Creation of Finite Element Models of Human Body based upon
Tissue Classified Voxel Representations
University of Karlsruhe
Germany
Institute of Biomedical Engineering
Marcus Müller Frank Sachse
Carsten Meyer-Waarden
Abstract
Introduction
Numerical methods like finite difference methods (FD), finite
integration techniques (FIT),
the boundary element method (BEM) or the finite element method
(FE) have been proven to be powerful
tools for the calculation of electric, magnetic, electromagnetic
and thermal fields.
The FE method, the most widely used technique for engineering
design and analysis,
is distinguished from all others by different reasons:
| it can be applied to various boundary value
problems
|
| approximations of solutions can be obtained by
using a wide range of different shape functions
|
| a FE model is a geometrical flexible
decomposition of object space
|
Finite element models have to be topological compatible, that
means, elements do not intersect
each other but they cover the full object space. Besides elements
border each other at most on
vertices or on complete edges or faces.
FE models usually are created by using automatic mesh generators.
Automatic mesh generators require
detailed information about the geometry of object structures
during the course of model creation.
In the domain of CAD (computer aided design) objects are
described by using CSG (constructive solid
geometry), by representing their boundaries eg using NURBS
(nonuniform rational B-splines) or other
representational schemes.
These kinds of descriptions usually are not available for
anatomical structures of human body. The
fundamental sources of anatomical information are the various
methods of medical imaging. By using
segmentation and classification schemes tissue distributions in
human body in high spatial resolution
can be obtained. A tissue classified voxel representation can
serve as an alternative description of
geometrical structures.
Mesh Generation
This paper presents an automatic FE mesh generator, which is able
to create models
of anatomical structures. To classify and to value model
entities, characteristics of
an underlying tissue classified voxel representation are
determined.
For the automatic mesh generation in three dimensional space a
Delaunay algorithm was chosen,
which ensures topological compatibility as well as additional
geometrical properties of the model.
This algorithm links up a given set of knot points with
tetrahedral elements.
Appropriate knot points are found either before or in the course
of mesh generation.
Classification and validation of mesh entities necessitate an
extensive interaction between
FE model and voxel representation. Using a three dimensional
rasterization method the tissue
class of a mesh element and the error volume - volume which do
not consists of this element tissue
class - can be determined. Based on these characteristics and
additional rules
an adaptive mesh refinement can be carried out.
Respectation of Boundaries
A known problem of automatic mesh generation, especially when
using Delaunay triangulation,
is the respectation of object boundaries. Object boundaries which
have to be maintained
may be defined through topological compatible triangle meshes.
These triangle meshes can be
determined by employing several processes:
| marching cube algorithm
|
| intersection of tetrahedron meshes with object
boundaries in voxel representations
|
| active contours
|
| free forms
|
Triangle meshes may be improved during the course of boundary
preservation.
Results and Applications
The presented automatic FE mesh generator enables the creation of
anatomical models of
human body. The grade of approximation and the number of DOF's
(degrees of freedom) are scaleable
in wide ranges. Mesh refinement may be done in interaction with a
FE solver.
The resulting model can be used to calculate various problems
like distribution of static electric,
static magnetic fields or stationary current problems.
Introduction
The finite element method has been proven to be a powerful tool
for the calculation of electrical, magnetical and
thermal fields. This method, the most widely used technique for
engineering, design and analysis, approximates the
solution of various differential equations and boundary problems.
To employ the finite element methode, the
object space has to be segmented into finite elements. Inside
each element a set-up function has to be chosen,
which course depends on this elements degrees of freedom. The
resulting shape functions span a function space
which includes the approximation of the solution. The grade of
shape functions, the shape, size and amount
of used elements can variee widely which yields to a high
flexibility.
|
Figure 1.: The advantages of the finite element method are the
mathematical flexibility, shown on this figure
through different approximation functions within single elements
(left/right), and the geometrical flexibility
of the used model, shown through different resolutions
(top/bottom).
|
Mesh Generation
A finite element model has to keep some geometrical properties.
To ensure continuity of the approximation, the
model has to be topological compatible which implies that
elements do not intersect each other but they cover
the full object space. Besides elements border each other at most
on vertices or on complete edges or faces.
If the shape functions depend only of values on nodes, continuity
of the approximation can be obtained.
Further the numerical stability of the calculation process can be
increased by avoiding obtuse and acute
angles.
|
Figure 2.: One demand on Finite Element models is the topological
compatibility. Two elements which border each
other on a complete face share the same node points within this
area. The same approximation functions and the
same values on this points guarantee a continuous solution.
|
Delaunay Triangulation
For the automatic mesh generation in three dimensional space a
Delaunay algorithm was chosen [2] which
ensures
topological compatibility as well as additional geometrical
properties of the model. A Delaunay triangulation
is a decomposition of object space into tetrahedral elements
which meet all demands on finite element models.
A Delaunay algorithm generates a mesh of tetrahedrons out of a
set of node points. All of the resulting elements
respect the Delaunay criterion. A Delaunay algorithm can be
implemented as a successive process.
Starting with a given Delaunay triangulation a new node point is
inserted. The volume of elements which
does'nt meet the Delaunay criterion any more has to be replaced
by new tetrahedrons.
|
Figure 3.: A Delaunay algorithm can be seen as a black box which
produces a mesh of tetrahedrons out of
a set of given node points.
|
Delaunay Criterion
If the circumsphere of a tetrahedron contains no node point, this
element meets the Delaunay criterion.
The figure 4 illustrates this aspect. The
green transparency sphere is the circumsphere
of the left tetrahedron. If the violett node point enters this
sphere a new triangulation results in new
elements, which again meet the
Delaunay criterion.
|
Figure 4.: A Delaunay triangulation is a triangluation in which
each element meets the Delaunay criterion.
Inside the circumsphere of each tetrahedron no node point is
lying. The magenta node is moving from right
to left. If it enters the circumsphere of the left tetrahedron, a
new trianglulation will been necessary.
|
Element Assessment
The element assessment can be considered as the connection
between the finite element model and the underlying
tissue classified voxel representation. A tissue classified voxel
representation is a threedimensional grid of
volume data. To each voxel a unique tissue class is assigned. The
goal of element assessment is to assign a
tissue class to each tetrahedron of the model too. To determine a
histogram of the occurrence of tissue inside
a tetrahedron, all voxels inside this element have to be counted.
The tissue class which wins the simple
majority can be chosen as the elements tissue class. The quality
of this element can be measured with the
volume of the opposition, here the error volume. Thereby the
different tissue classes can be weighted by
priority factors. Using a quality function, which depends on the
error volume and other geometrical motivated
components like size or aspect ratio, a quality key can be
calculated by which the set of elements can be sorted.
This point is illustrated by figure 5, an
element which is filled up with its including
voxels is shown.
|
Figure 5.: The assessment of single elements is realized through
a 3d rasterization. Thereby all voxels which
are lying inside the tetrahedron are counted, the majority
defines the tissue class of this element, the rest, the
error volume, is a measure of its quality.
|
Mesh Refinement
The strategie of mesh refinement is to place new node points
inside the element with the worst quality. The exact
position can be chosen by ignoring the tissue distribution within
the element eg the center of the tetrahedron,
the center of the innersphere or the middle of the longest edge.
Using information about the tissue distribution
can result in better positions for node points. This can be done
by walking along a given line and detecting the
first material change. Good rays are half edges starting at the
middle of edges and walking to the vertices.
Another possibility is to start at the center of an element and
search on the lines connected with the
vertices.
Figure 6 shows the course of the error
volume and the quality key of the worst tetrahedron
during the presented adaptive mesh generation. With the
increasing number of node points, the error volume is
decreasing and the quality key is increasing.
|
Figure 6.: With a growing number of node points, the quality of
the worst element of a FE model, created with the
discribed algorithm, is increasing, the error volume is
decreasing.
|
Respectation of
Boundaries
Beside the presented method to get new node points, another
possibility to meet the anatomical structures
of the human body is to define tissue boundaries which have to be
respected. These boundaries can be
represented by triangle meshes.
For this reason an active contour model has been implemented. The
three dimensional surface adapts
its shape to a chosen tissue class by following internal and
external forces which acts on the node points.
Internal forces are resulting of the position and the deformation
of the surface, external forces depends on
the underlying volume data. With this active contour model the
surface of different tissue classes can be
obtained.
|
Figure 7.: Active contour model which is represented by a
triangle mesh. The positions of the node points
are determined through internal and external forces.
|
The triangle meshes in figure 8 were
created with this active contour model.
Starting with an initial mesh, the elements change their position
depending on an underlying
tissue classified voxel representation. The direction of the
external forces can be derived out of the
gray level gradient within the voxel representation. In this
situation the voxel representations acts as
a potential field, which can be manipulated using a wide range of
different three dimensional filters.
|
Figure 8.: Example of the adaption of an active contour. The
number of element is increasing, the surface
shows more details.
|
Elements within the mesh can be subdivided or decimated, which
results in an adapted resolution.
This adaption can be controlled by the curvature of the surface
or by the size of the individual triangles.
|
Figure 9.: Decimation of elements may depend on the curvature of
the surface, which is visualized in this picture
using false colors. On the left side you can see the upper part
of the body, on the right side a head model
is shown.
|
Another possibility to get surface discriptions represented by
triangle meshes is to use the
Marching Cubes algorithm. This algorithm
produces a high amount of triangles to
reconstruct detailed volume data. The resulting meshes normaly
have to be decimated as discribed above.
|
Figure 10.: A komplex sturcture like the skull yields to a high
amount of triangles when using the
Marching Cubes algorithm. The quality of the reconstruction
depends on the resolution of the volume data.
|
Results and
Applications
The presented automatic FE mesh generator enables the creation of
anatomical models of
human body. The grade of approximation and the number of DOF's
(degrees of freedom) are scaleable
in wide ranges. Mesh refinement may be done in interaction with a
FE solver. Therefor the discribed quality
function has to take into account the relative errors of a finite
element solution in the different elements.
The resulting model can be used to calculate various problems
like distribution of static electric,
static magnetic fields or stationary current problems.
|
Figure 11.: An application of Finite Element models of human body
is the numerical calculation of
eletric or magnetic fields and potentials.
|
Images
The following images represent models of the head and the upper
part of the body which where created
using the discribed adaptive finite element mesh generater. The
used underlying voxel representation is
the result of the tissue classification of the Visible Man
Dataset of our group [6,7].
|
Figure 12.: Surface visualization of the upper part of the body.
|
|
Figure 13.: Volume visualization of a head model.
|
|
Figure 14.: Volume visualization of the upper part of the body.
|
Movies
References
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