CN107233132A - A kind of multi-modal visual fusion surgery systems and air navigation aid - Google Patents
A kind of multi-modal visual fusion surgery systems and air navigation aid Download PDFInfo
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- CN107233132A CN107233132A CN201710533951.9A CN201710533951A CN107233132A CN 107233132 A CN107233132 A CN 107233132A CN 201710533951 A CN201710533951 A CN 201710533951A CN 107233132 A CN107233132 A CN 107233132A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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Abstract
A kind of multi-modal visual fusion surgery systems and air navigation aid, the system include：Ultrasound imaging unit, graphics processing unit, electromagnetism tracing unit and medical display；Described ultrasound imaging unit and the output end of electromagnetism tracing unit connect the input of graphics processing unit, and the output end of described graphics processing unit connects medical display.After the present invention, the fusion to the same focus different modalities image data of same patient can be completed, the navigation product of radiationless, high efficiency, various visual angles is provided for surgical operation.
Description
Technical field
The present invention relates to a kind of image processing system, in particular it relates to a kind of hand merged based on multi-modality medical image
Art system and air navigation aid.
Background technology
In the minimally invasive epoch of surgical operation, the X-ray operation navigation device such as angiography machine, stomach and intestine machine turns into major surgical hand
Art instrument.Probe, seal wire, conduit using the perspective function of X-ray equipment to entering human body etc. navigate, and assist a physician completion
To the operative treatment of lesions position.X-ray auxiliary treatment technological merit is that real-time is good, and fluoroscopy images clearly reflect that human dissection is special
Levy；Have the disadvantage there is radiation injury to doctor and patient, contrast is not enough to reflect focus details, and the scar of such as liver cancer, blood vessel is made
Shadow machine price and maintenance cost are all higher.
The content of the invention
It is complete using computer technology it is an object of the invention to provide a kind of integrated ultrasonic image-forming system, electromagnetism tracing system
The fusion of the paired same same focus different modalities image data of patient, radiationless, high efficiency, various visual angles are provided for surgical operation
Navigation product.
The technical scheme is that：
A kind of multi-modal visual fusion surgery systems, including：Ultrasound imaging unit, graphics processing unit, electromagnetism are followed the trail of single
Member and medical display；Described ultrasound imaging unit and the output end of electromagnetism tracing unit connect the input of graphics processing unit
End, the output end of described graphics processing unit connects medical display.
Further, described ultrasound imaging unit connects including medical ultrasonic probe, ultrasonic image system and ultrasound data
Mouthful；The input of the ultrasonic image system connects the output end of medical ultrasonic probe, and the output end of ultrasonic image system passes through
Ultrasound data output interface connects the input of graphics processing unit.
Further, described electromagnetism tracing unit includes electromagnetic sensor, signal processing system and data-interface；It is described
The input of signal processing system connects the output end of electromagnetic sensor, and the output end of signal processing system is connected by data-interface
Connect the input of graphics processing unit.
Further, described graphics processing unit also includes a DICOM data-interfaces, for importing other vision facilities
Data.
A kind of multi-modal visual fusion operation piloting method, using multi-modal visual fusion surgery systems, including following step
Suddenly：
Step one：Dynamic ultrasound image is obtained by ultrasound imaging unit；By electromagnetism tracing unit, (electromagnetic equipment can be adopted
With：The iNEMO-M1 electromagnetic induction chip of NDI Aurora Medical electromagnetics tracing equipment, STMicroelectronics) obtain each
The three dimensional space coordinate of Medical Devices and path, the three dimensional space coordinate of dynamic ultrasound image and each Medical Devices is exported to figure
As processing unit；
Step 2：The data of other vision facilities are imported into graphics processing unit, and according to digital imaging and communications in medicine
DICOM agreements carry out data parsing, obtain other mode image datas and its configuration parameter；
Step 3：Other mode image datas and dynamic ultrasound image co-registration are obtained fused images by graphics processing unit,
Then it is fused images are synchronous with three dimensional volumetric image, obtain synchronous images；
Step 4：Synchronous images are exported to medical display in real time.
Further, described step one is specially：Ultrasonic wave is launched and received to medical ultrasonic probe, obtains human organ
Active interface echo, image reconstruction is carried out by ultrasonic image system on human body organ activity echo reflectance interface signal, obtains dynamic
Ultrasonoscopy is simultaneously exported to graphics processing unit；Electromagnetic sensor is attached to target device and human body surface, obtains target device
With human body surface three dimensions live signal, by signal processing system to real time signal processing, obtain target device and
The space coordinate of human body surface is simultaneously exported to graphics processing unit.
Further, described step three is specially：
Step 3.1：Data fusion is carried out to each mode image data, fused images are obtained；
Step 3.2：3D reconstructions are carried out to other mode image datas that step 2 is imported, the three-dimensional appearance of operative site is obtained
Product image；
Step 3.3：It is on the basis of the space coordinate that step one is obtained, fused images and three dimensional volumetric image are synchronous,
Obtain synchronous images.
Further, described step 3.1 is specially：
Step S1：Corresponding smoothing factor is selected to carry out denoising each mode image data；
Step S2：Image enhancement processing is carried out to the corresponding enhancing coefficient of each mode image data selection after denoising,
Prominent interest region and lesion information on the basis of fidelity；
Step S3：On the basis of the space coordinate that step one is obtained, enhanced each mode image data is schemed
As registration；
Step S4：Frequency-domain analysis is carried out to each mode image data after registration, selects each mode image data corresponding
Dominant frequency carries out image co-registration.
Beneficial effects of the present invention：
The supersonic imaging apparatus of the present invention is cheap and safeguards easy, with reference to the coordinates feedback of electromagnetism tracing equipment, leads to
Cross computer high speed emerging system above-mentioned various modal datas organically blend, fusion side of the setting for different surgical procedures
Method, not only can remove the hardship of X-ray radiation from for doctor, patient, and can provide that focus is clear, the navigation shadow of real-time high-efficiency
Picture, in conjunction with 2D-3D simultaneous techniques, improves the visualization experience of operation pathway.
The cost of the system is significantly less than angiography machine, and ultrasonic probe can be used throughout the year, ultrasonic image-forming system and figure
As workstation maintenance is simple, upgrade easily.The present invention can progressively substitute existing X-ray equipment by clinical trial, as surgery
Main force's navigation equipment of Minimally Invasive Surgery.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
A kind of multi-modal visual fusion surgery systems, including：Ultrasound imaging unit, graphics processing unit, electromagnetism are followed the trail of single
Member and medical display；Described ultrasound imaging unit and the output end of electromagnetism tracing unit connect the input of graphics processing unit
End, the output end of described graphics processing unit connects medical display.
Wherein, ultrasound imaging unit includes medical ultrasonic probe, ultrasonic image system and ultrasound data interface；The ultrasound
The input of image system connects the output end of medical ultrasonic probe, and the output end of ultrasonic image system is exported by ultrasound data
Interface connects the input of graphics processing unit.
Electromagnetism tracing unit is that electromagnetic equipment can be used：NDI Aurora Medical electromagnetics tracing equipments or
STMicroelectronics iNEMO-M1 electromagnetic induction chips, including electromagnetic sensor, signal processing system and data
Interface；The input of the signal processing system connects the output end of electromagnetic sensor, and the output end of signal processing system passes through
Data-interface connects the input of graphics processing unit.
Foregoing graphics processing unit also includes a DICOM data-interfaces, the data for importing other vision facilities.
During specific implementation：
A kind of multi-modal visual fusion operation piloting method, comprises the following steps：
Step one：Dynamic ultrasound image is obtained by ultrasound imaging unit；By electromagnetism tracing unit, (electromagnetic equipment can be adopted
With：The iNEMO-M1 electromagnetic induction chip of NDI Aurora Medical electromagnetics tracing equipment, STMicroelectronics) obtain each
The three dimensional space coordinate of Medical Devices and path, the three dimensional space coordinate of dynamic ultrasound image and each Medical Devices is exported to figure
As processing unit, wherein：
Ultrasonic wave is launched and received to medical ultrasonic probe, obtains human organ active interface echo, passes through ultrasonic image system
System carries out image reconstruction to human organ active interface echo signal, obtains dynamic ultrasound image and exports to image procossing list
Member；Electromagnetic sensor is attached to target device and human body surface, obtains target device and human body surface in the real-time of three dimensions
Signal, by signal processing system to real time signal processing, obtains the space coordinate of target device and human body surface and exports extremely
Graphics processing unit.
Step 2：The data of other vision facilities are imported into graphics processing unit, and according to digital imaging and communications in medicine
DICOM agreements carry out data parsing, obtain other mode image datas and its configuration parameter；
Step 3：Other mode image datas and dynamic ultrasound image co-registration are obtained fused images by graphics processing unit,
Then it is fused images are synchronous with three dimensional volumetric image, synchronous images are obtained, are specially：
Step 3.1：Data fusion is carried out to each mode image data, fused images are obtained, specific amalgamation mode can be adopted
Use following step；
S1：Corresponding smoothing factor is selected to carry out denoising each mode image data；
S2：Image enhancement processing is carried out to the corresponding enhancing coefficient of each mode image data selection after denoising, in fidelity
On the basis of prominent interest region and lesion information；
S3：On the basis of the space coordinate that step one is obtained, image is carried out to enhanced each mode image data and matched somebody with somebody
It is accurate；
S4：Frequency-domain analysis is carried out to each mode image data after registration, each corresponding advantage of mode image data is selected
Frequency carries out image co-registration.
Step 3.2：3D reconstructions are carried out to other mode image datas that step 2 is imported, the three-dimensional appearance of operative site is obtained
Product image；
Step 3.3：It is on the basis of the space coordinate that step one is obtained, fused images and three dimensional volumetric image are synchronous,
Obtain synchronous images.
Step 4：Synchronous images are exported to medical display in real time.
It is described above various embodiments of the present invention, described above is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (8)
1. a kind of multi-modal visual fusion surgery systems, it is characterised in that including：Ultrasound imaging unit, graphics processing unit, electricity
Magnetic tracing unit and medical display；Described ultrasound imaging unit and the output end connection image procossing list of electromagnetism tracing unit
The input of member, the output end of described graphics processing unit connects medical display.
2. a kind of multi-modal visual fusion surgery systems according to claim 1, it is characterised in that described ultrasonic imaging
Unit includes medical ultrasonic probe, ultrasonic image system and ultrasound data interface；The input connection of the ultrasonic image system
The output end of medical ultrasonic probe, the output end of ultrasonic image system connects graphics processing unit by ultrasound data output interface
Input.
3. a kind of multi-modal visual fusion surgery systems according to claim 1, it is characterised in that described electromagnetism is followed the trail of
Unit includes electromagnetic sensor, signal processing system and data-interface；The input connection electromagnetism of the signal processing system is passed
The output end of sensor, the output end of signal processing system connects the input of graphics processing unit by data-interface.
4. a kind of multi-modal visual fusion surgery systems according to claim 1, it is characterised in that described image procossing
Unit also includes a DICOM data-interfaces, the data for importing other vision facilities.
5. a kind of multi-modal visual fusion operation piloting method, using a kind of multi-modal visual fusion hand described in claim 1
Art system, it is characterised in that comprise the following steps：
Step one：Dynamic ultrasound image is obtained by ultrasound imaging unit；Each Medical Devices are obtained by electromagnetism tracing unit
Three dimensional space coordinate and path, the three dimensional space coordinate of dynamic ultrasound image and each Medical Devices is exported to image procossing list
Member；
Step 2：The data of other vision facilities are imported into graphics processing unit, and according to digital imaging and communications in medicine DICOM
Agreement carries out data parsing, obtains other mode image datas and its configuration parameter；
Step 3：Other mode image datas and dynamic ultrasound image co-registration are obtained fused images, then by graphics processing unit
Fused images are synchronous with three dimensional volumetric image, obtain synchronous images；
Step 4：Synchronous images are exported to medical display in real time.
6. a kind of multi-modal visual fusion operation piloting method according to claim 5, it is characterised in that described step
One is specially：Ultrasonic wave is launched and received to medical ultrasonic probe, obtains human organ active interface echo, passes through ultrasonic image system
System carries out image reconstruction to human organ active interface echo signal, obtains dynamic ultrasound image and exports to image procossing list
Member；Electromagnetic sensor is attached to target device and human body surface, obtains target device and human body surface in the real-time of three dimensions
Signal, by signal processing system to real time signal processing, obtains the space coordinate of target device and human body surface and exports extremely
Graphics processing unit.
7. a kind of multi-modal visual fusion operation piloting method according to claim 5, it is characterised in that described step
Three are specially：
Step 3.1：Data fusion is carried out to each mode image data, fused images are obtained；
Step 3.2：3D reconstructions are carried out to other mode image datas that step 2 is imported, the three-dimensional volume figure of operative site is obtained
Picture；
Step 3.3：It is on the basis of the space coordinate that step one is obtained, fused images and three dimensional volumetric image are synchronous, obtain
Synchronous images.
8. a kind of multi-modal visual fusion operation piloting method according to claim 7, it is characterised in that described step
It 3.1 is specially：
Step S1：Corresponding smoothing factor is selected to carry out denoising each mode image data；
Step S2：Image enhancement processing is carried out to the corresponding enhancing coefficient of each mode image data selection after denoising, in fidelity
On the basis of prominent interest region and lesion information；
Step S3：On the basis of the space coordinate that step one is obtained, image is carried out to enhanced each mode image data and matched somebody with somebody
It is accurate；
Step S4：Frequency-domain analysis is carried out to each mode image data after registration, each corresponding advantage of mode image data is selected
Frequency carries out image co-registration.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112634309A (en) * | 2020-11-30 | 2021-04-09 | 上海联影医疗科技股份有限公司 | Image processing method, image processing device, electronic equipment and storage medium |
| CN116245831A (en) * | 2023-02-13 | 2023-06-09 | 天津市鹰泰利安康医疗科技有限责任公司 | Tumor treatment auxiliary method and system based on bimodal imaging |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112634309A (en) * | 2020-11-30 | 2021-04-09 | 上海联影医疗科技股份有限公司 | Image processing method, image processing device, electronic equipment and storage medium |
| CN112634309B (en) * | 2020-11-30 | 2023-08-15 | 上海联影医疗科技股份有限公司 | Image processing method, device, electronic equipment and storage medium |
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Inventor after: Zhang Shiping Inventor after: Wang Xiaofang Inventor before: Wang Xiaofang |
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Effective date of registration: 20181025 Address after: 518000 B1 701-72, Kexing Science Park, 15 Keyuan Road, Nanshan District, Shenzhen, Guangdong. Applicant after: Cabin (Shenzhen) Medical Technology Co., Ltd. Address before: 210000 Room 403, 3 tower 141, Ma Tai Street, Nanjing, Jiangsu. Applicant before: Nanjing Mizong Electronic Technology Co., Ltd. |
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Application publication date: 20171010 |