CN1723859A - Operation piloting method - Google Patents
Operation piloting method Download PDFInfo
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- CN1723859A CN1723859A CNA2004100530555A CN200410053055A CN1723859A CN 1723859 A CN1723859 A CN 1723859A CN A2004100530555 A CNA2004100530555 A CN A2004100530555A CN 200410053055 A CN200410053055 A CN 200410053055A CN 1723859 A CN1723859 A CN 1723859A
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Abstract
An operation navigation method with correct location includes such steps as sticking the reference location makers surrounding the operation region, tomo-graphic scanning to obtain the images of lesion and operation region, creating numeral models of operation region and location markers to form 3D numeral models and mapping the position change of operation tool in said models.
Description
Technical field
The present invention relates to a kind of air navigation aid, especially relate to the air navigation aid in the operation process.
Background technology
At present, the common situation of surgical operation is: image shows on the lamp box surface away from the patient that with the fixing form of film at this moment, the relation of operation tool and tissue anatomical structure needs the doctor to pass through to imagine realization before patient's the art, and objectivity is poor.
Comparatively Xian Jin a kind of mode is to carry out radioscopy scanning assist location in the art, can clear and definite operating theater instruments and the relative position of differences in patient, improve the degree of accuracy of performing the operation, the exposure range that reduces to perform the operation.Though there is purposes widely in the X-ray scanning system, yet itself inherent shortcoming can not be ignored.The most significant is professional radiation, particularly the X ray amount of tanning by the sun of surgeon's both hands.Nearest data points out that spinal surgeons is exposed to remarkable danger under the X-ray scanning system.In addition, also there is other restriction in applying X-ray fluoroscopy system assist location in the art.Such as observing the monoplane view simultaneously, in the time need on many plan views, observing the position of operating theater instruments, need the position of continuous re-adjustments C type arm to scan the location in the operation process, cause operation to interrupt, waste time and energy, and destroyed gnotobasis.
Navigating surgery also can use CT or the MRI image before the art to navigate, needs for registration registration (with the corresponding process of differences in patient on image data before the art and the operation table), need set up the threedimensional model of differences in patient, process is loaded down with trivial details, and time is long before the art.
Summary of the invention
The objective of the invention is to above-mentioned deficiency, propose a kind of accurate location, safe and reliable surgical navigational method at prior art.
Above-mentioned purpose of the present invention is achieved through the following technical solutions: at first, treating to stick operative region benchmark witness marker around the operative region; Then, obtain pathological changes body region tomoscan image and described operative region benchmark witness marker tomoscan image by the medical image tomographic apparatus; Then, carry out digital modeling, form the 3 D human body mathematical model, carry out digital modeling, form the three-dimensional symbol mathematical model according to operative region benchmark witness marker tomoscan image according to the pathological changes body region tomoscan image that obtains; At last, according to the witness marker of operating theater instruments change in location, the change in location of operating theater instruments is mapped in described 3 D human body mathematical model and the described three-dimensional symbol mathematical model with respect to operative region benchmark witness marker.
The pathological changes body region tomoscan image that described basis is obtained carries out digital modeling, forming the 3 D human body mathematical model adopts following process to carry out: at first, on described pathological changes body region tomoscan image, extract the border of target area and sensitive organization, delineate out and organize contour line; Secondly, generate the interlayer contour line respectively according to the adjacent contour line of organizing; At last, the zone that the interlayer contour line that obtains surrounds is filled, finish the digital modeling of 3 D human body mathematical model according to the tissue and the adjacent tissue type thereof at pathological changes body place; Describedly carry out digital modeling according to operative region benchmark witness marker tomoscan image, forming the three-dimensional symbol mathematical model adopts following steps to carry out: at first, extract operative region benchmark witness marker border according to the difference of the CT value of the CT value of operative region benchmark witness marker and skin; Then, with the Coordinate Conversion of the point on the operative region benchmark witness marker border of described tomoscan image to three dimensions; Then, the radius of setting described operative region benchmark witness marker is a threshold value, the space length of the point on described operative region benchmark witness marker border is put into an apoplexy due to endogenous wind less than the point of described threshold value, greater than the other class of assigning to of threshold value, according to all categories that obtains, according to how much sorting of the number of classification mid point, obtain the set of described operative region benchmark witness marker boundary point; At last, through generation, tissue filling, the three-dimensional surface rebuilding of interlayer contour line, obtain the three-dimensional digital model of operative region benchmark witness marker; Describedly obtain pathological changes body region tomoscan image, make that two-layer distance is between 1-5mm up and down by the medical image tomographic apparatus; Described operative region benchmark witness marker is at least 5, and is the active optics mark that can initiatively launch light energy or passive optical mark that can passive energy of reflection light; Described operative region benchmark witness marker can imaging in MR or CT scan, and is easy to identification in image.
Compare with prior art, the present invention has following beneficial effect: before the art, and according to the 3 D human body mathematical model that obtains, can be according to the anatomical structure of operative region, the operative approach of design ideal; In the art, according to the witness marker of operating theater instruments change in location with respect to operative region benchmark witness marker, the change in location of operating theater instruments is mapped in the coordinate system of 3 D human body mathematical model, just but the mat display device is observed the motion of relative operative region tissue of operating theater instruments and organ, thereby the intervention of more accurate control operating theater instruments action is embodied in: (1) makes the residing three-dimensional space position of operation exactly; (2) show the wild contiguous structure of art; (3) point out target kitchen range orientation and with the spatial relationship of purpose operative site; (4) operative approach of help design ideal; (5) show the structure that operative approach may run into; (6) position of demonstration important structure; (7) display target kitchen range space size and scope.
The specific embodiment
Below in conjunction with embodiment the present invention is further described.
Treating to stick at least 5 witness markers around the operative region, carry out the CT tomoscan then.
Operation guiding system directly reads the tomoscan image of tumor patient by the DICOM agreement from CT, generate the 3 d body data model after the digital modeling resume module of 3 D human body mathematical model.
At patient's human body tomoscan image, carry out the digital modeling of 3 D human body mathematical model, comprise the following steps:
1, three-D volumes is rebuild
The faultage image interfloor distance that tomoscan obtains is more much bigger than the size of the pixel of image, obtain the three-dimensional volumetric images data of equal resolution, need insert abundant faultage image between two original tomographies.The pixel value of interpolation image is determined the pixel value of same position place upper strata original image and the calculated for pixel values of lower floor's original image by the high-order moment interpolation method.
2, three-dimensional tissue rebuilds
The human body characteristic classification data that will from original layer data, extract, as body surface, target area, sensitive organization, density correction tissue etc., form with data block is recombinated, reach the data modularization of 3 D human body and simplify the purpose of subsequent treatment, contour line extracts via organizing, the interlayer contour line generates, the tissue filling step is finished:
1) the tissue contour line extracts
On the patient's that system shows faultage image, extract the border of target area and sensitive organization by the mode of delineating, delineate and use windows API setting-out function.
The contour line of delineating of organizing is the polygon that is linked to be by straightway, and three characteristics are arranged: the first, and any non-continuous line segment is non-intersect; The second, the border is in the body surface border; The 3rd, can there be public part in some organizational boundary with other border, can not be in the lung as heart.
For avoiding mistake, there is following requirement in system: 1) when organizational boundary that the user delineates appeared at beyond the body surface border, system corrected automatically and reports to the police; System was pointed out automatically when 2) different boundary intersected; 3) when intersected with self on the border, system stopped automatically and points out.
The concrete way that realizes above-mentioned functions is: first, before the current pixel that draws with paintbrush, judge the color of current pixel, identical as the current pixel color with the brush color that is using, then intersect with self on this border, the border is closed, and giving makes mistake or finish points out, otherwise the current point that draws; The second, judge that current pixel whether in the zone that the body surface border is comprised, if do not exist, provides miscue and finishes current setting-out, otherwise the current point that draws; The 3rd, judge whether current pixel is the color on other non-body surface border, if, provide prompting and wait for that the user selects with the decision subsequent operation, otherwise the current pixel that draws.
2) the interlayer contour line generates
Because the original contour line is that pointwise is formed by connecting, and a large amount of redundant datas is arranged, make subsequent treatment become complicated, amount of calculation is big.For this reason, we at first adopt the polygonal approximation method to approach the original contour line.The contouring line is linked to be string at a distance of farthest 2, thus the contour line separated into two parts, finds out apart from string 2 points farthest from two-part contour line again, these 2 two-end-points with original string are linked to be new string, remove old string, and the like, until the point of finding out apart from the distance of string less than assigned error.The line of being had a few promptly is the approximate polygon contour line of former contour line.
It is right to set up optimal match point then.Known adjacent two tomography contour lines are called the initial wheel profile, calculate enclosing of initial wheel profile and decide area, one of them is carried out the area convergent-divergent, the two area is equated, carry out translation then the two barycenter is overlapped; The intersection point of two contour lines must exist, and at least two, obtain all intersection points, according to intersection point the initial wheel profile is divided into corresponding corresponding section; It is right to set up match point within corresponding corresponding section, and match point increases with interpolation method when less number; The check match point intersects situation to line, as existing, then it is removed; The match point of trying to achieve is reset into original position to coordinate through anti-Pan and Zoom.
Next ask the interlayer contour line.Interlayer contour line place uniform plane is distributed in initial wheel profile interplanar and is parallel to initial wheel profile plane, the right line of match point of interlayer contour line planar interception two initial wheel profiles, intersection point is the summit of interlayer contour line, and each summit connects and composes the interlayer contour line.
3) tissue filling
According to types of organization the zone that the interlayer organizational boundary that obtains surrounds is filled, fill the tissue filling method that adopts based on windows API graph function.
Each data boundary is converted into the array of representing with the windows dot structure, uses the color of setting separately to fill with alternate mode.Filled with a kind of new numerical value by the zone that use on a plurality of borders.
3, three-dimensional surface rebuilding
The surface of the exterior contour of human body, interior tissue and organ is slick curved surface, and is complex-shaped, and the purpose of three-dimensional surface rebuilding is to form its three-dimensional surface and make the demonstration on this surface that third dimension more be arranged.Three-dimensional surface rebuilding of the present invention adopts the triangle sticker surface technology, and the summit that is about on the adjacent two layers contour line connects into the little surface of representing with triangle one by one, and whole object surfaces just is similar to these little surfaces.
The optimal match point of trying to achieve when utilizing the interlayer contour line to generate, straight line connects match point, form the tetragon veneer, tetragonal short diagonal is coupled together, promptly form the triangle veneer, and meet long criterion (all the leg-of-mutton length of side and minimum) of minor face and minimum area criterion (all leg-of-mutton area and minimum).
Couple together according to the node of top method, form the latticed form of former three-dimensional object surface, farthest approach the real surface of object all interlayer contour lines.
The digital modeling of witness marker adopts following steps in the faultage image: the witness marker border is extracted in the difference according to the CT value of the CT value of witness marker and skin; With the Coordinate Conversion of the point on the operative region benchmark witness marker border of described tomoscan image to three dimensions; Pass through setting threshold, space length is put into an apoplexy due to endogenous wind less than the point of assign thresholds (radius of witness marker), greater than the other class of assigning to of threshold value, last according to obtaining all classifications, how much sorting according to the number of classification mid point then, obtain the set of the index point that we need, we can also get rid of some noise spots like this; Pass through the generation of interlayer contour line, tissue filling, three-dimensional surface rebuilding then, obtain the three-dimensional digital model of operative region benchmark witness marker.
Implement operation by method of the present invention, before operation, according to the 3 D human body mathematical model that obtains, the doctor can be according to the anatomical structure of operative region, the operative approach of design ideal; In operation, according to the witness marker of operating theater instruments change in location with respect to operative region benchmark witness marker, the change in location of operating theater instruments is mapped in the coordinate system of 3 D human body mathematical model, doctor's mat display device can be observed the motion of relative operative region tissue of operating theater instruments and organ, thus the intervention of more accurate control operating theater instruments action.
Claims (6)
1, a kind of surgical navigational method is characterized in that: at first, treating to stick operative region benchmark witness marker around the operative region; Then, obtain pathological changes body region tomoscan image and described operative region benchmark witness marker tomoscan image by the medical image tomographic apparatus; Then, carry out digital modeling, form the 3 D human body mathematical model, carry out digital modeling, form the three-dimensional symbol mathematical model according to operative region benchmark witness marker tomoscan image according to the pathological changes body region tomoscan image that obtains; At last, according to the witness marker of operating theater instruments change in location, the change in location of operating theater instruments is mapped in described 3 D human body mathematical model and the described three-dimensional symbol mathematical model with respect to operative region benchmark witness marker.
2, surgical navigational method according to claim 1, it is characterized in that: the pathological changes body region tomoscan image that described basis is obtained carries out digital modeling, forming the 3 D human body mathematical model adopts following process to carry out: at first, on described pathological changes body region tomoscan image, extract the border of target area and sensitive organization, delineate out and organize contour line; Secondly, generate the interlayer contour line respectively according to the adjacent contour line of organizing; At last, the zone that the interlayer contour line that obtains surrounds is filled, finish the digital modeling of 3 D human body mathematical model according to the tissue and the adjacent tissue type thereof at pathological changes body place.
3, surgical navigational method according to claim 1, it is characterized in that: describedly carry out digital modeling according to operative region benchmark witness marker tomoscan image, forming the three-dimensional symbol mathematical model adopts following steps to carry out: at first, extract operative region benchmark witness marker border according to the difference of the CT value of the CT value of operative region benchmark witness marker and skin; Then, with the Coordinate Conversion of the point on the operative region benchmark witness marker border of described tomoscan image to three dimensions; Then, the radius of setting described operative region benchmark witness marker is a threshold value, the space length of the point on described operative region benchmark witness marker border is put into an apoplexy due to endogenous wind less than the point of described threshold value, greater than the other class of assigning to of threshold value, according to all categories that obtains, according to how much sorting of the number of classification mid point, obtain the set of described operative region benchmark witness marker boundary point; At last, through generation, tissue filling, the three-dimensional surface rebuilding of interlayer contour line, obtain the three-dimensional digital model of operative region benchmark witness marker.
4, according to any one described surgical navigational method in the claim 1 to 3, it is characterized in that: describedly obtain pathological changes body region tomoscan image, make that two-layer distance is between 1-5mm up and down by the medical image tomographic apparatus.
5, according to any one described surgical navigational method in the claim 1 to 3, it is characterized in that: described operative region benchmark witness marker is at least 5, and is the active optics mark that can initiatively launch light energy or passive optical mark that can passive energy of reflection light.
6, surgical navigational method according to claim 5 is characterized in that: described operative region benchmark witness marker can imaging in MR or CT scan, and is easy to identification in image.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2004100530555A CN1723859A (en) | 2004-07-22 | 2004-07-22 | Operation piloting method |
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2004100530555A CN1723859A (en) | 2004-07-22 | 2004-07-22 | Operation piloting method |
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| CN1723859A true CN1723859A (en) | 2006-01-25 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103479431A (en) * | 2013-09-26 | 2014-01-01 | 中国科学院深圳先进技术研究院 | Non-intrusive minimally invasive operation navigation system |
| CN105654546A (en) * | 2014-12-02 | 2016-06-08 | 上海金仕达卫宁软件股份有限公司 | Modeling method and device |
| CN106901696A (en) * | 2017-02-23 | 2017-06-30 | 马青山 | A kind of cancer site prediction servicing unit and the method that data analysis is carried out using the device |
| CN109300088A (en) * | 2018-09-17 | 2019-02-01 | 青岛海信医疗设备股份有限公司 | A kind of method and apparatus of determining organ and tumor contact area |
| CN111420301A (en) * | 2019-01-10 | 2020-07-17 | 中国科学院沈阳自动化研究所 | Robotized body surface focus area positioning and tracking system |
| CN111479507A (en) * | 2017-11-13 | 2020-07-31 | 皇家飞利浦有限公司 | Autonomous X-ray control for robotic navigation |
| CN116563379A (en) * | 2023-07-06 | 2023-08-08 | 湖南卓世创思科技有限公司 | Marker positioning method, device and system based on model fusion |
-
2004
- 2004-07-22 CN CNA2004100530555A patent/CN1723859A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103479431A (en) * | 2013-09-26 | 2014-01-01 | 中国科学院深圳先进技术研究院 | Non-intrusive minimally invasive operation navigation system |
| CN105654546A (en) * | 2014-12-02 | 2016-06-08 | 上海金仕达卫宁软件股份有限公司 | Modeling method and device |
| CN105654546B (en) * | 2014-12-02 | 2019-05-07 | 卫宁健康科技集团股份有限公司 | Modeling method and model building device |
| CN106901696A (en) * | 2017-02-23 | 2017-06-30 | 马青山 | A kind of cancer site prediction servicing unit and the method that data analysis is carried out using the device |
| CN106901696B (en) * | 2017-02-23 | 2019-11-05 | 马青山 | A kind of cancer site prediction auxiliary device |
| CN111479507A (en) * | 2017-11-13 | 2020-07-31 | 皇家飞利浦有限公司 | Autonomous X-ray control for robotic navigation |
| CN109300088A (en) * | 2018-09-17 | 2019-02-01 | 青岛海信医疗设备股份有限公司 | A kind of method and apparatus of determining organ and tumor contact area |
| CN109300088B (en) * | 2018-09-17 | 2022-12-20 | 青岛海信医疗设备股份有限公司 | Method and device for determining contact area between organ and tumor |
| CN111420301A (en) * | 2019-01-10 | 2020-07-17 | 中国科学院沈阳自动化研究所 | Robotized body surface focus area positioning and tracking system |
| CN116563379A (en) * | 2023-07-06 | 2023-08-08 | 湖南卓世创思科技有限公司 | Marker positioning method, device and system based on model fusion |
| CN116563379B (en) * | 2023-07-06 | 2023-09-29 | 湖南卓世创思科技有限公司 | Marker positioning method, device and system based on model fusion |
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