In this paper

we propose a nevo model for three dimensional vessel extraction. The model makes full use of tubular properties

which includes prior intensity of vessels

second tensor of tubular structures

and geometric curvatures. All this information makes the energy terms of the active contour model and thus leads to three forces of the iterative equation: the region competition force using prior intensity

the tubular vector field force and the dual curvature force. The first force help extracting big vessels accurately and robustly

the second force makes it possible to extract thin and weak vessels

and the last one is able to remove noise without changing the tubular geometry. As shown in the experiments extracting liver vessels

coronary

and lung vessels

the proposed model is able to extract the whole vessel trees automatically

accurately

and robustly.