CN116630541B - A dynamic three-dimensional mapping interpolation method and system - Google Patents
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Abstract
本发明提供一种动态三维标测图的内插方法及系统，包括：对目标心脏进行MRI建模，得到MRI三维内膜模型；对目标心脏进行初步标测，获取下腔静脉内膜模型；以所述下腔静脉内膜模型为基准，对所述MRI三维内膜模型进行平移、旋转和缩放，使得所述下腔静脉内膜模型与所述MRI三维内膜模型的内膜重合；对目标心脏跳动部分进行标测，获取三个标测点，以及三个标测点跳动起点坐标和跳动终点坐标；三个标测点的跳动起点坐标组成起点三角平面；三个标测点的跳动终点坐标组成终点三角平面；获取三个标测点在MRI三维内膜模型中对应的第一MRI曲面；根据第一MRI曲面对起点三角平面和终点三角平面进行插值。通过上述方案提高模型的精度。
The present invention provides an interpolation method and system for a dynamic three-dimensional mapping map, including: performing MRI modeling on a target heart to obtain an MRI three-dimensional endocardial model; performing preliminary mapping on the target heart to obtain an inferior vena cava endocardial model; taking the inferior vena cava endocardial model as a reference, translating, rotating and scaling the MRI three-dimensional endocardial model so that the inferior vena cava endocardial model overlaps with the endocardium of the MRI three-dimensional endocardial model; mapping the beating part of the target heart to obtain three mapping points, as well as the coordinates of the beating starting point and the coordinates of the beating end point of the three mapping points; the beating starting point coordinates of the three mapping points form a starting point triangular plane; the beating end point coordinates of the three mapping points form an end point triangular plane; obtaining the first MRI curved surface corresponding to the three mapping points in the MRI three-dimensional endocardial model; interpolating the starting point triangular plane and the end point triangular plane according to the first MRI curved surface. The above scheme improves the accuracy of the model.
Description
Technical Field
The invention relates to the field of medical data processing, in particular to a method and a system for interpolating a dynamic three-dimensional map.
Background
Cardiac modeling can assist doctors in diagnosing conditions and provide parameters for surgery. Some diseases require consideration of the condition of the heart, which can lead to changes in the morphology and location of the heart. In order to obtain an accurate three-dimensional heart model, dynamic three-dimensional modeling is required. Currently, the heart dynamic three-dimensional modeling mainly comprises an MRI method and a mapping method.
The main principle of the MRI method is that an electrocardiogram signal needs to be recorded at the same time when an MRI scan is performed. The electrocardiogram signal may be used to determine the cardiac phase at each time point, as well as to determine the period of the heart. High time resolution MRI images can be obtained using rapid imaging techniques. Common rapid imaging techniques include Fast gradient Echo (FAST GRADIENT Echo, FGRE) and Fast Spin Echo (FSE), among others. By tracking the heart motion, the position and morphology of the heart at different points in time can be determined. Commonly employed methods include methods based on region growth, methods based on feature points, methods based on manifold deformation, and the like. After determining the position and morphology of the heart at different time points, interpolation methods can be used to interpolate the heart images at different time points to obtain a complete three-dimensional model of the heart. In the interpolation process, factors such as the speed and acceleration of the heart motion need to be considered so as to obtain more accurate results. The MRI method needs to acquire multi-temporal cardiac MRI images, on the one hand, the data volume is large, and the process of generating a model is complex, on the other hand, the two most important moments of the dynamic cardiac three-dimensional model are the maximum value and the minimum value of a cardiac beating period, but the MRI images are difficult to accurately acquire the values of the two moments.
The mapping technology has the basic principle that three pairs of electrodes orthogonal to each other are placed on the body surface of a patient, wherein the common positions are the front chest-back, the left armpit-right armpit and the back of the neck-the inner side of the thigh, and the three pairs of electrodes form a three-dimensional space in space and are similar to xyz three axes of three-dimensional coordinates. In the case of mapping, the catheter is delivered to the heart through the veins of the thigh, the catheter head having means for acquiring the electrocardiographic signals. When performing the mapping, the physician manipulates the catheter head to advance, retract, bend, rotate, so that the catheter head can touch the endocardium of the heart and determine the position of the catheter head in the coordinate system formed by the three pairs of electrodes. The catheter head can jump with the inner membrane when the heart jumps, so that the maximum value and the minimum value of the jump of the same point in the coordinate system can be easily recorded. After the points of a plurality of inner membranes are obtained, the position change of other inner membrane points can be completed through interpolation, interpolation is generally carried out through a triangulation technology, after three coordinate points are obtained, the three points are connected into a triangle, and the points in the middle of the triangle are filled by adopting a B spline or linear interpolation method, so that a dynamic three-dimensional model is established. The mapping method is accurate in judging the maximum value and the minimum value, but the curved surface of the heart surface is complex, and the curved surface change is difficult to embody by interpolating the points in the middle of the triangle.
Disclosure of Invention
In order to solve the problem of inaccurate dynamic modeling of the heart in the prior art, the invention provides an interpolation method and an interpolation system of a dynamic three-dimensional map.
The invention provides an interpolation method of a dynamic three-dimensional map, which is characterized by comprising the steps of performing MRI modeling on a target heart to obtain an MRI three-dimensional intima model, performing preliminary mapping on the target heart to obtain a lower vena cava intima model, performing translation, rotation and scaling on the MRI three-dimensional intima model by taking the lower vena cava intima model as a reference to enable the lower vena cava intima model to coincide with an intima of the MRI three-dimensional intima model, performing mapping on a beating part of the target heart to obtain three mapping points, and three mapping point beating start point coordinates and beating end point coordinates, wherein the three mapping point beating start point coordinates form a starting point triangle plane, the three mapping point beating end point coordinates form an end point triangle plane, obtaining a first MRI curved surface corresponding to the three mapping points in the MRI three-dimensional intima model, and interpolating the starting point triangle plane and the end point triangle plane according to the first curved surface.
Further, the step of obtaining the corresponding MRI curved surface of the three mapping points in the MRI three-dimensional intima model comprises the steps of connecting respective jumping starting point coordinates and jumping end point coordinates of the three mapping points, wherein a pentahedron is formed by connecting lines, a starting point triangular plane and an end point triangular plane, and the part of the MRI three-dimensional intima model in the pentahedron is a first MRI curved surface.
Further, interpolating the maximum triangular plane and the minimum triangular plane according to the first MRI curved surface includes modifying the start triangular plane and the end triangular plane to curved surfaces such that the modified curved surfaces have a similarity to the first MRI curved surface greater than a first threshold.
Further, modifying the start triangular plane and the end triangular plane to curved surfaces such that the similarity of the modified curved surfaces and the first MRI curved surface is greater than a first threshold includes stepwise modifying coordinates of points in the start triangular plane and the end triangular plane, each modification calculating a similarity of the modified curved surfaces and the first MRI curved surface.
Calculating similarity, and expressing as
Wherein H (x, y) represents similarity between the modified curved surface and the first MRI curved surface for each modification, η represents a gaussian standard deviation, pi represents a circumferential rate, x and y represent a horizontal coordinate difference and a vertical coordinate difference between the modified curved surface and the first MRI curved surface for each modification, pi represents a circumferential rate, and exp represents an exponential function based on a natural constant e in higher mathematics.
According to the method, the similarity is calculated between the modified curved surface and the first MRI curved surface for each modification, so that the error after each modification can be accurately mastered, MRI modeling is more accurate, the similarity is obtained by calculating the error of the abscissa and the ordinate, the method is simple and easy to understand, the calculated amount is small, and the accuracy of MRI modeling can be effectively improved.
Further, modifying the starting triangular plane and the ending triangular plane into curved surfaces, so that after the similarity between the modified curved surfaces and the MRI curved surfaces is larger than a first threshold value, a plurality of curved surfaces similar to the first MRI curved surfaces are inserted between the jumping end curved surfaces and the jumping starting curved surfaces.
The invention further provides an interpolation system of the dynamic three-dimensional map, which is characterized by comprising a modeling module, a first mapping module, an adjusting module, a second mapping module, a first processing module and a second processing module, wherein the modeling module is used for performing MRI modeling on a target heart to obtain an MRI three-dimensional intima model, the first mapping module is used for performing preliminary mapping on the target heart to obtain a lower vena cava intima model, the adjusting module is used for performing translation, rotation and scaling on the MRI three-dimensional intima model by taking the lower vena cava model as a reference, so that the lower vena cava model coincides with an intima of the MRI three-dimensional intima model, the second mapping module is used for performing mapping on a beating part of the target heart to obtain three mapping points, and three mapping point beating starting point coordinates and three beating point coordinates, the first processing module is used for forming a starting point triangle plane, the beating end point coordinates of the three mapping points form an end point triangle plane, the second processing module is used for obtaining a first MRI curved surface corresponding to the three mapping point in the MRI three-dimensional intima model, and the interpolation module is used for performing MRI interpolation on the triangle plane and the end point triangle plane according to the first curved surface.
Further, the step of obtaining the corresponding MRI curved surface of the three mapping points in the MRI three-dimensional intima model comprises the steps of connecting respective jumping starting point coordinates and jumping end point coordinates of the three mapping points, wherein a pentahedron is formed by connecting lines, a starting point triangular plane and an end point triangular plane, and the part of the MRI three-dimensional intima model in the pentahedron is a first MRI curved surface.
Further, interpolating the maximum triangular plane and the minimum triangular plane according to the first MRI curved surface includes modifying the start triangular plane and the end triangular plane to curved surfaces such that the modified curved surfaces have a similarity to the first MRI curved surface greater than a first threshold.
Further, modifying the start triangular plane and the end triangular plane to curved surfaces such that the similarity of the modified curved surfaces and the first MRI curved surface is greater than a first threshold includes stepwise modifying coordinates of points in the start triangular plane and the end triangular plane, each modification calculating a similarity of the modified curved surfaces and the first MRI curved surface.
Further, modifying the starting triangular plane and the ending triangular plane into curved surfaces, so that after the similarity between the modified curved surfaces and the MRI curved surfaces is larger than a first threshold value, a plurality of curved surfaces similar to the first MRI curved surfaces are inserted between the jumping end curved surfaces and the jumping starting curved surfaces.
According to the technical scheme, after the lower vena cava model is obtained, an MRI three-dimensional model is overlapped on the lower vena cava model, and when a heart intima plane is established by using a mapping point, interpolation correction is carried out on a triangular plane through an intermediate internal model curved surface provided by the MRI three-dimensional model, so that a three-dimensional model which can better reflect the surface curvature of the heart intima is obtained;
In addition, the method also calculates the similarity of the modified curved surface and the first MRI curved surface through each modification, so that the error after each modification can be accurately mastered, MRI modeling is more accurate, the similarity is obtained through calculating the error of the abscissa and the ordinate, the method is simple and easy to understand, the calculated amount is small, and the accuracy of MRI modeling can be effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the method of the present invention;
FIG. 2 is a schematic diagram of a jitter start point and a jitter end point;
FIG. 3 is a schematic diagram of a bounce start point plane and a bounce end point plane;
FIG. 4 is a first MRI curved surface schematic;
FIG. 5 is a schematic diagram of interpolation results for a start plane and a run-out end plane;
fig. 6 is a schematic view of a plurality of curved surfaces inserted between a curved surface of a starting point and a curved surface of a jumping end point.
Detailed Description
The invention will be described with reference to the drawings and detailed description.
The present embodiment solves the above-described problems by:
in one embodiment, referring to FIG. 1, the present invention provides a method for interpolating a dynamic three-dimensional map.
The method of the embodiment is a further improvement on the existing mapping system, and can be realized by modifying the source code of the existing mapping system, or can also be realized by an interface or a plug-in program provided by the system, and the mapping system in the embodiment refers to the mapping system after the method is improved.
And performing MRI modeling on the target heart to obtain an MRI three-dimensional intima model.
The target heart is the heart to be modeled in three dimensions, and MRI modeling of the target heart requires first an RMI scan. The scanning structure is typically a plurality of RMI slice picture data. And performs data preprocessing on the scanned result, such as artifact removal, image smoothing, gray scale normalization, and the like. These steps may be accomplished by image processing software. Then, the heart is segmented, and the heart is separated from the MRI image by using a segmentation algorithm, which can be conventional algorithms such as threshold segmentation, edge detection, region growing, horizontal line segmentation and the like, or can be a deep learning method such as U-Net and the like. And then carrying out three-dimensional reconstruction on the segmented heart data, wherein common three-dimensional visualization software such as Amira, mimics and 3D Slicer can be used. In the reconstruction process, interpolation processing is required for the slice data. The steps and techniques listed in the MRI modeling are all conventional means in the prior art, and the embodiment is not limited as long as the cardiac MRI modeling can be implemented. The present embodiment is mainly modeled for and on the intima, and thus MRI modeling of the present embodiment must include an intima model of the heart.
And performing preliminary mapping on the target heart to obtain a lower vena cava intima model.
When the heart of a patient is marked, the catheter is sent into the heart through veins, and after the catheter head is contacted with the endocardium of the heart, the absolute coordinates of the catheter head relative to each electrode can be obtained according to the change of the electric potential, so that a three-dimensional model of the contact part of the catheter head is built.
Illustratively, using Carto3 as an example, the catheter is typically advanced into the lower lumen, and a three-dimensional model of the lower lumen portion may be created by bending and rotating the catheter. Since the heart body is beating, dynamic modeling of the heart body is required. The inferior vena cava is a part connecting the vein with the heart, which does not beat with the heart, so the model of the inferior vena cava part is stable, and the inferior vena cava is used as a ligament for connecting the MRI heart model and the mapping heart model in the embodiment.
The inferior vena cava model is a model built in real time by the mapping system, and its coordinate system is determined according to the positions of the electrodes, so the coordinates of the inferior vena cava model are relative to the positions of the electrodes. The acquisition of the inferior vena cava model can be performed in real time, and after each change of the inferior vena cava model, the previously acquired intima model can be regarded as the inferior vena cava model, and the subsequent steps are executed after each change of the intima model. The inferior vena cava model may be determined actively by the user, for example, when the doctor obtains the preliminary inferior vena cava model, and then determines that the model can be matched with the RMI heart model through the intima model, and confirms on the operation interface that the obtained intima model is the inferior vena cava model.
And taking the inferior vena cava intima model as a reference, translating, rotating and zooming the MRI three-dimensional intima model so that the inferior vena cava intima model coincides with the intima of the MRI three-dimensional intima model.
The inferior vena cava model is a real-time model displayed on a mapping system and is a real response of a real heart, so that the inferior vena cava model is needed to be used as a reference, and a standard heart three-dimensional model is loaded onto the same coordinate system as the inferior vena cava model and has the same rotation and zoom level as the inferior vena cava model. For example, after the model of the upper chamber of the heart is determined using the mapping system, the upper chamber of the heart is displayed on the operation interface, at which time the standard three-dimensional model of the heart is rotated, scaled, and translated such that the upper chamber of the standard three-dimensional model of the heart coincides with the upper chamber of the lower vena cava model.
Illustratively, automatically rotating and scaling the internal model of the standard heart three-dimensional model such that the coincidence of the inferior vena cava model with the internal model of the standard heart three-dimensional model may be achieved by:
Because the heart structure is complex, the curvature of the intima is changed greatly, the curvature can be used as a characteristic, and firstly, a corner detection algorithm (Harris Corner Detection) is used for extracting characteristic points of the inferior vena cava intima model and the standard heart three-dimensional model. And calculating the similarity of the feature points of the inferior vena cava model and the standard heart three-dimensional model, and determining the feature point pairs with the similarity larger than a certain threshold value as corresponding point pairs.
The corner detection algorithm has the expression:
Where R avg represents the average repeatability of each test vena cava model, N o represents the number of corner points in the original test vena cava model, N t represents the number of corner points in the post-conversion vena cava model, and N r represents the number of corner points that coincide between the original test vena cava model and the post-conversion vena cava model.
The characteristic point positioning error is expressed as follows:
Wherein L e represents the average distance between the corner points detected in the original test standard heart three-dimensional model and the corresponding corner points detected in the converted standard heart three-dimensional model, And (3) representing corner pairs corresponding to the original test standard heart three-dimensional model and the converted test standard heart three-dimensional model, wherein k represents the iteration times.
After the feature point pairs of the two models are obtained, a feature point matching algorithm may be used to calculate the transformation matrix, and any matching algorithm in the prior art may be used to determine the transformation matrix, such as RANSAC (RANdom SAmple Consensus) algorithm, ITERATIVE CLOSEST POINT (ICP) algorithm, least Squares (Least Squares) algorithm, etc., where the specific algorithm is not specifically limited, and any algorithm other than the above examples may be used as long as the transformation matrix can be calculated. Based on the transformation matrix, the scaling, translation and rotation parameters of the standard heart three-dimensional model relative to the inferior vena cava model can be determined; the standard heart three-dimensional model can be superimposed on the inferior vena cava model by corresponding scaling, translation and rotation of the standard heart three-dimensional model.
It should be noted that, the operations described above are all completed by program automation based on the mapping system, and may be implemented by modifying source code of the mapping system, calling an API of the mapping system, or using a plug-in program.
And mapping the beating part of the target heart to obtain three mapping points, and the beating starting point coordinates and the beating ending point coordinates of the three mapping points.
The main part of the heart, i.e. the beating part, can be mapped after the MRI model has been properly superimposed on the mapping model. Due to the beating of the heart, when the catheter head contacts the intima, the catheter head moves following the contraction and expansion of the heart and brain. As shown in fig. 2, the solid line is the intima when a portion of the heart contracts to its maximum, and the dashed line is the intima model when that portion of the heart expands to its maximum. When the heart contracts to the minimum, the points A1 and B1 are points on the inner membrane at the moment, which are called beating starting points, when the heart expands, the points A1 and B1 reach the points A2 and B2 as beating ending points due to the fact that the heart expands, and when the catheter head beats along with the heart, the coordinate values of the points A1, A2, B1 and B2 can be measured from the points A1 to A2 and from the points B1 to B2.
It should be noted that, the three mapping points are only a small step in the whole mapping step, in the mapping process, the mapping points need to be continuously acquired, and the mapping system continuously calls the method of the embodiment to perform measurement and interpolation so as to complete the establishment of the whole model.
The jumping start point coordinates of the three mapping points form a starting point triangle plane, and the jumping end point coordinates of the three mapping points form an end point triangle plane.
After measuring the three mapping points, the starting point coordinates and the ending point coordinates of the three points can be obtained. As shown in fig. 3, the jumping-start coordinates of the three map points may be formed into a start triangle plane, i.e., a dot-shaped shadow portion in fig. 3, and the jumping-end coordinates of the three map points may be formed into an end triangle plane, i.e., a triangle of a bar-shaped shadow portion in fig. 3. The starting triangular plane is the plane when the heart contracts, and the ending triangular plane is the plane when the heart expands.
Only a small triangle is shown in fig. 3, and when mapping both the whole and the endocardium, a plurality of similar triangles can be obtained, which form the endocardial curve of the whole heart. In the prior art, since no coordinate measurement is performed on the inside of the triangle, the coordinates of the inside of the triangle are determined by interpolation, and the triangle is usually a plane. The size of the triangle is generally determined according to the measured density, and the present embodiment is not particularly limited as long as modeling by a triangulation method is applicable to the solution of the present embodiment.
And acquiring a first MRI curved surface corresponding to the three mapping points in the MRI three-dimensional intima model.
From the previous analysis, the triangle is typically a plane, but the surface is curved, so interpolation inside the triangle is inaccurate. MRI three-dimensional intima reflects a model of the heart at one moment, but it is difficult to represent the beating of the heart dynamically. As shown in fig. 4, the curved surface filled with squares is an MRI three-dimensional intima curved surface, which can only reflect one moment in the process of beating the heart, but can reflect the curved surface condition of the triangle portion, so that a first MRI curved surface corresponding to three mapping points in the MRI three-dimensional intima model is obtained, and in fig. 4, the square filled portion is the first MRI curved surface.
Further, the jumping starting point coordinates and the jumping ending point coordinates of the three mapping points are connected, a pentahedron is formed by connecting the connecting lines, the starting point triangular plane and the ending point triangular plane, and the part of the MRI three-dimensional intima model in the pentahedron is a first MRI curved surface. As shown in fig. 4, the starting triangular plane and the ending triangular plane form a pentahedron, a part of the MRI three-dimensional intima model falls into the pentahedron, and the part falling into the pentahedron is the first MRI curved surface, that is, the square-filled part in fig. 4.
And interpolating the starting triangular plane and the ending triangular plane according to the first MRI curved surface.
Since the MRI curved surface reflects the curved surface degree of the part of endocardium, the similarity between the mapping model and the real heart can be improved after the starting triangular plane and the ending triangular plane are interpolated into the curved surface similar to the first MRI curved surface.
Specifically, the starting triangular plane and the ending triangular plane are modified to be curved surfaces, so that the similarity between the modified curved surfaces and the first MRI curved surfaces is larger than a first threshold value. Coordinates of points in the start triangular plane and the end triangular plane can be modified stepwise, similarity is calculated for the modified curved surface and the first MRI curved surface each time the coordinates are modified, and when the similarity is greater than a threshold value, the start triangular plane and the end triangular plane are similar to the MRI curved surface, and the coordinates can reflect the real endocardial surface. As shown in fig. 5, the modified curved surface is replaced with the start triangular plane and the end triangular plane to improve the accuracy of the model.
Calculating similarity, and expressing as
Wherein H (x, y) represents similarity between the modified curved surface and the first MRI curved surface for each modification, η represents a gaussian standard deviation, pi represents a circumferential rate, x and y represent a horizontal coordinate difference and a vertical coordinate difference between the modified curved surface and the first MRI curved surface for each modification, pi represents a circumferential rate, and exp represents an exponential function based on a natural constant e in higher mathematics.
According to the method, the similarity is calculated between the modified curved surface and the first MRI curved surface for each modification, so that the error after each modification can be accurately mastered, MRI modeling is more accurate, the similarity is obtained by calculating the error of the abscissa and the ordinate, the method is simple and easy to understand, the calculated amount is small, and the accuracy of MRI modeling can be effectively improved.
Further, as shown in fig. 6, a plurality of curved surfaces (dotted curved surfaces in fig. 6) similar to the first MRI curved surface are interposed between the beating-end curved surface and the beating-start curved surface to better represent the dynamic beating of the heart.
It is contemplated that the foregoing steps are merely a way to update one model point, and that the foregoing steps may be repeated for any number of points that need to be corrected throughout the mapping process.
In another implementation, the invention also provides an interpolation system of a dynamic three-dimensional map, which is characterized in that the system comprises the following modules:
The modeling module is used for performing MRI modeling on the target heart to obtain an MRI three-dimensional intima model;
the first mapping module is used for carrying out preliminary mapping on a target heart and acquiring a lower vena cava intima model;
The adjusting module is used for carrying out translation, rotation and scaling on the MRI three-dimensional intima model by taking the inferior vena cava intima model as a reference so as to enable the inferior vena cava intima model to coincide with the intima of the MRI three-dimensional intima model;
The second mapping module is used for mapping the beating part of the target heart, and obtaining three mapping points, and the beating starting point coordinates and the beating end point coordinates of the three mapping points;
The first processing module is used for forming a starting point triangular plane by the jumping starting point coordinates of the three mapping points;
The second processing module is used for acquiring a first MRI curved surface corresponding to the three mapping points in the MRI three-dimensional intima model;
and the interpolation module is used for interpolating the starting triangular plane and the ending triangular plane according to the first MRI curved surface.
It should be noted that the detailed implementation principle and further improvement of the interpolation system for a dynamic three-dimensional map are the same as those of the foregoing interpolation method for a dynamic three-dimensional map, and will not be described in detail in this embodiment, and those skilled in the art may implement the detailed implementation in the interpolation system for a dynamic three-dimensional map according to the interpolation method based on a dynamic three-dimensional map in the prior art.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the specific embodiments of the present invention without departing from the spirit and scope of the present invention, and any modifications and equivalents are intended to be included in the scope of the claims of the present invention.
The present invention is not limited to the specific partial module structure described in the prior art. The prior art to which this invention refers in the preceding background section as well as in the detailed description section can be used as part of the invention for understanding the meaning of some technical features or parameters. The protection scope of the present invention is subject to what is actually described in the claims.
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