CN106821496A - A kind of accurate planning system of percutaneous foramen intervertebrale lens operation and method - Google Patents
A kind of accurate planning system of percutaneous foramen intervertebrale lens operation and method Download PDFInfo
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Abstract
The present invention relates to a kind of accurate planning system of percutaneous foramen intervertebrale lens operation and planing method, DICOM data are read, be redeveloped into volume data；Original image desired zone is chosen in segmentation, carries out aperture mirror planning, positioning puncture needle target；That plans puncture needle enters pin angle；Check the placement situation of puncture needle under different azimuth；Display skin, that checks puncture needle on skin enters pin mark；Planning and measurement obtain distance of the skin intersection point apart from human body center line, the distance in the sick vertebra upper limb face of skin intersection point distance and enter pin depth；Service pipe is set up, puncture needle is shown as service pipe；Generation simulation X-ray；Obtain and check report；The three-dimensional reconstruction that the present invention is used, Boundary Recognition is carried out to two-dimensional medical images, again the 3-D view of tested tissue or organ is restored, user's multi-angle, the position of clear observation concern and its relation between surrounding structure, the relation between different anatomical structures and inner matter is embodied, the accurate planning of operation technique is realized.
Description
Technical field
The present invention relates to technical field of image processing, and in particular to a kind of percutaneous foramen intervertebrale lens operation based on virtual reality
Accurate planning system, and its accurate method planned of performing the operation is carried out using the system.
Background technology
In traditional foramen intervertebrale lens surgery planning, planned using two dimension：Based on the planning of MR, CT cross section, needed in art according to C
Arm is adjusted, and accuracy is poor.Unclear is developed to the soft tissue such as interverbebral disc, nerve 3-D solid structure.To processus articular superior, vertebral arch
Root abrades scope and is needed without directive function, in art according to patient's experience, and standardization level is low.It is preoperative to sequestered disc
Planning is unable to accurate evaluation and is performed the operation if appropriate for foramen intervertebrale lens and definite operative approach.
While traditional planning method causes location of operation process, time-consuming so that the exposure frequency of x-ray increases and shines in art
Time lengthening is penetrated, is increased x-ray radiation to patient, the injury of surgical doctor and is increased the generation of iatrogenic injury and postoperative complication
Probability, causes foramen intervertebrale lens technological learning to bother, and influences the study and popularization and application of foramen intervertebrale lens technology.
The content of the invention
For above-mentioned technical problem, the technical problems to be solved by the invention are to provide a kind of percutaneous foramen intervertebrale lens operation essence
Quasi- planning system, and its use the method for the system, the three-dimensional reconstruction of utilization, using computer technology to two-dimensional medical figure
As carrying out Boundary Recognition, the 3-D view of tested tissue or organ is restored again.User can multi-angle, clear observation concern
Position and its relation between surrounding structure, it is multi-faceted to check topography, and sham operated apparatus such as puncture needle,
Service pipe etc. inserts process, easily controls position of the service pipe in virtual platform, to be punctured through in accurate simulation art
Journey simultaneously generates corresponding 3D measurement data, finally can be applied in true operation, and user is performed the operation according to the related data for obtaining
Planning, program results can be directly used for surgical procedure, improve the success rate of lancet puncture.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
The accurate planing method of a kind of percutaneous foramen intervertebrale lens operation, it is characterised in that as follows：
S1：DICOM data are read, volume data is redeveloped into；
S2：Original image desired zone is chosen in segmentation, to desired zone three-dimensional reconstruction, obtains threedimensional model face data letter
Breath, is partitioned into interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
S3：Carry out aperture mirror planning, positioning puncture needle target；
S4：That plans puncture needle enters pin angle；
S5：After entering pin, the placement situation of puncture needle under different azimuth is checked；
S6：Show or hide skin, check puncture needle on skin enters pin mark；
S7：Planning and measurement, obtain distance of the skin intersection point apart from human body center line, the sick vertebra upper limb face of skin intersection point distance
Distance and enter pin depth；
S8：Service pipe is set up, puncture needle is shown as service pipe；
S9：By carrying out Monte Carlo physical simulating method, generation simulation X-ray to volume data；
S10：Obtain and check report.
Beneficial effect：Two-dimensional medical images are entered by the main three-dimensional reconstruction for using of the invention using computer technology
Row bound identification, restores the 3-D view of tested tissue or organ again.User can multi-angle, the position of clear observation concern
And its relation between surrounding structure, it is multi-faceted to check topography, and sham operated apparatus such as puncture needle, work
Pipeline etc. inserts process, easily controls position of the service pipe in virtual platform, and puncture process is simultaneously in accurate simulation art
Corresponding 3D measurement data is generated, in finally can be applied to truly perform the operation.Compared to conventional two-dimensional measurement, surveyed in range measurement, angle
The aspects such as amount more can accurately embody real conditions, embody between different anatomical structures and inner matter (service pipe, puncture needle etc.)
Relation, realize the accurate planning of operation technique.
Further, the method for being redeveloped into volume data is using light projecting algorithm and three-dimensional reconstruction, by traditional two
Dimension medical image is rendered to 3-D view, and by virtual reality medical image rendering module, imaging is in all of virtual reality
Equipment.
Using the beneficial effect of further technical scheme：Using light projecting algorithm, light projecting algorithm is from the every of image
One pixel, a light, light traverses whole image sequence, and at this are launched along fixed-direction (typically direction of visual lines)
During, sampling is carried out to image sequence and obtains colouring information, while color value is added up according to light absorption model, directly
To light traverses whole image sequence, the color value for finally obtaining is exactly the color for rendering image, and sampled point color is using in the past
Mode backward mixes, using mixed color as the pixel final color value, so as to realize three-dimensional reconstruction.
Further, by polymorphic Medical Image Fusion, the CT and MRI data of same patient are carried out manual intelligent
Region recognition, the method for being partitioned into interverbebral disc, nerve root and skin is：Using marching cubes algorithm, to different regions
Model Reconstruction, color mark are carried out, 3 D medical grid model is exported.
Using the beneficial effect of further technical scheme：Marching Cubes Algorithm algorithm is the classical calculation in iso-surface patch algorithm
Method, it is a kind of voxel level method for reconstructing that W.Lorensen et al. put forward in 1987.This algorithm is actually one point
And control method because be distributed in each voxel (voxel) for the extraction of contour surface by it carrying out.It is processed for each
Voxel (voxel), its internal contour surface is approached with tri patch.Each voxel is a small cubes (cube),
Construct in the processing procedure of tri patch to each voxel " scanning " a time.The basic thought of algorithm is processing data one by one
In cube, find out the cube intersected with contour surface, the intersection point of contour surface and cube side is calculated using linear interpolation.
According to each summit of cube and the relative position of contour surface, contour surface is connected with the intersection point on cube side by certain way
Generation contour surface, one as contour surface in the cube is approached expression.Split using the Marching Cubes Algorithm algorithm and selected
Original image area-of-interest is taken, a key three-dimensional reconstruction gets threedimensional model face data message, is partitioned into interverbebral disc, nerve
Root, skin.
Further, the method for being partitioned into bone tissue is, using Otsu threshold partitioning algorithm, gradation of image to be carried out certainly
The Threshold segmentation of adaptation, according to the distribution of gray value on image, divides the image into background and prospect two parts is treated, and prospect is exactly
We will be according to Threshold segmentation part out, and the cut off value of background and prospect is exactly our threshold values to be obtained, by figure
As gray value information is counted, according to maximum between-cluster variance judgment criterion, can self adaptation obtain background and prospect as far as possible
Separate threshold value, is finally completed image segmentation, so as to be partitioned into bone tissue.
Using the beneficial effect of further technical scheme：Otsu threshold partitioning algorithm is a kind of threshold of gradation of image self adaptation
Value partitioning algorithm, is proposed for 1979 by the big Tianjin of Japanese scholars.Da-Jin algorithm divides the image into the back of the body according to the distribution of gray value on image
Scape and prospect two parts are treated, and prospect is exactly that we will be according to Threshold segmentation part out.The cut off value of background and prospect is just
It is our threshold values to be obtained.Counted by gradation of image value information, according to maximum between-cluster variance judgment criterion, can be certainly
Adaptation obtains, by background and prospect threshold value as separate as possible, being finally completed image segmentation, and a key is partitioned into bone tissue.
Further, the method for the positioning puncture needle target is：Using two dimensional gray figure and positioning function, directly exist
Positioned on X-Y scheme, the puncture needle real-time synchronization on VR-Platform precisely determines target in relevant position.
Using the beneficial effect of further technical scheme：Directly mouse clicks on positioning, VR-Platform on X-Y scheme
On puncture needle real-time synchronization in relevant position, precisely determine the target of operation, accurate positioning is simple to operate.
Further, the method for checking the placement situation of puncture needle under different azimuth is：By resetting, manipulating scaling, manipulation
Mobile and control chooses one or more modes for combining to check the placement situation of puncture needle under different azimuth.
Using the beneficial effect of further technical scheme：The puncture that various ways are checked under different parts is set, such as it is multiple
Position, scaling etc., it is easy to operate.
Further, the service pipe be simulate it is consistent with the actual duct size placed during actual operation, intuitively
Relation between display service pipe and partes corporis humani position.
Using the beneficial effect of further technical scheme：Service pipe is one and simulates foramen intervertebrale lens operation path always
Abrasive drilling etc. is various under footpath 7mm, metal, straight hollow cylinder pipeline, foramen intervertebrale lens camera lens and various nippers, radio frequency cutter head, mirror
Apparatus reaches target by it.After the completion of being positioned using puncture needle, expansion apparatus is inserted using expansion pattern step by step, finally
Service pipe is inserted, the relation of the soft tissues such as target Lumbar intervertebral disc protrusion and peripheral nerve is can see that by service pipe, it is ensured that
That performs the operation is smoothed out.
A kind of accurate planning system of percutaneous foramen intervertebrale lens operation, it is characterised in that including
Volume reconstruction module, for reading DICOM data, is redeveloped into volume data；
Virtual reality medical image rendering module, for the volume data imaging of medical science in virtual reality device and bore hole
In three-dimensional display apparatus system；
Segmentation module, original image desired zone is chosen for splitting, and to desired zone three-dimensional reconstruction, obtains threedimensional model
Face data message, is partitioned into interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
Aperture mirror planning module, for aperture mirror planning, positioning puncture needle target；
Puncture needle enters pin planning module, and pin angle is entered for plan puncture needle；
Enter pin and check module, be used to after pin checking the placement situation of puncture needle under different azimuth；
Show or hide module, for showing that checks puncture needle on skin after skin enters pin mark；
Planning survey module, for obtaining distance of the skin intersection point apart from human body center line, the sick vertebra upper limb of skin intersection point distance
The distance in face and enter pin depth；
Service pipe sets up module, for puncture needle to be shown as into service pipe；
Monte Carlo physical analogy X-ray generation module, Monte Carlo physical simulating method is carried out to volume data, is calculated
The emulation two-direction X-ray piece of different angles, so that user carries out contrast application in operation；
Module is checked in report, for obtaining and checking puncture needle and cross section, sagittal plane, the angle of coronal-plane；Skin is handed over
Put the distance apart from human body center line, the distance in the sick vertebra upper limb face of skin intersection point distance, enter pin depth；Normotopia, side position X-ray, 3D
Body positive side position.
Further, control module, for choosing one or more to tie by resetting, manipulating scaling, manipulation movement and control
The mode of conjunction checks the placement situation of puncture needle under different azimuth.
Further, also, for directly controlling and operating the image on VR-Platform, manipulation pen is used including control pen
During, a manipulation nib can form a virtual visual straight line, and when any operation object is encountered, manipulation Pen Association produces shake
It is dynamic, while straight line changes colour, represent that the current object encountered is operable.
Manipulation pen is one of hardware composition part of system, for directly controlling and operating the figure on VR-Platform
Picture, the main object of control has：Bone tissue, interverbebral disc, nerve root, skin, puncture needle, service pipe.Use a manipulation process
In, a manipulation nib can form a virtual visual green straight line, and when any operation object is encountered, manipulation Pen Association produces shake
It is dynamic, while green straight line becomes red, represent that the current object encountered is operable.Mode of operation has two kinds, and one kind is direct length
By the button on pen, another kind is to complete operation by using the button on a selection function menu interface.
Brief description of the drawings
The step of Fig. 1 is percutaneous foramen intervertebrale lens operation accurate planing method flow chart.
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
The accurate planing method of a kind of percutaneous foramen intervertebrale lens operation, based on the percutaneous foramen intervertebrale lens accurate planning system of operation.
The accurate planning system of percutaneous foramen intervertebrale lens operation includes：
Volume reconstruction module, for reading DICOM data, is redeveloped into volume data；DICOM(Digital lmaging
And Communications in Medicine) data are digital imaging and communications in medicine data, are medical image and correlation
The international standard (IS012052) of information.What it defined that quality can meet clinical needs can be used for the medical image of data exchange
Form.DICOM is widely used in radiating medical, and (X-ray, CT, nuclear-magnetism is common for angiocarpy imaging and treatment for radiation-caused disease diagnostic device
Shake, ultrasound etc.), and in ophthalmology and dentistry etc., other medical domains obtain more and more deeply being widely applied.
Virtual reality medical image rendering module, for the volume data imaging of medical science in virtual reality device and bore hole
In three-dimensional display apparatus system；
Segmentation module, original image desired zone is chosen for splitting, and to desired zone three-dimensional reconstruction, obtains threedimensional model
Face data message, is partitioned into interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
Aperture mirror planning module, for aperture mirror planning, positioning puncture needle target；
Puncture needle enters pin planning module, and pin angle is entered for plan puncture needle；
Enter pin and check module, be used to after pin checking the placement situation of puncture needle under different azimuth；
Show or hide module, for showing that checks puncture needle on skin after skin enters pin mark；
Planning survey module, for obtaining distance of the skin intersection point apart from human body center line, the sick vertebra upper limb of skin intersection point distance
The distance in face and enter pin depth；
Service pipe sets up module, for puncture needle to be shown as into service pipe；
Monte Carlo physical analogy X-ray generation module, Monte Carlo physical simulating method is carried out to volume data, is calculated
The emulation two-direction X-ray piece of different angles, so that user carries out contrast application in operation；
Module is checked in report, for obtaining and checking puncture needle and cross section, sagittal plane, the angle of coronal-plane；Skin is handed over
Put the distance apart from human body center line, the distance in the sick vertebra upper limb face of skin intersection point distance, enter pin depth；Normotopia, side position X-ray, 3D
Body positive side position.
Also include control pen, for directly control and operate VR-Platform on image, using manipulate pen during,
A manipulation nib can form a virtual visual straight line, and when any operation object is encountered, manipulation Pen Association produces vibrations, while
Straight line changes colour, and represents that the current object encountered is operable
The accurate planing method of percutaneous foramen intervertebrale lens operation, as shown in figure 1, as follows：
Step 1：DICOM data are read, volume data is redeveloped into；
Step 2：Original image desired zone is chosen in segmentation, to desired zone three-dimensional reconstruction, obtains threedimensional model face data
Information, is partitioned into interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
Step 3：Carry out aperture mirror planning, positioning puncture needle target；
Step 4：That plans puncture needle enters pin angle；
Step 5：After entering pin, the placement situation of puncture needle under different azimuth is checked；
Step 6：Show or hide skin, check puncture needle on skin enters pin mark；
Step 7：Planning and measurement, obtain distance of the skin intersection point apart from human body center line, the sick vertebra upper limb of skin intersection point distance
The distance in face and enter pin depth；
Step 8：Service pipe is set up, puncture needle is shown as service pipe；
Step 9：By carrying out Monte Carlo physical simulating method, generation simulation X-ray to volume data；
Step 10：Obtain and check report.
Wherein, the method for being volume data is using light projecting algorithm and three-dimensional reconstruction, by traditional two-dimensional medical
, into 3-D view, and by virtual reality medical image rendering module, imaging is in all of virtual reality device for image rendering.
Wherein, by polymorphic Medical Image Fusion, the CT and MRI data of same patient are carried out manual intelligent
Region recognition, the method for being partitioned into interverbebral disc, nerve root and skin is：Using marching cubes algorithm, different regions is entered
Row Model Reconstruction, color mark, export 3 D medical grid model.
Wherein, the method for being partitioned into bone tissue is, using Otsu threshold partitioning algorithm, gradation of image to be carried out into self adaptation
Threshold segmentation, according to the distribution of gray value on image, divides the image into background and prospect two parts is treated, and prospect is exactly that we will
According to Threshold segmentation part out, the cut off value of background and prospect is exactly our threshold values to be obtained, by gradation of image
Value information is counted, according to maximum between-cluster variance judgment criterion, can self adaptation obtain that background and prospect is as separate as possible
Threshold value, is finally completed image segmentation, so as to be partitioned into bone tissue.
The method of positioning puncture needle target is：It is directly fixed on X-Y scheme using two dimensional gray figure and positioning function
Position, the puncture needle real-time synchronization on VR-Platform precisely determines target in relevant position.
The method for checking the placement situation of puncture needle under different azimuth is：By resetting, manipulation is scaled, manipulation is mobile and controls
System chooses one or more modes for combining to check the placement situation of puncture needle under different azimuth.
Service pipe is to simulate consistent with the actual duct size placed during actual operation, intuitively shows service pipe
With the relation between partes corporis humani position.
The advantages of present invention is rebuild mainly in combination with conventional two-dimensional medical picture, one-touch virtual reality, gesture is manipulated, will
Patient's medical image carries out Virtual Reconstruction and shows, and carries out a series of pre-operative preparation work.By checking 3 D stereo medical science
Image, positioning puncture needle, service pipe target location, sham operated process, measure planning, surgery training etc. are operated, Yong Huke
With the relation being visually observed that between service pipe and each key position (such as nerve root, processus articular superior, interverbebral disc), and
Patient's operation related data to needed for user, such as skin enters length of the pin mark apart from human body center line, and skin enters pin mark distance
The distance of sick vertebra upper limb, enters pin depth etc., and user carries out surgery planning according to the related data for obtaining, and program results can be used directly
In surgical procedure, the success rate of lancet puncture is improved.
Finally, these are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of percutaneous foramen intervertebrale lens are performed the operation accurate planing method, it is characterised in that as follows：
S1：DICOM data are read, volume data is redeveloped into；
S2：Original image desired zone is chosen in segmentation, to desired zone three-dimensional reconstruction, obtains threedimensional model face data message, point
Cut out interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
S3：Carry out aperture mirror planning, positioning puncture needle target；
S4：That plans puncture needle enters pin angle；
S5：After entering pin, the placement situation of puncture needle under different azimuth is checked；
S6：Show or hide skin, check puncture needle on skin enters pin mark；
S7：Planning and measurement, obtain distance of the skin intersection point apart from human body center line, the distance in the sick vertebra upper limb face of skin intersection point distance
And enter pin depth；
S8：Service pipe is set up, puncture needle is shown as service pipe；
S9：It is simulated by volume data, generation simulation X-ray；
S10：Obtain and check report.
2. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that be redeveloped into volume data
Method be, using light projecting algorithm and three-dimensional reconstruction, traditional two-dimensional medical images to be rendered to 3-D view, and
Presented by VR-Platform.
3. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that by polymorphic medical science
The CT and MRI data of same patient, are carried out the region recognition of manual intelligent by image fusion technology, are partitioned into interverbebral disc, god
Method through root and skin is：Using marching cubes algorithm, Model Reconstruction, color mark, output are carried out to different regions
3 D medical grid model.
4. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that described to be partitioned into bone
The method of tissue is the Threshold segmentation that gradation of image is carried out self adaptation using Otsu threshold partitioning algorithm, according to ash on image
The distribution of angle value, divides the image into background and prospect two parts are treated, and prospect is exactly that we will be according to Threshold segmentation portion out
Point, the cut off value of background and prospect is exactly our threshold values to be obtained, is counted by gradation of image value information, according to most
Big inter-class variance judgment criterion, can self adaptation obtain, by background and prospect threshold value as separate as possible, being finally completed image segmentation,
So as to be partitioned into bone tissue.
5. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that the localised puncture
The method of pin target is：Using two dimensional gray figure and positioning function, directly positioned on X-Y scheme, on VR-Platform
Puncture needle real-time synchronization in relevant position, precisely determine target.
6. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that check different azimuth
The method of the placement situation of lower puncture needle is：By resetting, manipulation is scaled, manipulation is mobile and control chooses one or more to combine
Mode check the placement situation of puncture needle under different azimuth.
7. percutaneous foramen intervertebrale lens according to claim 1 are performed the operation accurate planing method, it is characterised in that the service pipe
Be simulate it is consistent with the actual duct size placed during actual operation, between display service pipe directly perceived and partes corporis humani
Relation；
Method in step S9 to volume data simulation is Monte Carlo physical simulating method.
8. a kind of percutaneous foramen intervertebrale lens based on virtual reality technology are performed the operation accurate planning system, it is characterised in that including
Volume reconstruction module, for reading DICOM data, is redeveloped into volume data；
Virtual reality medical image rendering module, for the volume data imaging of medical science in virtual reality device and naked eye three-dimensional
In display device system；
Segmentation module, original image desired zone is chosen for splitting, and to desired zone three-dimensional reconstruction, obtains threedimensional model face number
It is believed that breath, is partitioned into interverbebral disc, nerve root and skin；Selection bone tissue threshold value, is partitioned into bone tissue；
Aperture mirror planning module, for aperture mirror planning, positioning puncture needle target；
Puncture needle enters pin planning module, and pin angle is entered for plan puncture needle；
Enter pin and check module, be used to after pin checking the placement situation of puncture needle under different azimuth；
Show or hide module, for showing that checks puncture needle on skin after skin enters pin mark；
Planning survey module, for obtaining distance of the skin intersection point apart from human body center line, the sick vertebra upper limb face of skin intersection point distance
Distance and enter pin depth；
Service pipe sets up module, for puncture needle to be shown as into service pipe；
Monte Carlo physical analogy X-ray generation module, Monte Carlo physical simulating method is carried out to volume data, calculates difference
The emulation two-direction X-ray piece of angle；
Module is checked in report, for obtaining and checking puncture needle and cross section, sagittal plane, the angle of coronal-plane；Skin intersection point away from
With a distance from human body center line, the distance in the sick vertebra upper limb face of skin intersection point distance, enter pin depth；Normotopia, side position X-ray, 3D bodies are just
Side bitmap.
9. percutaneous foramen intervertebrale lens according to claim 8 are performed the operation accurate planning system, it is characterised in that control module, are used
Punctured under different azimuth is checked by way of resetting, manipulating scaling, manipulation movement and control and choose one or more combinations
The placement situation of pin.
10. percutaneous foramen intervertebrale lens according to claim 8 are performed the operation accurate planning system, it is characterised in that also including control
Pen, for directly controlling and operating the image on VR-Platform, during manipulation pen, a manipulation nib can form one
The virtual visual straight line of bar, when any operation object is encountered, manipulation Pen Association produces vibrations, while straight line changes colour, represents current
The object encountered is operable.
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