Source: https://patents.google.com/patent/CN106232010A/en
Timestamp: 2019-06-18 21:30:15
Document Index: 86853990

Matched Legal Cases: ['Application No. 62', 'art 320', 'art 411', 'art 411', 'art 416', 'art 416', 'art 421', 'art 421', 'art 421', 'art 416', 'art 421', 'art 416', 'art 423', 'art 417', 'art 422', 'art 422', 'art 422', 'art 422', 'art 417', 'art 426', 'art 421', 'art 427', 'art 422', 'art 428', 'art 422', 'art 421', 'art 426', 'art 412', 'art 431', 'art 426', 'art 432', 'art 427', 'art 433', 'art 428', 'art 427', 'art 432', 'art 431', 'art 426', 'art 426', 'art 416', 'art 411', 'art 426', 'art 431', 'art 2', 'Application No. 62', 'application No. 62', 'application No. 62', 'Application No. 62', 'application No. 62', 'art.\n10', 'art.\n11', 'art.\n12']

CN106232010A - System and method for detecting trachea - Google Patents
System and method for detecting trachea Download PDF
CN106232010A
CN106232010A CN201580021464.3A CN201580021464A CN106232010A CN 106232010 A CN106232010 A CN 106232010A CN 201580021464 A CN201580021464 A CN 201580021464A CN 106232010 A CN106232010 A CN 106232010A
CN201580021464.3A
I·A·马克弗
Y·科雷尼恩
2014-07-02 Priority to US201462020257P priority Critical
2015-06-30 Application filed by 柯惠有限合伙公司 filed Critical 柯惠有限合伙公司
2015-06-30 Priority to PCT/US2015/038522 priority patent/WO2016004020A1/en
2016-12-14 Publication of CN106232010A publication Critical patent/CN106232010A/en
用于检测气管的系统和方法 A system and method for detecting trachea
[0002] 本申请要求于2014年7月2日提交的申请号为62/020，257的美国临时专利申请的权益和优先权，上述专利申请的全部内容通过引用并入本文。 [0002] This application claims priority No. 2 July 2014 filed benefit of and priority U.S. Provisional Patent No. 62 / 020,257 application, the entire contents of which patent applications are incorporated herein by reference.
[0003] 本公开涉及用于检测气管的系统和方法。 [0003] The present disclosure relates to systems and methods for detecting the trachea. 更具体地，本公开涉及基于胸部的三维体积的切片图像来检测气管的系统和方法。 More particularly, the present disclosure relates to a system and method for three-dimensional volume of slice images based on the chest to detect the trachea.
[0004] 已经研发了涉及视觉观察胸部的可视化技术，以便帮助医生对包含在胸部内的器官或其它部分进行诊断和/或手术。 [0004] Visualization techniques have been developed involves visual observation of the chest, to assist physicians or other organs in the chest portion comprises the diagnosis and / or surgery. 可视化对于识别病变区域的位置而言尤为重要。 Visualization is particularly important for identifying the position of the lesion area concerned. 此外， 当治疗病变区域时，进一步着重识别病变区域的特定位置，从而在胸部中的正确位置处执"ί丁外科手术。 Further, when treating the lesion area, further identifying a specific focus position of the lesion area, thereby correctly executed at the location in the chest "ί butoxy surgery.
[0005] 过去，使用胸部的扫描二维图像来帮助可视化。 [0005] In the past, scanning the two-dimensional image of the chest to help visualization. 为了根据胸部的扫描二维图像来视觉观察肺部，重点在于确定二维图像中的区域是否构成肺部的一部分。 To scan a two dimensional image according to visual observation of lung breast, it focused on identifying whether the region constituting the two-dimensional image of a part of the lungs. 因此，检测起始位置(例如，连接至肺部或作为肺部的一部分的器官或其它部分的位置)对于识别肺部而言也是重要的。 Therefore, the detection start position (e.g., connected to the lung or lungs as part of an organ or a position other portion) for purposes of identifying the lungs is also important. 在一个示例中，气管可以用作起始位置，这是因为气管沿其长度具有大体恒定的直径，并且已知气管连接至肺部。 In one example, the tube may be used as a starting position, since the diameter of the pipe having a substantially constant along its length, and it is known to connect the trachea the lungs.
[0006] 根据本公开，提供一种用于检测患者的气管的系统。 [0006] According to the present disclosure, a system for detecting the trachea of ​​a patient.
[0007] 在本公开的一方面，所述系统包括:成像装置，所述成像装置构造成获得患者的图像数据;和计算装置，所述计算装置包括处理器和存储指令的存储器，所述指令在被处理器执行时促使计算装置:基于图像数据生成患者的胸部的三维（3D)模型;沿轴向方向生成3D 模型的切片图像;在生成的切片图像的第一切片图像中识别潜在相连组成部分;在生成的切片图像的第二切片图像中识别潜在相连组成部分，其中，第二切片图像紧接着生成的第一切片图像;确认第一切片图像的潜在相连组成部分与第二切片图像的潜在相连组成部分相连;将潜在相连组成部分标记为相连组成部分;将第一切片图像标记为生成的切片图像的最上方切片图像;将最上方切片图像中的相连组成部分标记为有效目标;基于连接标准， 将生成的切片图像的当前切片图像中的每一个相连组成部分与 [0007] In an aspect of the present disclosure, the system comprising: an imaging device, the imaging device configured to obtain image data of a patient; and computing means comprising a processor and memory means storing the computing instructions, the instructions computing device causes when executed by a processor: generating a three-dimensional patient's chest (3D) model based on the image data; generating slice images of the 3D model in the axial direction; identifying potential connected to the first slice images of slice images generated components; identifying the second slice image to generate a slice image potential part is connected, wherein the second slice image immediately generating a first image slice; identify potential connected to the first slice and the second image part latent image composed of connected sections connected part; part connected to the potential labeled connected components; the first slice images labeled as the top slice images of slice images generated; connected to the uppermost slice image of the part labeled as valid object; standards-based connectivity, each connected to a current slice images generated slice image part and 在先切片图像中的对应的相连组成部分关联;将与在先切片图像的相连组成部分关联的当前切片图像中的每一个相连组成部分标记为有效目标;并且基于有效目标的长度，将有效目标识别为气管。 Previous slice images corresponding to the associated connected part; current slice image associated with the portion connected to the preceding slice image consisting of a valid object connected to each part of the mark; and based on the length of the valid object, the valid object recognized as the trachea.
[0008] 在本公开的另一方面，由成像装置利用层析成像技术、射线照相术、通过计算机化轴向断层扫描产生的断层照片、核磁共振成像、超声波造影术、对比成像、荧光检查、核扫描、或者正电子发射断层成像获得图像数据。 [0008] In another aspect of the present disclosure, by the imaging device using tomography, radiography, computerized axial tomography generated by the tomogram, magnetic resonance imaging, angiography, ultrasound, contrast imaging, fluoroscopy, nuclear scan, or positron emission tomography image data is obtained.
[0009] 在本公开的另一方面，所述指令进一步促使计算装置最终确定在先切片图像中的有效目标。 [0009] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object prior slice images.
[0010] 在本公开的另一方面，切片图像以相等的距离彼此间隔开。 [0010] Another aspect of the present disclosure, a slice image at equal distances spaced apart from each other.
[0011] 在本公开的另一方面，所述指令进一步促使计算装置通过将最终确定的有效目标中包含的切片图像的数目减1与每一个切片图像之间的距离相乘来计算最终确定的有效目标的长度。 [0011] Another aspect of the present disclosure, the instructions further cause the computing means is calculated by dividing the number of effective slice images contained in the target finalized minus 1 and the distance between each slice image is determined by multiplying the final the effective length of the object.
[0012] 在本公开的另一方面，当最终确定的有效目标的长度大于或等于70mm时，所述指令进一步促使计算装置指示已识别出气管。 [0012] In another aspect of the present disclosure, when the length of the valid object finally determined is equal to or greater than 70mm, the instructions further cause the computing device indicative of the identified tube.
[0013]在本公开的另一方面，当最终确定的有效目标的长度大于或等于30mm但小于70mm 时，所述指令进一步促使计算装置指示可能已识别出气管。 [0013] In another aspect of the present disclosure, when the length of the valid object finally determined is equal to or greater than 30mm but smaller than 70mm, the instructions may further cause the computing device indicative of the identified tube.
[0014] 在本公开的另一方面，当最终确定的有效目标的长度小于30mm时，所述指令进一步促使计算装置指示未识别出气管。 [0014] In another aspect of the present disclosure, when the length of the valid object finally determined is less than 30mm, the instructions further cause the computing device is not identified indicating trachea.
[0015] 在本公开的另一方面，在当前切片图像的相连组成部分中的像素的坐标与在先切片图像中对应的相连组成部分中的像素的坐标匹配时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0015] When another aspect of the present disclosure, the coordinates of a pixel portion composed of connected previous slice image coordinates of a pixel portion connected to the current slice image corresponding match consisting of the current slice is connected to the image composition previous slice image portion corresponding part is connected to associated.
[0016] 在本公开的另一方面，在当前切片图像的相连组成部分的质心与在先切片图像中对应的相连组成部分的质心之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0016] On the other hand when the current slice is connected to the image composition difference between the centroid of the connected portion of the composition prior centroid slice image portion is less than a predetermined value corresponding to the present disclosure will be connected, the current slice images composition previous slice image portion corresponding part is connected to associated.
[0017] 在本公开的另一方面，在当前切片图像的相连组成部分的面积与在先切片图像中对应的相连组成部分的面积之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0017] In another aspect of the present disclosure, in the current slice is connected to the image area of ​​the composition portion of the previous slice image corresponding to the difference between the composition attached to the area of ​​the portion is smaller than the predetermined value, the current slice is connected to the image composition previous slice image portion corresponding part is connected to associated.
[0018] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是通过将当前切片图像中的相连组成部分的面积除以在先切片图像中对应的相连组成部分的面积而算出的面积比。 [0018] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the associated parameter is coupled by the current slice image area portion composed of area of ​​the portion connected to the area of ​​the composition is calculated by dividing the slice images corresponding to the previous ratio.
[0019] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是当前切片图像的相连组成部分的、与在先切片图像中的对应有效目标的坐标匹配的坐标的数目以及当前切片图像的相连组成部分的非匹配坐标的数目之间的比率。 [0019] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the associated parameter is connected to the current part of the slice image, and prior coordinate matching the number of coordinates of slice images corresponding to the valid object connected composition ratio between the number of non-matching portion of the coordinates and the current slice images.
[0020] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是当前切片图像的相连组成部分的面积。 [0020] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the parameter associated with the current slice is connected to the image area of ​​a portion of the composition.
[0021] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且当关联参数大于预定值时，移除在先切片的对应有效目标的作为有效目标的标记。 [0021] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on the prior association parameters, and when the correlation parameter above a predetermined value, corresponding to the effective removal of the previous target slice as an effective target marker.
[0022]在本公开的另一方面，所述指令进一步促使计算装置在关联参数大于预定值时移除当前切片的相连组成部分的作为有效目标的标记。 [0022] In another aspect of the present disclosure, the instructions further cause the computing device to remove the current slice as an effective target marker portion connected composition when the associated parameter is greater than a predetermined value.
[0023] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，当关联参数小于预定值时，最终确定有效目标。 [0023] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein, when the correlation parameter is less than the predetermined value, determines the final valid object.
[0024] 在本公开的另一方面，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且当关联参数大于或等于第一预定值且小于或等于第二预定值时，将当前切片的相连组成部分标记为有效目标。 [0024] In another aspect of the present disclosure, the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and if the associated parameter equal to or greater than a first predetermined value and less than or equal to a second predetermined when the value of the current slice is connected to part of the target is marked as valid.
[0025] 根据本公开，提供一种用于检测患者的气管的方法。 [0025] According to the present disclosure, there is provided a method for detecting a patient's trachea.
[0026] 在本公开的一方面，所述方法包括:获得患者的胸部的三维(3D)模型;沿轴向方向生成3D模型的切片图像;在生成的切片图像的第一切片图像中识别潜在相连组成部分;在生成的切片图像的第二切片图像中识别潜在相连组成部分，其中，第二切片图像紧接着生成的第一切片图像;确认第一切片图像的潜在相连组成部分与第二切片图像的潜在相连组成部分相连;将潜在相连组成部分标记为相连组成部分;将第一切片图像标记为生成的切片图像的最上方切片图像;将最上方切片图像中的相连组成部分标记为有效目标;基于连接标准，将生成的切片图像的当前切片图像中的每一个相连组成部分与在先切片图像中的对应的相连组成部分关联;将与在先切片图像的相连组成部分关联的当前切片图像中的每一个相连组成部分标记为有效目标;并且基于有效目标的长度，将有 [0026] In one aspect of the present disclosure, the method comprising: obtaining the patient's chest dimensional (3D) models; generating slice images of the 3D model in the axial direction; identified in the first image slice of slice images generated potential connected components; identifying connected components of the potential of the second slice image to generate a slice image, wherein the second slice image immediately generating a first image slice; identify potential connected to the first part of the slice images It is connected to the second potential is connected to a slice image composition portion; potentially connected part labeled connected components; the first slice images labeled as the top slice images of slice images generated; connected to the uppermost slice image of the part tag is a valid object; standards-based connectivity, the current slice image slice image generated in the composition associated with each connected component of the connected portion of the previous slice corresponding to the image; the connected components of the preceding slice image is associated each connected component of the current slice is marked as a valid target image; based on the length of the valid object, there will be 目标识别为气管。 Target recognition as the trachea. [0027]在本公开的另一方面，基于图像数据生成3D模型，由成像装置利用层析成像技术、 射线照相术、通过计算机化轴向断层扫描产生的断层照片、核磁共振成像、超声波造影术、 对比成像、荧光检查、核扫描、或者正电子发射断层成像获得所述图像数据。 [0027] In another aspect of the present disclosure, a 3D model based on the image data generated by the image forming apparatus using tomography, radiography, computerized axial tomography generated by the tomogram, magnetic resonance imaging, angiography, ultrasonic , contrast imaging, fluoroscopy, nuclear scanning, positron emission tomography or obtaining the image data.
[0028] 在本公开的另一方面，所述方法还包括最终确定在先切片图像中的有效目标。 [0028] In another aspect of the present disclosure, the method further comprises determining an effective ultimate goal of the preceding slice image.
[0029] 在本公开的另一方面，切片图像以相等的距离彼此间隔开。 [0029] Another aspect of the present disclosure, a slice image at equal distances spaced apart from each other.
[0030] 在本公开的另一方面，所述方法还包括通过将最终确定的有效目标中包含的切片图像的数目减1与每一个切片图像之间的距离相乘来计算最终确定的有效目标的长度。 [0030] finally determined by calculating the number of the valid object slice image contained in the final determination of the distance between the minus 1 image is multiplied by each slice valid object of the present disclosure aspect, the method further comprising length. [0031 ]在本公开的另一方面，当最终确定的有效目标的长度大于或等于70mm时，所述指令进一步促使计算装置指示已识别出气管。 [0031] In another aspect of the present disclosure, when the length of the valid object finally determined is equal to or greater than 70mm, the instructions further cause the computing device indicative of the identified tube.
[0032]在本公开的另一方面，当最终确定的有效目标的长度大于或等于30mm但小于70mm 时，所述指令进一步促使计算装置指示可能已识别出气管。 [0032] In another aspect of the present disclosure, when the length of the valid object finally determined is equal to or greater than 30mm but smaller than 70mm, the instructions may further cause the computing device indicative of the identified tube.
[0033] 在本公开的另一方面，当最终确定的有效目标的长度小于30mm时，所述指令进一步促使计算装置指示未识别出气管。 [0033] In another aspect of the present disclosure, when the length of the valid object finally determined is less than 30mm, the instructions further cause the computing device is not identified indicating trachea.
[0034] 在本公开的另一方面，在当前切片图像的相连组成部分中的像素的坐标与在先切片图像中对应的相连组成部分中的像素的坐标匹配时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0034] When another aspect of the present disclosure, the coordinates of a pixel portion composed of connected previous slice image coordinates of a pixel portion connected to the current slice image corresponding match consisting of the current slice is connected to the image composition previous slice image portion corresponding part is connected to associated.
[0035] 在本公开的另一方面，在当前切片图像的相连组成部分的质心与在先切片图像中对应的相连组成部分的质心之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0035] On the other hand when the current slice is connected to the image composition difference between the centroid of the connected portion of the composition prior centroid slice image portion is less than a predetermined value corresponding to the present disclosure will be connected, the current slice images composition previous slice image portion corresponding part is connected to associated.
[0036] 在本公开的另一方面，在当前切片图像的相连组成部分的面积与在先切片图像中对应的相连组成部分的面积之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 [0036] In another aspect of the present disclosure, in the current slice is connected to the image area of ​​the composition portion of the previous slice image corresponding to the difference between the composition attached to the area of ​​the portion is smaller than the predetermined value, the current slice is connected to the image composition previous slice image portion corresponding part is connected to associated.
[0037] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，其中，关联参数是通过将当前切片图像中的相连组成部分的面积除以在先切片图像中对应的相连组成部分的面积而算出的面积比。 [0037] In another aspect of the present disclosure, the method further comprises a final determination based on the valid object parameter associated with the previous slice images, wherein the parameter associated with the current slice is connected by image composition divided by the area of ​​a portion area of ​​the portion connected to the area of ​​the composition calculated to slice image corresponding ratio.
[0038] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，其中关联参数是当前切片图像的相连组成部分的、与在先切片图像中的对应有效目标的坐标匹配的坐标的数目以及当前切片图像的相连组成部分的非匹配坐标的数目之间的比率。 [0038] In another aspect of the present disclosure, the method further comprises a final determination based on the valid object parameter associated with the previous slice images, wherein the parameter is associated with the preceding slice image is connected to the current slice of the image part in the number of coordinates corresponding to the coordinates match the valid object composition ratio between the number attached to the non-matching portion of the coordinates and the current slice images.
[0039] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，其中，关联参数是当前切片图像的相连组成部分的面积。 [0039] In another aspect of the present disclosure, the method further comprises determining a valid object preceding the final slice images based on the associated parameters, wherein the parameters associated with the current slice is connected to the image area of ​​a portion of the composition.
[0040] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，并且当关联参数大于预定值时，移除在先切片的对应有效目标的作为有效目标的标记。 [0040] Another aspect of the present disclosure, the method further comprises a final determination based on the valid object parameter associated with the previous slice images, and when the associated parameter is greater than a predetermined value, corresponding to the effective removal of the previous target slice, as in mark valid targets.
[0041] 在本公开的另一方面，所述方法还包括在关联参数大于预定值时移除当前切片的相连组成部分的作为有效目标的标记。 [0041] In another aspect of the present disclosure, the method further comprising removing the current slice as an effective target marker portion is connected when the composition is greater than a predetermined value associated parameters.
[0042] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，其中，当关联参数小于预定值时，最终确定有效目标。 [0042] In another aspect of the present disclosure, the method further comprises determining a valid object preceding the final slice images based on the associated parameters, wherein, when the correlation parameter is less than the predetermined value, determines the final valid object.
[0043] 在本公开的另一方面，所述方法还包括基于关联参数最终确定在先切片图像中的有效目标，当关联参数大于或等于第一预定值且小于或等于第二预定值时，将当前切片的相连组成部分标记为有效目标。 [0043] In another aspect of the present disclosure, the method further comprises a final determination based valid object parameter associated with the previous slice images when the associated parameter is greater than or equal to a first predetermined value and less than or equal to a second predetermined value, the connected components of the current slice is marked as a valid target.
[0044] 本公开的任何上述方面和实施例可以进行组合且并不背离本公开的范围。 [0044] Any of the above aspects and embodiments of the present embodiments disclosed and may be combined without departing from the scope of the present disclosure.
[0045] 在参照附图阅读各个实施例的说明内容时，本公开的系统和方法的目标和特征对于本领域技术人员而言将变得显而易见，在附图中： [0045] DESCRIPTION OF THE DRAWINGS In the various embodiments with reference to the content, and certain features of the present disclosed systems and methods to those skilled in the art will become apparent, in the drawings:
[0046] 图1是根据本公开的实施例的、能够用于以患者的肺部的3D模型检测气管的示例性装置的示意图； [0046] FIG. 1 is a schematic diagram of an exemplary detecting device to the 3D model of the patient's trachea in the lungs according to an embodiment of the present disclosure can be used;
[0047]图2示出了根据本公开的实施例的、由3D模型生成的2D切片图像，其示出处于轴向和横向取向的气管； [0047] FIG. 2 shows, the 2D slice image from the 3D model generated embodiments of the present disclosure, shown in an axial and lateral alignment of the pipe;
[0048] 图3是根据本公开的实施例的、患者的胸部的2D切片图像中的相连组成部分的图解视图； [0048] FIG. 3 is a diagrammatic view of a portion of the composition according connected, 2D slice image of the patient's chest an embodiment of the present disclosure;
[0049] 图4是根据本公开的实施例的、患者的胸部的2D切片图像的平面图的图解视图； [0049] FIG. 4 is a plan view of the diagrammatic view of 2D slice images of a patient's chest embodiment of the present disclosure according to the embodiment;
[0050] 图5A是根据本公开实施例的用于检测气管的方法的流程图；且 [0050] FIG 5A is a flowchart of a method for detecting the trachea of ​​the disclosed embodiments of the present embodiment; and
[0051] 图5B是根据本公开的实施例的、用于确定2D切片图像之间的关联的方法的流程图。 [0051] FIG 5B is a flowchart of a method embodiment of the present disclosure, for determining a correlation between the 2D slice images.
[0052]本公开涉及用于基于患者的胸部的2D切片图像自动地检测气管的系统和方法。 [0052] The present system and method for automatically detecting trachea 2D slice images based on the patient's chest disclosure relates. 识别气管可以是使用电磁导航（EMN)系统执行ELECTROMAGNETIC NAVIGATION BRONOI0SCOPY® (enb，电磁导航气管镜检查)程序的路径规划的必要组成部分。 Recognition may be performed trachea (enb, electromagnetic navigation bronchoscopy) path planning program necessary part ELECTROMAGNETIC NAVIGATION BRONOI0SCOPY® using electromagnetic navigation (of EMN) system.
[0053] ENB程序通常涉及至少两个阶段：（1)规划通向位于患者的肺部内或靠近患者的肺部的目标的路径;和(2)沿规划的路径将探针导航至目标。 [0053] ENB procedure usually involves at least two stages: (1) Planning leads positioned within the patient's lungs or close to the target path of the lungs of the patient; and (2) along a path planning navigation probe to a target. 这些阶段通常被称为（1) "规划" 和(2) "导航"。 These stages are usually referred to as (1) "plan" and (2) "navigation." 因为肺部连接至气管，所以通过检测气管就能够将肺部与肺部以外的区域视觉地区别开。 Because the pipe is connected to the lungs, it can be distinguished by the visual detection region outside the trachea and lung of the lungs. 可以在均于2013年3月15日由Covidien LP提交的、发明名称均为"Pathway Planning System and Method"且申请号分别为13/838,805、13/838,997和13/839,224的美国专利申请中找到本文所描述的规划软件的示例，上述专利申请通过引用而并入本文。 And can apply for US Patent Application numbers are 13 / 838,805,13 / 838,997 and 13 / 839,224 are in the March 15, 2013 filed by Covidien LP, are entitled "Pathway Planning System and Method" to find this article planning software example described, the above patent application is incorporated herein by reference. 可以在共同受让的、发明名称为"SYSTEM AND METHOD FOR NAVIGATING WITHIN THE LUNG" 且申请号为62/020，240的美国临时专利申请中找到规划软件的示例，其全部内容通过引用而并入本文。 Be in commonly assigned, entitled "SYSTEM AND METHOD FOR NAVIGATING WITHIN THE LUNG" and an example of the application number to find software for planning US Provisional Patent Application 62 / 020,240, the entire contents of which are incorporated herein by reference .
[0054]在规划阶段之前，例如通过计算机层析成像(CT)扫描对患者的肺部成像，不过本领域技术人员也已知其它能够应用的成像方法。 [0054] Prior to the planning stage, for example, the imaging scan of a patient by lung computed tomography (CT), but also known to those skilled in the art can be applied to other imaging methods. 随后，在CT扫描期间汇总的图像数据随后可以存储成例如医学数字成像和通信(DIC0M)格式，不过本领域技术人员也已知其它能够应用的格式。 Subsequently, during a CT scan image data may then be aggregated into a store such as medical digital imaging and communications (DIC0M) format, but also known to those skilled in the art can be applied to other formats. 随后，CT扫描图像数据可以加载到待处理以用于生成3D模型的规划软件应用程序（"应用程序"）中，所述3D模型可以在ENB程序的规划阶段期间使用。 Subsequently, CT scan data may be loaded into the image to be processed for generating the 3D model planning software applications (the "application"), the 3D model may be used during the planning stage ENB process.
[0055]应用程序可以使用CT扫描图像数据来生成患者的肺部的3D模型。 [0055] The application can use the data to generate a CT scan image of the 3D model of the patient's lungs. 3D模型除了其它方面外可以包括模型气道树，该模型气道树对应于患者的肺部的实际气道，并且示出患者的实际气道树的各个通路、支路和分叉。 In addition to other aspects of the 3D model may include airway tree, the tree model corresponds to the actual airway lung airway of a patient, and shows the actual path of each patient's airway tree, branch and bifurcation. 尽管CT扫描图像数据可能在图像数据中包括间隙、 遗漏和/或其它瑕疵，但3D模型是患者的气道的顺滑表示，在其中填充或修正了CT扫描图像数据中的任何这样的间隙、遗漏和/或瑕疵。 Although the CT scan image data may include gaps, omissions and / or other imperfections in the image data, the 3D model of the patient's airway smooth represented in amended or where any such filling a gap in the CT scan image data, omissions and / or blemishes.
[0056]规划阶段通常涉及识别3D模型中的至少一个目标，并生成通向目标的路径。 [0056] planning often involves the at least one target identified in the 3D model, and generates a path to the destination. 该路径通常从患者的口部通过气管和相连气道延伸到目标。 The path usually extends through the trachea and connected to the target airway from the mouth of the patient. 然而，为了生成通向目标的路径，必须要知道在3D模型内的气管位置。 However, in order to generate the path to the goal, it is necessary to know the location of the trachea in the 3D model.
[0057]正如下文更详细地描述的那样，应用程序将试图自动地检测3D模型内的气管。 [0057] as the application attempts to automatically detect the endotracheal 3D model as described below in more detail. 然而，可能存在气管的自动检测失败的情况。 However, there may automatically detect the failure of the trachea. 在这样的情况下，可能需要手动地识别并标记气管。 In such a case, you may be required to manually identify and mark the trachea. 在共同受让的、于2014年7月2日由Lachmanovich等提交的发明名称为"Trachea Marking"且申请号为62/020，253的美国临时专利申请中更全面地描述了该过程，上述专利申请的全部内容通过引用而并入本文。 In commonly assigned, entitled to July 2, 2014 filed by Lachmanovich as the "Trachea Marking" and Application No. 62 / 020,253 and US Provisional patent application described more fully in the process, the above-mentioned patents entire contents of which are incorporated herein by reference.
[0058]气管提供了用于呼吸的通路。 [0058] Providing the trachea passage for breathing. 气管的上端连接至喉部和咽部。 The upper end of the throat and the trachea connected to the pharynx. 特别地，气管的上部从喉部和咽部并且在胸骨的后方大体线性地延伸。 In particular, the upper portion of the trachea and extending generally linearly rearward from the throat and pharynx sternum. 气管的下端分叉到一对较小的管（即，主支气管）中，每一个管连接至肺部。 Trachea bifurcated lower end to a pair of smaller pipes (i.e., the main bronchus), each connected to a tube to the lungs. 隆突(main carina)是由气管分叉到主支气管中而形成的软骨脊突。 Keel (main carina) is bifurcated from the pipe formed in the main bronchus cartilage ridges. 气管的直径沿其长度（即，轴向方向）大体恒定，而肺部的大小沿与气管的长度相同的方向显著变化。 Pipe diameter along its length (i.e., the axial direction) is substantially constant, whereas the same size along the length direction of the trachea and lungs vary significantly. 因此，通过分析3D模型的2D切片图像，可以检测气管。 Thus, by analyzing 2D slice images of the 3D model can be detected trachea.
[0059]图1示出了可以在ENB程序的规划阶段期间用于检测3D模型中气管的位置的图像处理装置100。 [0059] FIG. 1 shows an image processing apparatus 100 may be used to detect the 3D model trachea during the planning phase procedure ENB position. 图像处理装置100可以是构造成执行下述功能的专用的图像处理计算机。 The image processing apparatus 100 may be configured as a dedicated image processing computer to perform the functions described below. 图像处理装置100可以实施为本领域技术人员已知的任何实现形式，例如笔记本电脑、台式机、平板电脑、或其它类似的计算机。 The image processing apparatus 100 may be implemented in any embodiment of the present form of skill in the art, e.g. laptop, desktop, tablet, or other similar computers. 图像处理装置100除了其它方面外还可以包括:一个或多个处理器110、存储器120、显示器130、一个或多个专用的图形处理器140、网络接口150、 以及一个或多个输入接口160，所述存储器除了其它方面外还存储上述应用程序122。 The image processing apparatus 100, among other aspects may further comprise: one or more processors 110, a memory 120, a display 130, one or more dedicated graphics processor 140, a network interface 150, and one or more input interfaces 160, the memory also stores, among other aspects of the application program 122. 如上所述，3D模型的2D切片图像能够以各种取向显示。 As described above, 2D slice images of the 3D model can be displayed in various orientations. 作为一个示例，图2示出了处于轴向取向和横向取向的、患者的肺部的3D模型的2D切片图像，其中2D切片图像210沿轴向平面生成， 2D切片图像220沿横向平面生成。 As one example, FIG. 2 shows, a 2D slice image of the 3D model of the patient's lungs in the axial orientation and the landscape orientation, wherein the 2D slice image 210 generated in the axial plane, 2D slice image 220 generated in the transverse plane.
[0060] 2D切片图像210和220均示出了气管212和隆突214 JD模型的2D切片图像可以示出具有高强度的高强度区域以及具有低强度的低强度区域。 [0060] 2D image slices 210 and 220 each show a pipe 212 and the keel 214 JD Model 2D slice image may show a high intensity region having a high strength and a low intensity region having a low intensity. 例如，相较于肺部的气道的内部区域，骨头、肌肉、血管或癌性部分被用更高的强度显示。 For example, the inner region compared to the airways of the lungs, bones, muscles, blood vessels or cancerous portion is displayed with higher intensity.
[0061] 在一方面，可以生成2D切片图像，用以在给定位置处示出患者的轴向图、横向图和纵向图。 [0061] In one aspect, 2D slice images may be generated for at a given axial position shown in FIG patient, lateral and longitudinal FIG FIGS. 例如，在3D模型的每一个交叉点处，可以沿三个独立的方向生成三个不同的2D切片图像。 For example, at each intersection of the 3D model can be generated three different 2D slice images along the three independent directions. 这些2D切片图像可以重设格式以用于显示。 These 2D slice images can reset the format for display. 例如，应用程序122可以将2D切片图像的色域转换成适于显示的另一色域并执行图像处理(例如，比例调节、旋转、平移、或投影）以按照意图来显示2D切片图像。 For example, application 122 may be a 2D slice in the gamut of another color gamut conversion into an image suitable for display and performs processing (e.g., proportional control, rotation, translation, or projector) in accordance with the intention to display a 2D slice image.
[0062]可以通过使用区域增长算法将2D切片图像二元化。 [0062] The region growing algorithm by using the 2D slice image binarization. 基于区域增长算法并且始于种子像素，检查3D模型的2D切片图像中的每一个像素，以确定分配给每一个像素的亨斯菲尔德(Hounsfield)值是否小于阈值以及每一个像素是否连接至种子像素。 Region growth algorithm based upon and starts sub-pixels, checking 2D slice images of the 3D model of each pixel to determine whether each pixel is assigned to Hounsfield (a Hounsfield) value is less than the threshold value and each pixel is connected to the seed pixels . 当确定分配给一像素的值具有小于阈值的亨斯菲尔德值并且该像素连接至种子像素时，则该像素的亨斯菲尔德值被设定为1或最大值。 When determining the value assigned to a pixel having a Hounsfield value smaller than the threshold and the pixel connected to the sub-pixels, the Hounsfield value of the pixel is set to 1 or a maximum. 否则，该像素的亨斯菲尔德值被设定为〇或最小值。 Otherwise, the pixel value is set as the Hounsfield square or minimum. 作为区域增长算法的一部分，阈值选择成足够高的值以在肺部中引起漏泄(leakage)，并因此用从气道漏泄的强度值填充肺部。 As part of the region growing algorithm, the threshold value is selected to be high enough to cause leakage (leakage) in the lungs, and thus filling the lungs with the intensity value of the leakage from the airway.
[0063]在3D模型的2D切片图像中的每一个像素被设定为最大值或最小值之后，2D切片图像将仅具有两种颜色的像素。 After [0063] Each pixel in the 2D slice images of the 3D model is set to the maximum or minimum value, the 2D slice image pixels having only two colors. 结果得到一组2D切片图像，其中具有最大亨斯菲尔德值的像素将呈现为白色，具有最小亨斯菲尔德值的像素将呈现为黑色。 Results obtained a set of 2D slice images, wherein the pixel having the maximum Hounsfield value will appear white, having a minimum Hounsfield values ​​of pixels will be rendered as black. 在某些情况下，3D模型的2D 切片图像中的像素的值被取反，使得肺部区域示出为黑色，且非肺部区域示出为白色或另一种颜色。 In some cases, the pixel values ​​of a 2D slice images of the 3D model is inverted, so that the lung region shown in black, and the non-lung region shown as white or another color. 二元化的2D切片图像可以示出白色区域作为非肺部区域(例如，骨头、胃部、心脏、血管、气道壁等），并且示出黑色区域作为肺部区域(例如，肺部、气管和相连组成部分）。 2D slices the binarized image may be shown as a non-white regions lung area (e.g., bone, stomach, heart, blood vessel, airway wall, etc.), and the black area shows a region of the lung (e.g., lung, part of the trachea and connected). 正如后文更详细说明的那样，相连组成部分是一个2D切片图像中的识别为在一个或多个其它的2D切片图像中具有对应区域的区域，并且因此可以代表患者的肺部或气管。 As explained in more detail later herein above, it is connected to a part of the 2D slice image corresponding to areas identified as having one or more regions in the 2D slice image of the other, and thus may represent the trachea or lungs of the patient.
[0064]图3是根据本公开的实施例的、基于3D模型生成的三个2D切片图像。 [0064] FIG. 3 is a three 2D slice image based 3D model generation embodiment of the present disclosure. 图像305沿轴向方向生成，图像310沿纵向方向生成，图像315沿横向方向生成。 Image 305 generated in the axial direction, the image 310 generated in the longitudinal direction, the image 315 generated in the transverse direction. 在三个图像305、310和315 中示出为黑色区域的是肺部区域，在三个图像305、310和315中所包括的白色区域为非肺部区域。 In the three images 305, 310 and 315 is shown as a black area is the lung region, the three images 305, 310 and 315 included in the white areas are non-pulmonary region. 白色区域可以表示血管和气道壁。 It may represent white areas of vascular and airway wall. 在相连组成部分的内部区域足够大并且具有比构成肺部区域的组织更低的强度（例如，血液、空气、或粗糙空间）的情况下，也会出现黑色区域。 In the case where the connected part of the composition of the inner region is sufficiently large and has a lower pulmonary region than the structure composed of intensity (e.g., blood, air, space or rough), the area will appear black. 就该意义而言，相连组成部分也包括肺部区域。 In terms of significance in respect of connected components of the lungs also include areas. 例如，图像305中的相连组成部分是左肺320、右肺325、左主支气管330和右主支气管335。 For example, the image 305 is connected to part 320 of the left lung, right lung 325, 330 and the left main bronchus 335 right main bronchus. 在左肺320和右肺325内的白色区域不是相连组成部分，而是血管或气道壁。 320 in the left lung and the right lung 325 in the white area is not part of the connected, but the vessel or airway wall.
[0065]气管的上部从喉部和咽部并且在胸板或胸骨的后方大体线性地延伸。 [0065] The upper portion of the trachea and extending generally linearly rearward from the sternum or breastbone of the throat and pharynx. 气管的下端分叉到一对较小管（即，主支气管）中，每一个管连接至肺部。 Trachea bifurcated lower end to a pair of small tubes (i.e., the main bronchus), each connected to a tube to the lungs. 气管的直径沿其长度（即，轴向方向）大体恒定，而肺部的大小沿与气管的长度相同的方向显著变化。 Pipe diameter along its length (i.e., the axial direction) is substantially constant, whereas the same size along the length direction of the trachea and lungs vary significantly. 因此，通过分析基于3D模型生成的2D切片图像中相连组成部分的面积，可以检测气管。 Thus, by analyzing 2D slice images based on the 3D model generation is connected to the area of ​​the portion of the composition can be detected trachea. 为此，在本公开中，可以分析沿轴向方向生成的图像来检测气管。 For this reason, in the present disclosure, the generated image may be analyzed to detect the axial direction of the pipe. 在其它实施例中，还可以使用沿其它两个方向生成的图像来检测气管。 In other embodiments, the generated image may also be used in the other two directions detected trachea.
[0066]图4示出了根据本公开的实施例的、由3D模型生成的2D切片图像。 [0066] FIG. 4 shows, the 3D model generated by the 2D slice images embodiment of the present disclosure. 图像405是示出了沿患者的若干轴向位置的患者的横向图像，在这些轴向位置处，根据本公开识别并处理轴向图像410a-430b。 The image 405 is a diagram showing images of the patient along several transverse axial position of the patient, at the axial position, axial images is disclosed recognizing and processing according to the present 410a-430b. 例如，图像410a从最上方灰线所示的沿胸部的轴向位置获得，图像415a从第二条灰线所示的沿胸部的另一轴向位置获得，图像420a从第三条灰线所示的沿胸部的另一轴向位置获得，依次类推。 For example, the image 410a is obtained from the axial position along the top of the chest as shown in the gray line image 415a is obtained from the other axial location along the chest of the gray line shown in the second, the third gray image 420a from the line other axial position shown in the chest obtained, and so on.
[0067]图像410a_430b的轴向位置可以彼此以相等的距离间隔开，这意味着任意两个相邻的2D切片图像之间的距离为同一距离D。 The axial position of the [0067] image may 410a_430b at equal distance from each other, the distance between the 2D slice image which means that any two adjacent same distance D. 轴向2D切片图像410&、415&、420 &、425&和430&示出了患者的胸部的在不同位置处的部分。 410 & axially 2D slice images, & 415, 420 & 425 and 430 & & illustrate part of the patient's chest at various locations. 作为二元化的结果，这些图像410a、415a、420a、 425a和430a中的每一个均示出了黑色的包封区域，其代表气管和/或肺组织。 As a result of binarization, the images 410a, 415a, 420a, 425a and 430a are shown in each of the black encapsulant region, which represents the trachea and / or lung tissue.
[0068] 用于检测气管的处理可以基于在每一个轴向2D切片图像410&、415&、420 &、425&和430a中识别出的相连组成部分。 [0068] The processing for detecting pipe part is connected may be identified based in each 2D slice image 410 & axially, & 415, & 420, 425 & 430a and the. 通常，分析第一轴向2D切片图像来识别出满足二元化标准(BP，可能是气管或肺部）的一个或多个识别区域。 Typically, the first axial 2D slice image analysis to identify one or more identification areas diacids standards (on BP, trachea or lungs may be) a. 除了识别轴向2D切片图像中的满足二元化标准的区域之外，完成初次相连组成部分分析，其中过滤掉轴向2D切片图像410a中的连接到图片边界的任何部分。 In addition to the 2D slice image to identify a region in the axial direction satisfies binarized criteria, completed the initial portion is connected to composition analysis, which was filtered off axially 2D slice image 410a is connected to any portion of the picture boundaries. 此外，还过滤掉高于或低于一定大小阈值的相连组成部分。 In addition, further connected part was filtered off above or below a certain size threshold. 根据与其它图像中的相连组成部分的连接标准，将任何一个轴向切片图像(例如，410a)的剩余相连组成部分与有效目标关联。 The other image is connected to the connection part of the standard composition, any one axial slice image (e.g., 410a) is connected to the remaining part associated with a valid target. 执行轴向相连组成部分分析，其中，确定两个相继的轴向2D 切片图像中的相连组成部分是否在地理上彼此重叠。 An axial analysis execution part is connected, wherein the determining whether the connected components of geographically overlap each other in two successive axial 2D slice images. 可以通过比较相继图像中的有效目标的坐标并确定在相继图像的有效目标中是否出现相同的坐标(例如，X和Y坐标)而确定地理重叠(Geographical Overlap)。 By comparing the coordinates of successive valid object and determining whether the image is the same coordinates (e.g., X and Y coordinates) and determine a geographic overlap (Geographical Overlap) appear in a valid target successive images. 如果是地理重叠，则将来自两个轴向2D切片图像的相连组成部分彼此关联并且均对应地标记为有效目标。 If geographical overlap, then the two axial 2D slice images associated with each other and connected to each part corresponding to the target from the marked valid. 标记为有效目标的相连组成部分是待识别为气管的候选。 Marked as valid object part is connected to the candidate to be recognized as the trachea. 当另外的相连组成部分不与来自在先2D切片图像的一个或多个相连组成部分地理重叠时，则另外的相连组成部分被标记为新的有效目标。 When the additional part is not connected with a 2D slice image from a previous one or a plurality of connected geographically overlaps part, connected to the additional part is marked as a new valid object. 此外，如果在随后的轴向切片中确定没有与在先图像重叠的相连组成部分目标，则在先图像中最后识别出的有效目标即被最终确定。 Further, if it is determined connected components of the target does not overlap the preceding image in the subsequent axial slice, preceding the last valid object image identified i.e. finalized. 在每一个2D切片图像上执行上述步骤，直到识别出在每一个横向2D切片图像中的每一个相连组成部分，并且在适当的情况下归类为有效目标。 Performed on each 2D slice image the above steps until each of the identified connected to each lateral part of the 2D slice images, and in the valid object classified as appropriate.
[0069] 参照图4,对上述处理的细节进行进一步阐述。 [0069] Referring to FIG 4, details of the above process will be further illustrated. 在一实施例中，首先处理最上方2D 切片图像410a，以识别或标记相连组成部分411。 In one embodiment, the first 2D slice image processing top 410a, to identify or mark part 411 is connected. 在一实施例中，最上方2D切片图像410a中的任何相连组成部分都被标记为有效目标。 In one embodiment, the top part is connected to any 2D slice images are marked 410a is a valid object. 结果，在上述过滤后的图像410b中，示出单个有效目标412。 As a result, the image after the filter 410b, a single valid object 412 is shown.
[0070] 接下来，以与横向2D切片图像410a相类似的方式处理第二轴向2D切片图像415a， 以识别三个相连组成部分416、417和418。 [0070] Subsequently, in a similar manner with the transverse 2D slice image 410a processing the second axial 2D slice images 415a, to identify the three components of 416, 417 and 418 are connected. 再次执行上述的过滤处理，从而导致识别出图415b中所示的三个有效目标416、417和418。 Filtering process described above is performed again, resulting in three identified valid object as shown in FIG. 416, 417, 415b and 418. 对有效目标416-418中的一个或多个是否与在先轴向2D切片图像中的相连组成部分(例如，411)地理重叠进行判定。 416-418 of valid target if one or more axially connected to the previous 2D slice image components (e.g., 411) determines the geographical overlap. 作为该分析的结果， 有效目标413和414是新的有效目标，与在先轴向2D切片图像410b中相比没有相连组成部分。 As a result of the analysis, 413 and 414 are valid object new valid object, it is not connected to the previous part compared to 2D slice images 410b in the axial direction. 然而，相连组成部分416与2D切片图像410a中的相连组成部分411地理重叠并关联，因此，将两个相连组成部分416和411彼此竖直地（即，从轴向切片到轴向切片地)连接。 However, part 411 connected to part 416 and connected to the geographical 2D slice image 410a and the composition of the associated overlapped, therefore, the two components of 416 and 411 are connected to each other vertically (i.e., sliced ​​from an axial to the axial slices) connection. 结果， 关联的相连组成部分416和411共享共同的有效目标标记412。 As a result, the associated connected part 416 and 411 share a common goal valid mark 412.
[0071] 参照第三2D切片图像420a，识别出三个相连组成部分421-423。 [0071] Referring to third 2D slice images 420a, recognizes three adjacent part 421-423. 按照上述过滤处理，将每一个相连组成部分421-423与第二轴向2D切片图像415a的相连组成部分416-418分别地比较。 According to the above filtration treatment, each connected to one part 421-423 respectively connected axially with a second 2D slice image composition portion 415a 416-418. 相连组成部分421与相连组成部分416地理重叠，并且其尺寸或面积与相连组成部分416的尺寸或面积类似。 Is connected to part 421 and part 416 is connected to the geographical overlap, and is connected to the composition of the size or area size or area portion 416 is similar. 因此，将相连组成部分421与相连组成部分416关联并且标记为与相连组成部分416相同的有效目标412,这是基于其与轴向图像切片410a中的相连组成部分411的比较。 Thus, the connected part 421 connected to part 416 and the tag associated with the target attached to the same effective composition portion 416 412, which is based on the comparison portion 411 in the axial image slices 410a which is connected to the composition.
[0072] 相连组成部分422和423分别与相连组成部分417和418地理重叠，因此是基于该重叠被标记为有效目标413和414的候选。 [0072] 422 connected to part 423 and part 417 are respectively connected to 418 and geographical overlap, the overlap is thus based on the target is marked as valid candidates 414 and 413. 然而，相连组成部分422和423也必须如上所述根据尺寸进行过滤。 However, part 422 and 423 are connected must also be filtered depending on the size described above. 因为相连组成部分422和423的面积大于预定最大尺寸，所以它们必须被过滤掉而不被认为是有效目标。 Because the part 422 and 423 is connected is larger than the predetermined maximum size, they must be filtered out without being considered to be valid targets. 在图420b中，这些相连组成部分基于颜色由黑到白的变化而示出为被过滤掉。 In FIG. 420b, part of which is connected based on color changes from black to white is shown as being filtered. 相反地，与有效目标412关联的相连组成部分421仍为黑色。 In contrast, the composition of the valid object 412 is connected to the associated portion 421 remains black. 在本公开的上下文中，由于已知气管沿其长度具有大体恒定的直径，并且由于该直径对于男性而言通常在约27-13mm的已知范围内、对于女性而言通常在约23-10mm的已知范围内，因此当相连组成部分被识别为具有比在先2D切片图像中的对应的相连组成部分的面积明显更大的面积时，则由这样的相连组成部分代表的器官被确定为不是气管，因而从分析中被排除。 In the context of the present disclosure, by having a substantially constant diameter along its length pipe is known, and since the diameter for males known generally in the range of about 27-13mm, for women typically about 23-10mm within a known range, so that when the part is connected to be identified as having significantly greater than the area of ​​the connected components of the previous 2D slice image corresponding to the area, connected by a part of such an organ is determined as the representative not the trachea, it has been excluded from the analysis. 作为替代或附加步骤，因为相连组成部分422和423具有比相连组成部分416和418的面积更大的面积，也可以认为相连组成部分422和423过大，因此不是气管的部分。 As an alternative or additional steps, because the connected part 422 and 423 connected to a larger portion than 416 and the area 418 of the area of ​​the composition, that may be connected to part 422 and 423 is too large, and therefore not part of the trachea. 此外，第二轴向2D切片图像415b的相连组成部分417和418可以被再次标记，以移除有效目标标识。 Further, the second axial 2D slice image 415b is connected to part 417 and 418 may be marked again to effectively remove the target identifier. 结果，2D切片图像410b、415b和420b仅具有一个有效目标412。 Results, 2D slice images 410b, 415b and 420b have only one valid object 412.
[0073]如上文简要说明的那样，可以基于连接标准，将单独的2D切片图像的相连组成部分与相邻的上方2D切片图像的相连组成部分关联。 [0073] As briefly described above, may be based on a standard connector, to connect the individual components of 2D slice images of adjacent 2D slice image over the connected part is associated. 连接标准可以包括考虑当前2D切片图像上的坐标与相邻的上方2D切片图像上的坐标的相等性。 Criteria may include consideration of the connection equal to the current of coordinates on the 2D slice images above and adjacent to the coordinates on the 2D slice images. 在一实施例中，2D切片图像的像素的坐标可以基于笛卡尔坐标系，其中原点可以位于2D切片图像的左上角，并且坐标从左至右和从上至下地增加。 In one embodiment, the 2D slice image coordinates of the pixel may be based on a Cartesian coordinate system, the origin of which may be located in the upper left corner of the 2D slice image, and the coordinate increases from left to right and top to bottom. 替代地，像素的坐标可以基于适用于预期用途的另一种坐标系例如极坐标系。 Alternatively, the coordinates of the pixel can be based, for example, a polar coordinate system is suitable for the intended use another coordinate system.
[0074]可以基于当前2D切片图像的相连组成部分的、与相邻的上方2D切片图像的相连组成部分的像素的坐标匹配的像素的数目计算来自两个不同图像的两个相连组成部分之间的地理重叠（也称作关联参数）。 [0074] connected to a current may be based on 2D slice images of the part, the number of pixels of the pixel coordinates of the matching portion is connected adjacent the top of the 2D slice image is calculated consisting of two coupled between components of the images from two different geographical overlap (also referred to as associated parameters). 替代地，可以基于质心来评估重叠。 Alternatively, the overlap may be evaluated based on the centroid. 即，在当前2D切片图像的相连组成部分的质心与相邻的上方2D切片图像的相连组成部分的质心相类似时，将当前2D切片图像的相连组成部分与相邻的上方2D切片图像的相连组成部分关联。 That is, in the connected current 2D slice images composition centroid portion and the 2D slice image over the adjacent connected composition barycentric portion similar to connect the current 2D slice images of the part above the adjacent 2D slice images connected part of the association. 可以按照下面的公式以相连组成部分中的每一个像素具有相等权重的方式计算质心： The following equation can be connected to each pixel has a way equal weight component of the centroid calculation:
[0076] 其中，Cx和Cy分别是质心的X轴坐标和y轴坐标，Xi和yi是相连组成部分的第i个像素的坐标，N是相连组成部分中包含的像素总数。 [0076] wherein, Cx and Cy are X coordinate axis and y-axis coordinates of the center of mass, Xi and yi are coordinates of the i-th pixel connected to the composition portion, N is the total number of pixels included in the connected part.
[0077]在另一方面，连接标准可以基于面积比。 [0077] In another aspect, the area ratio may be based on a standard connector. 特别地，当前2D切片图像的相连组成部分的非重叠部分的面积与当前切片的相连组成部分的重叠区域的面积之比可以与第一预定值相比较。 In particular, the current is connected to the area of ​​2D slice image composition portion non-overlapping portions may be compared with the composition ratio of this area of ​​the connected portion of the overlapping area of ​​the first slice of the predetermined value. 例如，可以通过将相邻的上方2D切片图像的相连组成部分的重叠部分的面积除以相邻的上方2D切片图像的相连组成部分的非重叠部分的面积来计算该比率。 Is connected to the area of ​​non-overlapping portion of 2D slice images above example, the area of ​​the overlapping portion may be connected through portions above the 2D slice images of the adjacent part of the composition of the adjacent divided to calculate the ratio. 当该比率小于第一预定值时，将当前2D切片图像的相连组成部分与相邻的上方2D切片图像的对应的相连组成部分关联。 When the ratio is less than a first predetermined value, the current is connected to the 2D slice image corresponding part associated part is connected to the 2D slice image over the adjacent.
[0078]回到图4,沿轴向方向获得第四轴向2D切片图像425a，在其中检测到三个相连组成部分426-428。 [0078] Returning to Figure 4, fourth axial 2D slice images obtained 425a in the axial direction, wherein the detection part is connected to three 426-428. 利用上述连接标准和过滤技术，将相连组成部分426与相连组成部分421关联、将相连组成部分427与相连组成部分422关联、以及将相连组成部分428与相连组成部分423关联。 And the connection using standard filtering techniques, and the connecting part 426 is connected to the associated part 421, connecting part 427 connected to part 422 is associated, and the association section 423 is connected to part 428 and connected components. 由于相连组成部分422和423先前因过大而已被过滤掉并且没有标记为有效目标， 因此相连组成部分427和428在图425b中也被过滤掉并且不被标识为有效目标。 Due to the connection part 422 and 423 previously too large for it to be filtered off and is not marked as a valid target, so the target 427 and 428 are also effectively filtered in FIG 425b and is not identified as connected components. 然而，如图像425b所示，相连组成部分426与相连组成部分421关联，并且最终被标记为有效目标412的一部分。 However, the image 425b as shown, is connected to the associated part 421 connected to part 426, part 412 and the final target is marked as valid.
[0079] 轴向2D切片图像430a是从最上方2D切片图像410a算起的第五2D切片图像。 [0079] 2D slice image 430a is axially fifth 2D slice image from the 2D slice image 410a uppermost counting. 再次地，在2D切片图像430a中检测出三个相连组成部分431-433。 Again, three detect the connected components of the 2D slice images 431-433 in 430a. 基于上述连接标准和过滤处理，将相连组成部分431与相连组成部分426关联、将相连组成部分432与相连组成部分427 关联、以及将相连组成部分433与相连组成部分428关联。 Based on the above criteria and filtering connector, connecting part 431 connected to part 426 associated with the connecting part 432 is connected to the associated part 427, and connecting part 433 connected to part 428 associated components. 正如在图像425b中那样，因为相连组成部分427和428过大而不被标记为有效目标，所以相连组成部分432和433也类似地不与有效目标关联并且从分析中移除。 425b as in the image, because the connected part 427 and 428 are too large to be marked as a valid target, the connected part 432 and 433 are similarly not associated with a valid object and removed from the analysis. 然而，相连组成部分431与相连组成部分426关联，且相连组成部分426先前已与有效目标412关联，正如图像430b所示。 However, the connected part 431 connected to part 426 associated with and connected to part 426 previously associated with the valid object 412, the image 430b as shown in FIG.
[0080] 如在2D切片图像430a和430b中所示，相较于在2D切片图像425a中的相连组成部分426的面积、在2D切片图像420a中的相连组成部分421的面积、在2D切片图像415a中的相连组成部分416的面积、以及在2D切片图像410a中的相连组成部分411的面积(所有这些相连组成部分426都与有效目标412关联），相连组成部分431的面积较小。 [0080] As 430a and 2D slice images, as compared to the 2D slice image 425a connected as shown in the area 430b in the composition section 426 in the 2D slice image 420a is connected to the area of ​​the composition portion 421, the 2D slice image the area 415a is connected to part 416, and the area of ​​the 2D slice image 410a is connected to the part 411 (all of which are connected to part 426 associated with the valid object 412), the smaller portion 431 is connected to the area of ​​the composition. 在至少一个实施例中， 由于相连组成部分431的面积与2D切片图像425a的相连组成部分426的面积之比小于阈值， 所以包括相连组成部分411、416、421、426和431的有效目标412可以被最终确定，这意味着有效目标412闭合。 In at least one embodiment, the composition of the area due to the connection portion 431 and the 2D slice image composition than the portion 425a is connected to the area 426 is less than the threshold value, the valid object comprises a connected part 431 and 412 may 411,416,421,426 It is finalized, which means that a valid target 412 is closed. 在有效目标被最终确定之后，没有其它的连接组成部分再与有效目标关联。 After the valid object is finalized, no other part of the connector and then associated with a valid target.
[0081] 当有效目标412被最终确定时，可以通过将包含有效目标的2D切片图像的数目乘以相邻的2D切片图像之间的距离来计算有效目标的长度。 [0081] When a valid target 412 is finally determined, the distance between the 2D slice image by the number of 2D slice images containing the valid object to calculate the length by multiplying the adjacent valid object. 基于有效目标的长度，对有效目标是否为气管进行判定。 Based on the length of the valid object, for determining whether the valid object is a pipe. 在一方面，如果有效目标的长度大于70毫米(mm)，则将有效目标识别为气管。 In one aspect, if the length of the valid object is greater than 70 millimeters (mm), it will be recognized as a valid object trachea. 在另一方面，如果有效目标的长度大于或等于30mm且小于或等于70mm，则将有效目标识别为可能是气管。 On the other hand, if the effective length equal to or greater than target and less than or equal to 30mm 70mm, then the valid object may be identified as the trachea. 当有效目标的长度小于30mm时，有效目标不被识别为气管。 When a valid target is less than the length of 30mm, it is not recognized as a valid object trachea.
[0082]图5A和5B是根据本公开的实施例的、用于自动检测气管的方法500的流程图。 [0082] Figures 5A and 5B are a flowchart of a method 500 according to the embodiment of the automatic detection pipe embodiment of the present disclosure, a. 方法500始于步骤505,在该步骤中生成患者的肺部的3D模型。 The method 500 begins at step 505, generating a 3D model of the patient's lungs in this step. 3D模型可以基于CT扫描图像数据， 所述CT扫描图像数据在对患者的胸部进行CT扫描期间获得并存储成DIC0M图像格式。 3D model may be based on a CT scan image data, the CT scan image is obtained and stored as a data format DIC0M image of the patient's chest during a CT scan. 在一方面，成像模式也可以是射线照相术、通过CAT扫描生成的断层照片、MRI、超声波造影术、对比成像、荧光检查、核扫描和PET(正电子发射断层成像）。 In one aspect, the imaging mode may be radiography, CAT scan generated by the tomogram, MRI, angiography, ultrasound, contrast imaging, fluoroscopy, nuclear scanning and PET (positron emission tomography).
[0083]在步骤510中，可以由3D模型生成2D切片图像。 [0083] In step 510, 2D slice image may be generated by the 3D model. 生成的2D切片图像可以是仅包括黑色像素和白色像素的二元化2D切片图像。 Generating a 2D slice image may be a 2D slice image binarized only black pixels and white pixels. 可以沿轴向方向生成2D切片图像。 2D slice images may be generated in the axial direction. 替代地，可以沿不同于轴向方向的方向生成2D切片图像。 Alternatively, the 2D slice images may be generated in a direction different from the axial direction. 在一方面，以相等的间隔距离生成2D切片图像，从而可以简便地计算任意两个2D切片图像之间的距离。 In one aspect, at equal distance generate a 2D slice images, which can easily calculate the distance between any two 2D slice images. 在另一方面，能够以不同的距离生成2D切片图像，但是可以包括指明每一个2D切片图像与最上方2D切片图像相距多远的距离信息。 In another aspect, the 2D slice images can be generated at different distances, but may comprise a 2D slice images each indicating how far the distance information and the 2D slice images uppermost apart.
[0084]在步骤515中，在2D切片图像中识别相连组成部分。 [0084] In step 515, the recognition part is connected to the 2D slice images. 如上文所述，在每一个图像中的相连组成部分是仅具有单一颜色像素(例如，如图4所示的黑色）的包封区域。 As described above, each connected to a part of the image is a pixel having only a single color (e.g., black as shown in FIG. 4) of the encapsulated region. 在步骤520 中，在最上方2D切片图像中识别出的任何相连组成部分被标记为有效目标。 In step 520, coupled to any part recognized in the uppermost 2D slice image it is marked as a valid target. 有效目标被认为是气管的候选。 Valid target is considered to be the candidate of the trachea. 在步骤525中，计数器i被设定为2,并且检查下一个2D切片图像。 In step 525, the counter i is set to 2, and checks a next 2D slice images.
[0085]图5B示出了作为用于自动检测气管的方法500的一部分的、用于关联并标记相连组成部分的流程图。 [0085] FIG 5B shows a method for automatically detecting a portion of the pipe 500, and the mark connected flowchart for associating moiety. 在步骤526中，对在第i个2D切片图像中的相连组成部分是否与在第i-1 个2D切片图像中的相连组成部分关联进行判定。 In step 526, connected to the i-th 2D slice images whether the connected components of the first part of the associated i-1 th 2D slice images is determined. 在一方面，可以基于当前和在先2D切片图像中的每一个的相连组成部分的位置来将当前2D切片图像中的相连组成部分与在先2D切片图像中的相连组成部分关联。 In one aspect, the location may be based on the portion connected to the current and previous 2D slice images of each of the connected components of the composition to the current 2D slice image and 2D slice images previously connected to the associated part. 当相连组成部分重叠时，它们彼此关联。 When connecting part overlap, associating them with each other. 否则，相连组成部分不被关联。 Otherwise, not connected to the associated part.
[0086]当确定当前2D切片图像（即第i个2D切片图像）中的相连组成部分不与在先2D切片图像（即第i-Ι个2D切片图像）中的相连组成部分关联时，在步骤528中，将当前2D切片图像的相连组成部分标记为有效目标。 [0086] When determining that the current is connected to 2D slice image (i.e., 2D slice images i-th) is not part of the previous 2D slice image (i.e., the i-th iota 2D slice image) is attached to part of the association of the in step 528, the 2D slice images is connected to the current part of the target is marked as valid. 然后执行步骤570(图5A)。 Then step 570 (FIG. 5A).
[0087]当在步骤526中确定当前2D切片图像中的相连组成部分与在先2D切片图像中的相连组成部分关联时，在步骤530中对在先2D切片图像的相连组成部分是否为有效目标进行另一次判定。 [0087] When it is determined is connected in the current 2D slice image composition portion and connected to the previous 2D image slices associated part in step 526, in step 530 whether the valid object is connected to the previous part of the 2D slice image composition make another determination. 在标记处理之后，接着执行图5A的步骤570。 After the labeling process is then performed in step 570 of FIG. 5A.
[0088]在将在先2D切片图像的相连组成部分标记为有效目标的情况下，在步骤534中，在当前2D切片图像的相连组成部分和在先2D切片图像的相连组成部分之间计算关联参数R。 Calculating correlation between the connected components of [0088] In the case where the 2D slice image of the previous part is connected to the target marked as valid, in step 534, it is connected in the current 2D slice image and the previous part of the 2D slice image parameter R. 关联参数基于连接标准，所述连接标准用于确定相邻的2D切片图像的两个相连组成部分是否紧密相关。 Two correlation parameters based on a connection standard, the standard for determining the connection of adjacent 2D slice images closely related to whether the part is connected.
[0089] 在一方面，关联参数是面积比，该面积比是当前2D切片图像的相连组成部分的面积与在先2D切片图像的对应的相连组成部分的面积之比。 [0089] In one aspect, the parameter is associated with the area ratio, the area ratio of the current is connected to the 2D slice image composed of the area of ​​the portion connected to the previous part of the composition ratio of the area of ​​the corresponding 2D slice images. 在步骤536中，将关联参数与两个预定值进行比较。 In step 536, the parameters associated with the two predetermined values. 在关联参数R小于第一预定值?!的情况下，在步骤538中，在先2D切片图像的被标记为有效目标的相连组成部分被最终确定。 In the case where the associated parameters is less than a first predetermined value R?!, And in step 538, is marked as valid object connected to the previous part of the 2D slice images is finalized. 在当前2D切片图像的相连组成部分的面积显著减小或完全消失时出现该情况。 Is connected to the current area of ​​the 2D slice image of the part is significantly reduced or completely disappear when this happens. 例如，由于气管的下端分叉，气管的底部的图像可能会显示出面积远小于气管的横截面面积的相连组成部分。 For example, since the lower end of the tracheal bifurcation, the bottom of the image may show pipe connected part cross-sectional area much smaller than the area of ​​the trachea. 相连组成部分的面积的显著减小可能表示到达气管的底部。 Composition area of ​​the portion connected to a significant reduction in the trachea may indicate that reach the bottom.
[0090] 当关联参数R大于或等于第一预定值丹、但小于或等于第二预定值p2时，在步骤540 中，将当前2D切片图像的相连组成部分标记为有效目标。 [0090] R when the associated parameter value is greater than or equal to a first predetermined Dan, but less than or equal to a second predetermined value p2, in step 540, is connected to the current 2D slice images labeled as part of a valid target. 在该情况下，当前2D切片图像的相连组成部分被认为是在先2D切片图像中识别出的有效目标的延续(例如，气管候选）。 In this case, current is connected to 2D slice images is considered to be part of a continuation of previous valid object identified in 2D slice image (e.g., the candidate trachea).
[0091] 当关联参数R大于第二预定值?2时，在步骤542中，在先2D切片图像的相连组成部分的标记可以被移除，以使其不被标记为有效目标。 [0091] when the associated parameter is greater than a second predetermined value R? 2, in step 542, is connected to the previous part 2D slice images indicia may be removed so as not to be marked as a valid target. 在当前2D切片图像的相连组成部分的面积显著增加时出现该情况。 In area 2D slice images is connected to the current part of the case when significantly increased. 结果，关联参数可以达到100%。 As a result, the associated parameters may be up to 100%. 在这样的情况下，在步骤541 中，对当前图像切片的相连组成部分的直径是否大于预定阈值（例如，对于男性而言为30mm、对于女性而言为25mm)进行第二次查询。 In this case, in step 541, is connected to whether the current image slice composition diameter portion than a predetermined threshold (e.g., 30mm for men as for women to 25mm) for the second query. 相连组成部分的这样的直径将表明相连组成部分不可能是气管。 Such diameter part connected part will not be connected to indicate the trachea. 因此，在先2D切片图像的相连组成部分被认为不是气管。 Thus, connected to the previous 2D slice images are not considered part of the trachea. 在步骤544中， 当前2D切片图像的相连组成部分的标记也被移除，以使其不被标记为有效目标。 In step 544, the current is connected to the 2D slice image composed of labeled part is also removed, so that it is not marked as a valid target.
[0092] 在步骤538、540和544之后，对在当前2D切片图像中是否存在未经处理的相连组成部分进行判定。 [0092] After step 538, 540 and 544, the presence or absence of the connected components of the current 2D slice images untreated determination. 当确定存在未经处理的相连组成部分时，重复步骤526-546，直到在当前2D 切片图像中未发现另外的未经处理的相连组成部分为止。 When determined that there is connected to the untreated part, repeating steps 526-546 until the current 2D slice images No further connected untreated until the composition part. 当确定在当前2D切片图像中不存在未经处理的相连组成部分时，继续图5A的步骤570。 When it is determined that unprocessed part is connected does not exist in the current 2D slice images, the step 570 in FIG. 5A continued.
[0093] 现在转至图5A，在步骤570中，计数器i加1。 [0093] Turning now to FIG. 5A, step 570, the counter i is incremented by 1. 在步骤575中，将计数器i与2D切片图像的数目N进行比较。 In step 575, the counter i is the number of 2D slice images N. 当计数器i小于或等于2D切片图像的数目N时，所述方法在图5B所示的步骤526处重复。 When the counter i is less than or equal to the number of 2D slice images N, the process step shown in FIG. 5B at 526 repeated. 否则，在每一个2D切片图像中的所有相连组成部分均已处理。 Otherwise, all connected components of each 2D slice images have been processed. 在步骤580中， 计算有效目标的长度。 In step 580, the calculated length of the valid object.
[0094]在步骤585和586中，将有效目标的长度与预定范围的值进行比较。 [0094] In step 585 and 586, the value of the length of the valid object predetermined range are compared. 在步骤590中， 如果有效目标的长度大于预定值，则有效目标被确定为气管。 In step 590, if the length of the valid object is greater than the predetermined value, then the pipe is determined to be valid object. 类似地，在步骤592中，如果有效目标的长度在预定范围内，则有效目标被标记为很可能是气管，并且医生可能必须在能够进行ENB程序的下一个步骤之前先确认有效目标是否为气管。 Similarly, in step 592, if the length of the valid object is within a predetermined range, the valid object are marked as likely trachea, and the doctor may have to be able to confirm a valid target is trachea before the next step ENB procedure . 在步骤595中，如果有效目标的长度小于预定范围，则气管的自动检测失败，并且必须要手动地识别并标记气管。 In step 595, if the length is smaller than the valid object predetermined range, the automatic detection of a failure of the trachea, and must be manually identified and marked trachea. 在一方面，预定范围为30mm到70mm。 In one aspect, the predetermined range of 30mm to 70mm. 因此，如果有效目标的长度大于70mm，则有效目标被确定为气管;如果有效目标的长度在30mm到70mm之间，则有效目标被标记为很可能是气管。 Thus, if the target is greater than the effective length of 70mm, then the pipe is determined to be valid object; if the length of the valid object between 30mm to 70mm, then the target is marked as valid is likely trachea. 用这样的方式，方法500根据2D切片图像自动地检测气管。 In this manner, the method of automatically detecting pipe 500 from the 2D slice image.
[0095] 现在，回到图1，存储器120包括应用程序122例如EMN规划和程序软件以及能够被处理器110执行的其它数据。 [0095] Now back to Figure 1, the memory 120 includes an application program 122, for example, planning and EMN software and other data which can be executed by the processor 110. 例如，所述数据可以是存储成DIC0M格式的CT扫描图像数据和/ 或基于CT扫描图像数据生成的3D模型。 For example, the CT scan data may be stored as DIC0M image data format and / or CT scan image data generated based on the 3D model. 存储器120还可以存储其它相关数据，例如患者的医疗记录、处方和/或患者的病史。 The memory 120 may also store other data, such as patient medical history records, prescription and / or patient. 存储器120可以是通过存储控制器和通信总线连接至处理器的一个或多个固态存储装置、闪存芯片、大容量存储器、磁带驱动器、或任何计算机可读存储介质。 One or more solid state storage device 120 may be a memory connected to the processor by a communication bus and a memory controller, flash memory chips, a large-capacity memory, magnetic tape drives, or any computer readable storage medium. 计算机可读存储介质包括以任何方法或技术实现的非暂时性、易失性和非易失性、可移除和不可移除的介质，其用于存储例如计算机可读指令、数据结构、程序模块这样的信息或其它数据。 The computer-readable non-transitory storage media includes any method or technology, the volatile and nonvolatile, removable and non-removable media, for storing, for example, computer-readable instructions, data structures, program such information modules or other data. 例如，计算机可读存储介质包括随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM)、电可擦除可编程只读存储器(EEPR0M)、闪存或其它固态存储技术、CD-R0M、DVD或其它光学存储器、磁盒、磁带、磁盘存储器或其它磁存储装置、或可以用于存储所需信息并且可以被图像处理装置100存取的任何其他介质。 For example, computer-readable storage medium comprises a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPR0M), flash memory, or other solid state memory technology, CD-R0M, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and which can be accessed image processing apparatus 100.
[0096]显示器130可以是触摸感应式和/或声音激活式，从而使显示器130能够用作输入装置和输出装置。 [0096] The display 130 may be touch-sensitive and / or voice-activated, so that the display 130 can be used as an input device and an output device.
[0097]图形处理器140可以是执行图像处理功能的专用图形处理器，所述图像处理功能例如是处理CT扫描图像数据以生成3D模型、处理3D模型以沿上述的多种取向生成3D模型的2D切片图像、以及3D模型的3D渲染。 [0097] Graphics processor 140 may perform image processing function dedicated graphics processor, the image processing function, for example, CT scan processing image data to generate the 3D model, the 3D model processing to generate a 3D model of the plurality of orientation along the 2D slice images, as well as 3D rendering 3D models. 图形处理器140还可以构造成生成要显示在显示器130 上的图形用户界面(GUI) XUI除其它方面外还可以包括示出2D图像切片、3D渲染的视图。 The graphics processor 140 may also be configured to generate a graphical user interface to be displayed on the display 130 (GUI) XUI among other aspects may further comprise a 2D image slices shown, 3D rendered view. 在实施例中，图形处理器140可以是专用图形处理器，例如专用图形处理单元(GPU)，其仅执行图像处理功能，以使得一个或多个通用处理器110可供用于其它功能。 In an embodiment, the graphics processor 140 may be a dedicated graphics processor, such as a dedicated graphics processing unit (the GPU), which performs only the image processing function, such that one or more general purpose processors 110 available for other functions. 专用的GPU可以是独立的专用图形卡或者是集成的图形卡。 Dedicated GPU may be a separate dedicated graphics card or integrated graphics card.
[0098]网络接口150使图像处理装置100能够通过有线和/或无线网络连接而与其它装置通信。 [0098] Network interface 150 causes the image processing apparatus 100 can be connected to communicate with other devices via wired and / or wireless networks. 在一实施例中，图像处理装置100可以经由网络连接从成像装置接收CT扫描图像数据。 In one embodiment, the image processing apparatus 100 via a network coupled to receive data from the CT scan image forming apparatus. 在其它实施例中，图像处理装置100可以经由存储装置(例如，磁盘或本领域技术人员已知的其它外部存储介质)接收CT扫描图像数据。 In other embodiments, the image processing apparatus 100 may receive data via a CT scan image storing means (e.g., magnetic disk or other external storage medium known to the skilled person).
[0099] 输入接口160用于输入数据或控制信息(例如设定值、文字信息)和/或控制图像处理装置100。 [0099] The input interface 160 for inputting data or control information (e.g. setting value, character information) and / or the control of the image processing apparatus 100. 输入接口160可以包括键盘、鼠标、触摸传感器、摄像头、麦克风、或者本领域技术人员已知的用于用户交互的其它数据输入装置或传感器。 The input interface 160 may include a keyboard, a mouse, a touch sensor, a camera, microphone, or known to the skilled person for other data entry user interaction device or sensor.
[0100] 在共同拥有的于2014年7月2日由Brown等提交的发明名称为"Real-Time Automatic Registration Feedback"且申请号为62,020，220的美国临时专利申请、于2014 年7月2日由Brown提交的发明名称为"Methods for Marking Biopsy Location"且申请号为62,020,177的美国临时专利申请、于2014年7月2日由Brown等提交的发明名称为"System and Method for Navigating Within the Lung"且申请号为62,020,240的美国临时专利申请、于2014年7月2日由Kehat等提交的发明名称为"Intelligent Display"且申请号为62,020,238的美国临时专利申请、于2014年7月2日由Greenburg提交的发明名称为"Unified Coordinate System for Multiple CT Scans of Patient Lungs"且申请号为62，020，242的美国临时专利申请、于20 14年7月2日由K1 e in等提交的发明名称为"Alignment CT"且申请号为62,020,245的美国临时专利申请、于2014年7月2日由Merlet提交的发明名称为"Algorithm for Fluoroscopic Pose Esti [0100] In the name of the invention to July 2, 2014 filed by Brown et commonly owned "Real-Time Automatic Registration Feedback" and apply to US Provisional Patent Application No. 62,020,220, and on July 2, 2014 title of the invention filed by Brown as "Methods for Marking Biopsy Location" and application No. US provisional Patent application 62,020,177, the name was invented in July 2, 2014 filed by Brown as the "System and Method for Navigating within the Lung" and application No. US provisional Patent application 62,020,240, the name was invented in July 2, 2014 filed by Kehat as the "Intelligent Display" and application No. US provisional Patent application 62,020,238, and on July 2, 2014 by the Greenburg title of the invention entitled "Unified Coordinate System for Multiple CT Scans of Patient Lungs" and the application of US provisional Patent application No. 62,020,242, the name was invented in July 2, 2014 filed by K1 e in as the "Alignment CT" and the application of US provisional Patent application No. 62,020,245, the name was invented in July 2, 2014 was filed by Merlet "Algorithm for Fluoroscopic Pose Esti mation"且申请号为62,020， 250的美国临时专利申请、于2014年7月2日由Markov等提交的发明名称为"System and Method for Segmentation of Lung"且申请号为62,020,261的美国临时专利申请、于2014 年7月2 日由Lachmanovich等提交的发明名称为"Cone View-A Method of Providing Distance and Orientation Feedback While Navigating in3D"且申请号为62,020,258 的美国临时专利申请、以及于2014年7月2日由Weingarten等提交的发明名称为"Dynamic 3D Lung Map View for Tool Navigation Inside the Lung"且申请号为62,020,262的美国临时专利申请中更全面地描述了能够在ENB程序的规划或导航阶段使用的图像和数据生成、管理和操控的更多方面的内容，上述专利申请的全部内容通过引用而并入本文。 mation "and Application No. 62,020, US Provisional Patent Application 250, the title of the invention on July 2, 2014 filed by Markov as the" System and Method for Segmentation of Lung "and Application No. US Provisional Patent Application 62,020,261, and entitled on July 2, 2014, filed by the Lachmanovich as the "Cone View-a Method of Providing Distance and Orientation Feedback While Navigating in3D" and application No. U.S. provisional Patent application No. 62,020,258, as well as on July 2, 2014 title of the invention filed by Weingarten as the "Dynamic 3D Lung Map View for Tool navigation Inside the Lung" and application No. US provisional Patent application 62,020,262 of more fully describe the images can be used in the planning or navigation stage ENB procedure and data generation, content management and control further aspects, the entire contents of which patent application is incorporated herein by reference.
[0101]尽管出于阐释和说明的目标，参照附图详细地描述了实施例，但是应理解，本发明的方法和装置不应解释为由此受限。 [0101] Although described for illustrative and objectives described in detail with reference to the drawings of the embodiments, it should be understood that the method and apparatus of the present invention should not be construed as limited thereby. 对于本领域技术人员而言显而易见的是，可以对前述实施例进行各种变型而并不背离本公开的范围。 Those skilled in the art will be apparent that the foregoing embodiments may be variously modified without departing from the scope of the present disclosure.
1. 一种用于检测患者的气管的系统，所述系统包括： 成像装置，所述成像装置构造成获得患者的图像数据;和计算装置，所述计算装置包括处理器和存储指令的存储器，所述指令在被处理器执行时促使计算装置完成以下工作： 基于图像数据生成患者的胸部的三维(3D)模型； 沿轴向方向生成3D模型的切片图像； 在生成的切片图像的第一切片图像中识别潜在相连组成部分； 在生成的切片图像的第二切片图像中识别潜在相连组成部分，其中，第二切片图像紧接着生成的第一切片图像； 确认第一切片图像的潜在相连组成部分与第二切片图像的潜在相连组成部分相连； 将潜在相连组成部分标记为相连组成部分； 将第一切片图像标记为生成的切片图像的最上方切片图像； 将最上方切片图像中的相连组成部分标记为有效目标； 基于连接标准，将生成的切片图 A pipe system for detecting a patient, the system comprising: an imaging device, the imaging device configured to obtain image data of a patient; and a computing device, the computing device includes a processor and memory storing instructions, the instructions cause the computing device when executed by the processor to do the following: the patient's chest to generate three-dimensional (3D) model based on the image data; generating slice images of the 3D model in the axial direction; a second slice image generated in all of slice image to identify potential connected components; identifying connected components of the potential of the second slice image to generate a slice image, wherein the second slice image immediately generating a first image slice; confirm the potential of the first slice images connected components of connected components of the potential of the second slice image is connected; potential connected part labeled connected components; the first slice images labeled as the top slice images of slice images generated; in the uppermost slice image marked part is connected is a valid object; criteria based on the connection, the generated slice FIG. 的当前切片图像中的每一个相连组成部分与在先切片图像中的对应的相连组成部分关联； 将与在先切片图像的相连组成部分关联的当前切片图像中的每一个相连组成部分标记为有效目标;并且基于有效目标的长度，将有效目标识别为气管。 Connected to each of the current component of the composition is associated connected portion of the previous slice corresponding to the image slice image; associated with the portion connected to the preceding slice image is composed of the current component of the tag attached to each of slice images is valid target; based on the length of the valid object, the valid object is identified as the trachea.
2. 根据权利要求1所述的系统，其中，由成像装置利用层析成像技术、射线照相术、通过计算机化轴向断层扫描产生的断层照片、核磁共振成像、超声波造影术、对比成像、荧光检查、核扫描、或者正电子发射断层成像获得图像数据。 2. The system according to claim 1, wherein, by the imaging device using tomography, radiography, by computerized axial tomogram generated tomography, magnetic resonance imaging, angiography, ultrasound, contrast imaging, fluorescence inspection, nuclear scan, or positron emission tomography image data is obtained.
3. 根据权利要求1所述的系统，其中，所述指令进一步促使计算装置最终确定在先切片图像中的有效目标。 3. System according to claim 1, wherein the instructions further cause the computing means determines the final valid object prior slice images.
4. 根据权利要求3所述的系统，其中，切片图像以相等的距离彼此间隔开。 4. The system of claim 3, wherein the slice image at equal distance from each other.
5. 根据权利要求4所述的系统，其中，所述指令进一步促使计算装置通过将最终确定的有效目标中包含的切片图像的数目减1与每一个切片图像之间的距离相乘来计算最终确定的有效目标的长度。 5. The system of claim calculating a final in claim 4, wherein the instructions further cause the computing device by the number of slice image will ultimately determine the valid object contained in the distance between the minus 1 image is multiplied by each slice determination of the length of a valid object.
6. 根据权利要求5所述的系统，其中，当最终确定的有效目标的长度大于或等于70mm 时，所述指令进一步促使计算装置指示已识别出气管。 6. A system as claimed in claim 5, wherein, when determining the final length of the valid object is greater than or equal to 70mm, the instructions further cause the computing device indicative of the identified tube.
7. 根据权利要求5所述的系统，其中，当最终确定的有效目标的长度大于或等于30mm但小于70_时，所述指令进一步促使计算装置指示可能已识别出气管。 7. The system according to claim 5, wherein, when the length of the valid object finally determined is equal to or greater than 30mm but less than 70_, the instructions further cause the computing device may indicate the identified pipe.
8. 根据权利要求5所述的系统，其中，当最终确定的有效目标的长度小于30mm时，所述指令进一步促使计算装置指示未识别出气管。 8. The system according to claim 5, wherein, when the length of the valid object finally determined is less than 30mm, the instructions further cause the computing device is not identified indicating trachea.
9. 根据权利要求1所述的系统，其中，在当前切片图像的相连组成部分中的像素的坐标与在先切片图像中对应的相连组成部分中的像素的坐标匹配时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 9. The system according to claim 1, wherein, in the current slice is connected to the image coordinates of the pixel part connected with the previous slice in the image portion corresponding to the pixel coordinates of the composition match, the current slice image It is connected to the previous part is connected to the corresponding slice image associated part.
10. 根据权利要求1所述的系统，其中，在当前切片图像的相连组成部分的质心与在先切片图像中对应的相连组成部分的质心之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 10. The system according to claim 1, wherein, in the current slice is connected to the image composition difference between the components of the centroid connected portion and the centroid of the preceding slice image is less than a predetermined value corresponding to the current slice image It is connected to the previous part is connected to the corresponding slice image associated part.
11. 根据权利要求1所述的系统，其中，在当前切片图像的相连组成部分的面积与在先切片图像中对应的相连组成部分的面积之间的差别小于预定值时，将当前切片图像的相连组成部分与在先切片图像中对应的相连组成部分关联。 11. The system of claim 1, wherein the composition is connected to the current slice of the image area of ​​the portion of the previous slice images corresponding to the difference between the area of ​​the connected portion of the composition is less than a predetermined value, the current slice image It is connected to the previous part is connected to the corresponding slice image associated part.
12. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是通过将当前切片图像中的相连组成部分的面积除以在先切片图像中对应的相连组成部分的面积而算出的面积比。 12. The system according to claim 3, wherein the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the associated parameter is coupled by the current slice image part area divided by the area of ​​the connected components of the previous slice images corresponding to the calculated area ratio.
13. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是当前切片图像的相连组成部分的、与在先切片图像中的对应有效目标的坐标匹配的坐标的数目以及当前切片图像的相连组成部分的非匹配坐标的数目之间的比率。 13. The system according to claim 3, wherein the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the associated parameter is connected to the current part of the slice image, and the number of previous coordinate matching coordinates slice image corresponding valid object, and the composition ratio between the number attached to the non-matching portion of the coordinates of the current image slice.
14. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，关联参数是当前切片图像的相连组成部分的面积。 14. A system according to claim 3, wherein the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein the associated parameter is the area connected to the current part of the slice image.
15. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置完成以下工作： 基于关联参数最终确定在先切片图像中的有效目标;并且当关联参数大于预定值时，移除在先切片的对应有效目标的作为有效目标的标记。 15. The system according to claim 3, wherein the instructions further cause the computing device to do the following: a valid object finally determined based on the previous slice images associated parameters; and when the associated parameter is greater than a predetermined value, removed marking the first slice corresponding to the valid object as a valid object.
16. 根据权利要求15所述的系统，其中，所述指令进一步促使计算装置在关联参数大于预定值时移除当前切片的相连组成部分的作为有效目标的标记。 16. The system according to claim 15, wherein the instructions further cause the computing device for removing marks in the current slice is connected to the composition as an active target portion when the associated parameter is greater than a predetermined value.
17. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置基于关联参数最终确定在先切片图像中的有效目标，并且其中，当关联参数小于预定值时，最终确定有效目标。 17. The system according to claim 3, wherein the instructions further cause the computing means determines the final valid object slice images based on previous correlation parameter, and wherein, when the correlation parameter is less than the predetermined value, determines the final valid object.
18. 根据权利要求3所述的系统，其中，所述指令进一步促使计算装置完成以下工作： 基于关联参数最终确定在先切片图像中的有效目标;并且当关联参数大于或等于第一预定值且小于或等于第二预定值时，将当前切片的相连组成部分标记为有效目标。 18. The system according to claim 3, wherein the instructions further cause the computing device to do the following: a valid object finally determined based on the previous slice images associated parameters; and when the associated parameter is equal to or greater than a first predetermined value and equal to or less than a second predetermined value, the connected components of the current slice is marked as a valid target.
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