Method and device for determining center line of blood vessel, computer equipment, medium and product

Abstract

The invention relates to a blood vessel center line determination method and device, computer equipment, a medium and a product. The method comprises the following steps: acquiring a contrast agent center line corresponding to a target blood vessel; determining a search area corresponding to each point on the center line of the contrast agent; and performing optimal pixel point search in the search area corresponding to each point, and determining the center line of the target blood vessel according to the optimal pixel point. By adopting the method, optimal pixel point searching can be carried out in the searching area corresponding to each point, the pixel points in the time state that the breathing movement of the patient is small can be found, and therefore the center line of the target blood vessel in the time state that the breathing movement is small can be determined, and at the moment, due to the fact that the breathing movement of the patient is small, the target blood vessel can be accurately searched. Therefore, the center line of the contrast agent in the reconstructed image does not have motion artifacts, so that the center line of the target blood vessel is determined based on the center line of the contrast agent, and the accuracy of determining the center line of the target blood vessel can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the medical technology field, and in particular to a blood vessel center line determination method and device, computer equipment, medium and product. BACKGROUND

[0002] With the development of medical technology, when scanning a target region of an object to be measured using a DSA device or a CT device, a contrast agent can be injected into a blood vessel. During the scanning process, the patient has an autonomous or non-autonomous respiratory motion state, and the above motion state can cause motion artifacts in the contrast agent center line in the reconstructed image corresponding to the DSA device or the CT device, thereby affecting the accuracy of the center line extraction when extracting the contrast agent center line.

[0003] Therefore, how to accurately extract the blood vessel center line has become a technical problem to be solved in the medical technology field. SUMMARY

[0004] Therefore, it is necessary to provide a blood vessel center line determination method, device, computer equipment, medium and product capable of accurately extracting a contrast agent center line in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a blood vessel center line determination method, comprising:

[0006] obtaining a contrast agent center line corresponding to a target blood vessel;

[0007] determining a search region corresponding to each point on the contrast agent center line;

[0008] performing optimal pixel point search in the search region corresponding to each point, and determining the center line of the target blood vessel according to the optimal pixel point.

[0009] In one of the embodiments, the determination of the search region corresponding to each point on the contrast agent center line comprises:

[0010] for each point, determining a plane corresponding to the point; the normal vector direction of the plane is consistent with the direction of the point along the contrast agent center line;

[0011] determining the search region corresponding to the point on the contrast agent image corresponding to the target blood vessel according to the plane corresponding to the point.

[0012] In one of the embodiments, the determination of the plane corresponding to the point comprises:

[0013] determining the direction of the point according to the position of the point and the position of a point adjacent to the point on the contrast agent center line;

[0014] According to the position and direction of the point, a plane corresponding to the point is determined.

[0015] In one embodiment, the determining of the plane corresponding to the point according to the position and direction of the point comprises:

[0016] A relational expression of the plane corresponding to the point is obtained, wherein the relational expression includes plane coordinate parameters, position parameters and direction parameters.

[0017] The position of the point and the direction of the point are taken as known parameters and substituted into the relational expression to perform coordinate calculation of the plane, so that the coordinate of the plane corresponding to the point is obtained.

[0018] In one embodiment, the determining of the search area corresponding to the point on the contrast agent image according to the plane corresponding to the point comprises:

[0019] A plane image of the plane corresponding to the point is extracted on the contrast agent image.

[0020] A connected region closest to the point in the plane image is determined as the search area corresponding to the point.

[0021] In one embodiment, the performing of the optimal pixel point search in each search area corresponding to the point and the determining of the center line of the target blood vessel according to the optimal pixel point comprise:

[0022] A point search of a maximum pixel value is performed in each search area corresponding to the point, and the points of the maximum pixel value searched in each search area are connected to obtain the center line of the target blood vessel.

[0023] In a second aspect, the application further provides a device for determining a blood vessel center line, comprising:

[0024] An obtaining module is configured to obtain a contrast agent center line corresponding to a target blood vessel.

[0025] A first determining module is configured to determine a search area corresponding to each point on the contrast agent center line.

[0026] A second determining module is configured to perform an optimal pixel point search in each search area corresponding to the point and determine a center line of the target blood vessel according to the optimal pixel point.

[0027] In a third aspect, the application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0028] A contrast agent center line corresponding to a target blood vessel is obtained.

[0029] determine a search area corresponding to each point on the contrast agent centerline;

[0030] perform optimal pixel point search in the search area corresponding to each point, and determine the centerline of the target blood vessel.

[0031] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0032] obtain a contrast agent centerline corresponding to a target blood vessel;

[0033] determine a search area corresponding to each point on the contrast agent centerline;

[0034] perform optimal pixel point search in the search area corresponding to each point, and determine the centerline of the target blood vessel.

[0035] In a fifth aspect, the present application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the following steps:

[0036] obtain a contrast agent centerline corresponding to a target blood vessel;

[0037] determine a search area corresponding to each point on the contrast agent centerline;

[0038] perform optimal pixel point search in the search area corresponding to each point, and determine the centerline of the target blood vessel.

[0039] The above-mentioned blood vessel centerline determination method, device, computer equipment, medium and product, obtain a contrast agent centerline corresponding to a target blood vessel, determine a search area corresponding to each point on the contrast agent centerline, perform optimal pixel point search in the search area corresponding to each point, and determine the centerline of the target blood vessel according to the optimal pixel point. The present application embodiment can perform optimal pixel point search in the search area corresponding to each point, can find a pixel point in a time state in which the patient's respiratory motion is small, and thus can determine the centerline of the target blood vessel in the time state in which the patient's respiratory motion is small. At this time, since the patient's respiratory motion is small, the contrast agent centerline in the reconstructed image does not have motion artifacts, and thus, at this time, the centerline of the target blood vessel is determined based on the contrast agent centerline, which can improve the accuracy of determining the centerline of the target blood vessel. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the application embodiments or the related art, the following will briefly introduce the drawings needed to be used in the application embodiments or the related art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0041] Figure 1 An application environment diagram for a blood vessel centerline determination method in an embodiment;

[0042] Figure 2 A flowchart diagram for a blood vessel centerline determination method in an embodiment;

[0043] Figure 3 A flowchart diagram for a search region determination step in an embodiment;

[0044] Figure 4 A flowchart diagram for a plane determination step in an embodiment;

[0045] Figure 5 A flowchart diagram for a blood vessel centerline determination method in another embodiment;

[0046] Figure 6 A first comparison diagram for a centerline determination method in an embodiment;

[0047] Figure 7 A second comparison diagram for a centerline determination method in an embodiment;

[0048] Figure 8 A structural block diagram of a blood vessel centerline determination apparatus in an embodiment. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the terms "comprising" and "having," and any variations thereof, as used herein are intended to cover a non-exclusive inclusion.

[0051] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0052] Reference to“an embodiment” herein 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 one embodiment” in various places in the specification are not necessarily referring to the same embodiment nor are separate or alternative embodiments mutually exclusive of other embodiments. It is expressly understood that the embodiments described herein are merely example embodiments of the application and that a substantial number of specific structures, features, configurations, materials, and components other than those described herein are also intended to be within the scope of the application.

[0053] With the development of medical technology, when scanning a target region of an object to be measured using a DSA (Digital subtraction angiography) device or a CT device, a contrast agent can be injected into a blood vessel. The CT device can include, but is not limited to, CBCT (Cone beam CT), FBCT (fan beam computed tomography), etc., and the target region can include, but is not limited to, at least one of a chest, an abdomen, etc. During the scanning process, the patient has an autonomous or non-autonomous breathing motion state, and the above motion state causes motion artifacts in the contrast agent center line in the reconstructed image corresponding to the DSA device or the CT device, thereby affecting the accuracy of the center line extraction when extracting the contrast agent center line. It should be noted that in a non-motion state, the blood vessel center line and the contrast agent center line are the same; in a motion state, the blood vessel center line is the maximum value center line in the contrast agent image.

[0054] Therefore, how to accurately extract the blood vessel center line has become a technical problem to be solved in the field of medical technology.

[0055] After the above introduction of the background of the method for determining the blood vessel center line provided by the embodiments of the application, the implementation environment related to the method for determining the blood vessel center line provided by the embodiments of the application will be briefly described below. The method for determining the blood vessel center line provided by the embodiments of the application can be applied to, for example, Figure 1The computer device shown in the figure can be a terminal or a server, and includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a blood vessel centerline determination method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or can be a key, trackball or touchpad arranged on the shell of the computer device, or can be an external keyboard, touchpad or mouse, etc.

[0056] Those skilled in the art can understand that, Figure 1 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. A specific terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0057] In one embodiment, as Figure 2 shown, a blood vessel centerline determination method is provided. The method is applied to the computer device in Figure 1 for example, and includes the following steps:

[0058] S201, acquiring a contrast agent centerline corresponding to a target blood vessel.

[0059] The target blood vessel refers to a blood vessel for which the centerline needs to be determined, and the contrast agent centerline refers to a centerline of a contrast agent region determined after injecting the contrast agent into the blood vessel.

[0060] In the embodiment of the present application, the computer device can pre-acquire the reconstructed image corresponding to the CT device. Optionally, the computer device can acquire the reconstructed image from a preset database. Alternatively, the computer device can also acquire the reconstructed image in real time by using the CT device. Of course, the specific implementation manner of acquiring the reconstructed image is not limited in the embodiment of the present application. The reconstructed image includes the target blood vessel, and the reconstructed image can be represented as f(x, y, z), wherein x is the column coordinate, y is the row coordinate, and z is the layer coordinate. Then, the computer device can segment the contrast agent image g(x, y, z) from the reconstructed image by using the threshold segmentation method. The contrast agent image is an image composed of regions with pixel values greater than a preset threshold in the reconstructed image, that is, g(x, y, z) > preset threshold. Thus, the computer device can extract the contrast agent center line h(u, v) corresponding to the target blood vessel from the contrast agent image by using the center line extraction method. Wherein, u = 1, 2,..., n, u is the index of the voxel point on the contrast agent center line, v = (x u ,y u ,z u ), v is the three-dimensional coordinate corresponding to the index u of the voxel point, x u is the column coordinate corresponding to the index u of the voxel point, y u is the row coordinate corresponding to the index u of the voxel point, and z u is the layer coordinate corresponding to the index u of the voxel point.

[0061] In S202, the search area corresponding to each point on the contrast agent center line is determined.

[0062] In the embodiment of the present application, optionally, the computer device can directly determine the search area corresponding to each point (i.e., each voxel point) on the contrast agent center line according to the index and three-dimensional coordinate of each point on the contrast agent center line. Alternatively, the computer device can first determine the plane corresponding to each point on the contrast agent center line according to the index and three-dimensional coordinate of each point on the contrast agent center line, and then determine the search area corresponding to each point on the contrast agent center line according to the plane corresponding to each point on the contrast agent center line. Of course, the specific implementation manner of determining the search area is not limited in the embodiment of the present application. The search area refers to the area that needs to be searched for the optimal pixel point corresponding to each point on the contrast agent center line.

[0063] In S203, the optimal pixel point search is performed in the search area corresponding to each point, and the center line of the target blood vessel is determined according to the optimal pixel point.

[0064] The optimal pixel point refers to a pixel point corresponding to a relatively static time in a motion cycle of a patient in a respiratory motion state. At this time, since the patient motion is relatively static, the contrast agent centerline in the reconstructed image does not have motion artifacts, and therefore the accuracy of determining the centerline of the target blood vessel based on the contrast agent centerline is relatively high. In the embodiment of the present application, the computer device can search for optimal pixel points in the search region corresponding to each point to obtain the optimal pixel points corresponding to the relatively static time in the motion cycle of the patient in the respiratory motion state in each search region, so as to determine the centerline of the target blood vessel according to the optimal pixel points, for example, connecting the optimal pixel points in each search region to obtain the centerline of the target blood vessel.

[0065] In the above method for determining the centerline of the blood vessel, the contrast agent centerline corresponding to the target blood vessel is obtained, the search region corresponding to each point on the contrast agent centerline is determined, the optimal pixel point is searched in the search region corresponding to each point, and the centerline of the target blood vessel is determined according to the optimal pixel point. The optimal pixel point can be searched in the search region corresponding to each point in the embodiment of the present application, and the pixel point in the state of relatively small respiratory motion of the patient can be found, so that the centerline of the target blood vessel in the state of relatively small respiratory motion can be determined. At this time, since the respiratory motion of the patient is relatively small, the contrast agent centerline in the reconstructed image does not have motion artifacts, and therefore the accuracy of determining the centerline of the target blood vessel based on the contrast agent centerline at this time can be improved.

[0066] In one embodiment, an implementation manner for determining the search region is provided, that is, the above-mentioned S202 "determining the search region corresponding to each point on the contrast agent centerline", as shown in the following table: Figure 3

[0067] S301, for each point, determining a plane corresponding to the point; the normal vector direction of the plane is consistent with the direction of the point along the contrast agent centerline.

[0068] In the embodiment of the present application, for each point on the contrast agent centerline, the computer device can determine a plane corresponding to each point. Optionally, the computer device can directly determine the plane corresponding to each point according to the index and three-dimensional coordinates of each point on the contrast agent centerline; or the computer device can first determine the direction of each point according to the index and three-dimensional coordinates of each point on the contrast agent centerline, and then determine the plane corresponding to each point according to the direction and three-dimensional coordinates of each point. Of course, the specific implementation manner of determining the plane corresponding to each point is not limited in the embodiment of the present application. For example, the plane index of the plane corresponding to a point is (x, y, z). It should be noted that the normal vector direction of the plane corresponding to each point is consistent with the direction of the point along the contrast agent centerline.

[0069] ​S302, determining a search region corresponding to the point on the contrast agent image corresponding to the target blood vessel according to the plane corresponding to the point.

[0070] In the embodiments of the present application, the computer device can determine the search region corresponding to the point on the contrast agent image corresponding to the target blood vessel according to the plane corresponding to the point. The manner of obtaining the contrast agent image can refer to the above-mentioned embodiments, which will not be described here. In one of the embodiments, S302 includes:

[0071] extracting a plane image of the plane corresponding to the point on the contrast agent image.

[0072] determining the search region corresponding to the point as the connected region closest to the point in the plane image.

[0073] In the embodiments of the present application, the computer device can extract the two-dimensional plane image p(x, y) of the plane corresponding to the point (x u ,y u ,z u ) on the contrast agent image g(x, y, z) by taking the plane index (x, y, z) of the plane corresponding to the point (x u ,y u ,z u ) as the coordinate, and calculate all connected regions of the two-dimensional plane image p(x, y). Thus, the computer device can determine the search region corresponding to the point (x u ,y u ,z u ) as the connected region closest to the point (x u ,y u ,z u ) in the plane image p(x, y).

[0074] In the embodiments, for each point, the plane corresponding to the point can be determined, wherein the normal vector direction of the plane is consistent with the direction of the point along the contrast agent center line, so that the search region corresponding to the point on the contrast agent image can be accurately determined according to the plane corresponding to the point.

[0075] In one embodiment, an implementation manner of determining the plane corresponding to the point is provided, that is, the "determining the plane corresponding to the point" in S301 described above, as shown in the following formula (1), includes: Figure 4

[0076] S401, determining the direction of the point according to the position of the point and the position of the point adjacent to the point on the contrast agent center line.

[0077] In the embodiments of the present application, the computer device can determine the direction of the point according to the position of the point and the position of the point adjacent to the point on the contrast agent center line. The formula of determining the direction of the point is as shown in the following formula (1):

[0078] ​

[0079] wherein d represents the direction of the point u, h(u+1, v) represents the index and corresponding three-dimensional coordinates of the point u+1 on the contrast agent center line, and h(u-1, v) represents the index and corresponding three-dimensional coordinates of the point u-1 on the contrast agent center line.

[0080] S402, determining the plane corresponding to the point according to the position and direction of the point.

[0081] In the embodiment of the application, the computer device can determine the plane corresponding to the point according to the position and direction of the point by using a preset relationship. The preset relationship can be a self-defined expression. In one embodiment, S402 includes:

[0082] obtaining a relationship of the plane corresponding to the point; the relationship includes plane coordinate parameters, position parameters, and direction parameters.

[0083] substituting the position of the point and the direction of the point into the relationship to perform coordinate calculation of the plane, to obtain the coordinates of the plane corresponding to the point.

[0084] In the embodiment of the application, the computer device can obtain the relationship of the plane corresponding to the point u in advance, wherein the relationship of determining the direction of the point u is as shown in the following formula (2):

[0085]

[0086] wherein the relationship (2) includes plane coordinate parameters x, y, z, position parameters (x u ,y u ,z u ), and direction parameter d.

[0087] Then, the computer device can substitute the position of the point and the direction of the point into the relationship to perform coordinate calculation of the plane, to obtain the three-dimensional coordinates (x, y, z) of the plane corresponding to the point. For example, the x coordinate can be set to be the same as the x in the reconstructed image f(x, y, z), and the y coordinate can be set to be the same as the y in the contrast agent image g(x, y, z), so that the x coordinate and the y coordinate, the position parameters (x u ,y u ,z u ), and the direction parameter d are all substituted into the relationship (2) as known quantities to perform calculation, and the z coordinate in the plane coordinate parameters is as shown in the following formula (3):

[0088]

[0089] Thus, the point (x u ,y uz u ) three-dimensional coordinates (x, y, z) of the corresponding plane.

[0090] In this embodiment, the direction of the point can be accurately determined according to the position of the point and the position of the adjacent point, so that the plane corresponding to the point can be accurately determined according to the position and direction of the point.

[0091] In one embodiment, an implementation of searching for an optimal pixel point is provided, that is, the "optimal pixel point search in each point corresponding search area, and determining the center line of the target blood vessel according to the optimal pixel point" in S203, which includes:

[0092] searching for a point with the maximum pixel value in each point corresponding search area, and connecting the searched points with the maximum pixel value in each search area to obtain the center line of the target blood vessel.

[0093] The point with the maximum pixel value refers to a pixel point with the maximum CT value. Generally, the pixel point corresponding to the relatively stationary time in the motion cycle of the patient in the respiratory motion state has the maximum CT value, so the optimal pixel point generally refers to the point with the maximum pixel value. At this time, since the patient is relatively stationary, the contrast agent center line in the reconstructed image does not have motion artifacts, so the accuracy of determining the center line of the target blood vessel based on the contrast agent center line is relatively high. It should be noted that the center line of the target blood vessel is not strictly located at the geometric center of the target blood vessel, but refers to the center line of the target blood vessel in the time state with less respiratory motion.

[0094] In the embodiment of the application, the computer device can search for a pixel point corresponding to the maximum CT value m(u, v) in each point corresponding search area to obtain the position (x u ’,y u ’,z u ’) of the point with the maximum pixel value in each search area, so that the computer device can connect the searched points with the maximum pixel value in each search area to obtain the center line of the target blood vessel.

[0095] In this embodiment, the point with the maximum pixel value can be searched in each point corresponding search area, each pixel point corresponding to the relatively stationary time in the motion cycle of the patient in the respiratory motion state can be found, and the searched pixel points in each search area can be connected, so that the center line of the target blood vessel can be obtained. At this time, since the patient is relatively stationary, the contrast agent center line in the reconstructed image does not have motion artifacts, so the accuracy of determining the center line of the target blood vessel based on the contrast agent center line is relatively high.

[0096] In an optional embodiment, as shown in Figure 5 , a method for determining a blood vessel center line is provided, applied to a computer device, which includes:

[0097] S501, Obtain the contrast agent centerline corresponding to the target blood vessel;

[0098] S502, for each point, determine the direction of the point based on the position of the point and the positions of adjacent points;

[0099] S503, obtain the relational expression of the plane corresponding to the point; the relational expression includes plane coordinate parameters, position parameters, and direction parameters;

[0100] S504: The position and direction of the point are taken as known parameters and substituted into the relation to calculate the coordinates of the plane, thus obtaining the coordinates of the plane corresponding to the point; the direction of the plane's normal vector is consistent with the direction of the point along the center line of the contrast agent.

[0101] S505, Extract a planar image of the plane corresponding to the point on the contrast agent image;

[0102] S506, The connected region in the planar image that is closest to the point is determined as the search region corresponding to the point;

[0103] S507, perform a point search for the maximum pixel value in the search area corresponding to each point, and connect the pixels found in each search area to obtain the center line of the target blood vessel.

[0104] Among the aforementioned methods for determining the centerline of blood vessels, a method for determining the centerline of a target blood vessel in the presence of motion artifacts is proposed. Based on extracting the contrast agent centerline corresponding to the target blood vessel, an optimal pixel search is performed within the search area corresponding to each point. This allows the identification of pixels during periods of minimal respiratory motion, thus determining the centerline of the target blood vessel during these periods. Since the patient's respiratory motion is minimal, there are no motion artifacts in the contrast agent centerline of the reconstructed image. Therefore, determining the centerline of the target blood vessel corresponding to the maximum CT value based on the contrast agent centerline improves the accuracy of determining the centerline of the target blood vessel.

[0105] Through experimental analysis, it can be seen that, Figure 6 As shown, Figure 6 This is a first comparative diagram of a centerline determination method in one embodiment. Figure 6 The x-axis represents the pixel index, and the y-axis represents the CT value. Figure 6 It can be seen that the CT values ​​at points along the original centerline determined using related technologies are significantly lower than the CT values ​​at points along the maximum centerline (i.e., the centerline of the target vessel) determined using the embodiments of this application. Furthermore, as... Figure 7 As shown, Figure 7 This is a second comparative diagram of the centerline determination method in one embodiment. Figure 7 The three-dimensional coordinates represent the x-axis, y-axis, and z-axis, respectively, according to Figure 7It can be seen that there is a deviation between the original center line and the maximum value center line.

[0106] It should be understood that, although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, the execution of the steps is not strictly limited in order, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0107] Based on the same inventive concept, the embodiments of the present application also provide a blood vessel center line determination device for implementing the blood vessel center line determination method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more blood vessel center line determination device embodiments provided below can refer to the limitations of the blood vessel center line determination method in the above text, and will not be repeated here.

[0108] In one exemplary embodiment, as shown in Figure 8 a blood vessel center line determination device is provided, comprising: an acquisition module 31, a first determination module 32 and a second determination module 33, wherein:

[0109] The acquisition module 31 is configured to acquire a contrast agent center line corresponding to a target blood vessel.

[0110] The first determination module 32 is configured to determine a search area corresponding to each point on the contrast agent center line.

[0111] The second determination module 33 is configured to search for an optimal pixel point in the search area corresponding to each point, and determine the center line of the target blood vessel according to the optimal pixel point.

[0112] In one embodiment, the first determination module 32 comprises:

[0113] A plane determination unit is configured to determine, for each point, a plane corresponding to the point, wherein a normal vector direction of the plane is consistent with a direction of the point along the contrast agent center line.

[0114] A search area determination unit is configured to determine, according to the plane corresponding to the point, a search area corresponding to the point on the contrast agent image corresponding to the target blood vessel.

[0115] In one embodiment, the plane determination unit comprises:

[0116] a direction determining sub-unit, configured to determine the direction of the point according to the position of the point and the position of a point adjacent to the point on the contrast agent center line;

[0117] a plane determining sub-unit, configured to determine the plane corresponding to the point according to the position and the direction of the point.

[0118] In one of the embodiments, the plane determining sub-unit comprises:

[0119] a relationship formula obtaining sub-unit, configured to obtain a relationship formula of the plane corresponding to the point; the relationship formula comprises a plane coordinate parameter, a position parameter and a direction parameter;

[0120] a plane coordinate determining sub-unit, configured to substitute the position of the point and the direction of the point into the relationship formula to calculate the coordinate of the plane corresponding to the point.

[0121] In one of the embodiments, the search region determining unit comprises:

[0122] a plane image extracting sub-unit, configured to extract a plane image of the plane corresponding to the point from the contrast agent image;

[0123] a search region determining sub-unit, configured to determine, as the search region corresponding to the point, a connected region in the plane image which is closest to the point.

[0124] In one of the embodiments, the second determining module 33 comprises:

[0125] a center line determining unit, configured to search for points with maximum pixel values in each search region corresponding to the points, and connect the points with maximum pixel values searched in each search region to obtain the center line of the target blood vessel.

[0126] Each module in the above-described blood vessel center line determining device can be realized by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so as to be called and executed by a processor to perform operations corresponding to each module.

[0127] In one exemplary embodiment, a computer device is provided, which can be a terminal or a server, and its internal structure diagram can be as shown in Figure 1The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, near field communication (NFC) or other technologies. The computer program is executed by the processor to implement a method for determining a blood vessel center line. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0128] Those skilled in the art can understand that Figure 1 The skilled in the art can understand that

[0129] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0130] Obtaining a contrast agent center line corresponding to the target blood vessel;

[0131] Determining a search area corresponding to each point on the contrast agent center line;

[0132] Searching for an optimal pixel point in the search area corresponding to each point, and determining the center line of the target blood vessel according to the optimal pixel point.

[0133] In one embodiment, the processor executing the computer program further implements the following steps when determining the search area corresponding to each point on the contrast agent center line:

[0134] For each point, a plane corresponding to the point is determined; a normal vector direction of the plane is consistent with a direction of the point along the contrast agent center line;

[0135] According to the plane corresponding to the point, a search area corresponding to the point is determined on the contrast agent image corresponding to the target blood vessel.

[0136] In an embodiment, the plane corresponding to the point is determined, and the processor further implements the following steps when executing the computer program:

[0137] According to the position of the point and the position of a point adjacent to the point on the contrast agent center line, a direction of the point is determined;

[0138] According to the position and the direction of the point, the plane corresponding to the point is determined.

[0139] In an embodiment, according to the position and the direction of the point, the plane corresponding to the point is determined, and the processor further implements the following steps when executing the computer program:

[0140] A relational expression of the plane corresponding to the point is obtained; the relational expression includes plane coordinate parameters, position parameters, and direction parameters;

[0141] The position of the point and the direction of the point are taken as known parameters and substituted into the relational expression for coordinate calculation of the plane, so that a coordinate of the plane corresponding to the point is obtained.

[0142] In an embodiment, according to the plane corresponding to the point, a search area corresponding to the point is determined on the contrast agent image, and the processor further implements the following steps when executing the computer program:

[0143] A plane image of the plane corresponding to the point is extracted on the contrast agent image;

[0144] A connected region closest to the point in the plane image is determined as the search area corresponding to the point.

[0145] In an embodiment, optimal pixel points are searched in the search area corresponding to each point, and a center line of the target blood vessel is determined according to the optimal pixel points, and the processor further implements the following steps when executing the computer program:

[0146] Points with maximum pixel values are searched in the search area corresponding to each point, and the points with maximum pixel values searched in each search area are connected, so that a center line of the target blood vessel is obtained.

[0147] In an embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the following steps:

[0148] A contrast agent center line corresponding to a target blood vessel is obtained;

[0149] Search areas corresponding to points on the contrast agent center line are determined;

[0150] An optimal pixel point search is performed on the search region corresponding to each point, and the center line of the target blood vessel is determined according to the optimal pixel point.

[0151] In one embodiment, the search region corresponding to each point on the contrast agent center line is determined, and the computer program further implements the following steps when executed by the processor:

[0152] For each point, a plane corresponding to the point is determined; the normal vector direction of the plane is consistent with the direction of the point along the contrast agent center line;

[0153] According to the plane corresponding to the point, the search region corresponding to the point is determined on the contrast agent image corresponding to the target blood vessel.

[0154] In one embodiment, the plane corresponding to the point is determined, and the computer program further implements the following steps when executed by the processor:

[0155] According to the position of the point and the position of the point adjacent to the point on the contrast agent center line, the direction of the point is determined;

[0156] According to the position and direction of the point, the plane corresponding to the point is determined.

[0157] In one embodiment, according to the position and direction of the point, the plane corresponding to the point is determined, and the computer program further implements the following steps when executed by the processor:

[0158] The relationship of the plane corresponding to the point is obtained; the relationship includes plane coordinate parameters, position parameters, and direction parameters;

[0159] The position of the point and the direction of the point are taken as known parameters and substituted into the relationship to perform coordinate calculation of the plane, so as to obtain the coordinates of the plane corresponding to the point.

[0160] In one embodiment, according to the plane corresponding to the point, the search region corresponding to the point is determined on the contrast agent image, and the computer program further implements the following steps when executed by the processor:

[0161] A plane image of the plane corresponding to the point is extracted on the contrast agent image;

[0162] The connected region closest to the point in the plane image is determined as the search region corresponding to the point.

[0163] In one embodiment, an optimal pixel point search is performed on the search region corresponding to each point, and the center line of the target blood vessel is determined according to the optimal pixel point, and the computer program further implements the following steps when executed by the processor:

[0164] A maximum pixel value point search is performed on the search region corresponding to each point, and the center line of the target blood vessel is obtained by connecting the maximum pixel value points searched in each search region.

[0165] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0166] obtaining a contrast agent centerline corresponding to the target blood vessel;

[0167] determining a search region corresponding to each point on the contrast agent centerline;

[0168] performing optimal pixel point search in the search region corresponding to each point, and determining the centerline of the target blood vessel according to the optimal pixel point.

[0169] In one embodiment, the search region corresponding to each point on the contrast agent centerline is determined, and the computer program, when executed by the processor, further implements the following steps:

[0170] for each point, determining a plane corresponding to the point; the normal vector direction of the plane is consistent with the direction of the point along the contrast agent centerline;

[0171] determining the search region corresponding to the point on the contrast agent image of the target blood vessel according to the plane corresponding to the point.

[0172] In one embodiment, the plane corresponding to the point is determined, and the computer program, when executed by the processor, further implements the following steps:

[0173] determining the direction of the point according to the position of the point and the position of a point adjacent to the point on the contrast agent centerline;

[0174] determining the plane corresponding to the point according to the position and direction of the point.

[0175] In one embodiment, the plane corresponding to the point is determined according to the position and direction of the point, and the computer program, when executed by the processor, further implements the following steps:

[0176] obtaining a relationship of the plane corresponding to the point; the relationship includes plane coordinate parameters, position parameters, and direction parameters;

[0177] substituting the position of the point and the direction of the point into the relationship to perform coordinate calculation of the plane, to obtain the coordinates of the plane corresponding to the point.

[0178] In one embodiment, the search region corresponding to the point on the contrast agent image is determined according to the plane corresponding to the point, and the computer program, when executed by the processor, further implements the following steps:

[0179] extracting a plane image of the plane corresponding to the point on the contrast agent image;

[0180] determining the search region corresponding to the point as the connected region closest to the point in the plane image.

[0181] In one embodiment, the optimal pixel point search is performed on the search region corresponding to each point, the center line of the target blood vessel is determined according to the optimal pixel point, and the computer program is further implemented by the processor when executed to perform the following steps:

[0182] The maximum pixel value point search is performed on the search region corresponding to each point, and the center line of the target blood vessel is obtained by connecting the maximum pixel value points searched in each search region.

[0183] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0184] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, any combination of these technical features is deemed to be within the scope of the present application.

[0185] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for determining the centerline of a blood vessel, characterized in that, The method includes: Obtain the centerline of the contrast agent corresponding to the target blood vessel; Determine the search area corresponding to each point on the center line of the contrast agent; Optimal pixel search is performed in the search area corresponding to each of the points, and the centerline of the target blood vessel is determined based on the optimal pixel.

2. The method according to claim 1, characterized in that, Determining the search area corresponding to each point on the center line of the contrast agent includes: For each point, a plane corresponding to that point is determined; the direction of the normal vector of the plane is consistent with the direction of the point along the center line of the contrast agent. Based on the plane corresponding to the point, determine the search area corresponding to the point on the contrast agent image corresponding to the target blood vessel.

3. The method according to claim 2, characterized in that, Determining the plane corresponding to the point includes: The direction of the point is determined based on the location of the point and the location of the point adjacent to the point on the center line of the contrast agent; Based on the position and orientation of the point, determine the plane corresponding to the point.

4. The method according to claim 3, characterized in that, The step of determining the plane corresponding to the point based on the point's position and orientation includes: Obtain the relational expression for the plane corresponding to the point; the relational expression includes plane coordinate parameters, position parameters, and direction parameters; The position and direction of the point are used as known parameters and substituted into the relational expression to calculate the coordinates of the plane, thereby obtaining the coordinates of the plane corresponding to the point.

5. The method according to claim 2, characterized in that, The step of determining the search region corresponding to the point on the contrast agent image based on the plane corresponding to the point includes: Extract a planar image of the plane corresponding to the point from the contrast agent image; The connected region in the planar image that is closest to the point is determined as the search region corresponding to the point.

6. The method according to any one of claims 1-5, characterized in that, The step of searching for optimal pixels in the search area corresponding to each of the aforementioned points, and determining the centerline of the target blood vessel based on the optimal pixels, includes: The maximum pixel value is searched in the search area corresponding to each of the points, and the points with the maximum pixel value found in each of the search areas are connected to obtain the center line of the target blood vessel.

7. A device for determining the centerline of a blood vessel, characterized in that, The device includes: The acquisition module is used to acquire the contrast agent centerline corresponding to the target blood vessel; The first determining module is used to determine the search area corresponding to each point on the center line of the contrast agent; The second determining module is used to perform optimal pixel point search in the search area corresponding to each point, and determine the center line of the target blood vessel based on the optimal pixel point.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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