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Publication numberCN1827046 B
Publication typeGrant
Application numberCN 200610059724
Publication date9 Feb 2011
Filing date3 Mar 2006
Priority date4 Mar 2005
Also published asCN1827046A
Publication number200610059724.9, CN 1827046 B, CN 1827046B, CN 200610059724, CN-B-1827046, CN1827046 B, CN1827046B, CN200610059724, CN200610059724.9
Inventors坂口卓弥
Applicant株式会社东芝;东芝医疗系统株式会社
Export CitationBiBTeX, EndNote, RefMan
External Links: SIPO, Espacenet
Image processing apparatus
CN 1827046 B
Abstract
An image processing apparatus includes a memory unit which stores data of a first projection image and data of a second projection image, which are associated with the same object and are captured in different imaging directions, a display unit which displays the data of the first projection image and the data of the second projection image, a designation operation unit which is configured to designate a plurality of points on the displayed first and second projection images, and an operation supporting unit which generates operation supporting information for supporting an operation of designating, by the designation operation unit, the plurality of points on the second image, which anatomically correspond to the plurality of points designated on the first projection image.
Claims(13)  translated from Chinese
  1. 一种图像处理装置,其特征在于,包括:存储部,存储关于相同对象的、拍摄方向不同的第1投影图像的数据和第2投影图像的数据;显示部,显示所述第1、第2投影图像的数据;指定操作部,在所显示的第1、第2投影图像上指定多个点;操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上对应于在所述第1投影图像上被指定的多个点的所述第2投影图像上的多个点的操作;警告部,用于在所述第2投影图像上被指定的点偏离开与所述第1投影图像上的对应点相对应的外延极线至少达规定距离时发出警告,其中,所述第1投影图像上的多个点在所述第2投影图像上分别以对应于已指定/未指定对应点的方式被显示。 An image processing apparatus, characterized by comprising: data and the second projection image capturing direction different from the first projection image data storage unit, stores information about the same object; a display unit, to display the first, second the projected image data; designation operation unit, designated in the first and second projection images displayed plurality of points; operation support unit, the operation support information is generated, the operation support information for supporting the operation specified by the specifying unit Anatomically operation is specified in the first projected image on said plurality of points of the second plurality of projected points on the image corresponding to; warning unit, is designated for the second projected image on said The point and the corresponding point offset from the first projection image on the corresponding epi-polar line of at least a predetermined distance Warn, wherein said first plurality of points on the projected image projected image on the second respectively, corresponding to the already designated / unspecified manner corresponding points are displayed.
  2. 2.根据权利要求1所述的图像处理装置,其特征在于,还包括:重构部,根据在所述第1投影图像上被指定的多个点与在所述第2投影图像上被指定的多个点的对应关系,基于包含所述第1、第2投影图像的数据来重构三维图像数据;二维图像生成部,根据所述三维图像数据来生成二维图像数据;和显示部,显示所述二维图像数据。 The image processing apparatus according to claim 1, characterized in that, further comprising: a reconstruction unit, based on a plurality of points designated on the first projected image and is designated on said second projection image a correspondence relationship between a plurality of points, based on inclusion of the first and second projection data to reconstruct a three-dimensional image of the image data; a two-dimensional image generating unit generates two-dimensional image data based on the three-dimensional image data; and a display unit displaying the two-dimensional image data.
  3. 3.根据权利要求1所述的图像处理装置,其特征在于:将所述第1、第2投影图像的数据并列显示于同一画面中。 The image processing apparatus according to claim 1, wherein: said first and second projection data image displayed side by side on the same screen.
  4. 4.根据权利要求1所述的图像处理装置,其特征在于:交互显示所述第1、第2投影图像的数据。 The image processing apparatus according to claim 1, wherein: the interactive display of the first and second projection image data.
  5. 5.根据权利要求1所述的图像处理装置,其特征在于:在所述第2投影图像上显示用于识别与下次指定的预定点相对应的、所述第1投影图像上的点的代码或序号。 The image processing apparatus according to claim 1, characterized in that: said second projection image display for identifying the next predetermined point corresponding to the specified point of the first projection of the image on code or serial number.
  6. 6.根据权利要求1所述的图像处理装置,其特征在于:用声音来指定所述第2投影图像上已指定的对应点。 The image processing apparatus according to claim 1, wherein: a voice that the corresponding point on the second projection image is specified by specifying the.
  7. 7.根据权利要求1所述的图像处理装置,其特征在于:在所述第2投影图像上,以不同于和其它点相对应的外延极线的方式来显示与下次指定的预定点相对应的外延极线。 The image processing apparatus according to claim 1, wherein: on said second projection image in a manner different from that corresponding to the epi-polar line and the other point to display the next predetermined point relative to the specified corresponding epi-polar line.
  8. 8.根据权利要求1所述的图像处理装置,其特征在于:在所述第2投影图像上,显示与下次指定的预定点相对应的外延极线,不显示与其它点相对应的外延极线。 The image processing apparatus according to claim 1, characterized in that: in said second projected image, and next the specified predetermined display corresponding to a point epi-polar line, does not display the other extension corresponding to a point pole line.
  9. 9.根据权利要求1所述的图像处理装置,其特征在于:所述操作支持部按照在所述第1投影图像上被指定的多个点的指定顺序,确定在所述第2投影图像上下次指定的点。 The image processing apparatus according to claim 1, wherein: said operational support portion in a specified order are specified in the projected image on the first plurality of points, determined in the second projected image upside times specified point.
  10. 10.根据权利要求1所述的图像处理装置,其特征在于:所述操作支持部按照在所述第1投影图像上的多个点与所述第2投影图像上的多个点的对应表上的指定,确定所述第2投影图像上下次指定的点。 10. The image processing apparatus according to claim 1, wherein: said operational support portion in accordance with a plurality of points on the projected image with the first plurality of points of the projected image on the second correspondence table designated on determining the next specified point on the second projected image.
  11. 11.根据权利要求1所述的图像处理装置,其特征在于:2所述操作支持部生成所述第1投影图像上的多个点与所述第2投影图像上的多个点的对应表。 The image processing apparatus according to claim 1, wherein: said second operating unit generates a correspondence table a plurality of support points of said first plurality of points on the projected image and the second projected image on the .
  12. 12. —种图像处理装置,其特征在于,包括:存储部,存储关于相同对象的、拍摄方向不同的第1投影图像的数据和第2投影图像的数据;显示部,显示所述第1、第2投影图像的数据; 指定操作部,在所显示的第1、第2投影图像上指定多个点;和操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上对应于在所述第1投影图像上被指定的多个点的所述第2投影图像上的多个点的操作,警告部,用于在所述第2投影图像上被指定的点偏离开与所述第1投影图像上的对应点相对应的外延极线至少达规定距离时发出警告,其中,与所述第2投影图像上下次指定的预定点相对应的、所述第1投影图像上的点以不同于所述第1投影图像上的其它点的方式被显示。 12. - kinds of image processing apparatus, characterized by comprising: data and the second projection image capturing direction different from the first projection image data storage unit, stores information about the same object; a display unit, to display the first, second projection image data; designation operation unit, designated in the first and second projection images displayed plurality of points; and operation support portion, generation operation support information, the support information for supporting the operation specified by the operation unit specifies a plurality of points on the anatomy of the operation is specified in the first projected image on a plurality of points on the second projection image corresponding to the alarm unit, for the second projection image on the designated point and the corresponding point offset from the first projection image on the corresponding epi-polar line of at least a predetermined warning distance, wherein, with the next designated point on said second predetermined projection image corresponding to the the first point on the projected image in a manner different from the other point on a projected image is displayed.
  13. 13. 一种图像处理装置,其特征在于,包括:存储部,存储关于同一对象的、多个拍摄方向上的多个投影图像的数据;显示部,显示所述多个投影图像的数据;指定操作部,在所述被显示的投影图像上指定多个点;和操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上与在所述多个投影图像中的一个投影图像上被指定的多个点相对应的、所述多个投影图像中的一个其他投影图像的点的操作,警告部,用于在所述多个投影图像中的一个其他投影图像上被指定的点偏离开与所述多个投影图像中的一个投影图像上的对应点相对应的外延极线至少达规定距离时发出警生1=1,其中,所述一个投影图像上的多个点在所述其它投影图像上分别以对应于已指定/未指定对应点的方式被显示。 13. An image processing apparatus, characterized by comprising: a storage unit, stores information about the same object, the plurality of projection images of a plurality of photographing direction data; a display unit, the display image of the plurality of projection data; designated operation unit, designated on the projected image of said displayed plurality of points; and operation support unit, the operation support information is generated, the operation support information for supporting the operation specified by the specifying portion on the anatomy and in the a plurality of points designated on a plurality of projection images corresponding to the projected image, the operation of the plurality of projection images of a projected image of the other point, the warning unit, in said plurality of projection images issued when an image is projected on the other designated point and the corresponding point offset from the plurality of projection images of an image projected on the epi-polar line corresponding to a distance of at least a predetermined alarm HEALTH = 1, wherein said a plurality of points on a projected image on the other projection images respectively corresponding to the already specified / unspecified manner corresponding point is displayed.
Description  translated from Chinese

图像处理装置 The image processing apparatus

[0001] 相关申请的交叉引用 Cross [0001] REFERENCE TO RELATED APPLICATIONS

[0002] 本申请基于并主张2005年3月4日提交的在先日本专利申请2005-061601和2005 年3月4日提交的在先日本专利申请2005-061600的优先权,在此引入并参照其全部内容。 [0002] This application is based on and claims the prior Japanese Patent prior Japanese Patent Application March 4, 2005 and 2005-061601 filed March 4, 2005 filed 2005-061600 priority, in this introduction and reference in its entirety.

技术领域 FIELD

[0003] 本发明涉及一种图像处理装置,该装置具有根据从两个方向拍摄的投影图像来重构三维图像的功能、或根据关于被检体内的血管等毛细管形状的体积数据来产生投影图像数据的功能。 [0003] The present invention relates to an image processing apparatus, the apparatus having a projection image from two directions according to reconstruct the three-dimensional image photographing function, or is based on the volume of data on the blood vessels and other body-shaped capillary tube to generate a projection image functional data.

背景技术 BACKGROUND

[0004] 如图11、图14所示,为了立体地看血管的走向,典型的技术是根据从两个方向拍摄的投影图像来重构三维图像。 [0004] 11, 14, in order to see the three-dimensional blood vessel to typical technique is based on a projection image taken from the two directions to reconstruct the three-dimensional image. 因此,必需在图像间指定特征点的对应关系。 Therefore, it is necessary to specify the feature points between the image correspondence. 例如图13所示,虽然可知投影在侧面图像(Lateral)的点A上的部位在三维空间内存在于线B上的某一位置上,但无法原样以一点进行指定。 E.g., Fig. 13, although the apparent projection portion on the side of the image (Lateral) at a point A of the memory in that the three-dimensional space at a position on the line B, but can not be specified as to point. 作为其它方向,例如线B在正面图像(Frontal)上被投影到线C上。 As the other direction, for example line B in the front image (Frontal) is projected on to the line C on. 投影到点A上的部位在正面图像上对应于线C上的某一位置。 A point on the projection portion on the front side image corresponding to a certain position on the line C.

[0005] 因此,通过在侧面图像上将点(特征点)A指定为解剖学上的特征部位,操作者在正面图像的线C上指定与特征点A部位相同的点(对应点),即可指定该部位在线B上的位置。 [0005] Thus, as characterized by the anatomical site, the operator designates feature points with the same point A portion (corresponding point) on the line C on the front image, i.e. the image will be by the side of the point (feature point) A designated You can specify the location of the site on the B line. 即,为了指定三维位置,必需分别在两个方向的图像上指定关于相同部位的对应点。 That is, in order to specify the three-dimensional position, it is necessary to specify the corresponding point on the same site, respectively in the two directions of the image.

[0006] 因此,要求操作者用鼠标等指针来进行分别对两个方向的图像指定对应点的作业。 [0006] Thus, the operator is required to use the mouse pointer and so were the two directions of the image corresponding to the specified point in the job. 通过增加对应点的数量来提高三维图像的精度。 By increasing the number of corresponding points to improve the accuracy of three-dimensional image. 当以分支复杂的血管为对象时,必需指定很多对应点。 When blood vessels branch complex object, you must specify the number of corresponding points.

[0007] 作为指定方法,一般有如下方法:例如如图15A所示,对两个方向的图像交替指定对应点;和例如图15B所示,对一个图像指定全部对应点,之后再对另一图像指定全部对应点。 [0007] The method as specified, generally as follows: Example 15A, the directions of two alternating images corresponding to the specified point; and for example, FIG. 15B, an image specifying all the corresponding points, and then after another Specify all corresponding image points.

[0008] 但是,实际上指定数十、有时数百的对应点的作业非常复杂,即便是上述两种指定方法之一,多数情况下也会弄错对应点的对应关系。 [0008] However, in fact designated tens and sometimes hundreds of jobs corresponding points is very complex, even if one of the two methods specified above, in most cases will be mistaken correspondence between corresponding points.

[0009] 另外,立体显示作为毛细管形状的对象、典型为血管构造的机会增加。 [0009] In addition, three-dimensional shape of the display object as a capillary tube, typically opportunities vascular structures increases. 实际上,根据具有与血管相关的进深信息的三维图像数据(体积数据)来生成投影图像,在附加阴影后进行显示以实现立体效果。 In fact, according to the relevant information of the blood vessel depth three-dimensional image data (volume data) to generate a projection image, in the shadow of the rear attachment displays to achieve three-dimensional effect.

[0010] 但是,实际上,当前的现状是很难知道血管关于投影方向的走向。 [0010] However, in practice, it is difficult to know the current status quo with respect to the projection direction toward vessel. 发明内容 SUMMARY

[0011] 本发明的目的在于减轻在根据两个方向的投影图像来重构三维图像时必需的、指定针对各图像上共同部位的对应点的的负担,为避免该对应点的误指定而提供支持。 [0011] The purpose of the present invention is to reduce the image when the projector according to the two directions necessary to reconstruct three-dimensional image, a burden for the designated corresponding points on a common portion of each image, in order to avoid misuse of the designated corresponding points and provide stand by.

[0012] 本发明的目的在于提供一种图像处理装置和图像处理方法,将关于血管等毛细管形状对象的投影图像与对象的走向信息一起显示。 [0012] The purpose of the present invention is to provide an image processing apparatus and image processing method, the information on the blood vessels to the capillary shape of the object projection image is displayed together with the object. [0013] 本发明的第1方面提供一种图像处理装置,具备存储部,存储关于相同对象的、拍摄方向不同的第1投影图像的数据和第2投影图像的数据;显示部,显示所述第1、第2投影图像的数据;指定操作部,在所显示的第1、第2投影图像上指定多个点;操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上对应于在所述第1投影图像上被指定的多个点的所述第2投影图像上的多个点的操作;警告部,用于在所述第2投影图像上被指定的点偏离开与所述第1投影图像上的对应点相对应的外延极线至少达规定距离时发出警告,其中,所述第1投影图像上的多个点在所述第2投影图像上分别以对应于已指定/未指定对应点的方式被显示。 [0013] The first aspect of the present invention to provide an image processing apparatus, comprising, a projection data and the second image capturing direction different from the first projection image data storage unit, stores information about the same object; a display unit, the display 1, the data of the second projected image; designation operation section, a plurality of points designated on the first and second projection images displayed; operation support portion, generation operation support information, the support information for supporting the operation by the said specified operation portion of the operation specified on the anatomy is specified on the first plurality of points of the projected image of the second plurality of projected points on the image corresponding to; warning unit, for the second on the projected image is deviated from the specified point and the corresponding point of the first projection image on the epi-polar line corresponding to a predetermined distance of at least issue a warning, wherein said first plurality of points in the projected image on the on the second, respectively, corresponding to the projected image has been specified / unspecified manner corresponding points are displayed.

[0014] 本发明的第2方面提供一种图像处理装置,具备存储部,存储关于相同对象的、拍摄方向不同的第1投影图像的数据和第2投影图像的数据;显示部,显示所述第1、第2投影图像的数据;指定操作部,在所显示的第1、第2投影图像上指定多个点;和操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上对应于在所述第1投影图像上被指定的多个点的所述第2投影图像上的多个点的操作,警告部,用于在所述第2投影图像上被指定的点偏离开与所述第1投影图像上的对应点相对应的外延极线至少达规定距离时发出警告,其中,与所述第2投影图像上下次指定的预定点相对应的、 所述第1投影图像上的点以不同于所述第1投影图像上的其它点的方式被显示。 [0014] The second aspect of the present invention to provide an image processing apparatus, comprising, a projection data and the second image capturing direction different from the first projection image data storage unit, stores information about the same object; a display unit, the display 1, the data of the second projected image; designation operation unit, designated in the first and second projection images displayed plurality of points; and operation support portion, generation operation support information, the support information for supporting operation by operating the specified portion of the specified operation on the anatomy corresponding to a plurality of points are specified on the first projection image of the second plurality of projected points on the image, a warning unit, for the first 2 points are assigned on the projected image and the corresponding point offset from the first projection image on the corresponding epi-polar line of at least a predetermined warning distance, wherein the next predetermined point designated on said second projection image Correspondingly, the other way to the first point of the projected image on the first point on the projected image to be displayed is different from the.

[0015] 本发明的第3方面提供一种图像处理装置,具备存储部,存储关于同一对象的、多个拍摄方向上的多个投影图像的数据;显示部,显示所述多个投影图像的数据;指定操作部,在所述被显示的投影图像上指定多个点;和操作支持部,生成操作支持信息,所述操作支持信息用于支持由所述指定操作部指定在解剖学上与在所述多个投影图像中的一个投影图像上被指定的多个点相对应的、所述多个投影图像中的一个其他投影图像的点的操作,警告部,用于在所述多个投影图像中的一个其他投影图像上被指定的点偏离开与所述多个投影图像中的一个投影图像上的对应点相对应的外延极线至少达规定距离时发出警告,其中,所述一个投影图像上的多个点在所述其它投影图像上分别以对应于已指定/未指定对应点的方式被显示。 [0015] A third aspect of the present invention to provide an image processing apparatus includes a storage unit for storing a plurality of projection images of a plurality of data on photographing direction on the same object; a display unit that displays the plurality of projection images data; designation operation unit, designated in the projected image to be displayed on a plurality of points; and operations support unit, the operation support information is generated, the operation support information for supporting the operation specified by the specifying portion on the anatomy and a plurality of projected points on the image is specified in the plurality of projection images corresponding to the operation of the plurality of projection images of a point in a projection image of the other, the warning unit, in said plurality of the projected image points are specified on the other projected image and the corresponding point a partial leave of the plurality of projection images of a projected image on the epi-polar line corresponding to a predetermined distance of at least issue a warning, wherein the one a plurality of points on the projected image on the other projection images respectively corresponding to the already specified / unspecified manner corresponding point is displayed.

[0016] 本发明的其它目的和优点将由下述的说明来确定,一部分将根据该说明而变得显而易见,或通过本发明的实践而得知。 [0016] Other objects and advantages of the present invention will be determined by the following description, a portion will become apparent from the description, or learned by practice of the present invention be learned. 通过下面特别指出的手段和组合,可实现并得到本发明的目的和优点。 By following the instrumentalities and combinations particularly pointed out, may be realized and obtained objects and advantages of the present invention.

附图说明 Brief Description

[0017] 附图被引入并构成说明书的一部分,以说明本发明的最佳实施例,并与上述发明概述和下述最佳实施例的详细描述一起,用来解释本发明的原理。 [0017] The accompanying drawings are incorporated in and constitute a part of this specification, to illustrate the preferred embodiment of the present invention, and the detailed description of the above summary of the invention and together with the following preferred embodiments, serve to explain the principles of the invention.

[0018] 图1是与包含本发明第1实施例的图像处理装置构成的X射线诊断装置的构成一起来表示该图像处理装置构成的图。 [0018] Figure 1 is a X-ray diagnosis apparatus and an image processing apparatus includes a first embodiment of the present invention is constructed together a diagram showing the configuration of an image processing apparatus.

[0019] 图2是表示基于图1的操作支持部的显示的操作支持例的图。 [0019] FIG. 2 is a diagram showing an example of the operation support portion of the support of Figure 1 shows an operation based.

[0020] 图3是表示基于图1的操作支持部的外延极线(印i-polar line)的操作支持例的图。 [0020] FIG. 3 is a diagram showing an example of support epi-polar line operation support unit of Figure 1 (India i-polar line) based operations.

[0021] 图4是表示基于图1的操作支持部的声音或消息的操作支持例的图。 [0021] Figure 4 shows an example of the support operation sound operational support unit of FIG. 1, or message-based.

[0022] 图5是表示基于图1的操作支持部的其它显示的操作支持例的图。 [0022] FIG. 5 is a diagram showing an example of the operation support portion of the support of Figure 1 other display-based operations. [0023] 图 6是表示基于图1的操作支持部的其它显示的操作支持例的图。 [0023] FIG. 6 is a diagram showing an example of the operation support portion of the support of Figure 1 other display-based operations. [0024] 图 7是表示图1的操作支持部的外延极线的其它显示例的图。 [0024] FIG. 7 is a diagram illustrating another display example of the epi-polar line operation support portion of FIG. 1. [0025] 图 8是表示基于图1的操作支持部的对应点指定顺序变更例的图。 [0025] FIG. 8 is a diagram showing an example of change of a corresponding point operation support unit of Figure 1 based on the specified order. [0026] 图 9是表示基于图1的操作支持部的对应点指定顺序的其它变更例的图。 [0026] FIG. 9 is a diagram showing another modified example of the corresponding point based on operation support unit of Figure 1 in the order specified. [0027] 图 10是表示基于图1的操作支持部的对应点指定取消例的图。 [0027] FIG. 10 is a diagram showing an example of the specified cancel point based on operation support portion corresponding to FIG. 1. [0028] 图 11是表示三维图像重构概要的图。 [0028] FIG. 11 is a three-dimensional image reconstruction showing an outline of FIG. [0029] 图 12是表示三维图像重构的步骤的图。 [0029] FIG. 12 is a diagram showing a three-dimensional image reconstruction step. [0030] 图 13是图12的特征点对应关系的补充图。 [0030] FIG. 13 is a diagram of the feature point 12 corresponding complementary relation of FIG. [0031] 图 14是表示三维图像重构概要的图。 [0031] FIG. 14 is a three-dimensional image reconstruction showing an outline of FIG. [0032] 图 15是表示图12的特征点的指定步骤的图。 [0032] FIG. 15 is a diagram showing the feature point specified in step 12 of FIG. [0033] 图 16是表示装配本实施例的图像处理装置的双平面X射线拍摄装置的外观图。 [0033] FIG. 16 is a biplane X-ray imaging apparatus of an external view of an image processing apparatus according to this embodiment of the assembly. [0034] 图 17是与包含本发明第2实施例的图像处理装置构成的X射线诊断装置的构成 [0034] FIG. 17 is a X-ray diagnosis apparatus and an image processing apparatus comprising a second embodiment of the present invention is constituted

一起来表示该图像处理装置构成的图。 Together a diagram showing the configuration of an image processing apparatus.

[0035] 图18是表示基于图17的血管彩图生成部的血管彩图一例的图。 [0035] FIG. 18 is a color image based on the blood vessel 17 of FIG vascular color image generation unit. FIG.

[0036] 图19是表示从本实施例的血管彩图生成至显示的一系列流程的图。 [0036] FIG. 19 is a series of processes to generate a graph showing an embodiment of a blood vessel from the present color pictures.

[0037] 图20是图19的“得到三维图像”处理工序的补充说明图。 [0037] FIG. 20 is a supplementary explanatory view "to give a three-dimensional image" processing step 19 of FIG.

[0038] 图21是图19的“计算血管中心线的切线矢量”处理工序的补充说明图。 [0038] FIG. 21 is a supplementary explanatory view of "computing the vessel centerline tangent vector" processing step 19 of FIG.

[0039] 图22是图19的“确定投影方向”处理工序的补充说明图。 [0039] FIG. 22 is a supplementary explanatory view of "OK projection direction" treatment step 19 of FIG.

[0040] 图23是图19的“计算切线矢量与投影面的角度θ ”处理工序的补充说明图。 [0040] FIG. 23 is a supplementary explanatory diagram of Fig. "Tangent vector and the projection plane calculated angle θ" treatment step 19.

[0041] 图24是图19的“将角度θ置换为颜色值”处理工序的补充说明图。 [0041] FIG. 24 is a diagram of "the angle θ is replaced by the color value" 19 supplementary explanatory diagram of the processing step.

[0042] 图25是表示图19的“重叠显示”处理工序的显示例的图。 [0042] FIG. 25 is a diagram showing a display example of "superimposed" treatment step 19 of FIG.

具体实施方式 DETAILED DESCRIPTION

[0043](第1实施例) [0043] (first embodiment)

[0044] 下面,参照附图来说明依据本发明第1实施例的图像处理装置。 [0044] Next, will be described in accordance with a first embodiment of the present invention, an image processing apparatus with reference to the accompanying drawings. 另外,虽然这里说明了将图像处理装置组装在双平面X射线拍摄装置中,但毫无疑问,也可单独构成。 In addition, although there will be explained in the image processing device assembly biplane X-ray imaging apparatus, there is no doubt, also constitute separately. 另外, 可构成为通过计算机来实现三维图像重构处理的程序,也可以提供存储有该程序的计算机可读存储媒体。 In addition, as can be realized by a computer constituting the three-dimensional image reconstruction processing program, may also be provided to store the program with a computer-readable storage medium.

[0045] 另外,本实施例的图像处理装置是具有根据从两个方向拍摄的投影图像来重构三维图像的功能的装置,不特别限定投影图像的种类等。 [0045] Further, the image processing apparatus of the present embodiment is an apparatus having a projection image based on photographed from two directions to reconstruct the three-dimensional image of the function, the type of the projected image is not particularly limited, and the like. 既可使用基于单平面X射线拍摄装置的、来自两个方向的投影图像,也可使用基于双平面X射线拍摄装置的、来自两个方向的投影图像。 Can either be used on a single plane X-ray imaging apparatus, the projection images from two directions, may also be used based on biplane X-ray imaging apparatus, a projection image from two directions. 这里,以基于一般双平面X射线拍摄的实例来进行说明。 Here, based on examples of general biplane X-ray taken to be explained.

[0046] 图1表示装配了依据本实施例的图像处理装置的双平面X射线拍摄装置。 [0046] Figure 1 shows the assembly of the biplane X-ray imaging apparatus of an image processing apparatus according to the present embodiment. 首先, 简单说明双平面X射线拍摄装置。 First, a brief description biplane X-ray image capturing device. 双平面X射线拍摄装置如图16所示,包括正面系(正面;F)的X射线拍摄系统、和侧面系(侧面;L)的X射线拍摄系统。 Biplane X-ray imaging apparatus shown in Figure 16, including the front lines (front; F) of the X-ray imaging system, and a side line (side; L) of the X-ray imaging system. 正面系的X射线拍摄系统具有X射线管112-1、和与X射线管112-1正对以夹持被检体P的X射线检测器114-1。 X-ray-based imaging system having a front X-ray tube 112-1, and 112-1 and the X-ray tube is clamped on to the X-ray detector is the subject P 114-1. 侧面系的X射线拍摄系统具有X射线管112-2、和正对X射线管112-2以夹持被检体P的X 射线检测器114-2。 X-ray imaging system having an X-ray system side tube 112-2, and 112-2 are X-ray tube in order to grip the X-ray detector subject P 114-2. X射线检测器114-1、114-2通常是固体平面检测器,在该固体平面检测器中,用于直接或间接地将入射X射线变换为电荷的多个检测元件(像素)呈二维状排列。 X-ray detector 114-1, 114-2 are normally solid flat panel detector, in the solid state flat detector for directly or indirectly convert incident X-rays into a plurality of charge detection elements (pixels) as a two-dimensional like arrangement.

6将正面系的X射线管112-1装配在例如床置型的C臂13的一侧,将X射线检测器114-1装配在C臂13的另一侧。 6 The X-ray tube assembly in the front lines 112-1 opposed side of the bed, for example a C-type arm 13, the X-ray detector 114-1 at the other side of the C-arm assembly 13. 将侧面系的X射线管112-2装配在例如顶板吊下型Ω臂23的一端,将X射线检测器114-2装配在Ω臂23的另一端。 The X-ray tube assembly side line 112-2 for example at one end of top plate lifting type Ω arm 23, the X-ray detector 114-2 fitted in the other end of the arm 23 Ω. 设计C臂13的支撑机构与Ω臂23 的支撑机构,使得从X射线管112-1的焦点连结X射线检测器114-1的受像面中心的拍摄中心轴CA1、与从X射线管112-2的焦点连结X射线检测器114-2的受像面中心的拍摄中心轴CA2在称为等角点IC的固定点交叉。 Ω arm supporting mechanism and design of the C-arm 13 of the support mechanism 23, so that the central axis CA1 X Quick shooting ray detector that is the center of the image plane from the focal point of 114-1 112-1 X-ray tube, and from the X-ray tube 112- 2 Quick focus X-ray detector 114-2 that is the center of the image plane of the central axis CA2 shooting at a fixed point called the isocenter IC of the cross.

[0047] 装配了依据本实施例的图像处理装置的双平面X射线拍摄装置具有架台控制部111。 [0047] assembled based on two-plane X-ray photographing apparatus an image processing apparatus according to the present embodiment has a gantry control section 111. 架台控制部111根据来自经接口121连接的操作台123的操作者指示,任意控制C臂13和Ω臂23的位置和方向,同时,从未图示的传感器取得与各拍摄系统的拍摄位置和拍摄方向有关的数据。 According to the gantry control section 111 from an operator console 123 connected via the interface 121 an indication, at any position and orientation of the control C-arm 13 and arm 23 Ω, while the sensor (not shown) made with the photographing position and photographing system data on photographing direction. 与各拍摄系统的拍摄位置和拍摄方向有关的数据与通过从X射线控制部113施加管电压而从X射线管112-1、112-2产生的X射线同步、从X射线检测器114-1、 114-2经检测器控制部115产生的拍摄图像数据一起,被存储在图像存储部117中。 Data and the photographing position and photographing direction of each imaging system associated with the X-ray tube by applying a voltage control unit 113 from the X-ray generated from the X-ray tube synchronized 112-1, 112-2, 114-1 from the X-ray detector , captured image data 114-2 via the detector control unit 115 generated together, the image is stored in the storage unit 117. 显示部127是CRT等显示装置,经图像显示控制部125而被连接。 127 is a display unit such as a CRT display device, via the image display control unit 125 is connected. 血管提取部119从投影图像数据中提取出例如利用阈值处理而被造影的血管的图像。 The blood vessel extraction unit 119 extracts the threshold value processing using, for example the contrast of the blood vessel image is projected from the image data. 为了支持操作者重构三维图像所需的操作而设置了三维图像重构操作支持部129,典型地,当在一个投影图像上指定了对应点时,作为支持信息,输出用于确定对应于该对应点的、在另一投影图像上已指定的对应点的信息。 In order to support the desired three-dimensional image reconstruction operator's operation is provided a three-dimensional image reconstruction operation support portion 129, typically, when the corresponding point is specified in a projected image, as the support information, corresponding to the output is used to determine corresponding point, the information has been specified on another projected image corresponding points. 由三维图像重构操作支持部129执行的操作支持细节如后所述。 Operating supporting details from the three-dimensional image reconstruction operations support unit 129 performed as described later. 根据操作者基于由三维图像重构操作支持部129执行的操作支持而指定的多个对应点的位置关系,三维图像重构部131重构由重构血管提取部119从各投影图像中提取出的血管图像的三维图像数据(也称为体积数据)。 The positional relationship between the operator based on an operation supported by a three-dimensional image reconstruction operation support portion 129 and executed by a plurality of corresponding points designated, three-dimensional image reconstructed by the reconstruction unit 131 reconstructed blood vessel extraction unit 119 extracts from each projection image three-dimensional image data of blood vessel image (also referred to as volume data).

[0048] 另外,在以下的说明中,三维图像数据包含如下A)、B)两种。 [0048] In the following description, the three-dimensional image data comprises the following A), B) two kinds.

[0049] A)型的三维图像数据主要由CT或MRI产生。 [0049] three-dimensional image data A) type is mainly produced by CT or MRI. 在X射线诊断装置中被体积重构的数据相当于该A)型的三维图像数据。 In the X-ray diagnostic apparatus is reconstructed volume data equivalent to the three-dimensional image data A) type. A)型的三维图像数据对三维区域内的全部三维像素分别具有值。 Three-dimensional image data A) type for all voxels in the three-dimensional region, which have values. 具体而言,在例如512X512X512的三维区域中,提供134,217,728个值。 Specifically, in the three-dimensional region such as 512X512X512 is provided 134,217,728 values.

[0050] B)型的三维图像数据作为定义三维区域的矢量(矢量数据)而被提供。 [0050] three-dimensional image data B) type as a vector (vector data) to define the three-dimensional region is provided. 具体地, 例如由血管的中心线坐标和直径构成。 Specifically, for example, a blood vessel center line coordinates and diameter. 显示装置涂染与中心线坐标与直径相对应的区域。 Means painting coordinate with the center line corresponding to the diameter of the region display. B)型的三维图像数据的数据量比A)型的三维图像数据的数据量少得多。 B) type of data than the three-dimensional image data A) type three-dimensional image data of the data is much less.

[0051] 二维图像生成部133根据在三维图像重构部131中被重构的三维图像数据,生成通过投影处理等而生成的模拟三维图像(以下,为了避免与三维图像混同而将其称为二维图像)。 [0051] a two-dimensional image generating unit 133 according to the three-dimensional image data in a three-dimensional image reconstruction unit 131 is reconstructed to generate simulated three-dimensional image generated by the projection processing (hereafter, in order to avoid three-dimensional image to be confused and said a two-dimensional image). 将所生成的二维图像显示于显示部127中。 The generated two-dimensional image displayed on the display unit 127.

[0052] 下面,说明由三维图像重构操作支持部129进行的操作支持。 [0052] Next, the operation is supported by a three-dimensional image reconstruction performed 129 operations support department. 如图2所示,基于三维图像重构操作支持部129控制,将例如由双平面X射线拍摄装置从不同拍摄方向、大致同时对相同部位拍摄得到的图像A、B同时并列显示于显示部127的画面上。 Shown in Figure 2, three-dimensional image reconstruction operation support based control unit 129, for example, by a two-plane X-ray imaging apparatus of the shooting from different directions, while roughly the same part of the images captured by A, B simultaneously side by side on the display unit 127 on the display screen. 或者,图像A、 B在显示部127的画面中交替显示。 Alternatively, the images A, B are alternately displayed on the display unit 127 in the picture. 例如,在图像A上的全部特定点指定完成之后,在显示部127的画面中显示图像B来替换图像A。 For example, after all of the specific points specified on the image A is completed, the image B is displayed on the display unit 127 in the screen to replace the image A.

[0053] 如图2A所示,通过操作者操作操作台123上的鼠标等,在显示部127的图像A上, 为血管图像上的在解剖学上为分支点等的的多个特征部位,指定多个特征点1A、2A、3A、4A。 [0053] shown in Figure 2A, the operating console 123 on the mouse or the like by the operator, the image on the display portion A 127, and is characterized by a plurality of parts of the anatomy of the blood vessel branch points on the image, specify a plurality of feature points 1A, 2A, 3A, 4A. 为了方便说明,具体将一个图像A上最初指定的对应点称为特征点,以区别于后面在另一图像B上分别对应于图像A的特征点而指定的点(对应点)。 For convenience of explanation, the specific point on an image corresponding to the initially designated A known feature points to distinguish them from behind on another image B correspond to the feature points of the image A designated point (corresponding point). 在完成了全部特征点1A、2A、3A、4A的指定后,图像B的区域变为可指定对应点的状态。 Upon completion of all the feature points 1A, 2A, 3A, 4A, after specified, areas of the image B becomes the state of the corresponding point can be specified. 通过操作者对操作台123 的鼠标操作,在显示部127的图像B上,按特征点的指定顺序,顺序指定对应于特征点1A、 2k、...的对应点1B、2B、...。 By an operator of the console mouse 123, on the image display unit B 127, according to the feature points in the specified order, the sequence designation corresponds to the feature point 1A, 2k, ... corresponding point 1B, 2B, ... . 此时,如图2B所示,在操作者在图像B上指定例如对应于第3个特征点3A的对应点3B时,表示图像A上的特征点3A的标志以与其它特征点1A、2A、4A 不同的方式来显示。 At this point, shown in Figure 2B, the operator specifies the image B on the third feature, for example a corresponding point corresponding to the point 3B. 3A, the feature point indicating an image 3A on the A flag to the other feature points 1A, 2A , 4A show different ways. 例如,用红色来显示表示图像A上的特征点3A的标志。 For example, the feature point 3A on the image A displayed in red flag represented. 用红色以外的颜色、例如蓝色来显示其它特征点1A、2A、4A的标志。 With a color other than red, blue to show other features such as points 1A, 2A, 4A flag. 另外,闪烁显示表示图像A上的特征点3A的标志,而始终显示其它特征点1A、2A、4A的标志。 Further, blinking feature point 3A shows an image A on the mark, and always display the other feature points 1A, 2A, 4A flag.

[0054] 若操作者移动鼠标,则箭头形指针在图像B上追踪显示,并与表示对应点3B的记号'3'一起移动。 [0054] If the operator moves the mouse, the arrow-shaped pointer is displayed on the image track B, and 3B indicating the corresponding point mark "3" move together. 当操作者移动鼠标至与特征点3A相同的部位时,操作者点击鼠标。 When the operator moves the mouse to the same characteristic point 3A site, the operator clicks the mouse. 由此, 如图2C所示,在该位置指定对应点3B,被记为表示对应点3B的“3B'的标志由表示指定状态的例如蓝色来显示。当指定时,三维图像重构操作支持部129判定所指定的对应点3B是否距离外延极线大于或等于规定距离。外延极线被定义为在图像B上被指定的对应点3B 的替补点串。外延极线由图像A的拍摄角度、图像B的拍摄角度、和图像A上的点3A的位置确定。如图13所示,在三维坐标系中,外延极线是作为将从X射线管112-1的焦点连接图像A(相当于检测器114-1的检测面)的特征点3A的线从X射线管112-1的焦点向图像B(相当于检测器114-2的检测面)投影的投影线而在几何学上确定的线。 Thus, as shown in Figure 2C, the position corresponding to the specified point 3B, are recorded as a corresponding point 3B represents the "3B 'signs indicate designated by the state, such as blue for display. When specified, the three-dimensional image reconstruction operation Support unit 129 determines whether the specified distance corresponding point 3B epi-polar line is greater than or equal to a predetermined distance. epi-polar line is defined as a corresponding points are designated on the image B Substituted point series. 3B. epi-polar line taken by the image A angle, determining the shooting angle of the image B, and the position of the point on the image A 3A shown in Figure 13, in the three-dimensional coordinate system, as an epi-polar line focus X-ray tube from the connected image 112-1 A ( corresponds to the detection surface 114-1) of the feature point. 3A line focus X-ray tube from 112-1 to the image B (equivalent to the detection surface 114-2) projected on the projection line and the geometry determining the line.

[0055] 对应点3B即便是外延极线上的任意位置,在几何学上也不矛盾。 [0055] The corresponding point 3B even anywhere epi-polar line, nor contradictory geometrically. 操作者从外延极线上指定在解剖学上对应于点3A的点3B。 The operator specified on the anatomy of the point corresponding to the point 3A 3B from the epi-polar line.

[0056] 如图2D所示,按与图像A的特征点ΙΑ、2A、3A、4A相同的顺序,在图像B上指定对应点1B、2B、3B、4B。 [0056] shown in Figure 2D, according to the image feature point A ΙΑ, 2A, 3A, in the same order 4A, designated at the corresponding point on the image B 1B, 2B, 3B, 4B. 伴随着操作台123上对指定的确定操作,确定了被指定的对应点1B、2B、 3B、4B。 With the upper table 123 is determined on the specified operation to determine the corresponding points are designated 1B, 2B, 3B, 4B. 将确定作为契机,从图像A、B中分别提取出血管图像,利用提取的血管图像,根据特征点1A、2A、3A、4A与对应点1B、2B、3B、4B的位置关系,由三维图像重构部131重构三维图像数据(图2E)。 The determination as a trigger, from the image A, B, respectively, the extracted vein image, using the extracted blood vessel image, based on the feature points 1A, 2A, 3A, 4A and the corresponding point 1B, 2B, 3B, 4B of the positional relationship, the three-dimensional image reconstruct three-dimensional image reconstruction unit 131 data (Fig. 2E).

[0057] 当错误地指定了对应点时,如图10所示,将指针移动到该错误指定的对应点的标志上,从例如通过点击鼠标的右键而展开的菜单中选择'复位'指令,或在图8示例的对应表上,将指针移动到该错误指定的对应点的坐标表述栏,同样从通过点击鼠标的右键而展开的菜单中选择'复位'指令,由此解除对该后指定的对应点的指定,而恢复到可再指定的状态。 [0057] When the error corresponding to the specified point, as shown in Figure 10, move the pointer to the sign of the error corresponding to the specified point, select the 'reset' command from the example, by right-clicking the mouse and the expanded menu, or at the corresponding table in Figure 8 example, move the pointer to the coordinates specified in the error column expression corresponding points, the same choice 'reset' command by right-clicking the mouse and the expanded menu, thereby releasing the designated post corresponding specified point, but can be restored to the specified state.

[0058] 如图3所示,操作支持也可利用外延极线的显示。 [0058] As shown in Figure 3, the operation may be utilized to support epi-polar line is shown. 如图3A所示,通过操作者对操作台123的鼠标操作等,在显示部127的图像A上指定特征点1A、2A、3A、4A,之后,在图像B 上,按特征点的指定顺序,顺序指定对应于特征点1A、2A、 的对应点1B、2B、 。 As shown in Figure 3A, the operation of the console mouse 123 or the like, designated 1A in the feature point image on the display section A 127 by the operator, 2A, 3A, 4A, after, on the image B, according to the feature points in the specified order the sequence corresponding to the characteristic points designated 1A, 2A, corresponding points 1B, 2B, . 此时, 如图3B所示,当操作者在图像B上接着指定例如对应于第3个特征点3A的对应点3B时, 表示图像A上的特征点3A的标志以与其它特征点1A、2A、4A不同的方式、例如红色被显示, 并且,对应于图像A上的特征点3A的外延极线在图像B上亮且粗地显示。 At this point, shown in Figure 3B, when the operator on the image B and then specifying the example corresponds to the first three feature points 3A 3B at the corresponding point of time, A represents a point on the feature image. 3A flag to other feature points 1A, 2A, 4A in different ways, for example, red being displayed, and corresponding to the feature point on the image A 3A epi-polar line light on the image B and the crude displayed. 不显示与已指定了对应点1B、2B的、图像A上的特征点1A、2A相对应的外延极线。 Does not display the corresponding points have been designated 1B, 2B, the feature point on the image A 1A, 2A corresponding to the epi-polar line. 另外,在图像B上淡且细地显示与图像A上未指定的特征点4A相对应的外延极线。 Further, light and finely on the image B displayed on the image feature points A unspecified 4A corresponding epi-polar line.

[0059] 这里,当操作者期望在指定对应点3B之前先指定对应点4B时,操作支持部129能够应对这种情况。 [0059] Here, when the operator desires to specify a corresponding point corresponding to the point before the specified 4B 3B, the operation support portion 129 can deal with this situation. 如图3C、图9所示,操作者移动鼠标,将指针配置在所显示的图像A上例如特征点4A的标志上,当在该位置点击鼠标时,操作支持部129从接受对对应点3B的指定的状态变化为接受对与特征点4A相对应的对应点4B的指定的状态。 Figure 3C, Figure 9, the operator moves the mouse pointer on the configuration of the displayed image features such as point A sign on 4A, when the mouse is clicked in this position, operational support unit 129 from the acceptance of the corresponding point 3B state of the specified state to the acceptance of the feature point corresponding to the corresponding points 4A and 4B are designated. 与此同时,如图3D所示,对应于图像A上的特征点4A的外延极线在图像B上变化为亮且粗地显示,而对应于图像A上的特征点3A的外延极线在图像B上变化为淡且细地显示。 At the same time, shown in Figure 3D, the image A corresponding to the feature points of the epi-polar line 4A changed to bright and the crude displayed on the image B, and image A corresponding to the feature points of the epi-polar line 3A changes in image B is light and thin display. 这样,按与图像A的特征点1A、2A、3A、4A相同的顺序,在图像B上指定对应点1B、2B、3B、4B,当执行对操作台123上指定的确定操作时,确定被指定的对应点1B、2B、3B、4B,并将其作为契机,从图像A、B中分别提取出血管图像,利用所提取的血管图像,根据特征点1A、2A、3A、4A与对应点1B、2B、3B、 4B的位置关系,由三维图像重构部131重构三维图像数据(图3e)。 Thus, according to the image feature point A of 1A, 2A, 3A, in the same order 4A, designated at the corresponding point on the image B 1B, 2B, 3B, 4B, when it is determined to perform the specified operation on the console 123, it is determined corresponding points designated 1B, 2B, 3B, 4B, and as a trigger, from the image A, B respectively extracted vein image, using the extracted blood vessel image, based on the feature points 1A, 2A, 3A, 4A and the corresponding point 1B, 2B, the positional relationship 3B, 4B, the three-dimensional image reconstruction by three-dimensional image data portion 131 (FIG. 3e) reconstruction.

[0060] 上述中,虽然表示与接着指定的例如对应点3B相对应的特征点3A的标志在图像A上与其它特征点1A、2A、4A不同地以红色或闪烁显示,但与此同时,也可代替该显示,如图4所示,操作支持部129从未图示的声音发生器中,用声音输出下次指定的特征点的序号。 [0060] In the above, while indicating the corresponding point is then designated e.g. 3B 3A corresponding feature points in the image of the mark A and the other feature points 1A, 2A, 4A or different blinking in red, but at the same time, can also perform the display shown in Figure 4, the operation support portion 129 (not shown) of the sound generator, the sound output with the next specified number of feature points. 并且,操作支持部129也可以利用文本消息将下次指定的特征点的序号与图像A、B—起显示于显示部127的画面上。 Further, the operation support portion 129 may also use the serial number A text message with the image feature points of the next specified, B- from the screen displayed on the display unit 127. 另外,也可如图5所示,使下次指定的特征点的标志和对应点的标志所组成的对的指针或引导线颜色改变,以强调显示该对应的点对。 In addition, also shown in Figure 5, so that a corresponding point mark and the next mark designated feature points consisting of a pointer or a color change of the guidewire in order to emphasize the display of the corresponding point pairs. 另外,也可如图6所示,使对应于下次指定的对应点的特征点的标志以比图像A上其它特征点的标志大的尺寸显示,或使对应于下次指定的对应点的特征点的标志与图像A上其它特征点的标志不同地用圆形包围,或仅使对应于下次指定的对应点的特征点的标志闪烁,或仅使对应于下次指定的对应点的特征点的标志高亮度亮浓度地显示,或较淡地显示或不显示除对应于下次指定的对应点的特征点以外的特征点标志,并且,也可以稍淡地显示对应于前一个已指定的对应点的特征点的标志,更淡地显示对应于两个以前已指定的对应点的特征点的标志。 In addition, also shown in Figure 6, so that the next mark corresponds to the corresponding point of the designated feature points other than the mark on the image feature points A large-size display, or corresponding to the corresponding point of the next designated Flags Flag other feature points on the image feature point A and the circular surround differently, or only the mark corresponding to the next point of the designated feature points corresponding to flicker, or corresponding to only the designated corresponding points of the next logo feature points concentration of high-brightness light show, or lighter to show or not show except for the designated corresponding to the next point of the feature points corresponding feature point mark, and can also be a little light display corresponds to the previous one has been flag feature point designated corresponding points, more light to the display flag corresponding to the corresponding points of the two previously been designated feature points.

[0061] 另外,也可如下应用图3所示的外延极线的显示。 [0061] In addition, the following may be epi-polar line of application shown in Figure 3 is displayed. 如图7所示,将对应于全部特征点的外延极线显示于图像B上,由此,可使与下次指定的对应点的特征点相对应的外延极线的显示色不同于与其它特征点对应的外延极线的显示色。 7, the feature points corresponding to all of epi-polar line is displayed on the image B, whereby the corresponding point can display color and the next designated feature points corresponding to the epi-polar line is different from the other display color feature points corresponding epi-polar line. 另外,也可将对应于全部特征点的外延极线显示于图像B上,由此,使对应于下次指定的对应点的特征点的外延极线的粗细比对应于其它特征点的外延极线粗地进行显示。 In addition, also be corresponding to all the feature points displayed on the epi-polar line image B, whereby the thickness ratio corresponds to the next so that corresponding points designated feature points epi-polar line corresponding to the other feature points epi-polar Coarse ground line display. 另外,也可将对应于全部特征点的外延极线显示于图像B上,由此,用比对应于其它特征点的外延极线亮且浓的颜色来显示对应于下次指定的对应点的特征点的外延极线。 In addition, also be corresponding to all the feature points displayed on the epi-polar line image B, whereby, with the brighter than the other feature points corresponding to the epi-polar line and concentrated to a display corresponding to the color of the corresponding point of the next designated epi-polar line feature point. 另外,也可不将对应于全部特征点的外延极线显示于图像B上,而仅显示对应于下次指定的对应点的特征点的外延极线,不显示对应于其它特征点的外延极线。 In addition, or not all feature points corresponding to the epi-polar line is displayed on the image B, and display only the designated corresponding points corresponding to the next feature point epi-polar line, does not show the feature points corresponding to the other epi-polar line . 另外,也可初期显示对应于全部特征点的外延极线,对应于对应点的指定,删除与其对应的特征点的外延极线。 It is also possible to display the initial feature points corresponding to all of the epi-polar line, corresponding to the designated corresponding points, delete epi-polar line corresponding to the feature point.

[0062] 另外,对应点的指定顺序初期对应于特征点的指定顺序,但该顺序可如图3C、3D 所示,通过点击想下次指定的特征点的标志来改换。 [0062] In addition, the sequence corresponding to the initial specified point corresponding to the feature points in the specified order, but the order may be as shown in Figure 3C, 3D, by clicking wanted flag next to the designated feature points change. 这种改换不限于该操作。 This change is not limited to the operation. 例如,如图8 所示,操作支持部129生成使特征点与对应点在图像上的XY坐标上相对应的对应表,并使该对应表与图像A、B —起显示于显示部127上。 For example, shown in Figure 8, so that the operation support portion 129 generates the feature point and the corresponding point on the XY coordinates on the image corresponding to the correspondence table and the table corresponding to the image A, B - the display unit 127 from the . 在该对应表上,用标记'next'来表示下次指定的对应点,当先指定其它对应点时,通过在该对应表上点击想先指定的对应点的坐标表述栏,即可先指定本例中的对应点3,并变为接受的状态。 On the corresponding table, mark 'next' to represent the corresponding points next time specified, the head specify other corresponding point, by clicking on the corresponding table column expressed wish coordinates corresponding to the specified point, you can first specify this Example 3 corresponding points, and the state becomes acceptable.

[0063] 如上所述,根据本实施例,可减轻由两个方向的投影图像来重构三维图像时所需的、将对各图像上的部位设为共同的对应点指定作业的负担。 [0063] As described above, the burden of common corresponding point specified job according to the present embodiment, reduce the time required by the projection images of the two directions to reconstruct three-dimensional images, each image will be on the set portion. 另外,可支持避免对该对应点的误指定。 In addition, support to avoid false designation of that corresponding points.

[0064](第2实施例) [0064] (second embodiment)

9[0065] 下面,参照附图来说明本发明第2实施例的图像处理装置。 9 [0065] Next, the image processing apparatus will be described according to a second embodiment of the present invention with reference to the accompanying drawings. 尽管这里说明了将图像处理装置组装在双平面X射线拍摄装置中,但不用说,这些装置也可单独构成。 While there will be described an image processing apparatus incorporated in biplane X-ray imaging apparatus, but needless to say, these devices can also be configured separately. 另外,可构成为通过计算机来实现三维图像重构处理的程序,也可以提供存储有该程序的计算机可读存储媒体。 In addition, as can be realized by a computer constituting the three-dimensional image reconstruction processing program, may also be provided to store the program with a computer-readable storage medium.

[0066] 下面,本实施例的图像处理装置将以由从两个方向大致同时拍摄的X射线投影图像重构而成的血管的三维图像数据(体积数据)为对象来进行说明,但不限于此。 [0066] Next, the image processing apparatus of this embodiment will be reconstructed by the X-ray projection image substantially simultaneously from two directions taken from three-dimensional blood vessel image data (volume data) as a target is described, but not limited to this. 也可以以由利用单平面X射线拍摄装置在不同时刻拍摄到的来自两个方向的投影图像重构而成的血管的三维图像数据、基于由X射线计算机断层拍摄装置(CT扫描仪)、核磁共振图像装置(MRI)等其它拍摄装置取得的数据的体积数据为对象。 May also be made using a single planar X-ray imaging apparatus photographed at different timings to the projection image from two directions from the reconstructed three-dimensional image data of blood vessels, based on the X-ray computed tomographic imaging apparatus (CT scanners), magnetic resonance resonance image volume data of the data means (MRI) and other imaging apparatus obtained for the object.

[0067] 另外,尽管以存在于被检体内的毛细管形状的、典型为血管作为图像处理的对象, 但不限于此,也可以是探针、导线、移植片固定物、血管内治疗器件、活体检查针、钳子、内视 [0067] Further, although the shape of the capillary to be present in the body of the subject, typically a blood vessel as an object of image processing, but is not limited thereto, and may be a probe, wire, stent, endovascular devices, in vivo Check the needles, forceps, endoscopy

fe等。 fe and so on.

[0068] 图17表示装配了依据本实施例的图像处理装置的双平面X射线拍摄装置。 [0068] Figure 17 shows the assembly based on two-plane X-ray photographing apparatus an image processing apparatus according to the present embodiment. 首先, 简单说明双平面X射线拍摄装置。 First, a brief description biplane X-ray image capturing device. 双平面X射线拍摄装置具备正面系(正面;F)的X射线拍摄系统、和侧面系(侧面;L)的X射线拍摄系统。 Biplane X-ray image-capturing device with a front line (positive; F) of X-ray imaging system, and side lines (side; L) X-ray imaging system. 正面系的X射线拍摄系统具有X射线管2112-1、和正对X射线管2112-1以夹持被检体P的X射线检测器2114-1。 X-ray-based imaging system having a front X-ray tube 2112-1, and 2112-1 is on the X-ray tube in order to grip the X-ray detector subject P 2114-1. 侧面系的X射线拍摄系统具有X射线管2112-2、和正对X射线管2112-2以夹持被检体P的X射线检测器2114-2。 X-ray imaging system having an X-ray system side tube 2112-2, and 2112-2 is on the X-ray tube in order to grip the X-ray detector subject P 2114-2. X射线检测器2114-1、2114-2典型的是固体平面检测器,在该固体平面检测器中, 用于直接或间接地将入射X射线变换为电荷的多个检测元件(像素)呈三维状排列。 X-ray detector 2114-1,2114-2 typically a solid flat panel detector, in the solid state flat detector for directly or indirectly convert incident X-rays into a plurality of charge detection elements (pixels) of a three-dimensional like arrangement. 将正面系的X射线管2112-1装配在例如床置型C臂2013的一侧,将X射线检测器2114-1装配在C臂2013的另一侧。 The X-ray tube system 2112-1 is fitted in the front side of the bed, for example type C-arm 2013 is set, the X-ray detector 2114-1 is fitted in the other side of the C-arm 2013. 将侧面系的X射线管2112-2装配在例如顶板吊下型Ω臂2023的一端,将X射线检测器2114-2装配在Ω臂2023的另一端。 The X-ray tube assembly of the side lines 2112-2 in e.g. roof hanging end of the lower arm type Ω 2023, the X-ray detector 2114-2 fitted in the other end of the arm 2023 Ω. 设计C臂2013的支撑机构与Ω臂2023的支撑机构,使从X射线管2112-1的焦点连结X射线检测器2114-1的受像面中心的拍摄中心轴CA1、与从X射线管21 12-2的焦点连结X射线检测器2114-2的受像面中心的拍摄中心轴CA2在称为等角点的固定点交叉。 Design of C-arm support means 2023 and 2013 Ω arm supporting means, the connecting shooting center axis CA1 X-ray detector that is the center of the image plane from the focal point of 2114-1 2112-1 of the X-ray tube, and from the X-ray tube 21 12 -2 focus X-ray detector that is coupled to the image plane of the imaging center 2114-2 CA2 central axis at a fixed point is called isocenter cross.

[0069] 架台控制部2111根据来自经接口2121连接的操作台2123的操作者指示,任意控制C臂2013和Ω臂2023的位置和方向,同时,从未图示的传感器取得与各拍摄系统的拍摄位置和拍摄方向有关的数据。 [0069] According to the gantry control unit 2111 from an operator console connected to the 2123 via the interface 2121 indicating, arbitrarily controlled C-arm 2013 and arm 2023 Ω position and direction, at the same time, the sensor (not shown) made with the imaging system data relating to the photographing position and photographing direction. 与各拍摄系统的拍摄位置和拍摄方向有关的数据与通过从X 射线控制部113施加管电压而从X射线管2112-1、2112-2产生的X射线同步、从X射线检测器2114-1、2114-2经检测器控制部2115产生的拍摄图像数据一起,被存储在图像存储部2117中。 Data and the photographing position and photographing direction of each imaging system associated with the X-ray tube by applying a voltage control unit 113 from the X-ray generated from the X-ray tube 2112-1,2112-2 synchronization, from the X-ray detector 2114-1 , captured image data 2114-2 via the detector control unit 2115 generated together, the image is stored in the storage unit 2117. 显示部2127是CRT等显示装置,经图像显示控制部2125而被连接。 Display unit 2127 is a display device such as a CRT, by the image display control unit 2125 are connected. 血管提取部2119从投影图像数据中提取出例如利用阈值处理而被造影的血管的图像。 The blood vessel extraction unit 2119 extracts the threshold value processing using, for example the contrast of the blood vessel image is projected from the image data. 三维图像重构部2131根据由操作者指定的、拍摄方向不同的两个投影图像间的相同部位上的多个对应点的位置关系,重构血管提取部2119从各投影图像中提取出的血管的三维图像数据(也称为体积数据)。 Positional relationship between corresponding points of the same part of the plurality of three-dimensional image reconstruction unit 2131 specified by the operator, the imaging direction different between the two images projected on the reconstructed vessel extraction unit 2119 extracted from each projection image Vascular The three-dimensional image data (also referred to as volume data). 三维图像数据存储部2132存储由三维图像重构部2131重构的三维图像数据。 Three-dimensional image data storage unit 2132 stores the reconstructed three-dimensional image reconstruction unit 2131 of the three-dimensional image data.

[0070] 如上所述,三维图像数据存储部2132也可存储由X射线计算机断层拍摄装置(CT 扫描仪)或核磁共振图像装置(MRI)等其它拍摄装置取得的图像数据所生成的三维图像数据。 [0070] As described above, the three-dimensional image data storage unit 2132 may store means (CT scanners), or magnetic resonance imaging device (MRI) captured by the X-ray computed tomography and other three-dimensional image data of the image data obtained by other shooting means generated . 三维图像生成部2133通过将存储在三维图像数据存储部2132中的三维图像数据以任意视点投影到对应于任意视角(拍摄方向)的投影面上,生成作为三维图像的、模拟立体显示血管的形态构造的投影图像(表示血管形态的投影图像)。 Three-dimensional image generating unit 2133 by the three-dimensional image data stored in the three-dimensional image data storage unit 2132 in order to correspond to any arbitrary view and projection angle of view (imaging direction) of the projection surface to generate a three-dimensional image to simulate three-dimensional display mode of the blood vessel configuration of the projected image (represented vascular morphology of the projection image). 将所生成的表示血管形态的投影图像显示于显示部2127上。 The projection image generated is displayed on vascular morphology indicated on the display unit 2127.

[0071] 血管彩图生成部2129从存储在三维图像数据存储部2132中的三维图像数据中提取出血管的中心轴(中心线),针对血管的中心轴上的多点(三维像素(voxel))分别计算血管的切线矢量,并按每个点(三维像素)逐一计算切线矢量相对于投影面的角度(切线矢量与投影面所成的角度)。 [0071] vascular-color generating unit 2129 extracts from the three-dimensional image data stored in the three-dimensional image data storage unit 2132 in a blood vessel in the center axis (centerline), the center of the blood vessel for multi-axis (three-dimensional pixel (voxel) ) were calculated vascular tangent vector, and press each point (voxel) individually calculating the tangent vector with respect to the angle of the projection surface (projection plane tangent vector and the angle formed). 该角度表示血管的走向。 The point of that vessel direction. 进而,血管彩图生成部2129根据事先保存的颜色表,将该角度变换为颜色值,生成将该颜色值设为三维像素值的体积数据(称为关于血管走向的体积数据)。 Further, color image generating unit 2129 based on the blood vessel previously stored color tables, the angle is converted into color values, the color values to generate the pixel values of the three-dimensional volume data (referred to the volume of data on the blood vessel). 血管彩图生成部2129通过对所生成的与血管走向相关的体积数据实施将表示血管形态的投影图像以相同视点和相同视角投射到相同投影面上的投影处理,来生成作为表示血管走向的投影图像(表示血管走向的投影图像)的彩图。 Vascular color pictures generating unit 2129 and through the blood vessels to the generated volume data related embodiment the vascular morphology of the projection image representation to the same viewpoint and the same angle of view projected onto the same projection plane of the projection process to generate a blood vessels to represent the projection image (representing blood vessels to the projected image) of color pictures. 图像合成部2135将生成的彩图重叠(superimpose)在表示血管形态的投影图像上,并显示于显示部2127中。 The image synthesizing section 2135 generates the color image overlap (superimpose) represented on vascular morphology of the projection image, and displayed on the display unit 2127 in.

[0072] 下面,详细描述表示上述血管走向的彩图的生成。 [0072] Next, the detail of the color pictures of the blood vessel to generate descriptions. 首先,所谓彩图如图18所示,是下述的地图,即作为与各点的血管切线矢量相对于设置成与从操作者指定的视点起的视线(投影中心线)正交的投影面而成的角度θ相对应的显示形态,用彩色来表示例如将颜色值设为像素值的血管走向。 First, so-called color image 18, are the following map, that is, as to each point of the tangent vector with respect to the vessel provided with the specified starting from the viewpoint of the operator's line of sight (projection center line) orthogonal to the projection surface the angle θ formed by the display form corresponding to, for example, color to represent the color values to the blood vessels to the pixel values. 在图18的实例中,用红色显示与投影面正交的血管部分,用蓝色显示与投影面平行的血管部分,以中间角度与投影面交叉的血管部分被提供以在红色与蓝色之间缓慢变化的色相。 In the example of FIG. 18, with the blood vessel portion shown in red and the projection plane perpendicular to, and displayed in blue projection plane parallel to the blood vessel portion, intermediate angle with the projection plane intersecting the blood vessel portion is provided to the red and blue between the slowly changing hue.

[0073] 另外,图18中,为了方便起见,用虚线、三角、圆、心形等不同的点图案来表现颜色的差异。 [0073] In addition, Figure 18, for convenience, with a dotted line, triangle, round, heart-shaped pattern of dots of different colors to show the difference. 另外,也可与颜色值一起,或代替颜色值,分配与血管切线矢量的角度θ范围相对应的点图案。 Further, the value of the color along with or in place of the color values, the range of distribution of the angle θ and vascular tangent vectors corresponding to the dot pattern.

[0074] 图19中示出表示血管走向的彩图的生成处理的步骤。 [0074] Figure 19 shows the steps of color pictures of the blood vessels to the representation generation process. 这里,如图20所示,利用血管提取部19从由双平面X射线拍摄装置自不同拍摄方向大致同时拍摄的、相同部位的图像Α、Β中提取出的血管图像,根据在图像Α、Β上由操作者指定的、针对相同部位的多个对应点的位置关系来重构三维图像数据(也称为体积数据)(Sll)。 Here, shown in Figure 20, the use of the blood vessel extraction unit 19 from the biplane X-ray imaging apparatus from different photographing direction substantially simultaneously shooting, the same parts of the image Α, Β extracted in blood vessel image, based on image Α, Β specified by the operator, the positional relationship for the same parts of the plurality of corresponding points to reconstruct the three-dimensional image data (also referred to as volume data) (Sll). 将血管的三维图像数据存储在三维图像数据存储部132中。 The data storage unit 132 in the three-dimensional image data stored in the three-dimensional image of blood vessels. 如上所述,三维图像数据也可以是基于由X射线计算机断层拍摄装置(CT扫描仪)或核磁共振图像装置(MRI)等其它拍摄装置取得的数据的体积数据。 As mentioned above, the three-dimensional image data can also be based on device (CT scanner) or magnetic resonance imaging device (MRI) by X-ray computed tomography volume data capture and other data obtained by other capture device.

[0075] 从重构的体积数据中,提取出血管的中心轴(中心线)(S12)。 [0075] From the reconstructed volume data, the extracted blood vessel central axis (center line) (S12). 从体积数据中提取出血管中心线的方法采用已有的任意方法。 Extracted from the volume data using the method of the vessel centerline any conventional method. 之后,如图21Α、21Β所示,将血管中心线上的多点(三维像素)作为对象,对每个三维像素计算血管的切线矢量(S13)。 Thereafter, as shown 21Α, 21Β shown, the vessel centerline multipoint (voxels) as an object, calculating for each voxel vascular tangent vector (S13).

[0076] 之后,如图22所示,根据想看哪个视点处的图像,操作者经操作台2123,将视点设定为三维坐标上的任意位置,在任意方向设定投影方向(S14)。 After [0076], shown in Figure 22, which want to see the image at the viewpoint, an operator via console 2123, the viewpoint is set to an arbitrary position on the three-dimensional coordinates, the projection direction is set in an arbitrary direction (S14). 另外,在通过插入而用作参照图像的情况下,使投影方向与X射线拍摄装置的X射线管2112-1的方向一致。 Further, in the case by the insertion to be used as a reference image, so that in line with the direction of the X-ray tube X-ray imaging apparatus 2112-1 projection direction. 若确定了视点与投影方向,则确定了投影面。 If it is determined the direction of the viewpoint and the projection, the projection plane is determined. 对血管中心线上的每个点(三维像素)计算切线矢量相对于该投影面的角度(交叉角度)(S15)。 Each point on the center line of the vessel (voxel) calculating the tangent vector of the perspective plane angle (crossing angle) (S15) with respect to. 根据图24Α、图24Β所示的规定颜色表,将角度变换为颜色值(S16)。 According to FIG. 24Α, Fig 24Β predetermined color table shown, the angle is converted into a color value (S16). 由此,生成将依据血管走向相对于投影面的角度的颜色值数据设为三维像素值的体积数据。 Thus, the basis of blood vessels to generate a color value data with respect to the angle of the projection plane is set to the volume of the voxel data values.

[0077] 在图24Α的实例中,向血管平行于投影面的、该角度为0度的三维像素分配对应于蓝色的数据,向血管与投影面正交的、该角度为90度的三维像素分配对应于红色的数据, 向中间角度的三维像素分配对应于在红色与蓝色之间缓慢变化的色相的数据。 [0077] In the example in FIG 24Α, parallel to the projection plane of the vessel, the pixel is assigned a three-dimensional angle of 0 degrees corresponds to the blue data, and the projection plane perpendicular to the blood vessels, this angle is 90 degrees in the three-dimensional pixel distribution data corresponding to red, three-dimensional distribution of pixels corresponding to the intermediate angle between the red and blue data slowly varying in hue. 在图24B的实例中,向血管平行于投影面的、该角度为0度的三维像素分配对应于蓝色的数据,向血管与投影面正交的、该角度为90度的三维像素分配对应于红色的数据,向中间角度的三维像素分配对应于在红色与蓝色之间混入了黄色、且缓慢变化的色相的数据。 In the example in FIG. 24B, the blood vessel is parallel to the projection plane, the angle of 0 degrees assigned as the voxel corresponding to the blue data, and the projection plane perpendicular to the blood vessels, this angle is 90 degrees, the three-dimensional distribution corresponding to the pixel the red data, three-dimensional pixel is assigned to the middle of the hue angle corresponding data in between the red and blue mixed with yellow, and slowly changing.

[0078] 在血管彩图生成部2129中,通过对以依据血管相对于投影面的角度的颜色值为三维像素值的体积数据,实施将表示血管形态的投影图像以相同视点和相同视角投影到相同投影面上的投影处理,而生成作为表示血管走向的投影图像的彩图。 [0078] In the color image generating section 2129 in the blood vessel, through the vessel with respect to the color of the projection surface based on the angle value of the pixel values of the three-dimensional volume data, the implementation of the vascular morphology of the projection image showing the same view and the same angle of view is projected onto a projection process the same projection surface and generates a projection image showing the blood vessels to color pictures. 如图25所示,图像合成部135将生成的彩图重叠(superimpose)在表示血管形态的投影图像上,并显示于显示部127中(S17)。 Shown, the image synthesis unit 135 generates the color image overlap in FIG 25 (superimpose) represented on vascular morphology of the projection image, and displayed on the display unit 127 (S17).

[0079] 根据本实施例,因为对应于血管走向与投影面的角度,向表示血管形态的投影图像中附加了颜色,所以可正确识别血管各部的走向、血管的弯曲程度等。 [0079] According to the present embodiment, since the blood vessels to the projection plane corresponding to the angle of the projected image to represent the blood vessel morphology additional color, it is possible to correctly identify the extent of tortuous vessels and other vessels of each part.

[0080] 对本领域的技术人员而言,其它的优点和变更是显而易见的。 [0080] The skilled artisan, further advantages and modifications are apparent. 因此,本发明不限于这里示出和描述的特定细节和代表性实施例。 Accordingly, the present invention is not limited to the shown and described specific details and representative embodiments. 因此,在不脱离下面的权利要求及其等同描述所定义的一般发明概念的精神和范围下,可进行不同的变更。 Thus, in the rights without departing from the description of the following claims and their equivalents as defined by the spirit and scope of the general inventive concept, may be different change.

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Classifications
International ClassificationA61B6/03, G06T15/08, A61B5/055, G06T1/00, A61B6/00, G06T15/00
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