CN114332372A - Method and device for determining three-dimensional model of blood vessel - Google Patents

Abstract

The invention discloses a method and a device for determining a three-dimensional model of a blood vessel. Wherein, the method includes: acquiring multiple original two-dimensional blood vessel images of the target object and angle information corresponding to each original two-dimensional blood vessel image in the multiple original two-dimensional blood vessel images; The original two-dimensional blood vessel image is segmented to obtain the target blood vessel contour of the target object; the projection position information of at least two light sources is determined based on the angle information corresponding to each original two-dimensional blood vessel image; the at least two light sources are controlled to the target blood vessel according to the projection position information The contour projects a straight beam to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel. The present invention solves the problem that in the related art, when the image three-dimensional reconstruction is performed, by directly reading the shooting angle information that comes with the image, it is easy to have the error caused by the error of the image acquisition device itself, which leads to the existence of the three-dimensional reconstructed image and the real image. Technical problems with large errors.

Description

Method and device for determining three-dimensional model of blood vessel

technical field

The invention relates to the technical field of computer-aided diagnosis, and in particular, to a method and a device for determining a three-dimensional model of a blood vessel.

Background technique

3D measurement technology has been widely used in optical correction, spatial angle measurement and other fields. Some optical measurement products use near-infrared light wireless detection to track the navigation marks on the instrument, and perform accurate measurement by monitoring the patient's position and the movement of the diagnosis table. Positioning, this series of products are small and light, and the installation is simple and fast. At present, the research on computer-aided diagnosis system and disease analysis based on image processing technology relies on the information of image data, including pixel value, image size, Window Center, Window width, offset, spacing, shooting angle, etc. The above These parameters are obtained from the image's own attribute information, in which the shooting angle is mainly used in the three-dimensional reconstruction technology of the model, such as the gold standard technology of coronary blood vessels----DSA, technically requires at least two given and two or more two-dimensional images of different angles to reconstruct a three-dimensional model. The fewer the number of images, the greater the difficulty of reconstruction. Therefore, the angle information of the image is very important at this time. the more accurate the 3D model.

In addition, the commonly used medical image format is DICOM. The existing 3D reconstruction method is to directly read the shooting angle information that comes with the image, that is, the projection angle of the C-arm. However, due to equipment errors, this angle value will exist. In the case of inaccuracy, at the same time, the correction operation of the C-arm is complicated, the operation time is long, and it requires professionals to go to the hospital to operate, and there is a situation where correction is difficult.

In view of the above-mentioned related art, when performing 3D reconstruction of an image, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which leads to a large difference between the 3D reconstructed image and the real image. There is no effective solution to the problem of error.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide a method and a device for determining a three-dimensional model of a blood vessel, so as to at least solve the problem that when performing three-dimensional image reconstruction in the related art, by directly reading the shooting angle information that comes with the image, it is easy to carry the image acquisition device itself. The error caused by the error, which in turn leads to the technical problem that there is a large error between the three-dimensional reconstructed image and the real image.

According to an aspect of the embodiments of the present invention, a method for determining a three-dimensional blood vessel model is provided, including: acquiring multiple original two-dimensional blood vessel images of a target object and each original two-dimensional blood vessel in the plurality of original two-dimensional blood vessel images angle information corresponding to the image; segment each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images to obtain the target blood vessel contour of the target object; The angle information determines the projection position information of at least two light sources; the at least two light sources are controlled to project a straight beam to the target blood vessel contour according to the projection position information, so as to obtain a blood vessel three-dimensional model corresponding to the target blood vessel contour.

Further, before acquiring the multiple original two-dimensional blood vessel images of the target object and the angle information corresponding to each original two-dimensional blood vessel image in the multiple original two-dimensional blood vessel images, the method further includes: acquiring the relative angle of the image acquisition device. the angle information of the target object; wherein, acquiring the angle information of the image acquisition device relative to the target object includes: using the image acquisition device to acquire the marked image of the image acquisition mark in real time, wherein the image acquisition mark uses for assisting in obtaining the angle information of the image acquisition device relative to the target object; determining the angle information of the image acquisition device relative to the target object based on the marked image.

Further, determining the angle information of the image acquisition device relative to the target object based on the marked image includes: determining device coordinate information of the image acquisition device and pixel coordinate information corresponding to the marked image; The device coordinate information and the pixel point coordinate information are converted into the same coordinate system; the angle information of the image acquisition device relative to the target object is determined in the same coordinate system.

Further, controlling the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel, includes: controlling the at least two light sources to follow the contour of the target blood vessel. The projection position information projects a straight beam to the contour of the target blood vessel; determines at least two spatial areas formed by the beams of the at least two light sources respectively between their corresponding projection areas; based on the intersection of the at least two spatial areas The region defines the three-dimensional model of the blood vessel.

According to another aspect of the embodiments of the present invention, a device for determining a three-dimensional model of a blood vessel is further provided, including: a first acquisition unit, a segmentation unit, a determination unit, and a control unit, wherein the first acquisition unit is used to acquire a target Multiple original two-dimensional blood vessel images of the object and angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images; Each original two-dimensional blood vessel image is segmented to obtain a target blood vessel contour of the target object; the determining unit is configured to determine projection position information of at least two light sources based on angle information corresponding to each original two-dimensional blood vessel image; The control unit is configured to control the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel.

Further, the device further includes: a second acquisition unit, which is configured to acquire a plurality of original two-dimensional blood vessel images of the target object and each original two-dimensional blood vessel image of the plurality of original two-dimensional blood vessel images Before obtaining the angle information corresponding to the blood vessel image, the angle information of the image acquisition device relative to the target object is obtained; wherein, the second obtaining unit includes: an obtaining module and a first determining module, wherein the obtaining module is used for using The image acquisition device acquires a marked image of an image acquisition marker in real time, wherein the image acquisition marker is used to assist in acquiring angle information of the image acquisition device relative to the target object; the first determination module is used for The marker image determines angle information of the image acquisition device relative to the target object.

Further, the first determination module includes: a first determination submodule and a second determination submodule, wherein the first determination submodule is used to determine the device coordinate information of the image acquisition device and the marked image Corresponding pixel point coordinate information; the second determination sub-module is used to convert the device coordinate information and the pixel point coordinate information into the same coordinate system to determine the relative position of the image acquisition device to the target object angle information.

Further, the control unit includes: a control module, a second determination module and a third determination module, wherein the control module is configured to control the at least two light sources to project the contour of the target blood vessel according to the projection position information Projecting a straight beam; the second determining module is configured to determine at least two spatial areas formed by the beams of the at least two light sources respectively between their corresponding projection areas; the third determining module is configured to determine based on the at least two light beams The intersection area of the two spatial areas determines the three-dimensional model of the blood vessel.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium comprising a stored computer program, wherein the computer is controlled when the computer program is executed by a processor The device where the storage medium is located executes any one of the methods for determining a three-dimensional blood vessel model.

According to another aspect of the embodiments of the present invention, a processor is also provided, and the processor is configured to run a computer program, wherein when the computer program runs, any one of the methods for determining a three-dimensional blood vessel model is executed.

In the embodiment of the present invention, first, a plurality of original two-dimensional blood vessel images of the target object and angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images are acquired; Each original two-dimensional blood vessel image in the original two-dimensional blood vessel image is segmented to obtain the target blood vessel contour of the target object; then, the projection of at least two light sources is determined based on the angle information corresponding to each original two-dimensional blood vessel image position information; finally, controlling the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel. The method for determining a three-dimensional blood vessel model of the present application obtains a plurality of original two-dimensional blood vessel images of a target object and their angle information, and determines the projection position information of at least two light sources based on the angle information, so that a straight beam can be projected to the contour of the target blood vessel, The blood vessel three-dimensional model corresponding to the contour of the target blood vessel is obtained, thereby solving the problem that in the related art, when performing three-dimensional image reconstruction in the related art, by directly reading the shooting angle information that comes with the image, it is easy to carry the error caused by the error of the image acquisition device itself. , which leads to the technical problem that there is a large error between the three-dimensional reconstructed image and the real image.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a flowchart of a method for determining a three-dimensional model of a blood vessel according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an apparatus for generating a data script according to an embodiment of the present application.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

As mentioned in the background art, when performing 3D reconstruction of an image in the related art, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which leads to the 3D reconstructed image. There is a large error with the real image. In order to solve the above problem, in a typical implementation of the present application, a method and device for determining a three-dimensional model of a blood vessel are provided. The method and device for determining the three-dimensional blood vessel model provided in the present application will be described below with reference to specific embodiments.

Example 1

According to an exemplary embodiment of the present application, a method for determining a three-dimensional model of a blood vessel is provided.

FIG. 1 is a flowchart of a method for determining a three-dimensional model of a blood vessel according to an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps:

Step S101 , acquiring a plurality of original two-dimensional blood vessel images of the target object and angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images.

Step S102, segment each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images to obtain the target blood vessel contour of the target object.

Step S103: Determine the projection position information of at least two light sources based on the angle information corresponding to each of the above-mentioned original two-dimensional blood vessel images.

Step S104 , controlling the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel.

In the above method for determining a three-dimensional blood vessel model, first, a plurality of original two-dimensional blood vessel images of the target object and angle information corresponding to each original two-dimensional blood vessel image in the above-mentioned plurality of original two-dimensional blood vessel images are obtained; Each original two-dimensional blood vessel image in the original two-dimensional blood vessel image is segmented to obtain the target blood vessel contour of the target object; then, the projection position information of at least two light sources is determined based on the angle information corresponding to each of the above-mentioned original two-dimensional blood vessel images and finally, controlling the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel. The method obtains a plurality of original two-dimensional blood vessel images of the target object and their angle information, and determines the projection position information of at least two light sources based on the angle information, so that a straight beam can be projected on the target blood vessel contour, and the corresponding target blood vessel contour is obtained. The three-dimensional model of the blood vessel further solves the problem that in the related art, when the three-dimensional image reconstruction is performed, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which will cause the three-dimensional reconstructed image to be inconsistent with the image. There are technical problems with large errors in real images.

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.

In an embodiment of the present application, before acquiring multiple original two-dimensional blood vessel images of the target object and angle information corresponding to each of the multiple original two-dimensional blood vessel images, the above method further includes: acquiring Angle information of the image acquisition device relative to the target object; wherein, acquiring the angle information of the image acquisition device relative to the target object includes: using the image acquisition device to acquire a marked image of the image acquisition mark in real time, wherein the image acquisition mark uses for assisting in obtaining the angle information of the image acquisition device relative to the target object; determining the angle information of the image acquisition device relative to the target object based on the marked image. Acquiring the angle information of the image capture device relative to the above target object can solve the problem of poor accuracy of the angle information due to the error of the image capture device.

In a specific embodiment of the present application, the above-mentioned image acquisition device may be an optical measurement series instrument. The image acquisition mark is placed on the C-shaped arm, and the position of the image acquisition mark is captured in real time by a binocular camera, and the current angle information is calculated. .

Optionally, in this embodiment of the present application, the image acquisition marker may be a marker ball.

In order to facilitate the calculation of the angle information and make its value more accurate, in another embodiment of the present application, determining the angle information of the image acquisition device relative to the target object based on the marked image includes: determining the device coordinates of the image acquisition device information and the pixel coordinate information corresponding to the marked image; convert the equipment coordinate information and the pixel coordinate information into the same coordinate system; determine the angle of the image acquisition device relative to the target object in the same coordinate system information.

In practical applications, the original two-dimensional blood vessel image of the current target object can be directly captured from the workstation while acquiring the angle information of the image acquisition device relative to the above target object, and at this time, the original two-dimensional blood vessel image of the target object and the above-mentioned The angle information corresponding to the original two-dimensional blood vessel image.

In order to obtain a more accurate three-dimensional model of the blood vessel, in another embodiment of the present application, the at least two light sources are controlled to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain the three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel. , comprising: controlling the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information; determining at least two spatial areas formed by the beams of the at least two light sources respectively between their corresponding projection areas; based on the above The intersection area of at least two spatial areas determines the three-dimensional model of the blood vessel.

Specifically, information such as the centerline and radius of the blood vessel can be obtained according to the above-mentioned three-dimensional model of the blood vessel.

As can be seen from the above, in the embodiment of the present application, the angle information can be obtained first. Specifically, the marker ball can be placed on the C-shaped arm, and the position of the marker ball can be photographed in real time through the binocular camera. After calculating the current angle information, the The camera coordinates and the image pixel coordinates are unified into the same coordinate system, and the angle of the camera relative to the body position is obtained; among them, when the angle information is obtained, the current sequence image can be directly captured from the workstation, and the image and other images can be obtained at the same time. The corresponding angle information; then use the image segmentation method to segment the original two-dimensional image to obtain the blood vessel area of interest; then according to the image and its corresponding angle information, different light source positions are obtained, and the light source emits a straight beam to the three-dimensional space, passing through The target blood vessel reaches the beam between the projection areas on the projection surface to form a control surface area. The same is true for other light sources. The intersection of multiple spatial areas is the position of the blood vessel in space, and the obtained intersection is the 3D model of the blood vessel in space. After the three-dimensional model of the blood vessel is obtained, the required information such as the centerline and radius of the blood vessel can be obtained according to the three-dimensional model of the blood vessel.

Therefore, through the method for determining a three-dimensional model of a blood vessel provided by the embodiment of the present invention, the angle information corresponding to the image can be directly obtained from the operating room, so as to avoid the deviation of the image angle caused by the error of the instrument, and the angle information can also be obtained accurately and quickly to avoid Difficulty in instrument calibration.

Example 2

According to another aspect of the embodiments of the present application, a device for determining a three-dimensional model of a blood vessel is also provided.

FIG. 2 is a schematic diagram of an apparatus for generating a data script according to an embodiment of the present application. As shown in FIG. 2 , the apparatus for determining a three-dimensional model of a blood vessel may include: a first acquiring unit 10 , a segmentation unit 20 , a determining unit 30 and a control unit 40 , the device for determining the three-dimensional model of the blood vessel will be described below.

a first obtaining unit 10, configured to obtain a plurality of original two-dimensional blood vessel images of the target object and angle information corresponding to each original two-dimensional blood vessel image in the above-mentioned plurality of original two-dimensional blood vessel images;

The segmentation unit 20 is used for segmenting each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images, so as to obtain the target blood vessel outline of the above-mentioned target object;

A determination unit 30, configured to determine the projection position information of at least two light sources based on the angle information corresponding to each of the above-mentioned original two-dimensional blood vessel images;

The control unit 40 is configured to control the at least two light sources to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel.

In the device for determining the three-dimensional blood vessel model, a plurality of original two-dimensional blood vessel images of the target object and angle information corresponding to each of the above-mentioned multiple original two-dimensional blood vessel images are obtained by the first acquisition unit; The unit divides each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images to obtain the target blood vessel outline of the above-mentioned target object; Projection position information of the two light sources; finally, the control unit controls the at least two light sources to project a straight beam to the target blood vessel contour according to the projection position information, so as to obtain a blood vessel three-dimensional model corresponding to the target blood vessel contour. The device obtains a plurality of original two-dimensional blood vessel images of the target object and their angle information, and determines the projection position information of at least two light sources based on the angle information, so as to project a straight beam to the target blood vessel contour, and obtain the corresponding target blood vessel contour. The three-dimensional model of the blood vessel further solves the problem that in the related art, when the three-dimensional image reconstruction is performed, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which will cause the three-dimensional reconstructed image to be inconsistent with the image. There are technical problems with large errors in real images.

It should be noted here that the above-mentioned first obtaining unit 10, dividing unit 20, determining unit 30, and control unit 40 correspond to steps S101 to S104 in Embodiment 1, and examples and application scenarios implemented by the above-mentioned units and corresponding steps The same, but not limited to the content disclosed in Example 1 above. It should be noted that the above-mentioned units may be executed in a computer system such as a set of computer-executable instructions as part of an apparatus.

In an embodiment of the present application, the above-mentioned apparatus further includes: a second acquisition unit, which is configured to acquire a plurality of original two-dimensional blood vessel images of the target object and each of the plurality of original two-dimensional blood vessel images Before the angle information corresponding to the original two-dimensional blood vessel image, the angle information of the image acquisition device relative to the above-mentioned target object is obtained; wherein, the above-mentioned second acquisition unit includes: an acquisition module and a first determination module, wherein the above-mentioned acquisition module is used for using The image acquisition device acquires the marked image of the image acquisition mark in real time, wherein the image acquisition mark is used to assist in acquiring the angle information of the image acquisition device relative to the target object; the first determination module is used to determine the image based on the marked image The angle information of the device relative to the above-mentioned target object is collected. Obtaining the angle information of the image acquisition device relative to the above target object can solve the problem of poor accuracy of the angle information due to the error of the image acquisition device,

In a specific embodiment of the present application, the above-mentioned image acquisition device may be an optical measurement series instrument. The image acquisition mark is placed on the C-shaped arm, and the position of the image acquisition mark is captured in real time by a binocular camera, and the current angle information is calculated. .

In practical applications, the original two-dimensional blood vessel image of the current target object can be directly captured from the workstation while acquiring the angle information of the image acquisition device relative to the above target object, and at this time, the original two-dimensional blood vessel image of the target object and the above-mentioned The angle information corresponding to the original two-dimensional blood vessel image.

In order to efficiently calculate the angle information and make its value more accurate, in another embodiment of the present application, the above-mentioned first determination module includes: a first determination sub-module and a second determination sub-module, wherein the above-mentioned first determination sub-module Used to determine the device coordinate information of the above-mentioned image acquisition device and the pixel point coordinate information corresponding to the above-mentioned marked image; the above-mentioned second determination sub-module is used to convert the above-mentioned equipment coordinate information and the above-mentioned pixel point coordinate information into the same coordinate system, to Determine the angle information of the above-mentioned image acquisition device relative to the above-mentioned target object.

In order to obtain a more accurate three-dimensional model of the blood vessel, in another embodiment of the present application, the control unit includes: a control module, a second determination module, and a third determination module, wherein the control module is used to control the at least two The light source projects a straight beam to the contour of the target blood vessel according to the projection position information; the second determination module is used to determine at least two spatial areas formed by the beams of the at least two light sources respectively between their corresponding projection areas; the third The determining module is configured to determine the three-dimensional model of the blood vessel based on the intersection region of the at least two spatial regions.

Specifically, information such as the centerline and radius of the blood vessel can be obtained according to the above-mentioned three-dimensional model of the blood vessel.

Example 3

According to another aspect of the embodiments of the present application, a computer-readable storage medium is further provided, where the computer-readable storage medium includes a stored computer program, wherein when the computer program is run by a processor, the computer storage medium is controlled to be located where the computer storage medium is located. The device performs any one of the above methods for determining a three-dimensional model of a blood vessel.

Example 4

According to another aspect of the embodiments of the present application, a processor is also provided, and the processor is configured to run a computer program, wherein when the computer program runs, any one of the above methods for determining a three-dimensional blood vessel model is executed.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

In the above-mentioned embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the above-mentioned units may be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described above as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

If the above-mentioned integrated units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , which includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above-mentioned methods in various embodiments of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

1), in the determination method of the blood vessel three-dimensional model of the present application, first, obtain a plurality of original two-dimensional blood vessel images of the target object and the angle information corresponding to each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images; then , segment each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images to obtain the target blood vessel outline of the above-mentioned target object; then, determine at least two Projection position information of the light source; finally, the at least two light sources are controlled to project a straight beam to the contour of the target blood vessel according to the projection position information, so as to obtain a three-dimensional model of the blood vessel corresponding to the contour of the target blood vessel. The method obtains a plurality of original two-dimensional blood vessel images of the target object and their angle information, and determines the projection position information of at least two light sources based on the angle information, so that a straight beam can be projected on the target blood vessel contour, and the corresponding target blood vessel contour is obtained. The three-dimensional model of the blood vessel further solves the problem that in the related art, when the three-dimensional image reconstruction is performed, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which will cause the three-dimensional reconstructed image to be inconsistent with the image. There are technical problems with large errors in real images.

2) In the device for determining the three-dimensional blood vessel model of the present application, a plurality of original two-dimensional blood vessel images of the target object and the angle corresponding to each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images are obtained by the first acquisition unit; information; then segment each original two-dimensional blood vessel image in the above-mentioned multiple original two-dimensional blood vessel images by the segmentation unit to obtain the target blood vessel outline of the above-mentioned target object; Finally, the control unit controls the at least two light sources to project a straight beam to the target blood vessel contour according to the projection position information, so as to obtain the blood vessel three-dimensional model corresponding to the target blood vessel contour. The device obtains a plurality of original two-dimensional blood vessel images of the target object and their angle information, and determines the projection position information of at least two light sources based on the angle information, so as to project a straight beam to the target blood vessel contour, and obtain the corresponding target blood vessel contour. The three-dimensional model of the blood vessel further solves the problem that in the related art, when the three-dimensional image reconstruction is performed, by directly reading the shooting angle information that comes with the image, it is easy to have errors caused by the error of the image acquisition device itself, which will cause the three-dimensional reconstructed image to be inconsistent with the image. There are technical problems with large errors in real images.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. A method for determining a three-dimensional model of a blood vessel, comprising:

acquiring a plurality of original two-dimensional blood vessel images of a target object and angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images;

segmenting each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images to obtain a target blood vessel contour of the target object;

determining projection position information of at least two light sources based on the angle information corresponding to each original two-dimensional blood vessel image;

and controlling the at least two light sources to project linear light beams to the target blood vessel contour according to the projection position information so as to obtain a blood vessel three-dimensional model corresponding to the target blood vessel contour.

2. The method of claim 1, wherein prior to obtaining a plurality of original two-dimensional vessel images of a target object and angle information corresponding to each of the plurality of original two-dimensional vessel images, the method further comprises: acquiring angle information of the image acquisition equipment relative to the target object;

wherein obtaining angle information of the image acquisition device relative to the target object comprises:

acquiring a mark image of an image acquisition mark in real time by using the image acquisition equipment, wherein the image acquisition mark is used for assisting in acquiring angle information of the image acquisition equipment relative to the target object;

determining angle information of the image acquisition device relative to the target object based on the marker image.

3. The method of claim 2, wherein determining the angular information of the image acquisition device relative to the target object based on the marker image comprises:

determining equipment coordinate information of the image acquisition equipment and pixel point coordinate information corresponding to the marked image;

converting the equipment coordinate information and the pixel point coordinate information into the same coordinate system;

determining angular information of the image acquisition device relative to the target object in the same coordinate system.

4. The method according to any one of claims 1 to 3, wherein controlling the at least two light sources to project linear light beams to the target blood vessel contour according to the projection position information to obtain a three-dimensional model of the blood vessel corresponding to the target blood vessel contour comprises:

controlling the at least two light sources to project linear light beams to the target blood vessel contour according to the projection position information;

determining at least two spatial regions formed by the light beams of the at least two light sources respectively between the projection regions corresponding to the at least two light sources;

determining the three-dimensional model of the vessel based on an intersection region of the at least two spatial regions.

5. An apparatus for determining a three-dimensional model of a blood vessel, comprising:

the device comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring a plurality of original two-dimensional blood vessel images of a target object and angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images;

the segmentation unit is used for segmenting each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images to obtain a target blood vessel contour of the target object;

a determining unit, configured to determine projection position information of at least two light sources based on the angle information corresponding to each original two-dimensional blood vessel image;

and the control unit is used for controlling the at least two light sources to project linear light beams to the target blood vessel contour according to the projection position information so as to obtain a blood vessel three-dimensional model corresponding to the target blood vessel contour.

6. The apparatus of claim 5, further comprising: the second acquisition unit is used for acquiring angle information of the image acquisition equipment relative to the target object before acquiring a plurality of original two-dimensional blood vessel images of the target object and the angle information corresponding to each original two-dimensional blood vessel image in the plurality of original two-dimensional blood vessel images;

wherein the second obtaining unit includes:

the acquisition module is used for acquiring a mark image of an image acquisition mark in real time by using the image acquisition equipment, wherein the image acquisition mark is used for assisting in acquiring angle information of the image acquisition equipment relative to the target object;

a first determination module for determining angle information of the image acquisition device relative to the target object based on the marker image.

7. The apparatus of claim 6, wherein the first determining module comprises:

the first determining submodule is used for determining equipment coordinate information of the image acquisition equipment and pixel point coordinate information corresponding to the marked image;

and the second determining submodule is used for converting the equipment coordinate information and the pixel point coordinate information into the same coordinate system so as to determine the angle information of the image acquisition equipment relative to the target object.

8. The apparatus according to any one of claims 5 to 7, wherein the control unit comprises:

the control module is used for controlling the at least two light sources to project linear light beams to the target blood vessel contour according to the projection position information;

the second determination module is used for determining at least two space regions formed by the light beams of the at least two light sources respectively between the projection regions corresponding to the at least two light sources;

a third determination module for determining the three-dimensional model of the vessel based on an intersection region of the at least two spatial regions.

9. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed by a processor, controls an apparatus in which the computer storage medium is located to perform the method for determining a three-dimensional model of a blood vessel according to any one of claims 1 to 4.

10. A processor, characterized in that the processor is configured to run a computer program, wherein the computer program is configured to perform the method for determining a three-dimensional model of a blood vessel according to any one of claims 1 to 4 when running.

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