WO2014104767A1 - Procédé de production d'images tridimensionnelles réelles complexes et système correspondant - Google Patents

Procédé de production d'images tridimensionnelles réelles complexes et système correspondant Download PDF

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Publication number
WO2014104767A1
WO2014104767A1 PCT/KR2013/012232 KR2013012232W WO2014104767A1 WO 2014104767 A1 WO2014104767 A1 WO 2014104767A1 KR 2013012232 W KR2013012232 W KR 2013012232W WO 2014104767 A1 WO2014104767 A1 WO 2014104767A1
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Prior art keywords
image
dimensional
spatial coordinates
real
dimensional spatial
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Ceased
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PCT/KR2013/012232
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English (en)
Korean (ko)
Inventor
윤치순
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Industry Academic Cooperation Foundation of Catholic University of Korea
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Industry Academic Cooperation Foundation of Catholic University of Korea
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Priority claimed from KR1020130075667A external-priority patent/KR20140083856A/ko
Application filed by Industry Academic Cooperation Foundation of Catholic University of Korea filed Critical Industry Academic Cooperation Foundation of Catholic University of Korea
Priority to CN201380068009.XA priority Critical patent/CN105377138B/zh
Priority to US14/655,387 priority patent/US10736592B2/en
Publication of WO2014104767A1 publication Critical patent/WO2014104767A1/fr
Anticipated expiration legal-status Critical
Priority to US16/930,567 priority patent/US11517279B2/en
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
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/027—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis characterised by the use of a particular data acquisition trajectory, e.g. helical or spiral
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2576/00—Medical imaging apparatus involving image processing or analysis
    • 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
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • 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
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing

Definitions

  • the present invention relates to a method for producing complex reality three-dimensional images and a system therefor.
  • MRI magnetic resonance imaging
  • CT computed tomography
  • PET CT PET CT
  • Gamma camera Gamma camera
  • the medical technology knows the three-dimensional spatial coordinates of the patient's body through MRI or CT, but the three-dimensional spatial coordinates of the medical device inserted into the patient's body are not known in real time during the operation. There was a problem that could occur, causing fatal complications due to detachment of unwanted tissue.
  • the technique of obtaining the spatial coordinates of the patient's body during surgery is a 'relative coordinate extraction device and a medical imaging device using the same (Korean Patent Application Publication No. 10-2012-0096729)'
  • the technology is a method of mounting the image acquisition device on the patient's body and calculating relative coordinates with the target marker, where it is difficult to recognize the exact spatial coordinates of the patient where the image acquisition device cannot be mounted on the patient's body.
  • the mounting and coordinate analysis of such an image capturing device has a problem in that it is a waste of golden time.
  • this technique requires a separate light source and a reference coordinate system that cannot be used in separate surgery, and there is a decisive problem in that it cannot be placed in the operating room.
  • This technique corresponds to the three-dimensional shape recognition of a specific object.
  • there is a current trend of performing surgery and procedures using a variety of images there is a problem that does not provide the ease of the operation to perform a procedure or surgery while judging and viewing different images with different images.
  • the present inventors have made efforts to solve the problems of the prior art and politely. As a result, by integrating three-dimensional spatial coordinates of the human body and three-dimensional spatial coordinates of the medical device, it is possible to integrate different kinds of human body images and to accurately identify the three-dimensional position of the medical device used in the procedure. A new method has been developed, and according to the method of the present invention, a real three-dimensional image capable of grasping a real procedure in a procedure field in real time can be produced.
  • an object of the present invention is to provide a method for producing a complex reality three-dimensional image.
  • Another object of the present invention is to provide a system for producing a complex reality three-dimensional image.
  • the present invention provides a method for producing a complex reality three-dimensional image, comprising the following steps:
  • the medical device includes an imaging means
  • the present inventors have made efforts to solve the problems of the prior art and politely. As a result, by integrating three-dimensional spatial coordinates of the human body and three-dimensional spatial coordinates of the medical device, it is possible to integrate different kinds of human body images and to accurately identify the three-dimensional position of the medical device used in the procedure. A new method has been developed, and according to the method of the present invention, a real three-dimensional image capable of grasping a real procedure in a procedure field in real time can be produced.
  • the present invention relates to a composite real three-dimensional image, a technique for producing a single three-dimensional image by integrating different images.
  • the image integrated in the present invention is a three-dimensional image of a human body, a three-dimensional image of a medical device, and a three-dimensional image (for example, an image obtained by an image medical device) around the medical device.
  • the image integrated in the present invention is a 3D image of a human body, a 3D image of a medical device, and a 3D image of the surroundings of the medical device and an image of a human body or an image acquired by a medical device.
  • the term "complex" as used herein to refer to a three-dimensional image means that the different images are integrated into one image.
  • the term “reality” as used to refer to a three-dimensional image means that the produced image shows in real time the actual situation in which the procedure is performed.
  • “Reality” means three-dimensional spatial coordinates in the space or environment in which the procedure is performed.
  • the present invention has been described as a method of manufacturing a complex reality three-dimensional image
  • the present invention is a method of unifying the spatial coordinates of the three-dimensional image of the human body and the three-dimensional image of the medical device. It may be described as.
  • a space for securing a spatial coordinate of a 3D image obtained by scanning a human body with an imaging device before applying a medical device to a subject and performing a procedure In the present invention, three-dimensional spatial coordinates of a specific part of the human body are calculated using various imaging techniques, for example, X-ray fluoroscopy.
  • the first three-dimensional spatial coordinates of the three-dimensional image of the human body to be treated are obtained by matching the calculated three-dimensional spatial coordinates of the specific region with the coordinates of the specific region on the three-dimensional spatial coordinates of the human body previously secured.
  • the medical device eg, medical means for work and medical image
  • the medical device is based on the distance relationship between the medical device, the X-ray light source and the X-ray flaw detector.
  • Second actual three-dimensional spatial coordinates The third actual three-dimensional spatial coordinates of the three-dimensional image obtained by the medical imaging means are determined using the three-dimensional spatial coordinates of the medical device.
  • the first real three-dimensional spatial coordinates of the human body three-dimensional image, the second real three-dimensional spatial coordinates of the medical device image and the third real three-dimensional spatial coordinates for the three-dimensional image obtained from the medical imaging means Reconstruct the required image.
  • the present invention can provide the accuracy and convenience of the procedure.
  • the first real three-dimensional spatial coordinates, the second real three-dimensional spatial coordinates, the third real three-dimensional spatial coordinates, and the fourth real three-dimensional spatial coordinates are rectangular coordinate systems.
  • the same coordinate system used to determine the first real three-dimensional spatial coordinates, the second real three-dimensional spatial coordinates, the third real three-dimensional spatial coordinates, and the fourth real three-dimensional spatial coordinates is A coordinate system determined based on an operation table for applying a medical device to the subject.
  • the human 3D image used in step (a) is X-ray fluoroscopy, computed tomography, magnetic resonance imaging, PET imaging (Positron emission tomography) ), PET / CT image, PET / MRI image or radioisotope imaging (RI), ultrasonography, or composite image thereof.
  • the determination of the first real three-dimensional spatial coordinates and the second real three-dimensional spatial coordinates is carried out using electromagnetic radiation, for example the electromagnetic radiation is X-rays or high frequency (radiofrequency) Electromagnetic radiation, specifically X-rays.
  • the determination of the first real three-dimensional spatial coordinates and the second real three-dimensional spatial coordinates is carried out using X-ray fluoroscopy.
  • the determination of each of the first real three-dimensional spatial coordinate and the second real three-dimensional spatial coordinate is mono-plan fluoroscopy, bi-plan X-ray perspective (bi-) Plan fluoroscopy or multi-plan fluoroscopy is used.
  • the first actual three-dimensional spatial coordinates of step (a) is a three-dimensional spatial coordinates of the three-dimensional image of the human body obtained before applying the medical device to the object and the actual three of the specific part of the target body Determined using dimensional space coordinates.
  • step (a) comprises the following substeps: (a-1) irradiating X-rays toward a specific part of the human body of the subject using a first X-ray light source ; (a-2) detecting an X-ray perspective image of the human body by the first X-ray light source using a first X-ray detector; (a-3) irradiating X-rays toward a specific part of the human body to intersect X-rays by the first X-ray light source using a second X-ray light source; (a-4) detecting an X-ray perspective image of the human body by the second X-ray light source using a second X-ray flaw detector; And (a-5) determining a first actual three-dimensional spatial coordinate of the three-dimensional image of the human body using the image of the human body detected by the first X-ray flaw detector and the second X-ray flaw detector.
  • the (a-5) sub-step includes the following sub-steps: (a-5-1) physical 3 of the first X-ray light source and the first X-ray flaw detector Identifying the human body located between the first X-ray light source and the first X-ray flaw detector using dimensional coordinate information, distance information between them, and specific partial size information of the human body detected on the first X-ray flaw detector Determine three-dimensional spatial coordinates for the three-dimensional image of the portion; The second X-ray light source using the physical 3D coordinate information of the second X-ray flaw detector and the distance information between the two X-ray flaw detectors and the specific partial size information of the human body detected by the second X-ray flaw detector; Determining a three-dimensional spatial coordinate of a three-dimensional image of a specific portion of the human body located between the X-ray light source and the second X-ray flaw detector; (a-5-2) Three-dimensional spatial coordinates of the three-dimensional image of the specific part of
  • the medical device includes an identification unit for location recognition of the medical device. Since the overall three-dimensional shape of the medical device knows the relative position with respect to the identification part, the three-dimensional image of the medical device is implemented using this identification part in the step of realizing a composite real image.
  • the identification section comprises: (i) one or more sphere shaped identifications, (ii) one or more ring shaped identifications, (iii) a ring and one that indicates a particular location of the ring.
  • An identification comprising at least one marker, (iv) an identification comprising at least one pair of rings, (v) an identification comprising at least one pair of rings and at least one marker indicating a particular location of the ring Part, or (vi) an identification part comprising a marker for indicating three distinct points.
  • each of the three distinct points is a linear marker in which the image displaying each point uses a different marker or the image is divided. It is distinguished by marking the end of the line or the point where the marker meets.
  • the identification unit comprises one or more paired rings and one or more markers, the paired rings are mounted on the medical device in different positions from each other, the one or more The marker is mounted at a position (eg, one side of the ring) capable of indicating the position of the ring.
  • the one or more paired rings have different imaging characteristics.
  • different imaging characteristics refers to certain characteristics (eg, position, thickness, shape, and radiation transmission) that make them look different in an image. For example, the thicknesses of the rings are different from each other, indicating that they are imaged separately from each other in X-ray perspective.
  • the markers when there are two or more markers, the markers have different imaging characteristics (eg, position, thickness, shape, length and radiation transmission). According to a more specific embodiment, the two or more markers are different in length and yield different images to exhibit different imaging characteristics.
  • the second actual three-dimensional spatial coordinates are determined using one or two or more X-ray fluoroscopic images, and the step (b) is performed in the following substeps. It includes: (b-1) irradiating the X-ray toward the medical device using an X-ray light source; (b-2) detecting an X-ray perspective image of the medical device by the X-ray light source using an X-ray detector; And (b-3) determining a second actual three-dimensional spatial coordinate of the image of the medical device by using the projected position of the identification unit shown in the X-ray perspective image.
  • the sub-step (b-3) may include a second actual three-dimensional spatial coordinate with respect to the image of the medical device by using the projected position of the identification unit shown in the X-ray perspective image.
  • a three-dimensional spatial coordinate of the marker is determined, whereby the relative position of the inside of the medical device can be determined by the three-dimensional spatial coordinate of the marker.
  • the small step (b-3) may include three-dimensional position information of the identification portion, or three-dimensional position information and dimension information of the identification portion (eg, a diameter of a ring. Distance and the shape of the ring attached to the medical device). More specifically, the sub-step (b-3) may include physical three-dimensional coordinate information of the X-ray light source and the X-ray flaw detector, distance information between them, size information of the medical device that is flawed in the X-ray flaw detector, The second actual three-dimensional spatial coordinate of the image of the medical device is determined by using the diameter of the ring and the distance between the rings.
  • the medical device used in the present invention includes a radio wave reflector.
  • step (b) comprises the following substeps: (b-1) generating a first microwave towards the radio wave reflector using a first microwave generator; (b-2) generating a second microwave toward the radio wave reflector using a second microwave generator; (b-3) receiving the first microwave and the second microwave reflected from the radio wave reflector after the small steps (b-1) and (b-2); And (b-4) determining a second actual three-dimensional spatial coordinate of the image of the medical device by using the received information about the first microwave and the second microwave.
  • the imaging means included in the medical device is a plurality of cameras and the three-dimensional image of the periphery of the medical device is obtained in step (c) using the plurality of cameras.
  • the camera as the imaging means includes an identification portion, and more particularly as an identification portion includes a pair of rings and a marker attached to one side of each of these rings.
  • the imaging means included in the medical device is an ultrasound probe, and the ultrasound probe is used to obtain a three-dimensional image of the periphery of the medical device in step (c).
  • the ultrasonic probe as the imaging means includes an identification unit, and more specifically, the identification unit includes a pair of rings, a marker attached to one side of each of these rings, and a scan line.
  • the three-dimensional image of the human body in step (a) and the three-dimensional image around the medical device in step (c) are heterogeneous images.
  • the image of the medical device and the three-dimensional image of the periphery of the medical device at the same coordinates selected in step (e) are images of the same view.
  • the method of the present invention has a periodic movement and in conjunction with the site of the periodic-motor human body (e.g., heart) which generates signals (e.g., electrocardiogram, blood pressure, organ pressure and abdominal pressure). Determining a 3D image and a fourth real spatial coordinate thereof, wherein step (d) comprises: the first real 3D spatial coordinate, the second real 3D spatial coordinate, and the third real 3D spatial coordinate And fourth actual spatial coordinates.
  • the site of the periodic-motor human body e.g., heart
  • signals e.g., electrocardiogram, blood pressure, organ pressure and abdominal pressure.
  • the present invention provides a system for producing a complex reality three-dimensional image, comprising:
  • the system of the present invention is for implementing the above-described method of the present invention, and the contents in common between the two are omitted in order to avoid excessive complexity of the present specification.
  • the system for obtaining the human body three-dimensional image X-ray fluoroscopy (fluoroscopy) device, computed tomography (CT) imaging device, magnetic resonance imaging (MRI) imaging device, PET (Positron) It further includes an emission tomography imaging device, PET / CT imaging device, PET / MRI imaging device, radioisotope imaging (RI) device, or ultrasonography device.
  • the system further includes an X-ray perspective imaging device or a radiofrequency electromagnetic device for obtaining a first real three-dimensional spatial coordinate and a second real three-dimensional spatial coordinate.
  • the system further includes a medical device and the medical device includes an identification unit for location recognition of the medical device.
  • the medical device used in the present invention comprises an imaging means.
  • the three-dimensional image of the human body secured in advance to recognize the coordinates of the three-dimensional space of the medical device to match the spatial position of the human body at the site where the medical action takes place, and inserted into the human body of the medical device I can recognize space.
  • the 3D spatial coordinates of the human body and the medical device can be accurately recognized by using X-ray light source, microwave, ultrasound image and 3D camera, and the internal organs of the patient based on the accurate position recognition of the human body and the medical device. It provides the effect of preventing unnecessary peeling and preventing unexpected medical accidents.
  • FIG. 1 is a diagram illustrating radiating X-rays to a subject (medical device) using a plurality of X-ray light sources.
  • FIG. 2 shows three axes of a Cartesian coordinate system, (a) showing the projected point A on the flaw detector and the position of the flaw detector in three-dimensional space, and a point A on the flaw detector on a two-dimensional plane in the Cartesian coordinate system. (b).
  • FIG. 3 is a diagram illustrating a plurality of X-ray light sources, an image of a subject, and a projection of a subject on a three-dimensional plane in FIG. 1.
  • FIG. 4 is a conceptual perspective view showing a cylindrical medical device with an identification unit (ring and marker) attached thereto.
  • FIG. 5 is a diagram illustrating a medical device projected on an X-ray flaw detector and a medical device when X-rays are irradiated to the medical device from one X-ray light source P in a three-dimensional space. .
  • FIG. 6 is a three-dimensional view of a portion of a medical device (indicated by hatching) in which X-rays are transmitted from an X-ray light source P forming an image of one ring image on the flaw detector of FIG. 5 and a straight line AB connecting the edges of the ring image. Plan view.
  • FIG. 7 illustrates an X-ray light source P and a portion of a medical device (shown with a hatch) through which X-rays are transmitted and a straight line AB (virtual line) of an image on a flaw detector exist in one plane, which is displayed on a two-dimensional plane.
  • Drawing illustrates an X-ray light source P and a portion of a medical device (shown with a hatch) through which X-rays are transmitted and a straight line AB (virtual line) of an image on a flaw detector exist in one plane, which is displayed on a two-dimensional plane.
  • G 9 is G, H, I, and J when the straight line connecting the points E and F in FIG. 8 extends, these points indicate that the X-rays emitted from the X-ray light source P It is an image formed through the central axis of the medical device including the ring.
  • the points on the ring through which the X-rays are transmitted are called G ', H', I ', and J', respectively, and are shown in a three-dimensional plan view.
  • FIG. 11 is an image of a medical device including a marker indicating a point of a ring, and a medical device on an X-ray light source P and a flaw detector, and the center of the ring is O a , and the point where the ring meets the marker is M '.
  • the image is referred to as M, and G, H, I, and J of FIG. 10 are illustrated.
  • FIG. 12 is a perspective view of the appearance of a camera with a bar-shaped marker indicating a pair of rings and a specific portion of the ring.
  • FIG. 13 is a diagram illustrating that an image is formed on a 3D camera by a subject.
  • FIG. 14 is a diagram illustrating a monitor image of an object and an image formed on an image sensor.
  • FIG. 15 is a diagram schematically illustrating a straight line in 3D coordinates.
  • 16 is a perspective view illustrating that a ring, a marker, and a scan line are included in the identification unit of the ultrasound imaging medical apparatus.
  • the first actual three-dimensional spatial coordinates of a human three-dimensional image obtained before the medical device is applied to a subject are determined.
  • the method for producing a composite real 3D image according to the present invention includes a first real 3D spatial coordinate of a 3D image of a human body of a target (specifically a human, more specifically a human patient) and a second real image of an image of a medical device.
  • the three-dimensional spatial coordinates are obtained, and these three-dimensional spatial coordinates are matched.
  • Human body 3D images obtained before applying the medical device used in the present invention to the subject is obtained using a variety of imaging equipment.
  • the human body is scanned with a suitable imaging device and a three-dimensional image is produced.
  • the three-dimensional image of the human body includes not only the skin of the human body but also images of internal organs and bones.
  • the human 3D image is an X-ray fluoroscopy, computed tomography (CT) image, magnetic resonance imaging (MRI) image, positron emission tomography (PET) image, PET / CT image , PET / MRI image, radioisotope imaging (RI), ultrasound image (ultrasonography), or a composite image thereof, and according to a specific embodiment, CT image or MRI image.
  • CT computed tomography
  • MRI magnetic resonance imaging
  • PET positron emission tomography
  • PET / CT image PET / CT image
  • PET / MRI image PET / MRI image
  • RI radioisotope imaging
  • ultrasonography ultrasonography
  • the 3D human body image may be one image obtained from the imaging apparatus.
  • the 3D human body image may be a composite image obtained by synthesizing a plurality of the images.
  • Determination of the first actual three-dimensional spatial coordinates can be carried out by various electromagnetic rays, specifically X-rays or high-frequency electromagnetic radiation, more specifically, it can be carried out using X-rays.
  • the determination of the first actual three-dimensional spatial coordinate is performed using X-rays
  • the determination of the first actual three-dimensional spatial coordinate is performed by X-ray perspective method (mono-plan X-ray perspective method, bi-plan X-ray perspective method, or multi-plan).
  • X-ray fluoroscopy can be used.
  • the first real three-dimensional spatial coordinates of the three-dimensional image of the human body in step (a) are the three-dimensional spatial coordinates of the three-dimensional image of the human body obtained before applying the medical device to the object and the actual three-dimensional of a specific part of the human body. Can be determined using spatial coordinates.
  • the 3D spatial coordinates may be directly determined for the 3D image of the human body without using the actual 3D spatial coordinates of the specific part of the human body.
  • there is a facility for obtaining a three-dimensional human body image on the operating table in the current operating practice it is possible to directly obtain the human body three-dimensional image from the patient located on the operating table and determine its actual three-dimensional spatial coordinates.
  • the actual three-dimensional spatial coordinates may be determined using a three-dimensional image obtained from the operating table and a three-dimensional image obtained from a non-operating table.
  • the quality of the image is different from the image taken by X-ray fluoroscopy without contrast medium. Because it is difficult to use, it is very effective to calculate and use actual three-dimensional spatial coordinates of three-dimensional images such as CT using X-ray perspective.
  • the determination of the first actual three-dimensional spatial coordinates comprises the steps of: (a-1) irradiating X-rays toward a specific part of the human body of the subject using a first X-ray light source; (a-2) detecting an X-ray perspective image of the human body by the first X-ray light source using a first X-ray detector; (a-3) irradiating X-rays toward a specific part of the human body to intersect X-rays by the first X-ray light source using a second X-ray light source; (a-4) detecting an X-ray perspective image of the human body by the second X-ray light source using a second X-ray flaw detector; And (a-5) determining a first actual 3D spatial coordinate of the 3D image of the human body using the image of the human body detected by the first X-ray flaw detector and the second X-ray flaw detector.
  • the sub-step (a-5) may include (a-5-1) physical three-dimensional coordinate information of the first X-ray light source and the first X-ray flaw detector, distance information between the first X-ray flaw detector, and the first X-ray flaw detector.
  • the first actual three-dimensional spatial coordinates of a specific part of the human body that can be well identified by the X-ray perspective method are calculated by a plurality of X-ray perspective methods, and the actual three-dimensional spatial coordinates of the other parts are calculated based on this.
  • the actual three-dimensional spatial coordinates calculated by X-ray perspective method can reduce the error by using several parts of the human body to calculate. If the CT or MRI is taken in the surgical space and the 3D spatial coordinates of the 3D image are the same as the actual 3D spatial coordinates, this process can be omitted.
  • the first real 3D spatial coordinates, the second real 3D spatial coordinates, and the third real 3D spatial coordinates of the 3D human body image may be determined using various coordinate systems capable of representing 3D.
  • the implementer of the present invention may use another coordinate system, for example, a spherical coordinate system or the like, as a reference coordinate system due to the environment and the equipment used.
  • the same coordinate system is used.
  • various points of the space in which the procedure is performed may be referenced. Among them, it is suitable in view of convenience for the treatment table to be used.
  • Coordinates based on the treatment table can be constructed as follows, for example. Place the table horizontally, and the patient's head is usually placed at the top and the leg is at the bottom, and when the upper and lower sides are observed at the bottom, the x, y, z axes are defined as below.
  • the x axis passes the lower portion of the table and is parallel and horizontal to the axis of the table; the y axis is perpendicular and meets the x axis, passing through the point where the X-ray flaw detector or X-ray light source can be positioned as far left as possible;
  • the z axis is a line that is parallel to the long axis of the treatment table and is horizontal, past the point where the x and y axes meet.
  • the operation table when the operation table is a reference, it is advantageous to set the three-dimensional coordinates if there is a scale to help set the three-dimensional coordinates on the operating table.
  • the medical device includes imaging means.
  • the medical device is spatially coordinated.
  • the medical device includes all medical devices that come into contact with or enter the body outside the patient's body.
  • Medical devices used in the present invention can be divided into two types, one is an imaging medical device and the other is a functional medical device.
  • Medical devices that function are instruments that perform procedures such as stents, scissors, knives and needles.
  • the medical device used in the present invention includes various medical devices such as an endoscope device, an ultrasound imaging device, and a surgical robot.
  • the three-dimensional spatial coordinates of the human body and the three-dimensional spatial coordinates of the position of the medical device do not necessarily exist in terms of time and time. Therefore, in the claims, the spatial coordinates of the human body are described in step (a), and in step (b), the spatial coordinates of the medical device are described, but the medical device may be spatially coordinated first, which is the scope of the present invention. Should be interpreted as belonging to
  • the three-dimensional spatial coordinates of the human body and the three-dimensional spatial coordinates of the medical device is a concept that proceeds in parallel and independently, except that the CT or MRI imaging of the patient is performed first, and then surgery is performed. In practice, 3D imaging and 3D spatial coordinates of the human body only precede 3D spatial coordinates of a medical device.
  • the spatial coordinates used in the present invention must be the same coordinate system and the units must be identical.
  • the three-dimensional spatial coordinates of the medical device may be, for example, a rectangular coordinate system.
  • the human body and the medical device may obtain the actual three-dimensional spatial coordinates by, for example, X-ray perspective, but may additionally assist the spatial coordinates by X-ray perspective using an ultrasound imaging apparatus or a 3D camera.
  • X-rays are a light source continuously irradiated during surgery on the patient, and the X-ray fluoroscopy is very economical because it does not require the use of a separate medical device.
  • the reference point where the images are combined is the position of the patient's body.
  • the three-dimensional spatial coordinates of the reference point of the imaging device may calculate the actual three-dimensional spatial coordinates of the medical device including the imaging device by using X-ray perspective.
  • the shape of the aorta is obtained by using a three-dimensional image of a human body obtained from a CT photographed using a contrast agent. Use video.
  • the medical device including the stent since the medical device including the stent is located in the aorta, since the coordinates of the medical device are included in the coordinates of the aorta, the coordinates occupied by the medical device are represented by the medical device, and the coordinates of the remaining aorta are represented by the aorta.
  • a lung when a lung is operated using a three-dimensional endoscope, the operation of the lung is performed while the air is released from the lung and the volume of the lung is reduced, but since the three-dimensional image of the CT does not reflect this, the volume is reduced.
  • the images of the lungs are from the 3D camera, and the parts not visible with the 3D camera are from the CT images.
  • a heart valve when operated using a catheter, the catheter passes through blood vessels to reach the heart.
  • a 3D image of a CT vessel is formed in a blood vessel shape.
  • the present invention determines a second actual three-dimensional spatial coordinates for the image of the medical device applied to the object.
  • X-rays are irradiated toward a specific part (or a medical device) of the human body using the first X-ray light source 1a.
  • the first X-ray flaw detector detects the X-rays radiated from the first X-ray light source and passed through a specific part (or a medical device) of the human body.
  • the second X-ray flaw is irradiated toward a specific part (or medical device) of the human body using the second X-ray light source 1b, and the second X-ray flaw detector is irradiated from the second X-ray light source to detect a specific part of the human body ( Or X-rays passed through the medical device).
  • X-rays radiated from the first X-ray light source and the second X-ray light source detect a specific part (or a medical device) of the same body, and the X-rays cross each other.
  • the position of the physical coordinates of the first X-ray light source is physically given information, and the position of the physical coordinates of the first X-ray flaw detector is also physically given information.
  • the position of the physical coordinates of the second X-ray light source is physically given information, and the physical coordinate position of the second X-ray flaw detector is also physically given information.
  • a specific part (or medical device) of the human body is extremely small, it may be represented by the point where lines meet as shown in FIG. In order to represent a specific part to be detected by a point, it is necessary to have a small area well searched by X-rays or a small change in the position of a location indicated by the center point of the image according to the search angle.
  • the specific part of the human body is not limited to the natural part of the human body, but a concept including an artificial or natural object located inside or outside the body depending on the purpose.
  • the X-ray flaw detector is located in an arbitrary space in an actual three-dimensional space, and the image A on the flaw detector generated by the X-ray is shown in FIG. 2A, and the two-dimensional coordinates of the image on the flaw detector are shown in FIG. (b).
  • the physical position of the X-ray light source and the actual three-dimensional spatial coordinates of the flaw detector can be known. Based on this, the actual three-dimensional spatial coordinates of the image on the flaw detector can be known.
  • Point A is located on a straight line with the same vector v as Y d , passing by point a from point D on the X d axis, a point away from point H.
  • the coordinates will be coordinates of a specific part (or a medical device) of the human body.
  • the method to obtain the coordinates is as follows.
  • the actual three-dimensional coordinates of a specific part of the human body are obtained by using a fluoroscopy method, and the actual three-dimensional coordinates of a three-dimensional image such as a CT are obtained by matching the three-dimensional coordinates of a three-dimensional image such as a CT.
  • Three-dimensional spatial coordinates can be obtained.
  • Two or more perspective methods can be applied to the same specific human body part, and the more perspective methods, the less error in the calculation of the actual three-dimensional spatial coordinates.
  • the size according to the detected angle of a specific part (or medical device) of the human body can be obtained from a three-dimensional image such as CT, and when measuring the size of the image of a specific part (or medical device) of the human body, Alternatively, the medical device) may calculate which coordinate is located between the first X-ray light source and the first flaw detector, and between the second X-ray light source and the second flaw detector.
  • the method of obtaining the actual three-dimensional coordinates by obtaining the intersection of two straight lines in the above-described space may be complemented.
  • the method of calculating the actual three-dimensional spatial coordinates of the medical device it is possible to calculate the three-dimensional spatial coordinates more effectively by knowing the mechanical shape and size of the medical device. In addition, even a single X-ray perspective can calculate the actual three-dimensional spatial coordinates.
  • the identification unit may have any shape, shape, and structure as long as it has a feature to make it easy to distinguish from the human body to be seen when the radiation.
  • the identification may comprise (i) one or more sphere-shaped identifications, (ii) one or more ring-shaped identifications, (iii) a ring and one or more markers indicating specific locations of the ring.
  • An identification portion comprising (iv) an identification portion comprising one or more paired rings, (v) an identification portion comprising one or more paired rings and one or more markers indicating a particular location of the ring, or ( vi) An identifier that includes markers that mark three distinct points.
  • each of the three distinct points is a linear marker in which the image displaying each point uses a different marker or the image is divided. It is distinguished by marking the end of the line or the point where the marker meets.
  • the identification portion is composed of a ring and a marker
  • the ring is composed of one or more pairs (the rings are the same or different in thickness), and are configured to surround the medical device.
  • the positions of the two or more rings may be any position as long as they are spaced apart from each other in the medical device.
  • one ring may be located at the end of the medical device and the other ring may be spaced apart from the end.
  • the identification unit may be made of a material having a very low radiation transmittance.
  • the ring may be located in a plane perpendicular to the central axis of the medical device, it may be equipped with a plurality of markers as needed. Although a plurality of such markers may be mounted on the medical device, it is advantageous to arrange the number of the markers or less.
  • the identification unit includes two or more rings and one or more markers, the two or more rings are mounted on the medical device in different positions from each other, the one or more markers It is mounted at a position capable of indicating the position of the ring.
  • the marker is a means for indicating a specific position of the ring.
  • the marker may be attached to one side of the ring, and the marker may be extended to a straight line a little further away from the ring. Specific areas of the ring can be marked.
  • Two or more rings can be arranged as necessary, and it is desirable to have a different thickness so as to grasp the direction of the medical device.
  • a marker that can mark a specific position of the ring, it is possible to determine the relative position inside the medical device.
  • the medical device may form a bend. If the two rings are arranged before and after the bend, the three-dimensional image may be obtained.
  • FIG. 4 is a conceptual perspective view showing a cylindrical medical device with an identification unit (ring and marker) attached thereto.
  • the two rings are located on the same cylindrical surface with one central axis and in a plane perpendicular to the central axis, the diameters of the two rings being equal.
  • the following is a description of the drawings.
  • points P, G, H, I, J, G ', H', I ', and J' are points on one plane. This plane is shown in FIG. 10 as a two-dimensional drawing.
  • point P is an X-ray light source
  • points G, H, I, and J are points of an image generated on the flaw detector by the radiation transmitted from the point P passing through points G ', H', I ', and J'.
  • Rectangle G'H'I'J ' is a longitudinal section of a cylinder in which the central axis of the ring-to-ring cylindrical medical device is included. Therefore, the rectangle G'H'I'J 'is a rectangle.
  • Points G 'and H' are points on the ring facing each other with respect to the center of the ring.
  • Points I 'and J' are points on the ring facing each other with respect to the center of the ring.
  • Point P is an X-ray light source
  • points G, H, I and J are the points of the image generated on the flaw detector by the radiation emitted from point P passing through points G ', H', I 'and J'.
  • the three-dimensional spatial coordinates of points P, G, H, I, and J can be known.
  • the three-dimensional spatial coordinates of the point on the ring represented by the marker can be calculated using the three-dimensional spatial coordinates of points G ', H', I ', J', O a , O b .
  • FIG. 11 is an image of a medical device including a marker indicating a point of a ring, and a medical device on an X-ray light source P and a flaw detector, and the center of the ring is O a , and the point where the ring meets the marker is M '.
  • the image is referred to as M, and G, H, I, and J in FIG. 10 are illustrated.
  • M ' is a point of a circle passing through A', B ', G', and H 'with the point Oa as the center, it exists on the same plane, and this plane is a line connecting point O a and point O b . Has a normal.
  • the position of the medical device between the ring and the ring can be grasped to realize a three-dimensional image.
  • the marker may be attached to one or more rings as needed. If the medical device is capable of forming a bend, attaching the two rings above and before the bent portion, a three-dimensional image can be obtained. There may be more than one flexion site.
  • a predetermined marker is required for the medical device.
  • by using a predetermined marker will be helpful to calculate the actual three-dimensional spatial coordinates of the medical device.
  • the predetermined marker is an identifier capable of recognizing the rotation, direction, and the like of the medical device. As described above, in the case of using a plurality of light sources, the rotation and the direction of the medical device can be recognized, but when obtaining the three-dimensional spatial coordinates of the medical device with one light source, information about the exact rotation or the direction of the medical device can be obtained. There is a hard problem.
  • the X-ray flaw detector detects the X-ray perspective image of the medical device by the X-ray light source. Thereafter, three-dimensional spatial coordinates of the medical device are obtained based on the image of the medical device detected by the X-ray flaw detector.
  • the medical device of the present invention may include a radio wave reflector.
  • the first microwave generator generates microwaves toward the radio wave reflector.
  • the microwave should be made of a frequency band that is harmless to various medical devices or the human body at the operation site.
  • the microwave by the second microwave generator is different in frequency from the microwave by the first microwave generator, and should not cause mutual interference, and the microwave by the first microwave generator and the microwave by the second microwave generator are orthogonal to each other. desirable.
  • the microwave receiver receives the first microwave and the second microwave reflected through the radio wave reflector, filters and separates the radio wave by the first microwave and the radio wave by the second microwave, and is reflected and received after the transmission of these microwaves.
  • the measured time is used to calculate the position of the radio wave reflector, that is, the position of the medical device.
  • the 3D image of the surroundings of the medical device is obtained from the imaging means of the medical device, and a third actual 3D spatial coordinate is determined.
  • the third actual three-dimensional spatial coordinate is a Cartesian coordinate system.
  • Three-dimensional images of the surroundings of the medical device may be obtained using a plurality of cameras (eg, two).
  • the camera as the imaging means comprises two rings as identification parts and a marker attached to one side of each of these rings.
  • the ring may be located on the same or different plane as the image sensor of the camera. Even if the ring is located on a plane different from the image sensor, the three-dimensional position of the image sensor can be determined if the image sensor is located on a plane parallel to the plane where the ring is located and the distance between the two planes is known.
  • the marker may be attached to the ring to coincide with the x and y axis directions of the image sensor.
  • the identification unit as described above is attached to the imaging means of the medical device, it is possible to calculate the actual three-dimensional coordinates of the three-dimensional image obtained from the imaging means. And the position of the imaging means may be possible in or outside the body.
  • the 3D camera is composed of two cameras, each of which has a pair of rings and markers that mark points on the ring and the x-axis of the image sensor.
  • the vector of the center axis of the lens of each camera, the x-axis and the y-axis of the image sensor can be calculated by X-ray perspective method. Can be calculated.
  • each camera is referred to as a camera A (image sensor A of FIG. 13) and a camera B (image sensor B of FIG. 13).
  • Z a straight line constituting the center axis of the lens of the camera A
  • X a straight line constituting the horizontal axis in the plane of the image sensor of the camera A
  • Y a straight line constituting the longitudinal axis
  • O a the intersection of X a and Y a is O a
  • the straight line Z a is the perpendicular line of X a and Z a through O a .
  • the coordinates of O b , M b and F b of the camera B can be known, and the equation of a straight line passing through points M and M b can be obtained.
  • the point M is an intersection of a straight line passing through the points M and M a and a straight line passing through the points M and M b , so that the coordinates of the point M can be obtained.
  • the image of the 3D camera can be actual three-dimensional spatial coordinates, and can be realized as a virtual image in conjunction with the actual three-dimensional spatial coordinates of another three-dimensional image by the X-ray perspective method already obtained.
  • the straight line connecting the centers of the two rings is aligned with the central axis of the lens, and the specific position of the ring indicated by the marker is located on the same plane as the image sensor (cameras A and B).
  • the device is arranged to indicate the vector of the x and y axes of the image sensor.
  • the markers corresponding to the x-axis and the y-axis are displayed differently to distinguish them. For example, one long and one short.
  • M is on a straight line through F a and M a .
  • M is on a straight line through F b and M b .
  • three-dimensional coordinates of the centers O a and O b of the image sensor may be calculated as radiographic images of two pairs of rings installed on the outer surface of each camera (described in FIG. 10).
  • the markers displayed on the ring are positioned on the x-axis and y-axis lines of the image sensor, and the coordinates of a specific point on the ring pointed by each marker can be obtained from the radiographic image, so that the x displayed on the image of each camera is displayed. , the three-dimensional vector of the y-axis can be obtained (as described in FIG. 11).
  • each camera there is a focal point of each camera on a line perpendicular to the x and y axes of the image sensor and passing through the center point (O a , O b ) of the image sensor, that is, the line passing through the midpoint of the pair of rings, and the adjustment of the lens. Since the focal length is determined by, the three-dimensional coordinates of the focal points, F a and F b of each camera can be known.
  • the subject M is the intersection of a straight line passing through M a and F a and a straight line passing through M b and F b , and the two straight lines are three-dimensional because they know the three-dimensional coordinates of points M a , F a , M b , and F b , respectively. We can find the point where we meet in space.
  • An example of the ultrasound in the imaging means is that when the radiograph of the ultrasound probe examining the body is radiated, if the position of the scan line of the captured ultrasound probe is actually three-dimensional spatial coordinates, the ultrasound image is converted into a scan line. Since the image is a reference image, the three-dimensional spatial coordinates of the image can be actual three-dimensional spatial coordinates.
  • both ends of an ultrasonic probe have the same center axis, and a ring is equilibrated with each other, and the ring is marked to display the scan line on the outer edge thereof
  • Actual 3D spatial coordinates can be obtained. Since the ultrasound image represents a relative position from the scan line, the 3D coordinates of the ultrasound image may be actually 3D spatial coordinates based on the ultrasound image. If the ultrasound image is three-dimensional, it can be displayed in three dimensions, and in the two-dimensional image can be displayed in two dimensions in the three-dimensional image. This can be implemented by combining with other 3D images.
  • the first real three-dimensional spatial coordinates of the human body three-dimensional image As described above, the first real three-dimensional spatial coordinates of the human body three-dimensional image, the second real three-dimensional spatial coordinates of the image of the medical device and the three-dimensional image three-dimensional real three-dimensional spatial coordinates around the medical device Next, the images at the same coordinates are examined in the three kinds of three-dimensional spatial coordinates.
  • the single image is selected, and in the case where there are a plurality of the same coordinate images, the required image (s) are selected from the composite real three-dimensional image.
  • Make a video Accordingly, it is possible to proceed the correct procedure using a kind of augmented reality-like effect in real time.
  • the method of the present invention has a periodic movement and in conjunction with the site of the periodic-motor human body (e.g., heart) which generates signals (e.g., electrocardiogram, blood pressure, organ pressure and abdominal pressure). Determining a 3D image and a fourth real spatial coordinate thereof, wherein step (d) comprises: the first real 3D spatial coordinate, the second real 3D spatial coordinate, and the third real 3D spatial coordinate And fourth actual spatial coordinates.
  • the surface and internal structure of the heart change constantly with the heart cycle. And the change changes constantly according to the position of the waveform of the ECG. Therefore, it can be said that the morphological structure of the heart is constant for each position of the waveform of the electrocardiogram.
  • the 3D image of the heart is real-time. Even without obtaining, it is possible to implement a three-dimensional image of the heart in real time in conjunction with the electrocardiogram.
  • the cardiac CT or MRI three-dimensional image according to the electrocardiogram is obtained at the non-surgical site, and the two-dimensional or three-dimensional image of the echocardiography according to the electrocardiogram is obtained and the images are coordinated using the same region. Accordingly, to form a composite image of the heart. In this case, multiple images of the heart are present according to the cycle of the ECG.
  • the fourth real spatial coordinates of the heart using the esophageal echocardiography and the three-dimensional spatial coordinates of the complex image of the heart are matched to obtain the fourth actual spatial coordinates of the complex image of the heart, and the complex of the heart according to the cycle of the electrocardiogram is obtained.
  • Find the fourth actual spatial coordinates of the image In the implementation of the composite real 3D image, an image of an esophageal ultrasound image and an electrocardiogram may be used or separately.
  • the system of the present invention comprises (i) a first real three-dimensional spatial coordinate of a human three-dimensional image obtained before applying the medical device to a subject, and (ii) a second real three-dimensional space on an image of the medical apparatus applied to the subject. Coordinates, and (iii) a first processor that calculates a third actual three-dimensional spatial coordinate of the three-dimensional image around the medical device using the same coordinate system.
  • the system of the present invention by using the first real three-dimensional spatial coordinates, the second real three-dimensional spatial coordinates and the third real three-dimensional spatial coordinates, the image at the same coordinates in the three kinds of three-dimensional spatial coordinates
  • a second processor that selects one image when the same coordinate image is one, and selects required image (s) from among the plurality of identical coordinate images to produce a composite real 3D image; It includes.
  • the system of the present invention describes components by dividing the first processor and the second processor in order to clearly express the present invention, but in practice, the two processors may be manufactured by one processor. Therefore, it is apparent to those skilled in the art that a processor capable of performing all the above-described processes is included in the scope of the present invention.
  • the system of the present invention may further comprise a computer-readable storage medium coupled with the processor.
  • the storage medium is not particularly limited, and various storage media known in the art such as CD-R, CD-ROM, DVD, data signals embedded in carrier wave, flash memory, floppy disk, hard drive, magnetic tape, MINIDISC, nonvolatile memory card, EEPROM, optical disk, optical storage medium, RAM, ROM, system memory and web server, but are not limited thereto.
  • the system of the present invention can be built in a variety of ways.
  • the system of the present invention can be built with multi-processor computer arrays, web servers and multi-user / interactive systems, and the like.
  • the system of the present invention may include various elements, and may include, for example, a database for storing information about an image and a spatial coordinate, a processor for calculating an actual three-dimensional spatial coordinate using the same coordinate system, and a required image. Select (s) can be built to include a processor for producing a composite real 3D image.

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Abstract

La présente invention concerne un procédé de production d'images tridimensionnelles réelles complexes et un système correspondant. Le procédé comprend : (a) une étape consistant à définir des premières coordonnées spatiales tridimensionnelles réelles pour une image tridimensionnelle d'un corps humain ; (b) une étape consistant à définir des deuxièmes coordonnées spatiales tridimensionnelles réelles pour une image d'un article d'équipement médical ; (c) une étape consistant à obtenir une image tridimensionnelle de la zone entourant l'équipement médical, à partir d'un moyen d'imagerie dans l'équipement médical, et à définir des troisièmes coordonnées spatiales tridimensionnelles réelles pour ladite image ; (d) une étape consistant à examiner une image qui est positionnée aux mêmes coordonnées dans les trois types de coordonnées spatiales tridimensionnelles ; et (e) une étape consistant à produire une image tridimensionnelle réelle complexe par sélection d'une image qui est positionnées aux mêmes coordonnées, s'il y a une image positionnée aux mêmes coordonnées ou par sélection de l'image ou des images nécessaires parmi une pluralité d'images s'il y a plusieurs images positionnées aux mêmes coordonnées.
PCT/KR2013/012232 2012-12-26 2013-12-26 Procédé de production d'images tridimensionnelles réelles complexes et système correspondant Ceased WO2014104767A1 (fr)

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CN201380068009.XA CN105377138B (zh) 2012-12-26 2013-12-26 用于制作复合现实三维影像的系统
US14/655,387 US10736592B2 (en) 2012-12-26 2013-12-26 Method for producing complex real three-dimensional images, and system for same
US16/930,567 US11517279B2 (en) 2012-12-26 2020-07-16 Method for producing complex real three-dimensional images, and system for same

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KR10-2012-0153032 2012-12-26
KR20120153032 2012-12-26
KR10-2013-0075667 2013-06-28
KR1020130075667A KR20140083856A (ko) 2012-12-26 2013-06-28 복합 실제 3차원 영상 제작방법 및 이를 위한 시스템
KR1020130164216A KR101588014B1 (ko) 2012-12-26 2013-12-26 복합 실제 3차원 영상 제작방법 및 이를 위한 시스템
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JP2950340B2 (ja) * 1994-09-01 1999-09-20 マサチューセッツ インスティチュート オブ テクノロジー 三次元データ組の登録システムおよび登録方法
WO2008093517A1 (fr) * 2007-01-31 2008-08-07 National University Corporation Hamamatsu University School Of Medicine Dispositif, procédé et programme d'affichage d'informations d'assistance à une opération chirurgicale
KR20090060908A (ko) * 2007-12-10 2009-06-15 고려대학교 산학협력단 신체 내부 영상 출력을 위한 디스플레이 시스템
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WO2016006722A1 (fr) * 2014-07-07 2016-01-14 한국디지털병원수출사업협동조합 Système et procédé pour convertir des données d'image de balayage ultrasonore tridimensionnel

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