,y 1 ,z 1 )，B(x 2 ,y 2 ,z 2 )，C(x 3 ,y 3 ,z 3 ) A, B, C may form 3 vectors, a vector
Figure FDA0003895732280000011
(Vector)
Figure FDA0003895732280000012
Sum vector
Figure FDA0003895732280000013
The normal vector coordinate of the plane is (m, n, p), and the normal vector coordinate can be obtained according to the space analytic geometry knowledge:
(x 2 -x 1 )m+(y 2 -y 1 )n+(z 2 -z 1 )p＝0；
(x 3 -x 1 )m+(y 3 -y 1 )n+(z 3 -z 1 )p＝0；
(x 3 -x 2 )m+(y 3 -y 2 )n+(z 3 -z 2 )p＝0；
solving the simultaneous linear equation to obtain the normal vector coordinates (m, n, p) of the plane;
s22, calculating the centroid of the triangle, and calculating the centroid Q (x) according to the formula of calculating the centroid of the space triangle 0 ,y 0 ,z 0 )：
Figure FDA0003895732280000014
The S3 specifically comprises the following steps:
s31, knowing the centroid Q and the normal vector of the space triangle, and making a linear equation which passes through the point and has the direction parallel to the normal vector:
Figure FDA0003895732280000015
s32, calculating the coordinate with the distance S between the point Q and the straight line,
two points in space Q (x) 0 ,y 0 ,z 0 ) Distance formula from w (x, y, z): (x-x) 0 ) 2 +(y-y 0 ) 2 +(z-z 0 ) 2 ＝S 2 (ii) a Will be provided with
Figure FDA0003895732280000021
And
Figure FDA0003895732280000022
substituting into the formula;
obtaining:
Figure FDA0003895732280000023
substituting the above two formulas to solve y and x to obtain a point with a distance w from the triangular patch；
And S33, forming a closed curved surface with the space occupying distance S by the set of the points w, namely forming a tangent plane which is the same as the tangent edge.
2. The method of claim 1, wherein the length of the vector in S2 is a distance from the boundary of the cutting edge to the boundary of the placeholder model.
3. The method of claim 1, wherein the vector length is 2CM.
4. The method of claim 1, wherein the placeholder model comprises a tumor placeholder model.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101477706A (en) * 2008-12-19 2009-07-08 天津工业大学 Simulated operation planning method based on medical image
CN104318618A (en) * 2014-10-20 2015-01-28 南京师范大学 Three-dimensional sectioning method of generalized tri-prism spatial data model
CN108305255A (en) * 2017-01-12 2018-07-20 浙江京新术派医疗科技有限公司 The generation method and generating means of operation on liver cut surface
CN109308735A (en) * 2018-08-20 2019-02-05 上海嘉奥信息科技发展有限公司 The method and its storage medium that data based on the rendering of Unity3D body punch

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101477706A (en) * 2008-12-19 2009-07-08 天津工业大学 Simulated operation planning method based on medical image
CN104318618A (en) * 2014-10-20 2015-01-28 南京师范大学 Three-dimensional sectioning method of generalized tri-prism spatial data model
CN108305255A (en) * 2017-01-12 2018-07-20 浙江京新术派医疗科技有限公司 The generation method and generating means of operation on liver cut surface
CN109308735A (en) * 2018-08-20 2019-02-05 上海嘉奥信息科技发展有限公司 The method and its storage medium that data based on the rendering of Unity3D body punch

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