CN107704661A - Construction method for the mixed finite element deformation model of stomach cancer endoscope-assistant surgery real-time navigation system - Google Patents
Construction method for the mixed finite element deformation model of stomach cancer endoscope-assistant surgery real-time navigation system Download PDFInfo
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- CN107704661A CN107704661A CN201710821714.2A CN201710821714A CN107704661A CN 107704661 A CN107704661 A CN 107704661A CN 201710821714 A CN201710821714 A CN 201710821714A CN 107704661 A CN107704661 A CN 107704661A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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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
- A61B2034/2055—Optical tracking systems
Abstract
The present invention relates to a kind of construction method of the mixed finite element deformation model for stomach cancer endoscope-assistant surgery real-time navigation system.It the described method comprises the following steps：Data acquisition：Gather preoperative belly enhancing phase thin-layer CT image；The structure of original three-dimensional model；Mixed finite element deformation model is built：Deformation process is emulated using the FEM model of incremental form, establishes finite element equation；Under the conditions of small deformation, using linear finite tissue deformation emulating Algorithm Analysis；Under the conditions of large deformation, analyzed using Semidefinite Programming augmentation Lagrange form viscoelastic model；The mixed finite element deformation model is registered in the art of stomach cancer endoscope-assistant surgery in laparoscope image using optictracking device, provide the laparoscopy blood vessel that operation can not show in real time walks row information.The present invention can effectively overcome the matching problem of deformed microstructure, improve the accuracy of navigation, accurately guide procedure, improve success rate of operation, be advantageous to the application of peritoneoscope stomach gut surgery.
Description
Technical field
The invention belongs to there are the fields such as Mini-invsasive surgery, finite element analysis, hydrodynamics, iconography, it is related to one kind and is used for
The construction method of the mixed finite element deformation model of stomach cancer endoscope-assistant surgery real-time navigation system.
Background technology
Stomach cancer is one of common tumour in China, and radical excision is its main treatment means.Laparoscopic technique is because of it
Wound is few and the features such as contributing to post-operative recovery, the application on gastrointestinal surgery field is more and more.But there is pipe in laparoscope
The shape visual field, lack the distinctive limitation of tactile and depth feelings etc. itself, and the blood vessel traveling of stomach week is complicated, and anatomical variation is more,
Injury of blood vessel caused by lymph node dissection is one of laparoscopic operation of gastric cancer severe complication in art, and is caused unplanned secondary
The major reason of operation so that the popularization of this technology receives certain limitation.
If the anatomic information that can obtain preoperative CT is prompted in art, it will is brought very to laparoscopic operation of gastric cancer
Big facility.With the development of computer aided technique, CT three-dimensional reconstructions can be used as in art and navigate, and make patient to laparoscope
Lower anatomic information, which distinguishes, has important supplement meaning.But its form belongs to a kind of " static state " navigation.Have benefited from optical tracking skill
The research and development and application of art, being transformed into order to possible from " static state " to " dynamic " of navigating.Its principle is to pass through optical tracking technology
Catch and be fixed on the mark point of laparoscope outer end to calculate the position of camera lens and posture, to obtain surgical field of view in the preoperative in image
Corresponding informance, the threedimensional model of surgical scene and preoperative reconstruction is matched in real time in art, so as to reach real-time navigation
Effect.Optical tracking has the advantages that measurement accuracy is high, scope is wide, but it is only capable of realizing rough scene matching, and abdomen
Hysteroscope gastrointestinal procedures have the characteristics that tissue internal organs are not fixed and easy deformation, optical tracking do not reach accurately registering.Finite element
Model can be good at simulating the biomechanical characterization of human vas, and the more other simulation models of this method have higher emulation
Precision, but the complexity of this method also makes it be extremely difficult in laparoscopic surgery virtual blood vessel to follow the operation of operating theater instruments real-time
The requirement of simulated response.Therefore, it is reduction computation complexity, it is necessary to based on hybrid finite element model, according to human body blood
The biomechanical characterization of pipe does a certain degree of optimization to finite element method.
The content of the invention
It is an object of the invention to propose a kind of mixed finite element deformation for stomach cancer endoscope-assistant surgery real-time navigation system
The construction method of model.On the basis of optical tracking, by building hybrid finite element model, deformed microstructure is more effectively overcome
Problem is matched, improves the accuracy of navigation, accurately guides procedure, success rate of operation is improved, is advantageous to laparoscope stomach and intestine
The application and popularization of operation.
The structure side of mixed finite element deformation model of the present invention for stomach cancer endoscope-assistant surgery real-time navigation system
Method, comprise the following steps：
A. data acquisition：Gather preoperative belly enhancing phase thin-layer CT image；
B. the structure of original three-dimensional model：The segmentation of preoperative CT images, mark, modeling are obtained into virtual vascular tissue's deformation mould
Type；
C. mixed finite element deformation model is built：Deformation process is emulated using the FEM model of incremental form,
At the time point of series of discrete, the external applied load inputted according to virtual operation utensil, the tissue in poised state is calculated
Displacement, speed, stress and strain, establish finite element equation；Under the conditions of small deformation, using linear finite tissue deformation emulating
Algorithm Analysis, finite element equation are linear equation；Under the conditions of large deformation, using Semidefinite Programming augmentation Lagrange form viscoelastic
Property model analysis；
D. using optictracking device by the mixed finite element deformation model laparoscope in the art of stomach cancer endoscope-assistant surgery
Registered in image, provide the laparoscopy blood vessel that operation can not show in real time walks row information.
Preferably, under the conditions of small deformation, using linear finite tissue deformation emulating algorithm, now use
Boltzmann linear viscoelasticity models, system stiffness matrix KnIt is unrelated with strain, after time step and material parameter determination, Kn
Determine therewith, finite element equation is linear equation, i.e., using linear model analysis；
Preferably, under the conditions of large deformation, using Semidefinite Programming augmentation Lagrange form viscoelastic finite element tissue shape
Become simulation algorithm, high-precision deformation emulating is carried out to the soft tissue under the conditions of large deformation, and emulate the creep of tissue and relaxed
Journey, i.e., analyzed using Semidefinite Programming augmentation Lagrange form viscoelastic model；
Preferably, also accelerate the deformation calculation of vascular pattern using GPU, ensure High Precision Simulation under large and small deformation condition
Blood vessel deformation, and creep and the relaxation of blood vessel can be emulated.
The structure side of hybrid finite element model of the present invention for stomach cancer hysteroscope intelligent operation real-time navigation system
Method, have the advantages that：
(1) it can effectively overcome the matching problem of tissue deformation, accurately guide procedure in real time so that surgical navigational is sent out
More functions are shot, the accurate traveling for guiding blood vessel, increases operation safety, reduces the complication of art medium vessels damage, carry
High procedure efficiency, reduce operating time.
(2) promote patient's post-operative recovery, reduce postoperative complications rate, hospital day after desmopyknosis, and then reduce patient and be in hospital
Expense, reduce the medical treatment cost of laparoscopic operation of gastric cancer.
(3) learning curve of beginner can be shortened, be advantageous to the application and popularization of laparoscopic operation of gastric cancer.
(4) stomach cancer precision treatment is advantageously implemented, there is higher scientific value and social benefit.
Brief description of the drawings
Fig. 1 is the building process of mixed finite element deformation model of the present invention.
Fig. 2 is stomach cancer endoscope-assistant surgery real-time navigation flow of the present invention.
Embodiment
The building process of mixed finite element deformation model of the present invention is as shown in figure 1, details are as follows：
1. data acquisition：
Formulation standard, such as on patient the primary of (a) through proved by pathology can complete resection patients with gastric cancer (b) it is preoperative
Clinical stages：T1-4aN0-3M0 (c) is less than the belly enhanced CT of preoperative 15 days.Exclude influence of the other factors to this experiment.
2. the structure of original three-dimensional model：
The segmentation of preoperative CT images, mark, modeling are obtained into virtual vascular tissue's deformation model.
(1) CT scan：
Patient more than 6 hours on an empty stomach, half an hour oral 500ml warm waters fill enteron aisle before scanning, and 5min exists before facing scanning
Oral 500ml warm water fills stomach and duodenum.Conventional：Using 0.5 × 64 row's combinations of detectors, thickness 5mm, interlamellar spacing
3mm, pitch 0.984 is collimated, bulb rotates a circle time 0.4s, scan vision 40-50cm, matrix 512 × 512.Enhancing scanning：
Using low dose of contrast agent preform injection：Proof load (Test Bolus) (4ml/s, 20ml) obtains arterial phase low dose preform injection
Time attenuation curve (TDC).Again heavy dose of contrast medium (1.2ml/KG, upper limit 100ml), B pipe physiological saline are injected through A pipes
20ml, injection speed are 4ml/s, are scanned in arterial phase low dose preform injection time to peak row arterial phase, portal vein phase and essence
Phase postpones 50 seconds and 2 minutes respectively.
(2) optical sieving：
CT images are screened by the noise figure i.e. pixel criterion difference for measuring every group of CT image.In each image elder sister
In, pass through region (the average 40mm of subcutaneous fat thickness homogeneity range before measurement2；Scope, 5-8mm2) the standard deviation of pixel value be
For picture noise (ROI).So test is in triplicate to ensure the reliability of data.For different image sets, master is calculated
Artery and pylic signal to noise ratio (CNR).CNR calculation formula is CNR=(ROIDestination organization-ROIReference tissue)/image averaging noise
Value.The quality of CT images is assessed by comparing CNR values.
(3) three-dimensional segmentation：
First in mimics17.0 softwares (http://www.materialise.com) it is middle with thresholding works
Tool is split, according to tissue property's different choice joint morphology operation erode instruments and smart
Expand instruments or boanboast instrument Optimized Segmentation results.
3. hybrid finite element model is built
The foundation of 3.1 finite element equations：
Deformation process is emulated using the FEM model of incremental form.At the time point of series of discrete, according to
The external applied load that virtual operation utensil is inputted, the displacement of tissue of the calculating in poised state, speed, stress and strain.
Soft tissue finite element analysis under 3.2 small deformations：
Under the conditions of small deformation, using linear finite tissue deformation emulating algorithm, now linearly glued using Boltzmann
Elastic model, system stiffness matrix K n is unrelated with strain, and after time step and material parameter determination, Kn is determined therewith, limited
It is linear equation that member, which solves equation,.
It is because now organizing position deformation (position and shape occurred using linear model under the conditions of small deformation
Change) be much smaller than the geometric scale of tissue itself, therefore the position deformation of tissue need not be considered when equilibrium establishment equation
Change, it is not necessary to distinguish the preceding position shape with after deformation of deformation.The rigidity of soft tissue is relatively low, so soft tissue is often in virtual operation
Produce larger strain.
Soft tissue finite element analysis under 1.3 large deformation：
Under the conditions of large deformation, in order to improve the precision of large deformation undertissue deformation emulating, increase using based on Semidefinite Programming
Wide Lagrangian form viscoelastic finite element tissue deformation emulating algorithm, can so high-precision deformation be carried out to soft tissue and imitated
Very, and creep and the relaxation of tissue can be emulated, improves the validity of virtual operation, and more reliably to operation
Effect is predicted.Because if ignore the strain variation for being organized in and occurring during virtual operation, meeting during equilibrium establishment equation
Produce larger calculation error.
Meanwhile accelerate the deformation calculation of vascular pattern using GPU, it ensure that High Precision Simulation blood under large and small deformation condition
Tubular change, and creep and the relaxation of blood vessel can be emulated, validity and real-time for improving blood vessel deformation, have
Important meaning.Mainly pass through following steps：Its mathematical modeling is built according to the biomechanical characterization of human vas first,
Then calculate the invariant in deformation calculation and distribute GPU internal memories, the constant of calculating is delivered in GPU；It is virtual when detecting
When equipment is with object interaction, start circulation, the cyclic process first step determines involved area, then calculates the territory element
Pressure and volume product simultaneously preserve.Judge blood vessel deformation scale then according to the data preserved, and be respectively adopted linear limited
Member tissue deformation emulating algorithm, Semidefinite Programming augmentation Lagrange form viscoelastic finite element tissue deformation emulating algorithm are realized soft
High Precision Simulation is organized, is finally based on hybrid finite element model structure blood vessel deformation model.
4. real-time navigation
As shown in Fig. 2 the segmentation of preoperative CT images, mark, modeling are obtained into virtual vascular tissue's deformation model, optics is utilized
Tracking equipment registers the FEM model in art in laparoscope image, providing laparoscopy operation to doctor in real time can not
The blood vessel showed walks row information.
Claims (4)
1. a kind of construction method of mixed finite element deformation model for stomach cancer endoscope-assistant surgery real-time navigation system, its feature exist
In comprising the following steps：
A. data acquisition：Gather preoperative belly enhancing phase thin-layer CT image；
B. the structure of original three-dimensional model：The segmentation of preoperative CT images, mark, modeling are obtained into virtual vascular tissue's deformation model；
C. mixed finite element deformation model is built：Deformation process is emulated using the FEM model of incremental form, one
The time point of serial variance, the external applied load inputted according to virtual operation utensil, the displacement of tissue of the calculating in poised state,
Speed, stress and strain, establish finite element equation；Under the conditions of small deformation, using linear finite tissue deformation emulating algorithm
Analysis, finite element equation is linear equation；Under the conditions of large deformation, using Semidefinite Programming augmentation Lagrange form viscoplasticity mould
Type analysis；
D. using optictracking device by the mixed finite element deformation model laparoscope image in the art of stomach cancer endoscope-assistant surgery
Middle registration, provide the laparoscopy blood vessel that operation can not show in real time walks row information.
2. the construction method of mixed finite element deformation model according to claim 1, it is characterised in that：In small deformation condition
Under, using linear finite tissue deformation emulating algorithm, now using Boltzmann linear viscoelasticity models, system stiffness square
Battle array KnIt is unrelated with strain, after time step and material parameter determination, KnDetermine therewith, finite element equation is linear equation, that is, is adopted
Use linear model analysis.
3. the construction method of mixed finite element deformation model according to claim 1, it is characterised in that：In large deformation condition
Under, using Semidefinite Programming augmentation Lagrange form viscoelastic finite element tissue deformation emulating algorithm, under the conditions of large deformation
Soft tissue carries out high-precision deformation emulating, and emulates creep and the relaxation of tissue, i.e., bright using Semidefinite Programming augmentation glug
Day form viscoelastic model analysis.
4. the construction method of mixed finite element deformation model according to claim 1, it is characterised in that：Also added using GPU
The deformation calculation of fast vascular pattern, ensure High Precision Simulation blood vessel deformation under large and small deformation condition, and emulate the creep of blood vessel
And relaxation.
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Application publication date: 20180216 |