WO2013162332A1 - Procédé et dispositif de correspondance d'image hautement précis à l'aide de marqueurs cutanés et de points caractéristiques du corps - Google Patents

Procédé et dispositif de correspondance d'image hautement précis à l'aide de marqueurs cutanés et de points caractéristiques du corps Download PDF

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Publication number
WO2013162332A1
WO2013162332A1 PCT/KR2013/003647 KR2013003647W WO2013162332A1 WO 2013162332 A1 WO2013162332 A1 WO 2013162332A1 KR 2013003647 W KR2013003647 W KR 2013003647W WO 2013162332 A1 WO2013162332 A1 WO 2013162332A1
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WO
WIPO (PCT)
Prior art keywords
marker
distance
probe
calculating
skin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2013/003647
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English (en)
Korean (ko)
Inventor
홍재성
박재영
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koh Young Technology Inc
Daegu Gyeongbuk Institute of Science and Technology
Original Assignee
Koh Young Technology Inc
Daegu Gyeongbuk Institute of Science and Technology
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Publication date
Application filed by Koh Young Technology Inc, Daegu Gyeongbuk Institute of Science and Technology filed Critical Koh Young Technology Inc
Priority to US14/345,215 priority Critical patent/US9342887B2/en
Priority claimed from KR20130046639A external-priority patent/KR101492940B1/ko
Publication of WO2013162332A1 publication Critical patent/WO2013162332A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body

Definitions

  • Embodiments of the present invention relate to a skin marker using an anatomical feature point in the body as part of a marker for image registration using an ultrasound or a radiation probe, and a high accuracy image registration device and method using the feature point in the body.
  • an ultrasonic diagnostic apparatus capable of displaying an X-ray CT image, an MRI image, and the like having the same cross section as an ultrasound image.
  • an X-ray CT image, an MRI image, and the like of a cross section corresponding to an acquisition position of an echo signal specified by detecting the position and inclination of an ultrasonic probe that scans an ultrasonic wave and based on these detection information It is displayed simultaneously with the real-time ultrasonic image.
  • FIG. 1 is an exemplary view showing that a large error occurs at the surgical point when using only a conventional skin marker.
  • a large target registration error TRE
  • One embodiment of the present invention provides a high accuracy image registration device and method using a skin marker and a body feature point to reduce the large error at the surgical point by using as part of the marker for image registration using an ultrasound or radiation probe.
  • the high accuracy image registration device using the skin marker and the body feature points the marker on the skin of the patient indicating a first position with respect to the patient body lesion;
  • a probe that outputs ultrasound or radiation to indicate a second position relative to the lesion;
  • a control unit that calculates intersection coordinates where the first and second positions coincide with each other and specifies the position of the lesion.
  • a high accuracy image registration method using a skin marker and the body feature points the marker on the skin of the patient, indicating a first position with respect to the patient's body lesion;
  • the probe outputting ultrasound or radiation to indicate a second position relative to the lesion; And calculating a coordinate of intersection where the first and second positions coincide with each other, thereby specifying the position of the lesion.
  • a large error at a surgical point may be reduced by using an ultrasound or a radiation probe as part of a marker for image registration indicating an anatomical feature in the body.
  • 1 is an exemplary view showing that a large error occurs at the surgical point when using only a conventional skin marker.
  • Figure 2 is an exemplary view showing the configuration of a high-accuracy image registration device using the skin marker and the body feature point to increase the accuracy by using the anatomical feature points in the body as part of the marker according to an embodiment of the present invention.
  • FIG. 3 is an operation flowchart of a high accuracy image registration method using skin markers and body feature points according to an embodiment of the present invention.
  • FIG. 4 is an operation flowchart of a high accuracy image registration method using the skin marker and the body feature points according to another embodiment of the present invention.
  • the apparatus for performing the image registration based on the ultrasound it is also possible to use a radiographic image such as CT or fluoroscopy using x-ray instead of the ultrasound image,
  • a radiographic image such as CT or fluoroscopy using x-ray
  • Figure 2 is an exemplary view showing the configuration of a high-accuracy image registration device using the skin marker and the body feature point to increase the accuracy by using the anatomical feature points in the body as part of the marker according to an embodiment of the present invention.
  • the high accuracy image registration device may include a marker 210, an ultrasonic probe (or a radiation image probe) 220, a camera 230, a controller 240, and the like.
  • Marker 210 indicates the first location relative to the patient's body lesion through an extension line located on the patient's skin and vertically passing through the center point.
  • the ultrasound probe 220 is a device for obtaining the position, shape, characteristics, and the like of an object.
  • the ultrasound probe 220 outputs an ultrasonic wave having a directivity to indicate a second position with respect to a patient's body lesion.
  • the radiation dose harmless to the human body having the directivity may be output to indicate the second position of the lesion in the patient's body.
  • the control unit 240 calculates the cross-point coordinates of the first position in the body indicated by the marker 210 and the second position in the patient's body designated by the ultrasound probe 220 to calculate a feature point that is the position of the lesion.
  • the camera 230 photographs the marker 210 and the ultrasonic probe 220.
  • the controller 240 measures the distance C R T between the camera 230 and the marker 210 and the distance C U T between the camera 230 and the ultrasonic probe 220 based on the image photographed by the camera 230. Then, the distance R U T between the marker 210 and the ultrasonic probe 220 is calculated through the calculation formula C R T -1 * C U T having the distance C R T and the distance C U T as parameters.
  • the controller 240 calculates a distance between the marker 210 and the ultrasound probe 220 and calculates a point of contact between the extension line through which the first position passes and the extension line through the second position as the cross coordinates.
  • the controller 240 calculates coordinates of the feature points designated by the marker 210 and the ultrasonic probe 220 by triangulation.
  • the controller 240 calculates coordinates of the feature point determined by the extension line indicated by the marker 210 and the extension line indicated by the ultrasound probe 220.
  • an example of calculating an actual P is as follows.
  • the controller 240 determines a distance C R T between the camera 230 and the marker 210 and a distance C U T between the camera 230 and the ultrasonic probe 220 based on the image photographed by the camera 230. Measure
  • the control unit 240 calculates the distance R U T between the marker 210 and the ultrasonic probe 220 through the formula C R T -1 * C U T having the distance C R T and the distance C U T as parameters. do.
  • the controller 240 measures an angle Q between an imaginary line connecting the marker 210 and the ultrasound probe 220 and an extension line through which the second position passes.
  • the control unit 240 calculates the distance U P P between the ultrasonic probe 220 and the second position through a formula R U T * COS Q having the distance R U T and the angle Q as parameters.
  • the controller 240 calculates the distance R P P between the marker 210 and the first position through a calculation formula R U T * U P P having the distance R U T and the distance U P P as parameters.
  • the control unit 240 calculates the feature point P from which the distance R P P calculated from the marker 210 is spaced as a cross coordinate. For example, when the position of the marker 210 is assumed as the zero point, the controller 240 may indicate the coordinates of the feature point P as a position away from the marker 210 by the distance R P P. In this case, the feature point P may be represented as (p, q, r) in three-dimensional coordinates.
  • the stereo camera photographs the marker 210 and the ultrasound probe 220.
  • the controller 240 calculates the two angles between the marker 210 and the ultrasonic probe 220 and the two angles between the two devices 210 and 220 based on the image photographed by the stereo camera, and uses the two distances and the angles. The distance between the 210 and the ultrasonic probe 220 is calculated.
  • the controller 240 calculates the coordinates of the feature point P designated by the marker 210 and the ultrasound probe 220 using the distance T between the marker 210 and the ultrasound probe 220.
  • the controller 240 calculates the angle between the distance T and the extension line R passing through the first position and the angle between the distance T and the extension line U passing through the second position.
  • the controller 240 calculates the coordinates of the feature point P designated by the marker 210 and the ultrasonic probe 220 by triangulation using the distance T and the calculated two angles.
  • FIG. 3 is an operation flowchart of a high accuracy image registration method using skin markers and body feature points according to an embodiment of the present invention.
  • the high accuracy image registration device is positioned on the patient's skin via a marker to indicate the first location of the body lesion (301).
  • the high accuracy image registration device controls the ultrasonic probe to output ultrasonic waves to indicate a second position with respect to the patient's body lesion (302).
  • the high accuracy image registration device photographs the marker and the ultrasonic probe by using a camera (303).
  • the high accuracy image registration device measures the distance C R T between the camera and the marker and the distance C U T between the camera and the ultrasonic probe based on the image captured by the camera, and calculates the distance C R T and the distance C U T.
  • the distance R U T between the marker and the ultrasonic probe is calculated through the equation C R T ⁇ 1 * C U T as a parameter (304).
  • the high accuracy image registration device calculates the distance between the marker and the ultrasound probe and calculates, as cross coordinates, a point of contact between the extension line through which the first position passes and the extension line through the second position.
  • the high accuracy image registration device calculates coordinates of feature points designated by markers and ultrasonic probes by triangulation.
  • the high accuracy image registration device calculates the coordinates of the feature point determined by the extension line indicated by the marker and the extension line indicated by the ultrasound probe (305).
  • FIG. 4 is an operation flowchart of a high accuracy image registration method using the skin marker and the body feature points according to another embodiment of the present invention.
  • the high accuracy image registration device places a marker on the patient's skin to indicate a first position with respect to the body lesion.
  • the high accuracy image registration device controls the ultrasound probe to output ultrasound to indicate the second position with respect to the lesion in the patient's body (402).
  • the high accuracy image registration device photographs the marker and the ultrasonic probe by using a stereo camera (403).
  • the high accuracy image registration device calculates two distances between the marker and the ultrasonic probe and two angles between the two devices based on the image captured by the stereo camera (404), and uses the two distances and the angle between the marker and the ultrasonic probe. 405 is calculated.
  • the high accuracy image registration device calculates the coordinates of the feature point P designated by the marker and the ultrasonic probe by using the distance T between the marker and the ultrasonic probe (406).
  • the high accuracy image registration device calculates the angle between the distance T and the extension line R passing through the first position and the angle between the distance T and the extension line U passing through the second position.
  • the high accuracy image registration device calculates the coordinates of the feature point P designated by the marker and the ultrasonic probe by triangulation using the distance T and the calculated two angles. In other words, the high accuracy image registration device calculates the feature points using the first position in the body indicated by the marker and the designated second position in the patient body designated by the ultrasound probe. The high accuracy image registration device calculates a feature point determined by the extension line indicated by the marker and the extension line indicated by the ultrasound probe.
  • Surgical navigation is expanding as a technology necessary for accurate and safe surgery. Surgical navigation causes errors in the acquisition and registration of images. In surgery that requires high accuracy, such as otolaryngology or neurosurgery, these errors have a significant effect on the outcome of the surgery.
  • the present invention can reduce the error of the image registration more precise surgical navigation is possible and can obtain better surgical results.
  • the apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components.
  • the devices and components described in the embodiments may be, for example, processors, controllers, arithmetic logic units (ALUs), digital signal processors, microcomputers, field programmable arrays (FPAs), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions.
  • the processing device may execute an operating system (OS) and one or more software applications running on the operating system.
  • the processing device may also access, store, manipulate, process and generate data in response to the execution of the software.
  • OS operating system
  • the processing device may also access, store, manipulate, process and generate data in response to the execution of the software.
  • processing device includes a plurality of processing elements and / or a plurality of types of processing elements. It can be seen that it may include.
  • the processing device may include a plurality of processors or one processor and one controller.
  • other processing configurations are possible, such as parallel processors.
  • the software may include a computer program, code, instructions, or a combination of one or more of the above, and configure the processing device to operate as desired, or process it independently or collectively. You can command the device.
  • Software and / or data may be any type of machine, component, physical device, virtual equipment, computer storage medium or device in order to be interpreted by or to provide instructions or data to the processing device. Or may be permanently or temporarily embodied in a signal wave to be transmitted.
  • the software may be distributed over networked computer systems so that they may be stored or executed in a distributed manner.
  • Software and data may be stored on one or more computer readable recording media.
  • the method according to the embodiment may be embodied in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium.
  • the computer readable medium may include program instructions, data files, data structures, etc. alone or in combination.
  • the program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • Examples of computer readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks such as floppy disks.
  • Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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PCT/KR2013/003647 2012-04-27 2013-04-26 Procédé et dispositif de correspondance d'image hautement précis à l'aide de marqueurs cutanés et de points caractéristiques du corps Ceased WO2013162332A1 (fr)

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US14/345,215 US9342887B2 (en) 2012-04-27 2013-04-26 High accuracy image matching apparatus and high accuracy image matching method using a skin marker and a feature point in a body

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KR20120044917 2012-04-27
KR10-2012-0044917 2012-04-27
KR10-2013-0046639 2013-04-26
KR20130046639A KR101492940B1 (ko) 2012-04-27 2013-04-26 피부마커와 체내 특징점을 이용한 고정확도 영상정합 장치 및 방법

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018505398A (ja) * 2014-12-19 2018-02-22 コー・ヤング・テクノロジー・インコーポレーテッド オプティカルトラッキングシステム及びオプティカルトラッキングシステムのトラッキング方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001511691A (ja) * 1997-03-04 2001-08-14 バイオトラック・インコーポレーテッド 医療用検出及び画像化装置
US20040034301A1 (en) * 2000-08-01 2004-02-19 Tony Falco Method and apparatus for lesion localization, definition and verification
KR20070004074A (ko) * 2004-03-30 2007-01-05 고쿠리츠다이가쿠호진 하마마츠이카다이가쿠 수술 지원 장치, 방법 및 프로그램
KR20070110965A (ko) * 2006-05-16 2007-11-21 주식회사 메디슨 초음파 영상과 외부 의료영상의 합성 영상을디스플레이하기 위한 초음파 시스템
KR20080034664A (ko) * 2006-10-17 2008-04-22 주식회사 메디슨 초음파 영상과 외부 의료영상의 합성 영상 상에 의료용바늘을 디스플레이하기 위한 초음파 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001511691A (ja) * 1997-03-04 2001-08-14 バイオトラック・インコーポレーテッド 医療用検出及び画像化装置
US20040034301A1 (en) * 2000-08-01 2004-02-19 Tony Falco Method and apparatus for lesion localization, definition and verification
KR20070004074A (ko) * 2004-03-30 2007-01-05 고쿠리츠다이가쿠호진 하마마츠이카다이가쿠 수술 지원 장치, 방법 및 프로그램
KR20070110965A (ko) * 2006-05-16 2007-11-21 주식회사 메디슨 초음파 영상과 외부 의료영상의 합성 영상을디스플레이하기 위한 초음파 시스템
KR20080034664A (ko) * 2006-10-17 2008-04-22 주식회사 메디슨 초음파 영상과 외부 의료영상의 합성 영상 상에 의료용바늘을 디스플레이하기 위한 초음파 시스템

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018505398A (ja) * 2014-12-19 2018-02-22 コー・ヤング・テクノロジー・インコーポレーテッド オプティカルトラッキングシステム及びオプティカルトラッキングシステムのトラッキング方法
US10271908B2 (en) 2014-12-19 2019-04-30 Koh Young Technology Inc. Optical tracking system and tracking method for optical tracking system

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