CN2787139Y - Visible divisional drawing device of virtual endoscope - Google Patents
Visible divisional drawing device of virtual endoscope Download PDFInfo
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- CN2787139Y CN2787139Y CN 200420009870 CN200420009870U CN2787139Y CN 2787139 Y CN2787139 Y CN 2787139Y CN 200420009870 CN200420009870 CN 200420009870 CN 200420009870 U CN200420009870 U CN 200420009870U CN 2787139 Y CN2787139 Y CN 2787139Y
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Abstract
The utility model relates to the technical field of the combination of medical image processing and scientific calculation visualization, particularly a visibility partitioning drawing device of a virtual endoscope. The utility model is composed of an input device, a middle processing device and an output device, wherein the input device is connected with the middle processing device which is connected with the output device, and the input device, the middle processing device and the output device are connected orderly. Screen images which are browsed are recorded in the shape of documents. Visibility analysis and partitioning processing are mainly used for virtual reality, real-time drawing and medical image analysis.
Description
Technical field
This utility model relates to the observability piecemeal drawing apparatus of the technical field that Medical Image Processing combines with visualization in scientific computing, particularly a kind of virtual endoscope.
Background technology
Recent years, virtual endoscope is widely used in the inspection of human organ.Combine Medical Image Processing and computer graphics techniques, virtual endoscope has little by little replaced conventional endoscope.Compare with conventional endoscope, virtual endoscope is a kind of complete touchless inspection means, it need not to insert foreign body in the patient body, thereby greatly alleviated patient's misery, simultaneously can also arrive the zone that conventional endoscope can't be checked, viewpoint direction changes easily, can make and once check the data repeated use.
But be accompanied by the develop rapidly of medical imaging device, the resolution of medical image is also more and more higher.Though present computer hardware level has also obtained develop rapidly, is unable to catch up with the growth of data volume always.Specific to the virtual endoscope that we studied, also inevitably run into such problem, show that mainly it is to difficulty that real-time demonstration brought.Virtual endoscope is because roam in human body, and therefore the speed of roaming is to weigh the important indicator of systematic function.In general, if the computer per second can show 15 width of cloth pictures, human eye promptly can not felt shake.But for virtual endoscope, also be acceptable about per second 5 width of cloth, because it is to be used for medical examination, the doctor need examine, and it is unfavorable on the contrary too soon to change, but too slow and can influence work efficiency.For example all want couple of seconds could show a width of cloth picture the commodity virtual endoscope software on the market (as the Advanced Windows of GE), this is just too slow.In fact this also is the bottleneck place of virtual endoscope software development, and difficult point also is this.
For the speed of accelerating to draw, some typical methods have been proposed in virtual endoscope successively, mainly can be divided into iso-surface patch and volume drawing.
1 iso-surface patch
Extract the geological information of body surface by Marching Cubes method from data fields, and then generate the computer representation (normally triangular plate grid) of the object of observation, iso-surface patch shows based on this.But be accompanied by the develop rapidly of medical imaging device, the resolution of medical image is more and more higher, and this just makes that the dough sheet number that produces is more and more huger.If directly whole dough sheet data are drawn, then roaming does not reach real-time requirement, and this just needs to reduce the drafting amount of dough sheet.Two kinds of methods that improve iso-surface patch speed are arranged at present: grid abbreviation and visibility analysis.
Cao Yong etc. in virtual endoscope, and according to the characteristics of medical data, have done some improvement of using to this method with progressive meshes (progressive grid) the method first Application of Hoppe.The abbreviation of the porch of organ has been done strict restriction, prevents because abbreviation has destroyed the original benefit of opening up of data.Simultaneously some wrong edge contractions have been done the punishment constraint, so that this method is fit to virtual roaming more.Li Guangming combines grid abbreviation and the segmentation relevant with viewpoint to accelerate virtual roaming.According to the characteristics of medical image, by the QEM method of improving error criterion the threedimensional model after rebuilding to be simplified, the base net lattice that obtain simplifying are noted the mapping relations of original mesh and base net lattice simultaneously; When drawing, the part in the viewpoint is segmented then, and, made it more approach archetype according to the position on mapping relations adjustment segmentation summit.
Though by the speed that the grid abbreviation can be accelerated to roam, the quality of image can not be guaranteed.In virtual endoscope, can be faster more correctly determine the position of pathological changes body in order to make the user, the picture quality during roaming should be placed above the other things all the time.In when roaming, because viewpoint is very near with intestinal wall all the time, the later data of any abbreviation all can cause the attenuating of picture quality, and such abbreviation even can cause the disappearance of the little polyp of pathological changes.Because the inspection environment of endoscope is an enclosed areas, therefore can set up Portal (inlet) and the such structure of Cell (closed area) is carried out visibility analysis by minute block operations.By the flexural property of intestinal, Hong has proposed the piecemeal based on centrage, when roaming with the spot projection on the Portal to screen coordinate, and by the observability between Z-buffer memory computing block and the piece.Knapp has strengthened the operation of centrage piecemeal, has solved the piecemeal at the intestinal rising zone.
2 volume drawing
Some virtual endoscope systems employing virtual video cameras come the video camera in the simulating reality, so adopt ray cast to carry out the imaging of virtual video camera very naturally; Obtain the position and the direction of surface point by surface inspecting method, just can obtain final imaging results by illumination model again.The most frequently used illumination model is the Phone illumination model, and it has taken all factors into consideration absorption, reflection and three kinds of effects of transmission of body surface.The ray cast method is based on the Phone illumination model.By this method, can directly obtain the distance of each detected surface point to optical center (focus).So, except the image of final generation, can also obtain the surface information and the depth information of scene, this will help being implemented in the roaming of virtual endoscope volume data.And the ray cast method, under the certain condition constraint, irradiation light from showing that internal volume sends, is passed the volume elements of 3-D view with specific perspective geometry shape, generates many surface view.By suitable amending method and perspective display parameters, the virtual surface view that is generated just can be simulated the image that those obtain with true endoscope effectively.
Draw for the real-time sense of reality of finishing the virtual endoscope volume data, when endoscope body is drawn, can use a kind of volume data and dynamically simplify technology.For the drafting of endoscopic images, only need the data relevant with viewpoint are drawn, the data that need to handle only are confined near the viewpoint, and the body of finding a view of volume drawing may be defined as a rectangular pyramid.So each drafting is only had an X-rayed volume drawing to the data in this rectangular pyramid.Because data volume proportion in whole data fields total amount of data of rectangular pyramid is very little, for each drafting, the information outside the rectangular pyramid need not to consider, so be easy to realize real-time demonstration.In addition, Gobetti etc. is applied to virtual endoscope with the texture mapping technology in the high-performance video card.But texture mapping lacks shade, makes the image of roaming lack verity.The capacity of texture memory has also limited the data presented amount in addition.J ó zsef uses ray tracing method to judge that empty voxel is to reduce the drafting time.Mehran is subdivided into a lot of voxel pieces with volume data, calculates observability between these voxel block boundary voxels by ray tracing method, then the direct volume drawing method is used for those visible voxel pieces.
In virtual endoscope, in order to make the doctor can be faster more correctly determine the position of pathological changes body, the picture quality during roaming should be placed above the other things all the time.But directly all polygons of organ grid model are all drawn, then roaming does not reach real-time requirement, and this just needs to reduce the polygon amount of rendering model.Comprehensive above two kinds of method for drafting, this utility model adopt visibility analysis to reduce the polygon quantity of rendering model.
Summary of the invention
The technical problem that this utility model desire solves is that the roaming acceleration in the virtual endoscope keeps with picture quality and how this technology well is in the same place with combination of hardware.For this reason, the purpose of this utility model provides a kind of observability piecemeal drawing apparatus of virtual endoscope.
This utility model is based on the human organ grid model real-time rendering method of the method for visibility analysis and centrage.This method is at first carried out smooth treatment to eliminate " camera lens shake " phenomenon in the roaming to centrage, makes this centrage help piecemeal more simultaneously and handles.According to the rich bent characteristic of intestinal and the bifurcated characteristic of trachea, grid data is carried out piecemeal then by the feature of centrage.Compare with the method for partition based on centrage in the past, our method of partition is more reasonable.This method is applied to the visibility analysis in the building roaming in the virtual endoscope at last, has realized for the first time the observability of bifurcated is calculated and the piecemeal processing.It has not only accelerated the speed of roaming, and the picture quality of roaming is guaranteed.
Virtual endoscope is that computer graphic image is handled and the application of virtual reality technology at medical domain, realize peeping observation in the human body by making up virtual human body model and computer Display Technique, replenish for real physics splanchnoscopy provides function, have great importance clinically.
We at first specify our method in this section, describe the utility model device that it and hardware combine then.
By in the research virtual endoscope based on the loaming method of visibility analysis, we find that current approach all is that first piecemeal obtains cell and then calculates observability between these cell.Such piecemeal is also unreasonable for observability, because the cell that can cause in some viewpoint when roaming is many, and fewer at the cell of some viewpoint, make roam speed inhomogeneous.Our method is calculated by the observability in the building roaming and the characteristics of medical science model combine, and real-time rendering has been provided the solution of oneself.Obtain the initial position of piecemeal by the centrage after smooth, in conjunction with the analysis of observability these piecemeal positions are adjusted, making final piecemeal is optimum to observability.
Our observability method for drafting is a kind of popularization of Hong method, determines piecemeal by observability and centrage, and such method of partition is generalized to the trachea roaming with bifurcated.This method comprises four parts: centrage is smooth, the foundation of grid decomposition, observability calculating, Cells and Portals.
It mainly is to be used for virtual reality, real-time rendering and and medical image analysis that visibility analysis that we propose and piecemeal are handled.Compare with method of partition in the past, we have proposed 5 criterions of piecemeal for the first time.By these criterions, not only make piecemeal that the standard of supervising has been arranged, and the piecemeal in the similar virtual environment is also had very strong directive significance.
Description of drawings
Fig. 1. the alias sketch map of centrage.
Fig. 2. the smooth sketch map of centrage.
Fig. 3. the grid decomposing schematic representation.
Fig. 4. grid decomposes the back sketch map.
Fig. 5. the judgement angle comparison diagram of different possibility boundary points.
The boundary face Portal sketch map of Fig. 6 .Cell.
Fig. 7. observability is calculated sketch map.
Fig. 8. definite sketch map of portal position on the branch.
Fig. 9. be the observability piecemeal drawing apparatus structure chart of virtual endoscope of the present utility model.
Figure 10 is the block diagram of device.
The specific embodiment
1 centrage is smooth
In virtual endoscope, the stability of camera lens in order to keep roaming needs a level and smooth centrage.But it is spatial that path extraction is based on voxel, so centrage is made up of the point of series of discrete, and this has just produced " alias ", as shown in Figure 1.Come smooth centrage by piece-wise linearization, not only can eliminate the minus lap phenomenon, but also can obtain the branch block message between the line segment of center centrage.
It is smooth that Bitter adopts the B-SPL that discrete centrage is carried out, though the curve that obtains can be good at solving alias, to having little significance of piecemeal, especially for the object of bending and bifurcated.In our method, come smooth centrage by piece-wise linearization to centrage, not only the minus lap phenomenon can be eliminated, but also the branch block message between the line segment of center can be obtained.
Suppose S{X
1, X
2..., X
nBe meant the point set that central points all on the centrage is formed.S{X
1, X
2..., X
mIt is the subclass of one m point among the S.D represents point and the former distance threshold between the point on the centrage on the smooth rear center line.Optimum straightway l is meant point set s{X
1, X
2..., X
mProject to l obtain one group of new point set s ' X '
1, X '
2..., X '
m, satisfy max (| X
1-X '
1|, | X
2-X/
2| ..., | X
m-X '
m|)＜D and m are the line segment of maximum number that satisfies the point of this condition.Article one, slick centre line L is exactly that straightway l by many optimums is formed.Accompanying drawing 2 is the slick process of centrage, and wherein black line is primary centrage, becomes slick centrage through after the smooth treatment.
When in commission heart linear light was sliding, we had adopted greedy method, and it comprises following two steps:
Step 1: set an initial value n.Point set { the X that links to each other from n front and back of current i point selection
i, X
I+1..., X
I+n.Connect X
iAnd X
I+nObtain initial line segment l, with point set { X
i, X
I+1..., X
I+nProject to obtain on the l another one point set X '
i, X '
I+1, X '
I+n.
Step 2:distance=|X
j-X '
j|, i＜j＜i+n.
If э is distance＞D, n=n-1 then.Continue step 1, up to distance＜D, m=n.
If is distance＜D, n=n+1 then.Continue step 1, up to э distance＞D, m=n-1.
2 grids decompose
It is the basis that cell and portal set up that grid decomposes.It intersects by cutting planes and grid, and grid is decomposed.In grid decomposes, the most important thing is how to determine to cut apart boundary point and the boundary line of locating grid, accompanying drawing 3 has shown the process that grid decomposes, and cutting planes is the dotted line among the figure, and the dotted line of Fig. 4 is for decomposing the boundary line on the grid of back.
The grid that our method is based on centrage decomposes, and at first determines segmentation plane by the point on the centrage, but the coordinate information that the centrage after smooth is only had a few, so needs the normal vector of calculation level could determine the position of segmentation plane.On the centrage after smooth, the normal vector of putting on every section broken line all is the same, and therefore key is a normal vector of asking for junction point between the different line segments.Our computational methods are by the normal vector of two central points before and after the junction point is asked on average, thereby obtain the coordinate O and the normal vector V of each central point, and then determine segmentation plane P by S and V.
(P x) has represented distance between some x and the cutting planes P to dis.Grid disassembles and starts from the grid from the selection of the shortest point of cutting planes, and mathematical expression is:
Wherein x be in the grid more arbitrarily.
For the accelerating selection process, can set a bounding box by the radius value on the central point, when mesh point then need not calculate, in bounding box, then judge whether to be minima by top formula outside this bounding box.After having selected initial point A, in order to make the search of boundary point, prevent the generation of " Rao Quan " phenomenon along fixed direction, can set up one is the center with an O, with OA as judging the angle referential of initial line just, as shown in Figure 5.
If the boundary point of current selected is the some B in the accompanying drawing 5, then the selection of other points can be determined by following two conditions:
1.argmindis (p, x), x is the point that links to each other with a B.
2. polar angle must increase.If current polar angle is ∠ AOB, polar angle ∠ AOD and ∠ AOC must be bigger than ∠ AOB so, and wherein C and D are possible boundary points.
By top Rule of judgment, finally can obtain the represented boundary line in the accompanying drawing 5.
3 observabilities are calculated
In the observability of virtual scene was calculated, grid data often was divided into the Cell of a lot of sealings.By the cell that estimates that current view point can be seen, and only these cell are drawn, can reduce the render time of dough sheet greatly.In addition, do not exist in the virtual endoscope, such as " add a window somewhere, or add a room " such modification problem in the building roaming, usually occurring as the problem that needs in the building roaming often grid data to be revised.Therefore in our observability method for drafting, the calculating of observability and piecemeal is all finished in pretreatment.
Decompose through grid, can obtain the boundary point on each Cell, but these boundary points coplane not.These boundary point projectables are to segmentation plane, obtain the represented irregular polygon ABCDEFGHIJK of accompanying drawing 6.It is very difficult calculating observability by so irregular polygon, replaces this irregular polygon by minimum circumscribed circle in our method.In addition, external fenestra can well be simulated intestinal and be eliminated anisotropic influence.
Whether the observability between Cell and the Cell is calculated and can be existed the light that is not subjected to stop to judge by judging between two Cell.Clearly, such light necessarily passes Portal between Cell and the Cell.Accompanying drawing 7 has shown the observability calculation process.At P
nThe cutting planes at place is S
n, n=1,2,3 ...Project (S
N ', P
n) expression P
nProject to cutting planes S
nArea.Visible (C
n, C
m) two Cell C of expression judgement
nAnd C
mBetween observability.If Visibler is (C
n, C
m) be TRUE, C then
nAnd C
mBe visible.Otherwise, C
nAnd C
mBe sightless.
Suppose that current viewpoint is positioned at C
1, P
1Be to connect C
1And C
2Portal.Because this portal is the maximum visibility areas of current view point, therefore the area in initial unshielding light zone is P
1Can draw following conclusion by accompanying drawing 7:
Because P
1≠ 0, so Visible (C
1, C
2)=TRUE.
If
Hsible(C
1，C
3)＝TRUE。Otherwise Visible (C
1, C
3)=FALSE.
According to above derivation, the observability of any two Cell can both be established.
The foundation of 4Cells and Portals
Our purpose is in order to reduce the Cell number that current view point is seen when drawing, so choosing of cutting planes position is very important.According to the flexural property of intestinal, cutting planes can be chosen in intestinal easily, but exists difficulty the choosing of cutting planes of crotch.Compare with the method for partition based on centrage in the past, our method has solved piecemeal problem and the size of piece and the equilibrium problem of observability of crotch in conjunction with visibility analysis.
Before how description sets up cell and portal, five piecemeal requirements are described at first:
1. the position of turning point can be used as initial piecemeal position on the centrage.
2.cell length must be within certain threshold range.
3. the narrowest position is the optimal location of piecemeal on the intestinal.
The piecemeal of crotch makes the later cell of cell before the bifurcated and bifurcated invisible mutually.
4.Cell the dough sheet number must surpass certain threshold value.
The foundation of cell and portal is the core of our method, and it comprises following four steps:
1. the position of initialization Portal
Through smooth operation, centrage can well instruct piecemeal, and the line segment junction point on institute's own centre line can be as the initial position of portal.
2. the grid of crotch cutting
When handling bifurcated, the position of the portal on major branch is done at first is determined.As requested 1, it is chosen to separate the nearest initial portal position of fork.Calculate the distance between this position and the bifurcation site then, judge whether to meet the demands 2.Determine a scope according to the minimum and maximum length of cell again, near bifurcated, seek the narrowest position of intestinal by this scope.
After being positioned at portal position that major branch does and being determined, next need to determine the position of portal on the branch, and make the portal of this position meet the demands 4.Determine that the position of portal comprises following two steps on the branch:
(1) thick calculating
Directly decompose to determine that in conjunction with observability and grid the position of portal on the branch is very consuming time.Comprise fortunately that each some O on the centrage of range information comprises the coordinate information S of this point and this puts the beeline R on border, can be expressed as O (S, R).In Fig. 5,8, central point O is projected to cutting planes P can obtain a new some O ' (S ', R ').In accompanying drawing 6, each portal all can be expressed as P (S, R), S is the center of this portal, R is the radius of portal.Begin searching from crotch and satisfy distance (O
B' (S
B', R
B'), P (S, R))＜(R
B+ R) and distance (O
C' (S
c', R
C'), P (S, R))＜(R
C+ R) initial position finally can obtain B and C 2 points in the accompanying drawing 8.
(2) accurate Calculation
As shown in Figure 8, the accurate position of crotch can begin to seek from initial position B and the C that slightly calculates.Seek new portal P along two branch pointwise ground
1And P
2, up to P
1And P
2Satisfy Project(P, P
1)-A＜0 and Project (P, P
2Till)-A＜0.Finally can obtain position D and the E of portal on the branch.
3. adjust the position of final portal
The portal invariant position that keeps crotch, comprise that major branch is done and branch on portal.The portal that adjusts other is to satisfy condition 2.
4 with the installation drawing of combination of hardware
Main practical function of the present utility model is in order to reduce the hardware cost of virtual endoscope.All be based on work station at the virtual endoscope platform of current popular, and the bonded hardware unit of this method is a PC.Because our method is to calculate by observability to have quickened virtual roaming, therefore general PC just can satisfy doctor's diagnosis requirement.Fig. 9 has provided the observability piecemeal drawing apparatus structure chart of virtual endoscope of the present utility model, is the pictorial diagram of device.Figure 10 is the block diagram of device.The observability piecemeal drawing apparatus of virtual endoscope, by input equipment 1, intermediary blood processor 2, output device 3 is formed, input equipment 1 is connected in intermediary blood processor 2, intermediary blood processor 2 is connected in output device 3, and input equipment 1, intermediary blood processor 2, output device 3 are linked in sequence successively.Wherein input equipment 1 is generally CT/MRI (nuclear magnetic resonance, NMR) machine, but also can transmit by computer network.The processing core PC that intermediary blood processor 2 is this paper technology.Output device 3 connects display or computer networks, can carry out real-time, interactive to current display result by mouse or keyboard, and the operation result with current that can be real-time transfers out by computer network, to carry out remote diagnosis.
Specific implementation
All experiments all are at a P4 2.4G, the 512MB internal memory, and operating system is to finish on the PC of Windows2000, the OpenGL graph function storehouse of standard has been used in the display part.
The observability method for drafting is tested on two kinds of data: simple trachea and complicated trachea.
Experimental data is set forth among the table 5-2.
The experimental data of table 1. observability method for drafting.
| The dough sheet number | The number of piece | The piecemeal time (second) | The drafting time (second) | |
| Simple data | 26979 | 4 | 109.203 | 0.016 |
| Complex data | 21401 | 10 | 76.891 | 0.015 |
Claims (4)
1. the observability piecemeal drawing apparatus of a virtual endoscope, it is characterized in that, by input equipment, intermediary blood processor, output device is formed, input equipment is connected in intermediary blood processor, and intermediary blood processor is connected in output device, and input equipment, intermediary blood processor, output device are linked in sequence successively.
2. according to the observability piecemeal drawing apparatus of the virtual endoscope of claim 1, it is characterized in that input equipment is the CT/MRI machine.
3. according to the observability piecemeal drawing apparatus of the virtual endoscope of claim 1, it is characterized in that intermediary blood processor is the core, is PC.
4. according to the observability piecemeal drawing apparatus of the virtual endoscope of claim 1, it is characterized in that output device connects display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420009870 CN2787139Y (en) | 2004-11-18 | 2004-11-18 | Visible divisional drawing device of virtual endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420009870 CN2787139Y (en) | 2004-11-18 | 2004-11-18 | Visible divisional drawing device of virtual endoscope |
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| Publication Number | Publication Date |
|---|---|
| CN2787139Y true CN2787139Y (en) | 2006-06-14 |
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| CN 200420009870 Expired - Lifetime CN2787139Y (en) | 2004-11-18 | 2004-11-18 | Visible divisional drawing device of virtual endoscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281584A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible endoscope robot control system and flexible endoscope robot simulation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281584A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Flexible endoscope robot control system and flexible endoscope robot simulation method |
| CN115281584B (en) * | 2022-06-30 | 2023-08-15 | 中国科学院自动化研究所 | Flexible endoscope robot control system and flexible endoscope robot simulation method |
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