Blood vessel centerline editing method, device, computer equipment and storage medium

Abstract

This application relates to a method, apparatus, computer device, and storage medium for editing three-dimensional blood vessel centerlines. The method comprises: receiving a blood vessel centerline editing instruction; obtaining corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; extending the corresponding points along the current line of sight to obtain the front and back surface intersection points of the blood vessel in the current line of sight; and determining the depth information of the corresponding points based on the front and back surface intersection points. This method can improve the accuracy of three-dimensional blood vessel centerline editing.

Description

Technical Field

[0001] The present application relates to the technical field of image processing of medical images, and in particular to a method, apparatus, computer equipment and storage medium for editing a blood vessel centerline. Background Art

[0002] Vascular structures such as blood vessels in the human body often have various problems such as plaques and stenosis, and medical evaluation of vascular status is often necessary. The centerline of the blood vessel is an important basis for applications such as vascular surface unfolding, viewing vascular cross-sections, and clinical surgical guidance. Due to the complex structure of the human body, the vascular centerline extracted from medical images may have errors and need to be corrected. The current main editing methods are MPR editing and VR editing. The centerline of the MPR image needs to be modified layer by layer, which takes a long time to read, the modification process is complicated, and the vascular information is not comprehensive. VR editing easily edits the centerline outside the vascular tissue, and the centerline is not smooth. Summary of the Invention

[0003] Based on this, it is necessary to provide a vascular centerline editing method, device, computer equipment and storage medium that can improve the accuracy of vascular centerline editing in order to address the above technical problems.

[0004] In a first aspect, the present application provides a method for editing a blood vessel centerline, the method comprising:

[0005] Receive vascular centerline editing instructions;

[0006] Acquire corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction;

[0007] Extending the corresponding points along the current line of sight, respectively acquiring a front surface intersection point and a back surface intersection point of the blood vessel in the current line of sight;

[0008] Depth information of the corresponding points is determined according to the front surface intersection point and the back surface intersection point.

[0009] In one embodiment, the extending along the current sight line direction based on the corresponding point includes:

[0010] Obtaining a current sight line direction, and obtaining a front surface intersection point and a back surface intersection point of the object in the current sight line direction;

[0011] generating a unit vector according to the front surface intersection point and the back surface intersection point;

[0012] From the corresponding point, sequentially advance along the unit vector direction by at least one unit vector length.

[0013] In one embodiment, the method further comprises:

[0014] When the corresponding point does not touch the blood vessel tissue when extended along the current line of sight, obtaining the previous point of the corresponding point on the blood vessel centerline;

[0015] The depth information of the previous point is used as the depth information of the corresponding point.

[0016] In one embodiment, the method further comprises:

[0017] When the corresponding point is extended along the current sight line direction and first contacts the non-vascular tissue, a preset length is obtained;

[0018] Acquire a target point where the current sight line direction intersects the non-vascular tissue, and determine whether a length extending from the target point along the current sight line direction is greater than or equal to a preset length;

[0019] When the length extended along the current line of sight based on the target point is less than the preset length, the extension along the current line of sight based on the target point is continued until the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight are obtained when the blood vessel tissue is touched, and the depth information of the corresponding point is continued to be calculated based on the front surface intersection point and the back surface intersection point.

[0020] In one embodiment, the method further comprises:

[0021] When the length of the target point extending along the current line of sight is less than the preset length, continue to obtain the previous point of the corresponding point on the blood vessel centerline; and use the depth information of the previous point as the depth information of the corresponding point.

[0022] In one embodiment, before receiving the blood vessel centerline editing instruction, the method further includes:

[0023] receiving a blood vessel centerline selection instruction through a three-dimensional blood vessel image;

[0024] The display viewing angle of the blood vessel image is adjusted according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

[0025] In one embodiment, adjusting the display viewing angle of the blood vessel image according to the blood vessel centerline selected by the blood vessel centerline selection instruction includes:

[0026] Calculating a target position of the blood vessel image, a feature point of the first blood vessel, and a feature point of a branch to which the selected blood vessel centerline belongs;

[0027] Calculating a light vector based on the feature points of the first blood vessel and the feature points of the branch to which the selected blood vessel centerline belongs;

[0028] Keeping the target position and display size of the image unchanged, simulating the rotation of the three-dimensional image so that the light vector is perpendicular to the screen and points inward, and obtaining the rotation angle;

[0029] Based on the rotation angle, the display viewing angle of the blood vessel image is adjusted.

[0030] In one embodiment, after obtaining corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction, the method further includes:

[0031] Adjusting the trajectory information of the corresponding point;

[0032] After determining the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point, the method further includes:

[0033] The depth information of the corresponding point is adjusted.

[0034] In a second aspect, the present application further provides a device for editing a blood vessel centerline, the device comprising:

[0035] An editing instruction receiving module, used for receiving a blood vessel centerline editing instruction;

[0036] a trajectory information adjustment module, configured to obtain corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction;

[0037] An intersection point acquisition module, configured to extend along a current line of sight based on the corresponding points, and respectively acquire a front surface intersection point and a back surface intersection point of the blood vessel in the current line of sight direction;

[0038] The depth information adjustment module is configured to determine the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point.

[0039] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method described in any one of the above embodiments when executing the computer program.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in any one of the above embodiments when the computer program is executed by a processor.

[0041] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the method described in any one of the embodiments.

[0042] The above-mentioned vascular centerline editing method, device, computer equipment and storage medium, after receiving the vascular centerline editing instruction, first determine the corresponding points and adjust the trajectory information, and then obtain the front surface added points and the rear surface intersection points of the blood vessel in the current line of sight direction based on the current line of sight direction. In this way, depth information can be obtained based on the front surface added points and the rear surface intersection points, so that the depth of the centerline point at the modification location can be automatically determined to ensure that the point is in the center of the blood vessel. The centerline can be corrected quickly, accurately and comprehensively, thereby improving the convenience of centerline editing. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 1 is a flow chart of a method for editing a blood vessel centerline in one embodiment;

[0044] Figure 2 is a schematic diagram of an editing interface in one embodiment;

[0045] Figure 3 is a schematic diagram of an intersection point of the front surface and an intersection point of the back surface of a blood vessel in one embodiment;

[0046] Figure 4 is a schematic diagram of an intersection point of a front surface and an intersection point of a back surface of an object in one embodiment;

[0047] Figure 5 is a schematic diagram of an embodiment in which a centerline point is located outside a blood vessel;

[0048] Figure 6 is a schematic diagram showing that part of the blood vessels may be embedded in the superficial layer of the heart in one embodiment;

[0049] Figure 7 is a schematic diagram of a blood vessel being blocked by other tissues in one embodiment;

[0050] Figure 8 is a schematic diagram of an intersection point of the front surface and an intersection point of the back surface of a blood vessel in another embodiment;

[0051] Figure 9 is a schematic diagram of a display viewing angle adjustment step in one embodiment;

[0052] Figure 10 is a structural block diagram of a blood vessel centerline editing device in one embodiment;

[0053] Figure 11 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] In one embodiment, Figure 1 As shown, a method for editing a blood vessel centerline is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0056] S102: Receive a blood vessel centerline editing instruction.

[0057] Specifically, the vascular centerline is automatically extracted based on an algorithm. Since this is automatically extracted, it may contain errors and require correction. Therefore, the terminal can display the medical image of the corresponding area to facilitate selection and editing of the corresponding vascular centerline.

[0058] Among them, optionally, the terminal obtains the medical data obtained by scanning, and reconstructs a three-dimensional image based on the medical data. In the three-dimensional image, each part is displayed in a three-dimensional structure, so that the point set of the blood vessel centerline is viewed based on the line of sight on the three-dimensional structure for editing.

[0059] Optionally, the 3D image includes all centerline primitives, but only displays the selected blood vessel centerline. When the mouse moves to a certain position in the 3D image, the terminal automatically displays the blood vessel centerline when it detects that there is a blood vessel centerline at that position. The terminal can then receive editing instructions for the blood vessel centerline. Figure 2 Schematic diagram of the editing interface shown.

[0060] In one embodiment, editing commands include selection, deletion, renaming, and modification operations. In other embodiments, the terminal provides a list of centerlines for the user to select, delete, rename, and modify. When the user selects a centerline, the terminal automatically calculates the optimal viewing angle for the current centerline and displays the current centerline at the optimal viewing angle.

[0061] S104: Obtain corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction.

[0062] Specifically, a blood vessel centerline is composed of several points. When an error is detected in the blood vessel centerline, the blood vessel centerline can be edited. For example, the point on the blood vessel centerline with the error can be selected as the corresponding point to edit the blood vessel centerline, including repositioning the point on the blood vessel centerline. The centerline position can include being located at the center of the blood vessel within the field of view and also at the center of the blood vessel in the depth direction. If a point on the blood vessel centerline is located at the center of the blood vessel within the field of view, the user can directly determine whether it is located at the center of the blood vessel within the field of view.

[0063] S106: Extending along the current sight line direction based on the corresponding points, respectively obtaining the front surface intersection point and the back surface intersection point of the blood vessel in the current sight line direction.

[0064] Specifically, the current sight line direction is perpendicular to the screen and points to the image. The intersection point with the image is the point on the centerline of the blood vessel being edited on the current screen. Figure 3 As shown, based on the current sight line direction, a light ray is emitted to the three-dimensional image, and along the current light ray direction, the front surface intersection point A of the front surface of the blood vessel and the back surface intersection point B of the back surface of the object on the light ray line are detected.

[0065] S108: Determine depth information of corresponding points according to the front surface intersection point and the back surface intersection point.

[0066] Specifically, the front surface intersection point of the blood vessel in the current line of sight direction is the first intersection point between the line of sight and the blood vessel along the current line of sight direction. Similarly, the back surface intersection point of the blood vessel in the current line of sight direction is the last intersection point between the line of sight and the blood vessel along the current line of sight direction.

[0067] Depth information is calculated based on the distance between the intersection of the front and back surfaces. This distance allows the vessel thickness to be calculated. Based on the vessel thickness, the depth information for that point on the centerline can be calculated, for example, half the distance between the front and back intersections. This yields point O on the edited vessel centerline. In other words, the centerline of the front and back surfaces of the vessel is calculated and used as the edited center point for that location.

[0068] The above-mentioned three-dimensional blood vessel centerline editing method, after receiving the blood vessel centerline editing instruction, first determines the corresponding points and adjusts the trajectory information, and then obtains the front surface added points and the back surface intersection points of the blood vessel in the current line of sight direction based on the current line of sight direction. In this way, the depth information can be obtained based on the front surface added points and the back surface intersection points, so that the depth of the centerline point at the modification location can be automatically determined to ensure that the point is in the center of the blood vessel. The centerline can be corrected quickly, accurately and comprehensively, thereby improving the convenience of centerline editing.

[0069] In one embodiment, extending along the current line of sight based on the corresponding point includes: obtaining the current line of sight direction, and obtaining the front surface intersection point and the back surface intersection point of the object in the current line of sight direction; generating a unit vector according to the front surface intersection point and the back surface intersection point; and advancing from the corresponding point along the unit vector direction in sequence by at least one unit vector length.

[0070] Specifically, the current sight line direction is perpendicular to the screen and points to the image. The intersection of the front surface and the back surface of the object in the current sight line direction is as follows: Figure 4 The front surface intersection point C and the back surface intersection point D in.

[0071] A ray vector is calculated based on the intersection of the front and back surfaces of the object in the current line of sight:

[0072] vRayLine=ptRayEnd-ptRayStart

[0073] Where ptRayStart is the intersection of the light and the front surface of the object, and ptRayEnd is the intersection of the light and the back surface of the object. Calculate the modulus of this vector |vRayLine| and the unit vector

[0074] Starting from the intersection point of the front surface, along the direction of the light vector, proceed unit vector lengths in sequence until it penetrates the object to achieve extension along the current line of sight based on the corresponding point.

[0075] In one embodiment, the method further includes: when the corresponding point does not touch the vascular tissue when extended along the current line of sight, obtaining the previous point of the corresponding point on the centerline of the blood vessel along the current line of sight; and using the depth information of the previous point as the depth information of the corresponding point.

[0076] Among them, when the corresponding point extends along the current line of sight and first touches the blood vessel, such as Figure 2 (Tissues not displayed in the current 3D image are not considered to be touched), continue moving along the direction of the light until it reaches the posterior surface of the blood vessel, calculate the center line of the anterior and posterior surfaces of the blood vessel, and use it as the center point position after editing.

[0077] When the corresponding point is extended along the current sight line direction without touching the blood vessel tissue, the depth of the center line point adopts the depth information of the previous point on the blood vessel center line.

[0078] For example, since the coronary arteries are relatively thin, it is easy to edit the centerline point outside the coronary artery when manually editing the centerline. It is necessary to ensure that the depth deviation of the centerline point outside the coronary artery is controllable so that the point can be modified back to the correct position later. Figure 5As shown, in this embodiment, an editing error causes the center line to be edited outside the blood vessel. When a light is inserted from the direction of point E and does not hit the blood vessel, the depth information of the previous point on the blood vessel center line is used as the depth information of this point.

[0079] In one embodiment, the above method also includes: when the corresponding point is extended along the current line of sight and first contacts non-vascular tissue, a preset length is obtained; a target point where the current line of sight intersects with the non-vascular tissue is obtained, and it is determined whether the length extended along the current line of sight based on the target point is greater than or equal to the preset length; when the length extended along the current line of sight based on the target point is less than the preset length, the extension is continued along the current line of sight based on the target point until the vascular tissue is contacted, and the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight direction are obtained, and the depth information of the corresponding point is continued to be calculated based on the front surface intersection point and the back surface intersection point.

[0080] In one embodiment, the method further includes: when the length extending from the target point along the current line of sight is less than a preset length, continuing to obtain the previous point of the corresponding point on the blood vessel centerline; and using the depth information of the previous point as the depth information of the corresponding point.

[0081] If other visible tissue other than blood vessels is first contacted, a preset length of N units of tolerance is allowed, and tracking can continue to the depth. This is to prevent some special situations, such as: the coronary arteries on the surface of the heart may not all appear on the surface of the ventricle and atrial myocardium, and some blood vessels may be embedded in the superficial layer of the heart; or at the current angle, the blood vessels are blocked by other tissues. For details, please refer to Figure 6 As shown, some blood vessels may be embedded in the superficial layer of the heart, such as Figure 7 At the current angle shown, the blood vessels are obscured by other tissues.

[0082] The value of N is obtained by dividing the empirically acceptable thickness of the occluding tissue (in mm) by the voxel spacing (the actual physical length represented by a voxel in medical image volume data), that is, N = Thickness / Spacing.

[0083] Specifically, combined Figure 8 As shown, based on the corresponding point extending along the current line of sight and first touching the non-vascular tissue, the intersection of the current line of sight and the non-vascular tissue is obtained, that is, the target point, that is Figure 8Point 1 in the current line of sight is selected, and the current line of sight is continued to be extended, and it is determined whether the length of the extension along the current line of sight based on the target point is greater than or equal to the preset length. If the length of the extension starting from point 1 is less than the preset length, it can continue to be extended until it touches the front surface of the blood vessel (point 2). Then, the length from point 1 to point 2, that is, the distance between the intersection of the front surface and the back surface of the blood vessel in the current line of sight is determined to be less than the preset length. If it is less, the depth information is calculated based on point 1 and point 2; if it is greater than or equal to the preset length, the previous point of the corresponding point on the centerline of the blood vessel is continued to be obtained; and the depth information of the previous point is used as the depth information of the corresponding point.

[0084] In one embodiment, before receiving the blood vessel centerline editing instruction, the method further includes: receiving a blood vessel centerline selection instruction through the blood vessel three-dimensional image; and adjusting the display viewing angle of the blood vessel three-dimensional image according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

[0085] Specifically, receiving a vascular centerline selection instruction via a 3D vascular image involves selecting a corresponding centerline and then editing a point on the centerline. After selecting the centerline, the terminal adjusts the viewing angle of the 3D vascular image based on the selected vascular centerline for easier viewing.

[0086] In one embodiment, adjusting the display viewing angle of a three-dimensional image of the blood vessel based on the blood vessel centerline selected by a blood vessel centerline selection instruction includes: calculating a target position of the three-dimensional image of the blood vessel, characteristic points of a first blood vessel, and characteristic points of a branch to which the selected blood vessel centerline belongs; calculating a light vector based on the characteristic points of the first blood vessel and the characteristic points of the branch to which the selected blood vessel centerline belongs; maintaining the target position and display size of the three-dimensional image unchanged, simulating the rotation of the three-dimensional image so that the light vector is perpendicular to the screen and inward, and obtaining a rotation angle; and adjusting the display viewing angle of the three-dimensional image of the blood vessel based on the rotation angle.

[0087] The target position of the three-dimensional image of the blood vessel is preferably the center point. In other embodiments, a quarter point or the like may be selected, and no specific limitation is made here. Similarly, the characteristic point of the first blood vessel and the characteristic point of the branch to which the selected blood vessel centerline belongs are also preferably the center point. In other embodiments, a quarter point or the like may be selected, and no specific limitation is made here.

[0088] Specifically, combined Figure 9 As shown, according to the segmentation results, the three image center points ptCenter and the aortic valve center point ptAorticValve are found; then the center point ptCoronaryCenter of the coronary branch to which the target center line belongs is found.

[0089] According to the center point of the aortic valve and the center point of the coronary artery branch, a ray vector is calculated:

[0090] vRayLine=ptAorticValve-ptCoronaryCenter

[0091] Keeping the current 3D image center point ptCenter unchanged and the 3D image display size unchanged, simulate the image rotation until the ray vector vRayLine is perpendicular to the screen and points inward. This is the azimuth angle corresponding to the center line. This calculated azimuth angle then switches the 3D image's viewing angle.

[0092] In one embodiment, after obtaining the corresponding point on the blood vessel centerline according to the blood vessel centerline editing instruction, it also includes: adjusting the trajectory information of the corresponding point; after determining the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point, it also includes: adjusting the depth information of the corresponding point.

[0093] Specifically, the corresponding points on the blood vessel centerline are obtained according to the blood vessel centerline editing instruction, and the terminal adjusts the trajectory information of the corresponding points according to the user's input. The terminal automatically calculates the depth information of the corresponding points with adjusted trajectory information, and adjusts the depth information of the corresponding points according to the calculated depth information, thereby completing the entire editing process.

[0094] In the above embodiment, the centerline direction can be conveniently viewed on 3D images such as VR and Mesh, and the centerline can be edited and modified directly on the 3D image, which greatly improves the convenience and accuracy of centerline editing.

[0095] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0096] Based on the same inventive concept, embodiments of the present application also provide a 3D blood vessel centerline editing device for implementing the aforementioned 3D blood vessel centerline editing method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations in one or more embodiments of the 3D blood vessel centerline editing device provided below can be found in the aforementioned limitations of the 3D blood vessel centerline editing method and will not be further elaborated here.

[0097] In one embodiment, Figure 10 As shown, a three-dimensional blood vessel centerline editing device is provided, comprising: an editing instruction receiving module 1001, a trajectory information adjustment module 1002, an intersection acquisition module 1003 and a depth information adjustment module 1004, wherein:

[0098] An editing instruction receiving module 1001 is used to receive a blood vessel centerline editing instruction;

[0099] The trajectory information adjustment module 1002 is used to obtain corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction;

[0100] An intersection point acquisition module 1003 is configured to extend along the current line of sight based on the corresponding points to acquire the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight respectively;

[0101] The depth information adjustment module 1004 is configured to determine depth information of corresponding points according to the front surface intersection point and the back surface intersection point.

[0102] In one embodiment, the intersection acquisition module 1003 includes:

[0103] An intersection point acquisition unit, configured to acquire a current sight line direction and acquire an intersection point of a front surface and a rear surface of an object in the current sight line direction;

[0104] a vector generating unit, configured to generate a unit vector according to the front surface intersection point and the back surface intersection point;

[0105] The extension unit is used to sequentially advance from the corresponding point along the unit vector direction by at least one unit vector length.

[0106] In one embodiment, the three-dimensional blood vessel centerline editing device further includes:

[0107] The first depth information acquisition module is used to acquire the previous point of the corresponding point on the blood vessel centerline when the corresponding point does not touch the blood vessel tissue when extending along the current line of sight; and use the depth information of the previous point as the depth information of the corresponding point.

[0108] In one embodiment, the three-dimensional blood vessel centerline editing device further includes:

[0109] A preset length acquisition module, configured to acquire a preset length when the corresponding point extends along the current line of sight and first contacts non-vascular tissue;

[0110] a judgment module, configured to obtain a target point where the current sight line direction intersects the non-vascular tissue, and to judge whether a length extending from the target point along the current sight line direction is greater than or equal to a preset length;

[0111] The second depth information acquisition module is used to continue extending along the current line of sight based on the target point when the length extended along the current line of sight based on the target point is less than a preset length, so as to obtain the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight direction when the blood vessel tissue is touched, and continue to calculate the depth information of the corresponding point based on the front surface intersection point and the back surface intersection point.

[0112] In one embodiment, the three-dimensional blood vessel centerline editing device further includes:

[0113] The third depth information acquisition module is used to continue to acquire the previous point of the corresponding point on the blood vessel centerline when the length extending from the target point along the current line of sight is less than the preset length; and use the depth information of the previous point as the depth information of the corresponding point.

[0114] In one embodiment, the three-dimensional blood vessel centerline editing device further includes:

[0115] A selection instruction receiving module is used to receive a blood vessel centerline selection instruction through a three-dimensional blood vessel image;

[0116] The viewing angle adjustment module is used to adjust the display viewing angle of the three-dimensional image of the blood vessel according to the blood vessel center line selected by the blood vessel center line selection instruction.

[0117] In one embodiment, the viewing angle adjustment module includes:

[0118] a feature point calculation unit, configured to calculate a target position of the three-dimensional blood vessel image, feature points of the first blood vessel, and feature points of a branch to which the selected blood vessel centerline belongs;

[0119] a light vector calculation unit, configured to calculate a light vector based on a feature point of the first blood vessel and a feature point of a branch to which the selected blood vessel centerline belongs;

[0120] A rotation angle calculation unit is used to obtain the rotation angle when simulating the rotation of the 3D image so that the light vector is perpendicular to the screen and points inward, while maintaining the target position and display size of the 3D image unchanged;

[0121] The viewing angle adjustment unit is used to adjust the display viewing angle of the three-dimensional image of the blood vessel based on the rotation angle.

[0122] In one embodiment, the viewing angle adjustment module includes:

[0123] A trajectory information adjustment module 1002 is used to adjust the trajectory information of the corresponding points;

[0124] The depth information adjustment module 1004 is configured to adjust the depth information of corresponding points.

[0125] Each module in the above-mentioned 3D vascular centerline editing device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0126] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a three-dimensional blood vessel centerline editing method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0127] Those skilled in the art will understand that Figure 11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0128] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: receiving a blood vessel centerline editing instruction; obtaining corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; extending along the current line of sight based on the corresponding points to obtain front surface intersection points and back surface intersection points of the blood vessel in the current line of sight respectively; and determining depth information of the corresponding points according to the front surface intersection points and the back surface intersection points.

[0129] In one embodiment, the extension along the current line of sight based on the corresponding point implemented when the processor executes the computer program includes: obtaining the current line of sight direction, and obtaining the front surface intersection point and the back surface intersection point of the object in the current line of sight direction; generating a unit vector based on the front surface intersection point and the back surface intersection point; and advancing at least one unit vector length in sequence from the corresponding point along the unit vector direction.

[0130] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the corresponding point does not touch the vascular tissue when extended along the current line of sight, the previous point of the corresponding point on the vascular centerline is obtained; and the depth information of the previous point is used as the depth information of the corresponding point.

[0131] In one embodiment, the processor further implements the following steps when executing the computer program: when the corresponding point is extended along the current line of sight and first contacts non-vascular tissue, a preset length is obtained; a target point where the current line of sight intersects with the non-vascular tissue is obtained, and a determination is made as to whether the length extended along the current line of sight based on the target point is greater than or equal to a preset length; when the length extended along the current line of sight based on the target point is less than the preset length, the extension is continued along the current line of sight based on the target point until contact is made with vascular tissue, and the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight are obtained, and the depth information of the corresponding point is continued to be calculated based on the front surface intersection point and the back surface intersection point.

[0132] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the length extending along the current line of sight based on the target point is less than a preset length, continue to obtain the previous point of the corresponding point on the blood vessel centerline; and use the depth information of the previous point as the depth information of the corresponding point.

[0133] In one embodiment, before receiving the blood vessel centerline editing instruction implemented when the processor executes the computer program, it also includes: receiving a blood vessel centerline selection instruction through the blood vessel three-dimensional image; and adjusting the display viewing angle of the blood vessel three-dimensional image according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

[0134] In one embodiment, the processor, when executing a computer program, adjusts the display viewing angle of a three-dimensional image of a blood vessel based on a blood vessel centerline selected by a blood vessel centerline selection instruction, including: calculating a target position of the three-dimensional image of the blood vessel, characteristic points of a first blood vessel, and characteristic points of a branch to which the selected blood vessel centerline belongs; calculating a light vector based on the characteristic points of the first blood vessel and the characteristic points of the branch to which the selected blood vessel centerline belongs; maintaining the target position and display size of the three-dimensional image unchanged, simulating the rotation of the three-dimensional image so that the light vector is perpendicular to the screen and inward, and obtaining a rotation angle; and adjusting the display viewing angle of the three-dimensional image of the blood vessel based on the rotation angle.

[0135] In one embodiment, after the processor executes the computer program to obtain the corresponding point on the blood vessel centerline according to the blood vessel centerline editing instruction, it also includes: adjusting the trajectory information of the corresponding point; after the processor executes the computer program to determine the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point, it also includes: adjusting the depth information of the corresponding point.

[0136] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: receiving a blood vessel centerline editing instruction; obtaining corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; extending along the current line of sight based on the corresponding points, respectively obtaining the front surface intersection points and the back surface intersection points of the blood vessel in the current line of sight; and determining depth information of the corresponding points based on the front surface intersection points and the back surface intersection points.

[0137] In one embodiment, the computer program implemented by the processor when executed based on the corresponding point extends along the current line of sight direction, including: obtaining the current line of sight direction, and obtaining the front surface intersection point and the back surface intersection point of the object in the current line of sight direction; generating a unit vector based on the front surface intersection point and the back surface intersection point; and advancing at least one unit vector length in sequence from the corresponding point along the unit vector direction.

[0138] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the corresponding point does not touch the vascular tissue when extended along the current line of sight, the previous point of the corresponding point on the vascular centerline is obtained; and the depth information of the previous point is used as the depth information of the corresponding point.

[0139] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the corresponding point is extended along the current line of sight and first contacts non-vascular tissue, a preset length is obtained; a target point where the current line of sight intersects with the non-vascular tissue is obtained, and it is determined whether the length extended along the current line of sight based on the target point is greater than or equal to the preset length; when the length extended along the current line of sight based on the target point is less than the preset length, the extension is continued along the current line of sight based on the target point until the vascular tissue is contacted, and the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight are obtained, and the depth information of the corresponding point is continued to be calculated based on the front surface intersection point and the back surface intersection point.

[0140] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the length extending along the current line of sight based on the target point is less than a preset length, continue to obtain the previous point of the corresponding point on the blood vessel centerline; and use the depth information of the previous point as the depth information of the corresponding point.

[0141] In one embodiment, before receiving the blood vessel centerline editing instruction, the computer program implemented when executed by the processor further includes: receiving a blood vessel centerline selection instruction through the three-dimensional blood vessel image; and adjusting the display viewing angle of the three-dimensional blood vessel image according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

[0142] In one embodiment, a computer program implemented by a processor when executed to adjust the display viewing angle of a three-dimensional image of a blood vessel based on a blood vessel centerline selected by a blood vessel centerline selection instruction includes: calculating a target position of the three-dimensional image of the blood vessel, characteristic points of a first blood vessel, and characteristic points of a branch to which the selected blood vessel centerline belongs; calculating a light vector based on the characteristic points of the first blood vessel and the characteristic points of the branch to which the selected blood vessel centerline belongs; maintaining the target position and display size of the three-dimensional image unchanged, simulating the rotation of the three-dimensional image so that the light vector is perpendicular to the screen and inward, and obtaining a rotation angle; and adjusting the display viewing angle of the three-dimensional image of the blood vessel based on the rotation angle.

[0143] In one embodiment, after the computer program is executed by the processor and obtains the corresponding point on the blood vessel centerline according to the blood vessel centerline editing instruction, it also includes: adjusting the trajectory information of the corresponding point; after the computer program is executed by the processor and determines the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point, it also includes: adjusting the depth information of the corresponding point.

[0144] In one embodiment, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the following steps: receiving a blood vessel centerline editing instruction; obtaining corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; extending along a current line of sight based on the corresponding points to obtain front surface intersection points and back surface intersection points of the blood vessel in the current line of sight, respectively; and determining depth information of the corresponding points according to the front surface intersection points and the back surface intersection points.

[0145] In one embodiment, the computer program implemented by the processor when executed based on the corresponding point extends along the current line of sight direction, including: obtaining the current line of sight direction, and obtaining the front surface intersection point and the back surface intersection point of the object in the current line of sight direction; generating a unit vector based on the front surface intersection point and the back surface intersection point; and advancing at least one unit vector length in sequence from the corresponding point along the unit vector direction.

[0146] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the corresponding point does not touch the vascular tissue when extended along the current line of sight, the previous point of the corresponding point on the vascular centerline is obtained; and the depth information of the previous point is used as the depth information of the corresponding point.

[0147] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the corresponding point is extended along the current line of sight and first contacts non-vascular tissue, a preset length is obtained; a target point where the current line of sight intersects with the non-vascular tissue is obtained, and it is determined whether the length extended along the current line of sight based on the target point is greater than or equal to the preset length; when the length extended along the current line of sight based on the target point is less than the preset length, the extension is continued along the current line of sight based on the target point until the vascular tissue is contacted, and the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight are obtained, and the depth information of the corresponding point is continued to be calculated based on the front surface intersection point and the back surface intersection point.

[0148] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the length extending along the current line of sight based on the target point is less than a preset length, continue to obtain the previous point of the corresponding point on the blood vessel centerline; and use the depth information of the previous point as the depth information of the corresponding point.

[0149] In one embodiment, before receiving the blood vessel centerline editing instruction, the computer program implemented when executed by the processor further includes: receiving a blood vessel centerline selection instruction through the three-dimensional blood vessel image; and adjusting the display viewing angle of the three-dimensional blood vessel image according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

[0150] In one embodiment, a computer program implemented by a processor when executed to adjust the display viewing angle of a three-dimensional image of a blood vessel based on a blood vessel centerline selected by a blood vessel centerline selection instruction includes: calculating a target position of the three-dimensional image of the blood vessel, characteristic points of a first blood vessel, and characteristic points of a branch to which the selected blood vessel centerline belongs; calculating a light vector based on the characteristic points of the first blood vessel and the characteristic points of the branch to which the selected blood vessel centerline belongs; maintaining the target position and display size of the three-dimensional image unchanged, simulating the rotation of the three-dimensional image so that the light vector is perpendicular to the screen and inward, and obtaining a rotation angle; and adjusting the display viewing angle of the three-dimensional image of the blood vessel based on the rotation angle.

[0151] In one embodiment, after the computer program is executed by the processor and obtains the corresponding point on the blood vessel centerline according to the blood vessel centerline editing instruction, it also includes: adjusting the trajectory information of the corresponding point; after the computer program is executed by the processor and determines the depth information of the corresponding point according to the front surface intersection point and the back surface intersection point, it also includes: adjusting the depth information of the corresponding point.

[0152] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0153] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A three-dimensional blood vessel centerline editing method, characterized in that: The method comprises: Receive vascular centerline editing instructions; Acquire corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; In response to user input, adjusting trajectory information of the corresponding point; Based on the corresponding points, extending along the current sight line direction, respectively obtaining the front surface intersection point and the back surface intersection point of the blood vessel in the current sight line direction; the current sight line direction is perpendicular to the screen and points to the image; Obtaining the thickness of the blood vessel according to the distance between the intersection point of the front surface and the intersection point of the back surface; Determining depth information of the corresponding point based on the thickness of the blood vessel; Among them, based on the corresponding point extending along the current line of sight, the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight are respectively obtained, including: when the corresponding point is extended along the current line of sight and first contacts non-vascular tissue, a preset length of N unit length is allowed to be tolerated, and tracking is continued to the depth, and the value of N is obtained by dividing the thickness of the acceptable blocking tissue by the voxel interval to obtain the preset length; obtaining the target point where the current line of sight intersects with the non-vascular tissue; when the length of continuing to extend along the current line of sight based on the target point is less than the preset length, continuing to extend along the current line of sight based on the target point until contacting vascular tissue, the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight direction are obtained.

2. The method according to claim 1, characterized in that The extending along the current sight line direction based on the corresponding point includes: Obtaining a current sight line direction of the corresponding point, and obtaining a front surface intersection point and a back surface intersection point of the object in the current sight line direction; generating a unit vector according to the front surface intersection point and the back surface intersection point; From the corresponding point, sequentially advance along the unit vector direction by at least one unit vector length.

3. The method according to claim 1 or 2, characterized in that The method further comprises: When the corresponding point does not touch the blood vessel tissue when extended along the current line of sight, obtaining the previous point of the corresponding point on the blood vessel centerline; The depth information of the previous point is used as the depth information of the corresponding point.

4. The method according to claim 1, wherein The method further comprises: When the length of the target point extending along the current line of sight is greater than or equal to the preset length, continue to obtain the previous point of the corresponding point on the blood vessel centerline; and use the depth information of the previous point as the depth information of the corresponding point.

5. The method according to claim 1 or 2, characterized in that Before receiving the blood vessel centerline editing instruction, the method further includes: receiving a blood vessel centerline selection instruction through a three-dimensional blood vessel image; The display viewing angle of the three-dimensional image of the blood vessel is adjusted according to the blood vessel centerline selected by the blood vessel centerline selection instruction.

6. The method according to claim 5, characterized in that The adjusting the display viewing angle of the three-dimensional image of the blood vessel according to the blood vessel centerline selected by the blood vessel centerline selection instruction includes: Calculating a target position of the three-dimensional blood vessel image, a feature point of the first blood vessel, and a feature point of a branch to which the selected blood vessel centerline belongs; Calculating a light vector based on the feature points of the first blood vessel and the feature points of the branch to which the selected blood vessel centerline belongs; At a target position of the three-dimensional image of the blood vessel, simulating a rotation of the three-dimensional image of the blood vessel so that the light vector is perpendicular to the screen and points inward, and obtaining a rotation angle; Based on the rotation angle, the display viewing angle of the three-dimensional image of the blood vessel is adjusted.

7. A three-dimensional blood vessel centerline editing device, characterized in that: The device comprises: An editing instruction receiving module, used for receiving a blood vessel centerline editing instruction; a trajectory information adjustment module, configured to obtain corresponding points on the blood vessel centerline according to the blood vessel centerline editing instruction; The trajectory information adjustment module is further configured to adjust the trajectory information of the corresponding point in response to user input; an intersection point acquisition module, configured to extend along the current line of sight based on the corresponding point and respectively acquire a front surface intersection point and a back surface intersection point of the blood vessel in the current line of sight, including: when the extension along the current line of sight based on the corresponding point first contacts non-vascular tissue, allowing a preset length N unit length tolerance and continuing to track deeper, where the value of N is obtained by dividing the thickness of the acceptable occluding tissue by the voxel interval, to obtain the preset length; acquiring a target point where the current line of sight intersects the non-vascular tissue; when the length of the extension along the current line of sight based on the target point is less than the preset length, continuing to extend along the current line of sight based on the target point until contact is made with vascular tissue, obtaining the front surface intersection point and the back surface intersection point of the blood vessel in the current line of sight; the current line of sight being perpendicular to the screen and pointing to the image; The depth information adjustment module is used to obtain the thickness of the blood vessel according to the distance between the front surface intersection point and the back surface intersection point, and determine the depth information of the corresponding point based on the thickness of the blood vessel.

8. The device according to claim 7, characterized in that The intersection acquisition module includes: An intersection point acquisition unit, configured to acquire a current sight line direction of the corresponding point, and acquire an intersection point of the front surface and an intersection point of the back surface of the object in the current sight line direction; a vector generating unit, configured to generate a unit vector according to the front surface intersection point and the back surface intersection point; The extending unit is used to sequentially advance from the corresponding point along the unit vector direction by at least one unit vector length.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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