CN111202523A

CN111202523A - Visual measuring equipment for upper limb lymphedema after tumor operation

Info

Publication number: CN111202523A
Application number: CN202010140549.6A
Authority: CN
Inventors: 王方正; 蒋春儿; 蒋样明; 赵辉辉; 邹德宏
Original assignee: Institute of Remote Sensing and Digital Earth of CAS; Zhejiang Cancer Hospital
Current assignee: Institute of Remote Sensing and Digital Earth of CAS; Zhejiang Cancer Hospital
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-05-29

Abstract

The invention relates to a visual measuring device for upper limb lymphedema after tumor operation, which comprises: the horizontal push-broom structure and the horizontal push-broom path of the three-dimensional scanner are formed by a guide rail (1), a sliding block (2), a fixed connecting steel sheet I (3) and a fixed connecting steel sheet II (4); the drum-type scanning structure of the three-dimensional scanner and a single scanning environment are formed by a turntable (7), a turntable (8) with gears, a three-dimensional scanner (9), a stainless steel capillary tube (10) and a light-transmitting opaque cylinder (11); the horizontal push-scanning structure is connected with the roller scanning structure through a stainless steel right-angle support I (5) and a stainless steel right-angle support II (6); the power system of the scanning equipment consists of a permanent magnet synchronous motor (12), a synchronous bracket (13), a synchronous gear (14) and a motor connecting steel sheet (15); an arm supporting structure is formed by the arm supporting platform (16), the guide rail (1), the sliding block (2) and the fixed connecting steel sheet I (3), so that the upper limbs of a measurer are kept relatively horizontal and stable.

Description

Visual measuring equipment for upper limb lymphedema after tumor operation

Technical Field

The invention relates to a three-dimensional visual measuring device for upper limbs, in particular to a visual measuring device for upper limb lymphedema after a tumor operation.

Background

The existing three-dimensional scanner for human body mainly scans the whole human body, such as a HYG-global three-dimensional scanner, when the limb such as an arm is scanned by adopting a handheld mode, the integral imaging cannot be realized due to the poor uniformity and stability of the movement of the handheld operation; meanwhile, the measurement function aiming at key data such as the volume of the limbs, the circumference and the like is lacked.

In addition, hameteteman in the netherlands proposed the use of Vectra XT 3D imaging system for upper limb lymphedema measurements, but with the human body standing 70 cm in front of the camera and requiring the assistance of a researcher to pinpoint and fix the arm. The main disadvantages are that the equipment is too bulky, the operation is complex and professional technicians are needed to cooperate, resulting in poor portability and universality of the equipment.

Disclosure of Invention

The invention aims to overcome the defects of poor handheld operation stability, difficult imaging, lack of upper limb three-dimensional measurement function and the like of the traditional human body three-dimensional scanner in the upper limb measurement application; and the defects of poor portability, strong specialization, poor universality and the like of the Vectra XT 3Dimaging system for measuring the upper limb lymphedema.

In order to achieve the above object, the present invention provides a visual measurement device for upper limb lymphedema after tumor operation, comprising: 1 three-dimensional scanner, 2 guide rails, 2 fixed connection steel sheets I, 1 fixed connection steel sheet II, 6 sliders, 4 stainless steel right angle supports I, 2 stainless steel right angle supports II, 1 carousel of taking the gear, 7 stainless steel capillary, 1 printing opacity opaque white dull polish drum, 1 permanent magnet synchronous machine, 1 synchronizing support, 1 synchronizing gear, 2 motor connection steel sheets, 1 telescopic palm support frame.

Wherein, two guide rails are placed in parallel, adopt fixed connection steel sheet I to connect, and fixed two guide rails that distribute about, ensure the stability of guide rail. Three sliding blocks are arranged on each guide rail, a fixed connecting steel sheet I is used for connecting two sliding blocks close to the front end, and a fixed connecting steel sheet II is used for connecting two sliding blocks close to the middle, so that the sliding blocks on the two guide rails can move synchronously; forming a parallel sliding framework. A stainless steel capillary tube, a screw rod and a nut are used for connecting the rotary table and the rotary table with the gear, and the three-dimensional scanner is fixed between the two rotary tables to form a roller framework, so that the roller type scanning is realized when the scanner rotates along with the rotary table. The cylinder is made of transparent opaque materials (such as frosted sand, chiffon and the like), and the formed roller structure is sealed, so that the single scene and enough brightness are ensured when the limbs are scanned. Fixing the turntable base of the formed scanner roller framework to the formed parallel sliding framework by adopting 4 stainless steel right-angle supports I and 2 stainless steel right-angle supports II; thereby ensuring that the scanner can not only carry out drum-type scanning, but also carry out horizontal push-broom. After the synchronous gear and the permanent magnet synchronous motor are assembled, the synchronous gear and the permanent magnet synchronous motor are installed on a synchronous bracket to form a stable motor power system. The formed motor power system is fixed on a fixed connection steel sheet II through a screw rod, a nut and a motor connection steel sheet and is matched with a turntable with gears, so that the scanner can stably acquire data at a constant speed. The two sliders close to the tail end are connected through the fixed connecting steel sheet I, the palm support frame capable of stretching up and down is fixed through the screw and the nut in the middle of the connecting steel sheet, and the arm support table capable of moving back and forth is formed, so that a testee can place a palm on the support table, and the upper limb is relatively stable in the measuring process.

The invention develops a VTK three-dimensional visualization measurement technology based on VTK, supports three-dimensional visualization of scanning data, cutting at any position, equidistant cutting, calibration, calculation of related cutting area, circumference, section volume and the like, and is used for visualization of upper limb three-dimensional scanning imaging data and measurement and calculation of upper limb volume, circumference at any position, section area and the like.

The invention has the advantages that the three-dimensional scanning mode adopts a roller stable pushing and scanning mode, and the three-dimensional data of the upper limb can be uniformly and stably acquired; the problems of poor stability and difficult complete imaging of the conventional handheld scanning are effectively eliminated; meanwhile, a VTK three-dimensional visual measurement technology is developed for the upper limbs of the human body, the volume, the circumference at any position, the section area and the like of the upper limbs can be quickly obtained, and the defect that the existing three-dimensional scanner is lack of the three-dimensional measurement function of the upper limbs is effectively overcome. Compared with a Vectra XT 3D imaging system, the drum-type push-scanning mode effectively reduces the volume of equipment, solves the problem that a professional needs to accurately find the scanning position, and improves the portability, operability and universality of the equipment.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic view of a visual measurement device for upper limb lymphedema after tumor operation according to an embodiment of the present invention;

FIG. 2 is a left side view (schematic view along line E-E) of a visual measurement device for upper limb lymphedema after tumor operation according to an embodiment of the present invention;

fig. 3 is a front view (schematic view along line F-F) of a visual measurement device for upper limb lymphedema after tumor operation according to an embodiment of the present invention.

In the figure, the device comprises a guide rail 1, a guide rail 2, a sliding block 3, fixed connection steel sheets I and 4, fixed connection steel sheets II and 5, stainless steel right-angle supports I and 6, stainless steel right-angle supports II and 7, a rotary table 8, a rotary table with gears 9, a three-dimensional scanner 10, a stainless steel capillary tube 11, a light-transmitting opaque cylinder 12, a permanent magnet synchronous motor 13, a synchronous support 14, a synchronous gear 15, a motor connection steel sheet 16 and an arm supporting table.

Detailed Description

The embodiment of the invention adopts a roller type stable pushing and scanning technology and a VTK three-dimensional visual measurement technology of a three-dimensional scanner, uniformly and stably obtains three-dimensional data of upper limbs by a roller type uniform scanning and fixed track propelling mode, and realizes a plurality of image processing methods such as reading, rendering, visual display, cutting and the like of three-dimensional scanning data by combining an algorithm module and a basic three-dimensional data processing thought provided by a VTK tool; the method is characterized in that a digital identification method (or a manual interaction method) based on a support vector machine and a space geometric calibration method are comprehensively applied to determine the corresponding relation between the imaging space scale and the actual measurement space scale, so that the accuracy of data analysis and measurement on a three-dimensional visual platform is ensured; the method comprises the following steps that a VTK-based SetClipFunction algorithm is combined with a visual tangent plane setting algorithm to realize cutting of any position and direction of the upper limb of a human body; measuring and calculating a plurality of parameters of the upper limb lymphedema of the postoperative human body by applying a space polygon perimeter calculation method, a surface area calculation method, a slice-based volume calculation method and the like; and (3) identifying the position, edema degree, intervention effect and the like of the occurrence of the postoperative lymphedema by combining the data storage, query and analysis functions of the ACCESS database and a time sequence change analysis method.

As shown in fig. 1 to fig. 3, a visual measurement device for upper limb lymphedema after tumor operation provided by an embodiment of the invention includes: the horizontal pushing and sweeping structure and path of the three-dimensional scanner are formed by a guide rail 1, a sliding block 2, a fixed connecting steel sheet I3 and a fixed connecting steel sheet II 4; the drum-type scanning structure of the three-dimensional scanner and the single scanning environment are formed by a turntable 7, a turntable 8 with gears, a three-dimensional scanner 9, a stainless steel capillary tube 10 and a light-transmitting opaque cylinder 11; the horizontal push-sweeping structure is connected with the roller scanning structure through a stainless steel right-angle bracket I5 and a stainless steel right-angle bracket II 6; the power system of the scanning device is composed of a permanent magnet synchronous motor 12, a synchronous bracket 13, a synchronous gear 14 and a motor connecting steel sheet 15, so that the scanning device is ensured to be stably and uniformly pushed to sweep; an arm supporting structure is formed by the arm supporting platform 16, the guide rail 1, the sliding block 2 and the fixed connecting steel sheet I3, so that the upper limb of a measurer is kept relatively level and stable.

The guide rail 1, the sliding block 2, the fixed connecting steel sheet I3 and the fixed connecting steel sheet II 4 form a horizontal pushing and sweeping structure and path of the three-dimensional scanning device, so that the three-dimensional scanner can realize a stable horizontal pushing and sweeping function. The rotary table 7, the rotary table 8 with gears, the three-dimensional scanner 9 and the stainless steel capillary tube 10 form a roller scanning structure of the three-dimensional scanning equipment, so that the three-dimensional scanner can realize stable roller rotation and periodic scanning functions. The light-transmitting opaque cylinder 11 forms a single scanning environment of the three-dimensional scanning device, so that only a target object, namely an upper limb, is in a scanning range, and the influence of the surrounding environment is avoided. Use stainless steel right angle support I5, stainless steel right angle support II 6 pushes away the level and sweeps structure and cylinder scanning structure connection for scanning device has the level simultaneously and pushes away and sweep structure, cylinder scanning structure. The synchronous motor system is fixed on the fixed connecting steel sheet II 4 through a screw rod and a nut and is matched with the rotating disc 8 with the gear, so that the scanner can stably rotate at a constant speed and push and sweep to obtain upper limb surface data. The arm supporting platform 16, the guide rail 1, the sliding block 2 and the fixed connection steel sheet I3 form an arm supporting structure, the arm supporting platform 16 can be adjusted in a telescopic mode, and can move along the central axis direction of the scanning device through the guide rail, and therefore the basic level and stability of upper limbs can be guaranteed.

The embodiment of the invention provides a VTK three-dimensional visualization measurement technology, which is characterized in that the API provided by a Visualization Toolkit (VTK) is used for reading the upper limb body surface data obtained by scanning a three-dimensional scanner; the functions of three-dimensional visualization, three-dimensional rotation, zooming and the like of the upper limb are realized, and the internal details of the object can be visually observed; the functions of three-dimensional calibration of the upper limb space scale, three-dimensional slicing, slice area calculation, section perimeter, slice volume calculation, upper limb volume calculation and the like are developed; the storage management of three-dimensional body surface data, slice area, slice volume, section perimeter and the like of the upper limb of the human body is developed, and the dynamic change analysis of the parameters is realized, so that the severity of lymphedema of each part of the postoperative upper limb can be visually identified.

Specifically, the VTK three-dimensional visualization measurement technique provides the following functions:

1. human upper limb three-dimensional visualization and human-computer interaction functions: reading the body data on the human body acquired by the three-dimensional scanner, and realizing three-dimensional visualization and human-computer interaction through interfaces such as a data Source, a Filter, a Mapper, a role Actor, a Renderer, and the like.

2. Human upper limb three-dimensional slicing function: based on a vtkPlane interface and a setClipFunction algorithm, a user can select any position of the upper limb of the human body on a three-dimensional visual platform, and the spatial position and the cutting direction of a tangent plane are set based on a man-machine interaction mode and an automatic normal vector calculation method, so that the cutting of any position and any direction of the three-dimensional visual upper limb is realized, and a corresponding slice is generated.

3. Three-dimensional visual geometric calibration function of human upper limbs: the basis of three-dimensional visual measurement is geometric calibration, so that the actual area of each pixel on a visual platform corresponding to the actually measured upper limb of the human body is determined. The platform is calibrated by the proportional relation of the actual measurement circumference and the circumference of the tangent plane at the measuring point. Two methods are provided for actually measuring the circumference, one method is a manual number reading mode; the other method is based on three-dimensional scanning images, and the scales of the wrist ruler are intelligently read through a wrist ruler digital identification algorithm based on a support vector machine.

4. Human upper limb slice perimeter calculation function: currently, postoperative lymphedema usually adopts the change of the circumference of a plurality of fixed positions to reflect the degree and the change of the lymphedema. Therefore, the platform cuts certain positions of the upper limb after three-dimensional modeling to obtain an arm tangent plane; for these tangent planes, the distances between two points in space are calculated based on the space coordinates of many points constituting the tangent plane, and the distances are accumulated to calculate the perimeter of the tangent plane.

5. Human upper limbs section area calculation function: the tangent plane is divided into a plurality of triangular planes based on the vtkttrianglefilter, and the area of the tangent plane is calculated by calculating the area and the accumulation of the triangular planes.

6. Human upper limb surface area calculation function: the change of the arm surface area between two sections of the upper limb of the human body can reflect the degree of postoperative lymphedema, and the function of calculating the surface area of the upper limb of the human body is realized by comprehensively applying vtkTriangleFilter, vtkMassProperties, vtkSmoothPolyDataFilter and the like.

7. Human upper limb slice volume calculation function: the change of the arm volume between two sections of the upper limb of the human body can be used as the index of the postoperative lymphedema degree. The platform virtually divides the concerned arm segment into N slices (the number of the slices can be defined by a user, and is default to 100 through practice), the slice volume is calculated through the section area and the slice thickness of each slice, and the volume of the arm segment is obtained through accumulation.

8. Human upper limb lymphedema parameter change analysis function: the platform is combined with an ACCESS database, data storage, query and analysis functions of the parameters are developed, a time series curve graph is applied, and the circumference change of each position, the volume change of the interested arm section and the surface area change of the interested section are displayed. Thereby identifying the position of occurrence of the lymphedema after operation, the edema degree, the intervention effect and the like.

The VTK three-dimensional measurement algorithm adopts a program design idea of combining VTK with C # environment, and researches such as rapid three-dimensional visualization rendering, reconstruction, measurement and visualization analysis methods are carried out on three-dimensional scanning data of human upper limbs. The VTK toolkit provides complete data channels, drawing channels, material and lighting channels, and camera channels. The model provided by the VTK can conveniently establish a drawing interface and realize the drawing of three-dimensional scanning data. The platform flexibly combines the open source code of VTK and C # development environment, and realizes key algorithms such as reading and three-dimensional visualization algorithm of upper limb STL three-dimensional scanning data, Clipper arbitrary position and direction cutting algorithm, geometric calibration algorithm based on SVM digital recognition, Simpson volume calculation algorithm based on slicing and the like. The flexible visualization, measurement and analysis of upper limb three-dimensional scanning data are realized by combining a VTK development interface and C # bottom layer processing capacity, the index parameters of postoperative human upper limb lymphedema such as the circumference, the volume and the surface area can be visually obtained, and the position, the edema degree, the intervention effect and the like of postoperative lymphedema are identified. The three-dimensional measurement algorithm and the analysis method are firstly proposed in the aspect of monitoring the upper limb postoperative lymphedema, and a similar three-dimensional visual analysis method developed by applying VTK is not found in the field of clinical application at present.

The VTK three-dimensional visualization measurement technology is based on a C # development environment, and a well-interactive software processing platform is constructed by combining a mature algorithm provided by a VTK toolkit, so that doctors can be helped to perform clinical diagnosis on postoperative upper limb lymphedema. If the system is popularized, the system can be interconnected with the existing PACS (based on DICOM standard) of a hospital, and can be used as a processing software platform for three-dimensional reconstruction and visualization operation of other human body parts by a hospital doctor. And the system can also be used for three-dimensional visual monitoring and diagnosis on the surface of a clinical human body after simple modification. The system platform is small, exquisite, flexible and cheap, and has strong market competitiveness.

In one example, the subject faces the device (fig. 1E-E), places the upper arm on the arm support 16 with the palm facing down through the roller-scan device, and adjusts the height of the support 16 so that the arm is substantially horizontal. And starting the permanent magnet synchronous motor 12 after programming, wherein the permanent magnet synchronous motor 12 drives the roller scanning device to rotate for a circle at a constant speed, then return at a constant speed, and suspend rotation, thus completing 360-degree all-dimensional anchor sweeping with the width of about 20 cm. Then, the scanning device is pushed by about 15 cm towards the palm direction (the direction of fig. 1E-E), and the permanent magnet synchronous motor 12 is started again, so that the scanning device completes the next scanning; and 3-4 times, the omnibearing scanning of the upper limb of the tested person can be completed in about 2 minutes, and the scanning data is synchronized to a computer provided with VTK three-dimensional visual measurement software. On the software platform, three-dimensional visual display of upper limb scanning data is realized. Meanwhile, an interested area is selected according to needs, volume measurement, slice area calculation, circumference length calculation and the like are automatically completed, and the measurement result is stored in a system platform. Historical change processes such as the volume, the circumference and the like of corresponding areas of the upper limbs of the testee can be inquired and analyzed on the platform, and data and support are provided for clinical monitoring and analysis. Acquiring a plurality of parameters of upper limb lymphedema of a postoperative human body based on the circumference, volume, surface calculation method and the like of the slice; and through time series change analysis of the parameters, the position of occurrence of the postoperative lymphedema, the edema degree, the intervention effect and the like are identified.

It will be obvious that many variations of the invention described herein are possible without departing from the true spirit and scope of the invention. Accordingly, all changes which would be obvious to one skilled in the art are intended to be included within the scope of this invention as defined by the appended claims. The scope of the invention is only limited by the claims.

Claims

1. A visual measuring device of upper limbs lymphedema after tumor operation is characterized by comprising: the horizontal push-broom structure and the horizontal push-broom path of the three-dimensional scanner are formed by a guide rail (1), a sliding block (2), a fixed connecting steel sheet I (3) and a fixed connecting steel sheet II (4); the drum-type scanning structure of the three-dimensional scanner and a single scanning environment are formed by a turntable (7), a turntable (8) with gears, a three-dimensional scanner (9), a stainless steel capillary tube (10) and a light-transmitting opaque cylinder (11); the horizontal push-scanning structure is connected with the roller scanning structure through a stainless steel right-angle support I (5) and a stainless steel right-angle support II (6); the power system of the scanning equipment is formed by a permanent magnet synchronous motor (12), a synchronous bracket (13), a synchronous gear (14) and a motor connecting steel sheet (15), so that the scanning equipment is ensured to be stably and uniformly pushed and swept; an arm supporting structure is formed by the arm supporting platform (16), the guide rail (1), the sliding block (2) and the fixed connecting steel sheet I (3), so that the upper limbs of a measurer are kept relatively horizontal and stable.

2. The visual measuring device of claim 1, characterized in that the two guide rails (1) are arranged in parallel, and the two guide rails (1) which are connected by the fixed connecting steel sheet I (3) and distributed left and right are fixed, so as to ensure the stability of the guide rails (1).

3. The visual measuring device according to claim 1, characterized in that three sliding blocks (2) are arranged on each guide rail (1), the two sliding blocks (2) near the front end are connected by a fixed connecting steel sheet I (3), and the two sliding blocks (2) near the middle are connected by a fixed connecting steel sheet II (4) to ensure that the sliding blocks (2) on the two guide rails (1) can move synchronously; forming a parallel sliding framework.

4. The visual measuring device according to claim 1, characterized in that a stainless steel capillary tube (10), a screw rod and a nut are used to connect the rotating disk (7) and the rotating disk (8) with gears, and the three-dimensional scanner is fixed between the two rotating disks to form a drum framework, so that when the scanner rotates along with the rotating disks, drum-type scanning is realized.

5. The visual measuring device of claim 1, wherein 4 stainless steel right angle supports i (5) and 2 stainless steel right angle supports ii (6) are used to fix the turntable base forming the scanner drum framework to the parallel sliding framework; thereby ensuring that the scanner can not only carry out drum-type scanning, but also carry out horizontal push-broom.

6. The visual measuring device of claim 1, wherein the synchronous gear (14) and the permanent magnet synchronous motor (12) are assembled and then installed on a synchronous bracket to form a stable motor power system.

7. The visual measuring equipment of claim 1, characterized in that the two sliders (2) near the extreme ends are connected by a fixed connecting steel sheet I (3), and a palm support frame which can be stretched up and down is fixed by a screw and a nut at the middle position of the connecting steel sheet to form an arm support platform which can move back and forth, so that a tested person can place the palm on the support platform to ensure the relative stability of the upper limbs in the measuring process.

8. The visual measuring equipment of claim 1, characterized in that a stainless steel right-angle bracket I (5) and a stainless steel right-angle bracket II (6) are used for connecting the horizontal push-broom structure and the roller scanning structure, so that the scanning equipment has the horizontal push-broom structure and the roller scanning structure simultaneously.

9. The visualization measuring device of claim 1, wherein the synchronous motor system is fixed on the fixed connection steel sheet II (4) through a screw rod and a nut and is matched with the gear-equipped turntable (8) through being fixed with the motor connection steel sheet (15), so that the scanner can stably and uniformly rotate and push and sweep to obtain the upper limb surface data.

10. The visualization measuring apparatus according to claim 1, wherein the upper limb body surface data obtained by scanning the three-dimensional scanner is read through an API provided by a Visualization Toolkit (VTK); the functions of three-dimensional visualization, three-dimensional rotation and zooming of the upper limb are realized; the functions of three-dimensional calibration of the upper limb space scale, three-dimensional slicing, slice area calculation, section perimeter, slice volume calculation and upper limb volume calculation are developed; the storage management of three-dimensional body surface data, slice area, slice volume, section perimeter and the like of the upper limb of the human body is developed, and the dynamic change analysis of the parameters is realized, so that the severity of lymphedema of each part of the postoperative upper limb can be visually identified.