CN109431616A - A kind of amplification bony region carries out the method and its tool design method of MR registration - Google Patents
A kind of amplification bony region carries out the method and its tool design method of MR registration Download PDFInfo
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- CN109431616A CN109431616A CN201811263062.6A CN201811263062A CN109431616A CN 109431616 A CN109431616 A CN 109431616A CN 201811263062 A CN201811263062 A CN 201811263062A CN 109431616 A CN109431616 A CN 109431616A
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- reference mark
- region
- tool
- bone
- veneer
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- 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
-
- 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
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
Abstract
The invention belongs to medical imaging methods, the method and its tool design method of MR registration are carried out more particularly to a kind of amplification bony region, three-dimensional reconstruction is done using a certain piece of exposed bony region as bone localization region in the preoperative, according to the bone localization region design personalized veneer, and external reference mark is connected to by connecting rod, and this list of elements is fabricated to reference mark tool with 3D printing technique, it is preoperative by subjects bones and surrounding tissue data and reference mark tool Digital Three-Dimensional information input in holographic computerized, the reference mark tool after disinfection is mounted on corresponding bone localization region in art, relatively small operation bony region is amplified as biggish 3D printing reference mark, then the holographic computerized reference mark by identification reference mark tool realizes registration, to fast accurate by patient The anatomical structures such as virtual bone are added on true patient body, to help to perform the operation.
Description
Technical field
The invention belongs to medical imaging methods, and in particular to a kind of amplification bony region carries out the method and its work of MR registration
Has design method.
Background technique
It needs adequately to understand human body deep lesion situation in surgical operation, but before can only be by sufficiently cutting
The modes such as exposure, radioscopy and doppler ultrasound are opened to understand.
In recent years, MR technology provides a new selection, by subjects bones and surrounding tissue CT and MRI information into crossing three
Dimension rebuild be input to wear-type (spectacle) it is holographic computerized in, in art by registration after, can be by subjects bones and surrounding tissue
Virtual three-dimensional image is presented on patient's body, sufficiently patient is helped to understand operative region Condition In The Depth in real time, no matter cuts exposure
Whether.
But presently, the registration in MR technology is a problem urgently to be resolved.
1, the intracorporal tissue of people is other than single bone, remaining surrounding soft tissue and closes on joint bone and can live
Dynamic, position will be inconsistent with preoperative position in art, therefore operative region monnolithic case can not be suitable for autoregistration；2, single
The relative position at each position of a bone is although constant, but can only often expose sub-fraction bony region therein in operation,
And position is deeper, therefore wants that completion autoregistration is also very difficult using fraction bony region as register mark；3, match manually
Standard, process is cumbersome, slow and difficult, and precision is poor, has not only increased operating time but also has influenced operation precision, has often been unable to satisfy
Operation requires.
Summary of the invention
Against the above technical problems, the present invention provide it is a kind of amplification bony region carry out MR registration method and its tool set
Meter method.
It is registrated principle from MR, is registered the set as numerous " registration reference mark " in itself in kind, surface
Long-pending and volume is bigger, external form more irregularly, represent that registration accuracy is higher, registration process is easier.But in surgical operation,
Can only the sub-fraction region to bone do incision exposure, these limited bony regions will unusual shadow as register mark area
The precision and process of registration are rung, therefore, the present invention passes through the reference mark tool of 3D printing, is by the amplification of lesser bony region
The register mark of biggish 3D printing solves the problems, such as that MR registration process is difficult in art, registration accuracy is low.
The technical solution of the present invention is as follows: a kind of method that amplification bony region carries out MR registration, comprising:
S1 needs the bony region of exposure as bone localization region, does Three-dimensional Gravity using one piece of operative region before surgery
It builds, according to the bone localization region design personalized veneer；The personalization veneer, being can be with unique orientation docile in bone
The veneer tool on bone surface, has and only a kind of position can be bonded with the perfection of bone localization region；
S2 designs connecting rod and reference mark: designing reference mark on computers, outside the notch of operative region as registration
Mark, and design connecting rod and personalized veneer is connected with reference mark；
S3 integrates pairing tool and makes the tool: on computers, personalized veneer, connecting rod and reference mark being closed
It at the reference mark tool of an entirety, and makes, sterilizes after the assay was approved spare；
S4 is registrated after installing personalized veneer during surgery using reference mark.
Further, step S1 is specifically included:
Modeling: the preoperative CT in patients surgery region and MRI data are imported computer, obtained after being rebuild by software by a
" 3 D stereo bone digital model ", and analysing patient's condition；
B determines bone localization region: by operation requirement, will natively need to remove in operation centered on bone of performing the operation
Or the bony region being stripped out may be selected, it simulates and is marked on computers；
C, design personalized veneer tool: on computers, according to identified bone localization region, design personalized patch
Face.
Bone localization region, selection most have specific, preferably exposed and most easy to operate, design personalized veneer sclerotin area
Domain.
Further, in step a, " 3 D stereo bone digital model " is rebuild using Mimisc, Magics software.
Further, step S4 the following steps are included:
(1) pre-operative preparation works, by the digitlization of operative region anatomical structure and the reference mark tool being installed on it
Three-dimensional data is input to portable holographic computerized；
(2) the preamble routine operation performed the operation, and by the corresponding bone localization region of surgical planning exposure；
(3) the personalized veneer of ready reference mark tool is fitted in bone positioning area in a manner of unique perfect
On domain, and it is fixed temporarily；
(4) operator wears portable holographic computerized, is adjusted；
(5) it using the reference mark on reference mark tool as registration marks, is registrated, operative region anatomical structure is empty
Intend on holographic computerized, and be overlapped with patient itself.
Further, in step (1), portable holographic computerized data is carried out by PC or intelligent movable equipment and are inputted.
Further, described portable holographic computerized for wear-type in step (1).
Further, in step S3, the reference mark tool is made of 3D printing technique.
Further, in step S2, the reference mark is one or more, and corresponding connecting rod is also one or more.
The invention also discloses a kind of design methods of the reference mark tool of band amplification function, comprising:
Before surgery, it needs the bony region of exposure as bone localization region using one piece of operative region, does three-dimensional reconstruction,
According to the bone localization region design personalized veneer；The personalization veneer, being can be with unique orientation docile in bone
The veneer tool on surface, has and only a kind of position can be bonded with the perfection of bone localization region；
It designs connecting rod and reference mark: designing reference mark on computers, outside the notch of operative region and be used as and match fiducial mark
Will, and design connecting rod and personalized veneer is connected with reference mark.
Compared with prior art, the invention has the benefit that
1, the present invention is by expanding the reference mark tool of sclerotin exposed region 3D printing limited in art at larger
, labeled in vitro more acurrate, that be easier identification, the register mark and subjects bones' three-dimensional data are programmed by Design
To in wear-type holographic intelligent glasses, it can be carried out in art and be quickly and accurately registrated, improve registration accuracy, accelerate to match Quasi velosity.
Generally speaking, the present invention make operation in MR registration process faster, it is more quasi-.
2, bony region lesser in art is expanded as biggish fiducial mark by using the reference mark tool that 3d is printed
Note, so that registration accuracy is more accurate, registration process is more smooth rapidly.
3, present invention focuses on the amplification of " reference mark " and improvement, unrelated with autoregistration and manual registration, unlimited
Surely it is registrated mode, either manually, being also possible to automatic.
Detailed description of the invention
Fig. 1 is process of the present invention schematic diagram, (1)-(5) corresponding step 1-5, (6), (7) corresponding step 8,9；
Fig. 2 is the process schematic of hip replacement embodiment, and A-F corresponds to step 1-6, and G-J corresponds to step 8-11.
Specific embodiment
Technical solution of the present invention is further described below with reference to drawings and examples.
The present invention needs the bony region of exposure to do three-dimensional as bone localization region using a certain piece of operative region in the preoperative
It rebuilds, designs a veneer component according to the bone localization region, this component is connected to external one by a connecting rod
Reference mark, and this list of elements is fabricated to solid tool with 3D printing technique.It is preoperative, by subjects bones and surrounding tissue
Data and the tool Digital Three-Dimensional information input of 3D printing to wear-type (spectacle) it is holographic computerized in.In art, it will sterilize
The tool of 3D printing afterwards is mounted on corresponding bone localization region, then on the holographic computerized tool by identifying 3D printing
Reference mark realizes automatic registration in real time, thus fast accurate the anatomical structures such as the virtual bone of patient are added to really
On patient body, to help to perform the operation.
Professional term is explained:
Mixed reality technology (Mixed Reality) M R: being the further development of virtual reality technology, which passes through
Reality scene information is introduced in virtual environment, and an interaction feedback is set up between virtual world, real world and user
Information circuits, to enhance the sense of reality of user experience.It is briefly exactly to be superimposed upon the virtual objects of Computer Design really
Real world in.
Image registration (Image registration): the image registration of broad sense is exactly by different time, different sensors
Two width or the multiple image progress that (weather, illumination, camera position and angle etc.) obtains under (imaging device) or different condition
The process match, being superimposed, it has been widely used in the fields such as remotely-sensed data analysis, computer vision, image procossing.
MR registration technique: contain autoregistration and manual registration.Autoregistration: in MR technology, pass through reference mark
Markers such as (fiducial markers) make system automatic identification marker, autoregistration fiducial technique (space coordinate, sky
Between direction, space proportion) using computerized algorithm assignment arrive equal markers, will designed virtual objects and real world in advance
In the article true prototype carry out Auto-matching technology.Manual registration: relative to autoregistration technology, matched manually
It is quasi-.
Reference mark (fiducial markers): what one kind artificially designed includes but is not limited to two dimensional code, three-dimensional object
Equal components, for serving as including MR registration technique in interior register mark object, standard note object information contained (space coordinate, space side
To, space proportion).
Label amplification: it is a kind of will be registered lesser reference mark in kind be expanded into it is biggish be more easier it is identified and
The higher biggish reference mark of registration accuracy.
Bony region: certain portion surface area of subjects bones, because the different zones bone surface of every patient all has
There is uniqueness, therefore bony region itself is also a kind of register mark.
Personalized veneer: with the technologies such as 3D printing make can with unique orientation docile bone surface veneer work
Tool, this kind of personalization veneer has and only a kind of position can be bonded with the perfection of bone localization region.
Wear-type (spectacle) is holographic computerized: for the portable computer of MR, AR, being made into spectacle, portable can wear
Real-time display is virtually and real world images.
3D printing: being one kind of increasing material manufacturing, a kind of rapid shaping technique, it is one kind using digital model file as base
Plinth constructs the technology of object by layer-by-layer printing with adhesive materials such as powdery metal or plastics.
Concrete scheme process of the present invention is divided into " Design " and " operation application " two large divisions.
First part, Design:
1, it models, analysing patient's condition:
The preoperative CT in patients surgery region and MRI data (DICOM format etc.) are imported into computer, by Mimisc,
The softwares such as Magics obtain " 3 D stereo bone digital model " after rebuilding, and analysing patient's condition, see attached drawing 1 (1).
2, bone localization region is determined:
By operation requirement, the sclerotin that natively will need to remove or may be selected to be stripped out in art centered on bone of performing the operation
Region is simulated on computers and is marked, and sees attached drawing 1 (2).
3, design personalized veneer:
On computer, according to bone localization region designed by front, design personalized veneer is shown in attached drawing 1 (3).
4, connecting rod and reference mark are designed:
On computer, (or multiple) reference mark is designed outside the notch of operative region as registration marks, and set
Personalized veneer is connected by one (or multiple) connecting rod of meter with reference mark, sees attached drawing 1 (4).
5,3D printing reference mark tool is made:
On computer, personalized veneer, connecting rod and reference mark are synthesized into an entirety as reference mark tool, and make
Make 3D printing reference mark tool, sterilize after the assay was approved spare, sees attached drawing 1 (5).
6, the Digital Three-Dimensional data of operative region anatomical structure and the 3D printing reference mark tool being installed on it are defeated
Enter to portable holographic computerized:
By PC or intelligent movable equipment, by operative region anatomical structure and the 3D printing reference mark tool being installed on it
Digital Three-Dimensional data be input on portable (wear-type, spectacle etc.) holographic computerized computer, with designing in advance
Special Automatic pairing software open.
Second part, operation application:
7, preamble conventional steps:
Such as pendulum mass position, anaesthetized, sterilized, spreading list etc..
8, corresponding bone localization region is exposed according to plan:
Corresponding bone localization region is exposed by surgical planning, sees attached drawing 1 (6).
9, the 3D printing reference mark tool after disinfection is installed on bone localization region:
The personalized veneer of 3D printing reference mark tool is fitted on bone localization region in a manner of unique perfect,
And be fixed temporarily, see attached drawing 1 (7).
10, patient wears portable holographic computerized:
Patient's wearing is portable holographic computerized, is adjusted.
11, it using the reference mark in 3D printing reference mark registration tools as registration marks, is registrated, by operative region
Anatomical structure is and be overlapped with patient itself virtually on holographic computerized:
With the MR+3D printing marker registration citing of hip replacement, same as mentioned above, operating procedure pair is operated
Should figure see attached drawing 2.
First part, Design:
1, it models, analysing patient's condition:
The preoperative CT in patients surgery region and MRI data (DICOM format etc.) are imported into computer, by Mimisc,
The softwares such as Magics obtain " 3 D stereo bone digital model " after rebuilding, and analysing patient's condition, see attached drawing 2A.
2, bone localization region is determined:
By operation requirement, the sclerotin that natively will need to remove or may be selected to be stripped out in art centered on bone of performing the operation
Region is simulated on computers and is marked, and sees attached drawing 2B.
3, design personalized veneer:
On computer, according to bone localization region designed by front, design personalized veneer is shown in attached drawing 2C.
4, connecting rod and reference mark are designed:
On computer, (or multiple) reference mark is designed outside the notch of operative region as registration marks, and set
Personalized veneer is connected by one (or multiple) connecting rod of meter with reference mark, sees attached drawing 2D.
5,3D printing reference mark tool is made:
On computer, personalized veneer, connecting rod and reference mark are synthesized into an entirety as reference mark tool, and make
Make 3D printing reference mark tool, sterilize after the assay was approved spare, sees attached drawing 2E.
6, the Digital Three-Dimensional data of operative region anatomical structure and the 3D printing reference mark tool being installed on it are defeated
Enter to portable holographic computerized:
By PC or intelligent movable equipment, by operative region anatomical structure and the 3D printing reference mark tool being installed on it
Digital Three-Dimensional data be input on portable (wear-type, spectacle etc.) holographic computerized computer, with designing in advance
Special Automatic pairing software open, see attached drawing 2F.
Second part, operation application:
7, preamble conventional steps:
Such as pendulum mass position, anaesthetized, sterilized, spreading list etc..
8, corresponding bone localization region is exposed according to plan:
Corresponding bone localization region is exposed by surgical planning, sees attached drawing 2G.
9, the 3D printing reference mark tool after disinfection is installed on bone localization region:
The personalized veneer of 3D printing reference mark tool is fitted on bone localization region in a manner of unique perfect,
And be fixed temporarily, see attached drawing 2H.
10, patient wears portable holographic computerized, and autoregistration software is opened after adjustment:
Patient's wearing is portable holographic computerized, and after adjustment, opening autoregistration software is spare, sees attached drawing 2I.
11, using the reference mark on 3D printing reference mark tool as registration marks, autoregistration is carried out, by operative region
Anatomical structure is and be overlapped with patient itself virtually on holographic computerized:
With autoregistration software, registration marks (more of single or) is designated as with the benchmark of 3D printing reference mark tool, into
One key autoregistration of row, is superimposed out the virtual image of patient anatomy, sees attached drawing 2J.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (9)
1. a kind of method that amplification bony region carries out MR registration characterized by comprising
S1 needs the bony region of exposure as bone localization region, does three-dimensional reconstruction using one piece of operative region before surgery,
According to the bone localization region design personalized veneer；The personalization veneer, being can be with unique orientation docile in bone
The veneer tool on surface, has and only a kind of position can be bonded with the perfection of bone localization region；
S2 designs connecting rod and reference mark: designing reference mark on computers, outside the notch of operative region and is used as and matches fiducial mark
Will, and design connecting rod and personalized veneer is connected with reference mark；
S3 integrates pairing tool and makes the tool: on computers, personalized veneer, connecting rod and reference mark being synthesized one
A whole reference mark tool, and make, it sterilizes after the assay was approved spare；
S4 is registrated after installing personalized veneer during surgery using reference mark.
2. the method that amplification bony region according to claim 1 carries out MR registration, which is characterized in that step S1 is specifically wrapped
It includes:
Modeling: the preoperative CT in patients surgery region and MRI data are imported computer, obtain " three after rebuilding by software by a
Tie up three-dimensional bone digital model ", and analysing patient's condition；
B determines bone localization region: by operation requirements, will natively be needed in operation centered on bone of performing the operation removing or can
The bony region being stripped out is selected, simulates and is marked on computers；
C, design personalized veneer tool: on computers, according to identified bone localization region, design personalized veneer.
3. the method that amplification bony region according to claim 2 carries out MR registration, which is characterized in that in step a, use
Mimisc, Magics software rebuild " 3 D stereo bone digital model ".
4. it is according to claim 1 amplification bony region carry out MR registration method, which is characterized in that step S4 include with
Lower step:
(1) pre-operative preparation works, by operative region anatomical structure and the Digital Three-Dimensional for the reference mark tool being installed on it
Data are input to portable holographic computerized；
(2) the preamble routine operation performed the operation, and by the corresponding bone localization region of surgical planning exposure；
(3) the personalized veneer of ready reference mark tool is fitted in bone localization region in a manner of unique perfect
On, and be fixed temporarily；
(4) operator wears portable holographic computerized, is adjusted；
(5) it using the reference mark on reference mark tool as registration marks, is registrated, operative region anatomical structure is virtually existed
On holographic computerized, and it is be overlapped with patient itself.
5. the method that amplification bony region according to claim 4 carries out MR registration, which is characterized in that in step (1), lead to
It crosses PC or intelligent movable equipment carries out portable holographic computerized data input.
6. the method that amplification bony region according to claim 4 carries out MR registration, which is characterized in that in step (1), institute
It states portable holographic computerized for wear-type.
7. the method that amplification bony region according to claim 1 carries out MR registration, which is characterized in that in step S3, institute
Reference mark tool is stated to be made of 3D printing technique.
8. the method that amplification bony region according to claim 1 carries out MR registration, which is characterized in that in step S2, institute
Reference mark is stated as one or more, corresponding connecting rod is also one or more.
9. a kind of design method of the reference mark tool of band amplification function characterized by comprising
Before surgery, it needs the bony region of exposure as bone localization region using one piece of operative region, does three-dimensional reconstruction, foundation
The bone localization region design personalized veneer；The personalization veneer, being can be with unique orientation docile in bone surface
Veneer tool, have and only a kind of position can be bonded with the perfection of bone localization region；
It designs connecting rod and reference mark: designing reference mark on computers, outside the notch of operative region as registration marks, and
Personalized veneer is connected by design connecting rod with reference mark.
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| CN111329588A (en) * | 2020-03-09 | 2020-06-26 | 广东省人民医院(广东省医学科学院) | Mixed virtual reality superposition positioning piece for medical image and mixed virtual reality guiding method |
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Application publication date: 20190308 |