Patent Grant
10453190
The invention relates to systems and methods for feature detection such as shadows and stent struts in an intravascular image.
Interventional cardiologists incorporate a variety of diagnostic tools during catheterization procedures in order to plan, guide, and assess therapies. Fluoroscopy is generally used to perform angiographic imaging of blood vessels. In turn, such blood vessel imaging is used by physicians to diagnose, locate and treat blood vessel disease during interventions such as bypass surgery or stent placement. Intravascular imaging technologies such as optical coherence tomography (OCT) are also valuable tools that can be used in lieu of or in combination with fluoroscopy to obtain high-resolution data regarding the condition of the blood vessels for a given subject.
Intravascular optical coherence tomography is a catheter-based imaging modality that uses light to peer into coronary artery walls and generate images for study. Utilizing coherent light, interferometry, and micro-optics, OCT can provide video-rate in-vivo tomography within a diseased vessel with micrometer level resolution. Viewing subsurface structures with high resolution using fiber-optic probes makes OCT especially useful for minimally invasive imaging of internal tissues and organs, as well as implanted medical devices such as stents.
Stents are a common intervention for treating vascular stenoses. It is critical for a clinician to develop a personalized stent plan that is customized to the patient's vascular anatomy to ensure optimal outcomes in intravascular procedures. Stents generate shadows in intravascular images and detecting existing stent deployments has to address various challenges associated with shadows in intravascular images.
The present disclosure addresses various challenges associated with shadow detection and shadow validation.
Disclosed herein are systems and methods for detecting shadows and enhancements relating to shadow detection in the context of intravascular data sets such as images of a blood vessel. In one embodiment, the systems and methods use locally adaptive thresholds to detect candidate shadows. Further, in some embodiments the candidate shadows can be validated to reduce false positive shadows.
The systems and methods disclosed herein detect various shadows associated with stent struts, guidewires, and other intravascular imaging probe components and blood vessel features. In one embodiment, stent struts are detected using the shadows they generate during imaging.
In part, the disclosure relates to a method of detecting a shadow in an intravascular image. The method includes determining local estimates of tissue intensity; generating/determining a locally adaptive threshold that varies across scanlines; and detecting shadows associated with an intravascular object based upon one or more groups of scan lines in which tissue projection intensity falls below the locally adaptive threshold. In one embodiment, the method includes storing, using an intravascular diagnostic system, one or more intravascular datasets, each intravascular datasets comprising a plurality of scan lines.
In one embodiment, shadow detection is performed using a local adaptive threshold. The local adaptive threshold method is applied relative to various intensity levels on a per scan line basis in one embodiment. In one embodiment, the shadow detection methods are configured to have a sensitive level suitable for finding shadows even if two methods such as a first method and a second method are used with different shadow search criteria or features. As a result, the methods also can include one or more validation steps to validate shadows. The use of some validation steps improves overall performance and accuracy when detecting struts/guidewires based upon the initially detected and validated shadows.
In one embodiment, shadow detection is performed using a local adaptive threshold. The local adaptive threshold method is applied relative to various intensity levels on a per scan line basis in one embodiment. In addition, as a follow on, back up, or alternative shadow detection method, local minima can be searched for and detected based upon user specified or diagnostic intravascular data collection system specified criteria. In one embodiment, the local minima have an intensity value that is greater than or equal to the LAT. In one embodiment, the local minima have an intensity value that is greater than the LAT.
In one embodiment, one or more steps of the method are implemented using a diagnostic system including an input to receive intravascular data, one or more electronic memory devices to store the set, one or more computing devices/data processing apparatus in electrical communication with the input and the one or more memory devices, and instructions, image filters, sampling methods, kernels, operators, and image processing software modules executable by the one or more computing devices to perform one or more steps of the method. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium or be stored in a computer readable medium such as a non-transitory computer readable medium.
In part, the disclosure relates to a system of one or more computing devices configured to perform particular operations or actions by virtue of having software image processing modules and other software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. One general aspect of the disclosure includes a method of detecting a shadow in an intravascular image. The method includes: storing, using an intravascular diagnostic system, one or more intravascular datasets, each intravascular datasets including a plurality of scan lines. The method may also include determining a plurality of line projections on a per scan line, each line projection determined using a near tissue offset and far tissue offset.
In one embodiment, the method also includes determining local estimates of tissue intensity using the line projections. The method may also include determining a locally adaptive threshold that varies across scanlines. The method may also include identifying shadows that represent features of interest in the intravascular datasets using groupings of contiguous scanlines in which the local estimates of intensity falls below the locally adaptive threshold. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
In one embodiment of the disclosure implementations may include one or more of the following features. The method may also include determining a plurality of near offsets for the plurality of scan lines. The method may also include determining a plurality of far offsets for the plurality of scan lines. The method may also include identifying a candidate shadow based upon presence of a local minimum within the line projection, where an intensity of the local minimum is less than a given fraction of one or more maximum intensities found within a neighborhood on either side of a scanline of the plurality of scan lines. The method may also include estimating a plurality of slope values relative to a search window around each scan line to identify changes in slope indicative of an edge of a shadow region. The method further includes performing one or more shadow validation methods with respect to a detected edge. In one embodiment, the local estimates of tissue intensity are a smoothed projection generated on a per scan line basis. The method further includes searching for one or more relative extrema along the smoothed projection and identifying a shadow using the one or more relative extrema based on a signature. The method wherein the signature is a valley disposed between two peaks.
In one embodiment, the method may also include performing a search for shadow regions within one or more line projections. The method further includes validating the shadows identified. In one embodiment, validating the shadows further includes detecting one or more edges with a kernel. The method further includes displaying one or more objects in a representation of a blood vessel, the objects associated with the one or more validated shadows. The method further includes identifying shadows for line projections below a locally adaptive threshold. The method further includes generating a locally adaptive threshold on a per scan line basis using a local mean tissue value.
In one embodiment, one or more steps of the method are implemented using a diagnostic system including an input to receive one or more intravascular datasets, one or more electronic memory devices to store the one or more intravascular datasets, one or more computing devices in electrical communication with the input and the one or more memory devices, and instructions, image filters and image processing software modules executable by the one or more computing devices to perform one or more steps of the method. In one embodiment, the intravascular diagnostic system is an optical coherence tomography system.
In one embodiment, the method further includes generating a locally adaptive threshold on a per scan line basis using a local mean tissue value. The method further includes identifying shadows for line projections below the locally adaptive threshold. The method further includes performing local minima search to identify additional candidate shadows. The method further includes performing edge refinement on one or more shadow bounding scan lines using a measured slope value of the line projection.
In one embodiment, one or more steps of the method are implemented using a diagnostic system including an input to receive one or more intravascular datasets, one or more electronic memory devices to store the one or more intravascular datasets, one or more computing devices in electrical communication with the input and the one or more memory devices, and instructions, image filters and image processing software modules executable by the one or more computing devices to perform one or more steps of the method. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.
In one aspect, the disclosure relates to a method of detecting a shadow in an intravascular image, the method may include storing, using an intravascular diagnostic system, one or more intravascular datasets, each intravascular datasets including a plurality of scan lines. The method may also include determining a first offset and a second offset for the plurality of scan lines. The method may also include determining a line projection for each of the scan lines by averaging samples between the first offset and the second offset. The method may also include performing a search for shadow regions within the line projections. The method may also include validating the shadows identified. The method may also include displaying one or more objects in a representation of the blood vessel, the objects associated with the one or more validated shadows. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.
In one embodiment, implementations may include one or more of the following features. In one embodiment, the intravascular diagnostic system is an optical coherence tomography system. The method may further include generating a locally adaptive threshold on a per scan line basis using a local mean tissue value. The method may further include identifying shadows for line projections below the lat. The method may further include performing local minima search to identify additional candidate shadows. The method may further include performing edge refinement on one or more shadow bounding scan lines using a measured slope value of the line projection.
In one embodiment, one or more steps of the method are implemented using a diagnostic system including an input to receive one or more intravascular datasets, one or more electronic memory devices to store the one or more intravascular datasets, one or more computing devices in electrical communication with the input and the one or more memory devices, and instructions, image filters and image processing software modules executable by the one or more computing devices to perform one or more steps of the method. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium and other features as disclosed herein.
Although, the invention relates to different aspects and embodiments, it is understood that the different aspects and embodiments disclosed herein can be integrated together as a whole or in part, as appropriate. Thus, each embodiment disclosed herein can be incorporated in each of the aspects to varying degrees as appropriate for a given implementation and steps from various methods can be combined without limitation.
Other features and advantages of the disclosed embodiments will be apparent from the following description and accompanying drawings.
In one embodiment, the stent struts suitable for use with the detection steps described herein are typically metal stent struts. Any stent struts that result in shadows during imaging using an intravascular probe are also suitable for detection using the methods described herein.
The figures are not necessarily to scale, emphasis instead generally being placed upon illustrative principles. The figures are to be considered illustrative in all aspects and are not intended to limit the invention, the scope of which is defined only by the claims.
The systems and methods disclosed herein relate to intravascular imaging and shadows which can appear in such images as a result of stent struts, intravascular imaging probe components and other factors. The presence of shadows in an intravascular region are problematic because they can be misidentified as a side branch, stenosis, lipid pool or otherwise obscure a feature of interest during a diagnostic procedure. The presence of dark and faint shadows in intravascular images such as OCT and IVUS images can cause unwanted image processing errors and interfere with other steps in an image processing pipeline. Also, accurate shadow detection is a predicate step in stent strut detection, guidewire detection, and detection of shadow generating objects such as metal objects in one embodiment.
In part, the disclosure relates to methods that enhance shadow detection to be more sensitive to faint shadows. As a competing factor, increasing the sensitivity threshold in order to detect faint shadows can result in many false positives being identified. In one embodiment of the disclosure for candidate shadows a shadow validation step is performed to reduce or remove the number of false positives. The methods and implementations described herein can be used with various intravascular imaging systems and probes.
As shown, the catheter 20 is introduced into the lumen 11 such as an arterial lumen. The probe 7 can include a rotating or slidable fiber 15 that directs light forward into the lumen 14 or at a direction perpendicular to the longitudinal axis of the fiber 15. As a result, in the case of light that is directed from the side of the probe as the fiber 15 rotates, OCT data is collected with respect to the walls of the blood vessel 5. The walls of the blood vessel 5 define a lumen boundary. This lumen boundary can be detected using the distance measurements obtained from the optical signals collected at the probe tip 17 using lumen detection software component. Shadow regions and other features can be identified in the scan lines generated by the probe during a pullback through the artery. Shadow regions may or may not be associated with stent struts. The probe 7 can include other imaging modalities in addition to OCT such as ultrasound in one embodiment.
As shown in
In one embodiment, an optical receiver 31 such as a balanced photodiode based system can receive light exiting the probe 7. A computing device 40 such as a computer, processor, ASIC or other device can be part of the OCT system 10 or can be included as a separate subsystem in electrical or optical communication with the OCT system 10. The computing device 40 can include memory, storage, buses and other components suitable for processing data and software 44 such as image data processing stages configured for side branch detection, stent strut candidate selection or identification, candidate stent strut shadow region detection, correlations and comparisons of stent image data stent visualization, and pullback data collection as discussed below. The software modules 44 can include a shadow detection module and associated processes and steps as described herein.
In one embodiment, the computing device 40 includes or accesses software modules or programs 44, such as a side branch detection module, a lumen detection module, a stent detection module, a stent strut validation module, a candidate stent strut identification module and other software modules. The software modules or programs 44 can include an image data processing pipeline or component modules thereof and one or more graphical user interfaces (GUI). The modules can be subsets of each other and arranged and connected through various inputs, outputs, and data classes. In one embodiment, the software modules or programs 44 include shadow detection modules and processes, line projection determination modules and processes; shadow validation modules and processes; and other processes and modules as depicted and described herein without limitation.
The disclosure can be realized as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer readable medium for execution by, or to control the operation of, a data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, or a combination of one or more of them. The term “data processing apparatus” or computing device encompasses all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or other computing or data processing or data transforming devices. The apparatus/device can include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.
A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.
The processes and logic flows described in this disclosure can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).
Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random-access memory or both. The essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices.
A computer or computing device can include machine readable medium or other memory that includes one or more software modules for displaying a graphical user interface such as interface. A computing device can exchange data such as monitoring data or other data using a network, which can include one, or more wired, optical, wireless or other data exchange connections.
A computing device or computer may include a server computer, a client user computer, a control system, an intravascular or angiography diagnostic system, a microprocessor or any computing device capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that computing device. Further, the term “computing device” shall also be taken to include any collection of computing devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the software features or methods or operates as one of the system components described herein.
An exemplary image processing pipeline and components thereof can constitute one or more of the programs 44. The software modules or programs 44 receive image data and transform such image data into two dimensional and three dimensional views of blood vessels and stents can include lumen detection software module, peak detection, stent detection software module, side branch detection software module, shadow detection module, scan line selection modules, strut detection within or as the source of detected candidate stent strut shadow regions module, shadow validation module, image processing kernels and operators, and other software modules to perform the steps described herein. The image data processing pipeline, its components software modules and related methods and any of the methods described herein are stored in memory and executed using one or more computing devices such as a processor, device, or other integrated circuit.
As shown, in
In addition, this information 47 can include, without limitation, cross-sectional scan data, longitudinal scans, diameter graphs, image masks, stents, areas of malapposition, lumen border, and other images or representations of a blood vessel or the underlying distance measurements obtained using an OCT system and data collection probe. The computing device 40 can also include software or programs 44, which can be stored in one or more memory devices 45, configured to identify shadows and stent struts including struts within shadow regions and other blood vessel features such as indicia such as text, arrows, color coding, highlighting, contour lines, or other suitable human or machine readable indicia.
Once the OCT data is obtained with a probe and stored in memory; it can be processed to generate information 47 such as a cross-sectional, a longitudinal, and/or a three-dimensional view of the blood vessel along the length of the pullback region or a subset thereof. These views can be depicted as part of a user interface as shown in
Stent Detection Process and Associated Sub and Parallel Processes
In part, the disclosure relates to a shadow detection method which can be applied to the detection of various shadow generating objects. Thus, in part the disclosure also relates to a metal appliance or object detection method which includes an automated method for detecting point or elements of such metal objects within each frame of an intravascular recording or pullback such as an OCT or IVUS pullback. The metal objects or appliances can include stents and component stent struts, guidewires, and other metal or shadow generating elements. In one embodiment, stent detection can include detection of tissue offsets, detection of shadows, detection of strut within detected shadows, and detection of struts at the guide-wire boundary and detection of struts within side branches. Steps to validate shadows/struts and searching relative thereto to reduce false positives can be performed. Strut detection using Naive at Peak Line Method (NPLM) can be performed. A summary of these steps in included in
This region between the near and far offsets defines a zone to search within when detecting shadows. In one embodiment, strut detection candidates are generated from detected shadows and offsets. In this way candidate struts are defined 115. The level of apposition of the strut is generated 135, followed by display of the strut location and degree of apposition contained in the rendered in strut using a color scale indicative of apposition level or other indicia. Thus, the detected struts are displayed using a 2D or 3D display.
In one embodiment, a side branch detection process operates in parallel with a stent detection process. Struts are detected in side branches using Naïve at Peak Line Method (NPLM) 120, followed by a false-positive reduction method. The NPLM process can be used to detected covered or jailed sidebranches in which the stent strut covers at least a portion of the sidebranch. The final strut definition is updated by the results of strut detection in side branches. Throughout the method image processing pipeline, guide wire data are used to refine the strut search areas of the image. Similarly, lumen detection data provides information used to detect offsets 110 and compute the apposition value 135. The results can be displayed in 2D or 3D as described herein 137.
In part, the disclosure relates to an implementation of shadow detecting method or process suitable for use in various intravascular data analysis and diagnostic display applications. In one embodiment, shadow detection includes various sub-steps or subprocesses, such as for example, computation of both near and far offsets, use of locally adaptive threshold (LAT) and performing one or more shadow validation steps to reduce the incidence of false positives (FPs).
Detection of the tissue region is often the first step in the various detection methods such as shadow detection, stent detection and guidewire detection, for example.
In one embodiment, the method determines a vector of near offsets and far offsets for the lumen. The offsets are used to determine a region of the blood vessel in which shadows will be generated, from a line projection, which is discussed in more detail below. Shadow start scan lines and shadow end scan lines that span a shadow region can be identified as outputs of the operation of shadow detection method of the disclosure. The shadow detection approach can be used in various other methods such as stent detection and guidewire detection. The shadow detection method operates upon scan lines, offsets, arrays, and vectors stored in memory of the data processing systems, such as of
For each scan line that does not lie within the previously detected guide-wire range, the start-stop pairs are compared and the one with a thickness corresponding to a target thickness or otherwise the largest thickness is retained and stored in memory as a vector near offsets values or set of values corresponding to the lumen. The near offsets can be described as the offset to the lumen from the interior (catheter). Far offsets represent an offset at which the intravascular data is no longer imaging tissue, but rather the data is indicative of the presence of the noise floor. As a result of noise and signal attenuation, the ability to resolve tissue stops when approaching the noise floor.
In one embodiment, the start stop pairs are generated from binary mask to get an estimate where the tissue backscattering is occurring relative to the lumen or other regions such as shadow regions. The weighing of the start stop pairs 205 in the binary mask is used because blobs and other artifacts can appear in the mask. The weighing step filters some of the noise or artifacts to find the main portion of the scan line that corresponds to tissue. Stop start pairs are used to determine the near and far offsets in one embodiment as identified in the method 200 of
As shown in
In one embodiment, the shadow detection software module and associated method re-weights 225 or refines the start-stop pairs by re-weighing the remaining start-stop pairs and keeping the largest weight ones 230. A spline is fitted to the filtered re-weighted list of near offsets 235. Near offsets are computed using the fitted spline. In one embodiment, the far offsets are determined 240 as being between the near offset and the noise floor with the far offset positioned at the noise floor or a distance above the noise floor. In one embodiment, the far offsets are computed as the near offset plus the local average thickness of the vessel wall. In one embodiment, the local average thickness can be scaled or otherwise adjusted based on the position of the noise floor or other factors.
The tissue offset detection method is illustrated relative to an intravascular image and binary masks thereof in
As shown in the image of
For example, the large shadows due to stent struts do not affect the far offsets. The offsets are also calculated over the guide wire shadow in one embodiment. The near offsets lie on the vessel lumen boundary and far offsets bound the visible tissue region as the imaging signal attenuates. In one embodiment, the near offset is closest point of the tissue to the center of the intravascular data collection probe. In one embodiment, the far offsets are slightly scaled and tend to “float” as the tissue signal attenuates. This is a result of the far offset scaling in one embodiment.
The binary image is used as a preprocessing step to determine near and far offsets In turn, the near offsets and the far offsets which are determined for the scan lines are used to determine the values in the line projection. Further, the line projection is used to generate the locally adaptive threshold which varies across the different scan lines. The locally adaptive threshold can be compared with projection values to determine the shadow regions. In one embodiment, a constant threshold can be used as opposed to a LAT; however, the use of constant threshold would likely find some candidate shadow regions and miss others. As a result, a locally adaptive threshold is preferred in one embodiment.
The next step in the stent detection method is the detection of shadows corresponding to a given shadow source such as strut points, a guidewire, catheter or other object.
In one embodiment, a line projection is determined by performing one or more operations on the portion of each scan line between the near and far offset to generate a value indicative of an intensity value for that scan line. The intensity value can correspond to shadow, tissue, lumen or non-shadow intensity levels. The operations can include averaging, summing, sampling, selecting or other statistical operation such as an order statistic, median, mean, mode or other operation performed relative to a scan line and its components or values associated therewith. Samples on any given scanline (or one or more scan lines) are obtained and extracting tissue intensity information from such samples from the given scanline (or one or more scan lines) is performed. In turn, the intensity that is occluded by something causing a shadow has an associated lower intensity relative to that of a tissue containing scan line or samples obtained with respect to such a scan line. In one embodiment, the samples are intensity values or another value obtained with regard to a scan line.
In one embodiment, the line projection is searched to determine whether it includes shadow, tissue, lumen, non-shadow regions, or combinations thereof. The values of the locally adaptive threshold are compared to that of the line projection to facilitate shadow detection as described herein. In one embodiment, the line projection is searched or otherwise evaluated relative to a LAT value to determine if a line projection includes shadows or does not include shadows. The final step is to validate the detected shadows. Using the software to perform a validity check relative to the candidate shadows improve the accuracy of the shadow detection and other related detection methods that use shadow detection such as stent strut detection and guidewire detection.
Compute Line Projection Method Embodiments
The near and far offsets of the tissue mask are used to compute line projections between the near and far points for each scan line. In one embodiment, pixels in a line bounded by the near and far offsets are sorted and a percentage of the lower pixel values are averaged. Thus, for each scan line, if all of the pixels are considered in the aggregate an average pixel value can be determined. A low value relative to that average value (for all pixels) or relative to another average value obtained using a subset of the pixels for a scan line—an average of pixels below a certain intensity threshold can be used to identify a candidate shadow. A fraction of the mean tissue intensity such as 50% of the mean tissue intensity can be used as an intensity floor above which shadows are identified using the LAT-based method. The fraction of the mean tissue intensity used can range from about 20% to about 80% as a floor to select candidate shadows based on valleys in the smoothed line projection of
A sorting process is performed to increase the probability that the brightest pixels that may correspond to a strut blooming do not obscure the shadows on the intensity projection. Once the projection for each line is computed, the overall line projection is smoothed with a filter such as for example a moving average filter.
In
Candidate shadows are labeled numerically 1 to 9 as shown in
In one embodiment, each shadow has a start shadow line. As an example, a shadow has an approximate start line 150 for shadow 2 and an end shadow line such as approximate line 455 for shadow 8. As shown around scan line 350, the tissue values are lower and thus the LAT is lower relative to the scan line intensity at about scan line 75 as a result the LAT changes based on the scan line and intensity changes in the line projection. In one embodiment, tissue intensity values local to the scan line are used to compute the LAT at that scan line.
Shadow Search Embodiments and Features
In one embodiment, the shadow search method uses a locally adaptive threshold (LAT) over the line projections to determine shadow regions. The determination of the LAT increases the accuracy of the shadow search method. The method computes an LAT for each line as shown by the line labeled LAT in
In one embodiment, the method first computes the overall projection intensity value range. The next step calculates the mean of the tissue as the mean of all values where the projection is greater than the middle of the projection intensity value range. The mean of the tissue intensity (MT) is used in the next steps. For each scanline L, a value in the line projection is created. The local mean tissue (LMT) is created by aggregating the projection values within a certain radius about a given scanline, and computing the mean of the projection values from that zone. In one embodiment, these projection values are in the top half of the range.
In one embodiment, for each line generate a local projection 305. The list of local projection values is sorted and capped at MT. The local mean tissue (LMT) value is computed as the mean of the local projection values in the top half of its range. The LAT for line L is computed as half the LMT 310. Finally, the LAT is smoothed with a moving average filter or other smoothing operator or filter.
The scan lines are searched and if the projection falls below the smoothed LAT for that line 315, the line is marked as belonging to a shadow. The method defines a new shadow if the previous line is a non-shadow line. The method also checks for the special case of shadow wrapping around the edge of the image. The scan lines correspond to a polar representation of blood vessel.
As a result, the scan lines wrap with the image data as scan line zero (or other arbitrary origin) is adjacent scan line 500 (or other final scan line). Thus, the polar nature of the scan lines and the extent that they wrap around can be considered when evaluating shadows that span the first and last scan line in a set of intravascularly collected data. In the wrapping case, the shadows on the edges of the image are merged in the sense that a shadow at scan line 1 and a shadow at scan line 500 (or whatever the last scan line is numbered) are treated as a single shadow given the adjacent orientation of such scan lines.
In addition, to detect shadows using LAT, as another parallel or second shadow detection method relative extrema/local minima points on the smoothed line projection are used as an additional detection method to identify other types of shadows. The use of relative extrema represents a method of detection shadows that is performed in addition to the LAT method to identify shadows that may be missed by the LAT-based method. In one embodiment, the LAT method is a primary or first method and the use of local extrema or minimum to detect shadows is secondary or second method (or vice versa).
In one embodiment, a separate local minima search is performed on non-shadow regions to identify shadows which are not dark enough to fall below the LAT. A local minimum or other relative extrema is identified for a line if a valley (or peak, depending on implementation details) exists with value greater than percentage of the line's smoothed projection value. In one embodiment, the local minimum or other relative extrema is identified if it exists within a windowed search radius such as 10, 20, or 30 lines before and after each scan line being evaluated.
In one embodiment, the windowed search radius is a valley-to-peak search radius. In one embodiment, a valley bordered by two peaks is searched for and used as a signature indicative of a shadow. The star at point 9 which was not detected using the LAT-based method can be evaluated by looking 20 lines in front of it and 20 lines behind it to determine if the intensity pattern of the smoothed projection undergoes changes that include a valley with a peak on either side. The detection of this feature as part of a secondary shadow detection method can be used to find shadows that the LAT-based method misses in one embodiment. Within the search window on either side of each scan line searched (which may be all of them) the presence of a valid local minimum can correspond to another detected shadow. Further, if the difference between the minimum value of the smoothed projection and the maximum value of the projection in the search window exceeds a threshold, the occurrence of that pattern can be used to identify a shadow.
In
In one embodiment, the implementation of a shadow search step or process provides additional sensitivity such that the search process detects faint shadows that are too bright to fall below the LAT. Thus, a faint shadow can have an intensity that is above the LAT threshold, but still constitutes a shadow region.
In one embodiment, the primary or first LAT-based shadow search process and the secondary or second relative extrema/peak valley searching can also include a step by which the process refines the start and stop locations to the location of maximum slope on the projection. This refinement can include one or more applications or searches performed relating to slope. For example, in one embodiment, a slope measurement is used to fine tune the shadow start/stop line by identifying an edge value such as the true center of an edge value corresponding to shadow start scan line or a shadow end scan line.
In one embodiment, the locations are not adjusted for shadows that consist of a single scan line. Star 9 is not captured as a shadow as a result of the intensity value being above the LAT. In one embodiment, slope measures are used to generate an improved estimate for each start line and stop line for each shadow. The slope measure is used to select the edge at which a shadow starts and ends. The edge selection improves the accuracy of validation steps in one embodiment. As an example, as shown in
In one embodiment, by scanning using a window of scan lines or other radius the slope of the projection can be computed and the relative extrema values and the changes thereto such as with regard to shadow 3 and shadow 9 can be used to validate shadows or identify shadows such as shadow 9 not detected by the LAT-based method. In addition, the slope can be used in circumstances when the LAT method only detects a portion of shadow. The use of slope measurements on a per scan line basis facilitates better estimates for the edges of a shadow that spans multiple scan lines by detecting the edges that correspond to shadow start scan lines and shadow end scan lines.
Shadow Validation Embodiments and Features
In one embodiment, shadow validation follows shadow search and is used to reduce false positives and ease the burden on subsequent strut offset detection methods that operate on outputs from the shadow search or shadow detection using a LAT and smoothed line projection. In one embodiment, while shadow detection attempts to determine presence of shadows across the scan lines, validation attempts to verify the presence of genuine shadow edges. The shadow start scan line and the shadow stop scan line define the edges of a region of interest such as shadow begins and ends from the reference frame of the intravascular imaging probe.
In one embodiment, candidate shadows from the prior software module processing steps are initially labelled as valid by default, but marked invalid if they fail validation. In one embodiment, the process of labelling lines with respect to the method of
The first validation test is based on the shadow width determined by the distance between the shadow start and stop lines located at the near offsets. The shadow is marked as invalid if its width or other shadow dimension is greater than a predefined size representative of maximum shadow width (or other shadow dimension) associated with the type of object generating the shadow. As a result, the shadow width/dimension of a stent strut, a guidewire, or another shadow generating object can be specified as a basis for rejecting shadows that would not be associated with one or more of the foregoing objects. In this case, all subsequent validation steps are skipped.
In one embodiment, shadows that exceed the width criteria typically correspond to a guide wire or a side branch. Thus, in one embodiment, the validation process includes the step of excluding guide wire and/or side branch shadows from the set of candidate stent strut shadows. The shadow width can vary based upon what is being searched for or excluded from searching. If looking for stent struts, can exclude shadows for example that exceed the size of stent strut shadows.
If a shadow meets the maximum width criteria or other selection threshold or criterion, the candidate shadow in the image is selected for a validation phase. In this phase, the validation method uses application of an operator such as an edge detection kernel to confirm shadow start-stop edges which are scan lines that span a shadow. In one embodiment, the application is a convolution application. For shadows with well-defined edges, various kernels or other image processing/edge detection operators are used. In one embodiment, Prewitt kernels or kernels including one or more Prewitt kernel features are used.
As an exemplary kernel,
These kernels, or other operators, are applied to detect the edges across the scanlines of the polar image within regions in the intensity image (ROI) defined by the shadow start/stop lines and the respective near/far offsets. The output of the filtering operation is projected along the sample lines (in the filtered output image). As a result, an averaging effect is attained without the need of a full 2-D kernel, reducing the computation time. In one embodiment, instead of a 2-D kernel, a 1-D kernel is used in a 2-D convolution. Although, a full kernel can be used in some embodiments of the disclosure. The projected signal is searched for a peak to determine if a valid edge exists. The full range or a subset of the ROI is used in the initial validation attempt. If at least one edge passes validation, the shadow is considered valid. In one embodiment, a one dimensional kernel is used to look for the edges of a shadow region such as to identify a shadow start scan line and a shadow stop scan line. A projection is generated along the scan line and then the one dimensional edge detection operator is applied to the projection to identify the edge.
Another scenario that is important to evaluate occurs when a shadow is thin (1-2 scan lines wide). These shadows are similarly validated through a notch filter kernel in one embodiment.
In one embodiment, invalid shadows go through a secondary validation step. The second validation step breaks down the ROI into equivalent chunks in the sample direction. The first validation technique previously described is then applied to each chunk once more. If a single chunk passes validation, the shadow is relabeled as valid. In this way, faint shadows are not missed by the imaging processing steps described herein for shadow detection and subsequent processing for stent detection.
Additional Shadow Refinement/Validation
Validated shadows are further distinguished by comparing each shadow to all other shadows on the frame. Shadows that overlap are merged into a single shadow, and the duplicate shadow is removed. Shadows which fail validation described in the previous section are ignored in this refinement step. The method accounts for cases where shadows wrap around the image.
Some portions of the detailed description are presented in terms of methods such as algorithms and symbolic representations of operations on data bits within a computer memory. These algorithmic descriptions and representations can be used by those skilled in the computer and software related fields. In one embodiment, an algorithm is here, and generally, conceived to be a self-consistent sequence of operations leading to a desired result. The operations performed as method stops or otherwise described herein are those requiring physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic signals capable of being stored, transferred, combined, transformed, compared, and otherwise manipulated.
The algorithms and displays presented herein are not inherently related to any particular computer or other apparatus. Various general purpose systems may be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will appear from the description below.
Embodiments of the invention may be implemented in many different forms, including, but in no way limited to, computer program logic for use with a processor (e.g., a microprocessor, microcontroller, digital signal processor, or general purpose computer), programmable logic for use with a programmable logic device, (e.g., a Field Programmable Gate Array (FPGA) or other PLD), discrete components, integrated circuitry (e.g., an Application Specific Integrated Circuit (ASIC)), or any other means including any combination thereof In a typical embodiment of the present invention, some or all of the processing of the data collected using an OCT probe, an IVUs probe, and other imaging and subject monitoring devices and the processor-based system is implemented as a set of computer program instructions that is converted into a computer executable form, stored as such in a computer readable medium, and executed by a microprocessor under the control of an operating system. Thus, user interface instructions and triggers based upon the completion of a pullback or a co-registration request, for example, are transformed into processor understandable instructions suitable for generating OCT data, performing image procession using various and other features and embodiments described above.
Computer program logic implementing all or part of the functionality previously described herein may be embodied in various forms, including, but in no way limited to, a source code form, a computer executable form, and various intermediate forms (e.g., forms generated by an assembler, compiler, linker, or locator). Source code may include a series of computer program instructions implemented in any of various programming languages (e.g., an object code, an assembly language, or a high-level language such as Fortran, C, C++, JAVA, or HTML) for use with various operating systems or operating environments. The source code may define and use various data structures and communication messages. The source code may be in a computer executable form (e.g., via an interpreter), or the source code may be converted (e.g., via a translator, assembler, or compiler) into a computer executable form.
The computer program may be fixed in any form (e.g., source code form, computer executable form, or an intermediate form) either permanently or transitorily in a tangible storage medium, such as a semiconductor memory device (e.g., a RAM, ROM, PROM, EEPROM, or Flash-Programmable RAM), a magnetic memory device (e.g., a diskette or fixed disk), an optical memory device (e.g., a CD-ROM), a PC card (e.g., PCMCIA card), or other memory device. The computer program may be fixed in any form in a signal that is transmittable to a computer using any of various communication technologies, including, but in no way limited to, analog technologies, digital technologies, optical technologies, wireless technologies (e.g., Bluetooth), networking technologies, and internetworking technologies. The computer program may be distributed in any form as a removable storage medium with accompanying printed or electronic documentation (e.g., shrink-wrapped software), preloaded with a computer system (e.g., on system ROM or fixed disk), or distributed from a server or electronic bulletin board over the communication system (e.g., the internet or World Wide Web).
Hardware logic (including programmable logic for use with a programmable logic device) implementing all or part of the functionality previously described herein may be designed using traditional manual methods, or may be designed, captured, simulated, or documented electronically using various tools, such as Computer Aided Design (CAD), a hardware description language (e.g., VHDL or AHDL), or a PLD programming language (e.g., PALASM, ABEL, or CUPL).
Programmable logic may be fixed either permanently or transitorily in a tangible storage medium, such as a semiconductor memory device (e.g., a RAM, ROM, PROM, EEPROM, or Flash-Programmable RAM), a magnetic memory device (e.g., a diskette or fixed disk), an optical memory device (e.g., a CD-ROM), or other memory device. The programmable logic may be fixed in a signal that is transmittable to a computer using any of various communication technologies, including, but in no way limited to, analog technologies, digital technologies, optical technologies, wireless technologies (e.g., Bluetooth), networking technologies, and internetworking technologies. The programmable logic may be distributed as a removable storage medium with accompanying printed or electronic documentation (e.g., shrink-wrapped software), preloaded with a computer system (e.g., on system ROM or fixed disk), or distributed from a server or electronic bulletin board over the communication system (e.g., the internet or World Wide Web).
Various examples of suitable processing modules are discussed below in more detail. As used herein a module refers to software, hardware, or firmware suitable for performing a specific data processing or data transmission task. In one embodiment, a module refers to a software routine, program, or other memory resident application suitable for receiving, transforming, routing and processing instructions, or various types of data such as angiography data, OCT data, FFR data, IVUS data, co-registration table data, peaks, off sets, line projections, scan lines, local minima, local maxima, shadows, pixels, intensity patterns, and other information of interest as described herein.
Computers and computer systems described herein may include operatively associated computer-readable media such as memory for storing software applications used in obtaining, processing, storing and/or communicating data. It can be appreciated that such memory can be internal, external, remote or local with respect to its operatively associated computer or computer system.
Memory may also include any means for storing software or other instructions including, for example and without limitation, a hard disk, an optical disk, floppy disk, DVD (digital versatile disc), CD (compact disc), memory stick, flash memory, ROM (read only memory), RAM (random access memory), DRAM (dynamic random access memory), PROM (programmable ROM), EEPROM (extended erasable PROM), and/or other like computer-readable media.
In general, computer-readable memory media applied in association with embodiments of the invention described herein may include any memory medium capable of storing instructions executed by a programmable apparatus. Where applicable, method steps described herein may be embodied or executed as instructions stored on a computer-readable memory medium or memory media. These instructions may be software embodied in various programming languages such as C++, C, Java, and/or a variety of other kinds of software programming languages that may be applied to create instructions in accordance with embodiments of the invention.
The aspects, embodiments, features, and examples of the invention are to be considered illustrative in all respects and are not intended to limit the invention, the scope of which is defined only by the claims. Other embodiments, modifications, and usages will be apparent to those skilled in the art without departing from the spirit and scope of the claimed invention.
The use of headings and sections in the application is not meant to limit the invention; each section can apply to any aspect, embodiment, or feature of the invention.
Throughout the application, where compositions are described as having, including, or comprising specific components, or where processes are described as having, including or comprising specific process steps, it is contemplated that compositions of the present teachings also consist essentially of, or consist of, the recited components, and that the processes of the present teachings also consist essentially of, or consist of, the recited process steps.
In the application, where an element or component is said to be included in and/or selected from a list of recited elements or components, it should be understood that the element or component can be any one of the recited elements or components and can be selected from a group consisting of two or more of the recited elements or components. Further, it should be understood that elements and/or features of a composition, an apparatus, or a method described herein can be combined in a variety of ways without departing from the spirit and scope of the present teachings, whether explicit or implicit herein.
The use of the terms “include,” “includes,” “including,” “have,” “has,” or “having” should be generally understood as open-ended and non-limiting unless specifically stated otherwise.
The use of the singular herein includes the plural (and vice versa) unless specifically stated otherwise. Moreover, the singular forms “a,” “an,” and “the” include plural forms unless the context clearly dictates otherwise. In addition, where the use of the term “about” is before a quantitative value, the present teachings also include the specific quantitative value itself, unless specifically stated otherwise. As used herein, the term “about” refers to a ±10% variation from the nominal value.
It should be understood that the order of steps or order for performing certain actions is immaterial so long as the present teachings remain operable. Moreover, two or more steps or actions may be conducted simultaneously.
Where a range or list of values is provided, each intervening value between the upper and lower limits of that range or list of values is individually contemplated and is encompassed within the invention as if each value were specifically enumerated herein. In addition, smaller ranges between and including the upper and lower limits of a given range are contemplated and encompassed within the invention. The listing of exemplary values or ranges is not a disclaimer of other values or ranges between and including the upper and lower limits of a given range.
This application claims priority to and the benefit of U.S. provisional patent application No. 62/259,015, filed on Nov. 23, 2015, the entire contents of each of which is hereby incorporated by reference.
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| Number | Date | Country | |
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| Number | Date | Country | |
|---|---|---|---|
| Parent | 62259015 | Nov 2015 | US |
| Child | 15359237 | US |
