CN109730768A - A kind of cardiac thoracic surgery supplementary controlled system and method based on virtual reality - Google Patents
A kind of cardiac thoracic surgery supplementary controlled system and method based on virtual reality Download PDFInfo
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Abstract
The invention belongs to cardiac thoracic surgery technical fields, a kind of cardiac thoracic surgery supplementary controlled system and method based on virtual reality is disclosed, the cardiac thoracic surgery supplementary controlled system based on virtual reality includes: action data acquisition module, image taking module, main control module, organ model building module, virtual scene generation module, navigation module, data memory module, virtual display module.The present invention realizes the automatic shooting for being directed to special scenes by image taking module, not only saves manual resource and also ensures more accurate shooting effect；Meanwhile three-dimensional reconstruction is carried out to medical image to obtain dummy model by navigation module；The dummy model is merged with patient body position using augmented reality, to realize under Fusion Strain to the navigation function of medical surgery, facilitates doctor accurately to control surgical instrument, greatly improves the efficiency and success rate of operation.
Description
Technical field
The invention belongs to cardiac thoracic surgery technical field more particularly to a kind of cardiac thoracic surgeries based on virtual reality
Supplementary controlled system and method.
Background technique
With the development of surgery, field of surgery constantly expands, and can carry out at any position of human body.The instrument of application
It constantly updates, such as scalpel has electric knife, microwave coagulation treatment, ultrasonic knife and laser knife a variety of.In treatment heart pre-excitation syndrome
Operation when, can be positioned by high function electronic computer.Some surgical procedures are also not necessarily intended to be cut to destroy tissue,
The calculus or foreign matter in biliary tract, urinary tract or gastrointestinal tract are such as taken out through various endoscopes；It is coronal dynamic to be punctured conduit air bag expansion
Arteries and veins, or the revascularization etc. for making to occlude with laser.However, the existing cardiac thoracic surgery based on virtual reality assists control process
In, need manual control to shoot virtual scene, it will usually impact to shooting environmental, for example, when limitation shooting ground or shooting
The problems such as long；Meanwhile doctor often can only by virtue of experience determine that operative site is performed the operation, and cause efficiency lower.
In conclusion problem of the existing technology is: the existing cardiac thoracic surgery based on virtual reality assists control
In the process, manual control is needed to shoot virtual scene, it will usually impact to shooting environmental, for example, limitation shooting ground or bat
The problems such as taking the photograph duration；Meanwhile doctor often can only by virtue of experience determine that operative site is performed the operation, and cause efficiency lower.
Summary of the invention
In view of the problems of the existing technology, the cardiac thoracic surgery auxiliary based on virtual reality that the present invention provides a kind of
Control system and method.
The invention is realized in this way a kind of cardiac thoracic surgery auxiliary control method based on virtual reality, the base
Include: in the cardiac thoracic surgery auxiliary control method of virtual reality
The first step scans patients surgery area image using medical image tomographic apparatus；Hand is shot using image pick-up device
Art field scene figure；One is chosen from sequence of source images is used as the area-of-interest work for referring to image, and choosing imaging object
Medical imaging enhancement is carried out for strengthening part, according to expression formula:
The weighted value of each pixel in primitive medicine image sequence is calculated, whereinIndicate the pixel position of area-of-interest
It sets, i indicates i-th image in the primitive medicine image sequence, and N indicates the total of image in the primitive medicine image sequence
Number, SiIndicate the pixel value of the area-of-interest in the primitive medicine image sequence in i-th image, SRef, iIndicate the ginseng
Examine the pixel value of image；
Second step carries out three-dimensional reconstruction using 3 d modeling software to the patients surgery area image of scanning and obtains three-dimensional mould
Type；Virtual scene model is generated using three-dimensional software building according to the field scene image of acquisition；
Third step carries out navigation operation to cardiac thoracic surgery position using the threedimensional model of acquisition；
4th step stores patients surgery area image, field scene figure, human body organ three-dimensional model, void using memory
Quasi- model of place；Cardiac thoracic surgery virtual scene is shown using VR virtual unit.
Further, the 3-dimensional reconstruction of the second step includes:
(1) patients surgery area image medical image tomographic apparatus scanned carry out image format conversion,
Image rectification, registration with merge, image filtering, image enhancement, image interpolation image preprocessing；
(2) pretreatment image cutting is carried out using threshold segmentation method, extracts the features at region, edge, components three-dimensional
Configuration data set；
(3) ITK-SNAP medical image segmentation software is utilized, two dimensional image is directly translated into threedimensional model.
Further, the three-dimensional software building virtual scene of the second step includes:
(1) the operative site scene figure of acquisition is abstracted, with the threedimensional model of entity structure virtual landscape；
(2) care in virtual environment and material are established, texture mapping and control parameter setting are carried out；
(3) virtual scene is generated, is exported in virtual unit.
Further, the navigation of the third step, which operates, includes:
(1) activity trajectory of the sensor sensing surgical instrument in operative region, and it is backward to be translated into position signal
Processor output；
(2) after processor is demarcated position signal on dummy model；
(3) human 3d model and actual operation that will acquire carry out matching positioning；
(4) dummy model is merged by augmented reality with patient body position, is realized under Fusion Strain to doctor
Learn to do the navigation function of art.
Further, dummy model merges with patient body position and includes: in the 4th step
Dummy model and filmed B ultrasound image are shown on an interface, and by utilizing opencv library function
By B ultrasound image be converted to the black shape in ARToolKit label, thus using indicate patient body position B ultrasound image as
Black shape label for being tracked in dummy model, thus merges dummy model with patient body position.
Another object of the present invention is to provide the cardiac thoracic surgeries described in a kind of execution based on virtual reality to assist control
The cardiac thoracic surgery supplementary controlled system based on virtual reality of method processed, the cardiac thoracic surgery based on virtual reality
Supplementary controlled system includes:
Action data acquisition module, connect with main control module, for scanning patient by medical image tomographic apparatus
Operative region image；
Image taking module, connect with main control module, for shooting operative site scene figure by image pick-up device；
Main control module, it is raw with action data acquisition module, image taking module, organ model building module, virtual scene
It is normal for controlling modules by single-chip microcontroller at module, navigation module, data memory module, the connection of virtual display module
Work；
Organ model constructs module, connect with main control module, for constructing human body organ three-dimensional model by prototype software；
Virtual scene generation module, connect with main control module, for the field scene figure by three-dimensional software according to acquisition
As building generates virtual scene model；
Navigation module is connect with main control module, for carrying out navigation operation to cardiac thoracic surgery position；
Data memory module is connect with main control module, for storing human action data, field scene by memory
Figure, human body organ three-dimensional model, virtual scene model；
Virtual display module, connect with main control module, for showing cardiac thoracic surgery virtual field by VR virtual unit
Scape.
Another object of the present invention is to provide the cardiac thoracic surgeries described in a kind of application based on virtual reality to assist control
The intelligent operation control platform of method processed.
Advantages of the present invention and good effect are as follows: the present invention is by image taking module by deep neural network to video
Processing is associated with video capture, according to the shooting strategy of actual scene, is divided using scene information of the AI to real time scan
Analysis, and select the style of shooting adaptable with analysis result to realize automatically and the automatic center of reference object is calibrated and executes bat
It takes the photograph, to realize the automatic shooting for being directed to special scenes, not only saves manual resource and also ensure more accurate shooting effect
Fruit；Meanwhile three-dimensional reconstruction is carried out to medical image to obtain dummy model by navigation module；Using augmented reality by institute
It states dummy model to merge with patient body position, to realize the navigation function to medical surgery under Fusion Strain；It can make
Doctor grasps movement of the surgical instrument in operative region in real time from display, and doctor is facilitated accurately to control surgical instrument
System, greatly improves the efficiency and success rate of operation.
Detailed description of the invention
Fig. 1 is the cardiac thoracic surgery auxiliary control method flow chart provided in an embodiment of the present invention based on virtual reality.
Fig. 2 is the cardiac thoracic surgery supplementary controlled system structural frames provided in an embodiment of the present invention based on virtual reality
Figure；
In figure: 1, action data acquisition module；2, image taking module；3, main control module；4, organ model constructs module；
5, virtual scene generation module；6, navigation module；7, data memory module；8, virtual display module.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, the cardiac thoracic surgery auxiliary control method packet provided in an embodiment of the present invention based on virtual reality
Include following steps:
S101: patients surgery area image is scanned using medical image tomographic apparatus；It is shot and is performed the operation using image pick-up device
Field scene figure；
S102: three-dimensional reconstruction is carried out using 3 d modeling software to the patients surgery area image of scanning and obtains three-dimensional mould
Type；Virtual scene model is generated using three-dimensional software building according to the field scene image of acquisition；
S103: navigation operation is carried out to cardiac thoracic surgery position using the threedimensional model of acquisition；
S104: memory storage patients surgery area image, field scene figure, human body organ three-dimensional model, virtual is utilized
Model of place；Cardiac thoracic surgery virtual scene is shown using VR virtual unit.
In step S102,3-dimensional reconstruction provided in an embodiment of the present invention includes:
(1) patients surgery area image medical image tomographic apparatus scanned carry out image format conversion,
Image rectification, registration with merge, the image preprocessings such as image filtering, image enhancement, image interpolation；
(2) pretreatment image cutting is carried out using threshold segmentation method, extracts the significant features such as region, edge,
Components three-dimensional configuration data set；
(3) ITK-SNAP medical image segmentation software is utilized, two dimensional image is directly translated into threedimensional model.
In step S102, three-dimensional software building virtual scene provided in an embodiment of the present invention includes:
(1) the operative site scene figure of acquisition is abstracted, with the threedimensional model of entity structure virtual landscape；
(2) care in virtual environment and material are established, texture mapping and control parameter setting are carried out；
(3) virtual scene is generated, is exported in virtual unit.
In step S103, navigation operation provided in an embodiment of the present invention includes:
(1) activity trajectory of the sensor sensing surgical instrument in operative region, and it is backward to be translated into position signal
Processor output；
(2) after processor is demarcated position signal on dummy model；
(3) human 3d model and actual operation that will acquire carry out matching positioning；
(4) dummy model is merged with patient body position by augmented reality, to be realized under Fusion Strain
To the navigation function of medical surgery.
In step (4), dummy model provided in an embodiment of the present invention is merged with patient body position includes:
Dummy model and filmed B ultrasound image are shown on an interface, and by utilizing opencv library function
By B ultrasound image be converted to the black shape in ARToolKit label, thus using indicate patient body position B ultrasound image as
Black shape label for being tracked in dummy model, thus merges dummy model with patient body position.
As shown in Fig. 2, the cardiac thoracic surgery supplementary controlled system packet provided in an embodiment of the present invention based on virtual reality
Include: action data acquisition module 1, image taking module 2, main control module 3, organ model building module 4, virtual scene generate mould
Block 5, navigation module 6, data memory module 7, virtual display module 8.
Action data acquisition module 1 is connect with main control module 3, for being suffered from by the scanning of medical image tomographic apparatus
Person's operative region image；
Image taking module 2 is connect with main control module 3, for shooting operative site scene figure by image pick-up device；
Main control module 3 constructs module 4, virtual field with action data acquisition module 1, image taking module 2, organ model
Scape generation module 5, navigation module 6, data memory module 7, virtual display module 8 connect, each for being controlled by single-chip microcontroller
Module works normally；
Organ model constructs module 4, connect with main control module 3, for constructing human body organ three-dimensional mould by prototype software
Type；
Virtual scene generation module 5 is connect with main control module 3, for the field scene by three-dimensional software according to acquisition
Picture construction generates virtual scene model；
Navigation module 6 is connect with main control module 3, for carrying out navigation operation to cardiac thoracic surgery position；
Data memory module 7 is connect with main control module 3, for storing human action data, field scene by memory
Figure, human body organ three-dimensional model, virtual scene model；
Virtual display module 8, connect with main control module 3, for showing that cardiac thoracic surgery is virtual by VR virtual unit
Scene.
2 image pickup method of image taking module provided in an embodiment of the present invention is as follows:
(1) picture pick-up device acquisition parameters are set；
(2) the operating room scene of real time scan shooting, obtains operating room scene information；
(3) reference object in operating room scene information described in discriminance analysis obtains recognition result；
(4) it determines the size of reference object in current video frame image, determine reference object in current video frame image
Current accounting；Determine reference object to camera lens current distance；And obtained according to above-mentioned accounting, distance and the expectation
Shooting ratio follow shot equipment, and execute shooting.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (7)
1. a kind of cardiac thoracic surgery auxiliary control method based on virtual reality, which is characterized in that described to be based on virtual reality
Cardiac thoracic surgery auxiliary control method include:
The first step scans patients surgery area image using medical image tomographic apparatus；It is existing using image pick-up device shooting operation
Field scene figure；One is chosen from sequence of source images and is used as the area-of-interest for referring to image, and choosing imaging object increases
Strong part carries out medical imaging enhancement, according to expression formula:
The weighted value of each pixel in primitive medicine image sequence is calculated, whereinIndicate the location of pixels of area-of-interest, i table
Show that i-th image in the primitive medicine image sequence, N indicate the sum of image in the primitive medicine image sequence, SiTable
Show the pixel value of the area-of-interest in the primitive medicine image sequence in i-th image, SRef, iIndicate described with reference to image
Pixel value；
Second step carries out three-dimensional reconstruction using 3 d modeling software to the patients surgery area image of scanning and obtains threedimensional model；
Virtual scene model is generated using three-dimensional software building according to the field scene image of acquisition；
Third step carries out navigation operation to cardiac thoracic surgery position using the threedimensional model of acquisition；
4th step stores patients surgery area image, field scene figure, human body organ three-dimensional model, virtual field using memory
Scape model；Cardiac thoracic surgery virtual scene is shown using VR virtual unit.
2. the cardiac thoracic surgery auxiliary control method based on virtual reality as described in claim 1, which is characterized in that described
The 3-dimensional reconstruction of second step includes:
(1) image format conversion, image are carried out to the patients surgery area image that medical image tomographic apparatus scans
It corrects, be registrated and merge, image filtering, image enhancement, image interpolation image preprocessing；
(2) pretreatment image cutting is carried out using threshold segmentation method, extracts the features at region, edge, components three-dimensional structure
Data set；
(3) ITK-SNAP medical image segmentation software is utilized, two dimensional image is directly translated into threedimensional model.
3. the cardiac thoracic surgery auxiliary control method based on virtual reality as described in claim 1, which is characterized in that described
The three-dimensional software of second step constructs virtual scene
(1) the operative site scene figure of acquisition is abstracted, with the threedimensional model of entity structure virtual landscape；
(2) care in virtual environment and material are established, texture mapping and control parameter setting are carried out；
(3) virtual scene is generated, is exported in virtual unit.
4. the cardiac thoracic surgery auxiliary control method based on virtual reality as described in claim 1, which is characterized in that described
The navigation of third step operates
(1) activity trajectory of the sensor sensing surgical instrument in operative region, and be translated into after position signal to processing
Device output；
(2) after processor is demarcated position signal on dummy model；
(3) human 3d model and actual operation that will acquire carry out matching positioning；
(4) dummy model is merged by augmented reality with patient body position, is realized under Fusion Strain to medicine hand
The navigation function of art.
5. the cardiac thoracic surgery auxiliary control method based on virtual reality as described in claim 1, which is characterized in that described
Dummy model is merged with patient body position in 4th step includes:
Dummy model and filmed B ultrasound image are shown on an interface, and by utilizing opencv library function by B ultrasound
Image is converted to the label of the black shape in ARToolKit, so that the B ultrasound image at patient body position will be indicated as being used for
The black shape label tracked in dummy model, thus merges dummy model with patient body position.
6. a kind of perform claim requires showing based on virtual for the 1 cardiac thoracic surgery auxiliary control method based on virtual reality
Real cardiac thoracic surgery supplementary controlled system, which is characterized in that the cardiac thoracic surgery based on virtual reality assists control
System processed includes:
Action data acquisition module, connect with main control module, for scanning patients surgery by medical image tomographic apparatus
Area image；
Image taking module, connect with main control module, for shooting operative site scene figure by image pick-up device；
Main control module generates mould with action data acquisition module, image taking module, organ model building module, virtual scene
Block, navigation module, data memory module, the connection of virtual display module, work normally for controlling modules by single-chip microcontroller；
Organ model constructs module, connect with main control module, for constructing human body organ three-dimensional model by prototype software；
Virtual scene generation module, connect with main control module, for the field scene image structure by three-dimensional software according to acquisition
It builds and generates virtual scene model；
Navigation module is connect with main control module, for carrying out navigation operation to cardiac thoracic surgery position；
Data memory module is connect with main control module, for storing human action data, field scene figure, people by memory
Body organ threedimensional model, virtual scene model；
Virtual display module, connect with main control module, for showing cardiac thoracic surgery virtual scene by VR virtual unit.
7. a kind of cardiac thoracic surgery auxiliary control method using described in Claims 1 to 5 any one based on virtual reality
Intelligent operation control platform.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110123453A (en) * | 2019-05-31 | 2019-08-16 | 东北大学 | A kind of operation guiding system based on unmarked augmented reality |
| 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 |
| CN111419398A (en) * | 2020-04-22 | 2020-07-17 | 蚌埠医学院第一附属医院（蚌埠医学院附属肿瘤医院） | Thoracic surgery operation auxiliary control system based on virtual reality |
| CN111557734A (en) * | 2020-05-07 | 2020-08-21 | 徐州佳智信息科技有限公司 | Laser ablation navigation system based on VR scene and method thereof |
| WO2021017019A1 (en) * | 2019-07-31 | 2021-02-04 | 东北大学 | Augmented reality-based auxiliary diagnosis and treatment system for coronary angioplasty surgery, and use method thereof |
| CN113274129A (en) * | 2021-05-11 | 2021-08-20 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Cardiothoracic surgery auxiliary control system based on virtual reality |
| CN115035121A (en) * | 2022-08-12 | 2022-09-09 | 江苏域圆智能科技有限公司 | VR-based X-ray lung image simulation generation system |
| CN116392247A (en) * | 2023-04-12 | 2023-07-07 | 深圳创宇科信数字技术有限公司 | Operation positioning navigation method based on mixed reality technology |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110123453A (en) * | 2019-05-31 | 2019-08-16 | 东北大学 | A kind of operation guiding system based on unmarked augmented reality |
| WO2021017019A1 (en) * | 2019-07-31 | 2021-02-04 | 东北大学 | Augmented reality-based auxiliary diagnosis and treatment system for coronary angioplasty surgery, and use method thereof |
| 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 |
| CN111419398A (en) * | 2020-04-22 | 2020-07-17 | 蚌埠医学院第一附属医院（蚌埠医学院附属肿瘤医院） | Thoracic surgery operation auxiliary control system based on virtual reality |
| CN111419398B (en) * | 2020-04-22 | 2022-02-11 | 蚌埠医学院第一附属医院（蚌埠医学院附属肿瘤医院） | Thoracic surgery operation auxiliary control system based on virtual reality |
| CN111557734A (en) * | 2020-05-07 | 2020-08-21 | 徐州佳智信息科技有限公司 | Laser ablation navigation system based on VR scene and method thereof |
| CN113274129A (en) * | 2021-05-11 | 2021-08-20 | 温州医科大学附属第二医院（温州医科大学附属育英儿童医院） | Cardiothoracic surgery auxiliary control system based on virtual reality |
| CN115035121A (en) * | 2022-08-12 | 2022-09-09 | 江苏域圆智能科技有限公司 | VR-based X-ray lung image simulation generation system |
| CN116392247A (en) * | 2023-04-12 | 2023-07-07 | 深圳创宇科信数字技术有限公司 | Operation positioning navigation method based on mixed reality technology |
| CN116392247B (en) * | 2023-04-12 | 2023-12-19 | 深圳创宇科信数字技术有限公司 | Operation positioning navigation method based on mixed reality technology |
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