CN106890024A - A kind of preoperative servicing unit of liver neoplasm heating ablation operation - Google Patents
A kind of preoperative servicing unit of liver neoplasm heating ablation operation Download PDFInfo
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- CN106890024A CN106890024A CN201611242031.3A CN201611242031A CN106890024A CN 106890024 A CN106890024 A CN 106890024A CN 201611242031 A CN201611242031 A CN 201611242031A CN 106890024 A CN106890024 A CN 106890024A
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Abstract
The present invention relates to a kind of preoperative servicing unit of liver neoplasm heating ablation operation, it is provided with and wears VR displays；It is described wear to be provided with VR displays wear In-Ear Headphones；At least one locator；At least one control handle；The connection of locator, control handle and computer wireless.The present invention using more convenient, doctor can under the auxiliary of system the different operation plan of multiple design planning, and carry out sham operated, select wherein relatively reasonable scheme, improve the success rate performed the operation；Compared to traditional bidimensional image picture, the medical image in virtual reality is more true, and doctor can be diagnosed and be analyzed from the image data to patient of Multi-angle omnibearing, meanwhile, virtual reality technology can realize the interaction between doctor and image data.
Description
Technical field
Preoperative auxiliary the invention belongs to technical field of clinical medicine, more particularly to a kind of liver neoplasm heating ablation operation is filled
Put.
Background technology
At present for clinically liver heating ablation operation, doctor when preoperative planning is carried out, often can only by ultrasound,
Computerized tomography takes the photograph piece art (Computed tomography, CT), magnetic resonance imaging (Magnetic resonance
Imaging, MRI) etc. two-D image information carry out the observation to liver lesion, and these two-D image informations provide simply
A series of image of separation, doctor can only rely on itself clinical experience, and focus is constructed in brain with reference to two-D image information
3-dimensional image information, this method extremely relies on personal experience and the technical ability of doctor, and the mode of thinking of different doctors has unavoidably
Deviation.Doctor's subjectivity prejudges the position of focus and focus deterioration and then carries out corresponding preoperative planning, lacks directly perceived, accurate
Analysis.Once lesions position is prejudged wrong, or there is deviation to the judgement of focus deterioration, corresponding preoperative planning also will
Error, and then cause surgical procedure not smooth, final surgical effect does not reach expection, and therapeutic effect is not good, and operation is carried out
Do not affect the treatment thoroughly and severe complication even occurs, unnecessary pain is brought to patient.
In sum, the preoperative planning of current thermal ablation therapy relies on the technical ability of doctor, and subjective, this is existing skill
The shortcoming of art, is primarily due to simple use bidimensional image, does not carry out three-dimensional modeling to it, directly affects heating ablation operation
Curative effect.
The content of the invention
For problem above, the present invention proposes a kind of preoperative servicing unit of liver neoplasm heating ablation operation.The present invention
A series of two dimensional images will process with the three-dimensional focus model display for obtaining in reality environment, by curing by computer
Life is worn VR equipment and is entered in reality environment, omnibearing stereo observation focus threedimensional model, and can be by handle to mould
Type carries out the operation such as displacement, amplification, diminution, rotation, so as to focus emphasis position is analyzed and be observed.The present invention is also provided
Simulated surgical operation function, doctor in virtual reality space, using operation handle sham operated apparatus to three-dimensional focus model
Operation technique is simulated, system can capture the operating process in sham operated, the operation to mistake is alerted and pointed out,
And operating result is analyzed and assessed after the completion of sham operated.Auxiliary doctor carries out sufficiently operation and prepares in the preoperative.
The present invention is subjective to solve experience and technical ability that the preoperative planning of current thermal ablation therapy relies on doctor,
Directly affect the technical problem of heating ablation operative effect and a kind of simple structure, easy to install, raising operating efficiency are provided
Liver neoplasm heating ablation operation preoperative servicing unit.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：
The preoperative servicing unit of the liver neoplasm heating ablation operation that the present invention is provided, the liver neoplasm heating ablation operation
Preoperative servicing unit is provided with：
Wear VR displays；
It is described wear to be provided with VR displays wear In-Ear Headphones；
At least one locator；
At least one control handle；
The connection of locator, control handle and computer wireless.
Further, the USB interface for wearing VR displays is connected by USB line with the USB interface for being connected box；Wear VR
The HDMI of display is connected by HDMI wire with the HDMI for being connected box；The power interface of VR displays is worn by electricity
Source line is connected with the power interface for being connected box.
Further, the USB interface of the computer is connected by USB line with the USB interface for being connected box；The HDMI of computer
Connected with the HDMI for being connected box by HDMI wire；The power interface of computer is connected by power line with the power interface for being connected box
Connect.
Further, power supply is connected by power line with the power interface for being connected box and computer.
Further, the locator is connected by power line with power supply.
It is described another object of the present invention is to provide a kind of preoperative analysis method using above-mentioned preoperative servicing unit
Preoperative analysis method is：
To be imported in Unity3D engines by the three-dimensional focus model obtained after computer disposal, via Unity3D engines pair
Focus model is processed：
Firstth, to each part of focus：Liver outer surface, tumour, blood vessel, artery, gall-bladder are individually dyeed, and are added
Plus material is showing close to real appearance；
Secondth, control program is added in Unity3D engines, the routine interface of VR handles is accessed in a program, to VR hands
The pressing of button on handle, touch, pull operation and caught and defined；
3rd, the platform using unity3D engines structure surgery planning and sham operated is defeated by three-dimensional focus model data
Enter in Unity3D engines, sham operated platform built using Unity3D engines, wherein to liver organ, liver in it is swollen
Major Vessels, artery in knurl, liver individually add collision body, to detect the operation that VR handles are touched to it, and in void
Intend being modeled operating theater instruments in space, the threedimensional model of operating theater instruments is constructed, to allow that doctor exists VR handles
Operating theater instruments is modeled in virtual reality space to be operated, and then, the operation of VR handles is carried out in Unity3D engines
Catch, and according to presetting, the operation to capturing is analyzed and provides feedback, just constitutes sham operated system；
During sham operated, the operation that sham operated system can be carried out to doctor provides immediate feedback, to wrong or risky behaviour
Warning prompting is carried out as step, while after surgery, the correct and faulty operation step according to doctor in operation, to the behaviour of equipment
Make precise degrees, the operation deadline carries out synthesis, with reference to the every specification and requirement in true operation, to doctor's sham operated
Effect be estimated.
The present invention has the advantages and positive effects that：Due to the computer software that the present invention is complicated compared to traditional operation, VR
The use of equipment is more convenient, it is only necessary to grasp the simple operations of handle, you can realizes touching in reality environment, uses
The function of the instruments such as sham operated knife, step is simple；The form that represents of the preoperative accessory system of liver cancer heating ablation operation is cardinar number
Word, therefore for the image data of same patient, doctor can under the auxiliary of system multiple design planning it is different
Operation plan, and sham operated is carried out, wherein relatively reasonable scheme is selected, improve the success rate of operation；Compared to traditional two
Dimension image picture, the medical image in virtual reality is more true, and doctor can be from the image to patient of Multi-angle omnibearing
Data are diagnosed and analyzed, meanwhile, virtual reality technology can realize the interaction between doctor and image data.
Brief description of the drawings
Fig. 1 is the preoperative assistant apparatus structure schematic diagram of liver neoplasm heating ablation operation provided in an embodiment of the present invention；
In figure：1st, VR displays are worn；2nd, In-Ear Headphones are worn；3rd, box is connected；4th, locator；5th, power supply；6th, computer；
7th, control handle.
Fig. 2 is the application method flow of the preoperative servicing unit of liver neoplasm heating ablation operation provided in an embodiment of the present invention
Figure.
Specific embodiment
For the content of the invention of the invention, feature and effect can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows.
Structure of the invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the preoperative servicing unit of liver neoplasm heating ablation operation provided in an embodiment of the present invention includes：Wear
VR displays 1, wear In-Ear Headphones 2, connection box 3, locator 4, power supply 5, computer 6, control handle 7.
Wear to be provided with VR displays 1 and wear In-Ear Headphones 2, wear VR displays 1 and wear In-Ear Headphones 2 and lead to
Crossfire box 3 is crossed to be connected with computer 6；The USB interface for wearing VR displays 1 is connected by USB line with the USB interface for being connected box 3, head
The HDMI for wearing VR displays 1 is connected by HDMI wire with the HDMI for being connected box 3, and the power supply for wearing VR displays 1 connects
Mouth passes through power line and is connected the power interface connection of box 3；The USB interface of computer 6 passes through USB line and the USB interface for being connected box 3
Connection, the HDMI of computer 6 is connected by HDMI wire with the HDMI for being connected box 3, and the power interface of computer 6 passes through power supply
Line is connected with the power interface for being connected box 3, and power supply 5 is connected by power line with the power interface for being connected box 3 and computer 6, positioning
Device 4 is connected by power line with power supply 5；Locator 4, control handle 7 are connected with computer wireless.
Target tracking is carried out by infrared ray between locator 4；Control handle 7 is using preceding charged in advance.As for tool
Body position, two locators 4 are located on the diagonal of virtual room, and control handle 7 is operated by doctor and then controlled virtual
Movement, rotation of liver in environment etc. are operated.
Doctor puts on wear-type device, in placing oneself in the midst of the virtual room of structure completely, by control handle, and can be to rebuilding
Three-dimensional hepatic model the sequence of operations such as rotated, furthered, being amplified, closely observe patient's liver, find out tumour
Accurate location, and then it is eliminated using heating ablation method.In the process, the inductor in control handle can also pass through
Locator is followed the trail of and positions the current position in virtual room of doctor.At the same time, during sham operated, system can be right
The operation that doctor is carried out provides immediate feedback, warning prompting is carried out to wrong or risky operating procedure, while to doctor's
Sham operated effect is estimated.If Evaluated effect is general, show that the preoperative planning is unreasonable, it should re-start preoperative rule
Draw；If Evaluated effect is good, show that the preoperative planning is reasonable.So far, can be carried out according to the state of an illness of patient rational preoperative
Planning.
Idiographic flow of the invention is as shown in Fig. 2 comprise the following steps that：
(1) the incoming interface of medical image data：The system is cured using eFilm Workstation (Version 2.0.1)
Learn image processing software to pre-process the data from CT or MRI, be manually partitioned into the two dimensional image of different reinforced foam plastics
Data set, so that set up normal coordinate systems in image imports computer by the medical image of the scannings such as CT, MRI, PET.
(2) liver three-dimensional modeling：With computer image processing technology, the two-dimensional medical image that will be obtained, in three-dimensional space
Between on reconstruct solid 3-D view.Three-dimensional modeling mainly divides four steps：First, data fit processing system is used for collection
Two-dimensional image data carries out meeting treatment, the forward projection data needed for obtaining reconstruction；Second, using iterative reconstruction algorithm OSEM
Data are rebuild, multigroup reconstruction data are obtained；3rd, the acquisition of system geometrical offset vector；4th, except initial angle weight
Build outside result, the reconstruction data of other angles are rotated to an angle with inverse system direction of rotation.So far, three-dimensional modeling is realized.
(3) medical image model virtual realization output：A virtual room for three-dimensional is created first with Unity3D,
Then the medical image of three-dimensional voxel rank is imported in Unity3D engines, by real-time dynamic the three of computer generation liver
The three-dimensional photorealism of dimension.Various pieces are modeled and are optimized, be simultaneously provided in the interaction adjusted to path in 3-D view
Formula method, including enter the translation combined along pin is axially adjustable, impact point rotates path adjustment, spininess of the withdraw of the needle and adjust, allows doctor
It is raw not only image to be watched by display, more can in the environment of virtual reality truer observation image closely,
And interacted with image.
(4) surgery planning and sham operated of real patient image：Surgery planning and simulation are built using unity3D engines
The platform of operation, the patient data of virtual reality is input into, wherein, the virtual reality device that system is supported is HTC VIVE.
HTC VIVE include two hand-held somatosensory handles, two handle for charging devices, two locators, two locator power lines, two
Locator synchronous data line, a wear-type device for being equipped with Front camera and phone, USB data line, a signal connect
Connect box, a connection box power line, and a HDMI connecting line.
Before surgical simulation is carried out, it is necessary first to build HTC VIVE experience platforms.Comprise the following steps that：
1st, determine locator position and install：Two locators are respectively placed in the right of the virtual room that step (3) is created
Angle, two locators are arranged on liftoff more than 2 meters of position using two tripods, and by its downward-sloping 30 degree.Two
Locator is connected to socket by locator power line respectively, locator synchronous data line only when locator synchronously goes wrong
Need to use.
2nd, the connection of wear-type device and computer：The three-in-one connecting line of wear-type device is connected to the orange that signal connects box
Color end, the black end of signal connection box includes power supply, USB, HDMI and Mini DisplayPort.Wherein, power port leads to
Cross connection box power line and be connected to socket, USB interface is connected to the USB interface of computer by USB data line, and HDMI passes through HDMI
Connecting line is connected to the HDMI ports of computer display card, if computer does not have available HDMI ports, can be by by Mini
DisplayPort mouthfuls is connected to DisplayPort data wires, so as to signal connection box is connected into computer.
3rd, two hand-held somatosensory handles using preceding need charge.
4th, above-mentioned platform building is well later, it is necessary to enter the setting of line finder, it is ensured that a channel for locator is b, separately
One is c, if the status indicator lamp of two locators is green, shows to set successfully.
The present invention will be imported in Unity3D engines by the three-dimensional focus model obtained after computer disposal, via Unity3D
Engine is processed focus model：
1st, to each part of focus：Liver outer surface, tumour, blood vessel, artery, gall-bladder are individually dyeed, addition
Material is showing close to real appearance；
2nd, control program is added in Unity3D engines, the routine interface of VR handles is accessed in a program, on VR handles
The pressing of button, touch, pull operation and caught and defined.Doctor puts on VR head-mounted display apparatus and enters into virtual reality
Behind space, operated by operating button on VR handles, touch pad, trigger that displacement, amplification, diminution, rotation etc. are carried out to model,
So as to facilitate doctor to be analyzed and observe focus emphasis position；
3rd, the platform of surgery planning and sham operated is built using unity3D engines：By the input of three-dimensional focus model data
To in Unity3D engines, sham operated platform is built using Unity3D engines, wherein to liver organ, liver in it is swollen
Major Vessels, artery in knurl, liver individually add collision body, to detect the operation that VR handles are touched to it, and in void
Intend being modeled operating theater instruments in space, the threedimensional model of operating theater instruments is constructed, to allow that doctor exists VR handles
Operating theater instruments is modeled in virtual reality space to be operated, and then, the operation of VR handles is carried out in Unity3D engines
Catch, and according to presetting, the operation to capturing is analyzed and provides feedback, so, just constitutes sham operated system
System.During sham operated, the operation that sham operated system can be carried out to doctor provides immediate feedback, to wrong or risky
Operating procedure carry out warning prompting, while after surgery, the correct and faulty operation step according to doctor in operation, to equipment
Operation precise degrees, the operation deadline carries out synthesis, with reference to the every specification and requirement in true operation, doctor simulated
The effect of operation is estimated.
The above is only the preferred embodiments of the present invention, and any formal limitation is not made to the present invention,
It is every according to technical spirit of the invention to any simple modification made for any of the above embodiments, equivalent variations and modification are belonged to
In the range of technical solution of the present invention.
Claims (6)
1. a kind of preoperative servicing unit that liver neoplasm heating ablation is performed the operation, it is characterised in that the liver neoplasm heating ablation operation
Preoperative servicing unit be provided with：
Wear VR displays；
It is described wear to be provided with VR displays wear In-Ear Headphones；
At least one locator；
At least one control handle；
The connection of locator, control handle and computer wireless.
2. the preoperative servicing unit that liver neoplasm heating ablation as claimed in claim 1 is performed the operation, it is characterised in that described to wear VR
The USB interface of display is connected by USB line with the USB interface for being connected box；The HDMI for wearing VR displays passes through HDMI
Line is connected with the HDMI for being connected box；The power interface for wearing VR displays is connected by power line with the power interface for being connected box
Connect.
3. the preoperative servicing unit that liver neoplasm heating ablation as claimed in claim 1 is performed the operation, it is characterised in that the computer
USB interface is connected by USB line with the USB interface for being connected box；The HDMI of computer passes through HDMI wire and the HDMI for being connected box
Interface is connected；The power interface of computer is connected by power line with the power interface for being connected box.
4. the preoperative servicing unit that liver neoplasm heating ablation as claimed in claim 1 is performed the operation, it is characterised in that power supply is by electricity
Source line is connected with the power interface for being connected box and computer.
5. the preoperative servicing unit that liver neoplasm heating ablation as claimed in claim 1 is performed the operation, it is characterised in that the locator
It is connected with power supply by power line.
6. the preoperative analysis method of the preoperative servicing unit described in a kind of utilization claim 1, it is characterised in that described preoperative point
Analysis method is：
To be imported in Unity3D engines by the three-dimensional focus model obtained after computer disposal, via Unity3D engines to focus
Model is processed：
Firstth, to each part of focus：Liver outer surface, tumour, blood vessel, artery, gall-bladder are individually dyeed, and add material
Matter is showing close to real appearance；
Secondth, control program is added in Unity3D engines, the routine interface of VR handles is accessed in a program, on VR handles
The pressing of button, touch, pull operation and caught and defined；
3rd, be input to for three-dimensional focus model data by the platform for building surgery planning and sham operated using unity3D engines
In Unity3D engines, sham operated platform is built using Unity3D engines, wherein to the tumour in liver organ, liver,
Major Vessels, artery in liver individually add collision body, to detect the operation that VR handles are touched to it, and virtual empty
Between in operating theater instruments is modeled, the threedimensional model of operating theater instruments is constructed, to allow doctor by VR handles virtual
Operating theater instruments is modeled in realistic space to be operated, and then, the operation of VR handles is caught in Unity3D engines
Catch, and according to presetting, the operation to capturing is analyzed and provides feedback, just constitutes sham operated system；In mould
Intend in surgical procedure, the operation that sham operated system can be carried out to doctor provides immediate feedback, to wrong or risky operation
Step carries out warning prompting, while after surgery, the correct and faulty operation step according to doctor in operation, the operation to equipment
Precise degrees, the operation deadline carries out synthesis, with reference to the every specification and requirement in true operation, to doctor's sham operated
Effect is estimated.
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| CN201611242031.3A CN106890024A (en) | 2016-12-29 | 2016-12-29 | A kind of preoperative servicing unit of liver neoplasm heating ablation operation |
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| CN108335282A (en) * | 2017-01-20 | 2018-07-27 | 浙江京新术派医疗科技有限公司 | The cut surface generation method and generating means of operation on liver |
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| CN108335282A (en) * | 2017-01-20 | 2018-07-27 | 浙江京新术派医疗科技有限公司 | The cut surface generation method and generating means of operation on liver |
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| CN108310769A (en) * | 2017-11-01 | 2018-07-24 | 深圳市创凯智能股份有限公司 | Virtual objects adjusting method, device and computer readable storage medium |
| CN107978195A (en) * | 2017-12-29 | 2018-05-01 | 福州大学 | A kind of lateral cerebral ventricle puncture operative training system based on Virtual Reality Platform |
| CN109223121A (en) * | 2018-07-31 | 2019-01-18 | 广州狄卡视觉科技有限公司 | Based on medical image Model Reconstruction, the cerebral hemorrhage puncturing operation navigation system of positioning |
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| CN109157284A (en) * | 2018-09-28 | 2019-01-08 | 广州狄卡视觉科技有限公司 | A kind of brain tumor medical image three-dimensional reconstruction shows exchange method and system |
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| CN110522516B (en) * | 2019-09-23 | 2021-02-02 | 杭州师范大学 | Multi-level interactive visualization method for surgical navigation |
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Inventor after: Shi Pengpeng Inventor after: Li Yan Inventor after: Yin Pengju Inventor after: Wang Chengyu Inventor after: Li Guo Inventor before: Li Meng Inventor before: Duan Bin Inventor before: Li Yan Inventor before: Wang Bo Inventor before: Li Jun Inventor before: Yuan Yige |
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| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170918 Address after: 710026, Xi'an Shaanxi International Port Zone sailing Park - headquarters office area 5, 2 floor, East Zone Applicant after: Xi'an horseshoe Mdt InfoTech Ltd Address before: 710071, Changan District, Shaanxi, South Campus of Xi'an Electronic and Science University Applicant before: Li Yan |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170627 |