技术领域Technical Field
本发明涉及图像处理技术领域，具体涉及一种基于CT图像的方向电极旋向确定方法及设备。The present invention relates to the technical field of image processing, and in particular to a method and device for determining the rotation direction of a direction electrode based on a CT image.
背景技术Background technique
脑起搏器是一种通过电极释放电脉冲来调节和干预特定脑区活动的治疗设备，脑深部电刺激疗法是治疗帕金森病等神经生理疾病的有效手段。为了确保术后的理想疗效，需要在植入脑起搏器后，对脑起搏器进行程控。其中，程控包括电极触点的选择，脉冲幅值、脉宽、频率的选择等。A brain pacemaker is a therapeutic device that regulates and intervenes in the activity of specific brain regions by releasing electrical pulses through electrodes. Deep brain stimulation therapy is an effective means of treating neurological physiological diseases such as Parkinson's disease. In order to ensure the ideal postoperative therapeutic effect, the brain pacemaker needs to be programmed after implantation. The programming includes the selection of electrode contacts, pulse amplitude, pulse width, frequency, etc.
在脑深部电刺激疗法中，与传统环形电极相比，使用如专利文件CN112316306A、CN111729193B、CN112604155A记载的方向电极能够实现精准刺激，治疗窗的范围增大、副作用减小，同时能够降低脉冲发生器的功耗。In deep brain stimulation therapy, compared with traditional ring electrodes, the use of directional electrodes such as those described in patent documents CN112316306A, CN111729193B, and CN112604155A can achieve precise stimulation, increase the range of the treatment window, reduce side effects, and reduce the power consumption of the pulse generator.
在电极被植入人体后，为了确保电极触点，尤其是方向电极触点被放置在预期的位置和朝向，需要借助如CT、MR和X光等医学影像设备验证电极的位置。目前的方向性电极术后位置识别存在几个问题：通常电极位置识别流程中，医生需要对比CT图像与X光图像，双重扫查可能增加电离辐射安全性风险；医生基于主观经验判断方向电极触点的朝向精度较低，误差可达到45°，难以满足程控需要。After the electrode is implanted in the human body, in order to ensure that the electrode contacts, especially the directional electrode contacts, are placed in the expected position and orientation, it is necessary to use medical imaging equipment such as CT, MR and X-ray to verify the position of the electrode. There are several problems with the current postoperative position identification of directional electrodes: In the usual electrode position identification process, doctors need to compare CT images with X-ray images, and double scanning may increase the safety risk of ionizing radiation; doctors judge the orientation of directional electrode contacts based on subjective experience with low accuracy, and the error can reach 45°, which is difficult to meet the needs of program control.
发明内容Summary of the invention
有鉴于此，本发明提供一种基于CT图像的方向电极旋向确定方法，包括：In view of this, the present invention provides a method for determining the rotation direction of a direction electrode based on a CT image, comprising:
获取CT图像，其中包括植入于人体内的神经刺激电极的影像，所述神经刺激电极包括方向电极触点和显影标记；Acquiring a CT image including an image of a neural stimulation electrode implanted in a human body, wherein the neural stimulation electrode includes a directional electrode contact and a development marker;
对所述CT图像进行金属伪影去除，得到伪影特征图像；Performing metal artifact removal on the CT image to obtain an artifact feature image;
根据所述伪影特征图像得到方向电极触点处的截面图像以及显影标记处的截面图像；Obtaining a cross-sectional image at the direction electrode contact point and a cross-sectional image at the development mark according to the artifact characteristic image;
根据所述方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，根据所述显影标记处的截面图像中的伪影特征确定显影标记的角度；Determine the angle of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point, and determine the angle of the development mark according to the artifact features in the cross-sectional image at the development mark;
根据所述各个方向电极分片的角度和所述显影标记的角度确定电极旋向角度。The electrode rotation angle is determined according to the angles of the electrode segments in each direction and the angles of the development marks.
可选地，对所述CT图像进行金属伪影去除，得到伪影特征图像，包括：Optionally, removing metal artifacts from the CT image to obtain an artifact feature image includes:
利用Radon算法对所述CT图像进行金属伪影去除，得到伪影特征图像。The metal artifacts of the CT image are removed by using the Radon algorithm to obtain an artifact feature image.
可选地，利用Radon算法对所述CT图像进行金属伪影去除，得到伪影特征图像，包括：Optionally, using a Radon algorithm to remove metal artifacts from the CT image to obtain an artifact feature image includes:
对所述CT图像逐层进行Radon变换，得到第一图像；Performing Radon transformation on the CT image layer by layer to obtain a first image;
根据阈值逐层提取所述CT图像的金属部分，并进行Radon变换，得到第二图像；Extracting the metal part of the CT image layer by layer according to the threshold value, and performing Radon transform to obtain a second image;
将所述第一图像和第二图像做差，并对做差结果进行反Radon变换，得到伪影特征图像。The first image and the second image are subtracted, and an inverse Radon transform is performed on the subtraction result to obtain an artifact feature image.
可选地，根据所述伪影特征图像得到方向电极触点处的截面图像以及显影标记处的截面图像，包括：Optionally, obtaining a cross-sectional image at a direction electrode contact point and a cross-sectional image at a development mark according to the artifact characteristic image includes:
在所述伪影特征图像中划分出包含电极伪影区域的切块图像；Dividing a cut image containing an electrode artifact region from the artifact feature image;
对所述切块图像进行旋转处理；Rotating the sliced image;
基于旋转后的所述切块图像得到垂直于电极轴线的所述截面图像。The cross-sectional image perpendicular to the electrode axis is obtained based on the rotated slice image.
可选地，对所述切块图像进行旋转处理，包括：Optionally, rotating the sliced image includes:
计算切块图像中电极与轴状面的夹角；Calculate the angle between the electrode and the axial plane in the cut-block image;
根据所述夹角将电极绕S-I轴旋转到冠面内，并将电极绕A-P轴旋转到与S-I轴平行，以使所有电极的伪影特征所在平面均与冠面垂直；The electrode is rotated around the S-I axis into the coronal plane according to the angle, and the electrode is rotated around the A-P axis to be parallel to the S-I axis, so that the planes where the artifact features of all electrodes are located are perpendicular to the coronal plane;
将伪影特征所在平面均与冠面垂直的图像进行仿射变换，以使所有伪影特征所在平面均与电极轴线垂直。The images where the planes of the artifact features are all perpendicular to the coronal plane are affine transformed so that the planes of all the artifact features are perpendicular to the electrode axis.
可选地，根据所述方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：Optionally, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point includes:
将所述方向电极触点处的截面图像与预存的电极触点伪影模板进行匹配，得到方向电极分片处的截面图像的角度，并根据电极分片的角度周期确定同组的其他方向电极分片的角度；Matching the cross-sectional image at the directional electrode contact with a pre-stored electrode contact artifact template to obtain the angle of the cross-sectional image at the directional electrode slice, and determining the angles of other directional electrode slices in the same group according to the angle period of the electrode slice;
根据所述显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact feature in the cross-sectional image at the development mark includes:
将所述显影标记处的截面图像与预存的显影标记伪影模板进行匹配，得到显影标记处的截面图像的角度。The cross-sectional image at the development mark is matched with a pre-stored development mark artifact template to obtain the angle of the cross-sectional image at the development mark.
可选地，根据所述方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：Optionally, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point includes:
提取所述截面图像中方向电极触点的射线特征，进而根据射线特征计算方向电极分片处的截面图像的角度，根据电极分片的角度周期确定同组的其他方向电极分片的角度；Extracting the ray features of the directional electrode contacts in the cross-sectional image, and then calculating the angle of the cross-sectional image at the directional electrode slice according to the ray features, and determining the angles of other directional electrode slices in the same group according to the angle period of the electrode slice;
根据所述显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact feature in the cross-sectional image at the development mark includes:
提取所述截面图像中显影标记的射线特征，进而根据射线特征计算显影标记处的截面图像的角度。The ray features of the development mark in the cross-sectional image are extracted, and then the angle of the cross-sectional image at the development mark is calculated according to the ray features.
可选地，根据所述方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：Optionally, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point includes:
获取所述伪影特征图像的以电极轴线为轴的方向电极触点范围内的圆柱体切片图；Obtaining a cylindrical slice image of the artifact characteristic image within the range of the electrode contact in a direction with the electrode axis as the axis;
将所述圆柱体切片图展开为角度-灰度图；Expanding the cylinder slice image into an angle-grayscale image;
根据所述角度-灰度图中的信息计算各个方向电极分片的角度；Calculate the angles of the electrode segments in each direction according to the information in the angle-grayscale image;
根据所述显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact feature in the cross-sectional image at the development mark includes:
获取所述伪影特征图像的以电极轴线为轴的显影标记范围内的圆柱体切片图；Obtaining a cylindrical slice image within the development mark range with the electrode axis as the axis of the artifact characteristic image;
将所述圆柱体切片图展开为角度-灰度图；Expanding the cylinder slice image into an angle-grayscale image;
根据所述角度-灰度图中的信息计算显影标记的角度。The angle of the developed mark is calculated based on the information in the angle-grayscale map.
可选地，根据所述各个方向电极分片的角度和所述显影标记的角度确定电极旋向角度，包括：Optionally, determining the electrode rotation angle according to the angles of the electrode segments in each direction and the angles of the development marks includes:
将所述各个方向电极分片的角度和所述显影标记的角度进行组合；Combining the angles of the electrode segments in each direction and the angles of the development marks;
计算各个组合中方向电极分片的角度和显影标记的角度的差值；Calculate the difference between the angle of the directional electrode segment and the angle of the development mark in each combination;
将满足预设差值关系的一组角度确定为电极旋向角度。A set of angles satisfying a preset difference relationship is determined as the electrode rotation angles.
相应地，本发明还提供一种基于CT图像的方向电极旋向确定设备，包括：处理器以及与所述处理器连接的存储器；其中，所述存储器存储有可被所述处理器执行的指令，所述指令被所述处理器执行，以使所述处理器执行上述基于CT图像的方向电极旋向确定方法。Correspondingly, the present invention also provides a device for determining the direction electrode rotation direction based on CT images, comprising: a processor and a memory connected to the processor; wherein the memory stores instructions executable by the processor, and the instructions are executed by the processor so that the processor executes the above-mentioned method for determining the direction electrode rotation direction based on CT images.
根据本发明提供的基于CT图像的方向电极旋向确定方法及设备，对CT图像将金属伪影去除，保留足够进行旋向定位的图像特征，然后对去除金属伪影后的数据切块进行旋转匹配，找到电极分片位置以及电极显影标记位置与模板相关性最大的旋转角度，最后根据电极分片位置以及显影标记位置各自的旋向周期性角度计算出电极最可能的旋向角度。本方案不需要配合X光图像进行定位，也不需要医生在术后根据经验判断，而是通过图像处理，得到凸显方向电极伪影特征的图像，并基于旋转配准等手段，提高了电极定位的准确性。According to the method and device for determining the rotation direction of the directional electrode based on CT images provided by the present invention, the metal artifacts are removed from the CT image, and image features sufficient for rotation direction positioning are retained. Then, the data blocks after the metal artifacts are removed are rotated and matched to find the rotation angle with the greatest correlation between the electrode segment position and the electrode development mark position and the template. Finally, the most likely rotation direction angle of the electrode is calculated based on the rotation periodic angles of the electrode segment position and the development mark position. This solution does not require positioning with X-ray images, nor does it require doctors to make judgments based on experience after surgery. Instead, it obtains images that highlight the artifact features of the directional electrode through image processing, and improves the accuracy of electrode positioning based on means such as rotation alignment.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
图1为本发明实施例提供的方向电极旋向确定方法的流程示意图；FIG1 is a schematic flow chart of a method for determining the rotation direction of a direction electrode provided by an embodiment of the present invention;
图2为本发明实施例中的对CT图像进行金属伪影去除处理的示意图；FIG2 is a schematic diagram of metal artifact removal processing for a CT image in an embodiment of the present invention;
图3为本发明实施例中的对切块图像中的电极进行旋转处理的示意图；FIG3 is a schematic diagram of rotating electrodes in a cut image according to an embodiment of the present invention;
图4是对方向电极触点处的截面图像提取六射线结构特征的示意图；FIG4 is a schematic diagram of extracting six-ray structural features from a cross-sectional image at a directional electrode contact point;
图5是对方向电极显影标记处的截面图像提取二射线结构特征的示意图；FIG5 is a schematic diagram of extracting two-ray structural features from a cross-sectional image at a directional electrode development mark;
图6为本发明实施例中的射线特征与方向电极触点关系的示意图；FIG6 is a schematic diagram of the relationship between ray characteristics and directional electrode contacts in an embodiment of the present invention;
图7为本发明实施例中的射线特征与显影标记关系的示意图；FIG7 is a schematic diagram of the relationship between the radiation characteristics and the development mark in an embodiment of the present invention;
图8为本发明实施例中的以电极轴线为轴的将圆柱体切片图展开的角度-灰度图；FIG8 is an angle-grayscale diagram of a cylindrical slice image unfolded with the electrode axis as the axis in an embodiment of the present invention;
图9为本发明实施例中的根据灰度图计算的六重高灰度值区域所在的旋向位置示意图；FIG9 is a schematic diagram of the handedness position of six high gray value regions calculated according to a grayscale image in an embodiment of the present invention;
图10为本发明实施例中的方向电极结构的示意图；FIG10 is a schematic diagram of a directional electrode structure in an embodiment of the present invention;
图11为本发明实施例中的电极旋向角度的示意图。FIG. 11 is a schematic diagram of the electrode rotation angle in an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，还可以是两个元件内部的连通，可以是无线连接，也可以是有线连接。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
如图1所示，本发明的一个实施例提供了一种基于CT图像的方向电极旋向确定方法，该方法可以由计算机或服务器等电子设备执行，包括如下操作：As shown in FIG1 , an embodiment of the present invention provides a method for determining the rotation direction of a direction electrode based on a CT image. The method can be executed by an electronic device such as a computer or a server, and includes the following operations:
S101，获取CT图像，其中包括植入于人体内的神经刺激电极的影像，神经刺激电极包括方向电极触点和显影标记。本实施例中，位于电极刺激端至少一个轴向位置的方向电极触点由一组三个不同方向的电极分片构成；显影标记的主体沿电极刺激端周向延伸，延伸长度小于等于电极刺激端周长的二分之一。在可选的实施例中，如图10所示(图10a为图10b的展开图)，显影标记主体的延伸末端的宽度与延伸起点的宽度不同，如延伸末端可形成一凸尖。S101, acquiring a CT image, which includes an image of a neural stimulation electrode implanted in a human body, wherein the neural stimulation electrode includes a directional electrode contact and a development mark. In this embodiment, the directional electrode contact located at at least one axial position of the electrode stimulation end is composed of a group of electrode segments in three different directions; the main body of the development mark extends circumferentially along the electrode stimulation end, and the extension length is less than or equal to one-half of the circumference of the electrode stimulation end. In an optional embodiment, as shown in FIG10 (FIG. 10a is an expanded view of FIG10b), the width of the extension end of the development mark main body is different from the width of the extension starting point, such as the extension end can form a convex tip.
S102，对CT图像进行金属伪影去除，得到伪影特征图像。原始CT图像中可能存在较多金属伪影，在后续步骤中需要根据其中部分伪影特征确定电极触点方向，此步骤需要去掉不相关的伪影内容。比如，后续步骤中需要使用到电极周围向外的放射状伪影，而不需要使用条纹状伪影，则在此步骤中使用特定的算法去掉条纹状伪影。S102, remove metal artifacts from the CT image to obtain an artifact feature image. There may be many metal artifacts in the original CT image. In the subsequent steps, it is necessary to determine the electrode contact direction based on some of the artifact features. In this step, irrelevant artifact content needs to be removed. For example, in the subsequent steps, radial artifacts extending outward around the electrode are needed, but stripe artifacts are not needed. In this step, a specific algorithm is used to remove stripe artifacts.
S103，根据伪影特征图像得到方向电极触点处的截面图像以及显影标记处的截面图像。电极触点处的截面图像中包含同组内所有电极分片，以及它们的伪影特征；显影标记处的截面图像包含沿电极刺激端周向延伸的主体，以及它的伪影特征。S103, obtaining a cross-sectional image at the directional electrode contact point and a cross-sectional image at the development mark according to the artifact feature image. The cross-sectional image at the electrode contact point includes all electrode segments in the same group and their artifact features; the cross-sectional image at the development mark includes a main body extending circumferentially along the electrode stimulation end and its artifact features.
S104，根据方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，根据显影标记处的截面图像中的伪影特征确定显影标记的角度。S104, determining the angles of the directional electrode slices in the same group according to the artifact features in the cross-sectional image at the directional electrode contact points, and determining the angle of the development mark according to the artifact features in the cross-sectional image at the development mark.
S105，根据各个方向电极分片的角度和显影标记的角度确定电极旋向角度。电极旋向角度，是指当前电极相对于给定/初始电极沿电极轴线旋转的角度。以图11为例，其中2A、2B、2C分别表示三个方向电极分片，假设左侧所示为给定/初始电极的截面图像，右侧为当前电极的截面图像，其相对于左侧图像的旋向角度为45°。S105, determining the electrode rotation angle according to the angle of the electrode slices in each direction and the angle of the development mark. The electrode rotation angle refers to the angle at which the current electrode rotates along the electrode axis relative to the given/initial electrode. Taking FIG11 as an example, 2A, 2B, and 2C represent electrode slices in three directions, respectively. Assume that the left side shows a cross-sectional image of the given/initial electrode, and the right side shows a cross-sectional image of the current electrode, and its rotation angle relative to the left image is 45°.
通过各个方向电极分片的角度和显影标记的角度确定相关性最大的电极旋向角度，使电极定位更加精确，减少医生操控的误差，降低患者的安全风险。The electrode rotation angle with the greatest correlation is determined by the angle of the electrode segments in each direction and the angle of the development mark, making the electrode positioning more accurate, reducing the doctor's manipulation errors, and reducing the patient's safety risks.
优选实施例中，S102，对CT图像进行金属伪影去除，得到伪影特征图像，包括：In a preferred embodiment, S102, removing metal artifacts from the CT image to obtain an artifact feature image includes:
利用Radon算法对CT图像进行金属伪影去除，得到伪影特征图像。The Radon algorithm is used to remove metal artifacts from CT images to obtain artifact feature images.
本实施例中，由于金属物体在CT图像中会引起伪影，这种伪影会干扰我们对其他组织结构和病变的观察和分析。通过应用Radon算法，可以有效减少金属伪影的影响，提高图像的质量和准确性。In this embodiment, since metal objects may cause artifacts in CT images, such artifacts may interfere with our observation and analysis of other tissue structures and lesions. By applying the Radon algorithm, the influence of metal artifacts can be effectively reduced, and the quality and accuracy of the image can be improved.
进一步地，利用Radon算法对CT图像进行金属伪影去除，得到伪影特征图像，包括：Furthermore, the Radon algorithm is used to remove metal artifacts from the CT image to obtain an artifact feature image, including:
对CT图像逐层进行Radon变换，得到第一图像；Performing Radon transform on the CT image layer by layer to obtain a first image;
根据阈值逐层提取CT图像的金属部分，并进行Radon变换，得到第二图像。其中，逐层提取金属部分时，将CT图像中像素值高于阈值的部分保留，低于阈值的部分被置为零，即得到金属部分，阈值可根据具体情况进行设定。The metal part of the CT image is extracted layer by layer according to the threshold, and Radon transform is performed to obtain the second image. When extracting the metal part layer by layer, the part of the CT image with a pixel value higher than the threshold is retained, and the part below the threshold is set to zero, that is, the metal part is obtained. The threshold can be set according to the specific situation.
将第一图像和第二图像做差，并对做差结果进行反Radon变换，得到伪影特征图像。The first image and the second image are subtracted, and an inverse Radon transform is performed on the subtraction result to obtain an artifact feature image.
如图2所示，先对CT图像进行一次Radon变换，得到第一图像A，可以对图像进行强度校正，消除强度偏差，使得各个区域的强度更加准确一致，同时可以消除图像的噪声，使图像更加清晰；同时再对CT图像逐层提取金属部分，并对金属图像进行Radon变换，得到第二图像B，可以准确定位金属物体在图像上的位置，并提取其特征，经过Radon变换后的金属部分图像可以提供关于金属物体的特征信息，例如其形状、方向和强度等，有助于提高医疗影像的质量和可视化；最终将第一图像A和第二图像B做差，并对做差结果C进行反Radon变换，得到伪影特征图像D。其中，将第一图像和第二图像进行差分操作可以提取它们之间的差异信息。差异图像显示了两个图像之间的差异部分，这些差异可能包括目标物体的运动、形状的变化或者亮度的差异等。反Radon变换在差异图像的处理中的作用是去除或减弱伪影特征，因此，对第一图像和第二图像进行做差操作并对差异图像进行反Radon变换，可以帮助消除部分伪影特征，保留了可用于旋向定位的伪影特征，从而改善图像处理和分析的结果。As shown in Figure 2, the CT image is first subjected to a Radon transform to obtain the first image A, which can correct the image intensity and eliminate the intensity deviation, so that the intensity of each area is more accurate and consistent, and the noise of the image can be eliminated to make the image clearer; at the same time, the metal part of the CT image is extracted layer by layer, and the metal image is subjected to a Radon transform to obtain the second image B, which can accurately locate the position of the metal object on the image and extract its features. The metal part image after the Radon transform can provide feature information about the metal object, such as its shape, direction and intensity, which helps to improve the quality and visualization of medical images; finally, the first image A and the second image B are subtracted, and the subtraction result C is subjected to an inverse Radon transform to obtain the artifact feature image D. Among them, the difference operation between the first image and the second image can extract the difference information between them. The difference image shows the difference between the two images, which may include the movement of the target object, the change of shape or the difference in brightness. The role of inverse Radon transform in the processing of difference images is to remove or weaken artifact features. Therefore, performing a difference operation on the first image and the second image and performing an inverse Radon transform on the difference image can help eliminate some artifact features and retain artifact features that can be used for rotational positioning, thereby improving the results of image processing and analysis.
优选实施例中，S103，根据伪影特征图像得到方向电极触点处的截面图像以及显影标记处的截面图像，包括：In a preferred embodiment, S103, obtaining a cross-sectional image at the directional electrode contact point and a cross-sectional image at the development mark according to the artifact characteristic image, includes:
根据电极追踪算法计算的电极触点坐标，在伪影特征图像中划分出包含电极伪影区域的切块图像；According to the electrode contact coordinates calculated by the electrode tracking algorithm, a cut image containing the electrode artifact area is divided in the artifact feature image;
将切块图像重采样到0.5*0.5*0.5mm3分辨率；Resample the sliced image to 0.5*0.5*0.5mm3 resolution;
将经过重采样处理后的切块图像中的电极进行旋转处理；Rotate the electrodes in the resampled sliced image;
对经过旋转处理的切块图像中的电极触点进行截图，分别得到方向电极触点处的截面图像以及显影标记处的截面图像。The electrode contacts in the rotated sliced image are captured to obtain cross-sectional images at the directional electrode contacts and cross-sectional images at the development marks.
本实施例中，根据电极触点坐标将其对应的图像区域划分出来，可以将感兴趣的电极部分与其他部分隔离，然后对划分出的切块图像进行重采样，有助于统一图像的分辨率，方便后续操作。然后对经过重采样的图像的电极进行旋转处理，以校正电极方向，最后截图获取电极的截面图像，得到位于方向电极触点处和显影标记处的截面图像。In this embodiment, the image area corresponding to the electrode contact point is divided according to its coordinates, and the electrode part of interest can be isolated from other parts, and then the divided block image is resampled, which helps to unify the resolution of the image and facilitate subsequent operations. Then, the electrode of the resampled image is rotated to correct the electrode direction, and finally a screenshot is taken to obtain a cross-sectional image of the electrode, and a cross-sectional image located at the direction electrode contact point and the development mark is obtained.
进一步地，将经过重采样处理后的切块图像中的电极进行旋转处理，包括：Furthermore, the electrodes in the sliced image after the resampling process are rotated, including:
计算经过重采样处理后的切块图像中电极与轴状面的夹角；Calculate the angle between the electrode and the axial plane in the resampled slice image;
根据夹角将电极绕S-I轴旋转到冠面内，并将电极绕A-P轴旋转到与S-I轴平行，以使所有电极的伪影特征所在平面均与冠面垂直；The electrode is rotated around the S-I axis to the coronal plane according to the included angle, and the electrode is rotated around the A-P axis to be parallel to the S-I axis, so that the planes where the artifact features of all electrodes are located are perpendicular to the coronal plane;
将伪影特征所在平面均与冠面垂直的图像进行仿射变换，以使所有伪影特征所在平面均与电极轴线垂直。The images where the planes of the artifact features are all perpendicular to the coronal plane are affine transformed so that the planes of all the artifact features are perpendicular to the electrode axis.
如图3所示，切块图像经过重采样得到图像a，计算电极与轴状面的夹角，该夹角可以通过测量电极的方向向量与轴状面法向量之间的角度得到，然后根据夹角对电极进行绕S-I轴的旋转，将电极调整到冠面内，得到图像b；然后在电极旋转到冠面内的基础上绕A-P轴旋转，将电极调整到与S-I轴平行，得到图像c；最后，使用仿射变换，将所有伪影射线所在平面调整为与电机轴线垂直，得到图像d。通过上述处理的数据在触点处的截面会展现出六重对称的射线图样，如图4所示；在显影标记处的截面会展现出二重对称的射线图样，如图5所示。As shown in Figure 3, the cut image is resampled to obtain image a, and the angle between the electrode and the axial plane is calculated. The angle can be obtained by measuring the angle between the direction vector of the electrode and the normal vector of the axial plane. Then, the electrode is rotated around the S-I axis according to the angle, and the electrode is adjusted to the coronal plane to obtain image b; then, on the basis of the electrode being rotated to the coronal plane, the electrode is rotated around the A-P axis to adjust the electrode to be parallel to the S-I axis to obtain image c; finally, using affine transformation, the plane where all artifact rays are located is adjusted to be perpendicular to the motor axis to obtain image d. The cross section of the data processed above will show a six-fold symmetric ray pattern at the contact point, as shown in Figure 4; the cross section at the development mark will show a two-fold symmetric ray pattern, as shown in Figure 5.
本实施例将重采样的切块图像进行旋转调整和仿射变换等处理，调整伪影射线所在平面的方向，可以降低伪影的叠加效应，使得截面图像更加准确，而且得到的数据在触点或显影标记处的截面转化为展现多重对称的射线图样，表明电极在触点或显影标记处具有明显的特征，可以精确地提取电极的形状、位置和几何特征等。This embodiment performs rotation adjustment and affine transformation on the resampled block image to adjust the direction of the plane where the artifact rays are located, which can reduce the superposition effect of the artifacts and make the cross-sectional image more accurate. In addition, the cross-section of the obtained data at the contact point or development mark is converted into a ray pattern showing multiple symmetries, indicating that the electrode has obvious features at the contact point or development mark, and the shape, position and geometric features of the electrode can be accurately extracted.
优选实施例中，S104，根据方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：In a preferred embodiment, S104, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point, includes:
将方向电极触点处的截面图像与预存的电极触点伪影模板进行匹配，得到方向电极分片处的截面图像的角度，并根据电极分片的角度周期确定同组的其他方向电极分片的角度；Matching the cross-sectional image at the directional electrode contact point with the pre-stored electrode contact artifact template to obtain the angle of the cross-sectional image at the directional electrode slice, and determining the angles of other directional electrode slices in the same group according to the angle period of the electrode slice;
根据显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact features in the cross-sectional image at the development mark includes:
将显影标记处的截面图像与预存的显影标记伪影模板进行匹配，得到显影标记处的截面图像的角度。The cross-sectional image at the development mark is matched with a pre-stored development mark artifact template to obtain the angle of the cross-sectional image at the development mark.
本实施例先介绍确定同组的各个方向电极分片的角度、显影标记的角度的第一种方式。预存的电极触点伪影模板包括若干0到360°的电极触点处的截面图像，预存的显影标记伪影模板包括若干0到360°的显影标记处的截面图像，这些模板由实验所得。将当前方向电极触点处的截面图像与预存的各个角度的模板进行匹配，得到当前方向电极触点处的角度。由于预先知道各个方向电极分片间的角度周期为120°，则方向电极分片的一组角度为(angle1，angle1+120°，angle1+240°)。将当前显影标记处的截面图像与预存的各个角度的模板进行匹配，得到当前显影标记处的角度，而显影标记的角度周期为180°，则将显影标记的一组角度记为(angle2，angle2+180°)。上述过程通过选准匹配已知的图像，以确定当前方向电极触点和显影标记的可能的角度组合。This embodiment first introduces the first method of determining the angles of the electrode slices in each direction of the same group and the angles of the development marks. The pre-stored electrode contact artifact template includes several cross-sectional images at the electrode contacts from 0 to 360°, and the pre-stored development mark artifact template includes several cross-sectional images at the development marks from 0 to 360°, and these templates are obtained by experiments. The cross-sectional image at the electrode contact in the current direction is matched with the pre-stored templates of each angle to obtain the angle at the electrode contact in the current direction. Since it is known in advance that the angle period between the electrode slices in each direction is 120°, a group of angles of the directional electrode slices is (angle1, angle1+120°, angle1+240°). The cross-sectional image at the current development mark is matched with the pre-stored templates of each angle to obtain the angle at the current development mark, and the angle period of the development mark is 180°, then a group of angles of the development mark is recorded as (angle2, angle2+180°). The above process determines the possible angle combinations of the electrode contacts and the development marks in the current direction by selecting and matching known images.
在另一个实施例中，S104，根据方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：In another embodiment, S104, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point includes:
利用直线提取技术提取截面图像中方向电极触点的六射线特征(三个方向电极分片有六条射线)，并根据六射线特征计算方向电极触点处的截面图像的角度。The six-ray features of the directional electrode contacts in the cross-sectional image are extracted using the straight line extraction technology (there are six rays for three directional electrode slices), and the angle of the cross-sectional image at the directional electrode contacts is calculated based on the six-ray features.
根据显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact features in the cross-sectional image at the development mark includes:
利用直线提取技术提取所述截面图像中显影标记的二射线特征(一个显影标记有两条射线)，并根据二射线特征计算显影标记处的截面图像的角度。The two-ray features of the development mark in the cross-sectional image (one development mark has two rays) are extracted using a straight line extraction technique, and the angle of the cross-sectional image at the development mark is calculated based on the two-ray features.
本实施例为确定同组的各个方向电极触点的角度、显影标记的角度的第二种方式。图4-5示出了方向电极触点的六射线特征图像和显影标记的二射线特征图像，可利用霍夫变换等直线提取技术提取出直线，根据各直线之间的夹角即可计算出所有方向电极分片的角度。图6-7示出了CT伪影的指数边界梯度效应(exponential edge gradient effect，EEGE)示意图，当两个金属区域紧贴某条CT射线并位于同侧，则该射线会产生暗条纹，反之若位于对侧则产生亮条纹。这种现象源自CT成像反变换算法的特征，而这一现象在三分瓣方向性电极上体现出六重暗射线特征结构，在周向延伸的显影标记上体现出二重暗射线特征结构。对于旋向均匀分布的三分瓣方向性电极，相邻射线的角度均为60°，而暗射线之间还有3组亮射线，根据图像中的暗条纹和亮条纹的分布，即可确定方向电极触点的朝向。基于同样的原理，显影标记处的截面图像中也存在符合上述规律的暗条纹和亮条纹，根据图像中的暗条纹和亮条纹的分布，即可确定显影标记的朝向。This embodiment is a second way to determine the angles of the directional electrode contacts and the angles of the development marks of the same group. Figures 4-5 show the six-ray characteristic images of the directional electrode contacts and the two-ray characteristic images of the development marks. The straight lines can be extracted using straight line extraction techniques such as Hough transform, and the angles of all directional electrode segments can be calculated based on the angles between the straight lines. Figures 6-7 show a schematic diagram of the exponential edge gradient effect (EEGE) of CT artifacts. When two metal areas are close to a CT ray and are located on the same side, the ray will produce dark stripes, and vice versa, if they are located on the opposite side, bright stripes will be produced. This phenomenon originates from the characteristics of the CT imaging inverse transformation algorithm, and this phenomenon manifests a six-fold dark ray characteristic structure on the three-lobed directional electrode and a double dark ray characteristic structure on the circumferentially extending development mark. For the three-lobed directional electrode with uniformly distributed rotation directions, the angles of adjacent rays are all 60°, and there are 3 groups of bright rays between the dark rays. The orientation of the directional electrode contacts can be determined based on the distribution of dark stripes and bright stripes in the image. Based on the same principle, there are dark stripes and light stripes in the cross-sectional image at the development mark that conform to the above rule. The orientation of the development mark can be determined according to the distribution of the dark stripes and light stripes in the image.
在又一个实施例中，S104，根据方向电极触点处的截面图像中的伪影特征确定同组的各个方向电极分片的角度，包括：In yet another embodiment, S104, determining the angles of each directional electrode slice in the same group according to the artifact features in the cross-sectional image at the directional electrode contact point includes:
获取伪影特征图像的以电极轴线为轴的方向电极触点范围内的圆柱体切片图；Obtaining a cylindrical slice image within the electrode contact range in a direction with the electrode axis as the axis of the artifact characteristic image;
将圆柱体切片图展开为角度-灰度图；Expand the cylinder slice image into an angle-grayscale image;
根据角度-灰度图中的信息计算各个方向电极分片的角度。The angles of the electrode segments in each direction are calculated based on the information in the angle-grayscale image.
根据显影标记处的截面图像中的伪影特征确定显影标记的角度，包括：Determining the angle of the development mark according to the artifact features in the cross-sectional image at the development mark includes:
获取伪影特征图像的以电极轴线为轴的显影标记范围内的圆柱体切片图；Obtaining a cylindrical slice image within the development mark range with the electrode axis as the axis of the artifact characteristic image;
将圆柱体切片图展开为角度-灰度图；Expand the cylinder slice image into an angle-grayscale image;
根据角度-灰度图中的信息计算显影标记的角度。The angle of the developed mark is calculated based on the information in the angle-grayscale image.
本实施例为确定同组的各个方向电极分片的角度、显影标记的角度的第三种方式。如图8所示，针对以电极轴线为轴的某范围圆柱体切片，进而展开成角度-灰度图。如图9所示，上面的图像中，横轴为旋向角度(范围是0到360°)，纵轴为对应角度射线方向上的圆柱切片从内到外的灰度数值，在下面的图像中，横轴为旋向角度，纵轴为每个角度对应的所有灰度值之和。从此图中可以识别出6个峰值-低谷周期，利用最高峰值位置就可以得到方向电极触点对应的旋向角度。显影标记的角度计算与方向电极触点的角度的计算方式相同，区别在于峰值-低谷数量和周期不同，在此不再赘述。This embodiment is a third method for determining the angles of the electrode slices in each direction of the same group and the angles of the development marks. As shown in Figure 8, for a certain range of cylindrical slices with the electrode axis as the axis, it is expanded into an angle-grayscale diagram. As shown in Figure 9, in the above image, the horizontal axis is the rotation angle (ranging from 0 to 360°), and the vertical axis is the grayscale value from the inside to the outside of the cylindrical slice in the direction of the corresponding angle ray. In the image below, the horizontal axis is the rotation angle, and the vertical axis is the sum of all grayscale values corresponding to each angle. From this figure, 6 peak-trough cycles can be identified, and the rotation angle corresponding to the directional electrode contact can be obtained using the highest peak position. The angle calculation of the development mark is the same as the angle calculation method of the directional electrode contact. The difference is that the number and cycle of peaks-troughs are different, which will not be repeated here.
优选实施例中，S105，根据各个方向电极分片的角度和所述显影标记的角度确定电极旋向角度，包括：In a preferred embodiment, S105, determining the electrode rotation angle according to the angle of the electrode segments in each direction and the angle of the development mark includes:
将各个方向电极分片的角度和显影标记的角度进行组合；Combining the angles of the electrode segments in each direction and the angles of the development marks;
计算各个组合中方向电极分片的角度和显影标记的角度的差值；Calculate the difference between the angle of the directional electrode segment and the angle of the development mark in each combination;
将差值最小的一组角度确定为电极旋向角度。The set of angles with the smallest difference is determined as the electrode rotation angles.
本实施例中，已得到各个方向电极分片的角度、显影标记的角度这两组角度，然后将两组角度进行两两组合，得到六对角度，然后计算每对角度的差值(模360°同余)，并选取差值最小的角度作为电极旋向角度。In this embodiment, two groups of angles, namely the angles of the electrode segments in each direction and the angles of the development marks, have been obtained. Then, the two groups of angles are combined in pairs to obtain six pairs of angles. The difference between each pair of angles is calculated (congruence modulo 360°), and the angle with the smallest difference is selected as the electrode rotation angle.
作为举例，假设通过上述步骤得到三个方向电极触点的旋向角度分别为20°、140°、260°，两个显影标记的旋向角度分别是70°和250°，由此得到六对角度及其差值：(20°、70°)差值为50、(20°、250°)差值为230、(140°、70°)差值为70、(140°、250°)差值为110、(260°、70°)差值为190、(260°、250°)差值为10，其中第六组角度值的差最小，因此确定电极旋向角度为260度，显影标记旋向角度为250。其中，选取差值最小的角度作为电极旋向角度的原因在于，电极制造时，将方向电极其中一个分片和显影标记其中一端保持了基本对齐的关系。当然，如果分片与显影标记在制造时存在其他的角度关系(差值关系)，也可以根据其他的角度关系(差值关系)进行选择，将满足预设差值关系的一组角度确定为电极旋向角度。As an example, assuming that the rotation angles of the three directional electrode contacts obtained through the above steps are 20°, 140°, and 260°, respectively, and the rotation angles of the two development marks are 70° and 250°, respectively, six pairs of angles and their differences are obtained: (20°, 70°) difference is 50, (20°, 250°) difference is 230, (140°, 70°) difference is 70, (140°, 250°) difference is 110, (260°, 70°) difference is 190, (260°, 250°) difference is 10, among which the sixth group of angle values has the smallest difference, so it is determined that the electrode rotation angle is 260 degrees, and the development mark rotation angle is 250. The reason for selecting the angle with the smallest difference as the electrode rotation angle is that when the electrode is manufactured, one of the directional electrode segments and one end of the development mark are kept in a basically aligned relationship. Of course, if there are other angular relationships (difference relationships) between the slices and the development marks during manufacturing, selection can also be made based on other angular relationships (difference relationships), and a set of angles that satisfy the preset difference relationship can be determined as the electrode rotation angle.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to the flowchart and/or block diagram of the method, device (system), and computer program product according to the embodiment of the present invention. It should be understood that each process and/or box in the flowchart and/or block diagram, as well as the combination of the process and/or box in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and/or one or more boxes in the block diagram.
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引申出的显而易见的变化或变动仍处于本发明创造的保护范围之中。Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.
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