基于血管内超声和X射线血管造影融合的血管三维重建
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摘要
X射线血管造影和血管内超声(IVUS)是目前临床普遍采用的诊断血管病变的介入性影像手段,二者具有优势与不足互补的特点。本文提出一种基于血管造影和IVUS图像融合的血管三维重建方法:首先从在两个近似垂直角度采集的造影图像中三维重建出导管路径和管腔轴线;然后沿三维导管路径确定各帧超声图像的轴向位置和空间方位;最后采用NURBS曲面拟合技术完成管腔内外表面的拟合。通过将血管造影提供的管腔和超声导管的空间几何信息以及从IVUS图像序列中获取的管腔横切面信息融合起来,得到感兴趣血管段的准确三维重建,辅助血管疾病特别是冠心病的诊治。
本文的研究受到国家自然科学基金项目(编号:30500129和60973087)的资助。
X-ray angiography and Intravascular Ultrasound (IVUS) are complementary interventional catheter based imaging modalities which are widely used in clinical diagnosis of vascular diseases. In this dissertation, a method for 3D reconstructing vessels based on fusion of angiographic and IVUS images is proposed. First, 3D vascular lumen axis and catheter pullback path is reconstructed from a pair of angiograms acquired from two nearly orthogonal views. Then, axial position and spatial orientation of each IVUS slice are determined along the 3D catheter path. Finally, fitting of inter and outer surface of the vessel lumen is implemented with the NURBS fitting technique. Vessels of interest are accurately reconstructed based on fusion of cross-sectional information of vessel lumen obtained from IVUS images and spatial geometrical information of catheter pullback path derived from angiograms to assist clinical diagnosis of vascular diseases especially coronary artery diseases.
The research work in this dissertation was supported by National Nature Science Foundation of China (Grant Nos.30500129 and 60973087 ).
本文的研究受到国家自然科学基金项目(编号:30500129和60973087)的资助。
X-ray angiography and Intravascular Ultrasound (IVUS) are complementary interventional catheter based imaging modalities which are widely used in clinical diagnosis of vascular diseases. In this dissertation, a method for 3D reconstructing vessels based on fusion of angiographic and IVUS images is proposed. First, 3D vascular lumen axis and catheter pullback path is reconstructed from a pair of angiograms acquired from two nearly orthogonal views. Then, axial position and spatial orientation of each IVUS slice are determined along the 3D catheter path. Finally, fitting of inter and outer surface of the vessel lumen is implemented with the NURBS fitting technique. Vessels of interest are accurately reconstructed based on fusion of cross-sectional information of vessel lumen obtained from IVUS images and spatial geometrical information of catheter pullback path derived from angiograms to assist clinical diagnosis of vascular diseases especially coronary artery diseases.
The research work in this dissertation was supported by National Nature Science Foundation of China (Grant Nos.30500129 and 60973087 ).
引文
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[5]杨希立.冠状动脉成形术中正常参考段的血管内超声研究.中国心血管杂志,2004,9(3):166～167
[6]朱天刚,胡大一.冠脉内超声的临床应用价值.第四军医大学学报,2000,16(3):208～210
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[11] J.R.T.C.Roelandt, C.D.Mario, N.G.Pandian, et al. Three-dimensional reconstruction of intracoronary ultrasound images rationale, approaches, problems, and directions. Circulation,1994,90(2):1044～1055
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[14]刘泽.自适应形变模型及其在血管内超声图像处理中的应用研究:[硕士学位论文].济南:山东大学,2006
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[16] R.Shekhar, R.M.Cothren, D.G.Vince, et al. Fusion of intravascular ultrasound and biplane angiography for three-dimensional reconstruction of coronary arteries. Proceedings of IEEE Conference on Computers in Cardiology,1996:5～8
[17] C.Bourantas, D.I.Fotiadis, I.C.Kourtis, et al. Three-dimensional coronary artery reconstruction using fusion of intravascular ultrasound and biplane angiography. International Congress Series,1256.2003:1133～1138
[18] C.J.Slager, J.J.Wentzel, J.C.H.Schuurbiers, et al. True 3-Dimensional reconstruction of coronary arteries in patients by fusion of angiography and IVUS and its quantitative validation. Circulation,2000,102:511～516
[19] B.Godbout, M.Ing, J.A.Guise, et al. 3D elastic registration of vessel structures from IVUS data on biplane angiography. Academic Radiology , 2005 , 12(1):10～16
[20] M.Laban , J.A.Oomen, C.J.Slager, et al. ANGUS: a new approach to three dimensional reconstruction of coronary vessels by combined use of angiography and intravascular ultrasound. Proceedings of IEEE Conference on Computers in Cardiology,1995:325～328
[21] G.P.M.Prause, S.C.DeJong, C.R.McKay, et al. Towards a geometrically correct 3-D reconstruction of tortuous coronary arteries based on biplane angiography and intravascular ultrasound. International Journal of Cardiac Imaging,1997,13(6):451～462
[22] R.M.Cothren, R.Shekhar, E.M.Tuzcu, et al. Three-dimensional reconstruction of the coronary artery wall by image fusion of intravascular ultrasound and bi-plane angiography. International Journal of Cardiac Imaging , 2000 , 16: 69～85
[23] C.Pellot, I.Bloch, A.Herment, et al. An attempt to 3D reconstruction vessel morphology from X-ray projections and intravascular ultrasounds modeling and fusion. Computerized Medical Imaging and Graphics,1996,20(3):141～151
[24] A.Wahle, G.P.M.Prause, S.C.DeJong, et al. A comprehensive method for geometrically correct 3-D reconstruction of coronary arteries by fusion of intravascular ultrasound and biplane angiography. Computer-Aided Diagnosis in Medical Imaging, 1998,9:363～368
[25] A.Whale, G.P.M.Prause, S.DeJong, et al. Determination of the absolute axial orientation of intracoronary ultrasound images in fusion with biplane angiography. Computers in Cardiology,1998,25:153～156
[26]孙正.基于冠状动脉造影图像序列的心脏及血管运动估计的研究:[博士学位论文].天津:天津大学,2003
[27]高上凯.医学成像系统.北京:清华出版社,2000.10～41
[28]吴恩惠.医学影像学(第四版).北京:人民卫生出版社,2001.172～176
[29]张雪林.医学影像学.北京:人民卫生出版社,2001.9:3
[30]倪祝华,胡大一.血管内超声显像的基础研究与临床引用进展(一).中国医疗器械信息,1995,5(4):21～23
[31] H.M.Klein, R.W.Gunther, M.Verlande, et al. 3D surface reconstruction of intravascular ultrasound images using personal computer hardware and a motorized catheter control. Cardiovascular and Interventional Radiology, 1992,15:97～101
[32] J.L.Evans, K.H.Ng, S.G.Wiet, et al. Accurate three-dimensional reconstruction of intravascular ultrasound data, spatially correct three-dimensional reconstructions. Circulation, 1996, 93(3):567～576
[33] A.Wahle, G.P.M.Prause, S.C.DeJong, et al. Image preprocessing for 3D reconstruction from biplane angiograms. Proceedings of 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam,1996: 654～655
[34] D.Scherder, F.D.Man, M.C.Herregods, et al. Intravascular ultrasound versus angiography for measurement of luminal diameters in normal and diseased coronary arteries. American Heart,1994,127:243～251
[35] F.Alfonso, C.Macaya, J.Goicolea, et al. Intravascular ultrasound imaging of angiographyically normal coronary segments in patients with coronary artery disease. American Heart,1994,127:536～544
[36] G.Finet, E.Maurincomme, P.H.Deuek, et al. Three layer appearance of the arterial wall in intravascular ultrasound imaging: artifact or reality?. Echocardiography,1994,11:343～363
[37] Z.H.Ding, H.Zhu, H.F.Morton. Coronary artery dynamics in vivo. Annals of Biomedical Engineering,2002,30:419～429
[38] C.Canero, F.Vilarino, J.Mauri, et al. Predictive (un) distortion model and 3-D reconstruction by biplane snakes. IEEE Transactions on Medical Imaging,2002,21(9):1188～1201
[39]徐智.心血管造影图像的二维信息处理及其三维重建研究:[博士学位论文].天津:天津大学,2003
[40]姜浩.基于Snake模型的冠状动脉血管运动跟踪:[硕士学位论文].天津:天津大学,2004
[41]胡明星,袁宝宗.投影三维重建中基础矩阵的鲁棒性估计方法.北方交通大学学报,2001,25(2):5～9
[42]贾云得.机器视觉.北京:科学出版社,2000.237～238
[43]施法中.计算机辅助几何设计及非均匀有理B样条.北京航空航天大学出版社,1994.228～253;302～303;443～446
[44]乔林,费广正.OpenGL程序设计.北京:清华大学出版社,2000.1～4;109～139
[45]李颖,毕海斌.OpenGL技术应用实例精粹.北京:国防工业出版社,2001.1
[46]李艳玲.活动轮廓模型及其在血管内超声图像边缘提取中的应用研究:[硕士学位论文].济南:山东大学,2006
[47] D.M.Herrington, T.Johnson, P.Santago, W.E.Snyder. Semi-automated boundary detection for intravascular ultrasound. Computer in Cardiology, 1992,103～106
[48] M.Sonka, X.Zhang, M.Siebes, et al. Segmentation of intravascular ultrasound images: a knowledge-based approach. IEEE Transactions on Medical Imaging,1995,14(4):719～732
[49] X.Zhang, C.R.McKay, M.Sonka. Tissue characterization in intravascular ultrasound images. IEEE Transactions on Medical Imaging, 1998,17(6):889～899
[50] A.A.Amini, T.E.Weymouth, R.C.Jain. Using dynamic programming for solving variational problems in vision. IEEE Transactions Pattern Analysis and Machine Intelligence,1990,12(9):855～867
[51]杨宇.基于快速推进法的血管内超声图像序列的三维分割:[硕士学位论文].保定:华北电力大学,2009
[52] G.P.M.Prause, S.C.DeJong, C.R.McKay, et al. Geometrically correct 3-D reconstruction of coronary wall and plaque: combining biplane angiographiyand intravascular ultrasound. Proceedings of IEEE Conference on Computers in Cardiology,1996:325～328
[53]孙家广.计算机图形学.北京:清华大学出版社,1998.58～59;301～314;365～377
[54] M.Rosales, P.Radeva, R.L.Oriol, et al. Modelling of image-catheter motion for 3-D IVUS. Medical Image Analysis, 2009,13:91～104
[55] M.O.Sean, F.G.Juan, C.Stephane, et al. Image-based gating of Intravascular Ultrasound pullback sequences. IEEE Transactions on Information Technology in Biomedicine, 2008,12(3):299～306
[56] Peter MA van Ooijen, Gonda de Jonge, Matthijs Oudkerk. Coronary fly-through or virtual angioscopy using dual-source MDCT data. European Journal of Radiology. 2007,17(11): 2852～2859
[2]吴锡桂.我国人群冠心病流行现况与趋势.中国慢性病预防与控制,2003,11(4):1～5
[3]李俊峡,鹰津良树,宫本忠司,等.冠脉病变中血管内超声与冠脉造影的比较.第四军医大学学报,2005,26(13):1194～1196
[4]钱菊英,葛均波,吴鸿谊,等.血管内超声显像在造影无显著狭窄病变的急性冠脉综合征中的应用.中国医学影像技术,2004,20(5):666～669
[5]杨希立.冠状动脉成形术中正常参考段的血管内超声研究.中国心血管杂志,2004,9(3):166～167
[6]朱天刚,胡大一.冠脉内超声的临床应用价值.第四军医大学学报,2000,16(3):208～210
[7]胡春红.感兴趣血管段最佳视角和血管内超声与冠脉造影融合研究:[博士学位论文].天津:天津大学,2006
[8]黄家祥.基于造影图像的冠状动脉三维重建和定量分析方法的研究:[博士学位论文].天津:天津大学,2004
[9] A.Wahle, G.P.M.Prause, S.C.DeJong, M.Sonka. Geometrically correct 3-D reconstruction of intravascular ultrasound images by fusion with biplane angiography-methods and validation. IEEE Transactions on Medical Imaging, 1999,18(8):686～699
[10] Z.Ding, M.H.Friedman. Quantification of 3-D coronary arterial motion using clinical biplane cineangiograms. International Journal of Cardiac Imaging, 2000,16(00):331～346
[11] J.R.T.C.Roelandt, C.D.Mario, N.G.Pandian, et al. Three-dimensional reconstruction of intracoronary ultrasound images rationale, approaches, problems, and directions. Circulation,1994,90(2):1044～1055
[12] A.Wahle, G.P.M.Prause, S.C.DeJong, et al. Accurate 3-D fusion of angiographic and intravascular ultrasound data. Computer Assisted Radiology and Surgery,1998:164～169
[13]赵云,朱文玲.血管内超声成像及三维重建.中华心血管病杂志,1998,26(2):148～50
[14]刘泽.自适应形变模型及其在血管内超声图像处理中的应用研究:[硕士学位论文].济南:山东大学,2006
[15] A.Wahle, S.C.Mitchell, M.E.Olszewski, et al. Accurate visualization and quantification of coronary vasculature by 3D/4D fusion from biplane angiography and intravascular ultrasound. EBiOS 2000: Biomonitoring and Endoscopy Technologies,EOS/SPIE 4158-31:144～155
[16] R.Shekhar, R.M.Cothren, D.G.Vince, et al. Fusion of intravascular ultrasound and biplane angiography for three-dimensional reconstruction of coronary arteries. Proceedings of IEEE Conference on Computers in Cardiology,1996:5～8
[17] C.Bourantas, D.I.Fotiadis, I.C.Kourtis, et al. Three-dimensional coronary artery reconstruction using fusion of intravascular ultrasound and biplane angiography. International Congress Series,1256.2003:1133～1138
[18] C.J.Slager, J.J.Wentzel, J.C.H.Schuurbiers, et al. True 3-Dimensional reconstruction of coronary arteries in patients by fusion of angiography and IVUS and its quantitative validation. Circulation,2000,102:511～516
[19] B.Godbout, M.Ing, J.A.Guise, et al. 3D elastic registration of vessel structures from IVUS data on biplane angiography. Academic Radiology , 2005 , 12(1):10～16
[20] M.Laban , J.A.Oomen, C.J.Slager, et al. ANGUS: a new approach to three dimensional reconstruction of coronary vessels by combined use of angiography and intravascular ultrasound. Proceedings of IEEE Conference on Computers in Cardiology,1995:325～328
[21] G.P.M.Prause, S.C.DeJong, C.R.McKay, et al. Towards a geometrically correct 3-D reconstruction of tortuous coronary arteries based on biplane angiography and intravascular ultrasound. International Journal of Cardiac Imaging,1997,13(6):451～462
[22] R.M.Cothren, R.Shekhar, E.M.Tuzcu, et al. Three-dimensional reconstruction of the coronary artery wall by image fusion of intravascular ultrasound and bi-plane angiography. International Journal of Cardiac Imaging , 2000 , 16: 69～85
[23] C.Pellot, I.Bloch, A.Herment, et al. An attempt to 3D reconstruction vessel morphology from X-ray projections and intravascular ultrasounds modeling and fusion. Computerized Medical Imaging and Graphics,1996,20(3):141～151
[24] A.Wahle, G.P.M.Prause, S.C.DeJong, et al. A comprehensive method for geometrically correct 3-D reconstruction of coronary arteries by fusion of intravascular ultrasound and biplane angiography. Computer-Aided Diagnosis in Medical Imaging, 1998,9:363～368
[25] A.Whale, G.P.M.Prause, S.DeJong, et al. Determination of the absolute axial orientation of intracoronary ultrasound images in fusion with biplane angiography. Computers in Cardiology,1998,25:153～156
[26]孙正.基于冠状动脉造影图像序列的心脏及血管运动估计的研究:[博士学位论文].天津:天津大学,2003
[27]高上凯.医学成像系统.北京:清华出版社,2000.10～41
[28]吴恩惠.医学影像学(第四版).北京:人民卫生出版社,2001.172～176
[29]张雪林.医学影像学.北京:人民卫生出版社,2001.9:3
[30]倪祝华,胡大一.血管内超声显像的基础研究与临床引用进展(一).中国医疗器械信息,1995,5(4):21～23
[31] H.M.Klein, R.W.Gunther, M.Verlande, et al. 3D surface reconstruction of intravascular ultrasound images using personal computer hardware and a motorized catheter control. Cardiovascular and Interventional Radiology, 1992,15:97～101
[32] J.L.Evans, K.H.Ng, S.G.Wiet, et al. Accurate three-dimensional reconstruction of intravascular ultrasound data, spatially correct three-dimensional reconstructions. Circulation, 1996, 93(3):567～576
[33] A.Wahle, G.P.M.Prause, S.C.DeJong, et al. Image preprocessing for 3D reconstruction from biplane angiograms. Proceedings of 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdam,1996: 654～655
[34] D.Scherder, F.D.Man, M.C.Herregods, et al. Intravascular ultrasound versus angiography for measurement of luminal diameters in normal and diseased coronary arteries. American Heart,1994,127:243～251
[35] F.Alfonso, C.Macaya, J.Goicolea, et al. Intravascular ultrasound imaging of angiographyically normal coronary segments in patients with coronary artery disease. American Heart,1994,127:536～544
[36] G.Finet, E.Maurincomme, P.H.Deuek, et al. Three layer appearance of the arterial wall in intravascular ultrasound imaging: artifact or reality?. Echocardiography,1994,11:343～363
[37] Z.H.Ding, H.Zhu, H.F.Morton. Coronary artery dynamics in vivo. Annals of Biomedical Engineering,2002,30:419～429
[38] C.Canero, F.Vilarino, J.Mauri, et al. Predictive (un) distortion model and 3-D reconstruction by biplane snakes. IEEE Transactions on Medical Imaging,2002,21(9):1188～1201
[39]徐智.心血管造影图像的二维信息处理及其三维重建研究:[博士学位论文].天津:天津大学,2003
[40]姜浩.基于Snake模型的冠状动脉血管运动跟踪:[硕士学位论文].天津:天津大学,2004
[41]胡明星,袁宝宗.投影三维重建中基础矩阵的鲁棒性估计方法.北方交通大学学报,2001,25(2):5～9
[42]贾云得.机器视觉.北京:科学出版社,2000.237～238
[43]施法中.计算机辅助几何设计及非均匀有理B样条.北京航空航天大学出版社,1994.228～253;302～303;443～446
[44]乔林,费广正.OpenGL程序设计.北京:清华大学出版社,2000.1～4;109～139
[45]李颖,毕海斌.OpenGL技术应用实例精粹.北京:国防工业出版社,2001.1
[46]李艳玲.活动轮廓模型及其在血管内超声图像边缘提取中的应用研究:[硕士学位论文].济南:山东大学,2006
[47] D.M.Herrington, T.Johnson, P.Santago, W.E.Snyder. Semi-automated boundary detection for intravascular ultrasound. Computer in Cardiology, 1992,103～106
[48] M.Sonka, X.Zhang, M.Siebes, et al. Segmentation of intravascular ultrasound images: a knowledge-based approach. IEEE Transactions on Medical Imaging,1995,14(4):719～732
[49] X.Zhang, C.R.McKay, M.Sonka. Tissue characterization in intravascular ultrasound images. IEEE Transactions on Medical Imaging, 1998,17(6):889～899
[50] A.A.Amini, T.E.Weymouth, R.C.Jain. Using dynamic programming for solving variational problems in vision. IEEE Transactions Pattern Analysis and Machine Intelligence,1990,12(9):855～867
[51]杨宇.基于快速推进法的血管内超声图像序列的三维分割:[硕士学位论文].保定:华北电力大学,2009
[52] G.P.M.Prause, S.C.DeJong, C.R.McKay, et al. Geometrically correct 3-D reconstruction of coronary wall and plaque: combining biplane angiographiyand intravascular ultrasound. Proceedings of IEEE Conference on Computers in Cardiology,1996:325～328
[53]孙家广.计算机图形学.北京:清华大学出版社,1998.58～59;301～314;365～377
[54] M.Rosales, P.Radeva, R.L.Oriol, et al. Modelling of image-catheter motion for 3-D IVUS. Medical Image Analysis, 2009,13:91～104
[55] M.O.Sean, F.G.Juan, C.Stephane, et al. Image-based gating of Intravascular Ultrasound pullback sequences. IEEE Transactions on Information Technology in Biomedicine, 2008,12(3):299～306
[56] Peter MA van Ooijen, Gonda de Jonge, Matthijs Oudkerk. Coronary fly-through or virtual angioscopy using dual-source MDCT data. European Journal of Radiology. 2007,17(11): 2852～2859
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