CN1581233A - Method for drawing and image-forming using the body to be conducted simulation operation - Google Patents
Method for drawing and image-forming using the body to be conducted simulation operation Download PDFInfo
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- CN1581233A CN1581233A CN 200410018565 CN200410018565A CN1581233A CN 1581233 A CN1581233 A CN 1581233A CN 200410018565 CN200410018565 CN 200410018565 CN 200410018565 A CN200410018565 A CN 200410018565A CN 1581233 A CN1581233 A CN 1581233A
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Abstract
The present invention belongs to the field of medicine image processing and application, and relates to a body-plotting method for medicine image three-dimentional imaging proces to makes virtual operation. Said invention uses the most basic unit in three-dimentional data field-voxel as basic unit of imaging and making virtual operation, utilizes the coordinate conversion of voxel to define cutting range in body data, and uses the segment displacement of voxel data value to make labelled cutting process. Said invented method not only can make doctor use mouse to simulate operating knife to implement virtual operation and display cut result, but also can make restoration and reoperation.
Description
Technical field
The invention belongs to Medical Image Processing and application.The object plotting method that relates to a kind of medical image three-dimensional imaging is specifically related to a kind of volume drawing formation method that is used for virtual operation.
Background technology
Virtual operation is the product that medical science combines with information science.Technically, being meant and using computer technology, mainly is computer graphics techniques and virtual reality technology, simulation, design clinical surgery operation process.Virtual operation mainly comprises the reconstruction of surgical environments and two parts of simulation of surgical procedure.Wherein the reconstruction of surgical environments is meant based on 3 d medical images, sets up the three-dimensional model of patient's operative site; The simulation of surgical procedure is meant and utilizes the three-dimensional model of setting up previously, simulate surgical procedure under virtual environment.The value of virtual operation is mainly reflected in: the doctor can carry out operation technique arbitrarily, and can not cause any wound to patient, simultaneously, because the data of virtual operation object model are from patient self, therefore the observed institutional framework of doctor, position dimension and neighbouring relationship etc. are all rather similar to true operation in the virtual operation process.Because these characteristics, the doctor can be by utilizing virtual operation to formulate rational operation plan, select best operation pathway, for reducing operation wound, improving the operation quality and have crucial meaning.
The basis of virtual operation is that three-dimensional imaging is carried out at the position that needs undergo surgery.The three-D imaging method of general medicine image mainly is divided into two big classes: surface rendering method and body painting method for making.The image-forming principle of surface rendering method is the surface that extracts earlier object to be shown from 3 d data field, expresses this surface with some basic geometric elements then, shows with traditional computer graphics method again.The characteristics of surface rendering method are that explicitly is set up object model, and the method that can use traditional virtual reality technology to provide on to the manipulation of model realizes.A disadvantage of said method is the internal information that does not comprise object in the surface model of object.And at medical domain, no matter be the diagnosis of disease or the design of operation plan, all need to understand the internal information of object, so the surface rendering method is not suitable for virtual operation.The image-forming principle of body painting method for making is opposite with the surface rendering method, explicitly is not set up object model, but directly from 3 d data field, use specific formation method, the three-dimensional structure that display object comprises, be characterized in imaging, having kept the full detail of 3 d data field, therefore, be suitable for clinical medicine domains such as virtual operation.But because it does not have explicitly to set up the three-dimensional model of object, therefore the method that can not provide with traditional virtual reality technology is handled model object, carries out virtual operation.
Bibliographical information is arranged, people such as B.Pflesser are at " Computer Assisted Radiology and Surgery, Proc " (CARS 2000, Excerpta Medica International Congress Series 1214, Elsevier, Amsterdam, 2000, publish an article 607-612) " Volume based planning and rehearsal ofsurgical interventions. ", wherein, disclose a cover virtual operation algorithm and a volume drawing formation method.This method is used the independently data fields classification that comes each voxel of mark, has increased the internal memory burden, has also increased the complexity of volume rendering algorithm.
Summary of the invention
The object of the invention is to provide a kind of volume drawing formation method that is suitable for virtual operation.
Generally in the volume drawing imaging process, therefore the geometric expression of formation object can not come the operation model object with the method for traditional virtual reality.The present invention is with the elementary cell in the 3 d data field---and voxel is as the elementary cell of imaging and virtual operation operation, by the coordinate of each voxel in view coordinate judged whether by operation techniques such as virtual cuttings, to cut voxel, the data value of its voxel is done the section displacement, and it is cut to come mark.Wherein, when the object in the 3 d data field being carried out operation techniques such as imaging and virtual cutting, the 3-D geometric model of object in the construction data field not.
Computed mouse of the present invention and keyboard are as the man-machine interface of operation techniques such as virtual cutting, determine cut coverage in the volume data with the coordinate transform of voxel, the mark cutting process is carried out in section displacement with the voxel data value, has set up a kind of volume drawing formation method that is suitable for the virtual operation operation.The inventive method not only can realize the arbitrary shape of imaging object and the cutting of the degree of depth, and can recover and operation again cutting.
The inventive method realizes by following step,
(1) use mouse and keyboard as the man-machine interface of operation techniques such as virtual cutting,
Any cutting of volume data is the simulation to clinical operation, is the process of a personal-machine interaction.The man-machine interface of any cutting of the present invention is the result images that display body is drawn on computer screen, delimits cut coverage with mouse, imports depth of cut with keyboard; Observe at any angle by 3 d data field, can be presented at observable imaging results from different directions on the screen, also just can cut from any direction.
The input that obtains from man-machine interface to virtual cutting be actually one on the viewing plane cut coverage and one along the depth of cut on the direction of observation.In view coordinate, cut-out is a cylinder, and the cross section that described cylinder and viewing plane intersect is the scope that mouse delimited, and the cylinder side surface is made up of the line segment perpendicular to viewing plane, and line segment length is a depth of cut.In world coordinate system, cylinder body shape is constant, but direction is arbitrarily.
(2) determine cut coverage in the volume data with the coordinate transform of voxel
In virtual operation, need carry out three dimensional viewing to the cutting result, therefore need to judge in the volume data cut voxel is carried out mark to described voxel, so that no longer show described voxel in follow-up imaging process.
General definite excision voxel can be as the criterion with world coordinates (coordinate of voxel in world coordinate system), also can be as the criterion with viewing coordinates (coordinate of voxel in view coordinate).Wherein be as the criterion with world coordinates, data fields is carried out single pass, judge that successively each voxel is whether in cut coverage, but in the cutting of three-dimensional arbitrary shape, because the cylinder of expression cut-out can be any direction in world coordinate system, and damaged surface is irregularly shaped, has difficulty so judge whether certain point drops in the cutting cylinder.
It is the determination methods of foundation that the inventive method provides with the view coordinate coordinate figure.Described method also only needs data fields is carried out single pass, uses coordinate transform coordinate transform one-tenth the coordinate in view coordinate of each voxel in world coordinate system then, judges according to the coordinate figure of gained whether certain voxel is in the cut coverage again.Binding data field cut coverage synoptic diagram, wherein, the cutting cylinder is perpendicular to viewing plane in view coordinate, if the coordinate of a point in view coordinate be (x ', y ', z '), then this point is in needs to satisfy two conditions in the cutting cylinder: the firstth, the two-dimensional coordinate point (x ', y ') on viewing plane, drop in the cut coverage of mouse delimitation, the secondth, z ' is less than depth of cut.If satisfy above-mentioned two conditions, then voxel (x ', y ', z ') drops in the cutting cylinder, otherwise just not in the cutting cylinder.
(3) with the section of voxel data value displacement mark cutting process
Behind the voxel in determining excision extension, need carry out mark to it.
The straightforward procedure that realizes mark is that cut partial data value is emptied.But in virtual operation, in order to observe cutting effect in detail, often need to recover the part that has excised the front, reselect the cutting position that is more suitable for again, so, in order not lose cut partial data information, the voxel that can be in the volume data is provided with marker bit, but the data volume of medical 3 D data fields is very big, can increase the internal memory burden greatly undoubtedly, and influence program operation speed, increase the difficulty of clinical practice.
The inventive method adopts the mark of realizing the excision voxel with the section displacement method, under the situation that does not increase internal memory burden and volume drawing computation complexity, realizes the mark of voxel, and the cutting of being done is optionally recovered.Described section displacement method is the characteristics according to medical image, and original three bit data field data values have a known span, establishes to be between Min and the Max, and then to be distributed in a width be in the interval range of Max-Min+1 to raw data.Utilize the interval property of raw data, each cutting is done moving of whole interval to cut partial data value.Through behind the cutting operation, come its cut state of mark with the residing interval of voxel data value, the side-play amount in the interval of living in is represented its raw value.If certain any raw value is G
oIf it is cut in the k time cutting operation, so its new gray-scale value G
cFor:
G
c＝G
o+(Max-Min+1)k
And if the k time excision recovered, then carry out following calculating:
G wherein
PrBe the raw value that the p that recovers to obtain is ordered, G
PcFor recovering the data value that preceding p is ordered.
After the method for using is carried out mark to cutting, can judge simply in volume data whether certain is a bit cut, which also can distinguish simply by the excision of time cutting operation cut part, through test, this method not only can be recovered once cutting arbitrarily, and can carry out independent imaging, three dimensional viewing and other processing to certain cut part.
Use the new volume drawing formation method that is suitable for virtual operation provided by the invention, utilize image datas such as Clinical CT or MRI, on the human 3d model that the volume drawing imaging shows, the doctor can use mouse sham operated cutter, finish the cutting of the arbitrary shape and the degree of depth, finish the operation of virtual operation, show the cutting result.Simultaneously, can recover apace or reform.
Description of drawings
Fig. 1 is that the data fields cut coverage is determined synoptic diagram,
Wherein, the black rectangle on viewing plane X '-Y ' is the cut coverage on the viewing plane, and depth of cut is imported by the user, and the part that the represented rectangular parallelepiped of shade intersects among volume data and the figure is about to the part of excision.
Fig. 2 is head part's volume drawing imaging results.
Fig. 3 delimit cut coverage with mouse, shown in darker regions among the figure.
Fig. 4 is the volume drawing imaging results after the virtual cutting of enforcement.
After Fig. 5 is cutting, from the volume drawing imaging results of other angles observations.
Fig. 6 is the volume drawing imaging results after the cancellation cutting.
Fig. 7 is the volume drawing imaging results that cancellation cutting back is observed from other angles.
Embodiment
In conjunction with content of the present invention, following examples are provided, the present invention is done further statement.
Embodiment 1: the volume drawing imaging and the virtual operation of human body head CT data.
1), uses the Cranial Computed Tomography image, show head part's 3-D view with the method for volume drawing.The resolution of original image is 512 * 512 * 100, after reading in raw data and making up 3 d data field, the span of each voxel data value is limited to-1000～999, and carries out the volume drawing imaging;
2), the method for employing " step 1 " provides the input of cut coverage.Use mouse, on 3-D view, delineate a bar closed curve, as cut coverage; With keyboard input depth of cut 100, depth unit is a millimeter;
3), adopt the method for " step 2 ", determine the cut coverage in the volume data.Scan whole three bit data fields, the usage space transform method in the middle of view coordinate, and according to the coordinate of voxel in view coordinate, is judged the coordinate transform of each voxel in the data fields whether this voxel should be cut, thereby is found out cut coverage;
4), adopt the method for " step 3 ", cut voxel is carried out mark.Previous step is judged as the voxel of excision in rapid, the data value of this voxel is done the section displacement, promptly data value adds 2000, the mark cut coverage;
5), finish section displacement to all excision voxel data values after, carry out the volume rendering three-dimensional imaging again.The result shows and organizes cutly in the specified scope, no longer shows;
6), adopt the method for " step 3 ", cutting is recovered.The result shows and the initial identical complete head 3-D view of imaging.
Present embodiment uses the Clinical CT data, has finished patient's the virtual cutting and the recovery of cutting.On Dellprecision workstation (2.8G CPU), cutting operation can be finished in 5 seconds, recovers cutting operation and can finish in 2 seconds.
Claims (3)
1, a kind of volume drawing formation method that is used for virtual operation, it is characterized in that, with the elementary cell of the voxel in the 3 d data field as imaging and virtual operation operation, by the coordinate of each voxel in view coordinate judged whether by virtual cutting, wherein, to cut voxel, its data value is made section displacement carrying out mark.
2, the volume drawing formation method that is used for virtual operation according to claim 1 is characterized in that, when wherein the object in the 3 d data field being carried out the operation of imaging and virtual cutting operation, and the 3-D geometric model of object in the construction data field not.
3, the volume drawing formation method that is used for virtual operation according to claim 1 and 2 is characterized in that comprising the steps,
(1) uses the man-machine interface of mouse and keyboard as operation techniques such as virtual cuttings;
(2) determine cut coverage in the volume data with the coordinate transform of voxel, carry out three-dimensional arbitrarily during cutting, 3 d data field is scanned, the coordinate figure of each voxel is transformed in the view coordinate, judge according to coordinate figure wherein whether the voxel in the original data fields is cut;
(3) with the section of voxel data value displacement mark cutting process,
By the data value of cut voxel being done section displacement, it is cut for mark, and described data value is made section shifting function formula and is:
G
c＝G
o+(Max-Min+1)k
Wherein, G
cBe the new data value of this voxel, G
oBe the raw value of this voxel, Max is the maximal value of data value in all voxels of data fields, and Min is the minimum value of data value in all voxels of data fields, and k is a cutting order,
When needing to recover, formula is:
G wherein
PrBe the raw value that the p that recovers to obtain is ordered, G
PcFor recovering the data value that preceding p is ordered.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101853336A (en) * | 2010-06-13 | 2010-10-06 | 中国人民解放军总医院 | Man-machine interaction input method and device and image identification method of osseous surgery simulation |
| CN101110124B (en) * | 2006-02-21 | 2011-08-03 | 美国西门子医疗解决公司 | System and method for in-context volume visualization using virtual incision |
| CN102895031A (en) * | 2012-09-19 | 2013-01-30 | 深圳市旭东数字医学影像技术有限公司 | Kidney virtual surgical method and system |
| CN102945127A (en) * | 2012-11-05 | 2013-02-27 | 深圳市旭东数字医学影像技术有限公司 | Interactive method for volume rendering displaying and system thereof |
| CN103946892A (en) * | 2011-09-30 | 2014-07-23 | 通用电气健康护理有限公司 | Variable-depth stereotactic surface projections |
| CN101727180B (en) * | 2008-10-23 | 2014-08-06 | 三星电子株式会社 | Apparatus and method for manipulating a virtual object |
| CN107452074A (en) * | 2017-07-31 | 2017-12-08 | 上海联影医疗科技有限公司 | A kind of image processing method and system |
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2004
- 2004-05-21 CN CN 200410018565 patent/CN1581233A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101110124B (en) * | 2006-02-21 | 2011-08-03 | 美国西门子医疗解决公司 | System and method for in-context volume visualization using virtual incision |
| CN101727180B (en) * | 2008-10-23 | 2014-08-06 | 三星电子株式会社 | Apparatus and method for manipulating a virtual object |
| CN101853336A (en) * | 2010-06-13 | 2010-10-06 | 中国人民解放军总医院 | Man-machine interaction input method and device and image identification method of osseous surgery simulation |
| CN103946892A (en) * | 2011-09-30 | 2014-07-23 | 通用电气健康护理有限公司 | Variable-depth stereotactic surface projections |
| CN103946892B (en) * | 2011-09-30 | 2018-10-16 | 通用电气健康护理有限公司 | Variable depth stereotaxis surface projection |
| CN102895031A (en) * | 2012-09-19 | 2013-01-30 | 深圳市旭东数字医学影像技术有限公司 | Kidney virtual surgical method and system |
| CN102945127A (en) * | 2012-11-05 | 2013-02-27 | 深圳市旭东数字医学影像技术有限公司 | Interactive method for volume rendering displaying and system thereof |
| CN102945127B (en) * | 2012-11-05 | 2016-04-27 | 深圳市旭东数字医学影像技术有限公司 | The exchange method of volume drawing display and system thereof |
| CN107452074A (en) * | 2017-07-31 | 2017-12-08 | 上海联影医疗科技有限公司 | A kind of image processing method and system |
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