JPH0685784B2 - Surgical three-dimensional viewer system - Google Patents
Surgical three-dimensional viewer systemInfo
- Publication number
- JPH0685784B2 JPH0685784B2 JP62074385A JP7438587A JPH0685784B2 JP H0685784 B2 JPH0685784 B2 JP H0685784B2 JP 62074385 A JP62074385 A JP 62074385A JP 7438587 A JP7438587 A JP 7438587A JP H0685784 B2 JPH0685784 B2 JP H0685784B2
- Authority
- JP
- Japan
- Prior art keywords
- dimensional
- image
- viewer
- monitor
- surgical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 230000002194 synthesizing effect Effects 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 description 13
- 239000013598 vector Substances 0.000 description 8
- 239000002131 composite material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Description
【発明の詳細な説明】 ［発明の目的］ （産業上の利用分野） 本発明は、手術計画情報を得るための手術用３次元ビュ
ーアーシステムに関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application] The present invention relates to a surgical three-dimensional viewer system for obtaining surgical plan information.
（従来の技術） 医師が被検体の必要な部位を手術するにあたっては、作
業を効率的に且つ確実に行うために予め手術計画が立て
られる。このためには例えば被検体を予めCT装置によっ
てスキャンしてボクセルデータを確保しておき、このボ
クセルデータに基いた３次元像をモニタに表示して、こ
のモニタ像を観察しながら手術計画を立てることが行わ
れている。(Prior Art) When a doctor performs an operation on a necessary portion of a subject, an operation plan is prepared in advance in order to perform the work efficiently and surely. For this purpose, for example, the subject is scanned in advance by a CT device to secure voxel data, a three-dimensional image based on this voxel data is displayed on a monitor, and a surgery plan is made while observing this monitor image. Is being done.
（発明が解決しようとする問題点） しかしながら、従来の方法では手術予定部位が直接目で
観察しにくいような場合には、この部位の位置関係を把
握するのに手間がかかるという問題がある。このため特
に予定部位を直接目で見ることなく手術する、いわゆる
ブラインドオペレーションを行う場合には効率的に作業
を進めるのが困難であった。(Problems to be Solved by the Invention) However, in the conventional method, when the site to be operated is difficult to be directly observed with the eyes, there is a problem that it takes time to grasp the positional relationship of the site. For this reason, it is difficult to efficiently perform the work particularly when performing a so-called blind operation, in which a surgery is performed without directly looking at the planned site.
本発明は以上のような問題に対処してなされたもので、
効率的に且つ確実に作業を進めることができる手術用３
次元ビューアーシステムを提供することを目的とするも
のである。The present invention has been made to address the above problems,
For surgery 3 that can work efficiently and reliably
It is intended to provide a dimensional viewer system.
［発明の構成］ （問題点を解決するための手段） 上記目的を達成するために本発明は、予め被検体をスキ
ャンして得られたデータを格納する記憶装置と、任意方
向に対し位置及び向きが移動可能であり前記被検体の直
視像と前記データに基いてモニタに表示された３次元像
とを合成するビューアーと、データを用いて前記ビュー
アーの位置及び向きに応じた３次元像を合成してモニタ
に送る３次元プロセッサとを備えたことを特徴とするも
のである。[Configuration of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention provides a storage device that stores data obtained by previously scanning a subject, and a position and position in an arbitrary direction. A viewer that is movable in direction and combines a direct-view image of the subject with a three-dimensional image displayed on a monitor based on the data, and a three-dimensional image corresponding to the position and orientation of the viewer using the data And a three-dimensional processor for synthesizing and sending to a monitor.
（作 用） ビューアーの位置及び向きに応じた３次元像がモニタに
表示されこれに直視像が合成されるので、常に被検体の
手術予定部位の位置関係を把握することができる。よっ
て効率的に且つ確実に手術作業を進めることができる。(Operation) Since a three-dimensional image corresponding to the position and orientation of the viewer is displayed on the monitor and a direct-view image is combined with this, the positional relationship of the surgery planned site of the subject can always be grasped. Therefore, the surgical operation can be advanced efficiently and reliably.
（実施例） 第１図は本発明実施例の手術用３次元ビューアーシステ
ムを示す構成図で、１は３次元メモリでＸ線CT装置,MRI
装置などのCT装置によって予め患者４をスキャンして得
られたボクセルデータが格納されている。このボクセル
データは、体軸方向に沿ってスキャンして得られた複数
のスライス像（２次元データを積層して構成した３次元
データを基に、所定部位の抽出処理を行うことにより任
意のものを得ることができる。２はビューアーでアーム
５を介して任意方向に対し位置及び向きが移動可能に任
意位置に取付けられている。このビューアー２は第２図
のように、医師６などによって患者４の直視像が観察可
能になっており、これと共にボクセルデータに基いてモ
ニタ７に表示された３次元像と直視像とがハーフミラー
８を介して合成された合成像が観察可能になっている。
３は３次元プロセッサで３次元メモリ１のボクセルデー
タを用いてビューアー２の位置及び向きに応じた３次元
像を合成して前記モニタ７に表示する。ビューアー２は
観察者が合成像をステレオ像として観察できるように、
左右一対が用意されている。第３図（ａ），（ｂ）はモ
ニタ７に表示された３次元像の例を示すもので、（ａ）
は病巣11の表示例、（ｂ）は臓器表面を表わすワイヤフ
レーム12に重ねて病巣11を表示した例を示すものであ
る。これらの像はいずれもステレオ像（左右で少しずれ
た像）として表示される。また第４図は直視像を示すも
のである。これら３次元像と直視像はハーフミラー８に
よって合成され、第５図のような合成像が観察できる。(Embodiment) FIG. 1 is a configuration diagram showing a three-dimensional viewer system for surgery according to an embodiment of the present invention. Reference numeral 1 is a three-dimensional memory, which is an X-ray CT apparatus, MRI.
Voxel data obtained by previously scanning the patient 4 with a CT device such as a device is stored. The voxel data is arbitrary data obtained by extracting a predetermined region based on a plurality of slice images obtained by scanning along the body axis direction (three-dimensional data formed by stacking two-dimensional data). 2 is a viewer and is attached at an arbitrary position so that the position and direction can be moved with respect to an arbitrary direction via an arm 5. The viewer 2 can be moved to a patient by a doctor 6 or the like as shown in FIG. The direct-view image of No. 4 is observable, and at the same time, the three-dimensional image displayed on the monitor 7 based on the voxel data and the direct-view image are combined via the half mirror 8 so that the combined image can be observed. There is.
A three-dimensional processor 3 synthesizes a three-dimensional image corresponding to the position and orientation of the viewer 2 using the voxel data of the three-dimensional memory 1 and displays it on the monitor 7. The viewer 2 allows the viewer to observe the composite image as a stereo image.
A pair of left and right is prepared. 3 (a) and 3 (b) show an example of a three-dimensional image displayed on the monitor 7, and FIG.
Shows a display example of the lesion 11, and (b) shows an example in which the lesion 11 is displayed on the wire frame 12 representing the surface of the organ. All of these images are displayed as stereo images (images that are slightly deviated on the left and right). Further, FIG. 4 shows a direct view image. The three-dimensional image and the direct-view image are combined by the half mirror 8, and a combined image as shown in FIG. 5 can be observed.
ビューアー２の位置及び向きはアーム５によって検出さ
れてこの情報が３次元プロセッサ３へ送られる。これに
基いて３次元プロセッサ３はボクセルデータを用いて、
第６図のP1,P2のようにその位置及び向きに応じて観察
される３次元像をモニタ７に送って表示させる。この３
次元プロセッサ３は３次元メモリ１に格納されている３
次元データ（ボクセルデータ，ワイヤフレームデータ，
サーフェスデータなどの各種のデータ）を使って、この
ようにビューアー３の任意の位置及び向きから見たとき
の３次元像を合成する。ビューアー３によって観察され
る患者４は患者固定フレーム10によってその位置が固定
されている。The position and orientation of the viewer 2 is detected by the arm 5 and this information is sent to the three-dimensional processor 3. Based on this, the three-dimensional processor 3 uses voxel data,
Like P 1 and P 2 in FIG. 6, a three-dimensional image observed according to its position and orientation is sent to the monitor 7 and displayed. This 3
The three-dimensional processor 3 is stored in the three-dimensional memory 1.
Dimensional data (voxel data, wireframe data,
By using various data such as surface data), a three-dimensional image when viewed from an arbitrary position and direction of the viewer 3 is synthesized. The position of the patient 4 observed by the viewer 3 is fixed by the patient fixing frame 10.
第７図はアーム系の構成例を示すもので、ビューアー３
はＣ点を中心として首を振ることによりその位置及び向
きが変えられる。また、第８図（ａ），（ｂ）はビュー
アー３の光学系におけるベクトルの関係を示すもので、 l:ビューアー３の首振り中心Ｃと患者固定フレーム10の
原点０との間のベクトル a:首振り中心Ｃから光軸ｔへ下ろした垂線ベクトル d:光軸ベクトル であるとする。FIG. 7 shows an example of the configuration of the arm system.
The position and direction of can be changed by swinging its head around point C. 8 (a) and 8 (b) show the relationship of the vectors in the optical system of the viewer 3, where l: the vector a between the swing center C of the viewer 3 and the origin 0 of the patient fixed frame 10. : It is assumed that it is a perpendicular vector d down from the swing center C to the optical axis t: d: optical axis vector.
第７図のA1の位置自由度に属する各可動部に取付けた角
度センサーを用いてＣ点の位置を測定することにより、
ベクトルｌがわかる。またＣ点の持つ３つの自由度（x,
y,z方向）の可動部を角度センサーで測定することによ
り首振り自由度がわかるので、ベクトルa,dがわかる。By measuring the position of point C using an angle sensor attached to each movable part belonging to the position freedom degree of A 1 in FIG.
You can see the vector l. In addition, the three degrees of freedom (x,
By measuring the movable part in the y and z directions) with an angle sensor, the degree of freedom of swinging can be known, and the vectors a and d can be known.
第９図（ａ），（ｂ）は各々直視光学系及びモニタ光学
系を示し、第10図は合成像の光学系を示すものである。9 (a) and 9 (b) respectively show a direct-view optical system and a monitor optical system, and FIG. 10 shows an optical system of a composite image.
L1,L2,L3はレンズの位置,Kは虚像（合成像）の位置,Hは
ハーフミラーの位置,M′,Mは実像の位置,Eは観察の位置
を示している。又、ｍはＫ位置の像の大きさ,pはＭ′位
置の像の大きさを示している。Ｍ′−ＨとＭ−Ｈの距離
は同じに設定され、第９図（ａ），（ｂ）のＫ位置は同
じ位置になるように調整される。L 1 , L 2 , and L 3 are lens positions, K is a virtual image (composite image) position, H is a half mirror position, M ′ and M are real image positions, and E is an observation position. Further, m is the size of the image at the K position, and p is the size of the image at the M'position. The distances of M'-H and M-H are set to be the same, and the K position in FIGS. 9 (a) and 9 (b) is adjusted to be the same position.
第11図は他の光学系を示すもので、簡単な構成例を示し
ている。FIG. 11 shows another optical system and shows a simple configuration example.
このような各光学系は公知技術を用いて任意の構成とす
ることができる。Each of such optical systems can be configured arbitrarily by using a known technique.
３次元プロセッサ３は以上のような各ベクトルl,a,dに
基いて、第12図のように距離KB,KEを知ることにより適
切な３次元像を合成し、モニタ７に表示させる。この３
次元プロセッサ３によって合成される像は、第13図のよ
うに直視光学系をシミュレートしたときにＭ′にできる
実像にほかならない。シミュレーションする場合に計算
量が大きくなるなら、次のような方法をとることができ
る。The three-dimensional processor 3 synthesizes an appropriate three-dimensional image by knowing the distances KB and KE as shown in FIG. 12 based on the above vectors l, a and d, and displays them on the monitor 7. This 3
The image synthesized by the dimensional processor 3 is nothing but a real image which can be M'when the direct-view optical system is simulated as shown in FIG. If the amount of calculation becomes large when performing simulation, the following method can be used.
先ず、点Ｅを中心にして光軸ｔに垂直で且つ点Ｋを通る
面Ｓにできる仮想物体の投影像Ｊを第14図のように作成
し、次にこれを縮小する。この縮小の度合は第９図を参
照すると（p/m）倍に設定すればよい。First, a projected image J of a virtual object formed on a plane S centering on the point E and perpendicular to the optical axis t and passing through the point K is created as shown in FIG. 14, and then this is reduced. The degree of this reduction may be set to (p / m) times with reference to FIG.
３次元プロセッサ３は以上のような動作により左右一対
のモータに３次元像を送ることになる。患者固定フレー
ム10は予め手術台13に第15図のように取付けておき、患
者４に患者フレーム14を取付けて位置決めすることによ
りCT装置によってスキャンを行う。これによれば予め患
者固定フレーム10とアーム系の位置関係は初めから決め
られているので、患者固定フレーム10と患者フレーム14
の位置関係が決り、患者とアーム系の位置関係を決める
ことができる。他の例としてCT装置の方にも患者固定フ
レームを設けるようにしてもよく、これによって常に患
者固定フレームを基準座標系にしてスキャン，手術を行
うことができる。The three-dimensional processor 3 sends the three-dimensional image to the pair of left and right motors by the above operation. The patient fixing frame 10 is attached to the operating table 13 in advance as shown in FIG. 15, and the patient frame 14 is attached to the patient 4 and positioned, so that the CT apparatus scans. According to this, since the positional relationship between the patient fixing frame 10 and the arm system is predetermined from the beginning, the patient fixing frame 10 and the patient frame 14
The positional relationship between the patient and the arm system can be determined. As another example, the CT fixing device may also be provided with a patient fixing frame, which allows the patient fixing frame to be always used as a reference coordinate system for scanning and surgery.
以上のような本発明実施例によれば、直視像である実物
像と３次元プロセッサによって合成されたモニタ像とが
合成された像がステレオ像として観察できるので、直接
外からは見えない内部構造や、手術計画の際決めた仮想
的な線などを実際に空中（患者の体内）に描かれている
かのように見ることができる。According to the embodiment of the present invention as described above, an image obtained by synthesizing a real image which is a direct-view image and a monitor image synthesized by a three-dimensional processor can be observed as a stereo image, so that an internal structure that cannot be seen directly from the outside. Also, it is possible to see the virtual lines determined during the surgery plan as if they were actually drawn in the air (in the patient's body).
よってこれらを利用することにより手術予定部位の位置
関係を明瞭に把握できるので、効率的に且つ確実に手術
を進めることができる。Therefore, by utilizing these, the positional relationship of the planned surgery site can be clearly grasped, and the surgery can be efficiently and reliably advanced.
第16図は本発明の他の実施例を示すもので、３次元デジ
タイザを併用する場合を示している。Ｘ方向のコイル15
a,15b（y,z方向コイルは省略する）を配置して傾斜磁場
を形成し、この磁場内の患者４の所望部位の磁場計測素
子16aを設けたデジタイザ16を接してこの磁場強度を計
ることにより素子の空間的位置（x,y,z）を知るように
したものである。この空間的位置を座標としてステレオ
表示させれば、第17図に示すように直接にその部位が見
えなくとも、あるものとして観察することができる。そ
れ故、磁場計測素子を探触子先端や電気メス先端に取付
けておけば手術を行う際に、直接外から見えない器具先
端の位置，手術計画による線や患部の位置，患者外観な
どを一度に見ることができるので、その位置関係を明瞭
に把握することができる。従って本実施例によっても前
記実施例と同様な効果を得ることができる。FIG. 16 shows another embodiment of the present invention and shows a case where a three-dimensional digitizer is also used. X direction coil 15
The gradient magnetic fields are formed by arranging a and 15b (the coils in the y and z directions are omitted), and the magnetic field strength is measured by contacting the digitizer 16 provided with the magnetic field measuring element 16a at the desired site of the patient 4 in this magnetic field. By doing so, the spatial position (x, y, z) of the device is known. If this spatial position is stereo-displayed as coordinates, it can be observed as something even if the part is not directly visible as shown in FIG. Therefore, if the magnetic field measuring element is attached to the tip of the probe or the tip of the electric scalpel, the position of the tip of the instrument that cannot be seen directly from the outside, the line of the surgical plan, the position of the affected part, the appearance of the patient, etc. will be displayed once during surgery. Since it can be seen in, the positional relationship can be clearly understood. Therefore, according to this embodiment, the same effect as that of the above embodiment can be obtained.
［発明の効果］ 以上述べたように本発明によれば、ビューアーの位置及
び向きに応じた３次元像がモニタに表示されこれに直視
像が合成された像が観察でき、手術予定部位の位置関係
を明瞭に把握できるので、効率的に且つ確実に手術作業
を進めることができる。[Effects of the Invention] As described above, according to the present invention, a three-dimensional image corresponding to the position and orientation of the viewer is displayed on the monitor, and an image in which a direct-view image is combined can be observed, and the position of the planned surgical site can be observed. Since the relationship can be clearly grasped, it is possible to efficiently and surely proceed with the surgical operation.
第１図は本発明実施例の手術用３次元ビューアーシステ
ムを示す構成図、第２図はビューアーの断面図、第３図
（ａ），（ｂ）はモニタ像の表示例、第４図は直線像の
表示例、第５図は合成像の表示例、第６図はモニタ像の
異なった表示例、第７図はアーム系の概略図、第８図
（ａ），（ｂ），第12図は光学系のベクトル図、第９図
（ａ），（ｂ），第10図，第11図は光学系の構成例、第
13図及び第14図は光学系のシミュレーション例、第15図
は患者の固定例、第16図及び第17図は本発明の他の実施
例の構成例である。 １……３次元メモリ、２……ビューアー、 ３……３次元プロセッサ、 5,5a,5b……アーム、７……モニタ、 ８……ハーフミラー、10……患者固定フレーム。FIG. 1 is a block diagram showing a surgical three-dimensional viewer system according to an embodiment of the present invention, FIG. 2 is a sectional view of the viewer, FIGS. 3 (a) and 3 (b) are display examples of monitor images, and FIG. A display example of a straight line image, FIG. 5 is a display example of a composite image, FIG. 6 is a display example of different monitor images, FIG. 7 is a schematic view of an arm system, and FIGS. 8 (a), (b), and FIG. FIG. 12 is a vector diagram of the optical system, FIGS. 9 (a), (b), FIG. 10 and FIG. 11 are configuration examples of the optical system, FIG.
13 and 14 are simulation examples of the optical system, FIG. 15 is a patient fixation example, and FIGS. 16 and 17 are configuration examples of other embodiments of the present invention. 1 ... 3D memory, 2 ... viewer, 3 ... 3D processor, 5,5a, 5b ... Arm, 7 ... Monitor, 8 ... Half mirror, 10 ... Patient fixed frame.
Claims (1)
に表示する手術用３次元ビューアーシステムにおいて、
予め被検体をスキャンして得られたデータを格納する記
憶装置と、任意方向に対し位置及び向きが移動可能であ
り前記被検体の直視像と前記データに基いてモニタに表
示された３次元像とを合成するビューアーと、データを
用いて前記ビューアーの位置及び向きに応じた３次元像
を合成してモニタに送る３次元プロセッサとを備えたこ
とを特徴とする手術用３次元ビューアーシステム。1. A surgical three-dimensional viewer system for displaying a surgical site of a subject to be selectively observed.
A storage device that stores data obtained by previously scanning the subject, and a three-dimensional image that is movable in position and orientation with respect to an arbitrary direction and that is displayed on a monitor based on the direct-view image of the subject and the data. A three-dimensional viewer system for surgery, comprising: a viewer for synthesizing the above and a three-dimensional processor for synthesizing a three-dimensional image corresponding to the position and orientation of the viewer using data and sending the synthesized three-dimensional image to a monitor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62074385A JPH0685784B2 (en) | 1987-03-30 | 1987-03-30 | Surgical three-dimensional viewer system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62074385A JPH0685784B2 (en) | 1987-03-30 | 1987-03-30 | Surgical three-dimensional viewer system |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5195631A Division JP2693702B2 (en) | 1993-07-14 | 1993-07-14 | 3D viewer system for surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63240851A JPS63240851A (en) | 1988-10-06 |
| JPH0685784B2 true JPH0685784B2 (en) | 1994-11-02 |
Family
ID=13545649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62074385A Expired - Lifetime JPH0685784B2 (en) | 1987-03-30 | 1987-03-30 | Surgical three-dimensional viewer system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0685784B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001133696A (en) * | 1999-11-02 | 2001-05-18 | Olympus Optical Co Ltd | Microscope device for surgery |
Families Citing this family (43)
| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2652928B1 (en) | 1989-10-05 | 1994-07-29 | Diadix Sa | INTERACTIVE LOCAL INTERVENTION SYSTEM WITHIN A AREA OF A NON-HOMOGENEOUS STRUCTURE. |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001133696A (en) * | 1999-11-02 | 2001-05-18 | Olympus Optical Co Ltd | Microscope device for surgery |
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| Publication number | Publication date |
|---|---|
| JPS63240851A (en) | 1988-10-06 |
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