CN101916333B - Transesophageal echocardiography visual simulation system and method - Google Patents
Transesophageal echocardiography visual simulation system and method Download PDFInfo
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- CN101916333B CN101916333B CN2010102518125A CN201010251812A CN101916333B CN 101916333 B CN101916333 B CN 101916333B CN 2010102518125 A CN2010102518125 A CN 2010102518125A CN 201010251812 A CN201010251812 A CN 201010251812A CN 101916333 B CN101916333 B CN 101916333B
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Abstract
The invention discloses a transesophageal echocardiography visual simulation system, comprising an intelligent phantom, a heart ultrasonic image stimulation and acquisition device, a computer connected with the heart ultrasonic image stimulation and acquisition device and a transesophageal ultrasonic probe attitude data acquisition device, wherein, the heart ultrasonic image stimulation and acquisition device is used for stimulating and acquiring heart ultrasonic images, and transmitting the acquired heart ultrasonic images to the computer; when the heat ultrasonic image stimulation and acquisition device acquires the heart ultrasonic images, the transesophageal echocardiography probe attitude data acquisition device and a sensor are used for synchronously acquiring probe attitude data of the heat ultrasonic image stimulation and acquisition device, and transmitting the acquired probe attitude data to the computer; and the computer is used for analyzing, processing and visually displaying the received heart ultrasonic images and the probe attitude data.
Description
Technical field
The invention belongs to medical image analysis processing, virtual emulation technical field, especially relate to a kind of teaching of transesophageal echocardiography and the visual simulation system and method for training and computer-assisted surgery of being used for.
Background technology
The Ultrasonic Diagnosis of heart disease is the emphasis and the difficult point in Ultrasonic Diagnosis field always, and transesophageal echocardiography is cardiovascular disease diagnosis, monitoring recent progress, for the diagnosis of multiple heart disease and trunk disease provides new means.Cardiac structure is very complicated with motion, and examiner's spatial thinking ability and clinical thinking ability are had higher requirement, and therefore, how to pass through high-quality training, and it is very important letting the doctor can grasp echocardiogram rapidly.Have a lot of doctors and students to demand training urgently both at home and abroad, therefore exploitation is applicable to that the training set and the software systems of cultivating heart disease Ultrasonic Diagnosis monitoring personnel are very necessary.
At present; The external simple and easy simulation teaching equipment of having developed TTE is in the patent of invention of US2009/0130642 in the patent No. wherein, mainly is to give training obtaining ultrasonoscopy through the chest mode; This simulator obtains the locus that the mode of data can be obtained Analogue probe through sensor; With mating of prior collection through the ultrasonic tangent plane picture of chest, show the three-dimensional cardiac tangent plane with corresponding through the chest ultrasonoscopy, realized the doctor is carried out the simulated training through the chest acquiring ultrasound image; But have only when the start-up uses the probe dynamics suitable, just the TTE of meeting clear display.
The patent of invention of ZL 200710090595.4 discloses a kind of virtual transesophageal echocardiography system and implementation method; In clinic and real work; Being used to solve a large amount of transesophageal echocardiography images can't discern, and transesophageal echocardiography is difficult to problem universal and that grasp.But the human heart three-dimension visualization digital model that this system and method utilizes the computerized three-dimensional reconstruction technology to set up is fairly simple and not meticulous to cutting apart of heart interior detail microstructure; Moreover heart and internal can not change according to actual parameter adjustment demand flexibly, can not reproduce a compound heart true to nature.Be in addition, the virtual probe of system is a mouse, when clinician and medico manipulate, detects completely different with real clinical ultrasound heart.
Except transesophageal ultrasonography simulation teching product, this product comprised anatomy cardiac module, transesophageal ultrasonography simulator (simulation softward), artificial human body model to three anesthesiologists of London medical college of university research and development in 2008.But because said product belongs to the tutoring system of sealing, clinical experience is not easy to be accumulated, expand, thereby be unfavorable for imparting knowledge to students and clinical between data sharing, be not easy to a clinical experience and add in the tutoring system at any time and go.
The transesophageal ultrasonography simulation teching equipment of Japan is by Japanese H R S Medical Systems Inc successfully research and development in 2008; This product has comprised Analogue probe, anthropomorphic dummy, image data base; But do not realize the three-dimensional visualization tangent plane; And the key of TEE study is the embodiment of two-dimensional ultrasound tangent plane on the three-dimensional visualization heart, owing to do not realize open modeling, it is auxiliary therefore to be difficult to further to rise to clinical operation.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; A kind of transesophageal echocardiography visual simulation system and method are provided; The environment that detects diagnosis with the clinical ultrasound heart is identical with operation; Attitude data and three-dimensional visualization heart tangent plane when this system and method has been realized gathering the transesophageal ultrasonography tangent plane mate one by one, have realized the pathology of heart disease is excavated, and have provided the corresponding ultrasonic tangent plane and the spatial relation of virtual three-dimensional cardiac module; Carry out the decision-making of area of computer aided clinic diagnosis in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display and teaching.
Transesophageal echocardiography visual simulation system according to the invention comprises intelligent phantom, cardiac ultrasound images emulation harvester, the computing machine that links to each other with cardiac ultrasound images emulation harvester and transesophageal ultrasonography probe attitude data harvester; Said intelligent phantom comprises three-dimensional artificial simulation heart, simulation esophagus and the stomach that is provided with in die body and the die body, and said transesophageal ultrasonography probe attitude data harvester is arranged on the throat of intelligent phantom, and its signal output part is connected with computing machine; Cardiac ultrasound images emulation harvester is used for the analog acquisition cardiac ultrasound images, and sends the cardiac ultrasound images that is collected to computing machine; Transesophageal ultrasonography probe attitude data harvester and sensor are when cardiac ultrasound images emulation harvester is gathered cardiac ultrasound images; The probe attitude data that is used for synchronous acquisition cardiac ultrasound images emulation harvester; And send the probe attitude data that is collected to computing machine; Computing machine is used for the cardiac ultrasound images that receives is carried out analyzing and processing with the probe attitude data, and carries out visual teaching and training.
In order to confirm the position of cardiac ultrasound images emulation harvester in intelligent phantom more accurately; The present invention also is provided with sensor in intelligent phantom; Said sensor is at least one; Its signal output part is connected with computing machine, when cardiac ultrasound images emulation harvester is gathered cardiac ultrasound images, is used for the probe attitude data of synchronous acquisition cardiac ultrasound images emulation harvester.
In the above-mentioned transesophageal echocardiography visual simulation system, the preferred following structure of said transesophageal ultrasonography probe attitude data harvester: transesophageal ultrasonography probe attitude data harvester comprises annular magnetosheath, rotating assembly, the collar and sensor suite; The collar is installed in the annular magnetosheath; The probe of cardiac ultrasound images emulation harvester inserts the endoporus of the collar and stretches out from collar internal control; Rotating assembly is installed in the annular magnetosheath; Its member comprises rotating shaft, shaft supporting seat and is installed in the friction pulley in the rotating shaft that the friction pulley in the said rotating assembly contacts with the probe of cardiac ultrasound images emulation harvester; Sensor suite comprises angular transducer, displacement transducer and elastic compression mechanism; Angular transducer be positioned at the collar the outside and with the cover loop contacts; Displacement transducer is installed near rotating assembly, and elastic compression mechanism installs along the probe periphery of cardiac ultrasound images emulation harvester; The signal output part of said angular transducer and displacement transducer is connected with computing machine.
Said angular transducer and displacement transducer comprise magnet ring, magnetic sensing receiver and logic processor; Logic processor adopts the micro controller frame platform to do core processing unit; Be used for various data are handled, and the control of the communications of realization and computing machine; The power unit of sensor comprises power supply stabilization circuit and filtering circuit, and the interface section comprises voltage conversion circuit and interface protective circuit.
In the transesophageal echocardiography visual simulation system according to the invention; The image pick-up card art end of its cardiac ultrasound images emulation harvester is furnished with the S-Video terminal, the ultrasonoscopy copy the when probe that is used to export cardiac ultrasound images emulation harvester is gathered ultrasonoscopy; The mainboard of said computing machine has com port, and is inserted with the capture card of band S-Video terminal.
In the transesophageal echocardiography visual simulation system according to the invention; Its transesophageal ultrasonography probe attitude data harvester also will cooperate with the cardiac ultrasound images harvester; Obtain the probe attitude data of transesophageal echocardiography and cardiac ultrasound images harvester; Be used to set up the probe attitude digital information of cardiac ultrasound images harvester and the corresponding relation of transesophageal echocardiography; Therefore, the front end of transesophageal ultrasonography probe attitude data harvester is provided with flexible cleaning element, is used to clean be stained with the body fluid of taking out of when detecting in the probe insertion body with the cardiac ultrasound images harvester.
Transesophageal echocardiography visual emulation mode according to the invention may further comprise the steps:
The first step, the probe that utilizes the cardiac ultrasound images harvester and transesophageal ultrasonography probe attitude data harvester; Synchronous real-time is obtained the probe attitude data of transesophageal echocardiography and cardiac ultrasound images harvester; The probe attitude data and the transesophageal echocardiography of the cardiac ultrasound images harvester that is obtained are set up relation one to one, and deposit in the database of computing machine;
Second step, on the basis of the virtual compound cardiac module of standard that makes up; Through analysis and processing to medical image information; According to actual value getparms; Make up the open compound heart of three-dimensional visualization in real time, show the mathematical model of heart different pathological characteristic visually with visual way;
The 3rd the step, when carrying out simulated training; The transesophageal ultrasonography attitude data harvester of popping one's head in is arranged on the throat of intelligent phantom; Or the transesophageal ultrasonography attitude data harvester of popping one's head in is arranged on the throat of intelligent phantom; And sensor is arranged in the intelligent phantom; Then the probe of cardiac ultrasound images emulation harvester being passed transesophageal ultrasonography probe attitude data harvester stretches in the intelligent phantom; Said transesophageal ultrasonography probe attitude data harvester obtains the probe attitude digital information of cardiac ultrasound images emulation harvester in real time; And this information sent in the computing machine, the probe attitude digital information of the cardiac ultrasound images harvester that computing machine is set up according to the probe attitude digital information and the first step of the cardiac ultrasound images emulation harvester that obtains in real time and the one-to-one relationship between the transesophageal echocardiography, access store in the Computer Database with the pairing transesophageal echocardiography of cardiac ultrasound images harvester probe attitude digital information; The position that on the open compound cardiac module of three-dimensional visualization, shows virtual tangent plane and virtual probe simultaneously; The transesophageal echocardiography of gathering during then to simulated training is handled, and two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING, and extraction cardiac image deformation data also show on the open compound cardiac module of three-dimensional visualization; In conjunction with the heart disease expert knowledge library; Make up typical heart disease pathology mining model, realize the pathology of heart disease is excavated, and provide the corresponding ultrasonic tangent plane and the spatial relation of the open compound cardiac module of three-dimensional visualization; Carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.
Compared with prior art; The invention has the beneficial effects as follows: solved the Several Key Problems of mentioning in the prior art: at first; Transesophageal ultrasonography probe attitude data harvester has been realized the attitude data collection to the transesophageal echocardiography image; Realized coupling one by one with transesophageal echocardiography; Transesophageal ultrasonography probe attitude data harvester can either let clinic and training doctor and medicos understand the particular location parameter of cardiac ultrasonic tangent plane at any time; Can be installed to intelligent phantom the inside again and carry out simulation teching, can obtain the attitude data of probe simultaneously in real time, so more help intern and medicos and can access better training.The second, set up the typical heart disease has been set up the case mining rule, realize that pathology excavates function, can carry out the clinical simulation training to the intern better.The 3rd; Intelligence phantom, transesophageal ultrasonography probe attitude data harvester and cardiac ultrasound images emulation harvester, the visual tutoring system of transesophageal ultrasonography etc. have realized the clinical simulation environment of human-computer interaction formula, have realized the Free Transform of the three-dimensional cardiac under the different pathological situation.So more help intern and medicos and learn and grasp the cardiac ultrasonic cardiogram, also more can help the intern more profoundly to understand under the different pathological situation, the corresponding deformation situation of three-dimensional cardiac.
The invention provides a kind of transesophageal echocardiography visual simulation system and method; Research and development have designed transesophageal echocardiography simulation training equipment; Solved the demand of hospital's urgent need transesophageal echocardiography simulation training equipment; Through intelligent phantom, cardiac ultrasound images emulation harvester, transesophageal ultrasonography probe attitude data harvester etc.; Make up the design and the research and development of open compound heart of three-dimensional visualization and the visual tutoring system of transesophageal ultrasonography; The emulation of ability complete display shows the inside and outside three-dimensional structure and the corresponding echocardiogram thereof of various heart shear-face angle, has realized that transesophageal ultrasonography tangent plane and three-dimensional visualization heart tangent plane mate one by one.Through the visual tutoring system of heart, analyze different the recommendation and help the student and set up spatial impression through the corresponding three-dimensional visualization heart tangent plane model of esophagus two-dimensional ultrasound tangent plane.For the correct identification of trainee to the transesophageal ultrasonography tangent plane of heart disease; Confirm different mathematics to different heart diseases, realized the pathology of heart disease is excavated, set up a series of pathology rules of inference; Form expert knowledge library; And having provided the 3D tangent plane model of corresponding ultrasonic tangent plane and the corresponding relevant knowledge and the introduction of the state of an illness, use doctor and medicos come simulation learning and visual teaching and training through apparatus of the present invention and software systems, through the simulation teching operation of equipment; Can improve its sense organ to the ultrasonic tangent plane structure of continuous conversion understands; Realize auxiliary doctor and medicos pathology decision analysis in the Clinical Skill Teaching training, improve the medical teaching level, finally reach the purpose that improves the modern medical service level heart disease.
Based on of the active demand of present various big hospital to transesophageal echocardiography medical visualization teaching, training; The present invention combines Medical Image Processing, virtual emulation technology, sensor technology and data mining technology; Realized whole flow process fully, realized the simulation teching and the training of transesophageal ultrasonography the transesophageal echocardiography image analysis processing.This invention has realized the attitude data collection of ultrasonoscopy through transesophageal ultrasonography probe attitude data harvester, cardiac ultrasound images emulation harvester and transesophageal ultrasonography visual simulation system; Comprised that the anglec of rotation parameter to probe, flexible parameter and probe bend and stretch isoparametric collection; Through the coupling one by one of attitude data and ultrasonoscopy, realize teaching simulation to the transesophageal ultrasonography IMAQ.Simultaneously; The heart disease expert knowledge library has been set up in this invention; Made up typical heart disease pathology mining model; Realized the pathology of heart disease is excavated, the design of virtual technology can provide easy to operate, human-computer interaction for sonographer, is fit to the virtual environment of the characteristics of multiplane transesopkageal echocardiography.The present invention utilizes magnetic coder to realize that the data of the probe dilatability and the anglec of rotation obtain, and utilizes optical principle to realize that the data of probe degree of bending and stretching obtain, and research and development have designed transesophageal ultrasonography visual simulating tutoring system.
Through using this stimulating and training system; Intern and medicos will pop one's head in esophagus inserts intelligent phantom; Can obtain the corresponding different heart three-dimensional visualization models of different parameter values and each parameter value; And can see all processes of transesophageal echocardiography cardiogram image and cardiac ultrasonic operation; And the 3D tangent plane model of the corresponding ultrasonic direction of each heart section and corresponding relevant knowledge introduction; Be used to help clinician and medicos to grasp the detailed structure of the transesophageal echocardiography image under the different esophagus degree of depth and angle and each the parameter situation, help improving them the perceptual knowledge of heart inner structure and the raising of transesophageal echocardiography diagnosis and accuracy of disease.In addition; After clinician and medicos adopt the present invention to give training; Can grasp the anatomical structure of different depth and angle transesophageal echocardiography image, help popularizing and raising transesophageal echocardiography diagnose heart accuracy of disease of transesophageal echocardiography, improve clinical position efficient indirectly; Thereby avoid increasing patient's misery, reduce the incidence of complication.
Description of drawings
Fig. 1 is a transesophageal echocardiography visual simulation system structural representation according to the invention;
Fig. 2 is the structural representation of the transesophageal ultrasonography probe attitude data harvester in the transesophageal echocardiography visual simulation system according to the invention;
Fig. 3 is the side view of Fig. 2.
Among the figure, 1-intelligence phantom, 2-transesophageal ultrasonography probe attitude data harvester, 3-cardiac ultrasound images emulation harvester, 4-three-dimensional artificial simulation heart, 5-simulation esophagus and stomach, 6-sensor, 7-computing machine, 8-annular magnetosheath, 9-rotating assembly, 10-sensor suite, 11-friction pulley, 12-rotating shaft, 13-shaft supporting seat, 14-angular transducer, 15-displacement transducer, 16-elastic compression mechanism, the flexible cleaning element of 17-, the 18-collar.
Embodiment
Below in conjunction with accompanying drawing transesophageal echocardiography visual simulation system according to the invention and method are described further.
Embodiment 1
In the present embodiment; The structure of transesophageal echocardiography visual simulation system is as shown in Figure 1, comprises intelligent phantom 1, cardiac ultrasound images emulation harvester 3, the computing machine 7 that links to each other with cardiac ultrasound images emulation harvester, transesophageal ultrasonography probe attitude data harvester 2 and sensor 6.
Said intelligent phantom 1 comprises three-dimensional artificial simulation heart 4, simulation esophagus and the stomach 5 that is provided with in die body and the die body, and the head of intelligent phantom and chest all adopt transparent plastic, and the oral cavity of head can be movable; Expansible is closed; Head and neck can separate, and can guarantee that transesophageal ultrasonography probe attitude data harvester and sensor insert and dismantle, and can direct viewing arrive internal organs structure true to nature in esophagus and the thoracic cavity; And can see the position of intubate, its outside wearable garment at oesophagus and stomach.
Structure such as Fig. 2, shown in Figure 3 of said transesophageal ultrasonography probe attitude data harvester 2 comprise annular magnetosheath (8), rotating assembly 9, the collar 18 and sensor suite 10; The collar 18 is installed in the annular magnetosheath 8; The probe of cardiac ultrasound images emulation harvester 3 inserts the endoporus of the collar and stretches out from collar internal control; Rotating assembly 9 is installed in the annular magnetosheath 8, and its member comprises rotating shaft 12, shaft supporting seat 13 and be installed in the friction pulley 11 in the rotating shaft that the friction pulley 11 in the said rotating assembly contacts with the probe of cardiac ultrasound images emulation harvester 3; When the probe movement of heart ultrasonoscopy emulation harvester 3, friction pulley is rotated; Sensor suite 10 comprises angular transducer 14 (being used to detect the anglec of rotation of the probe of cardiac ultrasound images emulation harvester 3), displacement transducer 15 (being used to detect the displacement of the probe of cardiac ultrasound images emulation harvester 3) and elastic compression mechanism 16 (being used to detect the probe location of cardiac ultrasound images emulation harvester 3); Angular transducer 14 be positioned at the collar 18 the outside and with the cover loop contacts; Displacement transducer 15 is installed near rotating assembly 9; Elastic compression mechanism 16 comprises member and the spring that the probe of cardiac ultrasound images emulation harvester 3 is exerted pressure, and installs along the probe periphery of cardiac ultrasound images emulation harvester 3; The signal output part of said angular transducer 14 and displacement transducer 15 is connected with computing machine (7); Its structure comprises magnet ring, magnetic sensing receiver and logic processor; Logic processor adopts the micro controller frame platform to do core processing unit; Be used for various data are handled, and the control of the communications of realization and computing machine, its power unit comprises power supply stabilization circuit and filtering circuit; The interface section comprises that voltage conversion circuit and the said angular transducer of interface protective circuit and displacement transducer both can buy, and also can oneself make.
In the said transesophageal echocardiography visual simulation system of present embodiment; Its transesophageal ultrasonography probe attitude data harvester also will cooperate with the cardiac ultrasound images harvester; Obtain the probe attitude data of transesophageal echocardiography and cardiac ultrasound images harvester; Be used to set up and the probe attitude digital information of cardiac ultrasound images harvester and the corresponding relation of transesophageal echocardiography; Therefore; The front end of transesophageal ultrasonography probe attitude data harvester is provided with flexible cleaning element 17, be used to clean probe with the cardiac ultrasound images harvester insert when detecting in the body be stained with the body fluid of taking out of, said flexible cleaning element 17 can be made with foamed material.
Said computing machine 7 is equipped with transesophageal echocardiography visual simulation system software; Said software is mainly used in transesophageal echocardiography visual simulated teaching and training; Main interface comprises echocardiogram image and probe attitude data; The open compound cardiac module of three-dimensional visualization and virtual probe, relevant knowledge and state of an illness data etc. store the data information of corresponding relation between probe attitude digital information and the transesophageal echocardiography of cardiac ultrasound images harvester in the database of its these software systems.
Said cardiac ultrasound images emulation harvester 3 can be the transesophageal ultrasonography appearance, or other Ultrasound Instrument, has to stretch into transesophageal ultrasonography probe of surveying in the intelligent phantom 3 and the conduit that is connected with ultrasonic probe.Its image pick-up card adopts model Microview V200; Is furnished with the S-Video terminal at its end; Ultrasonoscopy copy when the probe that is used to export cardiac ultrasound images emulation harvester is gathered ultrasonoscopy has promptly possessed the function of the real-time multichannel output of ultrasonic instrument images acquired.Simultaneously; Can be inserted with the capture card of being with the S-Video terminal at computing machine 1 or Barebone (mainboard has com port); Com port is responsible for receiving the communication of the attitude parameter of feedback in real time of transesophageal ultrasonography probe gesture data harvester; The S-Video terminal grasps the ultrasonoscopy of ultrasonic instrument simultaneously, can accomplish the synchronization of ultrasonoscopy and probe attitude.
In the present embodiment, the assembling mode of each parts, device is following in the transesophageal echocardiography visual simulation system: transesophageal ultrasonography probe attitude data harvester 2 is arranged on the throat of intelligent phantom, and its signal output part is connected with computing machine 7; The probe of cardiac ultrasound images emulation harvester 3 passes esophagus and the stomach 5 that transesophageal ultrasonography probe attitude data harvester stretches into intelligent phantom, and its signal output part is connected with computing machine 7; Three main positions are provided with sensor 6 at oesophagus epimere, oesophagus stage casing with at the bottom of stomach, are used for obtaining probe when transesophageal examination, the positional information in oesophagus and stomach, and the help student understands the position at the place of probe.
In the present embodiment; The principle of work of transesophageal echocardiography visual simulation system is: the different attitude parameter values of obtaining the probe of cardiac ultrasound images emulation harvester 3 through transesophageal ultrasonography probe attitude data harvester 2 and sensor 6; Angular transducer 14 in the transesophageal ultrasonography probe attitude data harvester 2 is used to detect the anglec of rotation of the probe of cardiac ultrasound images emulation harvester 3; Its displacement transducer 15 is used to detect the displacement of the probe of cardiac ultrasound images emulation harvester 3; Three main positions are provided with sensor 6 at oesophagus epimere, oesophagus stage casing with at the bottom of stomach; The probe that is used for obtaining cardiac ultrasound images emulation harvester 3 is when transesophageal examination; Positional information in oesophagus and stomach, so cardiac ultrasound images emulation harvester 3 probe is at position, direction, the gradient and the range parameter on intelligent phantom chest surface: probe through esophagus degree of depth L, probe through stretch behind the preceding song of esophagus anglec of rotation R, probe ultrasonic transmitter parameter alpha, probe ultrasonic transmitter about information such as bent parameter beta and covering of the fan rotation angle γ all can obtain.
Embodiment 2
Present embodiment uses embodiment 1 said transesophageal echocardiography visual simulation system, and the transesophageal echocardiography visual emulation mode is described further.In the present embodiment, the step of transesophageal echocardiography visual emulation mode is following:
The first step, the probe that utilizes the cardiac ultrasound images harvester and transesophageal ultrasonography probe attitude data harvester 2; Synchronous real-time is obtained the probe attitude data of transesophageal echocardiography and cardiac ultrasound images harvester; The probe attitude data and the transesophageal echocardiography of the cardiac ultrasound images harvester that is obtained are set up relation one to one, and deposit in the database of computing machine 7;
Second step, on the basis of the virtual compound cardiac module of standard that makes up (this model extracts realization through the medical features of 3D modeling software and heart); Through analysis and processing to medical image information; According to actual value getparms; Make up the open compound heart of three-dimensional visualization in real time, show the mathematical model of heart different pathological characteristic visually with visual way;
The present invention adopts visualized algorithm fast and utilizes general 3D modeling software and the DXD technology realizes structure and the deformation control of the open compound heart of three-dimensional visualization from the virtual compound cardiac module of standard to the open compound heart of three-dimensional visualization.
On the virtual compound cardiac module of the standard of having built up, carrying out secondary deformation, is a kind of three-dimensional modeling method from " general to concrete ", so it is so strong that the degree of dependence of original image can not show a candle to the three-dimensional reconstruction technology.The more important thing is doctor's three-dimensional model of the reproduction heart of lifelike image more in brain that can help to participate in training and learning; Through research and design, let the doctor that substantial effect is played in cardiopathic decision-making diagnosis to transesophageal echocardiography three-dimensional visualization simulation system.
The structure of the open compound heart of three-dimensional visualization and the deformation of three-dimensional compound heart control adopt following steps to realize:
1. extract the excited sequence of electrocardio as the mechanical analysis Data Source.
2. obtain emulation deformation data.
3. on three-dimensional cardiac, show these data structure three-dimensional visualization heart with visual way.
4. the ultrasonic tangent plane anglec of rotation is obtained in image recognition.
The 3rd the step, when carrying out simulated training; The transesophageal ultrasonography attitude data harvester 2 of popping one's head in is arranged on the throat of intelligent phantom; Sensor 6 is in oesophagus epimere, oesophagus stage casing and three main positions settings at the bottom of stomach of intelligent phantom, and the probe of cardiac ultrasound images emulation harvester 3 passes esophagus and the stomach 5 that transesophageal ultrasonography probe attitude data harvester stretches into intelligent phantom; Said transesophageal ultrasonography probe attitude data harvester 2 obtains the probe attitude digital information of cardiac ultrasound images emulation harvester 3 in real time; And this information sent in the computing machine 7; The probe attitude digital information of the cardiac ultrasound images emulation harvester 3 that computing machine 7 bases are obtained in real time and the probe attitude digital information of the cardiac ultrasound images harvester that the first step is set up and the one-to-one relationship between the transesophageal echocardiography; Access store in computing machine 7 databases with the pairing transesophageal echocardiography of cardiac ultrasound images harvester probe attitude digital information; The position that on the open compound cardiac module of three-dimensional visualization, shows virtual tangent plane and virtual probe simultaneously; The transesophageal echocardiography of gathering during then to simulated training is handled, and two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING, and extraction cardiac image deformation data also show on the open compound cardiac module of three-dimensional visualization; In conjunction with the heart disease expert knowledge library; Make up typical heart disease pathology mining model, realize the pathology of heart disease is excavated, and provide the corresponding ultrasonic tangent plane and the spatial relation of the open compound cardiac module of three-dimensional visualization; Carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.
The transesophageal echocardiography of gathering when wherein, utilizing 7 pairs of simulated trainings of computing machine carries out the processing section.Two dimensional image is carried out DATA REASONING, extract the cardiac image texturing variables and reach the embodiment on the open compound cardiac module of three-dimensional visualization according to this.Need discern the two dimensional image of heart among the present invention, extract the characteristic (comprising chambers of the heart deformation data etc.) of two dimensional image.Identification for two dimensional image has comprised the image pre-service, and image outline extraction and image measurement, four steps of visualization display realize.
1. the image pre-service has comprised figure image intensifying, preprocessing process such as binary conversion treatment.
2. image outline extracts, and is used for adopting based on the cardiac ultrasound images dividing method of optimum geometric model and realizing extracting the profile of atrium, ventricle.
3. image measurement calculates atrium, ventricular contraction and relaxation data in real time.
4. the ultrasonic tangent plane anglec of rotation is obtained in image recognition.
When carrying out IMAQ; Can be to upper esophagus, interruption and lower end; At the bottom of stomach, carry out the collection of transesophageal ultrasonography tangent plane picture in addition, meanwhile, data collector has also obtained the corresponding probe attitude parameter of ultrasonic tangent plane synchronously when carrying out IMAQ.In the process of practical operation transesophageal probe, follow the real-time attitude of sensor sensing probe to change, utilize com interface, five parameter: L of " question and answer mode " feedback, R, α, β, γ.
In cardiac ultrasound images emulation harvester 3, the cardiac ultrasound images dividing method based on optimum geometric model that the present invention proposes is divided into five steps, is described below:
1. select a kind of classical dividing method to come split image, define the variation range of the required operation parameter of this method simultaneously.
2. in parameter area, select a numerical value, use this value to utilize selected dividing method split image, cause original image to be divided into plural zone.
3. travel through the zone that all are partitioned into, and with each regional binary conversion treatment.
4. extract the boundary pixel coordinate set in each binaryzation zone, utilize this collective data, decidable should the zone and the matching degree of priori geometric properties; Finally, each divided area all can be regarded as " a geometric model degree of conformity " related with the priori geometric properties.
If 5. 1. in defined dividing method parameter area also have untapped parameter, then choose it and carry out again and 2. go on foot 4. the step.Otherwise, choose a zone as final segmentation result with maximum " geometric model degree of conformity ".
4. above-mentioned 2. going on foot go on foot available following formula description:
F is the image segmentation overall process based on optimum geometric model; F is selected classical image partition method; p
iIt is certain selected parameter value of f; P is predefined partitioning parameters value variation range, wherein comprises M optional value; G is a guestimate priori geometric model of cutting apart the target area.
Through selected p
iSingle treatment, the result of generation is the bivector set that comprises N element, each element representation is: (R
I, j, g
I, j), wherein the numerical value of N is along with selected f and p
iChange.R
I, jBe f (p
i) be partitioned into j zone; g
I, jBe R
I, j" geometric model degree of conformity ".
5. step can be described as following formula equally, wherein R is the final segmentation result of being asked:
In above-mentioned introduction, calculate g
I, jIt is a key link.If some border pixel values does not have " contributing to " this regional predefine geometric model, for " the geometric model degree of conformity " in this zone, these boundary pixels can be considered misdata.
Aspect the transesophageal echocardiography visual tutoring system, (L, R, α, beta, gamma) parameter that this tutoring system can be fed back in real time can reflect the true attitude of current 3D cardiac module, 3D esophagus model and 3D ultrasonic probe model in the 3D scene.Except that 20 ultrasonic tangent plane images commonly used showing transesophageal echocardiography diagnosis pathology, also have the 3D tangent plane model and the corresponding relevant knowledge introduction of corresponding ultrasonic direction.
Show the 3D model and the probe relevant position of tangent plane in the top left window of display screen, but X, Y, Z three axial little commentaries on classics are checked and rotation of mouse drag arbitrary axis and convergent-divergent, and coupling ultrasonic heart motion state produces animation effect.
Show the ultrasonic image of this place's tangent plane at the upper right window of display screen, be divided into specifically that black and white is ultrasonic, colorful ultrasonic and black and white color contrast be ultrasonic.The ultrasonic image tangent plane has the corresponding matching relationship of color with 3D model probe fan-shaped sign.Simultaneously,, added " frame broadcast " for satisfying the teaching explanation requirement, " explanation note editor " reaches " ultrasonic image preservation " correlation function.
Following window at display screen is the explanation window, specifically is divided into " teaching explanation ", " obtaining the mode of this ultrasonoscopy ", and " identifiable structure in this ultrasonoscopy " reaches " the diagnosable case of this ultrasonoscopy ".
Software is based on WPF (Windows Presentation Foundation) platform development; WPF is used to the different user interface unified display system is provided; For these all user interfaces provide consistent technical foundation, simultaneously, WPF adopts more advanced method; Support video, animation, two dimension or three-dimensional picture and various types of document, also general basic is provided for desktop client end and browser client.
All 3D models are 3D model file form--the OBJ form of standard, are suitable for the mutual conductance between the 3D model, support polygon, straight line, surface and free form curve.
WPF 3D shows and associative operation uses the System.Windows.Media.Media3D name space; Model is the GeometryModel3D class object; Resolve OBJ apex coordinate, texture coordinate and normal direction MeshGeometry3D attribute to this object; Its texture and illumination and visual angle are set again, get final product display model.
The animation operation of 3D model is used the System.Windows.Media.Animation.AnimationTimeline name space.Along with the heart movement frequency of ultrasonoscopy, the Duration attribute of Timeline object is set; Along with the cardiac structure spatial variations scope of ultrasonoscopy, the key frame position Point3D attribute of 3D model key node coordinate is set.
The ultrasonoscopy function is used MediaElement control among the WPF, and may command is play.Ultrasonoscopy adds the note editor, has used figure layer technology, and Canvas is placed on the MediaElement, and Canvas acquires all kinds of Geometry objects and gets final product.The probe relevant position, magnanimity ultrasonic image figure, the related text explanation of 20 place's heart tangent planes.
The purpose of this software system design is to cooperate intelligent phantom, in actual training is operated, produces true, directly perceived, the lively teaching efficiency easily that reaches.The software background data base comprises: 3D cardiac module, 3D heart tangent plane model, 3D ultrasonic probe model; When building table, ultrasonic tangent plane deformation parameter transesophageal ultrasonography tangent plane picture, 3D heart tangent plane model and database stored (L, R; α, beta, gamma) parameter and corresponding ultrasonoscopy; Along with feedback parameter is participated in the table inquiry, show the ultrasonoscopy of corresponding attitude in real time.Software systems have realized the synchronous demonstration of two-dimensional ultrasound tangent plane and the virtual tangent plane of three-dimensional visualization heart; Along with the start-up uses the Analogue probe operation probe attitude parameter that phantom fed back; The ultrasonoscopy that shows corresponding attitude; At transesophageal 20 key positions of the probe of cardiac ultrasound images emulation harvester 3; The attitude data that is deposited into the database the inside after probe attitude data through obtaining cardiac ultrasound images emulation harvester 3 and the clinical collection (acquisition method is seen the operation steps one of the described transesophageal echocardiography visual emulation mode of present embodiment) matees and shows ultrasonic tangent plane image, also has the virtual tangent plane model of 3D and the corresponding relevant knowledge introduction of corresponding ultrasonic tangent plane simultaneously.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and the arbitrary new method that discloses or step or any new combination of process.
Claims (5)
1. transesophageal echocardiography visual simulation system; Comprise intelligent phantom (1), cardiac ultrasound images emulation harvester (3), the computing machine (7) that links to each other with cardiac ultrasound images emulation harvester; It is characterized in that also comprising transesophageal ultrasonography probe attitude data harvester (2) and sensor (6); Said intelligent phantom comprises three-dimensional artificial simulation heart (4), simulation esophagus and the stomach (5) that is provided with in die body and the die body; Said transesophageal ultrasonography probe attitude data harvester (2) is arranged on the throat of intelligent phantom, and its signal output part is connected with computing machine (7), and said sensor (6) is at least one; Be arranged in the intelligent phantom (1), its signal output part is connected with computing machine (7); Cardiac ultrasound images emulation harvester (3) is used for the analog acquisition cardiac ultrasound images, and sends the cardiac ultrasound images that is collected to computing machine (7); Transesophageal ultrasonography probe attitude data harvester (2) and sensor (6) are when cardiac ultrasound images emulation harvester (3) is gathered cardiac ultrasound images; The probe attitude data that is used for synchronous acquisition cardiac ultrasound images emulation harvester (3); And send the probe attitude data that is collected to computing machine (7); Computing machine (7) is used for the cardiac ultrasound images that receives is carried out analyzing and processing with the probe attitude data, and carries out visualization display.
2. transesophageal echocardiography visual simulation system according to claim 1 is characterized in that said transesophageal ultrasonography probe attitude data harvester (2) comprises annular magnetosheath (8), rotating assembly (9), the collar (18) and sensor suite (10); The collar (18) is installed in the annular magnetosheath (8); The probe of cardiac ultrasound images emulation harvester (3) inserts the endoporus of the collar and stretches out from collar endoporus; Rotating assembly (9) is installed in the annular magnetosheath (8); Its member comprises rotating shaft (12), shaft supporting seat (13) and is installed in the friction pulley (11) in the rotating shaft that the friction pulley in the said rotating assembly (11) contacts with the probe of cardiac ultrasound images emulation harvester (3); Sensor suite (10) comprises angular transducer (14), displacement transducer (15) and elastic compression mechanism (16); Angular transducer (14) be positioned at the collar (18) the outside and with the cover loop contacts; Displacement transducer (15) is installed near rotating assembly (9), and elastic compression mechanism (16) installs along the probe periphery of cardiac ultrasound images emulation harvester (3); The signal output part of said angular transducer (14) and displacement transducer (15) is connected with computing machine (7).
3. transesophageal echocardiography visual simulation system according to claim 1 and 2; The image pick-up card end that it is characterized in that said cardiac ultrasound images emulation harvester (3) is furnished with the S-Video terminal, the ultrasonoscopy copy the when probe that is used to export cardiac ultrasound images emulation harvester (3) is gathered ultrasonoscopy; The mainboard of said computing machine (7) has com port, and is inserted with the capture card of band S-Video terminal.
4. transesophageal echocardiography visual simulation system according to claim 1 and 2 is characterized in that being provided with flexible cleaning element (17) at transesophageal ultrasonography probe attitude data harvester (2) front end.
5. transesophageal echocardiography visual emulation mode; It is characterized in that: when carrying out simulated training; The transesophageal ultrasonography attitude data harvester (2) of popping one's head in is arranged on the throat of intelligent phantom; And sensor (6) is arranged in the intelligent phantom (1); Then the probe of cardiac ultrasound images emulation harvester (3) is passed transesophageal ultrasonography probe attitude data harvester (2) and stretch in the intelligent phantom, said transesophageal ultrasonography probe attitude data harvester (2) obtains the probe attitude digital information of cardiac ultrasound images emulation harvester (3) in real time, and this information is sent in the computing machine (7); Computing machine (7) is according to the probe attitude digital information of cardiac ultrasound images harvester and the one-to-one relationship between the transesophageal echocardiography; Access the pairing transesophageal echocardiography of probe attitude digital information with the cardiac ultrasound images harvester, on the open compound cardiac module of three-dimensional visualization, show the position of virtual tangent plane and virtual probe simultaneously, the transesophageal echocardiography of gathering during then to simulated training is handled; Two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING; Extraction cardiac image deformation data also show on the open compound cardiac module of three-dimensional visualization, in conjunction with the heart disease expert knowledge library, make up typical heart disease pathology mining model; Realization is excavated the pathology of heart disease; And provide the corresponding ultrasonic tangent plane and the spatial relation of the open compound cardiac module of three-dimensional visualization, carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.
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| CN102789732B (en) * | 2012-08-08 | 2014-08-06 | 四川大学华西医院 | Transesophageal ultrasonic visual simulation system and method used for teaching and clinical skill training |
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| CN111180075B (en) * | 2020-03-02 | 2023-10-20 | 浙江大学 | Dynamics model established based on heart murmur and computer simulation method |
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| CN112991854A (en) * | 2021-02-05 | 2021-06-18 | 四川大学华西医院 | Ultrasonic teaching method, device and system and electronic equipment |
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