WO2015161728A1

Movatterモバイル変換

Info

Publication number: WO2015161728A1
Application number: PCT/CN2015/075087
Authority: WO
Inventors: 文银刚
Original assignee: 重庆海扶医疗科技股份有限公司
Priority date: 2014-04-22
Filing date: 2015-03-26
Publication date: 2015-10-29
Also published as: CN105078514A

Abstract

A three-dimensional model construction method and device, and an image monitoring method and device. The three-dimensional model construction method comprises the steps of: 1) acquiring a monitoring image (a real-time two-dimensional ultrasonic image during treatment) of a tissue within a monitoring region during the treatment of a patient in real time, and acquiring a diagnosis image (a two-dimensional ultrasonic/MR/CT image acquired before treatment) similar to feature information about a monitoring image tissue from an anatomical model of the patient; 2) registering the monitoring image and the diagnosis image, and establishing a registration relationship to obtain a two-dimensional registration image; and 3) constructing a registered three-dimensional model according to the two-dimensional registration image. The constructed three-dimensional model can realize relatively high registration with the monitoring image during the treatment of the patient, and display clear tissue boundary and tissue texture information at the same time, so as to assist a doctor to conduct ultrasonic locating and monitoring.

Description

三维模型的构建方法及装置、图像监控方法及装置Method and device for constructing three-dimensional model, image monitoring method and device

技术领域Technical field

本发明属于医疗技术领域，涉及一种三维模型的构建方法及三维模型构建装置、图像监控方法及图像监控装置。The invention belongs to the technical field of medical technology, and relates to a method for constructing a three-dimensional model, a three-dimensional model construction device, an image monitoring method and an image monitoring device.

背景技术Background technique

在MR/CT引导超声监控的HIFU无创治疗和针类微创治疗过程中，医生采用超声对靶区位置进行定位和监控，然而超声图像(二维图像)的特点是组织边界明显，而组织纹理很模糊，MR/CT引导超声监控就是用于对病人的超声/MR/CT图像进行三维重建，根据各种配准技术实现三维模型与病人治疗时的体位的三维配准，然后得到超声扫描面对应的MR/CT切割图像，给医生提供清晰的组织纹理信息。然而，进行三维重建的超声/MR/CT图像是病人在进行MR/CT检查时得到的图像，而病人在进行MR/CT检查时体内组织器官的体位与病人进行HIFU无创治疗或针类微创治疗时体内组织器官的体位之间有时会存在较大变化，如果直接采用检查时的MR/CT图像作为治疗时的监控图像，则由于其与实时超声图像上的各个组织无法实现配准，因此无法引导超声监控。During MR/CT guided ultrasound monitoring of HIFU non-invasive treatment and minimally invasive treatment of needles, doctors use ultrasound to locate and monitor the target location. However, ultrasound images (two-dimensional images) are characterized by distinct tissue boundaries and tissue texture. Very vague, MR/CT guided ultrasound monitoring is used to reconstruct the patient's ultrasound/MR/CT images in three dimensions. According to various registration techniques, the three-dimensional registration of the three-dimensional model and the patient's posture is achieved, and then the ultrasound scanning surface is obtained. The corresponding MR/CT cut image provides the doctor with clear tissue texture information. However, the ultrasound/MR/CT image of the three-dimensional reconstruction is the image obtained by the patient during the MR/CT examination, and the patient performs the HIFU non-invasive treatment or the minimally invasive needle in the body position and the patient during the MR/CT examination. There is sometimes a large change in the position of the tissues and organs in the body during treatment. If the MR/CT image at the time of examination is directly used as the monitoring image at the time of treatment, since it cannot be registered with each tissue on the real-time ultrasound image, Unable to guide ultrasound monitoring.

另外，目前在医学图像三维重构技术上，一般采用对MR/CT图像中不同的Scalar(标量)范围值进行颜色和透明度配置，最终实现虚拟可视化效果。对于MR/CT图像中Scalar值差异较大的不同组织而言，这种方法可以快速实现不同组织的单独显示以及边界区分，而对于MR/CT图像中Scalar值差异较小的不同组织(例如腹部子宫、内膜、肌瘤范围边界以及前列腺等组织位置)而言，采用该方法重构的三维模型由于无法明显区分不同组织的边界范围，从而无法对组织进行自动分割。In addition, in the medical image three-dimensional reconstruction technology, the color and transparency configuration of different Scalar range values in the MR/CT image is generally adopted, and finally the virtual visualization effect is realized. For different tissues with large differences in Scalar values in MR/CT images, this method can quickly achieve separate display and boundary differentiation of different tissues, while different tissues with small differences in Scalar values in MR/CT images (such as abdomen) In terms of uterus, intima, fibroid range boundaries, and tissue locations such as the prostate, the three-dimensional model reconstructed by this method cannot distinguish the boundaries of different tissues and thus cannot automatically segment the tissues.

在医学影像领域，还有一种“数字人体”的医学影像数据解剖模型，在数字人体上可调整不同组织的显示、隐藏、移动和旋转。有学者提出采用数字人体来对超声监控进行引导，然而数字人体的数据源一般是采用数码照相机对尸体模型进行切片拍摄，在计算机中进行三维重构就可把整个人体模型建立出来，如果要建立某一特定部位的组织解剖模型，还需要手动或自动地将不同组织勾画出来，再对不同组织进行配色，三维重构之后就可得到这个组织解剖模型，并且可以分别调整不同组织间位置关系，但该模型一般不具有组织纹理信息。同时数字人体只能作为共性模型，并不能提供病人的特异性特征信息。所以通过数字人体用来引导超声监控HIFU无创治疗和针类微创治疗，存在不能适应临床的局限。In the field of medical imaging, there is also a medical image data anatomical model of "digital human body", which can adjust the display, hiding, moving and rotating of different tissues on the digital human body. Some scholars have proposed to use digital human body to guide ultrasound monitoring. However, the digital human body data source generally uses a digital camera to slice the cadaver model. The three-dimensional reconstruction in the computer can establish the whole human body model. The tissue anatomical model of a specific part needs to manually or automatically draw out different tissues, and then color matching different tissues, after three-dimensional reconstructionThis tissue anatomical model is available, and the positional relationships between different tissues can be adjusted separately, but the model generally does not have tissue texture information. At the same time, the digital human body can only serve as a common model and does not provide patient-specific feature information. Therefore, through the use of digital human body to guide ultrasound monitoring of HIFU non-invasive treatment and minimally invasive treatment of needles, there are limitations that cannot be adapted to the clinic.

另外，在MR/CT三维引导超声定位、监控的临床应用中，MR/CT图像上的组织与治疗时超声监控时发生了不可忽视的位置变化，为了解决这些体内器官发生的位置变化，需要能够对各个器官组织进行人为的移动或旋转操作。In addition, in the clinical application of MR/CT three-dimensional guided ultrasound localization and monitoring, the tissue on the MR/CT image and the ultrasound monitoring during the treatment have a positional change that cannot be ignored. In order to solve the positional changes of these internal organs, it is necessary to be able to Artificial movement or rotation of individual organ tissues.

发明内容Summary of the invention

本发明所要解决的技术问题是针对现有技术的不足，提供一种三维模型的构建方法、三维模型构建装置以及图像监控方法、图像监控装置，所构建的三维模型能够与病患治疗时的监控影像实现较高的配准，同时显示清晰的组织边界和组织纹理信息，以辅助医生进行超声定位和监控。The technical problem to be solved by the present invention is to provide a method for constructing a three-dimensional model, a three-dimensional model building device, an image monitoring method, and an image monitoring device according to the deficiencies of the prior art, and the constructed three-dimensional model can be monitored with the patient during treatment. The image achieves high registration while displaying clear tissue boundaries and tissue texture information to aid physicians in ultrasound localization and monitoring.

解决本发明技术问题采用的技术方案是该三维模型的构建方法，包括如下步骤：The technical solution adopted to solve the technical problem of the present invention is a method for constructing the three-dimensional model, comprising the following steps:

1)实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，以及从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像；1) real-time acquisition of a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and acquiring a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient, The diagnostic image is a two-dimensional ultrasound/MR/CT image;

2)将所述监控影像与所述诊断影像进行配准,建立配准关系，以得到二维配准图像；2) registering the monitoring image with the diagnostic image to establish a registration relationship to obtain a two-dimensional registration image;

3)根据所述二维配准图像构建三维模型。3) Constructing a three-dimensional model from the two-dimensional registration image.

优选的是，步骤1)中，从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像的步骤是：Preferably, in step 1), the step of obtaining a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient is:

11)从所述解剖模型中分离出所述监控区域内组织的组织三维模型；11) separating a three-dimensional tissue model of the tissue in the monitoring area from the anatomical model;

12)从所述组织三维模型中获取与所述监控影像中组织的特征信息相似的诊断影像。12) Obtaining a diagnostic image similar to the feature information organized in the monitoring image from the tissue three-dimensional model.

进一步优选的是，在步骤11)中，从所述解剖模型中分离出所述监控区域内组织的组织三维模型的步骤具体为：Further preferably, in step 11), the step of separating the three-dimensional tissue model of the tissue in the monitoring area from the anatomical model is specifically:

111)在建立所述解剖模型的图像中勾画出所述监控区域内组织的组织边界；111) delineating the tissue boundary of the tissue in the monitoring area in the image establishing the anatomical model;

112)挖取所述勾画范围内的图像信息，以得到组织的三维表面模型；以及提取所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型；112) dig the image information in the outlined range to obtain a three-dimensional surface model of the tissue; and extract tissue texture information within the sketched range to obtain a three-dimensional texture model of the tissue;

113)将所述三维表面模型和三维纹理模型组合在一起，即形成所述组织的组织三维模型。113) Combining the three-dimensional surface model and the three-dimensional texture model, that is, forming a three-dimensional model of the tissue.

优选的是，在步骤111)中，在建立所述解剖模型的图像上勾画出所述监控区域内组织的组织边界的具体步骤是：通过图像处理装置对所述图像中的组织进行自动分割，以初步勾画出所述组织的组织边界，再对所述初步勾画出的组织边界中勾画不准确的位置进行手动调整，经调整后得到的组织边界即为所述组织的组织边界。Preferably, in step 111), the specific step of delineating the tissue boundary of the tissue in the monitoring area on the image for establishing the anatomical model is: automatically segmenting the tissue in the image by the image processing device, The organization boundary of the organization is initially drawn, and the inaccurate position in the initially outlined tissue boundary is manually adjusted, and the adjusted organizational boundary is the organizational boundary of the organization.

其中，建立所述解剖模型的图像可为MR图像、CT图像、超声图像、超声造影图像、或超声多普勒图像。Wherein, the image forming the anatomical model may be an MR image, a CT image, an ultrasound image, an ultrasound contrast image, or an ultrasound Doppler image.

优选的是，在步骤1)中，获取病患治疗时监控区域内组织的监控影像具体是获取病患治疗时监控区域内组织的矢状位的监控影像和横断位的监控影像，相应地，从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像具体是从病患的解剖模型中获取与所述矢状位的监控影像中组织的特征信息相似的矢状位的诊断影像和获取与所述横断位的监控影像中组织的特征信息相似的横断位的诊断影像；Preferably, in step 1), acquiring the monitoring image of the tissue in the monitoring area during the treatment of the patient is specifically acquiring a monitoring image of the sagittal position of the tissue in the monitoring area of the patient during treatment, and a monitoring image of the transverse position, correspondingly, Obtaining a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient is specifically obtaining a sagittal shape similar to the characteristic information of the tissue in the sagittal monitoring image from the anatomical model of the patient a diagnostic image of the bit and a diagnostic image of the transverse position similar to the characteristic information organized in the monitored image of the transverse position;

在步骤2)中，将所述监控影像与所述诊断影像进行配准，建立配准关系，以得到二维配准图像的步骤是：将所述监控影像与所述用于三维模型重建的诊断影像的坐标系位置调整为一致，然后根据所述矢状位的监控影像中组织的坐标位置来调整其所对应的矢状位的诊断影像中组织的坐标位置，使二者的坐标位置重合以进行二者间的配准，并最终得到矢状位的二维配准图像；再根据所述横断位的监控影像中组织的坐标位置来调整其所对应的横断位的诊断影像中组织的坐标位置，使二者的坐标位置重合以进行二者间的配准，并最终得到横断位的二维配准图像；In step 2), the monitoring image is registered with the diagnostic image to establish a registration relationship to obtain a two-dimensional registration image: the monitoring image and the three-dimensional model reconstruction are used. The position of the coordinate system of the diagnostic image is adjusted to be consistent, and then the coordinate position of the tissue in the diagnostic image corresponding to the sagittal position is adjusted according to the coordinate position of the tissue in the sagittal surveillance image, so that the coordinate positions of the two are coincident To perform registration between the two, and finally obtain a two-dimensional registration image of the sagittal position; and then adjust the tissue in the diagnostic image corresponding to the transverse position according to the coordinate position of the tissue in the monitoring image of the transverse position Coordinate position, so that the coordinate positions of the two coincide to register between the two, and finally obtain a two-dimensional registration image of the transverse position;

在步骤3)中，根据所述二维配准图像构建三维模型的步骤是：根据所得到的矢状位的二维配准图像和横断位的二维配准图像构建出所述三维模型。In step 3), the step of constructing the three-dimensional model according to the two-dimensional registration image is: constructing the three-dimensional model according to the obtained two-dimensional registration image of the sagittal position and the two-dimensional registration image of the transverse position.

进一步优选的是，根据所述矢状位/横断位的监控影像中组织的坐标位置来调整其所对应的矢状位/横断位的诊断影像中组织的坐标位置，使二者的坐标位置重合以进行二者间的配准的具体步骤是：在所述矢状位/横断位的监控影像中选出组织中的一些特定位置点作为第一标志点，然后在所述矢状位/横断位的诊断影像中找到与所述第一标志点对应的点作为第二标志点，将第二标志点的坐标位置调整为与所述第一标志点的坐标位置重合，以进行二者间的配准。Further preferably, the coordinate position of the tissue in the diagnostic image corresponding to the sagittal/transverse position is adjusted according to the coordinate position of the tissue in the sagittal/transverse position monitoring image, so that the coordinate positions of the two are coincident The specific steps to perform the registration between the two are: in the sagittal/transverseSelecting a specific position point in the tissue as a first marker point in the monitoring image of the bit, and then finding a point corresponding to the first marker point as a second marker point in the diagnostic image of the sagittal/transverse position And adjusting a coordinate position of the second marker point to coincide with a coordinate position of the first marker point to perform registration between the two.

本发明还提供一种图像监控方法，包括如下步骤：The invention also provides an image monitoring method, comprising the following steps:

1)获取或构建上述的三维模型；1) acquiring or constructing the above three-dimensional model;

2)根据病患治疗时实时获取的监控区域内组织的监控影像在所述三维模型中获取与所述监控影像中组织的特征信息一致的诊断影像，该诊断影像即为二维切割图像，将该二维切割图像作为用于指导治疗的导航图像。2) acquiring, according to the monitoring image of the tissue in the monitoring area acquired in real time during the treatment of the patient, the diagnostic image in the three-dimensional model that is consistent with the characteristic information of the tissue in the monitoring image, the diagnostic image is a two-dimensional cutting image, The two-dimensional cut image serves as a navigation image for guiding treatment.

优选的是，在步骤2)之后还包括有：Preferably, after step 2), there are further included:

3)将所述监控影像与所述二维切割图像融合在一起，形成二维融合图像，将该二维融合图像作为用于指导治疗的导航图像。3) merging the monitoring image with the two-dimensional cut image to form a two-dimensional fused image, and using the two-dimensional fused image as a navigation image for guiding treatment.

本发明还提供一种三维模型构建装置，包括第一获取单元、第二获取单元、配准单元和三维构建单元，其中：The invention also provides a three-dimensional model construction device, comprising a first acquisition unit, a second acquisition unit, a registration unit and a three-dimensional construction unit, wherein:

第一获取单元，用于实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，并将所述监控影像输出至配准单元；a first acquiring unit, configured to acquire, in real time, a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and outputting the monitoring image to the registration unit;

第二获取单元，用于从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像，并将所述诊断影像输出至配准单元；a second acquiring unit, configured to acquire, from the anatomical model of the patient, a diagnostic image similar to the feature information of the tissue in the monitoring image, the diagnostic image is a two-dimensional ultrasound/MR/CT image, and the diagnostic image is Output to the registration unit;

配准单元，用于将所述监控影像与所述诊断影像进行配准，以得到二维配准图像，并将所述得到的二维配准图像输出至三维构建单元；a registration unit, configured to register the monitoring image with the diagnostic image to obtain a two-dimensional registration image, and output the obtained two-dimensional registration image to a three-dimensional construction unit;

三维构建单元，用于根据所述二维配准图像构建出三维模型。And a three-dimensional building unit, configured to construct a three-dimensional model according to the two-dimensional registration image.

优选的是，所述第二获取单元包括输入单元、分离单元和处理单元，其中：Preferably, the second obtaining unit comprises an input unit, a separating unit and a processing unit, wherein:

输入单元，用于接收用户在建立所述解剖模型的图像中选取的与病患治疗时监控区域内组织对应的组织区域范围，并将之输出至分离单元；The input unit is configured to receive a range of the tissue region selected by the user in the image of the anatomical model and corresponding to the tissue in the monitoring area during the treatment of the patient, and output the same to the separation unit;

分离单元，用于根据所述组织区域范围从所述解剖模型中分离出与所述组织区域范围中的组织对应的组织三维模型，再将所述组织三维模型输出至处理单元；a separating unit, configured to separate a three-dimensional tissue model corresponding to the tissue in the tissue region range from the anatomical model according to the tissue region range, and output the tissue three-dimensional model to the processing unit;

处理单元，用于对所述组织三维模型进行切割以获取与所述监控影像中组织特征信息相似的诊断影像。And a processing unit, configured to cut the tissue three-dimensional model to obtain a diagnostic image similar to the tissue feature information in the monitoring image.

进一步优选的是，所述分离单元包括组织边界勾画模块、三维表面模型挖取模块、三维纹理模型提取模块、以及组织三维模型重建模块，其中：Further preferably, the separation unit comprises a tissue boundary delineation module, a three-dimensional surface model excavation module, a three-dimensional texture model extraction module, and a tissue three-dimensional model reconstruction module, wherein:

组织边界勾画模块，用于接收输入单元输出的组织区域范围，并根据所述组织区域范围在建立所述解剖模型的图像中勾画出所述组织区域范围中组织的组织边界；a tissue boundary delineation module, configured to receive a range of tissue regions output by the input unit, and outline an organization boundary of the organization region in the image of the anatomical model according to the tissue region range;

三维表面模型挖取模块，用于挖取出所述勾画范围内的图像信息，以得到组织的三维表面模型，再将所述三维表面模型输出至组织三维模型重建模块；a three-dimensional surface model excavation module, configured to excavate image information in the sketched range to obtain a three-dimensional surface model of the tissue, and then output the three-dimensional surface model to the tissue three-dimensional model reconstruction module;

三维纹理模型提取模块，用于提取出所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型，再将所述三维纹理模型输出至组织三维模型重建模块；a three-dimensional texture model extraction module, configured to extract tissue texture information within the sketched range to obtain a three-dimensional texture model of the tissue, and then output the three-dimensional texture model to a tissue three-dimensional model reconstruction module;

组织三维模型重建模块，用于将所述三维表面模型和三维纹理模型组合在一起，从而形成组织的组织三维模型，并将所述组织三维模型输出至处理单元。And a three-dimensional model reconstruction module is configured to combine the three-dimensional surface model and the three-dimensional texture model to form a tissue three-dimensional model of the tissue, and output the tissue three-dimensional model to the processing unit.

本发明还提供一种图像监控装置，包括第三获取单元、第四获取单元和显示单元，其中：The present invention also provides an image monitoring apparatus, including a third obtaining unit, a fourth obtaining unit, and a display unit, wherein:

第三获取单元，用于实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，并将所述监控影像输出至第四获取单元；a third acquiring unit, configured to acquire, in real time, a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and outputting the monitoring image to the fourth acquiring unit;

第四获取单元，用于从所述的三维模型构建装置中获取与所述监控影像中组织的特征信息一致的诊断影像，将所述诊断影像作为二维切割图像并输出至显示单元；a fourth acquiring unit, configured to acquire a diagnostic image that is consistent with the feature information organized in the monitoring image from the three-dimensional model building device, and output the diagnostic image as a two-dimensional cut image to the display unit;

显示单元，用于显示接收到的所述二维切割图像。And a display unit, configured to display the received two-dimensional cut image.

优选的是，该图像监控装置还包括有融合单元，其中：Preferably, the image monitoring device further comprises a fusion unit, wherein:

所述第三获取单元还用于将获取的所述监控影像输出至所述融合单元，所述第四获取单元还用于将获取的二维切割图像输出至所述融合单元；The third acquiring unit is further configured to output the acquired monitoring image to the fusion unit, and the fourth acquiring unit is further configured to output the acquired two-dimensional cut image to the fusion unit;

融合单元，用于将所述监控影像与所述二维切割图像融合以构成二维融合图像，并将所述二维融合图像输出至显示单元；a fusion unit, configured to fuse the monitoring image with the two-dimensional cut image to form a two-dimensional fused image, and output the two-dimensional fused image to a display unit;

所述显示单元还用于显示接收到的所述二维融合图像。The display unit is further configured to display the received two-dimensional fused image.

本发明在进行HIFU治疗和针类微创治疗时通过为每个病人建立一个准确的三维模型，所述三维模型中组织的组织位置关系能够与病人治疗时达到精确的配准，同时能显示清晰的组织边界和组织纹理信息，从而可以辅助医生进行超声定位和监控。The present invention establishes an accurate three-dimensional model for each patient during HIFU treatment and minimally invasive treatment of needles, wherein the tissue positional relationship of the tissue in the three-dimensional model can be treated with the patientAccurate registration and clear tissue borders and tissue texture information can be used to assist physicians in ultrasound positioning and monitoring.

本发明方法增加了多种自动和半自动的组织提取算法，在每一层的MR/CT图像上将感兴趣的组织通过自动和半自动的算法勾画出来，分别进行三维重构就得到了所有组织的组织三维模型，并可实现组织三维模型的单独移动和旋转控制，根据病人实时的超声监控组织边界信息，可将不同组织放置在准确的三维空间位置中，并准确控制其与相邻组织的位置关系。The method of the invention adds a plurality of automatic and semi-automatic tissue extraction algorithms, and the organizations of interest are delineated by automatic and semi-automatic algorithms on the MR/CT images of each layer, respectively, and three-dimensional reconstruction is performed to obtain all the organizations. Organize the 3D model and realize the individual movement and rotation control of the 3D model. According to the patient's real-time ultrasound monitoring of the tissue boundary information, different tissues can be placed in the accurate 3D spatial position and the position of the adjacent tissue can be accurately controlled. relationship.

本发明图像监控方法是一种对医学图像三维可视化的改善方法，以及三维导航模型准确性的提高方法，该方法特别适用于在MR/CT引导超声监控HIFU无创治疗和针类微创治疗中，对于目前医学图像中存在的MR/CT三维解剖模型的组织位置关系与病人治疗时体内组织位置不一致的情况，以及涉及组织特性相似部位(例如腹部子宫和前列腺等组织位置)的MR/CT三维解剖模型的组织边界不清晰的问题，本发明均能很好的解决。The image monitoring method of the invention is an improved method for three-dimensional visualization of medical images and an improved method for improving the accuracy of the three-dimensional navigation model, and the method is particularly suitable for use in MR/CT guided ultrasound monitoring HIFU non-invasive treatment and needle minimally invasive treatment. MR/CT three-dimensional anatomy of the MR/CT three-dimensional anatomical model in the current medical image, the inconsistency of the tissue position in the patient's treatment, and the tissue-like position (such as the abdominal uterus and prostate) The invention is well solved by the problem that the organizational boundary of the model is not clear.

本发明的有效效果具体如下：The effective effects of the present invention are specifically as follows:

1.本发明所构建的三维模型是根据病患组织纹理清晰的医学图像(包括超声、MR、CT图像等)建立的，因此该三维模型中各组织边界明显并具有清晰的组织纹理信息，可准确导航超声监控的HIFU治疗和针类微创治疗，因而能够解决现有的超声/MR/CT导航超声监控的HIFU治疗和针类微创治疗中三维模型准确性不够的问题；1. The three-dimensional model constructed by the invention is established according to a medical image with clear texture of the patient's tissue (including ultrasound, MR, CT image, etc.), so that the boundaries of each tissue in the three-dimensional model are clear and have clear tissue texture information. Accurate navigation of ultrasound-monitored HIFU treatment and needle-based minimally invasive treatment, thus solving the problem of insufficient accuracy of the existing three-dimensional model of HIFU treatment and needle minimally invasive treatment for ultrasound/MR/CT navigation ultrasound monitoring;

2.所构建的三维模型中各个组织之间的位置可调，在治疗中通过调整各组织间的位置关系，直至与治疗时一致的组织位置关系，最终实现准确的三维模型导航超声监控；2. The position between the tissues in the constructed three-dimensional model is adjustable, and the positional relationship between the tissues is adjusted during treatment until the tissue positional relationship is consistent with the treatment, and finally accurate three-dimensional model navigation ultrasound monitoring is realized;

3.本发明所构建的三维模型可与病患治疗时的监控影像实现较高的配准，从而能够提高三维模型导航的准确性和安全性；3. The three-dimensional model constructed by the invention can achieve higher registration with the monitoring image of the patient during treatment, thereby improving the accuracy and safety of the three-dimensional model navigation;

4.能够解决MR/CT三维模型中因组织边界不明显(例如子宫肌瘤等组织特性差异较小的部位)而无法对组织进行自动分割的问题，同时能够提供病患完整的特异性组织信息；4. It can solve the problem that the MR/CT three-dimensional model cannot be automatically segmented due to the inconspicuous tissue boundary (such as the difference in tissue characteristics such as uterine fibroids), and can provide complete and specific tissue information of the patient. ;

5.本发明可以只勾画一个感兴趣组织，三维重建出具有纹理信息的组织模型，再通过移动和旋转调整整个组织模型与病人治疗时组织在体内的位置相一致，实现单一组织模型引导超声定位、监控；本发明也可同时勾画多个感兴趣组织，并分别重建出具有纹理信息的组织模型，再根据治疗时病人的超声监控图像来调整每个组织模型的空间位置关系，最终与病人治疗时组织在体内的位置相一致，实现多组织模型引导超声定位、监控，避免治疗时并发症的发生。5. The invention can only delineate an organization of interest, reconstruct a tissue model with texture information in three dimensions, and then adjust the whole tissue model by moving and rotating to coincide with the position of the tissue in the patient during treatment, thereby realizing single tissue model guided ultrasound positioning. And monitoring; the invention can also draw a plurality of organizations of interest at the same time, and respectively reconstruct an organization model with texture information, and then according to the treatmentThe ultrasound monitoring image of the patient during the treatment adjusts the spatial positional relationship of each tissue model, and finally coincides with the position of the tissue in the body during the treatment of the patient, and realizes the multi-tissue model to guide the ultrasound positioning and monitoring, and avoid complications during treatment.

可见，本发明在MR/CT三维引导超声定位、监控的临床应用中，针对MR/CT图像上的组织与治疗时超声监控时发生了不可忽视的位置变化的情况，本发明能够实现与实时超声图像上的各个组织之间的配准，从而准确引导超声监控和治疗。It can be seen that, in the clinical application of MR/CT three-dimensional guided ultrasound positioning and monitoring, the present invention can realize real-time ultrasound with respect to the situation that the position on the MR/CT image and the ultrasound monitoring during the treatment are not negligible. Registration between the various tissues on the image to accurately guide ultrasound monitoring and treatment.

附图说明DRAWINGS

图1是本发明图像监控方法的流程图；1 is a flow chart of an image monitoring method of the present invention;

图2是本发明实施例2中对图像进行半自动组织分割的流程图；2 is a flow chart showing semi-automatic tissue segmentation of an image inEmbodiment 2 of the present invention;

图3是本发明实施例2中对图像进行半自动组织分割时的分割效果示例图；3 is a view showing an example of a division effect when semi-automatic tissue segmentation is performed on an image inEmbodiment 2 of the present invention;

图4是本发明实施例2中进行配准的流程图；4 is a flow chart of performing registration inEmbodiment 2 of the present invention;

图5是本发明实施例2中对组织进行横断位、矢状位配准的示例图；Figure 5 is a view showing an example of performing transverse and sagittal registration of tissue in the second embodiment of the present invention;

图6是本发明实施例2中配准后子宫的三维模型的视图；Figure 6 is a view showing a three-dimensional model of the uterus after registration inEmbodiment 2 of the present invention;

图7是本发明实施例3中形成二维融合图像的流程图。Fig. 7 is a flow chart showing the formation of a two-dimensional fused image in the third embodiment of the present invention.

具体实施方式detailed description

为使本领域技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明作进一步详细描述。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

本发明的原理如下：为了提高现有的导航用的三维模型(即解剖模型)的精度，使每个感兴趣组织(例如子宫、内膜和肌瘤)实现配准，首先可从现有的导航用的三维模型中分割出所需的组织的组织三维模型，再通过移动和旋转微调每个组织的组织三维模型的位置和角度，使该组织的组织三维模型能够与治疗时病患体内实时的各组织的位置关系实现配准，同时由于各个组织三维模型中保留有组织本身的组织纹理信息，因此最终可建立得到准确的个性化的三维模型，将该三维模型作为治疗过程中导航用的三维模型。The principle of the present invention is as follows: in order to improve the accuracy of the existing three-dimensional model for navigation (ie, an anatomical model), registration of each tissue of interest (eg, uterus, intima, and fibroids) can be firstly obtained from existing ones. The three-dimensional model used for navigation divides the tissue 3D model of the desired tissue, and then fine-tunes the position and angle of the tissue 3D model of each tissue by moving and rotating, so that the tissue 3D model of the tissue can be treated in real time with the patient during treatment. The positional relationship of each organization is achieved, and since the tissue texture information of the organization itself is retained in the three-dimensional model of each organization, an accurate and personalized three-dimensional model can be finally established, and the three-dimensional model is used as a navigation process in the treatment process. 3D model.

实施例1：Example 1:

本实施例提供一种三维模型的构建方法，包括如下步骤：This embodiment provides a method for constructing a three-dimensional model, including the following steps:

步骤1：实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，以及从病患的三维解剖模型中获取与所述监控影像(二维超声图像)中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像；Step 1: Real-time acquisition of monitoring images of tissues in the monitoring area during patient treatment, the monitoring images being two-dimensional ultrasound images, and acquiring from the three-dimensional anatomical model of the patient and organizing the monitoring images (two-dimensional ultrasound images) a diagnostic image having similar feature information, the diagnostic image being a two-dimensional ultrasound/MR/CT image;

步骤2：将所述监控影像(二维超声图像)与用于构建三维模型的所述诊断影像(二维超声/MR/CT图像)进行配准，以得到二维配准图像；Step 2: registering the monitoring image (two-dimensional ultrasound image) with the diagnostic image (two-dimensional ultrasound/MR/CT image) for constructing a three-dimensional model to obtain a two-dimensional registration image;

步骤3：根据所述二维配准图像构建三维模型。Step 3: Construct a three-dimensional model according to the two-dimensional registration image.

其中，所述组织的特征信息相似主要是指组织的大小、边界形态、组织内血管的分布等信息相似。这种特征信息相似的确定具体可由具有影像专业知识的医生根据各种影像的组织特征作出。The similarity of the characteristic information of the tissue mainly refers to the similarity of the size of the tissue, the shape of the boundary, and the distribution of blood vessels in the tissue. The determination of such feature information similarity can be made by a doctor with imaging expertise based on the organizational characteristics of various images.

本发明中所述的监控影像均为二维超声影像,下文中所述相同，后面不再说明；本发明中所述的诊断影像可以是二维超声、MR、CT等图像，下文中所述相同，后面不再说明。The monitoring images described in the present invention are all two-dimensional ultrasonic images, which are the same as described below, and will not be described later; the diagnostic images described in the present invention may be two-dimensional ultrasound, MR, CT, etc., as described below. The same, will not be explained later.

在所述解剖模型中，由于各个组织之间具有清晰的组织边界和组织纹理信息，因此，通过上述方法所得到的三维模型中的各组织(包括腹部子宫、内膜、肌瘤范围边界以及前列腺等组织)的组织边界明显并具有清晰的组织纹理信息，且由于其与病患治疗时的实时体位相应，因此能够用它来准确导航超声监控的HIFU治疗和针类微创治疗。In the anatomical model, due to clear tissue boundaries and tissue texture information between the various tissues, each tissue in the three-dimensional model obtained by the above method (including abdominal uterus, intima, fibroid range boundary, and prostate) The tissue boundary of the tissue is obvious and has clear tissue texture information, and because it corresponds to the real-time position of the patient during treatment, it can be used to accurately navigate the ultrasound-monitored HIFU treatment and needle minimally invasive treatment.

实施例2：Example 2:

如图1所示，本实施例提供一种三维模型的构建方法，包括如下步骤：As shown in FIG. 1 , the embodiment provides a method for constructing a three-dimensional model, including the following steps:

步骤1：实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，以及从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像。Step 1: Real-time acquisition of a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and obtaining a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient The diagnostic image is a two-dimensional ultrasound/MR/CT image.

本实施例中，具体是通过超声探头来实时获取病患治疗时监控区域内组织的监控影像。In this embodiment, the monitoring image of the tissue in the monitoring area during the treatment of the patient is obtained in real time through the ultrasound probe.

其中，本实施例中所使用到的解剖模型是通过病人近期(比如治疗前的两三天)的诊断影像所建立的，因此，其与病患治疗时的组织病变信息基本一致，但由于病患体位发生了变化，因此各组织间的位置关系(例如子宫与膀胱的相对位置)发生了较大变化。The anatomical model used in the present embodiment is established by the patient's recent diagnostic image (such as two or three days before treatment), and therefore, it is basically consistent with the tissue lesion information during the treatment of the patient, but due to the disease The position of the patient has changed, so the positional relationship between the tissues (such as the relative position of the uterus and the bladder) has changed a lot.

具体地，在本步骤中，从病患的解剖模型中获取与所述监控影像(二维超声图像)中组织的特征信息相似的诊断影像的步骤包括：Specifically, in this step, the step of acquiring a diagnostic image similar to the feature information of the tissue in the monitoring image (two-dimensional ultrasound image) from the anatomical model of the patient includes:

步骤11：从所述解剖模型中分离出所述监控区域内组织的组织三维模型。Step 11: Separating a three-dimensional tissue model of tissue within the monitored area from the anatomical model.

具体地，本实施例中，步骤11包括：Specifically, in this embodiment, step 11 includes:

步骤111：在建立所述解剖模型的图像中勾画出所述监控区域内组织的组织边界。Step 111: Delineate the tissue boundary of the tissue in the monitoring area in the image of the anatomical model.

其中，用于建立所述解剖模型的图像可以为MR图像、CT图像、超声图像、超声造影图像、或超声多普勒图像。Wherein, the image used to establish the anatomical model may be an MR image, a CT image, an ultrasound image, an ultrasound contrast image, or an ultrasound Doppler image.

通过上述图像建立解剖模型的过程属于现有技术，此处不进行叙述。The process of creating an anatomical model from the above images is prior art and will not be described here.

优选的是，勾画的具体步骤可以是：先通过图像处理装置对建立所述解剖模型的图像中的组织进行自动分割，以初步勾画出所述组织的组织边界，再对所述初步勾画出的组织边界中勾画不准确的位置进行手动调整，经调整后得到的组织边界即为所述组织的组织边界。Preferably, the specific step of the delineating may be: automatically dividing the tissue in the image of the anatomical model by the image processing device to initially outline the tissue boundary of the tissue, and then extracting the preliminary outline. The inaccurate position in the organizational boundary is manually adjusted, and the adjusted tissue boundary is the organizational boundary of the organization.

在某些组织部位(例如腹部子宫位置)的诊断影像中，由于各个组织对应的超声/MR/CT值较接近，通过常用的三维重构方法无法直观的分辨出不同组织的组织边界(例如子宫、内膜以及肌瘤的组织边界)，需要通过结合手动分割方式来辅助勾画出不同组织(例如子宫和肌瘤)的组织边界范围，以便于后续能够重构出各个被勾画组织的准确的组织三维模型。In the diagnostic images of certain tissue sites (such as the position of the abdominal uterus), because the ultrasound/MR/CT values corresponding to each tissue are relatively close, the tissue boundaries of different tissues cannot be visually distinguished by common three-dimensional reconstruction methods (such as the uterus). , the inner membrane and the tissue boundary of the fibroids, it is necessary to combine the manual segmentation method to assist in delineating the tissue boundary range of different tissues (such as uterus and fibroids), so as to be able to reconstruct the accurate organization of each delineated tissue. 3D model.

也就是说，上述这种分割方式可以是一种半自动分割方式，所谓半自动分割是指自动分割和手动分割相结合的分割方式。That is to say, the above-mentioned segmentation method may be a semi-automatic segmentation method, and the so-called semi-automatic segmentation refers to a segmentation method in which automatic segmentation and manual segmentation are combined.

其中，如图2、3所示，对于建立所述解剖模型的图像中的每一层诊断影像，首先可以用鼠标选取出感兴趣组织(VOI-volume-of-interest，比如感兴趣组织可以是子宫、肌瘤和内膜)的矩形区域(如图3的a视图所示)，所述感兴趣组织应为病患治疗时监控区域内的组织；图像处理装置(组织分割装置)通过组织边界分割算法(比如Level Set分割算法，这是现有技术)自动识别(分割)出该组织的组织边界，为了缩短分割时间，在组织边界上会自动产生多个关键控制点以方便快速调整组织的组织边界(如图3的b视图所示)；为保证分割精度，对所述自动产生的组织边界中判断不准确的位置可以通过人工手动调整组织的组织边界(通过调整组织边界上的关键控制点的位置来实现)，这样只通过调整少量的关键控制点就可得到调整后组织的组织边界(如图3的c视图所示),整个组织边界可以利用这些关键控制点，采用B样条插值算法计算得到的。As shown in FIG. 2 and FIG. 3, for each layer of the diagnostic image in the image of the anatomical model, the mouse may first select the tissue of interest (VOI-volume-of-interest, such as the organization of interest may be Rectangular region of the uterus, fibroids, and intima) (as shown in the a view of Figure 3), the tissue of interest should be the tissue within the monitored area at the time of treatment of the patient; the image processing device (tissue segmentation device) passes through the tissue boundary Segmentation algorithms (such as the Level Set segmentation algorithm, which is prior art) automatically identify (segment) the tissue boundaries of the organization. In order to shorten the segmentation time, multiple key control points are automatically generated at the organization boundary to facilitate rapid adjustment of the organization. Organizational boundaries (as shown in the view of b in Figure 3); to ensure the accuracy of the segmentation, the position of the automatically generated tissue boundary can be adjusted manually by manually adjusting the tissue boundary of the organization (by adjusting the key control on the tissue boundary) Point position to achieve), so only by adjusting a small number of key control pointsThe tissue boundaries of the adjusted tissue can be obtained (as shown in the c view of Figure 3), and the entire tissue boundary can be calculated using the B-spline interpolation algorithm using these critical control points.

进行分割的流程和分割效果图具体可参见图3。其中，图3的a视图中的白色虚线矩形框的框选范围表示用户选取的感兴趣的组织区域范围，图3的b视图中的红色闭合曲线是图像处理装置通过组织边界分割算法自动分割出的组织的组织边界，图3的c视图中的红色闭合曲线是通过对b视图进行人工手动调整后的组织的组织边界。The flow of the segmentation and the segmentation effect diagram can be seen in FIG. Wherein, the frame selection range of the white dotted rectangular frame in the a view of FIG. 3 represents the range of the tissue region of interest selected by the user, and the red closed curve in the b view of FIG. 3 is automatically segmented by the image processing device by the tissue boundary segmentation algorithm. The tissue boundary of the tissue, the red closed curve in the c view of Figure 3, is the tissue boundary of the tissue after manual adjustment of the b view.

步骤112：挖取所述勾画范围内的图像信息，以得到组织的三维表面模型；以及提取所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型。Step 112: Digging image information in the sketched range to obtain a three-dimensional surface model of the tissue; and extracting tissue texture information within the sketched range to obtain a three-dimensional texture model of the tissue.

将每个层面上的感兴趣组织的组织的组织边界(即所述监控区域内组织的组织边界)准确勾画出来之后，再挖取出勾画范围内的MR/CT图像信息，并将所有MR/CT层面上勾画的组织边界在三维空间中通过Marching Cubes算法(这是现有技术)进行表面重建，得到三维组织表面，从而可将勾画范围内的MR/CT三维体重构出来，并可对得到的三维组织表面设置不同颜色和透明度，以便于识别，通过上述方式可以形成三维表面模型。After accurately delineating the organizational boundaries of the organization of the organization of interest at each level (ie, the organizational boundaries of the organization within the monitored area), the MR/CT image information within the outlined range is extracted and all MR/CT are extracted. The tissue boundary delineated on the level is reconstructed in the three-dimensional space by the Marching Cubes algorithm (this is a prior art) to obtain a three-dimensional tissue surface, so that the MR/CT three-dimensional body within the sketching range can be reconstructed and obtained. The three-dimensional tissue surface is provided with different colors and transparency for easy identification, and a three-dimensional surface model can be formed by the above method.

由于只勾画组织的组织边界并不能满足构建本发明中导航用的三维模型的需求，还需将每层图像上勾画范围内的组织纹理信息提取出来。因此，同时还需将所有MR/CT层面上勾画的组织边界范围内的组织纹理信息通过光线投射(ray-casting，这是现有技术)算法实现体素重建，以得到三维纹理模型。Since only the organization boundary of the organization is not satisfied with the requirement of constructing the three-dimensional model for navigation in the present invention, the texture information of the tissue within the outline of each layer of the image needs to be extracted. Therefore, it is also necessary to reconstruct the tissue texture information in the tissue boundary range delineated on all MR/CT layers by ray-casting (this is a prior art) algorithm to obtain a three-dimensional texture model.

步骤113：将所述三维表面模型和三维纹理模型组合在一起，即形成所述组织的组织三维模型。Step 113: Combine the three-dimensional surface model and the three-dimensional texture model, that is, form a three-dimensional model of the tissue.

由于监控区域内的组织可以为一个或多个，如果监控区域内的组织为多个，可以将多个组织的组织三维模型各自分离出来后，再分别配准各个组织三维模型的位置关系，待配准好之后，再将这几个组织三维模型组合成为一个大的组织三维模型。当然，也可先不分离和进行重新组合，而是将所述多个组织视为一个大组织，并构建该大组织的三维模型，在后续的配准步骤中将监控影像与所述大组织三维模型中的各个小的组织三维模型的诊断影像分别进行配准即可。Since the organization in the monitoring area can be one or more, if there are multiple organizations in the monitoring area, the three-dimensional models of the organizations can be separated, and then the positional relationship of the three-dimensional models of each organization is respectively registered. After the registration is completed, the three-dimensional models of the organizations are combined into a large three-dimensional model of the organization. Of course, instead of separating and recombining, the plurality of tissues are regarded as one large organization, and a three-dimensional model of the large organization is constructed, and the monitoring image and the large organization are monitored in a subsequent registration step. The diagnostic images of the small tissue three-dimensional models in the three-dimensional model are respectively registered.

步骤12：从所述组织三维模型中获取与所述监控影像中组织的特征信息相似的诊断影像。Step 12: Obtain a feature letter organized from the monitoring image from the three-dimensional model of the organizationDiagnostic images with similar information.

优选地，步骤12包括：通过超声监控设备生成的模拟的超声扫描面对所述组织三维模型进行切割；根据所述模拟的超声扫描面所处位置和角度手动调整所述组织三维模型，以从组织三维模型中获取与所述监控影像中组织的特征信息相似的诊断影像。Preferably, step 12 includes: performing a cutting on the three-dimensional model of the tissue by a simulated ultrasound scan generated by the ultrasound monitoring device; manually adjusting the three-dimensional model of the tissue according to the position and angle of the simulated ultrasound scanning surface to A diagnostic image similar to the feature information organized in the monitored image is acquired in the tissue three-dimensional model.

在步骤12中，用模拟的超声扫描面(根据超声监控设备的扫描位置和扫描范围生成，如图6中示出的用于切割组织的红色平面即为模拟的超声扫描面，简称超声扫描面)来切割组织三维模型以获取与所述监控影像中组织的特征信息相似的诊断影像。In step 12, using a simulated ultrasound scanning surface (generated according to the scanning position and scanning range of the ultrasound monitoring apparatus, the red plane for cutting tissue as shown in FIG. 6 is a simulated ultrasound scanning surface, referred to as an ultrasound scanning surface. And cutting the tissue three-dimensional model to obtain a diagnostic image similar to the feature information of the tissue in the surveillance image.

具体地，是根据所述监控影像来估计所述超声扫描面在所述组织三维模型内的扫描位置，再将所述超声扫描面调整到所述组织三维模型的对应层面位置，也就是说，通过所述超声扫描面对所述组织三维模型进行切割以获得对应的诊断影像，具体是根据所述监控影像通过手动调整所述超声扫描面的位置和角度，从而可获得与所述监控影像中组织的特征信息相似的诊断影像。Specifically, the scanning position of the ultrasonic scanning surface in the three-dimensional model of the tissue is estimated according to the monitoring image, and the ultrasonic scanning surface is adjusted to a corresponding level position of the three-dimensional model of the tissue, that is, Cutting the three-dimensional model of the tissue by the ultrasonic scanning to obtain a corresponding diagnostic image, in particular, manually adjusting the position and angle of the ultrasonic scanning surface according to the monitoring image, thereby obtaining and monitoring the image Diagnostic images with similar feature information of the organization.

优选地，本实施例的步骤1)中，获取病患治疗时监控区域内组织的监控影像具体是获取病患治疗时监控区域内组织的矢状位的监控影像和横断位的监控影像，相应地，从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像具体是从病患的解剖模型中获取与所述矢状位的监控影像中组织的特征信息相似的矢状位的诊断影像和获取与所述横断位的监控影像中组织的特征信息相似的横断位的诊断影像。Preferably, in step 1) of the embodiment, obtaining the monitoring image of the tissue in the monitoring area during the treatment of the patient is specifically acquiring the monitoring image of the sagittal position of the tissue in the monitoring area of the patient during treatment, and the monitoring image of the transverse position. Obtaining, from the anatomical model of the patient, the diagnostic image similar to the characteristic information of the tissue in the monitoring image is obtained from the anatomical model of the patient and is similar to the characteristic information of the tissue in the sagittal monitoring image. A diagnostic image of the sagittal position and a diagnostic image of the transverse position similar to the characteristic information of the tissue in the surveillance image of the transverse position.

步骤2：将所述监控影像与所述诊断影像进行配准，建立配准关系,以得到二维配准图像。Step 2: register the monitoring image with the diagnostic image to establish a registration relationship to obtain a two-dimensional registration image.

如图4所示，优选地，本实施例中，将所述监控影像与所述诊断影像进行配准以得到二维配准图像的步骤是：将所述监控影像与所述诊断影像分别对应的人体空间位置调整为一致，然后根据所述矢状位的监控影像中人体组织的空间位置来调整其所对应的矢状位的诊断影像中人体组织的空间位置，通过平移和旋转使二者中人体组织的空间位置基本重合一致以进行二者间的配准，并最终得到矢状位的二维配准图像；和根据所述横断位的监控影像中组织的空间位置来调整其所对应的横断位的诊断影像中组织的空间位置，通过平移和旋转使二者的坐标位置基本重合一致以进行二者间的配准,建立起配准关系，并最终得到横断位的二维配准图像。所述矢状位的二维配准图像和横断位的二维配准图像即构成所述二维配准图像。As shown in FIG. 4, in the embodiment, the step of registering the monitoring image with the diagnostic image to obtain a two-dimensional registration image is: respectively: correspondingly matching the monitoring image with the diagnostic image The spatial position of the human body is adjusted to be uniform, and then the spatial position of the human tissue in the corresponding sagittal diagnostic image is adjusted according to the spatial position of the human tissue in the sagittal surveillance image, and both are translated and rotated. The spatial positions of the human tissues are substantially coincident to achieve registration between the two, and finally obtain a two-dimensional registration image of the sagittal position; and adjust the corresponding position according to the spatial position of the tissue in the monitoring image of the transverse position The spatial position of the tissue in the diagnostic image of the transverse position, the coordinate positions of the two are substantially coincident by translation and rotation to perform bothThe registration between the two sets up a registration relationship and finally obtains a two-dimensional registration image of the transverse position. The two-dimensional registration image of the sagittal position and the two-dimensional registration image of the transverse position constitute the two-dimensional registration image.

可重复变换超声扫描面的扫描位置(例如在病患的矢状位和横断位之间进行重复变换)，以实现不同扫描方向的所述监控影像和所述诊断影像的配准，以得到所述二维配准图像。The scanning position of the ultrasound scanning surface can be repeatedly changed (for example, repeated transformation between the sagittal and transverse positions of the patient) to achieve registration of the monitoring image and the diagnostic image in different scanning directions to obtain A two-dimensional registration image.

其中，通过超声探头进行矢状位的检测，可以得到治疗时病人实时的矢状位的监控影像，同时根据组织三维模型可以得到相应的矢状位的诊断影像，然后将两者进行配准，即将矢状位的监控影像与矢状位的诊断影像进行配准；同样，通过超声探头进行横断位的检测，可以得到治疗时病人实时的横断位的监控影像，同时根据组织三维模型可以得到相应的横断位的诊断影像，然后将两者进行配准，即将横断位的监控影像与横断位的诊断影像进行配准，最终可以得到配准的三维模型。Among them, the sagittal detection by the ultrasonic probe can obtain the real-time sagittal surveillance image of the patient during the treatment, and the corresponding sagittal diagnostic image can be obtained according to the tissue three-dimensional model, and then the two are registered. The sagittal surveillance image is registered with the sagittal diagnostic image; similarly, the ultrasonic probe can be used to detect the cross-sectional position of the patient, and the real-time cross-sectional monitoring image of the patient can be obtained, and the corresponding three-dimensional model can be obtained accordingly. The diagnostic image of the transverse position is then registered, that is, the monitoring image of the transverse position is registered with the diagnostic image of the transverse position, and finally the registered three-dimensional model can be obtained.

也就是说，本实施例中，是根据步骤11中从解剖模型中分离出的组织三维模型和步骤2中建立的所述配准关系,得到分离组织的二维配准图像。That is to say, in the present embodiment, the two-dimensional registration image of the separated tissue is obtained according to the three-dimensional tissue model separated from the anatomical model in step 11 and the registration relationship established instep 2.

具体来说，如图5所示，该图中显示的需要配准的监控区域内的组织为子宫。首先将超声探头中生成的超声扫描面定位到病患的矢状位以实时获取病患治疗时子宫矢状位的监控影像(如图5的c视图所示),同时获取子宫矢状位的监控影像的空间位置，根据监控影像及空间位置生成用于切割组织三维模型的模拟的矢状位的超声扫描面，用模拟的矢状位的超声扫描面去切割从解剖模型中挖取出的子宫的组织三维模型,得到切割出的矢状位的诊断影像(如图5的d视图所示)后，再根据图5的c视图中病患实时的子宫矢状位的监控影像中子宫的组织特征信息(比如子宫的大小范围)，手动调整(当然也可以由相应设备进行自动调整)图5的d视图中子宫矢状位的诊断影像，即调整三维组织层面以及层面内的组织偏转角度；待矢状位的图像调整之后，再将超声探头定位到病患的横断位以实时获取病患治疗时子宫横断位的监控影像(如图5的a视图所示)及其空间位置，进而得到模拟的横断位的超声扫描面,同样用模拟的横断位的超声扫描面去切割从解剖模型中挖取出的子宫的组织三维模型，得到横断位的诊断影像(如图5的b视图所示)后，再根据图5的a视图中病患实时的子宫横断位的监控影像中子宫的组织特征信息，手动调整(当然也可以由相应设备进行自动调整)图5的b视图中子宫横断位的诊断影像，即调整三维组织层面以及层面内的组织偏转角度。如此反复进行调整，就这样，通过多次在病患的矢状位和横断位上进行图像的配准，最终可实现从解剖模型中挖取出的组织三维模型的空间关系与病患治疗时实时的体内组织位置关系相一致，在配准之后将整个配准关系锁定，即得到配准后的二维配准图像(如果病人体位保持不变就不需再次进行调整)，从而实现三维配准。Specifically, as shown in FIG. 5, the tissue in the monitoring area to be registered shown in the figure is the uterus. First, the ultrasound scanning surface generated in the ultrasound probe is positioned in the sagittal position of the patient to obtain real-time monitoring images of the sagittal position of the patient during treatment (as shown in the c view of Fig. 5), and at the same time, the sagittal position of the uterus is obtained. The spatial position of the image is monitored, and a simulated sagittal ultrasound scanning surface for cutting the three-dimensional tissue model is generated according to the monitoring image and the spatial position, and the simulated sagittal ultrasound scanning surface is used to cut the uterus excavated from the anatomical model. The tissue three-dimensional model, after obtaining the cut sagittal diagnostic image (as shown in the d view of Fig. 5), and then according to the c-view of Fig. 5, the real-time uterine sagittal surveillance image of the patient's uterus tissue Characteristic information (such as the size range of the uterus), manual adjustment (of course, can also be automatically adjusted by the corresponding device) Diagnostic image of the uterus sagittal position in the d view of Fig. 5, that is, adjusting the three-dimensional tissue level and the tissue deflection angle in the layer; After the image of the sagittal position is adjusted, the ultrasound probe is positioned to the transverse position of the patient to obtain real-time monitoring images of the uterine transverse position during the treatment of the patient (as shown in the view of Fig. 5) and its space. Position, and then obtain the simulated transverse scan of the transverse position, and also use the simulated transverse scan of the transverse position to cut the three-dimensional model of the uterus excavated from the anatomical model to obtain a diagnostic image of the transverse position (see Figure 5b) After the view is shown, according to the view of the uterus in the a-view of the patient in the view of the patient's real-time uterus cross-sectional position, the uterus tissue characteristics information is manually adjusted (of course, it can also be set accordingly)Automated adjustment) The diagnostic image of the uterine transverse position in the b view of Fig. 5 is to adjust the three-dimensional tissue level and the angle of tissue deflection in the layer. By repeating the adjustments in this way, the spatial relationship between the three-dimensional model of the tissue excavated from the anatomical model and the real-time treatment of the patient can be realized by performing image registration on the sagittal and transverse positions of the patient multiple times. The positional relationship of the internal tissues is consistent, and the entire registration relationship is locked after registration, that is, the two-dimensional registration image after registration is obtained (if the patient's body position remains unchanged, no adjustment is needed), thereby realizing three-dimensional registration. .

优选的是，在进行配准时，可以在所述矢状位/横断位的监控影像中选出组织中的一些特定位置点作为第一标志点P1(x，y，z)，然后在所述矢状位/横断位的诊断影像中找到与所述第一标志点对应的点作为第二标志点P2(x，y，z)，此时，P1和P2很可能不是同一坐标点，然后计算出两点间的偏移量，dx＝P2.x-P1.x,dy＝P2.y-P1.y,dz＝P2.z-P1.z,根据xyz三个方向的偏移量dx、dy、dz，通过调整和移动诊断影像的空间位置，让P2与P1两点在空间位置上重合，最终让两者所表示的组织重合，以进行二者间的配准。Preferably, when the registration is performed, some specific position points in the tissue may be selected as the first landmark point P1(x, y, z) in the monitoring image of the sagittal/transverse position, and then The point corresponding to the first marker point is found in the diagnostic image of the sagittal/transverse position as the second marker point P2(x, y, z). At this time, P1 and P2 are probably not the same coordinate point, and then calculated. The offset between two points, dx=P2.x-P1.x, dy=P2.y-P1.y, dz=P2.z-P1.z, according to the offset dx of the three directions of xyz, Dy, dz, by adjusting and moving the spatial position of the diagnostic image, let the two points of P2 and P1 coincide in the spatial position, and finally let the organizations represented by the two coincide, in order to register between the two.

例如可在腹部子宫的监控影像中选择子宫颈、内膜长端两点分别作为第一标志点P1(20,30,10)，然后在诊断影像中分别找到子宫颈、内膜长端两点作为第二标志点P2(30,10,40)，计算偏移量得到dx＝30-20＝10,dy＝10-30＝-20,dz＝40-10＝30，根据这三个偏移量将诊断影像的空间位置分别在xyz三方向移动10,-20,30,就可使得子宫的监控影像与诊断影像中的宫颈、内膜长端在空间位置上重合,进而得到与子宫的监控影像配准后的二维的诊断影像，从而可以实现二者间的配准，这样病患的解剖模型中的子宫组织就与病患实时治疗时的子宫组织实现了配准。For example, the cervix and the long end of the intima can be selected as the first marker point P1 (20, 30, 10) in the surveillance image of the abdominal uterus, and then the cervix and the long end of the intima are respectively found in the diagnostic image. As the second marker point P2 (30, 10, 40), the offset is calculated to obtain dx=30-20=10, dy=10-30=-20, dz=40-10=30, according to the three offsets The amount of the diagnostic image is moved in the xyz three directions by 10, -20, 30 respectively, so that the monitoring image of the uterus and the long end of the cervix and endometrium in the diagnostic image overlap in the spatial position, thereby obtaining the monitoring of the uterus. The two-dimensional diagnostic image after image registration can achieve the registration between the two, so that the uterus tissue in the patient's anatomical model is registered with the uterus tissue during the real-time treatment of the patient.

本实施例中，是根据所得到的矢状位的二维配准图像和横断位的二维配准图像重构出配准后的三维模型。In this embodiment, the registered three-dimensional model is reconstructed according to the obtained two-dimensional registration image of the sagittal position and the two-dimensional registration image of the transverse position.

先分别将多个层面的分离组织的二维配准图像和组织边界进行三维重建,得到所述分离组织的三维表面模型和三维纹理模型，根据三维表面模型和三维纹理模型可最终得到配准后的三维模型。在此基础上,根据监控区域内组织实时的监控影像的空间位置，得到模拟的超声扫描面，利用该超声扫描面对三维表面模型和三维体模型进行切割，即可得到病患的子宫位置的实时诊断影像。Firstly, the two-dimensional registration image and the tissue boundary of the separated tissue of the multiple layers are three-dimensionally reconstructed, and the three-dimensional surface model and the three-dimensional texture model of the separated tissue are obtained, and the three-dimensional surface model and the three-dimensional texture model can be finally obtained after registration. 3D model. On this basis, according to the spatial position of the real-time monitoring image in the monitoring area, a simulated ultrasonic scanning surface is obtained, and the three-dimensional surface model and the three-dimensional body model are cut by the ultrasonic scanning, and the uterus position of the patient can be obtained. Diagnose images in real time.

图6的a视图是配准后完整子宫的三维模型的视图,此时只能看到三维表面模型,图6的b视图是配准后沿模拟的超声扫描面切割开的子宫的三维模型的视图,此时能看到三维模型被切开后的组织影像。The view a of Figure 6 is a view of the three-dimensional model of the intact uterus after registration, at which point only the three-dimensional surface model can be seen, and the b-view of Figure 6 is a three-dimensional model of the uterus that is cut along the simulated ultrasound scan surface after registration. View, at this point you can see the tissue image after the 3D model is cut.

通过变换超声扫描面的位置就可在所述子宫的三维模型上的各个位置切割出准确的二维切割图像，以作为治疗中的导航用的监控图像。By changing the position of the ultrasound scanning surface, an accurate two-dimensional cut image can be cut at various positions on the three-dimensional model of the uterus as a monitoring image for navigation during treatment.

由于本实施例中得到的三维模型与病人治疗时的组织具有准确的配准关系，从而可以有效辅助超声监控，提高治疗的安全性。Since the three-dimensional model obtained in the embodiment has an accurate registration relationship with the tissue at the time of treatment of the patient, the ultrasound monitoring can be effectively assisted, and the safety of the treatment is improved.

实施例3：Example 3:

本实施例提供一种图像监控方法，包括如下步骤：This embodiment provides an image monitoring method, including the following steps:

步骤1：获取或构建实施例2中得到的所述三维模型；Step 1: Obtain or construct the three-dimensional model obtained inEmbodiment 2;

步骤2：根据病患治疗时实时获取的监控区域内组织的监控影像在所述三维模型中获取与所述监控影像中组织的特征信息一致的诊断影像，该诊断影像即为二维切割图像，将该二维切割图像作为用于指导治疗的导航图像。Step 2: Obtain a diagnostic image in the three-dimensional model that is consistent with the characteristic information of the tissue in the monitoring image according to the monitoring image of the tissue in the monitoring area acquired in real time during the treatment of the patient, and the diagnostic image is a two-dimensional cutting image. The two-dimensional cut image is used as a navigation image for guiding treatment.

所述二维切割图像具体是根据所述监控影像在所述三维模型中沿着虚拟的超声扫描层面切割出组织纹理信息，以在特定的窗口中显示出的二维切割图像。The two-dimensional cut image is specifically configured to cut tissue texture information along the virtual ultrasonic scan layer in the three-dimensional model according to the monitoring image to display a two-dimensional cut image in a specific window.

优选的是，该图像监控方法还可包括以下的步骤3。Preferably, the image monitoring method may further include the following step 3.

步骤3：将所述监控影像与所述二维切割图像融合在一起，形成二维融合图像，将该二维融合图像作为用于指导治疗的导航图像。Step 3: Fusing the monitoring image with the two-dimensional cut image to form a two-dimensional fused image, and using the two-dimensional fused image as a navigation image for guiding treatment.

通过将得到的清晰的二维切割图像与病患实时的监控影像进行融合，可以增强超声图像的纹理信息。The texture information of the ultrasound image can be enhanced by fusing the obtained clear two-dimensional cut image with the patient's real-time monitoring image.

将所述监控影像与所述二维切割图像融合在一起的步骤如图7所示，二维融合图像具体可从三维模型中得到的MR/CT切割图像按照两种方式进行融合，即伪色融合和灰度融合。通过进行伪色融合，可将不同模态的图像设置成不同的颜色；通过进行灰度融合，可将不同模态的图像设置为不同的灰度融合比例，这样有利于进一步准确判断B超扫描层面的组织特征以及定位病变组织治疗范围。The step of merging the monitoring image with the two-dimensional cutting image is as shown in FIG. 7. The two-dimensional fused image can be fused by the MR/CT cutting image obtained from the three-dimensional model in two ways, that is, the pseudo color. Fusion and grayscale fusion. By performing false color fusion, images of different modalities can be set to different colors; by performing gradation fusion, images of different modalities can be set to different gradation fusion ratios, which is advantageous for further accurate determination of B-scanning The organizational characteristics of the level and the scope of treatment of the diseased tissue.

实施例4：Example 4:

本实施例提供一种三维模型构建装置，包括第一获取单元、第二获取单元、配准单元和三维构建单元，其中：The embodiment provides a three-dimensional model construction device, which includes a first acquisition unit, a second acquisition unit, a registration unit, and a three-dimensional construction unit, wherein:

优选地，所述第二获取单元包括输入单元、分离单元和处理单元，其中：Preferably, the second obtaining unit comprises an input unit, a separating unit and a processing unit, wherein:

优选地，所述分离单元包括组织边界勾画模块、三维表面模型挖取模块、三维纹理模型提取模块、以及组织三维模型重建模块，其中：Preferably, the separation unit comprises a tissue boundary delineation module, a three-dimensional surface model excavation module, a three-dimensional texture model extraction module, and a tissue three-dimensional model reconstruction module, wherein:

三维纹理模型提取模块，用于提取出所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型，再将所述三维纹理模型输出至组织三维模型重建模块；a three-dimensional texture model extraction module, configured to extract an organization texture letter within the sketched rangeInformation to obtain a three-dimensional texture model of the tissue, and then output the three-dimensional texture model to the tissue three-dimensional model reconstruction module;

进一步地，所述组织边界勾画模块还用于接收用户输入的对其所勾画出的组织边界所作调整，并将调整后的组织边界作为所述组织区域范围中组织的组织边界；Further, the organization boundary demarcation module is further configured to receive an adjustment made by the user for the organization boundary drawn by the user, and use the adjusted organization boundary as an organizational boundary of the organization in the organization region range;

所述处理单元包括切割模块，所述切割模块用于生成超声扫描面，并通过所述超声扫描面对组织三维模型重建模块输出的组织三维模型进行切割以获得诊断影像。The processing unit includes a cutting module for generating an ultrasound scanning surface, and cutting the tissue three-dimensional model outputted by the tissue three-dimensional model reconstruction module by the ultrasound scanning to obtain a diagnostic image.

实施例5：Example 5:

本实施例提供一种图像监控装置，包括第三获取单元、第四获取单元和显示单元，其中：The embodiment provides an image monitoring apparatus, including a third acquiring unit, a fourth acquiring unit, and a display unit, where:

第四获取单元，用于从实施例4中所述的三维模型构建装置中获取与所述监控影像中组织的特征信息一致的诊断影像，所述诊断影像为二维超声/MR/CT图像，将之作为二维切割图像并输出至显示单元；a fourth acquiring unit, configured to acquire, from the three-dimensional model building device described in Embodiment 4, a diagnostic image that is consistent with the feature information organized in the monitoring image, the diagnostic image being a two-dimensional ultrasound/MR/CT image, Taking it as a two-dimensional cut image and outputting it to the display unit;

优选地，该图像监控装置还包括实施例4中所述的三维模型构建装置。所述三维模型构建装置与所述第四获取单元相连，用于将构建得到的三维模型传送给第四获取单元。Preferably, the image monitoring device further comprises the three-dimensional model constructing device described in Embodiment 4. The three-dimensional model construction device is connected to the fourth acquisition unit, and configured to transmit the constructed three-dimensional model to the fourth acquisition unit.

优选地，该图像监控装置还包括有融合单元，其中：Preferably, the image monitoring device further comprises a fusion unit, wherein:

可以理解的是，以上实施方式仅仅是为了说明本发明的原理而采用的示例性实施方式，然而本发明并不局限于此。对于本领域内的普通技术人员而言，在不脱离本发明的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本发明的保护范围。It is to be understood that the above embodiments are merely exemplary embodiments employed to explain the principles of the invention, but the invention is not limited thereto. Various modifications and improvements can be made by those skilled in the art without departing from the spirit and scope of the invention. These modifications and improvements are also considered to be within the scope of the invention.

Claims

一种三维模型的构建方法，包括如下步骤：A method for constructing a three-dimensional model includes the following steps:
1)实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，以及从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像；1) real-time acquisition of a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and acquiring a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient, The diagnostic image is a two-dimensional ultrasound/MR/CT image;
2)将所述监控影像与所述诊断影像进行配准,建立配准关系，以得到二维配准图像；2) registering the monitoring image with the diagnostic image to establish a registration relationship to obtain a two-dimensional registration image;
3)根据所述二维配准图像构建三维模型。3) Constructing a three-dimensional model from the two-dimensional registration image.
根据权利要求1所述的方法，其特征在于，步骤1)中，从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像的步骤是：The method according to claim 1, wherein in step 1), the step of obtaining a diagnostic image similar to the characteristic information of the tissue in the monitoring image from the anatomical model of the patient is:
11)从所述解剖模型中分离出所述监控区域内组织的组织三维模型；11) separating a three-dimensional tissue model of the tissue in the monitoring area from the anatomical model;
12)从所述组织三维模型中获取与所述监控影像中组织的特征信息相似的诊断影像。12) Obtaining a diagnostic image similar to the feature information organized in the monitoring image from the tissue three-dimensional model.
根据权利要求2所述的方法，其特征在于，在步骤11)中，从所述解剖模型中分离出所述监控区域内组织的组织三维模型的步骤具体为：The method according to claim 2, wherein in step 11), the step of separating the three-dimensional tissue model of the tissue in the monitoring area from the anatomical model is specifically:
111)在建立所述解剖模型的图像中勾画出所述监控区域内组织的组织边界；111) delineating the tissue boundary of the tissue in the monitoring area in the image establishing the anatomical model;
112)挖取所述勾画范围内的图像信息，以得到组织的三维表面模型；以及提取所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型；112) dig the image information in the outlined range to obtain a three-dimensional surface model of the tissue; and extract tissue texture information within the sketched range to obtain a three-dimensional texture model of the tissue;
113)将所述三维表面模型和三维纹理模型组合在一起，即形成所述组织的组织三维模型。113) Combining the three-dimensional surface model and the three-dimensional texture model, that is, forming a three-dimensional model of the tissue.
根据权利要求3所述的方法，其特征在于，建立所述解剖模型的图像为MR图像、CT图像、超声图像、超声造影图像、或超声多普勒图像。The method according to claim 3, wherein the image of the anatomical model is established as an MR image, a CT image, an ultrasound image, an ultrasound contrast image, or an ultrasound Doppler image.
根据权利要求1－4之一所述的方法，其特征在于，Method according to one of claims 1 to 4, characterized in that
在步骤1)中，获取病患治疗时监控区域内组织的监控影像具体是获取病患治疗时监控区域内组织的矢状位的监控影像和横断位的监控影像，相应地，从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像具体是从病患的解剖模型中获取与所述矢状位的监控影像中组织的特征信息相似的矢状位的诊断影像和获取与所述横断位的监控影像中组织的特征信息相似的横断位的诊断影像；In step 1), the monitoring image of the tissue in the monitoring area when the patient is treated is specifically the monitoring image of the sagittal position of the tissue in the monitoring area during the treatment of the patient and the monitoring image of the transverse position, correspondingly, from the patient's Obtaining a diagnostic image similar to the characteristic information of the tissue in the monitoring image in the anatomical modelSpecifically, the diagnostic image of the sagittal position similar to the characteristic information of the tissue in the sagittal surveillance image is obtained from the anatomical model of the patient, and the transverse information similar to the characteristic information of the tissue in the surveillance image of the transverse position is obtained. Diagnostic image of the position;
在步骤2)中，将所述监控影像与所述诊断影像进行配准，建立配准关系，以得到二维配准图像的步骤是：将所述监控影像与所述用于三维模型重建的诊断影像的坐标系位置调整为一致，然后根据所述矢状位的监控影像中组织的坐标位置来调整其所对应的矢状位的诊断影像中组织的坐标位置，使二者的坐标位置重合以进行二者间的配准，并最终得到矢状位的二维配准图像；再根据所述横断位的监控影像中组织的坐标位置来调整其所对应的横断位的诊断影像中组织的坐标位置，使二者的坐标位置重合以进行二者间的配准，并最终得到横断位的二维配准图像；In step 2), the monitoring image is registered with the diagnostic image to establish a registration relationship to obtain a two-dimensional registration image: the monitoring image and the three-dimensional model reconstruction are used. The position of the coordinate system of the diagnostic image is adjusted to be consistent, and then the coordinate position of the tissue in the diagnostic image corresponding to the sagittal position is adjusted according to the coordinate position of the tissue in the sagittal surveillance image, so that the coordinate positions of the two are coincident To perform registration between the two, and finally obtain a two-dimensional registration image of the sagittal position; and then adjust the tissue in the diagnostic image corresponding to the transverse position according to the coordinate position of the tissue in the monitoring image of the transverse position Coordinate position, so that the coordinate positions of the two coincide to register between the two, and finally obtain a two-dimensional registration image of the transverse position;
在步骤3)中，根据所述二维配准图像构建三维模型的步骤是：根据所得到的矢状位的二维配准图像和横断位的二维配准图像构建出所述三维模型。In step 3), the step of constructing the three-dimensional model according to the two-dimensional registration image is: constructing the three-dimensional model according to the obtained two-dimensional registration image of the sagittal position and the two-dimensional registration image of the transverse position.
一种图像监控方法，包括如下步骤：An image monitoring method includes the following steps:
1)获取或构建权利要求1－5任一项所述的三维模型；1) acquiring or constructing the three-dimensional model according to any one of claims 1-5;
2)根据病患治疗时实时获取的监控区域内组织的监控影像在所述三维模型中获取与所述监控影像中组织的特征信息一致的诊断影像，该诊断影像即为二维切割图像，将该二维切割图像作为用于指导治疗的导航图像。2) acquiring, according to the monitoring image of the tissue in the monitoring area acquired in real time during the treatment of the patient, the diagnostic image in the three-dimensional model that is consistent with the characteristic information of the tissue in the monitoring image, the diagnostic image is a two-dimensional cutting image, The two-dimensional cut image serves as a navigation image for guiding treatment.
根据权利要求6所述的图像监控方法，其特征在于，在步骤2)之后还包括有：The image monitoring method according to claim 6, further comprising after step 2):
3)将所述监控影像与所述二维切割图像融合在一起，形成二维融合图像，将该二维融合图像作为用于指导治疗的导航图像。3) merging the monitoring image with the two-dimensional cut image to form a two-dimensional fused image, and using the two-dimensional fused image as a navigation image for guiding treatment.
一种三维模型构建装置，其特征在于，包括第一获取单元、第二获取单元、配准单元和三维构建单元，其中：A three-dimensional model construction device, comprising: a first acquisition unit, a second acquisition unit, a registration unit, and a three-dimensional construction unit, wherein:
第一获取单元，用于实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，并将所述监控影像输出至配准单元；a first acquiring unit, configured to acquire, in real time, a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and outputting the monitoring image to the registration unit;
第二获取单元，用于从病患的解剖模型中获取与所述监控影像中组织的特征信息相似的诊断影像，所述诊断影像为二维超声/MR/CT图像，并将所述诊断影像输出至配准单元；a second acquiring unit, configured to acquire, from the anatomical model of the patient, a diagnostic image similar to the characteristic information of the tissue in the monitoring image, the diagnostic image is a two-dimensional ultrasound/MR/CT image, and the diagnosis is performedThe broken image is output to the registration unit;
配准单元，用于将所述监控影像与所述诊断影像进行配准，以得到二维配准图像，并将所述得到的二维配准图像输出至三维构建单元；a registration unit, configured to register the monitoring image with the diagnostic image to obtain a two-dimensional registration image, and output the obtained two-dimensional registration image to a three-dimensional construction unit;
三维构建单元，用于根据所述二维配准图像构建出三维模型。And a three-dimensional building unit, configured to construct a three-dimensional model according to the two-dimensional registration image.
根据权利要求8所述的装置，其特征在于，The device of claim 8 wherein:
所述第二获取单元包括输入单元、分离单元和处理单元，其中：The second obtaining unit includes an input unit, a separating unit, and a processing unit, where:
输入单元，用于接收用户在建立所述解剖模型的图像中选取的与病患治疗时监控区域内组织对应的组织区域范围，并将之输出至分离单元；The input unit is configured to receive a range of the tissue region selected by the user in the image of the anatomical model and corresponding to the tissue in the monitoring area during the treatment of the patient, and output the same to the separation unit;
分离单元，用于根据所述组织区域范围从所述解剖模型中分离出与所述组织区域范围中的组织对应的组织三维模型，再将所述组织三维模型输出至处理单元；a separating unit, configured to separate a three-dimensional tissue model corresponding to the tissue in the tissue region range from the anatomical model according to the tissue region range, and output the tissue three-dimensional model to the processing unit;
处理单元，用于对所述组织三维模型进行切割以获取与所述监控影像中组织特征信息相似的诊断影像。And a processing unit, configured to cut the tissue three-dimensional model to obtain a diagnostic image similar to the tissue feature information in the monitoring image.
根据权利要求9所述的装置，其特征在于，所述分离单元包括组织边界勾画模块、三维表面模型挖取模块、三维纹理模型提取模块、以及组织三维模型重建模块，其中：The apparatus according to claim 9, wherein the separation unit comprises a tissue boundary delineation module, a three-dimensional surface model excavation module, a three-dimensional texture model extraction module, and a tissue three-dimensional model reconstruction module, wherein:
组织边界勾画模块，用于接收输入单元输出的组织区域范围，并根据所述组织区域范围在建立所述解剖模型的图像中勾画出所述组织区域范围中组织的组织边界；a tissue boundary delineation module, configured to receive a range of tissue regions output by the input unit, and outline an organization boundary of the organization region in the image of the anatomical model according to the tissue region range;
三维表面模型挖取模块，用于挖取出所述勾画范围内的图像信息，以得到组织的三维表面模型，再将所述三维表面模型输出至组织三维模型重建模块；a three-dimensional surface model excavation module, configured to excavate image information in the sketched range to obtain a three-dimensional surface model of the tissue, and then output the three-dimensional surface model to the tissue three-dimensional model reconstruction module;
三维纹理模型提取模块，用于提取出所述勾画范围内的组织纹理信息，以得到组织的三维纹理模型，再将所述三维纹理模型输出至组织三维模型重建模块；a three-dimensional texture model extraction module, configured to extract tissue texture information within the sketched range to obtain a three-dimensional texture model of the tissue, and then output the three-dimensional texture model to a tissue three-dimensional model reconstruction module;
组织三维模型重建模块，用于将所述三维表面模型和三维纹理模型组合在一起，从而形成组织的组织三维模型，并将所述组织三维模型输出至处理单元。And a three-dimensional model reconstruction module is configured to combine the three-dimensional surface model and the three-dimensional texture model to form a tissue three-dimensional model of the tissue, and output the tissue three-dimensional model to the processing unit.
一种图像监控装置，其特征在于，包括第三获取单元、第四获取单元和显示单元，其中：An image monitoring apparatus includes a third obtaining unit, a fourth acquiring unit, and a display unit, wherein:
第三获取单元，用于实时获取病患治疗时监控区域内组织的监控影像，所述监控影像为二维超声图像，并将所述监控影像输出至第四获取单元；a third acquiring unit, configured to acquire, in real time, a monitoring image of the tissue in the monitoring area during the treatment of the patient, the monitoring image being a two-dimensional ultrasound image, and outputting the monitoring image to the fourth acquiring unit;
第四获取单元，用于从权利要求8－10之一所述的三维模型构建装置中获取与所述监控影像中组织的特征信息一致的诊断影像，将所述诊断影像作为二维切割图像并输出至显示单元；a fourth acquiring unit, configured to acquire, from the three-dimensional model building device according to any one of claims 8-10, a diagnostic image that is consistent with the feature information of the tissue in the monitoring image, and use the diagnostic image as a two-dimensional image Output to the display unit;
显示单元，用于显示接收到的所述二维切割图像。And a display unit, configured to display the received two-dimensional cut image.
根据权利要求11所述的装置，其特征在于，该装置还包括有融合单元，其中：The device according to claim 11, further comprising a fusion unit, wherein:
所述第三获取单元还用于将获取的所述监控影像输出至所述融合单元，所述第四获取单元还用于将获取的二维切割图像输出至所述融合单元；The third acquiring unit is further configured to output the acquired monitoring image to the fusion unit, and the fourth acquiring unit is further configured to output the acquired two-dimensional cut image to the fusion unit;
融合单元，用于将所述监控影像与所述二维切割图像融合以构成二维融合图像，并将所述二维融合图像输出至显示单元；a fusion unit, configured to fuse the monitoring image with the two-dimensional cut image to form a two-dimensional fused image, and output the two-dimensional fused image to a display unit;
所述显示单元还用于显示接收到的所述二维融合图像。The display unit is further configured to display the received two-dimensional fused image.