CN104274247A - Medical surgical navigation method - Google Patents
Medical surgical navigation method Download PDFInfo
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- CN104274247A CN104274247A CN201410557658.2A CN201410557658A CN104274247A CN 104274247 A CN104274247 A CN 104274247A CN 201410557658 A CN201410557658 A CN 201410557658A CN 104274247 A CN104274247 A CN 104274247A
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Abstract
The invention provides a medical surgical navigation method. The method includes the steps of 1, subjecting a medical image to three-dimensional reconstruction to obtain a virtual model; 2, integrating the virtual model and a body part of a patient through an augmented reality technology so that navigation for medical surgery in the integrated state is achieved. By the use of the medical surgical navigation method, surgeons can acquire more accurate and visual body information of the patient.
Description
Technical field
The present invention relates to the multimedia technology field in computer utility, more particularly, the present invention relates to a kind of medical surgery air navigation aid.
Background technology
The development history of medical imaging has been pass by half a century, from the microscopical invention technology such as X ray computer fault imaging (CT), nuclear magnetic resonance, NMR (MRI) till now, medical diagnosis and medical skill are made great progress.
In traditional medical navigation method, doctor imagines the three-dimensional position focus in oneself brain according to diagnostic experiences by CT or MRI image, therefore cannot locate accurately lesions position before surgery.And, in operation, for how avoiding important functional areas, nerve and blood vessel, find one to lead to the shortcut of focus, and to go deep into focus be also very difficult.
In this case, proposed a kind of new medical image method, make doctor in the preoperative and in art to each regional anatomic of patient, blood vessel and function have one more intuitively, cognitive more accurately.The computer-assisted surgery system (CAS) of recent appearance and be exactly at information science high speed development based on the surgical navigation (IGS) etc. of image and be applied to the achievement of medical science.Computer-assisted surgery, refer to the various surgical methods that computer is participated in directly, it comprises preoperative diagnosis, remote operation, virtual reality etc.Based on the surgical navigation of image compared to the airmanship of the more definite finger of computer-assisted surgery system based on medical image, refer to utilize medical image to navigate for surgery mechanical, what object was maximum possible provides lesions position information for doctor.Utilize this technology, doctor can obtain three-dimensional (3D) information of operative site, clearer and more definite formulation surgical planning in the preoperative.Technology of surgery navigation based on image is the technology having merged computer, image, medical science.It is rebuild based on 3D, general image data is mated instead of a single point mates with patient.
Although brought great facility based on the application of the Technology of surgery navigation of image to surgical operation, doctor cannot see the 3D display of tissue in operation, while carry out corresponding by 3D display with the real region of anatomy of patient.
Summary of the invention
Technical problem to be solved by this invention is for there is above-mentioned defect in prior art, provides a kind of surgeon of making can obtain more accurately and the medical surgery air navigation aid of patient body information intuitively.
In order to realize above-mentioned technical purpose, according to the present invention, provide a kind of medical surgery air navigation aid, it comprises: first step, for carrying out three-dimensional reconstruction to obtain dummy model to medical image; And second step, for described dummy model and patient body position being merged by augmented reality, to realize the navigation function to medical surgery under Fusion Strain.
Preferably, described medical image is the real time imaging that in medical operating, X-ray photographs.
Preferably, described first step comprises: real time imaging X-ray in medical operating photographed carries out three-dimensional reconstruction to obtain dummy model.
Preferably, second step comprises: dummy model and the B ultrasonic image taken are shown on an interface, and by utilizing opencv built-in function B ultrasonic image to be converted to black shape labelling in ARToolKit, thus will represent that the B ultrasonic image at patient body position is as the black shape labelling being used for carrying out following the tracks of in dummy model, merges by described dummy model and patient body position with thus.
Accompanying drawing explanation
By reference to the accompanying drawings, and by reference to detailed description below, will more easily there is more complete understanding to the present invention and more easily understand its adjoint advantage and feature, wherein:
Fig. 1 schematically shows the schematic flow diagram of medical surgery air navigation aid according to the preferred embodiment of the invention.
It should be noted that, accompanying drawing is for illustration of the present invention, and unrestricted the present invention.Note, represent that the accompanying drawing of structure may not be draw in proportion.Further, in accompanying drawing, identical or similar element indicates identical or similar label.
Detailed description of the invention
In order to make content of the present invention clearly with understandable, below in conjunction with specific embodiments and the drawings, content of the present invention is described in detail.
Augmented reality (AR:AugmentedReality) is a kind of new technique of graphics field, and the dummy model of computer drawing is fused in the real world scene that user sees by it.Obtain extra information the dummy model that user can be described from computer, thus true environment is strengthened.It has three large features: deficiency and excess combination, real-time, interactive, three-dimensional coupling.
Appearance and the development of augmented reality have benefited from the virtual reality technology (VR:Virtual Reality) in graphics field, can say that augmented reality is further developing of virtual reality technology, both there is indivisible substantial connection between the two, had marked difference again.Virtual reality system emphasizes the vision of user in virtual environment, sense of touch, the complete submergence of the organs such as audition, emphasizes the sense organ of user and real world to have nothing to do, and is immersed in by computer-controlled information space (Cyberspace).And augmented reality system does not only cut off contacting of user and real world, strengthen all the better calling the existence of family in real world, and unexpectedly may maintain the normal operation of each sense organ.
The final goal of augmented reality system is organically combined the true environment residing for the virtual environment of Practical computer teaching and user, them are made to look like an entirety, by software and hardware cooperation, make user more natural true environment and dummy object can be carried out three-dimensional conversion.Virtual reality and real world couple together by augmented reality, all have broad application prospects in every field, as military affairs, medical science, machinery, design, amusement etc.
Fig. 1 schematically shows the schematic flow diagram of medical surgery air navigation aid according to the preferred embodiment of the invention.
Particularly, as shown in Figure 1, medical surgery air navigation aid comprises according to the preferred embodiment of the invention:
First step S1: three-dimensional reconstruction is carried out to obtain dummy model to medical image (such as, CT medical image or MRI medical image);
Second step S2: described dummy model and patient body position are merged by augmented reality, to realize the navigation function to medical surgery under Fusion Strain.
Medical surgery air navigation aid makes surgeon can obtain more accurately and patient body information intuitively according to the preferred embodiment of the invention.
Specific embodiments of the invention will be described below.
Specific embodiments of the invention have employed ARToolKit.Particularly, ARToolKit it be the storehouse of a C/C++ language compilation, augmented reality application program can be write easily by let us by it.For exploitation AR program, the most difficult part is real-time virtual image to be covered user's viewport, and and object Accurate align in real world.ARToolKit uses the relative position between computerized image technique computes video camera and badge card, thus their virtual objects is covered above badge card by programmer.
Application program based on ARToolKit can show the virtual image (perspective projection) of the depth of field in real-time video, comprising the black shape labelling (Marker) for following the tracks of.
Thus, described first step S1 can comprise: such as utilize computer, real time imaging X-ray in medical operating photographed carries out three-dimensional reconstruction to obtain dummy model (in this case, above-mentioned medical image is the real time imaging that in medical operating, X-ray photographs);
Correspondingly, second step S2 can comprise: dummy model and the B ultrasonic image taken are shown on an interface, and by utilizing opencv built-in function B ultrasonic image to be converted to black shape labelling (Marker) in ARToolKit, thus will represent that the B ultrasonic image at patient body position is as the black shape labelling (Marker) being used for carrying out following the tracks of in dummy model, merges by described dummy model and patient body position with thus.
Wherein, the example that can realize the function of above-mentioned functions is as follows:
In order to clear description specific implementation example of the present invention, some ins and outs of ARToolkit will be described below.Algorithm main in ARToolkit comprises:
The identification of 1.marker;
2. project.
The projection relation wherein realized in ARToolkit is the most complicated.It is far and near that ARToolkit utilizes nearly little long-range and projection relation to carry out calculating card relative camera cleverly, and rotate the relative position of (X-axis/Y-axis/Z axis).Specific algorithm is calculated by linear algebra and realizes.
Program performs or implementation procedure comprises:
Initialize: 1, initializes video capture device read marking plate file and photographic head parameter---init ()
Major cycle: 2, catch in image input framework---arvideogetimage ()
3, detect marking plate and identify pattern---ardetectmarker ()
4, relation---the argettransmat () between photographic head and the image that detects is calculated
5, on the pattern detected, dummy object is shown---
argDrawMode2D()
argDrawMode3D()
Close: 6, turn off video capture window---cleanup ()
Below for realizing the several mastery routines used in program:
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (4)
1. a medical surgery air navigation aid, is characterized in that comprising:
First step, for carrying out three-dimensional reconstruction to obtain dummy model to medical image; And
Second step, for described dummy model and patient body position being merged by augmented reality, to realize the navigation function to medical surgery under Fusion Strain.
2. medical surgery air navigation aid according to claim 1, is characterized in that, described medical image is the real time imaging that in medical operating, X-ray photographs.
3. medical surgery air navigation aid according to claim 2, is characterized in that, described first step comprises: real time imaging X-ray in medical operating photographed carries out three-dimensional reconstruction to obtain dummy model.
4. medical surgery air navigation aid according to claim 3, it is characterized in that, second step comprises: dummy model and the B ultrasonic image taken are shown on an interface, and by utilizing opencv built-in function B ultrasonic image to be converted to black shape labelling in ARToolKit, thus will represent that the B ultrasonic image at patient body position is as the black shape labelling being used for carrying out following the tracks of in dummy model, merges by described dummy model and patient body position with thus.
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| CN201410557658.2A CN104274247A (en) | 2014-10-20 | 2014-10-20 | Medical surgical navigation method |
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| CN201410557658.2A CN104274247A (en) | 2014-10-20 | 2014-10-20 | Medical surgical navigation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106580361A (en) * | 2016-12-08 | 2017-04-26 | 王国良 | Movable orthopedics examination device based on AR-VR technology 4D imaging |
| CN107341791A (en) * | 2017-06-19 | 2017-11-10 | 北京全域医疗技术有限公司 | A kind of hook Target process, apparatus and system based on mixed reality |
| CN107854142A (en) * | 2017-11-28 | 2018-03-30 | 无锡祥生医疗科技股份有限公司 | Medical supersonic augmented reality imaging system |
| CN109659024A (en) * | 2018-12-12 | 2019-04-19 | 黑龙江拓盟科技有限公司 | A kind of remote diagnosis method of MR auxiliary |
| CN109674533A (en) * | 2017-10-18 | 2019-04-26 | 刘洋 | Operation guiding system and method based on Portable color equipment |
| CN110024042A (en) * | 2016-09-30 | 2019-07-16 | 皇家飞利浦有限公司 | The anatomical model of position planning and tool guides for medical tool |
| CN110200772A (en) * | 2019-06-05 | 2019-09-06 | 解涛 | A kind of neurosurgery operation table based on VR technology |
| CN110992477A (en) * | 2019-12-25 | 2020-04-10 | 上海褚信医学科技有限公司 | Biological epidermis marking method and system for virtual operation |
| CN111386511A (en) * | 2017-10-23 | 2020-07-07 | 皇家飞利浦有限公司 | Augmented reality service instruction library based on self-expansion |
| CN114679603A (en) * | 2022-03-31 | 2022-06-28 | 新瑞鹏宠物医疗集团有限公司 | Pet operation live broadcasting system and method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110024042A (en) * | 2016-09-30 | 2019-07-16 | 皇家飞利浦有限公司 | The anatomical model of position planning and tool guides for medical tool |
| CN106580361B (en) * | 2016-12-08 | 2018-03-23 | 王国良 | A kind of portable orthopaedics detection means based on AR VR technologies 4D imagings |
| CN106580361A (en) * | 2016-12-08 | 2017-04-26 | 王国良 | Movable orthopedics examination device based on AR-VR technology 4D imaging |
| CN107341791A (en) * | 2017-06-19 | 2017-11-10 | 北京全域医疗技术有限公司 | A kind of hook Target process, apparatus and system based on mixed reality |
| CN109674533A (en) * | 2017-10-18 | 2019-04-26 | 刘洋 | Operation guiding system and method based on Portable color equipment |
| CN111386511A (en) * | 2017-10-23 | 2020-07-07 | 皇家飞利浦有限公司 | Augmented reality service instruction library based on self-expansion |
| CN107854142A (en) * | 2017-11-28 | 2018-03-30 | 无锡祥生医疗科技股份有限公司 | Medical supersonic augmented reality imaging system |
| CN109659024A (en) * | 2018-12-12 | 2019-04-19 | 黑龙江拓盟科技有限公司 | A kind of remote diagnosis method of MR auxiliary |
| CN110200772A (en) * | 2019-06-05 | 2019-09-06 | 解涛 | A kind of neurosurgery operation table based on VR technology |
| CN110200772B (en) * | 2019-06-05 | 2021-01-29 | 解涛 | Neurosurgery operating table based on VR technique |
| CN110992477A (en) * | 2019-12-25 | 2020-04-10 | 上海褚信医学科技有限公司 | Biological epidermis marking method and system for virtual operation |
| CN110992477B (en) * | 2019-12-25 | 2023-10-20 | 上海褚信医学科技有限公司 | Bioepidermal marking method and system for virtual surgery |
| CN114679603A (en) * | 2022-03-31 | 2022-06-28 | 新瑞鹏宠物医疗集团有限公司 | Pet operation live broadcasting system and method |
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