CN101849843B - Navigation method of three-dimensional cardiac ultrasonic virtual endoscope - Google Patents
Navigation method of three-dimensional cardiac ultrasonic virtual endoscope Download PDFInfo
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- CN101849843B CN101849843B CN 200910048615 CN200910048615A CN101849843B CN 101849843 B CN101849843 B CN 101849843B CN 200910048615 CN200910048615 CN 200910048615 CN 200910048615 A CN200910048615 A CN 200910048615A CN 101849843 B CN101849843 B CN 101849843B
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Abstract
The invention provides a navigation method of a three-dimensional cardiac ultrasonic virtual endoscope, comprising the following steps: acquiring an initial two-dimensional cardiac sectional image; carrying out three-dimensional reconstruction and displaying a three-dimensional view according to the two-dimensional sectional image; setting a virtual endoscope viewpoint which can move and be controlled in the three-dimensional view; and leading observation according to movement of the virtual endoscope viewpoint and generating an observation path in the three-dimensional view. The method ensures an observer to observe a cardiac organization structure from various aspects and have little possibility of loss of direction.
Description
[technical field]
The present invention relates to computer medical imaging technology and field of navigation technology, particularly relate to a kind of navigation method of three-dimensional cardiac ultrasonic virtual endoscope.
[background technology]
Virtual endoscope (virtual endoscopy, VE) is a brand-new Medical Imaging Technology that develops at present, and the appliance computer virtual reality technology generates the three-dimensional visualization image with endoscope's visual effect.Virtual reality is combined with visualization in scientific computing (visualization in scientific computing) technology, utilizing CT, MRI or ultrasonic two-dimensional image data to carry out three-dimensional visualization rebuilds, simulate traditional endoscope detecting process, realize roaming in human organ even in the blood vessel, and can do flight along virtual internal cavities and observe, show continuous three-dimensional organ lumen structure chart, generate the visual image with endoscope's simulated effect at computer screen.This technology has overcome many drawbacks of conventional endoscope, feel sick even wall perforation, hemorrhage because of the cough that is not suitable with endoscope and causes such as patient, disorientation had increased patient's misery when unfamiliar doctor controlled endoscope and moves in organ, and endoscope's self structure reason can't arrive a lot of significant points in the human body.
From 1993 first by the report such as Vining CT Virtual bronchoscopy: technology since, virtual endoscope combines virtual reality and successfully is applied to Medical Image Processing with Visualization of Scientific Computing.Virtual environment is with user and the synthetic integral body of computer structure, and the user places oneself in the midst of in the three-dimensional electronic environment that imitates real world and create, the Interactive inspection emulation that produces sensation on the spot in person.
Yet the at present application of virtual endoscope in medical science mainly concentrates on the organ with cavity structure, such as gastrointestinal tract, bronchus, blood vessel, nasal cavity, internal ear etc.Because of its like fibrous scope (FiberoplicEndoscopy, FE) finding, so be otherwise known as " Virtual Endoscopy ".Virtual endoscope is a kind of non invasive technique, and the misery of avoiding cardiac catheterization to bring to patient is without complication such as hemorrhage, perforation, infection.But the VE repetitive operation is observed repeatedly from arbitrarily angled and position, and can be easily goes to observe situation after narrow through narrow section.
Yet, be similar to the organ of heart and so on because there is the valve motion in the internal anatomy complexity in addition, when the observer carries out O﹠A to interested zone, virtual endoscope not only will provide mutual real-time multi-angle to observe, and require the virtual view position constantly to change observation, do not observe position and disorientation possibility so exist when the operation virtual endoscope, it is necessary therefore exploring and set up three-D ultrasonic virtual endoscope air navigation aid.
[summary of the invention]
The object of the invention is to solve the above-mentioned problems in the prior art, a kind of air navigation aid of three-dimensional cardiac ultrasonic virtual endoscope is provided, when the continuous conversion in virtual view observation place, the observer also is not easy disorientation.
The objective of the invention is to realize by following technological means:
A kind of navigation method of three-dimensional cardiac ultrasonic virtual endoscope comprises following steps:
Obtain the original two-dimensional tangent plane picture of heart tissue structure;
According to described two-dimentional tangent plane picture three-dimensional reconstruction and show 3-D view;
A virtual endoscope viewpoint that can move and control is set in described 3-D view; And
Movement by the virtual endoscope viewpoint generates observation path in described 3-D view.
When described organ to be checked is heart, obtain the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
The step that also comprises a selection area-of-interest in the step of described establishment 3-D view.The step of described selection area-of-interest (ROI) adopts segmental analysis, and area-of-interest is divided into several, and the size of dividing according to the structure definite area of these viewing areas.Area-of-interest scope according to the observation object determines that wherein atrioventricular valves (A V valves) is regional, the regional ROI of Atrioventricular septum selects should be large, and the regional ROI selection of main, pulmonary artery should be little.
Described virtual endoscope viewpoint is arranged at the center of cavity or the trunk of described area-of-interest.
Control described virtual endoscope viewpoint and move when observing, described area-of-interest is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of heart inner tissue structural object amplification.
When controlling the static observation of described virtual endoscope viewpoint, by adjusting sighting distance and the visual angle of virtual endoscope viewpoint, observe the arbitrarily angled of heart inner tissue structure with at any part.
The iso-surface patch method is adopted in the 3-D view imaging when mobile observation organ-tissue structure to be checked of described virtual endoscope viewpoint, and object plotting method is adopted in the 3-D view imaging when static observation organ-tissue structure to be checked of described virtual endoscope viewpoint.
The 3-D view that showed when described virtual endoscope viewpoint is moved is preserved and is carried out playback, reproduces the path of observing.
Described virtual endoscope viewpoint can be observed or observe according to the default Route guiding that instructs by the 3-D view observation path guiding of preserving, and also person's control guiding is observed according to the observation.
Beneficial effect of the present invention is, the user is the movement by hand control virtual endoscope viewpoint in 3-D view, roam in the 3-D view of heart inner tissue with the man-machine interaction navigate mode, and allow continuous playback is carried out in the zone of observing, reproduce the path that arbitrarily angled lower observation roaming generates, with this virtual emulation endoscopic observation effect that obtains organ, be convenient to the observer and judge, and be difficult for disorientation.
[description of drawings]
Fig. 1 is the step sketch map of the specific embodiment of the invention;
Fig. 2 is the navigation interface sketch map in the specific embodiment of the invention.
[specific embodiment]
With reference to the accompanying drawings the specific embodiment of navigation method of three-dimensional cardiac ultrasonic virtual endoscope provided by the invention is elaborated.
This specific embodiment is as follows: step S101, obtain the original two-dimensional tangent plane picture of heart tissue structure; Step S102 selects area-of-interest; Step S103, three-dimensional reconstruction also shows 3-D view; Step S104 arranges a virtual endoscope viewpoint that can move and control in virtual displayed map picture; Step S105 observes and generates observation path by the mobile guiding of virtual endoscope viewpoint; Step S107, the path that playback is observed.
When organ to be checked is heart, because thtee dimensional echocardiography has larger superiority at aspects such as showing intracardiac structure, valve motion, sampling is convenient, and it is short to obtain the image time, can reduce the pseudo-shadow that breathing or heart movement cause, and cardiac ultrasonic is cheap, effect/valency is than high, and CT, MRI are expensive, and the time of imaging is longer, be difficult to follow the tracks of the dynamic change of heart, and be not suitable for critical patient's inspection.So the present invention obtains the original two-dimensional tangent plane picture of organ-tissue structure to be checked by three-D ultrasonic.
Referring to Fig. 1, in step S101, obtain the original two-dimensional tangent plane picture of heart tissue structure.When described organ to be checked is heart, obtain the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
In step S102, select area-of-interest.Area-of-interest (region-of-interest ROI) is the viewing area scope that the operator selects, by the image cutting ROI on each frame layer image is carried out graphical analysis with interior All Ranges, ROI will not list visual scope with exterior domain in when navigating, to reduce the interference to the observer.
According to cardiac structure and movement characteristic, in conjunction with Van Praagh " segmental analysis ", area-of-interest is set three, be respectively atrioventricular valves (A V valves) zone, Atrioventricular septum zone and main, pulmonary artery is regional.ROI scope according to the observation object determines that wherein atrioventricular valves (A V valves) is regional, the regional ROI of Atrioventricular septum selects should be large, and the regional ROI selection of main, pulmonary artery should be little.
In step S103, three-dimensional reconstruction also shows 3-D view.Create 3-D view according to the selected area-of-interest of step S102, observer's visual scope is not listed in the zone beyond the area-of-interest in.Referring to Fig. 2, be the navigation interface sketch map behind the selection area-of-interest, wherein, the left hand view square frame is that the ROI zone is selected, and the arrow indication is viewpoint position, and viewpoint is in left ventricle, and right part of flg is corresponding aortic valve under the manual guidance, the virtual demonstration result of Bicuspid valve.
In other specific embodiment, can directly enter step S103 in step S101, do not carry out the selection of area-of-interest, but according to default path navigation.
In step S104, a virtual endoscope viewpoint that can move and control is set in virtual displayed map picture.This virtual endoscope viewpoint allows about person's control is carried out according to the observation, about and before and after a plurality of directions move, simultaneously, the object of observation in the visual scope also can be carried out at any angle spatial alternation.The center that preferably the virtual endoscope viewpoint is arranged at the cavity of described viewing area interested or trunk to around observe, so can be because of the adherent visual effect that causes distortion.
In step S105, observation path is observed and is generated in mobile guiding by the virtual endoscope viewpoint, the movement of virtual endoscope viewpoint can be according to default path or according to the observation person's control, 3-D view and the observation path preserved before the movement of virtual endoscope viewpoint also can be selected from of instructing.
When control virtual endoscope viewpoint moves observation, viewing area interested is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of heart inner tissue structural object amplification.
For example, when observing the atrioventricular valves (A V valves) zone of heart, the sham operated path, from the atrium to ventricle direction three dimensional display, or the observation from the apex of the heart to the atrium direction, viewpoint can begin from chamber intracavity arbitrfary point roaming, by change sighting distance, adjustment visual angle, viewpoint the place ahead atrioventricular valves (A V valves) organizational structure is carried out dynamic in real time demonstration, intactly observe atrioventricular valves (A V valves) form and active situation, the spatial relationship of neighbour structure around structure under Bicuspid valve, Tricuspid annulus and the lobe is reached.
When observing the Atrioventricular septum zone of heart, viewpoint is positioned the both sides of room, interventricular septum, sight line and interval tissue or vertically face or become the angle side to observe, such as three dimensional display septal defect is arranged, viewpoint can move to damaged direction by rolling mouse right button and Keyboard Control, observe damaged anatomical position, form, size and with the relation of structures surrounding, after the opposite side of defect area arrival interval is passed in the quick propelling of viewpoint, the viewpoint of can reversing changes the space structure of further observing septal defect and adjacent tissue behind sighting distance, the visual angle.
When observing the large artery trunks zone of heart, centered by large artery trunks and ventricle junction ROI, viewpoint is positioned at ventricular chamber observes to master, pulmonary artery, shows the spatial relation of large artery trunks and ventricle, shows in real time active situation main, the valve of pulmonary trunk valve.To the aortic overriding case, viewpoint moves in the large artery trunks, observes to the ventricular chamber direction at the large artery trunks root, shows that large artery trunks rides the ratio of interventricular septum, the anatomical position of observation ward's septal defect.
In step S106, the path that playback is observed.The 3-D view preservation that showed when described virtual endoscope viewpoint is moved is also carried out the path that continuous playback can be reproduced observation.When viewpoint is advanced under the navigation system support, the observer can " loiter ", and when viewpoint when walking path stops, system allow the observer by keyboard to around look at that the image that generates is added into a frame of formation animation in the image sequence.After intracardiac roaming went on foot arbitrarily, system can carry out playback to the path of observing, and realized the observation of frame of video speed.
As better technical scheme, the virtual endoscope viewpoint mobile when observing heart inner tissue structure the 3-D view imaging adopt iso-surface patch (surface rendering) method, volume drawing (volume rendering) method is adopted in the 3-D view imaging when static observation heart inner tissue structure of virtual endoscope viewpoint.
The iso-surface patch method, claim again indirect method for drafting, its principle is based on the two dimensional image edge or contour line extracts, construct middle geometric graphic element (such as curved surface, plane etc.) by the three-dimensional space data field, by geometric units splicing match object dimensional structure, learn a skill and hardware realization pattern drafting by traditional graph.In the method for medical image three-dimensional resurfacing, directly generating contour surface from three-dimensional data has multiple diverse ways, and it is the most representative to be mobile cube (Marching Cubes) method.The visualized graphs that the iso-surface patch method construct goes out can not reflect overall picture and the details of whole initial data field, visualization mapping just becomes plane or curved surface with the part best property of attribute mapping in the initial data, but can produce more clearly contour surface image, and can utilize existing graphic hardware to realize drawing function, the speed of image generation and conversion is accelerated, and is class visualized algorithm commonly used.
Object plotting method (Volume Rendering) be develop rapidly in recent years a kind of three-dimensional data method for visualizing.Volume drawing is fully different from the iso-surface patch method, geometric graphic element in the middle of it is not constructed, but directly produced by 3 d data field, use visual theory and directly voxel is projected display plane, by to the volume data three-dimensional reconstruction, directly by the two dimensional image on the 3 d data field generation screen, be also referred to as direct volume drawing (Direct Volume Rendering) algorithm.
The purpose of volume drawing is to provide a kind of rendering technique based on voxel, it is different from traditional drafting based on face, directly the data after processing are drawn, each data point in the threedimensional model after rebuilding can be drawn, comprise the data of cardiac muscle inside.
Pass through to adjust threshold value, transparency based on the virtual endoscope imaging of Volume Rendering Techniques, and give artificial pseudo-color and different lamplight brightness, the chambers of the heart inner surface 3-D view of rebuilding can show the interior details of heart, can keep the heart Global Information, and picture quality high, be convenient to post processing of image.
Virtual endoscope system is applied to analyzing and diagnosing, image quality is had relatively high expectations, final goal is to reach in real time the accurately requirement of demonstration and interactive operation, three-dimensional ultrasound pattern is drawn be studies show that the comprehensive utilization that iso-surface patch and volume drawing show will improve the observing effect of virtual endoscope.When navigating, the virtual endoscope viewpoint can adopt the iso-surface patch method, the Imaging fast clear picture, when not moving, viewpoint position can adopt object plotting method, volume drawing can show trickle Structure and form, can provide more abundant and accurate information, the visual field observing effect that the observer is satisfied with more to area-of-interest like this.
Therefore, the virtual endoscope viewpoint mobile when observing heart inner tissue structure the 3-D view imaging adopt the iso-surface patch method, static observation heart inner tissue adopts object plotting method during structure, it is fast and image is fine and smooth true to nature to be embodied as preferably picture.
The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered within the scope of protection of the present invention.
Claims (9)
1. a three-D ultrasonic virtual endoscope air navigation aid is characterized in that, comprises following steps:
Obtain the original two-dimensional tangent plane picture of organ-tissue structure to be checked;
Create 3-D view according to described two-dimentional tangent plane picture;
A virtual endoscope viewpoint that can move and control is set in described 3-D view;
Mobile guiding by the virtual endoscope viewpoint is observed, when controlling the static observation of described virtual endoscope viewpoint, by adjusting sighting distance and the visual angle of virtual endoscope viewpoint, observe the arbitrarily angled of organ-tissue structure to be checked with at any part, described virtual endoscope viewpoint is observed or according to the observation person's control guiding observation according to the default Route guiding that instructs, the iso-surface patch method is adopted in the 3-D view imaging when mobile observation organ-tissue structure to be checked of virtual endoscope viewpoint, and object plotting method is adopted in the 3-D view imaging when static observation organ-tissue structure to be checked of virtual endoscope viewpoint; And
In described 3-D view, generate observation path.
2. three-D ultrasonic virtual endoscope air navigation aid according to claim 1 is characterized in that, when described organ to be checked is heart, obtains the original two-dimensional tangent plane picture of at least one complete cardiac cycle.
3. three-D ultrasonic virtual endoscope air navigation aid according to claim 1 is characterized in that, also comprises the step of selection viewing area interested in the step of described establishment 3-D view.
4. three-D ultrasonic virtual endoscope air navigation aid according to claim 3, it is characterized in that, the step of described selection viewing area interested adopts segmental analysis, interested viewing area is divided into several, and the size of dividing according to the significance level definite area of these viewing areas.
5. three-D ultrasonic virtual endoscope air navigation aid according to claim 3 is characterized in that, described virtual endoscope viewpoint is arranged at the center of cavity or the trunk of described viewing area interested.
6. according to claim 3 or 5 described three-D ultrasonic virtual endoscope air navigation aids, it is characterized in that, controlling described virtual endoscope viewpoint moves when observing, described viewing area interested is placed observer's sight line center, 3-D view is advanced along direction of visual lines, produce the multiple image of the constantly close observer's of organ-tissue structural object to be checked amplification.
7. three-D ultrasonic virtual endoscope air navigation aid according to claim 1, it is characterized in that, when controlling described virtual endoscope viewpoint and moving, judge virtual endoscope viewpoint position according to blood distribution and the blood flow direction of organ-tissue structure to be checked in the 3-D view.
8. three-D ultrasonic virtual endoscope air navigation aid according to claim 1 is characterized in that, the 3-D view that showed when described virtual endoscope viewpoint is moved is preserved and carried out playback, reproduces the path of observing.
9. three-D ultrasonic virtual endoscope air navigation aid according to claim 8 is characterized in that, described virtual endoscope viewpoint is observed by the 3-D view observation path guiding of preserving.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102525662B (en) * | 2012-02-28 | 2013-09-04 | 中国科学院深圳先进技术研究院 | Three-dimensional visual tissue organ operation navigation system |
| JP5980604B2 (en) * | 2012-07-18 | 2016-08-31 | オリンパス株式会社 | Endoscope system |
| CN103279984B (en) * | 2013-06-04 | 2016-04-13 | 浙江工业大学 | A kind of sight glass viewing angle tracking method of graphic based transformation matrix |
| CN103750860B (en) * | 2014-01-20 | 2016-01-06 | 华南理工大学 | A kind of Wireless 3 D ultrasonic imaging method and device |
| CN107240148B (en) * | 2017-04-11 | 2020-09-11 | 中国人民解放军国防科学技术大学 | Transparent object three-dimensional surface reconstruction method and device based on background schlieren technology |
| CN107330236B (en) * | 2017-05-11 | 2021-06-11 | 青岛大学附属医院 | Virtual endoscope system with improved roaming effect |
| CN107248191A (en) * | 2017-07-06 | 2017-10-13 | 南开大学 | A kind of virtual endoscope suitable for complicated cavity is automatic and interactive route is planned and air navigation aid |
| CN107789006B (en) * | 2017-10-30 | 2021-03-26 | 武汉互创科技有限公司 | System for recording heart ultrasonic operation technique |
| WO2019198128A1 (en) | 2018-04-09 | 2019-10-17 | オリンパス株式会社 | Endoscopic operation support system and endoscopic operation support method |
| CN109345632B (en) * | 2018-09-17 | 2023-04-07 | 深圳达闼科技控股有限公司 | Method for acquiring image, related device and readable storage medium |
| CN111000631B (en) * | 2019-12-17 | 2021-04-06 | 上海嘉奥信息科技发展有限公司 | Endoscope simulation method and system based on Unity3D volume rendering |
| CN113796960B (en) * | 2021-09-07 | 2023-11-21 | 上海联影医疗科技股份有限公司 | Catheter navigation device, apparatus and storage medium |
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