CN1315102C - Method and system for transparent roaming body of object - Google Patents
Method and system for transparent roaming body of object Download PDFInfo
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- CN1315102C CN1315102C CNB2003101189898A CN200310118989A CN1315102C CN 1315102 C CN1315102 C CN 1315102C CN B2003101189898 A CNB2003101189898 A CN B2003101189898A CN 200310118989 A CN200310118989 A CN 200310118989A CN 1315102 C CN1315102 C CN 1315102C
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Abstract
The present invention relates to a body transparent roaming method of an object and a system thereof. The present invention is combined with an object interactive virtual roaming technique to become a unified technique and a unified system on the basis of developing the visualization technique of volume data to a three-dimensional body structure transparent visualization level. The present invention is technically characterized in that three-dimensional object transparent processing is carried out for three-dimensional object data to form three-dimensional object transparent data, and volume rendering processing is carried out for the body transparentized volume data to obtain a transparentized three-dimensional virtual body structure. The present invention realizes interactive body transparent roaming from integral interior to any external direction or from exterior to any internal direction by utilizing the virtual roaming technique and carrying out interactive roaming processing. The utilization of the present invention endows detecting people with visual penetrating capabilities, so the detecting people can virtually carry out roaming type observation and detection from the interior of a three-dimensional object to any external direction or from the exterior of the three-dimensional object to any internal direction and has stereoscopic precise surgical navigation capabilities.
Description
Technical field: the transparent loaming method of body and the system thereof that the present invention relates to a kind of object, mainly be that volume data (VolumeData) visualization technique development is being embodied as on the basis of the transparent level of said three-dimensional body, combine with mutual virtual roaming technology and become unified technology and system object---to the transparent roaming observation of comprehensive, interactive body, detection technique and the system thereof of peeping (looking) in the object and looking outward.
Background technology: said among the present invention " transparent " from being meant strictly speaking on the practical significance between " opaque entirely " to the intermediateness between " full impregnated is bright ", or claims " translucent ".Because, if the genuine full impregnated of observed object is clear, just can't see whatever, just there has not been practical significance.According to literature search, at present three-dimensional body or its part are carried out technology and the system that the virtual roaming formula is observed, detected, still have nothing to do in the report of body transparent observing, detection.For example document " gordian technique in the interactive real-time virtual endoscopy system " (is seen " computer utility " the 22nd volume, o. 11th, 2002) and " long-distance interactive virtual endoscope system " (see " computer engineering " the 28th volume, o. 11th, 2002) in the medical science virtual endoscope, though the observer can carry out looking in the virtual roaming formula in body cavity (as stomach), but because of it does not have the transparent ability of body, thereby can only observe cavity epidermis form and situation, and can not see chamber wall thickness and structure situation thereof, more can not realize the human body three-dimensional structure of (back) face until between people's external surface or the three-dimensional truth of certain tissue outside the chamber wall is outwards observed in body cavity inside.
In addition, prior art as: " development of peeping in 3 D human body is virtual and theoretical research " (sees " life science " the 6th volume, the 4th phase, 2002) in the data transparency processing, be simple low only just directly to compose method, fail to interrelate with human vision custom factor such as viewpoint distance with a certain transparence value to data according to its gray-scale value.Thereby can not make follow-up body transparent effect satisfy actual request for utilization, particularly the transparence here just interrelates, combines with the virtual roaming technology at all from conceptive and technical, thereby this transparent view mode can only be the observation of fixed view, fixed-direction, can not be the roaming mode of arbitrary orientation.More can't give prominence to some details, desalinate, peel off or ignore some details and background and realize that transparent roaming is observed to the independent said three-dimensional body of a certain tissue.
Because the defective separately and the limitation of above technology, both be not related to as yet also be difficult to realize to three-dimensional body or its a certain part or its certain tissue (as the blood vessel of human body or bone etc.) carry out comprehensive, mutual virtual roaming formula, vision " penetrates " the said three-dimensional body transparent observing and the detection of property.
Owing to can't make tester's position and the detectability can be at interior of articles along the free routing arbitrary orientation, or carry out body transparent virtual roaming type from the object outside to inner arbitrary orientation and detect, so accuracy in detection and detection efficiency can not effectively improve, also be not easy to carry out many people's consultation of doctors or remote medical consultation with specialists.
Summary of the invention:, the present invention proposes a kind of transparent loaming method of body and system thereof of object for overcoming and remedy the defective and the limitation of prior art.Face data in a series of sections of the three-dimensional body that will be obtained by detectors such as CT, MRI are converted to volume data, and carry out that the volume data transparence is handled and obtain on the basis of the three-dimensional transparent dummy object corresponding with former three-dimensional body based on the three-dimensional reconstruction of volume drawing, with transparence object carry out virtual roaming and handle, and finally formed body transparent interaction roaming technology and method to object.
Utilize the present invention, giving " penetrating " ability of tester's vision, be equivalent in other words with the originally only surface three-dimensional perceptibility to three-dimensional body of human vision to the depth visual field extend and expand as to the three-dimensional body inner structure see clearly see-through capabilities the time, also given the tester can be virtually in three-dimensional body inside along free routing to arbitrary orientation, perhaps carry out the capacity that roaming type is observed, detected from the three-dimensional body outside to inner arbitrary orientation.
The present invention in the application and the embodiment of medical science and clinical field thereof then is: make computer-aided diagnosis and navigation based on doctor's visual observation, from then on by the diagnosis of foundation image with according to the navigation of plane picture, on performance, mode and level, extending and rise to auxiliary diagnosis and precision navigation into the novel transparent roaming type of said three-dimensional body, is a kind of promotion to the modern medicine civilization to a certain extent.
Technical characterictic of the present invention is:
The volume data of three-dimensional body is carried out body transparent processing based on body, form the body transparent data of object; Again with above-mentioned body transparence volume data utilize Volume Rendering Techniques to carry out volume drawing processing, that is based on the three-dimensional reconstruction work of volume drawing, obtain, its inner structure transparence corresponding with former real-world object three-dimensional virtual object; Utilize the virtual roaming technology that it is carried out interactive walkthrough then and handle, thus be implemented in object or its local interior along free routing to arbitrary orientation, or by the interactive body transparent roaming of outside to inner arbitrary orientation.
To the panel data of a series of sections of the three-dimensional real-world object that obtains by CT, MRI or other detector or the data of its DICOM form, carry out pre-service---data-switching earlier.Its data transfer device can be that this data are directly vertically superposeed, and makes two-dimensional array become three-dimensional array, thereby the face data-switching is become volume data.Also can be aided with data generalized fuzzy enhancement process again to this volume data on this basis, obtain the high quality bulk data that strengthen to form grey-scale contrast.
The volume data of described (three-dimensional) object also comprises the independent volume data of the various parts of object (structure): promptly in volume data (collection) lining of the object that has generated, according to the data characteristics of each part (structure), the volume data that will meet these features extracts the volume data (subclass) that composition respectively should part (structure).
A kind of system that realizes above-mentioned to the transparent loaming method of object body is characterized in that: this system comprises that volume data transparent processing device 4, three-dimensional transparent dummy object form device 5, virtual roaming processor 7;
Volume data transparent processing device 4: the volume data of (three-dimensional) volume data of three-dimensional body or its some part interested is carried out body transparent (change) handles, the organizator transparence volume data; System adopts body transparent processing technology and the scheme based on body.The specific implementation method can adopt voxel transparence value indirect assignment method, or the multifactor fusion assignment of voxel transparence value method;
The three-dimensional transparent dummy object forms device 5: to the body transparence of object or object part volume data, utilize Volume Rendering Techniques to carry out volume drawing processing, that is based on the three-dimensional reconstruction work of volume drawing, obtain, its inner structure transparence corresponding with former real-world object three-dimensional virtual object or its part;
Virtual roaming processor 7: to above-mentioned transparent virtual three-dimensional object or its part, utilizing the virtual roaming technology to carry out interactive walkthrough handles, the inside that is implemented in local or its certain tissue of object or its along free routing to arbitrary orientation, or by the interactive body transparent roaming of outside to inner arbitrary orientation.This just provides transparent roaming mode of a kind of novel body and mechanism for detection, diagnosis or the medical navigation that object is carried out based on visual observation.
Based on the body transparent processing technology and the scheme of body, can adopt the existing simple and easy assignment method of voxel transparency (value), the multifactor fusion assignment of voxel transparency (value) method that also can adopt the present invention's (this project) to work out.Wherein, the simple and easy assignment method of voxel transparency (value) is existing disposal route, promptly gives a transparence value T=K to each voxel in the volume data in 256 grades of transparencies
1T
1
The multifactor fusion assignment of described body (element) transparency (value) method is: make transparence value T=K
1T
1+ K
2T
2+ K
3T
3, wherein: K
1, K
2, K
3Being the adjustable weight factor, is integer or percentage in a certain span; T
1: be original gray-scale value, the T of certain voxel
2: the Euclidean distance of viewpoint and this voxel, T
3: the Euclidean distance of light source and this voxel.Because this method has been considered T
2, T
3Deng the factor relevant with people's visual custom, thus the voxel that utilizes the volume data transparent processing device of this method to handle, its transparency assignment is careful, comprehensive, thus the whole clearing effect is more clear, the sense of reality is stronger, and also the proportion of each factor is adjustable flexibly.
Before volume data transparent processing device, the face data of a series of sections of being obtained by CT, MRI or other detector or the data-switching of its DICOM form must be become volume data earlier, this will add data converter 2.Described data converter 2 is: stack makes data become three-dimensional array by two-dimensional array thereby the opposite data are carried out directly vertically, and promptly the face data-switching becomes volume data.Also can be aided with data generalized fuzzy enhancement process again to this volume data on this basis.That is both can adopt direct method, also can adopt direct method to add data generalized fuzzy enhancement process.
Direct method is common, the simplest volume data formation method, thereby makes data become three-dimensional array by two-dimensional array because it carries out directly vertically stack with the face data, so be called the direct transformation approach of face data to volume data, is called for short direct method.
The local volume data extraction apparatus 3 and the roaming that can add (three-dimensional body) in system detect position and roaming mode selector 8.The local volume data extraction apparatus 3 of described (three-dimensional body) is: the data characteristics according to each interested partial structurtes or tissue, associated volume data is extracted, and forming respectively should the part or the volume data of tissue; Described roaming detects the position: can select controllable continuous formula or controlled step-by-step movement observation standard; Can select the Zoom refinement to amplify observed pattern or non-Zoom normal observation mode.Comprise the transparent Zoom controllable continuous roaming 11 of the transparent controllable continuous formula roaming 9 of body, the transparent controlled step-by-step movement roaming 10 of body and object part or certain tissue.
Under different objects, different situations, different custom, select different transparencies for ease of the native system user of service, detect (or navigation) accuracy and rapidity to improve, after the three-dimensional transparent dummy object forms device 5, can add the transparent contrast enhancer 6 of body: with in the data converter 2 data of having only gray-scale value are carried out data generalized fuzzy enhancement process, the principle that can strengthen its grey-scale contrast is identical, the volume data of existing transparence value is carried out data generalized fuzzy enhancement process here and can strengthen its transparent contrast.Utilize the transparent enhancement techniques of this body to strengthen transparent contrast, thereby reach outstanding some details, perhaps desalinate, peel off, ignore some details and background, improve the purpose of the transparent roaming sharpness of body.
Description of drawings:
Fig. 1: the transparent roaming system of body is realized and composition frame chart
Fig. 2: human brain body transparent effect figure
A: the former figure of nontransparent human brain outward appearance
B: low transparency body hollow man mind map
C: high grade of transparency body hollow man mind map
Fig. 3: head body transparent effect figure
A: the former figure of nontransparent head outward appearance
B: the transparent head figure of low transparency body
C: the transparent head figure of middle transparency body
D: the transparent head figure of high grade of transparency body
Embodiment:
Now in conjunction with the accompanying drawings the present invention is further described:
Utilize the present invention, make and be examined, be on the basis of three-dimensional structure pellucidity by the object diagnosed or by the human body of operative treatment (or tissue), system user of service can be virtually at interior of articles along free routing to arbitrary orientation, or carry out the transparent roaming of body from the object outside to inner arbitrary orientation and observe, diagnose or carry out medical navigation.
In the present embodiment,, be example with nontransparent human brain Fig. 2 (a) and nontransparent head Fig. 3 (a) based on MRI and various CT sectional slice data or its DICOM formatted data.In conjunction with Fig. 1, the transparent roaming system (device) that disintegrates realize and composition.
Detection data such as CT, MRI or its DICOM formatted data 1 be through data converter 2, a series of sections (two dimension) face data of object are changed and formed the volume data of object.Thereby its data transfer device can be the face data to be carried out directly vertically stack make data become three-dimensional array by two-dimensional array, and promptly the face data-switching becomes volume data.Also can be aided with data generalized fuzzy enhancement process again to this volume data on this basis.
Utilize the local volume data extraction apparatus 3 of three-dimensional body, according to the data characteristics of each partial structurtes, associated volume data is extracted, forming respectively should the part or (three-dimensional) volume data of tissue;
In volume data transparent processing device 4, adopt the multifactor fusion assignment method of body (element) transparency (value) that volume data or its each local volume data of object are carried out the body transparent processing, the organizator transparent data;
Utilize Volume Rendering Techniques to carry out volume drawing processing, promptly based on the three-dimensional reconstruction of volume drawing, by the three-dimensional transparent dummy object form device 5 obtain, transparence corresponding with real-world object three-dimensional virtual object;
The transparent contrast enhancer 6 of body adopts data generalized fuzzy enhancement process to strengthen transparent contrast.
To above-mentioned transparent virtual three-dimensional object or its part, utilize virtual roaming processor 7, carry out interactive walkthrough and handle, realize from object or its local or certain organization internal along free routing to arbitrary orientation, or by the interactive body transparent roaming of outside to inner arbitrary orientation.This just provides a kind of mode and mechanism of the novel transparent roaming of body for vision-based detection, diagnosis or medical navigation to object.
Claims (3)
1. the transparent loaming method of the body of an object, it is characterized in that: the volume data to three-dimensional body is carried out the body transparent processing with the multifactor fusion assignment of voxel transparency method, the multifactor fusion assignment of described voxel transparency method: make transparence value T=K
1T
1+ K
2T
2+ K
3T
3, wherein: K
1, K
2, K
3Be adjustable factors; T
1: be gray-scale value, the T of voxel
2: the Euclidean distance of viewpoint and voxel, T
3: the Euclidean distance of light source and voxel; Through the processing of the multifactor fusion assignment of described voxel transparency method, form transparent volume data; To above-mentioned transparent volume data, utilize Volume Rendering Techniques to carry out volume drawing, that is based on the three-dimensional reconstruction work of volume drawing, obtain three-dimensional transparent dummy object: to above-mentioned three-dimensional transparent dummy object with the corresponding inner structure transparence of former real-world object, utilizing the virtual roaming technology to carry out the transparent roaming of continuous interactive formula handles, realization from the inside of object along free routing to arbitrary orientation, or by the interactive body transparent roaming of outside to inner arbitrary orientation.
2. system that realizes the transparent loaming method of body of above-mentioned object, it is characterized in that: this system comprises that volume data transparent processing device (4), three-dimensional transparent substance form device (5), virtual roaming processor (7);
Volume data transparent processing device (4): volume data or its local volume data to three-dimensional body are carried out the body transparent processing, form transparent volume data; System adopts body transparent processing technology and the scheme based on body, and the specific implementation method adopts the multifactor fusion assignment of voxel transparency method:
The three-dimensional transparent substance forms device (5): to object or its local transparent volume data, utilize Volume Rendering Techniques to carry out volume drawing, that is, obtain three-dimensional transparent dummy object or its partial structurtes with the corresponding inner structure transparence of former real-world object based on the three-dimensional reconstruction work of volume drawing;
Virtual roaming processor (7): to above-mentioned three-dimensional transparent dummy object or its partial structurtes, utilizing the virtual roaming technology to carry out the roaming of continuous interactive formula handles, realization from the inside of object along free routing to arbitrary orientation, or by the interactive body transparent roaming of outside to inner arbitrary orientation.
3. system according to claim 2, it is characterized in that: add roaming detection position and roaming mode selector (8) in system, described roaming detects the position and roams the transparent Zoom controllable continuous roaming (11) that mode selector (8) comprises the transparent controllable continuous formula roaming of body (9), the transparent controlled step-by-step movement roaming of body (10) and object partial structurtes.
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| CN101055494B (en) * | 2006-04-13 | 2011-03-16 | 上海虚拟谷数码科技有限公司 | Dummy scene roaming method and system based on spatial index cube panoramic video |
| CN105630624B (en) * | 2014-10-28 | 2019-09-20 | 华为技术有限公司 | A kind of methods, devices and systems of depth mirror image |
| CN106384377B (en) * | 2016-09-22 | 2020-03-17 | 上海联影医疗科技有限公司 | Method and device for volume rendering of medical data |
| CN107456260A (en) * | 2017-09-07 | 2017-12-12 | 安徽紫薇帝星数字科技有限公司 | A kind of pneumothorax puncture needle coordinate imaging system |
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