CN1827046B - Image processing apparatus - Google Patents
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- CN1827046B CN1827046B CN2006100597249A CN200610059724A CN1827046B CN 1827046 B CN1827046 B CN 1827046B CN 2006100597249 A CN2006100597249 A CN 2006100597249A CN 200610059724 A CN200610059724 A CN 200610059724A CN 1827046 B CN1827046 B CN 1827046B
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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.
Description
The cross reference of related application
The application based on and advocate the priority of 2005-061601 of Japanese patent application formerly that submitted on March 4th, 2005 and the 2005-061600 of Japanese patent application formerly that submitted on March 4th, 2005, be incorporated herein and with reference to its full content.
Technical field
The present invention relates to a kind of image processing apparatus, this device has according to the projected image of taking from both direction to come the function of reconstruction of three-dimensional images or produce the function of projecting image data according to the volume data about capillary form such as tested intravital blood vessels.
Background technology
As Figure 11, shown in Figure 14, in order to see the trend of blood vessel three-dimensionally, typical technology is to come reconstruction of three-dimensional images according to the projected image of taking from both direction.Therefore, must be between image the corresponding relation of specific characteristic point.For example shown in Figure 13, in three dimensions, be present on a certain position on the line B though be projected in position on the some A of side image (Lateral) as can be known, can't former state specify with a bit.As other direction, for example line B is projected on the line C on direct picture (Frontal).Project on the A the position on the direct picture corresponding to a certain position on the line C.
Therefore, by at the characteristic portion of on the side image point (characteristic point) A being appointed as on the anatomy, the operator specifies the point (corresponding point) identical with the characteristic point aminoacyl site on the line C of direct picture, can specify the position on the online B in this position.That is,, must on the image of both direction, specify corresponding point respectively about same area for the specified three-dimensional position.
Therefore, require the operator to carry out respectively the image of both direction being specified the operation of corresponding point with pointers such as mouses.Improve the precision of 3-D view by the quantity that increases corresponding point.When the blood vessel with branch's complexity is object, a lot of corresponding point of essential appointment.
As designation method, following method is arranged generally: for example shown in Figure 15 A, the image of both direction is alternately specified corresponding point; For example shown in Figure 15 B, an image is specified whole corresponding point, again another image is specified whole corresponding point afterwards.
But, in fact specify operations tens of, hundreds of corresponding point sometimes very complicated, even if one of above-mentioned two kinds of designation methods in most cases also can be made a mistake the corresponding relation of corresponding point.
In addition, stereo display increases as the object of capillary form, the chance that is typically angioarchitecture.In fact, generate projected image, after additional shadow, show to realize stereoeffect according to 3 d image data (volume data) with depth information relevant with blood vessel.
But in fact, current present situation is to be difficult to know the trend of blood vessel about projecting direction.
Summary of the invention
The objective of the invention is to alleviate essential when the projected image according to both direction comes reconstruction of three-dimensional images, specify at the corresponding point of common sites on each image burden, specify for the mistake of avoiding these corresponding point to provide support.
The object of the present invention is to provide a kind of image processing apparatus and image processing method, will show about the projected image of capillary form objects such as blood vessel the information of moving towards with object.
The 1st aspect of the present invention provides a kind of image processing apparatus, possesses storage part, and storage is about data same object, that take the 1st different projected image of direction and the data of the 2nd projected image; Display part shows the data of described the 1st, the 2nd projected image; Assigned operation portion specifies a plurality of points on the 1st, the 2nd shown projected image; Operation supporting section, generating run support information, described operation support information are used to support specify anatomically operation corresponding to a plurality of points on described the 2nd projected image of appointed a plurality of points on described the 1st projected image by described assigned operation portion; Warning portion, be used on described the 2nd projected image appointed point depart from out with described the 1st projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least, wherein, a plurality of on described the 1st projected image on described the 2nd projected image respectively to be shown corresponding to the mode of specifying/not specifying corresponding point.
The 2nd aspect of the present invention provides a kind of image processing apparatus, possesses storage part, and storage is about data same object, that take the 1st different projected image of direction and the data of the 2nd projected image; Display part shows the data of described the 1st, the 2nd projected image; Assigned operation portion specifies a plurality of points on the 1st, the 2nd shown projected image; And operation supporting section, the generating run support information, described operation support information is used to support specify anatomically operation corresponding to a plurality of points on described the 2nd projected image of appointed a plurality of points on described the 1st projected image by described assigned operation portion, warning portion, be used on described the 2nd projected image appointed point depart from out with described the 1st projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least, wherein, with described the 2nd projected image on next specified predetermined point corresponding, point on described the 1st projected image is shown in the mode that is different from other point on described the 1st projected image.
The 3rd aspect of the present invention provides a kind of image processing apparatus, possesses storage part, and storage is about the data of a plurality of projected images on shooting directions same target, a plurality of; Display part shows the data of described a plurality of projected images; Assigned operation portion specifies a plurality of points on the described projected image that is shown; And operation supporting section, the generating run support information, described operation support information is used for supporting specifying corresponding with appointed a plurality of points on a projected image of described a plurality of projected images anatomically by described assigned operation portion, the operation of the point of other projected images in described a plurality of projected image, warning portion, be used on other projected images of described a plurality of projected images appointed point depart from out with described a plurality of projected images in a projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least, wherein, a plurality of on the described projected image on described other projected image respectively to be shown corresponding to the mode of specifying/not specifying corresponding point.
Other purpose of the present invention and advantage will be determined that a part will become apparent according to this explanation, or learn by practice of the present invention by following explanation.By in particular the following means and combination, can realize and obtain objects and advantages of the present invention.
Description of drawings
Accompanying drawing is introduced into and constitutes the part of description, so that most preferred embodiment of the present invention to be described, and with the detailed description of foregoing invention general introduction and following most preferred embodiment, is used for explaining principle of the present invention.
Fig. 1 is that the formation of the radiodiagnosis device that constitutes with the image processing apparatus that comprises the present invention the 1st embodiment comes together to represent the figure that this image processing apparatus constitutes.
Fig. 2 is example is supported in expression based on the operation of the demonstration of the operation supporting section of Fig. 1 figure.
Fig. 3 is example is supported in expression based on the operation of the extension polar curve (epi-polar line) of the operation supporting section of Fig. 1 figure.
Fig. 4 is that expression is supported routine figure based on the sound of the operation supporting section of Fig. 1 or the operation of message.
Fig. 5 is example is supported in expression based on the operation of other demonstration of the operation supporting section of Fig. 1 figure.
Fig. 6 is example is supported in expression based on the operation of other demonstration of the operation supporting section of Fig. 1 figure.
Fig. 7 is that other of extension polar curve of the operation supporting section of presentation graphs 1 shows the figure of example.
Fig. 8 is the figure of expression based on the corresponding point specified order modification of the operation supporting section of Fig. 1.
Fig. 9 is the figure of expression based on other modification of the corresponding point specified order of the operation supporting section of Fig. 1.
Figure 10 is the cancellation example is specified in expression based on the corresponding point of the operation supporting section of Fig. 1 figure.
Figure 11 is the figure of expression 3-D view reconstruct summary.
Figure 12 is the figure of the step of expression 3-D view reconstruct.
Figure 13 is the additional figure of the characteristic point corresponding relation of Figure 12.
Figure 14 is the figure of expression 3-D view reconstruct summary.
Figure 15 is the figure of given step of the characteristic point of expression Figure 12.
Figure 16 is the outside drawing of biplane X ray filming apparatus of the image processing apparatus of expression assembling present embodiment.
Figure 17 is that the formation of the radiodiagnosis device that constitutes with the image processing apparatus that comprises the present invention the 2nd embodiment comes together to represent the figure that this image processing apparatus constitutes.
Figure 18 is the figure of expression based on blood vessel coloured picture one example of the blood vessel coloured picture generating unit of Figure 17.
Figure 19 is expression generates a series of flow processs that extremely show from the blood vessel coloured picture of present embodiment figure.
Figure 20 is the supplementary notes figure of Figure 19 treatment process that " obtains 3-D view ".
Figure 21 is the supplementary notes figure of Figure 19 " the tangent line vector of calculating vessel centerline " treatment process.
Figure 22 is the supplementary notes figure of Figure 19 treatment process of " determining projecting direction ".
Figure 23 is the supplementary notes figure of Figure 19 " the angle θ on calculating tangent line vector and perspective plane " treatment process.
Figure 24 is the supplementary notes figure of Figure 19 " θ is replaced into color value with angle " treatment process.
Figure 25 is the figure of demonstration example of " overlapping demonstration " treatment process of expression Figure 19.
The specific embodiment
(the 1st embodiment)
Below, with reference to accompanying drawing image processing apparatus according to the present invention the 1st embodiment is described.In addition, though illustrated here image processing apparatus is assembled in the biplane X ray filming apparatus, undoubtedly, also can constitute separately.In addition, the program that realizes the 3-D view reconstruction processing by computer can be constituted, also the computer-readable storage medium that stores this program can be provided.
In addition, the image processing apparatus of present embodiment is to have according to the projected image of taking from both direction to come the device of the function of reconstruction of three-dimensional images, does not limit the kind of projected image etc. especially.Both can use based on monoplane X ray filming apparatus, from the projected image of both direction, also can use based on biplane X ray filming apparatus, from the projected image of both direction.Here, describe with the example of taking based on general biplane X ray.
Fig. 1 represents to have assembled the biplane X ray filming apparatus according to the image processing apparatus of present embodiment.At first, simple declaration biplane X ray filming apparatus.Biplane X ray filming apparatus comprises positive system (front as shown in figure 16; F) X ray camera system and side system (side; L) X ray camera system.The X ray camera system of positive system have X-ray tube 112-1 and with X-ray tube 112-1 over against X-ray detector 114-1 with clamping subject P.The X ray camera system of side system has X-ray tube 112-2 and over against the X-ray detector 114-2 of X-ray tube 112-2 with clamping subject P.X-ray detector 114-1,114-2 be the surface detector normally, and in this surface detector, a plurality of detecting elements (pixel) that are used for directly or indirectly incident X-rays being transformed to electric charge are two-dimentional shape and arrange.The X-ray tube 112-1 of front system is assemblied in a for example side of putting the C arm 13 of type, X-ray detector 114-1 is assemblied in the opposite side of C arm 13.The X-ray tube 112-2 of side system is assemblied in the end that top board for example hangs mo(u)ld bottom half Ω arm 23, X-ray detector 114-2 is assemblied in the other end of Ω arm 23.The supporting mechanism and the supporting mechanism of Ω arm 23 of design C arm 13, make from the focus of X-ray tube 112-1 link X-ray detector 114-1 the shooting central shaft CA1 that is subjected to the image planes center, intersect at the fixing point that is called isocenter IC with the shooting central shaft CA2 that is subjected to the image planes center from the focus binding X-ray detector 114-2 of X-ray tube 112-2.
The biplane X ray filming apparatus that has assembled according to the image processing apparatus of present embodiment has pallet control part 111.Pallet control part 111 is indicated according to the operator of the operating board 123 that the interface 121 of hanging oneself connects, control the position and the direction of C arm 13 and Ω arm 23 arbitrarily, simultaneously, never illustrated pick off is obtained with the camera site of each camera system and is taken the relevant data of direction.With the camera site of each camera system and take the relevant data of direction with the X ray that produces from X-ray tube 112-1,112-2 by applying tube voltage from X ray control part 113 synchronously, from X-ray detector 114-1, the 114-2 captured image data that produces of device control part 115 after testing, be stored in the image storage part 117.Display part 127 is display devices such as CRT, is connected through pictorial display control part 125.Vessel extraction portion 119 extracts from projecting image data and for example utilizes threshold process and by the image of the blood vessel of radiography.Be provided with 3-D view reconstructed operation support sector 129 in order to support the operation that operator's reconstruction of three-dimensional images is required, typically, when on a projected image, having specified corresponding point, as support information, output be used for determining corresponding to these corresponding point, on another projected image the information of specified corresponding point.Support details as described later by the operation that 3-D view reconstructed operation support sector 129 carries out.According to the operator based on the operation support of carrying out by 3-D view reconstructed operation support sector 129 and the position relation of specified a plurality of corresponding point, the 3 d image data (being also referred to as volume data) of the blood-vessel image that 131 reconstruct of 3-D view reconstructing part are extracted from each projected image by reconstruct vessel extraction portion 119.
In addition, in the following description, 3 d image data comprises following A), B) two kinds.
A) 3 d image data of type is mainly produced by CT or MRI.In the radiodiagnosis device, be equivalent to this A by the data of volume reconstruct) 3 d image data of type.A) 3 d image data of type has value respectively to the whole voxels in the 3D region.Particularly, in 512 * 512 * 512 3D region for example, provide 134,217,728 values.
B) 3 d image data of type is provided as the vector (vector data) that defines 3D region.Particularly, for example constitute by the centrage coordinate and the diameter of blood vessel.Display device is coated with dyes and centrage coordinate and the corresponding zone of diameter.B) data volume of the 3 d image data of type is than A) the data volume much less of the 3 d image data of type.
Two dimensional image generating unit 133 according in 3-D view reconstructing part 131 by the 3 d image data of reconstruct, generate the stimulated three-dimensional image that generates by projection process etc. (below, be referred to as two dimensional image for fear of confusing) with 3-D view.The two dimensional image that is generated is shown in the display part 127.
Below, the operation support of being undertaken by 3-D view reconstructed operation support sector 129 is described.As shown in Figure 2, based on 3-D view reconstructed operation support sector 129 control, will for example take direction, roughly simultaneously same area be taken the image A, the B that obtain and be shown in side by side on the picture of display part 127 simultaneously from difference by biplane X ray filming apparatus.Perhaps, image A, B Alternation Display in the picture of display part 127.For example, the whole specified points on image A are replaced image A in the screen displayed image B of display part 127 after specifying and finishing.
Shown in Fig. 2 A, by mouse on operator's operating operation platform 123 etc., on the image A of display part 127, on the blood-vessel image be anatomically branch point etc. a plurality of characteristic portions, specify a plurality of characteristic point 1A, 2A, 3A, 4A.For convenience of description, specifically initial specified corresponding point on the image A are called characteristic point, on another image B, correspond respectively to the characteristic point of image A and specified point (corresponding point) to be different from the back.After the appointment of having finished whole characteristic point 1A, 2A, 3A, 4A, the zone of image B becomes the state that can specify corresponding point.By the mouse action of operator to operating board 123, on the image B of display part 127, by the specified order of characteristic point, order specify corresponding to characteristic point 1A, 2A ... corresponding point 1B, 2B ....At this moment, shown in Fig. 2 B, when the operator for example specified corresponding point 3B corresponding to the 3rd characteristic point 3A on image B, the sign of the characteristic point 3A on the presentation video A was to show with further feature point 1A, 2A, mode that 4A is different.For example, with the red sign that shows the characteristic point 3A on the presentation video A.With the color beyond the redness, the blue sign that shows further feature point 1A, 2A, 4A for example.In addition, flicker shows the sign of the characteristic point 3A on the presentation video A, and shows the sign of further feature point 1A, 2A, 4A all the time.
If operator's rolling mouse, then the arrow-shaped pointer is followed the trail of demonstration on image B, and moves with the mark ' 3 ' of expression corresponding point 3B.When operator's rolling mouse during to the position identical with characteristic point 3A, the operator clicks the mouse.Thus, shown in Fig. 2 C, specify corresponding point 3B in this position, be designated as expression corresponding point 3B " 3B ' sign show by for example blueness of expression designated state.When specifying, 3-D view reconstructed operation support sector 129 judge specified corresponding point 3B whether apart from the extension polar curve more than or equal to predetermined distance.The extension polar curve is defined in the substitute point string of appointed corresponding point 3B on the image B.The extension polar curve is determined by the shooting angle of image A, the shooting angle of image B and the position of the some 3A on the image A.As shown in figure 13, in three-dimensional system of coordinate, the extension polar curve be as the line of characteristic point 3A that will connect image A (detection faces that is equivalent to detector 114-1) from the focus of X-ray tube 112-1 from the focus of X-ray tube 112-1 to the projection line of image B (detection faces that is equivalent to detector 114-2) projection and at the line of determining geometrically.
Even if the optional position on the corresponding point 3B extension polar curve is in also contradiction not geometrically.The operator specifies anatomically some 3B corresponding to a 3A from the extension polar curve.
Shown in Fig. 2 D,, on image B, specify corresponding point 1B, 2B, 3B, 4B by the order identical with characteristic point 1A, 2A, 3A, the 4A of image A.Be accompanied by on the operating board 123 specified definite operation, determined appointed corresponding point 1B, 2B, 3B, 4B.To determine as opportunity, from image A, B, extract blood-vessel image respectively, utilize the blood-vessel image that extracts, according to the position relation of characteristic point 1A, 2A, 3A, 4A and corresponding point 1B, 2B, 3B, 4B, by 3-D view reconstructing part 131 reconstruction of three-dimensional images data (Fig. 2 E).
When having specified corresponding point mistakenly, as shown in figure 10, move the pointer on the sign of the specified corresponding point of this mistake, from for example selecting ' resetting ' instruction the unfolded menu by the right button of clicking the mouse, or on the correspondence table of Fig. 8 example, move the pointer to the coordinate statement hurdle of the specified corresponding point of this mistake, same selection ' resetting ' instruction from unfolded menu by the right button of clicking the mouse, remove appointment thus to these specified corresponding point in back, can specified again state and return to.
As shown in Figure 3, operation support also can be utilized the demonstration of extension polar curve.As shown in Figure 3A, by the operator to mouse action of operating board 123 etc., specific characteristic point 1A, 2A, 3A, 4A on the image A of display part 127, afterwards, on image B, by the specified order of characteristic point, order specify corresponding to characteristic point 1A, 2A ... corresponding point 1B, 2B ....At this moment, shown in Fig. 3 B, when the operator for example then specifies corresponding point 3B corresponding to the 3rd characteristic point 3A on image B, the sign of characteristic point 3A on the presentation video A is to be shown with further feature point 1A, 2A, mode, for example redness that 4A is different, and, bright and slightly show on image B corresponding to the extension polar curve of the characteristic point 3A on the image A.Do not show and specified the corresponding extension polar curve of characteristic point 1A, 2A corresponding point 1B, 2B, on the image A.In addition, light on the image B and carefully show with image A on the corresponding extension polar curve of unspecified characteristic point 4A.
Here, when specifying corresponding point 4B earlier before the operator is desirably in appointment corresponding point 3B, operation supporting section 129 can be tackled this situation.As Fig. 3 C, shown in Figure 9, operator's rolling mouse, pointer for example is configured on the shown image A on the sign of characteristic point 4A, when clicking the mouse in this position, operation supporting section 129 from accept to the specified change of state of corresponding point 3B for accept to the specified state of the corresponding corresponding point 4B of characteristic point 4A.Meanwhile, shown in Fig. 3 D, on image B, be changed to bright and slightly show, and on image B, be changed to light and carefully show corresponding to the extension polar curve of the characteristic point 3A on the image A corresponding to the extension polar curve of the characteristic point 4A on the image A.Like this, by the order identical with characteristic point 1A, 2A, 3A, the 4A of image A, on image B, specify corresponding point 1B, 2B, 3B, 4B, on carrying out during specified definite operation to operating board 123, determine appointed corresponding point 1B, 2B, 3B, 4B, and with it as opportunity, from image A, B, extract blood-vessel image respectively, utilize the blood-vessel image that is extracted, according to the position relation of characteristic point 1A, 2A, 3A, 4A and corresponding point 1B, 2B, 3B, 4B, by 3-D view reconstructing part 131 reconstruction of three-dimensional images data (Fig. 3 e).
In above-mentioned, though expression differently shows with red or flicker with further feature point 1A, 2A, 4A on image A with the sign of following the corresponding characteristic point 3A of specified for example corresponding point 3B, but meanwhile, also can replace this demonstration, as shown in Figure 4, in the never illustrated sound generator of operation supporting section 129, with the sequence number of voice output characteristic specified point next time.And operation supporting section 129 also can utilize text message that the sequence number of next characteristic specified point is shown on the picture of display part 127 with image A, B.In addition, also can be as shown in Figure 5, right pointer or guide line color change that the sign of the sign of next characteristic specified point and corresponding point is formed are to emphasize showing that the point of this correspondence is right.In addition, also can be as shown in Figure 6, make corresponding to next time specified corresponding point the sign of characteristic point show with the size bigger than the sign of further feature point on the image A, or make corresponding to next time specified corresponding point the sign of characteristic point and image A on the sign of further feature point differently surround with circular, or only make the sign flicker of characteristic point corresponding to specified corresponding point next time, or only make corresponding to next time specified corresponding point the bright concentration of the sign high brightness of characteristic point ground show, or lighter show or do not show except that corresponding to the characteristic point sign the characteristic point of specified corresponding point next time, and, also can show sign slightly lightly, show sign lightlyer corresponding to the characteristic point of two former specified corresponding point corresponding to the characteristic point of previous specified corresponding point.
The demonstration of extension polar curve in addition, also can following application shown in Figure 3.As shown in Figure 7, will be shown on the image B, and thus, can make with the demonstration color of the corresponding extension polar curve of the characteristic point of next specified corresponding point to be different from demonstration color with the corresponding extension polar curve of further feature point corresponding to whole extension polar curves of characteristic points.In addition, also can will be shown on the image B corresponding to whole extension polar curves of characteristic points, thus, make corresponding to next time specified corresponding point the thickness of extension polar curve of characteristic point slightly show than extension polar curve corresponding to further feature point.In addition, also can will be shown on the image B, thus, use than the extension polar curve of characteristic point that shows corresponding to the bright and dense color of the extension polar curve of further feature point corresponding to specified corresponding point next time corresponding to whole extension polar curves of characteristic points.In addition, also can be will be shown on the image B, and only show and do not show extension polar curve corresponding to further feature point corresponding to the extension polar curve of characteristic point of specified corresponding point next time corresponding to whole extension polar curves of characteristic points.In addition, but also the initial stage show corresponding to whole extension polar curves of characteristic points, corresponding to the appointment of corresponding point, the extension polar curve of deletion and its characteristic of correspondence point.
In addition, the specified order initial stage of corresponding point is corresponding to the specified order of characteristic point, but this order can think that by click the sign of next characteristic specified point changes shown in Fig. 3 C, 3D.This change is not limited to this operation.For example, as shown in Figure 8, operation supporting section 129 generates and makes characteristic point and corresponding point corresponding correspondence table on the XY coordinate on the image, and this correspondence table is shown on the display part 127 with image A, B.On this correspondence table, represent next specified corresponding point with labelling ' next ', when specifying other corresponding point in the ban, think the coordinate statement hurdle of specified corresponding point earlier by on this correspondence table, clicking, can specify the corresponding point 3 in this example earlier, and become the state of acceptance.
As mentioned above, according to present embodiment, required in the time of can alleviating projected image by both direction and come reconstruction of three-dimensional images, will be made as the burden of common corresponding point assignment to the position on each image.In addition, can support to avoid mistake to specify to these corresponding point.
(the 2nd embodiment)
Below, the image processing apparatus of the present invention the 2nd embodiment is described with reference to accompanying drawing.Although illustrated here image processing apparatus is assembled in the biplane X ray filming apparatus, much less, these devices also can constitute separately.In addition, the program that realizes the 3-D view reconstruction processing by computer can be constituted, also the computer-readable storage medium that stores this program can be provided.
Below, the image processing apparatus of present embodiment will be that object describes with the 3 d image data (volume data) of the blood vessel that formed by the X ray projected image reconstruct of roughly taking simultaneously from both direction, but be not limited thereto.Can be object also with the 3 d image data of the blood vessel that forms by the projected image reconstruct that utilizes monoplane X ray filming apparatus to photograph constantly, based on the volume data of the data that wait other filming apparatus to obtain by X ray computer tomography device (CT scanner), nuclear magnetic resonance image device (MRI) from both direction in difference.
In addition, although be present in tested intravital capillary form, be typically the object of blood vessel as Flame Image Process, be not limited thereto, also can be probe, lead, transplant fixing device, endovascular treatment device, biopsy pin, pliers, endoscope etc.
Figure 17 represents to have assembled the biplane X ray filming apparatus according to the image processing apparatus of present embodiment.At first, simple declaration biplane X ray filming apparatus.Biplane X ray filming apparatus possesses positive system (front; F) X ray camera system and side system (side; L) X ray camera system.The X ray camera system of positive system has X-ray tube 2112-1 and over against the X-ray detector 2114-1 of X-ray tube 2112-1 with clamping subject P.The X ray camera system of side system has X-ray tube 2112-2 and over against the X-ray detector 2114-2 of X-ray tube 2112-2 with clamping subject P.X-ray detector 2114-1,2114-2 are typically the surface detector, and in this surface detector, a plurality of detecting elements (pixel) that are used for directly or indirectly incident X-rays being transformed to electric charge are three-dimensional shape and arrange.The X-ray tube 2112-1 of front system is assemblied in a for example side of putting type C arm 2013, X-ray detector 2114-1 is assemblied in the opposite side of C arm 2013.The X-ray tube 2112-2 of side system is assemblied in the end that top board for example hangs mo(u)ld bottom half Ω arm 2023, X-ray detector 2114-2 is assemblied in the other end of Ω arm 2023.The supporting mechanism and the supporting mechanism of Ω arm 2023 of design C arm 2013, make from the focus of X-ray tube 2112-1 link X-ray detector 2114-1 the shooting central shaft CA1 that is subjected to the image planes center, intersect at the fixing point that is called isocenter with the shooting central shaft CA2 that is subjected to the image planes center from the focus binding X-ray detector 2114-2 of X-ray tube 21 12-2.
Pallet control part 2111 is indicated according to the operator of the operating board 2123 that the interface 2121 of hanging oneself connects, control the position and the direction of C arm 2013 and Ω arm 2023 arbitrarily, simultaneously, never illustrated pick off is obtained with the camera site of each camera system and is taken the relevant data of direction.With the camera site of each camera system and take the relevant data of direction with the X ray that produces from X-ray tube 2112-1,2112-2 by applying tube voltage from X ray control part 113 synchronously, from X-ray detector 2114-1, the 2114-2 captured image data that produces of device control part 2115 after testing, be stored in the image storage part 2117.Display part 2127 is display devices such as CRT, is connected through pictorial display control part 2125.Vessel extraction portion 2119 extracts from projecting image data and for example utilizes threshold process and by the image of the blood vessel of radiography.3-D view reconstructing part 2131 is according to position relation specified by the operator, that take a plurality of corresponding point on the same area between two different projected images of direction, the 3 d image data (being also referred to as volume data) of the blood vessel that reconstruct vessel extraction portion 2119 extracts from each projected image.2132 storages of 3 d image data storage part are by the 3 d image data of 3-D view reconstructing part 2131 reconstruct.
As mentioned above, 3 d image data storage part 2132 also can be stored the 3 d image data that view data generated that waits other filming apparatus to obtain by X ray computer tomography device (CT scanner) or nuclear magnetic resonance image device (MRI).3-D view generating unit 2133 projects on the perspective plane corresponding to any visual angle (shooting direction) with any viewpoint by the 3 d image data that will be stored in the 3 d image data storage part 2132, generates the projected image (projected image of expression vascular morphology) as form structure 3-D view, simulation stereo display blood vessel.The projected image of the expression vascular morphology that generated is shown on the display part 2127.
Extract the central shaft (centrage) of blood vessel in the 3 d image data of blood vessel coloured picture generating unit 2129 from be stored in 3 d image data storage part 2132, calculate the tangent line vector of blood vessel respectively at the multiple spot on the central shaft of blood vessel (voxel (voxel)), and calculate the angle (tangent line vector and perspective plane angulation) of tangent line vector one by one with respect to the perspective plane by each point (voxel).This angle is represented the trend of blood vessel.And then blood vessel coloured picture generating unit 2129 is color value according to the color table of preserving in advance with this angular transformation, and generation is made as this color value the volume data (being called the volume data about the blood vessel trend) of voxel values.The projected image of blood vessel coloured picture generating unit 2129 by the volume data relevant with blood vessel trend that is generated being implemented will represent vascular morphology projects projection process on the same projection face with identical viewpoint and same view angle, generates the coloured picture of the projected image (projected image that the expression blood vessel moves towards) as expression blood vessel trend.The synthetic portion 2135 of image on the projected image of expression vascular morphology, and is shown in the coloured picture overlapping (superimpose) that generates in the display part 2127.
Below, describe the generation of the coloured picture of the above-mentioned blood vessel trend of expression in detail.At first, so-called coloured picture as shown in figure 18, it is following map, promptly as with the blood vessel tangent line vector of each point with respect to the corresponding demonstration form of being arranged to form of angle θ with the orthogonal perspective plane of sight line (projected centre lines) from the specified viewpoint of operator, move towards with the colored blood vessel that for example color value is made as pixel value of representing.In the example of Figure 18, with red display and the orthogonal vasculature part in perspective plane, with the blue demonstration vasculature part parallel with the perspective plane, the vasculature part that intersects with intermediate angle and perspective plane is provided to the slow form and aspect that change between redness and blueness.
In addition, among Figure 18, for convenience's sake, the difference that different dot patterns such as with dashed lines, triangle, circle, heart come apparent color.In addition, also can be with color value, or replace color value, distribute the corresponding dot pattern of angle θ scope with blood vessel tangent line vector.
The step that the generation of the coloured picture of the blood vessel of expression shown in Figure 19 trend is handled.Here, as shown in figure 20, utilize vessel extraction portion 19 from by biplane X ray filming apparatus from the different blood-vessel images that extract roughly that take, same area the simultaneously image A of directions, the B of taking, according to specified by the operator on image A, B, concern to come reconstruction of three-dimensional images data (being also referred to as volume data) (S11) at the position of a plurality of corresponding point of same area.The 3 d image data of blood vessel is stored in the 3 d image data storage part 132.As mentioned above, 3 d image data also can be based on the volume data that is waited the data that other filming apparatus obtains by X ray computer tomography device (CT scanner) or nuclear magnetic resonance image device (MRI).
From the volume data of reconstruct, the central shaft (centrage) that extracts blood vessel (S12).The method that extracts vessel centerline from volume data adopts existing any means.Afterwards, shown in Figure 21 A, 21B, the multiple spot on the vessel centerline (voxel) as object, is calculated the tangent line vector (S13) of blood vessel to each voxel.
Afterwards, as shown in figure 22, according to the image of wanting to see which viewpoint place, the operator is through operating board 2123, and viewpoint is set at optional position on the three-dimensional coordinate, sets projecting direction (S14) in any direction.In addition, by inserting under the situation about being used as, make projecting direction consistent with the direction of the X-ray tube 2112-1 of X ray filming apparatus with reference to image.If determined viewpoint and projecting direction, then determined the perspective plane.Each point (voxel) on the vessel centerline is calculated tangent line vector with respect to the angle (intersecting angle) on this perspective plane (S15).According to the specified color table shown in Figure 24 A, Figure 24 B, be color value (S16) with angular transformation.Thus, generation will be made as the volume data of voxel values according to the blood vessel trend with respect to the color value data of the angle on perspective plane.
In the example of Figure 24 A, to blood vessel be parallel to the perspective plane, this angle is that the voxel of 0 degree distributes the data corresponding to blueness,, this angle orthogonal to blood vessel and perspective plane is that the voxels of 90 degree distribute the data corresponding to redness, distributes data corresponding to the form and aspect that slowly change to the voxel of intermediate angle between redness and blueness.In the example of Figure 24 B, to blood vessel be parallel to the perspective plane, this angle is that the voxel of 0 degree distributes the data corresponding to blueness,, this angle orthogonal to blood vessel and perspective plane is that the voxels of 90 degree distribute the data corresponding to redness, distributes corresponding to the data of having sneaked into form and aspect yellow and that slowly change between redness and blueness to the voxel of intermediate angle.
In blood vessel coloured picture generating unit 2129, by to being the volume data of voxel values with respect to the color value of the angle on perspective plane with the foundation blood vessel, the projected image that enforcement will be represented vascular morphology projects to projection process on the same projection face with identical viewpoint and same view angle, and generates the coloured picture as the projected image of expression blood vessel trend.As shown in figure 25, the synthetic portion 135 of image on the projected image of expression vascular morphology, and is shown in (S17) in the display part 127 with the coloured picture overlapping (superimpose) that generates.
According to present embodiment, because, in the projected image of expression vascular morphology, added color, so can correctly discern the trend of each one of blood vessel, the degree of crook of blood vessel etc. corresponding to the angle of blood vessel trend with the perspective plane.
To those skilled in the art, other advantage and change are conspicuous.Therefore, the invention is not restricted to the specific detail and the representative embodiment that illustrate and describe here.Therefore, the claim below not breaking away from and being equal under the spirit and scope of describing defined general inventive concept can be carried out different changes.
Claims (13)
1. an image processing apparatus is characterized in that, comprising:
Storage part, storage is about data same object, that take the 1st different projected image of direction and the data of the 2nd projected image;
Display part shows the data of described the 1st, the 2nd projected image;
Assigned operation portion specifies a plurality of points on the 1st, the 2nd shown projected image;
Operation supporting section, generating run support information, described operation support information are used to support specify anatomically operation corresponding to a plurality of points on described the 2nd projected image of appointed a plurality of points on described the 1st projected image by described assigned operation portion;
Warning portion, be used on described the 2nd projected image appointed point depart from out with described the 1st projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least,
Wherein, a plurality of on described the 1st projected image on described the 2nd projected image respectively to be shown corresponding to the mode of specifying/not specifying corresponding point.
2. image processing apparatus according to claim 1 is characterized in that, also comprises:
Reconstructing part according at the corresponding relation of appointed a plurality of points on described the 1st projected image with appointed a plurality of points on described the 2nd projected image, is come the reconstruction of three-dimensional images data based on the data that comprise described the 1st, the 2nd projected image;
The two dimensional image generating unit generates two-dimensional image data according to described 3 d image data; With
Display part shows described two-dimensional image data.
3. image processing apparatus according to claim 1 is characterized in that:
The data of described the 1st, the 2nd projected image are shown in the same picture side by side.
4. image processing apparatus according to claim 1 is characterized in that:
The mutual data that show described the 1st, the 2nd projected image.
5. image processing apparatus according to claim 1 is characterized in that:
Show on described the 2nd projected image be used to discern with corresponding, described the 1st projected image of next specified predetermined point on the code or the sequence number of point.
6. image processing apparatus according to claim 1 is characterized in that:
Specify specified corresponding point on described the 2nd projected image with sound.
7. image processing apparatus according to claim 1 is characterized in that:
On described the 2nd projected image, show and the corresponding extension polar curve of next specified predetermined point to be different from other mode of putting corresponding extension polar curve.
8. image processing apparatus according to claim 1 is characterized in that:
On described the 2nd projected image, show and the corresponding extension polar curve of next specified predetermined point, do not show with other and put corresponding extension polar curve.
9. image processing apparatus according to claim 1 is characterized in that:
Described operation supporting section is determined next specified point on described the 2nd projected image according to the specified order of appointed a plurality of points on described the 1st projected image.
10. image processing apparatus according to claim 1 is characterized in that:
Described operation supporting section is determined next specified point on described the 2nd projected image according to the appointment on the correspondence table of a plurality of points on described the 1st projected image and a plurality of points on described the 2nd projected image.
11. image processing apparatus according to claim 1 is characterized in that:
Described operation supporting section generates a plurality of points on described the 1st projected image and the correspondence table of a plurality of points on described the 2nd projected image.
12. an image processing apparatus is characterized in that, comprising:
Storage part, storage is about data same object, that take the 1st different projected image of direction and the data of the 2nd projected image;
Display part shows the data of described the 1st, the 2nd projected image;
Assigned operation portion specifies a plurality of points on the 1st, the 2nd shown projected image; With
Operation supporting section, generating run support information, described operation support information are used to support specify anatomically operation corresponding to a plurality of points on described the 2nd projected image of appointed a plurality of points on described the 1st projected image by described assigned operation portion,
Warning portion, be used on described the 2nd projected image appointed point depart from out with described the 1st projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least,
Wherein, with described the 2nd projected image on point on corresponding, described the 1st projected image of next specified predetermined point be shown in the mode that is different from other point on described the 1st projected image.
13. an image processing apparatus is characterized in that, comprising:
Storage part, storage is about the data of a plurality of projected images on shooting directions same target, a plurality of;
Display part shows the data of described a plurality of projected images;
Assigned operation portion specifies a plurality of points on the described projected image that is shown; With
Operation supporting section, the generating run support information, described operation support information be used for supporting by described assigned operation portion specify anatomically with corresponding, the described a plurality of projected images of appointed a plurality of points on a projected image of described a plurality of projected images in the operation of point of other projected images
Warning portion, be used on other projected images of described a plurality of projected images appointed point depart from out with described a plurality of projected images in a projected image on the corresponding extension polar curve of corresponding point give a warning when reaching predetermined distance at least,
Wherein, a plurality of on the described projected image on described other projected image respectively to be shown corresponding to the mode of specifying/not specifying corresponding point.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
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| JP2005061601 | 2005-03-04 | ||
| JP2005-061600 | 2005-03-04 | ||
| JP2005061600 | 2005-03-04 | ||
| JP2005061600A JP2006239253A (en) | 2005-03-04 | 2005-03-04 | Image processing device and image processing method |
| JP2005-061601 | 2005-03-04 | ||
| JP2005061601A JP4738022B2 (en) | 2005-03-04 | 2005-03-04 | Stereoscopic image reconstruction device |
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| CN1827046B true CN1827046B (en) | 2011-02-09 |
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| JP5268318B2 (en) * | 2007-09-28 | 2013-08-21 | 株式会社東芝 | Image display device and image display method |
| JP2009082407A (en) * | 2007-09-28 | 2009-04-23 | Toshiba Corp | Image processor and medical image processor |
| CN101711681B (en) * | 2008-10-07 | 2012-06-27 | 株式会社东芝 | Three-dimensional image processing apparatus |
| US9402590B2 (en) * | 2008-10-15 | 2016-08-02 | Toshiba Medical Systems Corporation | Three-dimensional image processing apparatus and X-ray diagnostic apparatus |
| JP2014195642A (en) * | 2013-03-08 | 2014-10-16 | 株式会社東芝 | X-ray diagnostic apparatus |
| CN115998310A (en) * | 2015-11-23 | 2023-04-25 | 光学实验室成像公司 | Detection and verification of shadows in intravascular images |
| DE102015224176A1 (en) * | 2015-12-03 | 2017-06-08 | Siemens Healthcare Gmbh | Tomography system and method for generating a sequence of volume images of a vascular system |
| WO2018045532A1 (en) * | 2016-09-08 | 2018-03-15 | 深圳市大富网络技术有限公司 | Method for generating square animation and related device |
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| US6047080A (en) * | 1996-06-19 | 2000-04-04 | Arch Development Corporation | Method and apparatus for three-dimensional reconstruction of coronary vessels from angiographic images |
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