CN102949240A - Image-guided lung interventional operation system - Google Patents
Image-guided lung interventional operation system Download PDFInfo
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Abstract
The invention discloses an image-guided lung interventional operation system which comprises an image acquiring module, a lung region reconstruction module, a lung respiratory movement model construction module, an operative instrument and operative region image space mapping module, a dynamic focus space-positioning and guide module and an another image acquiring module. The image acquiring module is connected with the lung region reconstruction module which is connected with the lung respiratory movement model construction module, the lung respiratory movement model construction module is connected with the dynamic focus space-positioning and guide module, and the another image acquiring module is connected with the operative instrument and operative region image space-mapping module which is connected with the dynamic focus space-positioning and guide module. Real-time space positioning of dynamic focuses is achieved, early diagnosis of carcinogenesis of lung nodule can be achieved, and error of space positioning precision is within 2mm.
Description
Technical field
What the present invention relates to is a kind of system of armarium technical field, specifically intervene operation system of a kind of image navigation pulmonary.
Background technology
Percutaneous Transthoracic Biopsy method is the prefered method of peripheral type carcinoma of lung lesser tubercle diagnosis, carries out interventional navigation by image information, will greatly improve accuracy rate and safety.Existing percutaneous pneumocentesis based on the image navigation technology has two kinds substantially: conventional CT guiding and ct fluoroscopy guiding.
These two kinds of methods have all reached the purpose of three dimensional display to a certain extent, get involved the doctor with reference to the physical location that is presented at 3-dimensional image on the computer monitor and observes operating theater instruments, guiding Wicresoft intervention procedure.Yet these two kinds of technology itself have very large limitation, no matter be conventional CT guiding or ct fluoroscopy guiding, do not consider that all respiratory movement is for the impact of image navigation intervene operation, small lesion is subjected to easily that diaphram is respirometric to be affected, be offset, cause focal zone and locus, actual focal district in the image inconsistent, the disposable hit rate of impact puncture.
Conventional CT guided puncture process is more loaded down with trivial details, need to get involved the doctor and commute scanning room and scan control chamber, after probe inserts the patient thoracic cavity, need again carry out CT scan and confirm whether probe reaches focal zone, this process easily causes the displacement of probe, affects the extraction of lesion tissue.
The ct fluoroscopy guidance method has been accomplished the purpose of three-dimensional real-time demonstration, having shortened puncture puts the pin time, compare sensitivity and the negative no significant difference of biopsy with conventional CT guidance method, the dosage of doctor and person under inspection's exposed ray is increased, and easily damage CT equipment.
In addition, do not have to overlap independently software platform, can only select the incidental software of CT manufacturer, some necessary IPFs seldom are provided.And for the lesser tubercle of diameter＜1cm, the rate of correct diagnosis of focus is 66.7%, compares with the focus accuracy rate of diagnosis 82.8% of diameter 1-3cm, and precision awaits further to improve.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of image navigation pulmonary interventional systems is provided, native system will be taken into account trachea and angiokinetic pulmonary respiratory movement model integration in the 3 D stereo location technology, dynamic focus and operating theater instruments are carried out real-time space orientation and navigation, overcome static CT information and dynamic internal internal organs position in the percutaneous Transthoracic Biopsy art that has the CT guiding now, small lesion position particularly, unmatched defective.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
Intervene operation system of a kind of image navigation pulmonary, it comprises: implement module in preparation module and the art before the art, preparation module comprises before the described art: image acquiring module, lung regional reconstruction module and pulmonary respiratory movement model make up module, implement module in the described art and comprise: operating theater instruments and operative region image space mapping block, dynamic focus space orientation navigation module and image acquiring module; Described image acquiring module connects described lung regional reconstruction module, the 4D sequential images information that output is obtained; Described lung regional reconstruction module connects described pulmonary respiratory movement model and makes up module, the 4D structural information of output lung table, trachea and lung blood vessel etc.; Described pulmonary respiratory movement model makes up module and connects described dynamic focus space orientation navigation module, and output takes into account trachea, angiokinetic pulmonary respiratory movement model; Described image acquiring module connects described operating theater instruments and operative region image space mapping block, and output is with the low resolution 3D image information of gauge point; Described operating theater instruments is connected described dynamic focus space orientation navigation module with operative region image space mapping block, output is mapped to the operating theater instruments physical space coordinate of operative region image space coordinate; Described dynamic focus space orientation navigation module makes up dynamic image, calculates the locus of operative region focus and operating theater instruments, by Visualization Platform, obtains navigation information in the real-time art.
Preferably, preparation module also comprises an operation pathway planning module for benchmark 3D rendering operation in the 4D sequential images before the described art, described image acquiring module outfan also connects described operation pathway planning module and the 4D sequential images information obtained of output, and described operation pathway planning module connects described dynamic focus space orientation navigation module and exports lesions position and size, wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
Preferably, implement module in the described art and also comprise an operation pathway planning module for the operation of low resolution 3D image, described image acquiring module outfan connects described operation pathway planning module, the low resolution 3D image information with gauge point that output is obtained, described operation pathway planning module connects described dynamic focus space orientation navigation module, and output lesions position and size, wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
Further, implement module in the described art and also comprise a guide of fluoroscopy module, described guide of fluoroscopy module connects described dynamic focus space orientation navigation module and exports 2D fluoroscopic image information.
Further, implement module in the described art and also comprise a focus acquisition module, described dynamic focus space orientation navigation module connects described focus acquisition module.
Further, described lung regional reconstruction module comprises: image segmentation unit and reconstruction unit, wherein, described image segmentation unit extracts chest area in the 4D sequence image first, in the zone of extracting again with lung table, trachea and blood vessel segmentation out, and export the result to described reconstruction unit, and described reconstruction unit carries out the 3D volume reconstruction with the sequences segmentation result, and the result exports described pulmonary respiratory movement model to and makes up module.
Further, described pulmonary respiratory movement model makes up module and comprises: deformable registration unit and deformation domain description unit, wherein, described deformable registration unit carries out the 4D deformable registration to the lung regional structure, the output movement vector set is to described deformation domain description unit, described deformation domain description unit is expressed the motion vector collection in the mode in deformation territory, the result transfers to described dynamic focus space orientation navigation module.
Further, described operation pathway planning module comprises: man-machine interaction focal zone indexing unit and man-machine interaction wound planning unit, wherein, described man-machine interaction focal zone indexing unit allows to get involved the doctor and draw a circle to approve lesions position and size in the reference image, described man-machine interaction wound planning unit allows to get involved the doctor and demarcate the wound position in the reference image, the planning operating theater instruments enters angle and the depth information of human body by wound, this two unit output informations and be transferred to described dynamic focus space orientation navigation module with reference to the image space coordinate system.
Further, described operating theater instruments and operative region image space mapping block comprise: gauge point is chosen unit and registration unit, wherein, described gauge point choose the unit need to get involved the doctor the operative region physical space and with the low resolution 3D image information space of gauge point one by one correspondence choose gauge point, the gauge point of two space coordinatess of output is to described registration unit, registration unit with these one to one gauge point carry out spatial mappings, obtain the mapping relations of operative region physical space and image space, the operative region coordinate that will express in low resolution 3D image space coordinate exports described dynamic focus space orientation navigation module to.
Preferably, described dynamic focus space orientation navigation module comprises: registration unit, the dynamic image construction unit, three-dimensional localization unit and image visualization, described registration unit is mapped to low resolution 3D image space coordinate system with reference in the image space coordinate, during the operative region coordinate that will express in low resolution 3D image space coordinate simultaneously maps directly to reference to the image space coordinate, to the dynamic image construction unit, all space coordinatess are unified to reference to the image space coordinate with reference to the low resolution 3D image in the image space coordinate and operative region coordinate in output; Described dynamic image construction unit low resolution 3D image in the reference image space coordinate in conjunction with deformation territory, lung territory, makes up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit as the basis; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
Preferably, described dynamic focus space orientation navigation module comprises: the dynamic image construction unit, three-dimensional localization unit and image visualization, described dynamic image construction unit low resolution 3D image in the reference image space coordinate is the basis, in conjunction with deformation territory, lung territory, make up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.Also comprise: the 2D-3D registration unit, 2D fluoroscopic image information is mapped on the dynamic image, and the result after will shining upon passes to the three-dimensional localization unit, described three-dimensional localization unit by using operative region coordinate, in conjunction with dynamic image, and the fluoroscopic image information that shows on the dynamic image, calculate the locus of operative region organ and operating theater instruments, obtain navigation information in the real-time art, and these information are passed to described image visualization.
Compared with prior art, the present invention is directed to the image navigation intervene operation, introduce the respiratory movement model, solved and be subjected to the autonomous respiration motion image, the inconsistent difficult problem of operative region navigation image space coordinates static with it, thus realize dynamic focus is carried out real-time sterically defined target.The present invention can carry out early diagnosis to the canceration of Small pulmonary nodule, and the spatial positioning accuracy error is in 2mm.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of description, below with preferred embodiment of the present invention and cooperate accompanying drawing to be described in detail as follows.The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Accompanying drawing described herein is used to provide a further understanding of the present invention, consists of the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 has provided the structural representation of an embodiment of intervene operation system of image navigation of the present invention pulmonary.
Fig. 2 has provided the structural representation of another embodiment of intervene operation system of image navigation of the present invention pulmonary.
Number in the figure explanation: 1, preparation module before the art, 101, image acquiring module, 102, lung regional reconstruction module, 103, pulmonary respiratory movement model makes up module, 12, the operation pathway planning module, 2, implement module in the art, 201, operating theater instruments and operative region image space mapping block, 202, dynamic focus space orientation navigation module, 203, the focus acquisition module, 204, guide of fluoroscopy module, 205, image acquiring module.
The specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Embodiment 1:
As shown in Figure 1, the intervene operation system of image navigation pulmonary of the present embodiment, comprise: implement module 2 before the art in preparation module 1 and the art, preparation module 1 comprises before the described art: image acquiring module 101, lung regional reconstruction module 102 and pulmonary respiratory movement model make up module 103, implement module 2 in the described art and comprise: operating theater instruments and operative region image space mapping block 201, dynamic focus space orientation navigation module 202 and image acquiring module 205; Described image acquiring module 101 connects described lung regional reconstruction module 102, the 4D sequential images information that output is obtained; Described lung regional reconstruction module 102 connects described pulmonary respiratory movement model and makes up module 103, the 4D structural information of output lung table, trachea and lung blood vessel etc.; Described pulmonary respiratory movement model makes up module 103 and connects described dynamic focus space orientation navigation module 202, and output takes into account trachea, angiokinetic pulmonary respiratory movement model; Described image acquiring module 205 connects described operating theater instruments and operative region image space mapping block 201, and output is with the low resolution 3D image information of gauge point; Described operating theater instruments is connected with operative region image space mapping block and is connected described dynamic focus space orientation navigation module 202, and output is mapped to the operating theater instruments physical space coordinate of operative region image space coordinate; Described dynamic focus space orientation navigation module 202 makes up dynamic image, calculates the locus of operative region focus and operating theater instruments, by Visualization Platform, obtains navigation information in the real-time art.
Further, preparation module 1 also comprises an operation pathway planning module 12 for benchmark 3D rendering operation in the 4D sequential images before the described art, described image acquiring module 101 outfans also connect described operation pathway planning module 12 and export the 4D sequential images information of obtaining, described operation pathway planning module 12 connects described dynamic focus space orientation navigation modules 202 and also exports lesions position and size, and wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
Further, implement module 2 in the described art and also comprise a guide of fluoroscopy module 204, described guide of fluoroscopy module 204 connects described dynamic focus space orientation navigation module 202 and exports 2D fluoroscopic image information.
Further, implement module 2 in the described art and also comprise a focus acquisition module 203, described dynamic focus space orientation navigation module 202 connects described focus acquisition module 203.
Further, described lung regional reconstruction module 102 comprises: image segmentation unit and reconstruction unit, wherein, described image segmentation unit extracts chest area in the 4D sequence image, in the zone of extracting again with lung table, trachea and blood vessel segmentation out, and export the result to described reconstruction unit, and described reconstruction unit carries out the 3D volume reconstruction with the sequences segmentation result, and the result exports pulmonary respiratory movement model to and makes up module 103.
By to adopting the Japanese Aquilion One of Toshiba, 320 rows, 640 layers of CT machine comprise that to the patient chest (pulmonary) of focal zone carries out 4D computed tomography (CT), and sweep limits to diaphragmatic level, is advised patient's eupnea from apertura thoracis superior.Sweep parameter is as follows: the 120kv tube voltage, and 25 Effective mAs, the 0.5s rotating speed, 0.5-1mm rebuilds bed thickness, and the 0.5-1mm Reconstruction Interval scans total duration 10.5s, gathers altogether 3-5 breathing cycle.In the up MPR of three-dimensional work station, MIP and VR post processing.The 4D sequential images data that gather are input to lung regional reconstruction module with DICOM (Digitalimaging and Communications in Medicine) form.The image segmentation unit extracts chest area in the 4D sequence chest scan image, on this basis, cuts apart lung table, trachea and vascular tissue, with different numerical value cut zone is made marks.The sequence faultage image of reconstruction unit after to labelling carries out the 3D volume reconstruction, and final lung zone (comprising lung table, trachea, blood vessel) sequence anatomical structure transfers to pulmonary respiratory movement model and makes up module 103.
Further, described pulmonary respiratory movement model makes up module 103 and comprises: deformable registration unit and deformation domain description unit, wherein, described deformable registration unit carries out the 4D deformable registration to the lung regional structure, the output movement vector set is to described deformation domain description unit, described deformation domain description unit is expressed the motion vector collection in the mode in deformation territory, the result transfers to described dynamic focus space orientation navigation module 202.
But the deformable registration unit carries out deformable registration to the three dimensional structure of sequence lung table, trachea and blood vessel, obtain image data when holding one's breath take first and be some fiducial time, but the lung zone anatomical structure of putting the zone anatomical structure of lung At All Other Times and fiducial time is carried out deformable registration, thereby obtain lung region surface, trachea and blood vessel at the motion vector collection of different time points, motion vector collection with corresponding time points of all is averaged in cycles again, just obtain lung region surface, trachea and each breathing cycle of vascular anatomy structure the motion vector collection.The deformation domain description unit carries out principal component analysis to the motion vector collection of these structures, expresses in the mode in deformation territory, and the result transfers to dynamic focus space orientation navigation module 202.
Further, described operation pathway planning module 12 comprises: man-machine interaction focal zone indexing unit and man-machine interaction wound planning unit, wherein, described man-machine interaction focal zone indexing unit allows to get involved the doctor and draw a circle to approve lesions position and size in the reference image, described man-machine interaction wound planning unit allows to get involved the doctor and demarcate the wound position in the reference image, the planning operating theater instruments enters angle and the depth information of human body by wound, this two unit output informations and be transferred to described dynamic focus space orientation navigation module 202 with reference to the image space coordinate system.
Described operation pathway planning module 12 operates for the 3D volume data (with reference to image) of the some fiducial time in the sequence volume data image.Get involved the doctor and by man-machine interaction focal zone indexing unit the focal zone in the 3D volume data of some fiducial time is carried out semi-automatic delineation, get involved the doctor by browsing the 3D layer data, determine the position of focal zone (lesser tubercle), with mouse or felt pen marked lesion regional center point, boundary curve expands outwardly the lesser tubercle Edge-stopping with central point, the border is inaccurate if the doctor thinks focal zone, can be by mouse or felt pen redeterimination focus zone (position and size).Afterwards, get involved the doctor according to lesions position, by browsing the 3D fault image, avoid blood vessel and liquefaction and necrosis tissue, select suitable puncture entry point, demarcate body surface wound position, the line in itself and focus zone, just determined the path that apparatus is got involved, this comprises that operating theater instruments enters angle and the degree of depth of human body by wound.The selection of wound position is extremely important, and the generation of pneumothorax can be greatly avoided in suitable selection.The above information transmission is to dynamic focus space orientation navigation module 202.
Further, described operating theater instruments and operative region image space mapping block 201 comprise: gauge point is chosen unit and registration unit, wherein, described gauge point choose the unit need to get involved the doctor the operative region physical space and with the low resolution 3D image information space of gauge point one by one correspondence choose gauge point, the gauge point of two space coordinatess of output is to described registration unit, registration unit with these one to one gauge point carry out spatial mappings, obtain the mapping relations of operative region physical space and image space, the operative region coordinate that will express in low resolution 3D image space coordinate exports described dynamic focus space orientation navigation module 202 to.
Before operation is implemented, get involved the doctor and need to paste several medical gauge points on the operative region surface, be used for subsequent registration.Allow as far as possible the patient get the most comfortable position, under the state of holding one's breath, the patient is carried out the low dose of 3D scanning of low resolution, this cover 3D volume data is used for " Reference Map " of image navigation.Gauge point is chosen unit requirement doctor under the spatial pursuit localizer, choose successively the gauge point that is affixed on operative region, then the doctor is again in low resolution 3D faultage image, choose one to one successively gauge point, make gauge point in the operative region physical space coordinate system and the gauge point in the image space coordinate system set up one-to-one relationship.Registration unit is by the registration of the gauge point in two groups of different spaces coordinate systems, the actual physics space is consistent with the image space coupling that is used for navigation, and the operative region coordinate that will express in low resolution 3D image space coordinate exports dynamic focus space orientation navigation module 202 to.In this example, the 3 D stereo position measuring instrument Aurora that the spatial pursuit localizer adopts Canadian Northern Digital company to produce.
Further, described dynamic focus space orientation navigation module 202 comprises: registration unit, the dynamic image construction unit, three-dimensional localization unit and image visualization, described registration unit is mapped to low resolution 3D image space coordinate system with reference in the image space coordinate, during the operative region coordinate that will express in low resolution 3D image space coordinate simultaneously maps directly to reference to the image space coordinate, to the dynamic image construction unit, all space coordinatess are unified to reference to the image space coordinate with reference to the low resolution 3D image in the image space coordinate and operative region coordinate in output; Described dynamic image construction unit low resolution 3D image in the reference image space coordinate in conjunction with deformation territory, lung territory, makes up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit as the basis; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
Respiratory frequency when obtaining sequential images according to patient gets involved the doctor it is carried out respiratory training, and it is breathed with normal frequency.Registration unit is carried out registration with low resolution 3D volume data (when holding one's breath) and the 3D volume data (with reference to image) of putting the fiducial time in the sequence volume data image, all space coordinates unifications are in reference image space coordinate: during the operative region coordinate that will express in low resolution 3D image space coordinate maps directly to reference to the image space coordinate, output with reference to the low resolution 3D image in the image space coordinate and operative region coordinate to the dynamic image construction unit; Described dynamic image construction unit low resolution 3D image in the reference image space coordinate in conjunction with deformation territory, lung territory, makes up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit as the basis; The three-dimensional localization unit concerns by coordinate Mapping, in reference image space coordinate, in conjunction with dynamic image, calculate the locus of operative region organ and operating theater instruments, obtain navigation information in the real-time art, and these information are passed to described image visualization; The image visualization shows the operative region organ with 2D and 3D mode, the form and the relative position of operating theater instruments in operative region that comprise focus, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
Further, implement module 2 in the described art and also comprise a focus acquisition module 203, described dynamic focus space orientation navigation module 202 connects described focus acquisition module 203.
This example carries out work in the following manner: before the operation, at first want the patient to loosen, carry out sequence computed tomography (CT) in the situation that naturally steadily breathe, sweep limits is patient chest, comprises whole pulmonary, 3 breathing cycles of continuous sweep.There is the 3D volume data of 2～3 sequences average each breathing cycle.The 4D image data that scanning is obtained inputs to lung regional reconstruction module 102 with the DICOM form, the Sequence Structure Information of lung table, trachea and the blood vessel of reconstruction patients operative region, utilize the 4D volume data of lung table, trachea and blood vessel, the deformation domain of lung table, trachea and blood vessel that pulmonary respiratory movement model structure module 103 acquisition lung respiratory movements cause.The 3D data of choosing simultaneously first breath holding time point from the 4D image data transfer to operation pathway planning module 12 as the benchmark volume data, determine position and the size in focus zone, wound position and needle angle and the degree of depth etc. with get involved relevant important parameter, the spatial domain of these 3D data is the reference coordinate systems in image in the image-guided surgery.
Beginning is implemented in operation, gets involved the doctor and at first pastes 5-6 gauge point in the Patients with Lung region surface, and the patient is still on the CT bed with comfortable posture, carries out the low dose of CT scan of low resolution under the situation of holding one's breath, and obtains a cover low resolution 3D image volume data.Get involved respectively selected marker point successively in Patients with Lung field surface and low resolution 3D image data of doctor, operative region actual physics space coordinates are transformed in the low resolution 3D image volume data space coordinates.In dynamic focus space orientation navigation module 202, low resolution 3D image volume data spatial domain is mapped in the reference images coordinate system, thereby operative region actual physics transform of spatial domain is changed in the reference images coordinate system.In conjunction with lung regional deformation territory, the static 3D image of low resolution volume data becomes the in time dynamic 3D image volume data of regular movement, imports also regular movement in time of the focal zone position of this module and wound position into.
During operation is implemented, get involved the doctor and guarantee that by dynamic focus space orientation navigation module 202 pulmonary's dynamic image is consistent with pulmonary's respiratory movement of patient, the doctor selects the wound position with reference to the information of the many flat images on the display screen and 3D stereoscopic image information at operative region.Along with probe enters human body, the doctor is with reference to predefined needle angle inserting needle, the attitude data of probe in human body is presented in the operative region pulmonary dynamic image in real time, the doctor is in probe advances process, according to position and the predefined intervention path of dynamic image middle probe, adjust at any time angle and the degree of depth of probe, when probe reaches the focus zone, the doctor just implements biopsy, takes out lesion tissue and carries out the pathological tissue diagnosis.If necessary, the doctor can be in getting involved piercing process, enable the guide of fluoroscopy function, with 2D fluoroscopic image message reflection on 3D pulmonary volume data, compensation can accurately be controlled probe with respect to the locus of each tissue of pulmonary because respiratory movement causes the displacement of focus, blood vessel and trachea in order to get involved the doctor.
Embodiment 2:
As shown in Figure 2, the intervene operation system of image navigation pulmonary of the present embodiment, comprise: comprising: implement module 2 before the art in preparation module 1 and the art, preparation module 1 comprises before the described art: image acquiring module 101, lung regional reconstruction module 102 and pulmonary respiratory movement model make up module 103, implement module 2 in the described art and comprise: operating theater instruments and operative region image space mapping block 201, dynamic focus space orientation navigation module 202 and image acquiring module 205; Described image acquiring module 101 connects described lung regional reconstruction module 102, the 4D sequential images information that output is obtained; Described lung regional reconstruction module 102 connects described pulmonary respiratory movement model and makes up module 103, the 4D structural information of output lung table, trachea and lung blood vessel etc.; Described pulmonary respiratory movement model makes up module 103 and connects described dynamic focus space orientation navigation module 202, and output takes into account trachea, angiokinetic pulmonary respiratory movement model; Described image acquiring module 205 connects described operating theater instruments and operative region image space mapping block 201, and output is with the low resolution 3D image information of gauge point; Described operating theater instruments is connected with operative region image space mapping block and is connected described dynamic focus space orientation navigation module 202, and output is mapped to the operating theater instruments physical space coordinate of operative region image space coordinate; Described dynamic focus space orientation navigation module 202 makes up dynamic image, calculates the locus of operative region focus and operating theater instruments, by Visualization Platform, obtains navigation information in the real-time art.
Further, implement module 2 in the described art and also comprise an operation pathway planning module 12 for the operation of low resolution 3D image, described image acquiring module 205 outfans connect the low resolution 3D image information with gauge point that described operation pathway planning module 12 outputs are obtained, described operation pathway planning module 12 connects described dynamic focus space orientation navigation module 202 output lesions position and sizes, and wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
Further, implement module 2 in the described art and also comprise a guide of fluoroscopy module 204, described guide of fluoroscopy module 204 connects described dynamic focus space orientation navigation module 202 and exports 2D fluoroscopic image information.
Further, implement module 2 in the described art and also comprise a focus acquisition module 203, described dynamic focus space orientation navigation module 202 connects described focus acquisition module 203.
Further, described lung regional reconstruction module 102 comprises: image segmentation unit and reconstruction unit, wherein, described image segmentation unit extracts chest area in the 4D sequence image first, in the zone of extracting again with lung table, trachea and blood vessel segmentation out, and export the result to described reconstruction unit, and described reconstruction unit carries out the 3D volume reconstruction with the sequences segmentation result, and the result exports pulmonary respiratory movement model to and makes up module 103.
Further, described pulmonary respiratory movement model makes up module 103 and comprises: deformable registration unit and deformation domain description unit, wherein, described deformable registration unit carries out the 4D deformable registration to the lung regional structure, the output movement vector set is to described deformation domain description unit, described deformation domain description unit is expressed the motion vector collection in the mode in deformation territory, the result transfers to described dynamic focus space orientation navigation module 202.
Further, described operation pathway planning module 12 comprises: man-machine interaction focal zone indexing unit and man-machine interaction wound planning unit, wherein, described man-machine interaction focal zone indexing unit allows to get involved the doctor and draw a circle to approve lesions position and size in the reference image, described man-machine interaction wound planning unit allows to get involved the doctor and demarcate the wound position in the reference image, the planning operating theater instruments enters angle and the depth information of human body by wound, this two unit output informations and be transferred to described dynamic focus space orientation navigation module 202 with reference to the image space coordinate system.
Further, described operating theater instruments and operative region image space mapping block 201 comprise: gauge point is chosen unit and registration unit, wherein, described gauge point choose the unit need to get involved the doctor the operative region physical space and with the low resolution 3D image information space of gauge point one by one correspondence choose gauge point, the gauge point of two coordinate spaces of output is to described registration unit, registration unit with these one to one gauge point carry out spatial mappings, obtain the mapping relations of operative region physical space and image space, the operative region coordinate that will express in low resolution 3D image coordinate space exports described dynamic focus space orientation navigation module 202 to.
Further, described dynamic focus space orientation navigation module 202 comprises: registration unit, the dynamic image construction unit, three-dimensional localization unit and image visualization, described registration unit is mapped to low resolution 3D image space coordinate system with reference in the image space coordinate, during the operative region coordinate that will express in low resolution 3D image space coordinate simultaneously maps directly to reference to the image coordinate space, to the dynamic image construction unit, all coordinate spaces are unified to reference to the image coordinate space with reference to the low resolution 3D image in the image space coordinate and operative region coordinate in output; Described dynamic image construction unit low resolution 3D image in the reference image coordinate space in conjunction with deformation territory, lung territory, makes up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit as the basis; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
Further, described dynamic focus space orientation navigation module 202 also will comprise: the 2D-3D registration unit, 2D fluoroscopic image information is mapped on the dynamic image, and the result after will shining upon passes to the three-dimensional localization unit, described three-dimensional localization unit by using operative region coordinate, in conjunction with dynamic image, and the fluoroscopic image information that shows on the dynamic image, calculate the locus of operative region organ and operating theater instruments, obtain navigation information in the real-time art, and these information are passed to described image visualization.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. intervene operation system of image navigation pulmonary, it is characterized in that, comprise: implement module (2) in preparation module (1) and the art before the art, preparation module (1) comprising before the described art: image acquiring module (101), lung regional reconstruction module (102) and pulmonary respiratory movement model make up module (103), implement module (2) in the described art and comprising: operating theater instruments and operative region image space mapping block (201), dynamic focus space orientation navigation module (202) and image acquiring module (205); Described image acquiring module (101) connects described lung regional reconstruction module (102), the 4D sequential images information that output is obtained; Described lung regional reconstruction module (102) connects described pulmonary respiratory movement model and makes up module (103), the 4D structural information of output lung table, trachea and lung blood vessel etc.; Described pulmonary respiratory movement model makes up module (103) and connects described dynamic focus space orientation navigation module (202), and output takes into account trachea, angiokinetic pulmonary respiratory movement model; Described image acquiring module (205) connects described operating theater instruments and operative region image space mapping block (201), and output is with the low resolution 3D image information of gauge point; Described operating theater instruments is connected 201 with operative region image space mapping block) connect described dynamic focus space orientation navigation module (202), output is mapped to the operating theater instruments physical space coordinate of operative region image space coordinate; Described dynamic focus space orientation navigation module (202) makes up dynamic image, calculates the locus of operative region focus and operating theater instruments, by Visualization Platform, obtains navigation information in the real-time art.
2. intervene operation system of image navigation according to claim 1 pulmonary, it is characterized in that: preparation module (1) also comprises an operation pathway planning module (12) for benchmark 3D rendering operation in the 4D sequential images before the described art, described image acquiring module (101) outfan also connects described operation pathway planning module (12) and exports the 4D sequential images information of obtaining, and described operation pathway planning module (12) connects described dynamic focus space orientation navigation module (202) and also exports lesions position and size, wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
3. intervene operation system of image navigation according to claim 1 pulmonary, it is characterized in that: implement module (2) in the described art and also comprise an operation pathway planning module (12) for the operation of low resolution 3D image, described image acquiring module (205) outfan connects described operation pathway planning module (12), the low resolution 3D image information with gauge point that output is obtained, described operation pathway planning module (12) connects described dynamic focus space orientation navigation module (202), output lesions position and size, wound position and operating theater instruments enter the information such as the angle of operative region and the degree of depth and with reference to the image space coordinate system.
4. according to claim 2 or 3 intervene operation systems of described image navigation pulmonary, it is characterized in that: implement module (2) in the described art and also comprise a guide of fluoroscopy module (204), described guide of fluoroscopy module (204) connects described dynamic focus space orientation navigation module (202) and exports 2D fluoroscopic image information.
5. intervene operation system of image navigation according to claim 4 pulmonary, it is characterized in that, implement module (2) in the described art and also comprise a focus acquisition module (203), described dynamic focus space orientation navigation module (202) connects described focus acquisition module (203).
6. according to claim 1 and 2 or 3 intervene operation systems of described image navigation pulmonary, it is characterized in that: described lung regional reconstruction module (102) comprising: image segmentation unit and reconstruction unit, wherein, described image segmentation unit extracts chest area in the 4D sequence image first, in the zone of extracting again with lung table, trachea and blood vessel segmentation out, and export the result to described reconstruction unit, described reconstruction unit carries out the 3D volume reconstruction with the sequences segmentation result, and the result exports described pulmonary respiratory movement model to and makes up module (103).
7. according to claim 1 and 2 or 3 intervene operation systems of described image navigation pulmonary, it is characterized in that, described pulmonary respiratory movement model makes up module (103) and comprising: deformable registration unit and deformation domain description unit, wherein, described deformable registration unit carries out the 4D deformable registration to the lung regional structure, the output movement vector set is to described deformation domain description unit, described deformation domain description unit is expressed the motion vector collection in the mode in deformation territory, the result transfers to described dynamic focus space orientation navigation module (202).
8. according to claim 2 or 3 intervene operation systems of described image navigation pulmonary, it is characterized in that, described operation pathway planning module (12) comprising: man-machine interaction focal zone indexing unit and man-machine interaction wound planning unit, wherein, described man-machine interaction focal zone indexing unit allows to get involved the doctor and draw a circle to approve lesions position and size in the reference image, described man-machine interaction wound planning unit allows to get involved the doctor and demarcate the wound position in the reference image, the planning operating theater instruments enters angle and the depth information of human body by wound, this two unit output informations and be transferred to described dynamic focus space orientation navigation module (202) with reference to the image space coordinate system.
9. according to claim 1 and 2 or 3 intervene operation systems of described image navigation pulmonary, it is characterized in that, described operating theater instruments and operative region image space mapping block (201) comprising: gauge point is chosen unit and registration unit, wherein, described gauge point choose the unit need to get involved the doctor the operative region physical space and with the low resolution 3D image information space of gauge point one by one correspondence choose gauge point, the gauge point of two space coordinatess of output is to described registration unit, registration unit with these one to one gauge point carry out spatial mappings, obtain the mapping relations of operative region physical space and image space, the operative region coordinate that will express in low resolution 3D image space coordinate exports described dynamic focus space orientation navigation module (202) to.
10. intervene operation system of image navigation according to claim 2 pulmonary, it is characterized in that, described dynamic focus space orientation navigation module (202) comprising: registration unit, the dynamic image construction unit, three-dimensional localization unit and image visualization, described registration unit is mapped to low resolution 3D image space coordinate system with reference in the image space coordinate, during the operative region coordinate that will express in low resolution 3D image space coordinate simultaneously maps directly to reference to the image space coordinate, to the dynamic image construction unit, all space coordinatess are unified to reference to the image space coordinate with reference to the low resolution 3D image in the image space coordinate and operative region coordinate in output; Described dynamic image construction unit low resolution 3D image in the reference image space coordinate in conjunction with deformation territory, lung territory, makes up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit as the basis; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
11. intervene operation system of image navigation according to claim 3 pulmonary, it is characterized in that, described dynamic focus space orientation navigation module (202) comprising: the dynamic image construction unit, three-dimensional localization unit and image visualization, described dynamic image construction unit low resolution 3D image in the reference image space coordinate is the basis, in conjunction with deformation territory, lung territory, make up the dynamic image data collection of simulation autonomous respiration campaign, and dynamic image is outputed to the three-dimensional localization unit; Described three-dimensional localization unit by using operative region coordinate in conjunction with dynamic image, calculates the locus of operative region organ and operating theater instruments, obtains navigation information in the real-time art, and these information are passed to described image visualization; Described image visualization has multiplanar reconstruction and volume drawing function, show the operative region organ with 2D and 3D mode, the relative position of operating theater instruments in operative region, the operating theater instruments of the lesions position of planning and size and planning enters angle and the depth information of human body by wound.
12. intervene operation system of image navigation according to claim 11 pulmonary, it is characterized in that, described dynamic focus space orientation navigation module (202) also comprises: the 2D-3D registration unit, 2D fluoroscopic image information is mapped on the dynamic image, and the result after will shining upon passes to the three-dimensional localization unit, described three-dimensional localization unit by using operative region coordinate, in conjunction with dynamic image, and the fluoroscopic image information that shows on the dynamic image, calculate the locus of operative region organ and operating theater instruments, obtain navigation information in the real-time art, and these information are passed to described image visualization.
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