A tubular organ three-dimensional surface data reconstruction method, device and electronic equipment

Abstract

The application provides a tubular organ three-dimensional surface data reconstruction method and device and electronic equipment, and the method comprises the following steps: obtaining segmentation data of a tubular organ, calculating a center line and a radius of the tubular organ according to the segmentation data; generating a plurality of single tubular surface data according to the center line and the radius of the tubular organ; and merging all the plurality of single tubular surface data to form complete three-dimensional surface data. The center line and the radius of the tubular organ are found out, the single tubular surface is determined based on the center line and the radius, and then the complete three-dimensional surface data is formed through data merging. Compared with the prior art, the generated tubular surface data is not affected by CT and MR images, and the generated tubular surface data is more consistent with the physiological structure of the tubular organ.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of organ three-dimensional reconstruction, and in particular to a tubular organ three-dimensional surface data reconstruction method and device, electronic equipment and storage medium. BACKGROUND

[0002] At present, with the rapid development of medical imaging technology, medical images play an increasingly important role in clinical diagnosis, and to some extent, accelerate the development process of clinical medicine.

[0003] Since the anatomical structure of the human body is three-dimensional, doctors need to have strong reading ability to make correct diagnosis from two-dimensional images, so the diagnosis result depends on the reading experience of the doctor. It is very difficult to accurately determine the spatial position, size, geometric shape and spatial relationship with the surrounding tissue structure of the lesion or deformity only by relying on the subjective analysis and judgment of the doctor.

[0004] Therefore, the current clinical diagnosis application urgently needs to directly display the medical data to the doctor in the form of three-dimensional images, and enable the doctor to perform arbitrary scaling, comparison, rotation on the three-dimensional images, and observe and analyze from different angles or perform related measurements. Application of computer to realize three-dimensional data reconstruction and visualization helps doctors to observe and analyze comprehensively and accurately from a three-dimensional perspective to design accurate treatment plans, thereby improving the level of medical diagnosis and treatment, which can undoubtedly greatly improve the medical value of image data.

[0005] The current mainstream three-dimensional reconstruction method is to manually delineate the segmentation data of the target on the medical image by the doctor first, and then use some algorithms such as the marching cubes algorithm to directly generate three-dimensional surface data according to the segmentation data; but for some special data such as thick layer MR data, due to image reasons, the segmentation data of the tubular organ may not conform to the physiological structure of the organ, and the three-dimensional surface data generated directly according to the segmentation data will of course also have the problem of irregular shape and not conforming to the physiological structure of the tubular organ. SUMMARY

[0006] Therefore, it is necessary to provide a tubular organ three-dimensional surface data reconstruction method, device, electronic equipment and storage medium, which can solve the technical problem that the three-dimensional surface data in the prior art has irregular shape and does not conform to the physiological structure of the tubular organ.

[0007] In order to solve the above technical problems, the present application provides a tubular organ three-dimensional surface data reconstruction method, comprising:

[0008] Obtaining segmentation data of a tubular organ, and calculating a center line and a radius of the tubular organ according to the segmentation data;

[0009] Based on the centerline and radius of the tubular organ, several individual tubular surface data are generated;

[0010] All individual tubular surface data are merged to form complete three-dimensional surface data.

[0011] In a possible implementation, calculating the centerline and radius of the target tubular organ based on the segmentation data includes:

[0012] Calculate the Euler eigenvalue of each discrete point in the segmented data to obtain the centerline point set of the tubular organ;

[0013] Based on the set of central line points of tubular organs, a tree structure of the central line of tubular organs is constructed, and the central line is divided into multiple central line segments by the bifurcation points on the central line, thus constructing a tree structure of the central line segments.

[0014] Based on the tree structure of the centerline segment, calculate the direction N of each centerline point. i =P i+2 +P i+1 -P i-1 -P i-2 , where P i Let i be the coordinates of the i-th centerline point;

[0015] Calculate the radius corresponding to each centerline point based on the direction of the centerline point and the segmented data.

[0016] In a possible implementation, several individual tubular surface data are generated based on the centerline and radius of the tubular organ, including:

[0017] Take the root node of the center segment tree structure as the starting center segment; traverse all starting center segments, select one sub-center segment of the starting center segment and merge it into the starting center segment, and take the other sub-center segments as the new starting center segments; repeat this step until all center segments are merged into the starting center segment.

[0018] Traverse all centerline segments and determine whether the centerline point in a centerline segment is the end point or the start point. If it is, keep the point; otherwise, calculate the distance between the current point and the previous kept point. If the distance is greater than the radius of the previous kept point, keep the point; otherwise, delete the current point.

[0019] Iterate through all centerline segments, then iterate through all centerline points of all target centerline segments, and determine the point on a circle with a set radius on a plane perpendicular to the direction of each point;

[0020] Traverse all center line segments, divide the points on all circles of the target center line segment into a preset number of groups according to the positions of the points, perform cubic spline interpolation on each group of points, construct a triangular facet in the two adjacent groups of points, and finally generate tubular surface data.

[0021] In a possible implementation, selecting a sub-center line segment of the starting center line segment to merge into the starting center line segment comprises:

[0022] Traverse all sub-center line segments of the starting center line segment, and calculate a modified radius of each sub-center line segment where V1 is the direction of the end point of the starting center line segment, V2 is the direction of the start point of the sub-center line segment, R avg is the average radius of the sub-center line segment, and the sub-center line segment with the maximum modified radius is merged into the starting center line segment.

[0023] In a possible implementation, determining the point on the circle with a preset radius of the point on the plane perpendicular to the direction of the point comprises:

[0024] calculating a vector v 1 perpendicular to the direction of the current point;

[0025] calculating the cross product v 1 of the direction of the current point and the vector v 2 perpendicular to the direction of the current point;

[0026] determining the points on the 50 circles in the target center line segment where P i is the current center line point, r is the radius of the current center line point, and k is a natural number from 0 to 49.

[0027] In a possible implementation, calculating a vector v 1 perpendicular to the direction of the current point comprises:

[0028] If the current point is the start point, the vector v 1 perpendicular to the direction of the current point is the cross product of the direction of the current point and a first unit vector; if the modulus of v 1 is 0, v 1 is modified to be the cross product of the direction of the current point and a second unit vector, and finally v 1 is normalized;

[0029] If the current point is not the start point, the points on the circle of the previous center line point are calculated first where P i-1 is the previous center line point, r i-1 is the radius of the previous center line point, and v 1 i-1Vector calculated for the previous centerline point; then calculate the plane S passing through the current point and having the direction of the current point as normal, and the line L passing through the point P r Direction vector for P i P i-1 L, where P i is the current centerline point, P i-1 is the previous centerline point; finally v 1 = P c -P i , where P c is the intersection of S and L, and P i is the current centerline point.

[0030] In a possible implementation, all the single tubular surface data are combined to form complete three-dimensional surface data, including:

[0031] According to the tree structure relationship, the tubular data having intersection relationship are taken out and numbered in sequence to obtain tubular intersection information;

[0032] The intersection line of the two intersecting tubular data is calculated, and the intersection line is used for segmentation to obtain split data;

[0033] The split data is subjected to a Boolean merging operation to obtain merged data;

[0034] The merged data is smoothed to obtain complete three-dimensional surface data.

[0035] In a possible implementation, the merged data is smoothed to obtain complete three-dimensional surface data, including:

[0036] Each point of all intersection lines is traversed, all triangular patches containing the point are taken out to form new data, the new data is segmented to obtain split data, and the new data includes first edge data and second edge data;

[0037] The points in the first edge data and the second edge data are taken to obtain maximum convex hull data, and the triangular patch processing is performed to obtain first convex body data;

[0038] Points not contained in the first convex body data are projected to the boundary of the nearest first convex body data to obtain new edge points, and the first convex body data is adjusted according to the edge points to obtain second convex body data;

[0039] The second convex body data is merged with the split data to obtain tubular convex body data, and each point of the tubular convex body data is subjected to Laplace smoothing with the points in the adjacent triangular patches to obtain the complete three-dimensional surface data.

[0040] The application further provides a tubular organ three-dimensional surface data reconstruction device, comprising:

[0041] A center line acquisition module is configured to acquire segmentation data of the tubular organ, and calculate a center line and a radius of the tubular organ according to the segmentation data;

[0042] A tubular surface data generation module is configured to generate a plurality of single tubular surface data according to the center line and the radius of the tubular organ;

[0043] A three-dimensional reconstruction module is configured to combine all the plurality of single tubular surface data to form complete three-dimensional surface data.

[0044] The application further provides an electronic device comprising a memory and a processor, wherein,

[0045] The memory is configured to store a program;

[0046] The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the tubular organ three-dimensional surface data reconstruction method in any of the above implementation manners.

[0047] The application further provides a computer readable storage medium configured to store a computer readable program or instruction, which, when executed by a processor, can implement the steps in the tubular organ three-dimensional surface data reconstruction method in any of the above implementation manners.

[0048] The above embodiment has the following beneficial effects:

[0049] The application finds the center line and the radius of the tubular organ, determines the single tubular surface based on the center line and the radius, and forms complete three-dimensional surface data through data combination, so that the generated tubular surface data is not affected by CT and MR images, and the generated tubular surface data is more consistent with the physiological structure of the tubular organ. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0051] Figure 1 An embodiment flowchart of the tubular organ three-dimensional surface data reconstruction method provided by the application is shown in the figure.

[0052] Figure 2 An embodiment flowchart of step S101 provided by the application is shown in the figure.

[0053] Figure 3 A flow chart of an embodiment of step S102 provided by the present application;

[0054] Figure 4 A flow chart of an embodiment of step S103 provided by the present application;

[0055] Figure 5a A structural diagram of an embodiment of tubular intersection information obtained by executing step S401 provided by the present application;

[0056] Figure 5b A structural diagram of an embodiment of split data obtained by executing step S402 provided by the present application;

[0057] Figure 5c A structural diagram of an embodiment of merged data obtained by executing step S403 provided by the present application;

[0058] Figure 6 A flow chart of an embodiment of step S404 provided by the present application;

[0059] Figure 7a A structural diagram of an embodiment of split data obtained by executing step S601 provided by the present application;

[0060] Figure 7b A structural diagram of an embodiment of first convex data obtained by executing step S601 provided by the present application;

[0061] Figure 7c A structural diagram of an embodiment of second convex data obtained by executing step S601 provided by the present application;

[0062] Figure 8 A structural diagram of an embodiment of the tubular organ three-dimensional surface data reconstruction device provided by the embodiment of the present application;

[0063] Figure 9 A structural diagram of an embodiment of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0065] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that any of the embodiments described herein can be combined with any of the other embodiments unless specifically noted otherwise.

[0066] The application provides a tubular organ three-dimensional surface data reconstruction method and device, electronic equipment and storage medium, which are described below.

[0067] As shown in the figure, an embodiment flowchart of a tubular organ three-dimensional surface data reconstruction method provided by the application is provided, which comprises: Figure 1

[0068] Step S101, obtaining the segmentation data of the tubular organ, and calculating the center line and radius of the tubular organ according to the segmentation data;

[0069] Step S102, generating a plurality of single tubular surface data according to the center line and radius of the tubular organ;

[0070] Step S103, merging all the plurality of single tubular surface data to form complete three-dimensional surface data.

[0071] Compared with the prior art, the application finds out the center line and radius of the tubular organ, determines the single tubular surface based on the center line and radius, and then forms complete three-dimensional surface data through data merging. The generated tubular surface data is not affected by CT and MR images, and the generated tubular surface data is more consistent with the physiological structure of the tubular organ.

[0072] In possible embodiments, please refer to Figure 2 , Figure 2 The flowchart of an embodiment of step S101 provided by the application, i.e., the center line and radius of the target tubular organ are calculated according to the segmentation data, which comprises:

[0073] Step S201, calculating the Euler characteristic value of each discrete point in the segmentation data to obtain the center line point set of the tubular organ;

[0074] Step S202, constructing a tree structure of the center line of the tubular organ according to the center line point set of the tubular organ, and dividing the center line into a plurality of center line segments with the bifurcation points on the center line as boundaries, and constructing a tree structure of the center line segments;

[0075] Step S203, calculating the direction N i of each center line point according to the tree structure of the center line segments;​i+2 +P i+1 -P i-1 -P i-2 wherein P i is the position coordinate of the i-th center line point;

[0076] Step S204, calculating the radius corresponding to each center line point according to the direction of the center line point and the segmentation data.

[0077] In possible embodiments, please refer to Figure 3 , Figure 3 The flowchart of an embodiment of step S102 provided by the present application is as follows, that is, generating a plurality of single tubular surface data according to the center line and the radius of the tubular organ, including:

[0078] Step S301, taking the root node of the center line segment tree structure as a starting center line segment; traversing all starting center line segments, selecting a sub-center line segment of the starting center line segment to merge into the starting center line segment, and taking other sub-center line segments as new starting center line segments; repeating this step until all center line segments are merged into the starting center line segment.

[0079] Step S302, traversing all center line segments, judging whether the center line point in the center line segment is an end point or a start point, if yes, retaining the point; if no, calculating the distance between the current point and the previous retained point, if the distance is greater than the radius of the previous retained point, retaining the point; otherwise, deleting the current point.

[0080] Step S303, traversing all center line segments, and then traversing all center line points of all target center line segments, determining the point on the circle with the radius of the point as the set radius on the plane perpendicular to the direction of the point.

[0081] Step S304, traversing all center line segments, dividing the points on all circles of the target center line segment into a preset number of groups according to the positions of the points, performing cubic spline interpolation on each group of points, constructing triangular facets in adjacent two groups of points, and finally generating tubular surface data.

[0082] In possible embodiments, in step S301, selecting a sub-center line segment of the starting center line segment to merge into the starting center line segment, including:

[0083] traversing all sub-center line segments of the starting center line segment, and calculating the modified radius of each sub-center line segment wherein V1 is the direction of the end point of the starting center line segment, V2 is the direction of the start point of the sub-center line segment, R avg is the average radius of the sub-center line segment, and the sub-center line segment with the largest modified radius is merged into the starting center line segment.

[0084] In a possible implementation, step S303, determining a point on a circle with a set radius equal to the radius of the point on a plane perpendicular to the direction of each point, includes:

[0085] Calculate the vector v perpendicular to the direction of the current point. 1 ;

[0086] Calculate the vector v that is perpendicular to the current point's direction. 1 outer product v 2 ;

[0087] Determine the points on 50 circles within the target center line segment. Where P i Let r be the current centerline point, r be the radius of the current centerline point, and k be a natural number from 0 to 49.

[0088] In a possible implementation, calculate the vector v perpendicular to the direction of the current point. 1 ,include:

[0089] If the current point is the starting point, the vector v perpendicular to the direction of the current point... 1 The cross product of the direction of the current point and the first unit vector {1, 0, 0}; if v 1 If the modulus is 0, then v 1 Modify it to the cross product of the current point's direction and the second unit vector {0, 1, 0}, and finally apply v 1 Normalization;

[0090] If the current point is not the starting point, first calculate the points on the circle of the previous centerline point. Among them, P i-1 For the previous centerline point, r i-1 v is the radius of the previous centerline point. 1 i-1 The vector calculated for the previous centerline point; then the plane S passing through the current point and with the direction of the current point as the normal, and the plane passing through point P. r The direction vector is P i -P i-1 A straight line L, where P i Let P be the current centerline point. i-1 Let v be the previous centerline point; finally, v is obtained. 1 =P c -P i , where P c P is the intersection of S and L. i This is the current centerline point.

[0091] In a possible implementation, step S304 specifically includes:

[0092] Traverse all centerline segments, divide the points on all annular segments of the target centerline segment into 50 groups according to the value of k calculated in the previous step, perform cubic spline interpolation on each group of points, and the number of points after interpolation is 4 times that before interpolation; construct triangular patches in two adjacent groups of points, and finally generate tubular surface data.

[0093] In possible implementations, please refer to Figure 4 , Figure 4 This is a flowchart illustrating an embodiment of step S103 provided by the present invention, namely: merging all a plurality of individual tubular surface data to form complete three-dimensional surface data, including:

[0094] Step S401: Based on the tree structure relationship, extract the tubular data with intersecting relationships and number them sequentially to obtain the tubular intersection information; for details, please refer to [link to relevant documentation]. Figure 5a Tubular data with intersecting relationships can be numbered as Tube0, Tube1, Tube2 and Tube3, and the tubular intersection information is Tube0-Tube1, Tube1-Tube2, Tube1-Tube3.

[0095] Step S402: Find the intersection line of the two intersecting tubular data points, and divide the data using the intersection line to obtain split data; for details, please refer to [link to relevant documentation]. Figure 5b This yields the intersection line (Line0) of two intersecting tubular data (Tube0, Tube1), and then divides Tube0 and Tube1 by Line0 to obtain the split data TubeSplit0 and TubeSplit1.

[0096] Step S403: Perform a Boolean merge operation on the split data to obtain merged data; for details, please refer to [link to relevant documentation]. Figure 5c The Boolean operation is performed on the split data TubeSplit0 and TubeSplit1. The data within Tube1 in Tube0 is split to obtain TubeCut0, and the data within TubeSplit0 in TubeSplit1 is split to obtain TubeCut1. Then, TubeSplit0 and TubeSplit1 are merged to obtain the merged data TubeUnion0.

[0097] Step S404: Smooth the merged data to obtain complete three-dimensional surface data.

[0098] In possible implementations, please refer to Figure 6 , Figure 6 This is a flowchart illustrating an embodiment of step S404 provided by the present invention, namely: smoothing the merged data to obtain complete three-dimensional surface data, including:

[0099] Step S601, traverse each point of all intersection lines, take out all triangular patches containing the point, form new data, and divide the data to obtain segmentation data, wherein the new data includes first edge data and second edge data; wherein, please refer to Figure 7a traverse each point of Line0, take out all triangular patches containing the point, form new data Cut0, and merge data TubeUnion0 to divide out Cut0 after segmentation data Cut1; Cut0 contains two boundary edges, i.e., first edge data Edge0 and second edge data Edge1, and the points on the two boundary edges also exist in TubeSplit0 and TubeSplit1.

[0100] Step S602, take the maximum convex hull data of the points in the first edge data and the second edge data, and perform triangulation processing to obtain first convex data; wherein, please refer to Figure 7b take the maximum convex hull data of the points in the first edge data Edge0 and the second edge data Edge1, and perform triangulation processing to obtain first convex data HullData0.

[0101] Step S603, project the points not contained in the first convex data to the nearest boundary of the first convex data to obtain new edge points, and adjust the first convex data according to the edge points to obtain second convex data; wherein, please refer to Figure 7c project the points not contained in the first convex data HullData0 to the nearest boundary of the first convex data HullData0 to obtain new points p01' and p11', and adjust the patch data of the first convex data HullData0 to obtain second convex data HullData1.

[0102] Step S604, merge the second convex data with the segmentation data to obtain tubular convex data, and perform Laplacian smoothing on each point of the tubular convex data with the points in the adjacent triangular patches to obtain the complete three-dimensional surface data. Wherein, merge the second convex data HullData1 with Cut1 to obtain data TubeHullData0, and perform Laplacian smoothing on each point in HullData1 with the points in the adjacent triangular patches to obtain the final smoothed data.

[0103] In summary, after the above processing, the generated tubular surface data is not affected by CT and MR images, and the generated tubular surface data is more consistent with the physiological structure of the tubular organ.

[0104] In order to better implement the tubular organ three-dimensional surface data reconstruction method in the embodiment of the present application, on the basis of the tubular organ three-dimensional surface data reconstruction method, correspondingly, as followsFigure 8 As shown, this embodiment of the invention also provides a three-dimensional surface data reconstruction device 800 for tubular organs, comprising:

[0105] The centerline acquisition module 801 is used to acquire segmentation data of the tubular organ and calculate the centerline and radius of the tubular organ based on the segmentation data.

[0106] The tubular surface data generation module 802 is used to generate several individual tubular surface data based on the centerline and radius of the tubular organ;

[0107] The 3D reconstruction module 803 is used to merge all the individual tubular surface data into complete 3D surface data.

[0108] It should be noted that the tubular organ three-dimensional surface data reconstruction device 800 provided in the above embodiments can realize the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be found in the corresponding content in the above method embodiments, and will not be repeated here.

[0109] like Figure 9 As shown, based on the above-described method for reconstructing three-dimensional surface data of tubular organs, the present invention also provides an electronic device 900. The electronic device 900 includes a processor 901, a memory 902, and a display 903. Figure 9 Only some components of the electronic device 900 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0110] In some embodiments, the memory 902 may be an internal storage unit of the electronic device 900, such as a hard disk or memory of the electronic device 900. In other embodiments, the memory 902 may also be an external storage device of the electronic device 900, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 900.

[0111] Furthermore, the memory 902 may include both internal storage units of the electronic device 900 and external storage devices. The memory 902 is used to store application software and various types of data installed on the electronic device 900.

[0112] The processor 901 may, in some embodiments, be a central processing unit (CPU), a microprocessor, or other data processing chip, for running program codes stored in the memory 902 or processing data, such as the tubular organ three-dimensional surface data reconstruction method in the present application.

[0113] The display 903 may, in some embodiments, be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like. The display 903 is used to display information of the electronic device 900 and to display a visualized user interface. The components 901-903 of the electronic device 900 communicate with each other through a system bus.

[0114] In an embodiment, when the processor 901 executes the tubular organ three-dimensional surface data reconstruction program 904 in the memory 902, the following steps can be implemented:

[0115] Obtaining segmented data of a tubular organ, and calculating a center line and a radius of the tubular organ according to the segmented data;

[0116] Generating a plurality of single tubular surface data according to the center line and the radius of the tubular organ;

[0117] Merging all the plurality of single tubular surface data to form complete three-dimensional surface data.

[0118] It should be understood that, when the processor 902 executes the tubular organ three-dimensional surface data reconstruction program 904 in the memory 901, in addition to the above functions, other functions can also be implemented, which can be referred to the description of the corresponding method embodiments.

[0119] Further, the type of the electronic device 900 referred to in the embodiments of the present application is not specifically limited, and the electronic device 900 can be a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop, or the like. Exemplary embodiments of the portable electronic device include, but are not limited to, a portable electronic device running an iOS, an android, a microsoft, or other operating system. The above-mentioned portable electronic device can also be other portable electronic devices, such as a laptop having a touch-sensitive surface (e.g., a touch panel). It should also be understood that, in some other embodiments of the present application, the electronic device 900 can not be a portable electronic device, but a desktop computer having a touch-sensitive surface (e.g., a touch panel).

[0120] Correspondingly, the embodiments of the present application further provide a computer readable storage medium for storing computer readable programs or instructions, which can realize the method steps or functions provided by the above-mentioned method embodiments when executed by a processor.

[0121] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium includes a magnetic disk, an optical disk, a read-only memory, a random access memory, etc.

[0122] The above describes in detail the tubular organ three-dimensional surface data reconstruction method, device, electronic equipment and storage medium provided by the present application. The principles and implementation manners of the present application are described by applying specific examples. The above embodiment is only used to help understand the method and core idea of the present application. Meanwhile, for those skilled in the art, the specific implementation manners and application ranges can be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for reconstructing three-dimensional surface data of a tubular organ, characterized in that, include: Obtaining segmentation data of a tubular organ, and calculating the centerline and radius of the tubular organ based on the segmentation data, includes: calculating the Euler eigenvalue of each discrete point in the segmentation data to obtain a set of centerline points of the tubular organ; constructing a tree structure of the centerline of the tubular organ based on the set of centerline points, and dividing the centerline into multiple centerline segments using the bifurcation points as boundaries to construct a tree structure of centerline segments; and calculating the direction N of each centerline point based on the tree structure of the centerline segments. i =P i+2 +P i+1 -P i-1 -P i-2 , where P i Let be the position coordinates of the i-th centerline point; calculate the radius corresponding to each centerline point based on the direction of the centerline point and the segmentation data; Based on the centerline and radius of the tubular organ, several individual tubular surface data are generated, including: The process begins by using the root node of the centerline tree structure as the starting centerline segment. It then iterates through all starting centerline segments, selecting one sub-centerline segment from each starting centerline segment and merging it into the starting centerline segment, while using the remaining sub-centerline segments as new starting centerline segments. This process is repeated until all centerline segments are merged into the starting centerline segment. Next, iterates through all centerline segments, determining if a centerline point within a centerline segment is the end point or the beginning point. If so, the point is retained. If not, the distance between the current point and the previously retained point is calculated. If the distance is greater than the radius of the previously retained point, the point is retained. Otherwise, the current point is deleted. The process then iterates through all centerline segments, and then through all centerline points of all target centerline segments, determining the points on a circle with a set radius on a plane perpendicular to the direction of each point. Finally, iterates through all centerline segments, dividing the points on all circles of the target centerline segment into a predetermined number of groups based on their positions. Cubic spline interpolation is performed on each group of points, constructing triangular patches between adjacent groups, ultimately generating tubular surface data. All individual tubular surface data are merged to form complete three-dimensional surface data; Select one sub-center segment of the initial center line segment and merge it into the initial center line segment, including: Iterate through all sub-center segments of the initial center segment and calculate the correction radius for each sub-center segment. Where V1 is the direction of the endpoint of the target centerline segment, V2 is the direction of the starting point of the sub-centerline segment, and R... avg The average radius of the sub-center segments is used to merge the sub-center segments with the largest corrected radius into the initial center segments.

2. The method for reconstructing three-dimensional surface data of tubular organs according to claim 1, characterized in that, Determine the points on a circle with a set radius equal to the radius of each point in a plane perpendicular to the direction, including: Calculate the vector v perpendicular to the direction of the current point. 1 ; Calculate the vector v that is perpendicular to the current point's direction. 1 outer product v 2 ; Determine the points on 50 circles within the target center line segment. Where P i Let r be the current centerline point, r be the radius of the current centerline point, and k be a natural number from 0 to 49.

3. The method for reconstructing three-dimensional surface data of tubular organs according to claim 2, characterized in that, Calculate the vector v perpendicular to the direction of the current point. 1 ,include: If the current point is the starting point, the vector v perpendicular to the direction of the current point... 1 The cross product of the current point's direction and the first unit vector; if v 1 If the modulus is 0, then v 1 Modify it to the outer product of the current point's direction and the second unit vector, and finally apply v. 1 Normalization; If the current point is not the starting point, first calculate the points on the circle of the previous centerline point. Among them, P i-1 For the previous centerline point, r i-1 v is the radius of the previous centerline point. 1 i-1 The vector calculated for the previous centerline point; then the plane S passing through the current point and with the direction of the current point as the normal, and the plane passing through point P. r The direction vector is P i -P i-1 The straight line L, where P i Let P be the current centerline point. i-1 Let v be the previous centerline point; finally, v is obtained. 1 =P c -P i , where P c P is the intersection of S and L. i This is the current centerline point.

4. The method for reconstructing three-dimensional surface data of tubular organs according to claim 1, characterized in that, All individual tubular surface data are merged to form complete 3D surface data, including: Based on the tree structure relationship, extract the tubular data with intersecting relationships, and number them sequentially to obtain the tubular intersection information; Find the intersection line of two intersecting tubular data, and divide the data using the intersection line to obtain split data; The split data is merged by performing a Boolean merge operation; The merged data is then smoothed to obtain complete three-dimensional surface data.

5. The method for reconstructing three-dimensional surface data of tubular organs according to claim 4, characterized in that, The merged data is smoothed to obtain complete three-dimensional surface data, including: Traverse each point of all intersecting lines, extract all triangular faces containing that point, form new data, and divide the data to obtain segmented data. The new data includes first edge data and second edge data. Take the maximum convex hull data from the points in the first edge data and the second edge data, and perform triangulation to obtain the first convex body data; Points not included in the first convexity data are projected onto the boundary of the nearest first convexity data to obtain new edge points. The first convexity data is then adjusted based on the edge points to obtain the second convexity data. The second convexity data is merged with the segmented data to obtain tubular convexity data. Each point of the tubular convexity data is then smoothed using Laplacian smoothing with points in adjacent triangular facets to obtain the complete three-dimensional surface data.

6. A device for reconstructing three-dimensional surface data of a tubular organ, characterized in that, include: The centerline acquisition module is used to acquire segmented data of a tubular organ and calculate the centerline and radius of the tubular organ based on the segmented data. This includes: calculating the Euler eigenvalue of each discrete point in the segmented data to obtain a set of centerline points for the tubular organ; constructing a tree structure of the centerline of the tubular organ based on the centerline point set, and dividing the centerline into multiple centerline segments using the branching points as boundaries to construct a tree structure of centerline segments; and calculating the direction N of each centerline point based on the tree structure of the centerline segments. i =P i+2 +P i+1 -P i-1 -P i-2 , where P i Let be the position coordinates of the i-th centerline point; calculate the radius corresponding to each centerline point based on the direction of the centerline point and the segmentation data; A tubular surface data generation module is used to generate several individual tubular surface data points based on the centerline and radius of the tubular organ, including: The process begins by using the root node of the centerline tree structure as the starting centerline segment. It then iterates through all starting centerline segments, selecting one sub-centerline segment from each starting centerline segment and merging it into the starting centerline segment, while using the remaining sub-centerline segments as new starting centerline segments. This process is repeated until all centerline segments are merged into the starting centerline segment. Next, iterates through all centerline segments, determining if a centerline point within a centerline segment is the end point or the beginning point. If so, the point is retained. If not, the distance between the current point and the previously retained point is calculated. If the distance is greater than the radius of the previously retained point, the point is retained. Otherwise, the current point is deleted. The process then iterates through all centerline segments, and then through all centerline points of all target centerline segments, determining the points on a circle with a set radius on a plane perpendicular to the direction of each point. Finally, iterates through all centerline segments, dividing the points on all circles of the target centerline segment into a predetermined number of groups based on their positions. Cubic spline interpolation is performed on each group of points, constructing triangular patches between adjacent groups, ultimately generating tubular surface data. The 3D reconstruction module is used to merge all individual tubular surface data into complete 3D surface data. Select one sub-center segment of the initial center line segment and merge it into the initial center line segment, including: Iterate through all sub-center segments of the initial center segment and calculate the correction radius for each sub-center segment. Where V1 is the direction of the endpoint of the target centerline segment, V2 is the direction of the starting point of the sub-centerline segment, and R... avg The average radius of the sub-center segments is used to merge the sub-center segments with the largest corrected radius into the initial center segments.

7. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the method for reconstructing three-dimensional surface data of tubular organs according to any one of claims 1 to 5.

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