Three-dimensional imaging method and device, storage medium and imaging equipment

Abstract

The invention discloses a three-dimensional imaging method and device, a storage medium and imaging equipment. Comprising the following steps: sequentially carrying out multi-angle image acquisition on a target object at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; after the blood vessel structure of the target object is developed, image acquisition of multiple angles is carried out on the target object at each imaging site in sequence, and a three-dimensional angiography image corresponding to each imaging site is obtained; for each imaging site, performing digital silhouette on the three-dimensional mask image and the three-dimensional contrast image corresponding to the imaging site to obtain a vascular silhouette image corresponding to the imaging site; and performing registration splicing on the vascular silhouette three-dimensional images corresponding to the imaging sites to obtain a global vascular three-dimensional image of the target object in the target imaging area.

Description

Technical Field

[0001] This application relates to the field of medical imaging technology, and in particular to a three-dimensional imaging method, device, storage medium and imaging equipment. Background Technology

[0002] In modern medical diagnosis and treatment systems, medical imaging equipment, as a core tool for acquiring information on the internal anatomical structure, physiological function, and lesions of the human body, has become an indispensable and crucial component of the clinical diagnosis and treatment process. Among them, digital subtraction angiography (DSA) technology, as one of the core technologies in the field of vascular imaging, is widely used in clinical diagnosis and treatment scenarios due to its advantage of being able to clearly display the course of blood vessels, changes in vessel diameter, and the location of lesions.

[0003] However, current DSA imaging equipment still has significant limitations in image acquisition. Due to factors such as the imaging field of view and the movement trajectory of the C-arm, existing DSA imaging equipment can usually only acquire images of local parts of the human body. This results in damage to the continuity and accuracy of the complete vascular structure, which seriously affects doctors' comprehensive judgment of the overall direction of blood vessels, the distribution of lesions, and the relationship between blood vessels, making it difficult to provide accurate reference for doctors' decision-making. Summary of the Invention

[0004] This application provides a three-dimensional imaging method for digital subtraction angiography (DSA) imaging equipment, including:

[0005] Determine the imaging sites corresponding to the target object within the target imaging area;

[0006] The target object is sequentially imaged from multiple angles at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures;

[0007] After imaging the vascular structure of the target object, images of the target object are acquired from multiple angles at each imaging site to obtain three-dimensional contrast images corresponding to each imaging site; wherein, the contrast images include images of the vascular structure and images of the non-blood structure;

[0008] For each imaging site, digital silhouettes are created from the three-dimensional mask image and the three-dimensional angiography image corresponding to that imaging site to obtain the blood vessel silhouette image corresponding to that imaging site.

[0009] The three-dimensional images of blood vessel silhouettes corresponding to each imaging site are registered and stitched together to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

[0010] Optionally, the DSA imaging device includes a C-arm for scanning imaging;

[0011] The target object is subjected to image acquisition from multiple angles, specifically including:

[0012] For each imaging point, the C-arm is controlled to rotate around its own axis along the slide rail on the C-arm at that imaging point, so as to acquire images of the target object from multiple angles within a preset angle range.

[0013] Optionally, in two adjacent image acquisitions, the rotation directions of the C-arm are opposite.

[0014] Optionally, the target object is placed on an operating table, the surface of which can be translated through the C-arm, and the translation direction is perpendicular to the rotation plane of the C-arm;

[0015] Sequentially acquiring images of the target object from multiple angles at each imaging point, specifically including:

[0016] For each imaging site, after image acquisition at that imaging site is completed, the bed surface is controlled to translate so as to move the next imaging site of the target object into the image acquisition area of ​​the C-arm, and to acquire images of the target object from multiple angles at the next imaging site.

[0017] Optionally, the DSA imaging device includes a C-arm for scanning imaging, and the target object is placed on an operating table;

[0018] Before acquiring images of the target object from multiple angles, the method further includes:

[0019] A collision test is performed on the C-arm and the operating table. Based on the collision test results and the relative positions of the C-arm and the operating table in the target space coordinate system, safe motion parameters for the C-arm and the operating table are determined. These safe motion parameters are used to limit the motion trajectory of the C-arm and the operating table during image acquisition.

[0020] Optionally, the safe motion parameters include at least:

[0021] The first motion parameter restricts the C-arm to rotate only around its own axis of rotation along the slide rail on the C-arm, and the second motion parameter restricts the operating table board to translate only through the C-arm.

[0022] Optionally, the vascular silhouette images corresponding to each imaging site are registered and stitched together, specifically including:

[0023] Identify overlapping regions in angular vascular images corresponding to adjacent imaging sites;

[0024] Based on the image overlap region, the blood vessel silhouette images of the adjacent imaging sites are registered to obtain the registration matrix information corresponding to the adjacent imaging sites.

[0025] The vascular silhouette images corresponding to the adjacent imaging sites are stitched together according to the registration matrix information, and the overlapping three-dimensional image regions are fused to obtain the global vascular three-dimensional image.

[0026] This specification provides a three-dimensional imaging device for digital subtraction angiography (DSA) imaging equipment, comprising:

[0027] The determination module is used to determine the imaging sites corresponding to the target object within the target imaging area;

[0028] The first acquisition module is used to sequentially acquire images of the target object from multiple angles at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures;

[0029] The second acquisition module is used to sequentially acquire images of the target object from multiple angles at each imaging site after the vascular structure of the target object has been visualized, thereby obtaining a three-dimensional contrast image corresponding to each imaging site; wherein, the contrast image includes images of the vascular structure and images of the non-blood structure;

[0030] The silhouette module is used to digitally silhouette each imaging site from the corresponding 3D mask image and 3D angiography image to obtain the blood vessel silhouette image corresponding to the imaging site.

[0031] The stitching module is used to register and stitch together the three-dimensional images of blood vessel silhouettes corresponding to each imaging site to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

[0032] This specification provides a computer-readable storage medium having computer instructions stored thereon that, when executed by a processor, implement the steps of the method described above.

[0033] This specification provides an imaging device including a processor and a memory for storing executable instructions of the processor, the processor being configured to perform the steps of the method described above.

[0034] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0035] Multiple images of the target object are sequentially acquired at each imaging site from multiple angles to obtain a 3D mask image corresponding to each imaging site. After imaging the vascular structure of the target object, multiple images of the target object are sequentially acquired at each imaging site from multiple angles to obtain a 3D angiography image corresponding to each imaging site. For each imaging site, a digital silhouette is created from the 3D mask image and the 3D angiography image corresponding to that imaging site to obtain a vascular silhouette image corresponding to that imaging site. The 3D vascular silhouette images corresponding to each imaging site are registered and stitched together to obtain a global vascular 3D image of the target object within the target imaging area.

[0036] In this method, before imaging the blood vessels of the target object, mask images of each site at different angles are acquired and reconstructed sequentially. After imaging the blood vessels of the target object, contrast images of each site at different angles are acquired and reconstructed sequentially. The reconstructed images can cover the target imaging area. By registering and stitching the three-dimensional blood vessel silhouette images after silhouette processing, a global three-dimensional blood vessel image can be obtained. Compared with current methods that can only acquire images of local parts of the human body, this scheme can accurately construct a global three-dimensional blood vessel image, providing accurate reference for doctors' intraoperative and postoperative decisions. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating a three-dimensional imaging method provided in an embodiment of this application;

[0038] Figure 2A This is an observation diagram of the rotation direction of a C-arm provided in an embodiment of this application;

[0039] Figure 2B This is an observation diagram of the translation direction of the operating table provided in an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of a detection device for a diseased area provided in this instruction manual;

[0041] Figure 4 This specification provides a corresponding Figure 1 A schematic diagram of the imaging device. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The modes described in the following exemplary embodiments do not represent all modes consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] In modern medical diagnosis and treatment systems, although DSA technology has significant application value in vascular diagnosis and treatment, the current mainstream DSA equipment still has obvious limitations in image acquisition function: limited by factors such as the imaging field of view, C-arm movement trajectory and bed translation accuracy, existing DSA equipment can usually only acquire images of local parts of the human body separately. That is, for different target imaging areas (such as head blood vessels, chest blood vessels, lower limb blood vessels, etc.), the equipment parameters need to be adjusted and the acquisition operation needs to be performed separately, and it is impossible to acquire a complete vascular image with a large coverage area at one time.

[0044] This acquisition method not only makes the image acquisition process cumbersome and time-consuming, increasing the patient's examination time and radiation exposure risk, but more importantly, because images of different parts are acquired independently, subsequent image stitching is required manually or by algorithms to form a complete vascular view. However, during the stitching process, problems such as image registration errors and missing information can easily impair the continuity and accuracy of the complete vascular structure. This deficiency seriously affects doctors' comprehensive judgment of the overall course of blood vessels, lesion distribution, and intervascular relationships. Especially in diagnostic and treatment scenarios involving vascular lesions in multiple locations, it may lead to diagnostic errors or limitations in treatment plan formulation, thus restricting the further application and development of DSA technology in clinical diagnosis and treatment.

[0045] Based on this, this specification provides a three-dimensional imaging method. Before visualizing the blood vessels of the target object, images of the target object are acquired from multiple angles at each imaging site sequentially, and the corresponding three-dimensional mask images are obtained using the projected image data. After visualizing the blood vessels of the target object, images are also acquired from multiple angles at each imaging site to obtain three-dimensional contrast images. Then, the three-dimensional contrast images and three-dimensional mask images at each acquisition site are processed into silhouettes, and then the three-dimensional blood vessel silhouette images at each imaging site are registered and stitched together to finally obtain a global three-dimensional blood vessel image of the target object within the target imaging area.

[0046] The embodiments of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments can be combined with each other.

[0047] Figure 1 This is a flowchart illustrating a three-dimensional imaging method provided in an embodiment of this application, including the following steps:

[0048] S101: Determine the imaging sites corresponding to the target object within the target imaging area.

[0049] In this specification, the target object can be a patient requiring examination, or it can be an ex vivo tissue sample used for medical research (such as an ex vivo blood vessel specimen or an animal experimental sample) or a simulated phantom used for medical teaching (such as a silicone phantom simulating the human vascular structure). The target imaging area can be the area of ​​blood vessel distribution that needs to be examined in detail, such as the blood vessel distribution area of ​​the upper body, the blood vessel distribution area of ​​the chest and abdomen, the blood vessel distribution area of ​​the peripheral lower limbs, or the blood vessel distribution area of ​​the whole body. The range of this target imaging area is larger than the maximum acquisition field of view corresponding to the detector of the DSA imaging device.

[0050] Each imaging site can be determined based on the imaging parameters pre-set on the DSA imaging device. These imaging parameters may include the start point and end point of the target imaging region, as well as the maximum field of view of the DSA imaging device's detector. In determining each imaging site, the total length of the target imaging region can be calculated based on the end point and start point. Then, combined with the maximum field of view of the detector, the total length can be divided equally or segmented according to the vascular anatomy, thereby planning each imaging site used for image acquisition.

[0051] It should be noted that the aforementioned imaging site can be a specific point on the target object, or it can be a small area. Furthermore, to ensure no information loss and the continuity and integrity of the vascular structure during subsequent image registration and stitching, the detector's field of view at adjacent imaging sites can overlap.

[0052] For example, when performing three-dimensional imaging of the patient's entire body, each imaging point may include: the starting point (midpoint of the top of the head), multiple intermediate points (spinous process of the seventh cervical vertebra, xiphoid process of the chest, center of the abdomen, anterior superior iliac spine of the pelvis, midpoint of the patella of the knee joint of the lower limb), and the ending point (tip of the medial malleolus of the foot and ankle).

[0053] In this manual, the DSA imaging device is equipped with a C-arm for image acquisition, and the target object can be placed on the operating table. For ease of understanding, this manual provides a schematic diagram of the spatial position of the DSA imaging device and the operating table, as shown below. Figure 2A and Figure 2B As shown.

[0054] Figure 2A This is an observation diagram of the rotation direction of a C-arm provided in an embodiment of this application;

[0055] Figure 2B This is an observation diagram provided in the embodiment of this application for the translation direction of the operating table.

[0056] like Figure 2A As shown, the C-arm 201 of the DSA imaging device is located on the side of the operating table 202, and the C-arm 201 can rotate in the C direction along the slide rail 204.

[0057] like Figure 2B As shown, the operating table surface can be translated through the C-shaped arm 201, and the translation direction B is perpendicular to the rotation plane of the C-shaped arm 201 (i.e., Figure 2A The plane corresponding to the C-shaped arm 201 when it rotates along direction C). Based on this positional relationship, the surface of the operating table 202 can be translated through the C-shaped arm 201. Wherein, point S is the starting point, E is the ending point, and N1 and N2 are intermediate points.

[0058] To avoid physical collisions between the C-arm 201 and the operating table 202 during image acquisition, or to prevent the target object from being squeezed due to improper relative positions of the two, a collision test can be performed on the C-arm 201 and the operating table 202 before image acquisition.

[0059] For example, the operating table can be simulated to move within a predetermined translation range in advance, while the C-arm 201 is operated in the same rotation or movement mode as during normal image acquisition. The simulation process can be used to observe whether there are situations such as overlapping positions or excessive distance between the two that may lead to collisions or compression.

[0060] Then, based on the collision test results and the relative positions of the C-arm 201 and the operating table 202 in the target space coordinate system, safe motion parameters for the C-arm 201 and the operating table 202 can be determined.

[0061] The safety motion parameters are used to limit the movement trajectory of the C-arm and the operating table during image acquisition. In this specification, the safety motion parameters may include: a first motion parameter that restricts the C-arm 201 to rotate only around its own axis of rotation along the slide rail 204 on the C-arm; and a second motion parameter that restricts the operating table's bed board to translate only through the C-arm in direction B.

[0062] By limiting the motion of this parameter, the C-arm 201 and the operating table 202 can maintain a safe relative position during image acquisition. That is, when the operating table 202 translates along direction B, it will not touch the C-arm 201, and when the C-arm 201 rotates along direction C, it will not touch the operating table 202.

[0063] Of course, other motion parameters may also be included in practical applications, such as the rotation angle set to prevent the C-arm 201 from rotating too much and exceeding the safety range. This manual does not make specific limitations on this.

[0064] In addition, the operating table 202 in this manual can be an interventional operating table, which is made of carbon fiber material with excellent X-ray transmittance, thereby reducing artifacts and ensuring clear DSA imaging. Furthermore, it supports multiple electric adjustments such as longitudinal translation, lateral translation, lifting, left and right tilting, and forward and backward tilting.

[0065] S102: Sequentially acquire images of the target object from multiple angles at each imaging site to obtain a mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures.

[0066] DSA imaging equipment can acquire images of target objects. In this manual, the image acquisition process can be divided into two stages. The first stage is the mask image acquisition stage before the vascular structure of the target object is visualized.

[0067] In practical applications, DSA imaging equipment uses a detector on its C-arm (such as a two-dimensional planar detector) to scan the tissue structure inside the target object with cone-beam X-rays for imaging. Since vascular structures are mainly composed of blood, and the attenuation coefficient of blood to X-rays is extremely small, before the imaging process, relying solely on the natural penetration and attenuation characteristics of X-rays, it is impossible to form a distinguishable grayscale contrast between the vascular structure and the surrounding area on the image. Therefore, the X-ray image acquired at this time is an image of non-vascular structures (such as bones, soft tissues, gases, etc.) that do not contain vascular structures.

[0068] During the acquisition of mask images, the DSA imaging device can sequentially acquire images of the target object from multiple angles at each imaging site to obtain mask projection images of the imaging site at different angles. Then, these mask projection images are used to perform three-dimensional image reconstruction to obtain three-dimensional volume data mask images (i.e., three-dimensional mask images) corresponding to each imaging site.

[0069] Specifically, for each imaging point, the C-arm 201 can be controlled to rotate around its own axis along the slide rail on the C-arm (i.e., rotate along direction C) at that imaging point, thereby acquiring images of the target object from multiple angles within a preset angle range.

[0070] For example, when acquiring masked images of the cerebral blood vessels in a patient's brain, if the selected imaging site is the middle cerebral artery region, the device can preset C-arm acquisition parameters to acquire masked projection images at 0°, 30°, 60°, 90°, 120°, 150°, and 180° respectively. Then, using a preset three-dimensional image reconstruction algorithm (such as a volume reconstruction algorithm based on cone-beam computed tomography (CBCT) algorithm), the position and shape of the cerebral blood vessels in three-dimensional space are calculated in reverse based on the pixel grayscale information at different angles. Finally, these masked projection images are used to perform three-dimensional image reconstruction, thereby obtaining the three-dimensional masked image corresponding to the imaging site of the middle cerebral artery.

[0071] The aforementioned angle range can be set according to actual conditions. For example, the preset angle range can be set to 180°. The DSA imaging device can set a corresponding electronic fence based on this angle range to restrict its robotic arm from rotating within this angle.

[0072] Of course, the above angle range can also be set according to the mechanical load-bearing and motion stability structure of the C-arm 201. For example, the mechanical limiter at the end of the C-arm 201 is usually fixed to both ends of the slide rail of the C-arm 201 by a metal block or buffer assembly. When the C-arm 201 rotates along the slide rail 204 to a near preset limit angle, the mechanical limiter will physically block the C-arm 201 from continuing to rotate, so as to avoid the C-arm 201 from colliding with the equipment base, detector cable or target object (such as operating table) due to excessive rotation, while protecting the mechanical life of the slide rail and drive motor.

[0073] Furthermore, the operating table in this manual can be divided into two parts: the table surface and the base. The base is fixed to the ground, and a slide rail is provided between the table surface and the base, allowing the table surface to move horizontally along the slide rail. For each imaging site, after image acquisition at that site is completed, the DSA imaging device can send a control signal to the operating table to control the table surface to move horizontally, thereby moving the next imaging site of the target object into the image acquisition area of ​​the C-arm, and acquiring images of the target object from multiple angles at the next imaging site.

[0074] In addition, to optimize the smoothness of the time interval and angle transition between image acquisitions, the rotation direction of the C-arm 201 is opposite in two adjacent image acquisitions.

[0075] by Figure 2BFor example, firstly, a mask projection image is acquired at acquisition point S. At this time, acquisition point S is located within the acquisition field of view of detector 203. C-shaped arm 201 can rotate 180° clockwise around its own rotation axis at this point along the slide rail 204 on the C-shaped arm 201, thereby obtaining mask images at multiple angles corresponding to acquisition point S.

[0076] The operating table is then moved so that acquisition site N1 is within the field of view of detector 203. The C-arm 201 is then rotated 180° clockwise around its own axis at that site along the slide rail 204 on the C-arm 201, thereby obtaining mask images of multiple angles corresponding to acquisition site N1. The above steps are repeated until the mask image of acquisition site E is acquired, thus realizing the acquisition of comprehensive mask images of different acquisition sites of the target object, providing a complete non-vascular structure image basis for subsequent DSA imaging subtraction operations.

[0077] It should be added that the timing of image acquisition during the rotation of the C-arm can be set based on a preset angle interval, such as acquiring an image once every 1° of rotation. Of course, it can also be set based on a preset acquisition frequency, such as acquiring an image once every 0.2 seconds.

[0078] The acquisition mode described above can be determined based on the image acquisition requirements of the actual application: when high-precision 3D reconstruction is required (such as intracranial small vessel imaging), a fixed small angle interval (such as 1°) is usually used to acquire images to obtain denser angular information and improve reconstruction accuracy; while in rapid scanning scenarios (such as emergency angiography), a fixed time interval (such as 0.2 seconds) can be used to acquire images, ensuring basic angular coverage while shortening the overall acquisition time and reducing the radiation exposure time of the target object (such as the patient). Both methods can ultimately form a sequence of images covering the preset angular range, providing data support for subsequent image stitching or 3D reconstruction.

[0079] After obtaining mask images of each acquisition site at different angles, the DSA imaging device can store them.

[0080] S103: After imaging the vascular structure of the target object, images of the target object are acquired from multiple angles at each imaging site in sequence to obtain three-dimensional contrast images corresponding to each imaging site; wherein, the contrast images include images of the vascular structure and images of the non-blood structure.

[0081] The second stage of image acquisition is the angiography image acquisition stage after the vascular structure of the target object has been visualized.

[0082] In this process, contrast processing involves injecting an iodine-containing contrast agent into the artery or vein of the target object so that the blood vessels can form a significant grayscale difference with the surrounding non-vascular tissue under X-ray irradiation, thus achieving clear contrast. At this time, the contrast images acquired by the C-arm include not only images of non-vascular structures but also images of vascular structures.

[0083] The DSA imaging device then controls the C-arm 201 to rotate around its own axis along the slide rail on the C-arm at the imaging site (i.e., rotate in direction C), thereby acquiring images of the target object from multiple angles within a preset angle range. This yields three-dimensional volumetric imaging images (i.e., three-dimensional imaging images) corresponding to each imaging site.

[0084] It should be noted that the movement of the C-arm, the projection reconstruction of the three-dimensional image, and the movement of the operating table are the same as those for the acquisition of the mask image during the image acquisition process. For details, please refer to step S102. This manual will not elaborate further here.

[0085] After obtaining the three-dimensional angiographic images of each acquisition site, the DSA imaging device can store them.

[0086] S104: For each imaging site, digital silhouettes are created from the three-dimensional mask image and the three-dimensional angiography image corresponding to that imaging site to obtain the blood vessel silhouette image corresponding to that imaging site.

[0087] After acquiring masked and contrast images of each imaging site from multiple angles, for each imaging site, the 3D masked and contrast images at that site can be paired. A digital silhouette is then created between the paired 3D contrast image and the 3D masked image to eliminate identical tissue structures in the masked and contrast images at the same angle, resulting in a vascular silhouette image corresponding to that imaging site. This vascular silhouette image is the 3D vascular image at that imaging site. The digital silhouette process involves subtracting the contrast image taken after contrast agent injection from the previously stored masked image. The computer cancels out the digital information representing the same anatomical structures in the two images.

[0088] In an ideal scenario: if the target object remains completely still during the two image acquisitions, then the position and shape of background structures such as bones and soft tissues will be completely consistent in the mask and the image, and these background signals will be completely eliminated after subtraction.

[0089] The image obtained after digital subtraction mainly retains the information of the blood vessels filled with contrast agent. These vessels are clearly displayed in the final image with high contrast, making it easier to observe the shape, course, stenosis, dilation or other abnormalities of the vessels.

[0090] This allows us to obtain a set of vascular silhouette images corresponding to each imaging site.

[0091] These 3D silhouette images of blood vessels at various locations not only preserve the detailed features of the blood vessel structure at each location, but also completely eliminate background interference from bones, soft tissues, etc. through the silhouette.

[0092] S105: Register and stitch together the three-dimensional images of blood vessel silhouettes corresponding to each imaging site to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

[0093] Specifically, DSA imaging equipment can identify overlapping regions in the silhouette images of blood vessels at adjacent imaging sites. Then, based on the overlapping regions, it performs registration processing on multi-angle blood vessel images at adjacent imaging sites to obtain registration matrix information.

[0094] After determining the registered blood vessel silhouette image, the blood vessel silhouette images corresponding to adjacent imaging sites can be further stitched together according to the registration matrix information, and the overlapping three-dimensional image regions can be fused to obtain a global three-dimensional image of blood vessels of the target object within the target imaging region.

[0095] For example, assuming the target imaging area is the blood vessels of a patient's lower limbs, it needs to cover three adjacent imaging sites: the groin (imaging site A), the area near the knee joint (imaging site B), and the middle of the calf (imaging site C). First, the DSA imaging device extracts the overlapping region from the vascular silhouette images of imaging site A and site B respectively. This region is usually a vascular segment in the lower thigh and upper knee joint (such as the overlapping part of the distal femoral artery and the proximal popliteal artery). Through image feature matching algorithms (such as identifying unique features such as vascular branch morphology and diameter changes), the three-dimensional vascular pixels in the overlapping region of site A are precisely aligned with the three-dimensional vascular pixels in the corresponding region of site B. After registration, the overlapping three-dimensional image regions are fused to obtain a continuous vascular image sequence after the connection of site A and site B.

[0096] Next, the same logic is used to process the vascular images of imaging sites B and C: identify the overlapping areas of blood vessels in the lower part of the knee joint and the upper part of the calf (such as the overlapping part of the distal popliteal artery and the proximal anterior tibial artery), and further stitch the image after site B is connected with the image of site C by registration and fusion, and finally form a complete three-dimensional vascular image covering the thigh, knee joint and calf.

[0097] Once a full-area three-dimensional vascular image is obtained, the corresponding task can be performed using this full-area three-dimensional vascular image.

[0098] For example, during the preoperative or intraoperative stages, the spatial course of the target blood vessel, the location and degree of stenosis, the distribution of vascular branches, and its adjacent relationship with surrounding tissues can be observed from any angle using this three-dimensional image. This allows for the determination of the diagnosis and interventional treatment plan for vascular diseases (such as using AI models to quantitatively analyze the stenosis rate, plaque nature, and degree of vascular calcification in the three-dimensional image, thereby automatically generating personalized interventional device selection suggestions—such as recommending the appropriate stent model based on the diameter of the stenotic vessel; or, the doctor can combine the three-dimensional morphology of the blood vessel in the three-dimensional image to plan the optimal guidewire entry path, avoiding accidental contact of the guidewire with vascular branches or lesion areas during the operation, and reducing surgical risks).

[0099] For example, in the postoperative stage, the full-area three-dimensional vascular images of the target area acquired and reconstructed during postoperative follow-up can be precisely compared with the preoperative three-dimensional vascular images to assess the effectiveness of interventional treatment—such as determining whether endoleak or in-stent thrombosis has occurred after stent implantation, or whether vascular stenosis has been effectively improved. Simultaneously, long-term follow-up three-dimensional image sequences can dynamically monitor the recurrence of vascular lesions, providing objective evidence for adjusting subsequent treatment plans. Furthermore, for patients undergoing multi-stage treatment, postoperative three-dimensional images can serve as the imaging basis for the next stage of treatment, helping doctors to more clearly understand the dynamic changes in vascular structure and further optimize treatment strategies.

[0100] It should be added that the operations performed by the DSA imaging device described in this manual (such as multi-angle image acquisition control, digital subtraction of mask and angiography images, registration and stitching of vascular images at multiple imaging sites, and global three-dimensional vascular image reconstruction) can be executed by a dedicated control unit integrated within the DSA imaging device. This internal unit is deeply integrated with the device's C-arm drive system and detector data acquisition module, enabling real-time synchronization of image acquisition and processing. Alternatively, it can be executed by an independent computing device, server, host computer, or control terminal deployed outside the DSA imaging device. The external device receives the raw image data transmitted by the DSA device through a data interface (such as Ethernet or a dedicated medical data bus), completes complex three-dimensional reconstruction or AI-assisted analysis, and then sends the processing results back to the DSA device's display terminal for the doctor to view. This manual does not specifically limit this.

[0101] The above describes one or more methods for detecting diseased sites as described in this manual. Based on the same approach, this manual also provides corresponding detection devices for diseased sites, such as... Figure 3 As shown.

[0102] Figure 3 A schematic diagram of a detection device for a diseased area provided in this specification includes:

[0103] The determination module 301 is used to determine each imaging site corresponding to the target object within the target imaging area;

[0104] The first acquisition module 302 is used to sequentially acquire images of the target object from multiple angles at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures;

[0105] The second acquisition module 303 is used to sequentially acquire images of the target object from multiple angles at each imaging site after the vascular structure of the target object has been visualized, so as to obtain a three-dimensional contrast image corresponding to each imaging site; wherein, the contrast image includes an image of the vascular structure and an image of the non-blood structure.

[0106] The silhouette module 304 is used to perform digital silhouette analysis on the three-dimensional mask image and the three-dimensional angiography image corresponding to each imaging site to obtain the blood vessel silhouette image corresponding to the imaging site.

[0107] The stitching module 305 is used to register and stitch together the three-dimensional images of blood vessel silhouettes corresponding to each imaging site to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

[0108] Optionally, the DSA imaging device includes a C-arm for scanning imaging;

[0109] The first acquisition module 302 or the second acquisition module 303 is specifically used to control the C-shaped arm to rotate around its own axis along the slide rail on the C-shaped arm at each imaging point, so as to acquire images of the target object from multiple angles within a preset angle range.

[0110] Optionally, in two adjacent image acquisitions, the rotation directions of the C-arm are opposite.

[0111] Optionally, the target object is placed on an operating table, the surface of which can be translated through the C-arm, and the translation direction is perpendicular to the rotation plane of the C-arm;

[0112] The first acquisition module 302 or the second acquisition module 303 is specifically used to, for each imaging site, after completing the image acquisition at that imaging site, control the bed surface to translate so as to move the next imaging site of the target object into the image acquisition area of ​​the C-arm, and to perform image acquisition of the target object from multiple angles at the next imaging site.

[0113] Optionally, the DSA imaging device includes a C-arm for scanning imaging, and the target object is placed on an operating table;

[0114] The determining module 301 is further configured to perform a collision test on the C-arm and the operating table, and based on the collision test results and the relative positions of the C-arm and the operating table in the target space coordinate system, determine safe motion parameters for the C-arm and the operating table. The safe motion parameters are used to limit the motion trajectory of the C-arm and the operating table during image acquisition.

[0115] Optionally, the safe motion parameters include at least:

[0116] The first motion parameter restricts the C-arm to rotate only around its own axis of rotation along the slide rail on the C-arm, and the second motion parameter restricts the operating table board to translate only through the C-arm.

[0117] Optionally, the stitching module 305 is specifically used to: identify overlapping regions in the angular blood vessel images corresponding to adjacent imaging sites; perform registration processing on the blood vessel silhouette images of the adjacent imaging sites based on the overlapping regions to obtain registration matrix information corresponding to the adjacent imaging sites; stitch the blood vessel silhouette images corresponding to the adjacent imaging sites according to the registration matrix information, and fuse the overlapping three-dimensional image regions to obtain the global three-dimensional blood vessel image.

[0118] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 A three-dimensional imaging method is provided.

[0119] This instruction manual also provides Figure 4 One of the corresponding Figure 1 A schematic diagram of the imaging device. (See attached diagram.) Figure 4 At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for the business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 1 The risk detection method described herein. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. In other words, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0120] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0121] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0122] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0123] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0124] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0125] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0128] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0130] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0132] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0133] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A three-dimensional imaging method for use in a digital subtraction angiography (DSA) imaging device, characterized in that, include: Determine the imaging sites corresponding to the target object within the target imaging area; The target object is sequentially imaged from multiple angles at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures; After imaging the vascular structure of the target object, images of the target object are acquired from multiple angles at each imaging site to obtain three-dimensional contrast images corresponding to each imaging site; wherein, the contrast images include images of the vascular structure and images of the non-blood structure; For each imaging site, digital silhouettes are created from the three-dimensional mask image and the three-dimensional angiography image corresponding to that imaging site to obtain the blood vessel silhouette image corresponding to that imaging site. The three-dimensional images of blood vessel silhouettes corresponding to each imaging site are registered and stitched together to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

2. The method as described in claim 1, characterized in that, The DSA imaging device includes a C-arm for scanning imaging; The target object is subjected to image acquisition from multiple angles, specifically including: For each imaging point, the C-arm is controlled to rotate around its own axis along the slide rail on the C-arm at that imaging point, so as to acquire images of the target object from multiple angles within a preset angle range.

3. The method as described in claim 2, characterized in that, In two consecutive image acquisitions, the C-arm rotates in opposite directions.

4. The method as described in claim 2, characterized in that, The target object is placed on the operating table, and the surface of the operating table can be translated through the C-arm, with the translation direction perpendicular to the rotation plane of the C-arm. Sequentially acquiring images of the target object from multiple angles at each imaging point, specifically including: For each imaging site, after image acquisition at that imaging site is completed, the bed surface is controlled to translate so as to move the next imaging site of the target object into the image acquisition area of ​​the C-arm, and to acquire images of the target object from multiple angles at the next imaging site.

5. The method as described in claim 1, characterized in that, The DSA imaging device includes a C-arm for scanning imaging, and the target object is placed on an operating table; Before acquiring images of the target object from multiple angles, the method further includes: A collision test is performed on the C-arm and the operating table. Based on the collision test results and the relative positions of the C-arm and the operating table in the target space coordinate system, safe motion parameters for the C-arm and the operating table are determined. These safe motion parameters are used to limit the motion trajectory of the C-arm and the operating table during image acquisition.

6. The method as described in claim 5, characterized in that, The safe motion parameters include at least: The first motion parameter restricts the C-arm to rotate only around its own axis of rotation along the slide rail on the C-arm, and the second motion parameter restricts the operating table board to translate only through the C-arm.

7. The method as described in claim 1, characterized in that, The blood vessel silhouette images corresponding to each imaging site are registered and stitched together, specifically including: Identify overlapping regions in angular vascular images corresponding to adjacent imaging sites; Based on the image overlap region, the blood vessel silhouette images of the adjacent imaging sites are registered to obtain the registration matrix information corresponding to the adjacent imaging sites. The vascular silhouette images corresponding to the adjacent imaging sites are stitched together according to the registration matrix information, and the overlapping three-dimensional image regions are fused to obtain the global vascular three-dimensional image.

8. A three-dimensional imaging device for digital subtraction angiography (DSA) imaging equipment, characterized in that, include: The determination module is used to determine the imaging sites corresponding to the target object within the target imaging area; The first acquisition module is used to sequentially acquire images of the target object from multiple angles at each imaging site to obtain a three-dimensional mask image corresponding to each imaging site; wherein, the mask image includes images of non-vascular structures; The second acquisition module is used to sequentially acquire images of the target object from multiple angles at each imaging site after the vascular structure of the target object has been visualized, thereby obtaining a three-dimensional contrast image corresponding to each imaging site; wherein, the contrast image includes images of the vascular structure and images of the non-blood structure; The silhouette module is used to digitally silhouette each imaging site from the corresponding 3D mask image and 3D angiography image to obtain the blood vessel silhouette image corresponding to the imaging site. The stitching module is used to register and stitch together the three-dimensional images of blood vessel silhouettes corresponding to each imaging site to obtain a global three-dimensional image of blood vessels of the target object within the target imaging area.

9. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 1-7.

10. An imaging device, characterized in that, It includes a processor and a memory for storing executable instructions of the processor, the processor being configured to perform the steps of the method according to any one of claims 1-7.

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