CN1803102A - Constrained operation programming method based on medicinal image predisplayed puncture trail - Google Patents

Abstract

The invention discloses a limitation surgery planning method based on predisplay puncture trace of medical image, which comprises the following parts: display unit, surgery planning unit and three-dimensional image reconstruction unit, wherein the display unit receives the gathered DICOM pattern medical image for medical equipment; the surgery planning unit receives initial position point of knife-in point P; three-dimensional image reconstruction unit adjusts the initial position point coordinate at Euler angle pattern, which obtains three-dimensional image puncture surgery path of knife-in point P and focal point T to assist the cerebral surgery robot for finishing the puncture working.

Description

Constrained operation planing method based on the pre-demonstration puncture track of medical image

Technical field

The present invention relates to a kind of display processing method of medical image, specifically, be meant a kind of serving in the celebral operating robot surgery systems to the puncture constrained operation planing method of track of a kind of pre-demonstration of the affirmation in operation feed point path based on the DOCOM medical image.

Background technology

The maturation of digitized volume data image technique has promoted the development and the maturation of computer picture airmanship, is also entered medical field through the industrial robot of protracted experience accumulation and practice.Since robot assisted surgery in 1985 entered practice for the first time, a lot of experiments and commercial robotic assisted surgery system had appearred.The robot aid system has outstanding positioning accuracy, is not having the characteristics such as not tired of trembling aspect the fields such as abdominal cavity surgery, neurosurgery and orthopaedic trauma, extensively be applied to clinical in.

Current in auxiliary cerebral surgery operation system of robot, the doctor still is the main body in the whole surgery process.Therefore, You Hao man-machine interactive system is to utilize the robot aid system successfully to realize the important foundation of frameless cerebral surgery operation.In the planning and adjustment process of operation pathway, determining of operation pathway is most crucial, and the precision of determining of operation pathway directly influences the precision of operation, and the simplification of the operation in path simultaneously brings great convenience to the doctor is clinical.The doctor by on medical image to the planning and the adjustment of operation pathway, improved the operation quality effectively, thereby make the doctor locate focus point and feed point path exactly, apace, make operation safer, for doctor's operation provides comprehensively, information accurately, further improve the clinical treatment level.

Summary of the invention

The objective of the invention is to propose a kind of constrained operation planing method of the pre-demonstration puncture track based on medical image, this method is at the medical image based on the DICOM form, and the running orbit of the feed point in performing the operation that will puncture when adopting the Eulerian angles conversion to finish operation pathway planning is shown to the doctor in advance and carries out preoperative preparation in computer system, in complicated brain tissue, select best surgery planning path problems thereby solved effectively, further improved the clinical treatment level.

The present invention is a kind of constrained operation planing method of the pre-demonstration puncture track based on medical image, be by one the three-dimensional puncture track display device of handling of planning to be carried out in the track operation of puncturing to finish, described puncture track display device is made up of display unit, surgery planning unit and 3-D view reconfiguration unit.

Described display unit receives the medical image of several DICOM forms of being gathered by armarium, and the medical image of DICOM form is converted to traffic flow information is transferred to surgery planning unit and 3-D view reconfiguration unit; The described traffic flow information that receives is carried out the processing of DICOM view data in described surgery planning unit and the operative space coordinate data is handled, and both are handled Eulerian angles mode parameter information that the back obtains carry out the operation pathway adjustment of puncturing of the best of feed point P and focus point T, and the coordinate of adjusted feed point P initial position is exported to the 3-D view reconfiguration unit; Wherein, the some Pm of Eulerian angles mode parameter information from m tension fault picture is to point

Relational expression is satisfied in the path planning variation of Qm $\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\frac{\tan \mathrm{\γ}}{{\tan \mathrm{\γ}}_0}& 0& 0& 0\\ 0& \frac{\tan \mathrm{\γ}}{\tan {\mathrm{\γ}}_0}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right],$ Then constitute the operative space environment of a conical structure model; Described 3-D view reconfiguration unit carries out exporting after the parameter combinations control information to the operation of puncturing of operating robot equipment to the coordinate of the described traffic flow information that receives and described initial position point.

The constrained operation regulation method of described pre-demonstration puncture track based on medical image, it is 0 °～90 ° from a Pm to the Eulerian angles γ that a Qm planning operation forms.

The constrained operation regulation method of described pre-demonstration puncture track based on medical image, its armarium of gathering the medical image of DICOM form is CT machine or MRI scanner unit.

The constrained operation regulation method of described pre-demonstration puncture track based on medical image, the DICOM medical image data converted stream information form of its display unit output is the bitmap format that has DICOM layer data spatial information.

The constrained operation regulation method of described pre-demonstration puncture track based on medical image, the coordinate projection component of the operative space environment of its conical structure model is that surgery planning central point adjustment point Pm satisfies relational expression to putting Rm projection variation with center of circle Om $\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& -\sin \left({\mathrm{\δ}-\mathrm{\δ}}_0\right)& 0& 0\\ \sin (\mathrm{\δ}-{\mathrm{\δ}}_0)& \cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right].$

The constrained operation regulation method of described pre-demonstration puncture track based on medical image, the DICOM volume data information to the display unit input of its 3-D view reconfiguration unit realizes that 3-D view shows.

The constrained operation regulation method of described pre-demonstration puncture track based on medical image is based in the surgery directional operation robot system operation regulation method to scalpel feed path.

The advantage of the constrained operation regulation method of a kind of pre-demonstration puncture track based on medical image of the present invention is: (1) allows the doctor orient focus point and operation pathway accurately and rapidly; (2) help the doctor to set up partial three-dimensional tissue spatial relationship, rebuild the crown and sagittal plane of the mutual definition of doctor, help to confirm and check path planning; (3) improved the para-operative safety of medical robot.

Description of drawings

Fig. 1 is the puncture structured flowchart of track display device of the present invention.

Fig. 2 A is a DICOM image coordinate system structural representation.

Figure 23 is an operative space coordinate system structural representation.

Fig. 3 is that focus point T, the feed point P path planning in the Eulerian angles model is adjusted structural representation.

The specific embodiment

The present invention is described in further detail below in conjunction with accompanying drawing.

Equipment (hardware and software) required in the medical robot surgery systems has at least:

A computer is used for that the image that CT/MRI takes is exported to computer screen and intuitively shows;

CT/MRI is used to take the image of patient's focus point;

Robot is a frame for movement equipment, possesses at least in the present invention to finish according to the surgery planning path hands art that punctures;

Being stored in the software control system in the computer, is the planning that is used for image information is finished operation pathway, and the process software platform of ROBOT CONTROL.

In the clinical practice of department of cerebral surgery directional operation robot system, operation feed Path Determination should satisfy: 1) avoid vital tissue; 2) determine rational surgery location, to make things convenient for the hands art; 3) the shortest inserting needle path; 4) the inserting needle direction is as far as possible perpendicular to the skull tangent plane at entry point place etc.

In " the demonstration means fully of image information " of determining operation feed path condition (being shown in the image on the computer screen), can seeing at display screen of each aspect point passed in the feed path, can observe and want observed physiological tissue, thereby judge whether this point of puncture can avoid vital tissue.Therefore, after definite operation pathway is tentatively determined, most critical be exactly by the image graphics treatment technology, plan final feed path, make entry point avoid the vital tissue that shows on every aspect.

In the present invention, based on image be DICOM data (Digital Imaging andCommunications in Medicine medical treatment digitized video and communications protocol), DICOM just is equivalent to a kind of common statement, the image of different-format is changed into a kind of unified reference format, inside comprises a lot of image informations, be included on the same image on the x direction and y direction the actual physics of representative distance (Pixel Spacing) between adjacent two pixels (pixel), and the distance (Slice Thickness) between adjacent two layers on the z direction.By these image informations, just can obtain the contact of view data and real physical space data.When the center of on certain picture aspect, selecting focus point T (target), on another one picture aspect, determine the preliminary position of feed point P (piecing).Like this, on the good image of three-dimensional reconstruction, just can see determined feed route of corresponding two points and feed point (as shown in Figure 2) thereof.And this feed route all can stay projection and point of puncture in the slice, thin piece that is passed through (referring to the image that CT machine or MRI scanner unit are taken).

The present invention is a kind of constrained operation planing method of the pre-demonstration puncture track based on the DICOM medical image, only be one based in the surgery directional operation robot system to the surgery planning method in scalpel feed path, be to be finished by a puncture track display device to the three-dimensional ruleization processing of puncture track operation carrying out, described puncture track display device is made up of display unit, operation ruleization unit and 3-D view reconfiguration unit.Described display unit receives the medical image of several DICOM forms of being gathered by armarium, and the medical image of DICOM form is converted to traffic flow information is transferred to surgery planning unit and 3-D view reconfiguration unit; The described traffic flow information that receives is carried out the processing of DICOM view data in described surgery planning unit and the operative space coordinate data is handled, and both are handled Eulerian angles mode parameter information that the back obtains carry out the operation pathway adjustment of puncturing of the best of feed point P and focus point T, and the coordinate of adjusted feed point P initial position is exported to the 3-D view reconfiguration unit; Described 3-D view reconfiguration unit carries out exporting after the parameter combinations control information to the operation of puncturing of operating robot equipment to the coordinate of the described traffic flow information that receives and described initial position point.

In the present invention, the armarium of the medical image of collection DICOM form is CT machine or MRI scanner unit.The view data that includes general DICOM form through the image information of CT machine or the collection of MRI scanner unit, this image inputed in the planing method that the present invention proposes just can realize the related data adjustment of Eulerian angles model, thereby obtain the planning of best operation pathway.

In the present invention, the some Pm of Eulerian angles mode parameter information from m tension fault picture satisfies relational expression to the path planning variation of a Qm $\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\frac{\tan \mathrm{\γ}}{{\tan \mathrm{\γ}}_0}& 0& 0& 0\\ 0& \frac{\tan \mathrm{\γ}}{\tan {\mathrm{\γ}}_0}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right],$ Then constitute the operative space environment of a conical structure model, in the formula,

1, O represents constant,

Tx represents the X coordinate of focus point T in the DICOM coordinate system,

Ty represents the Y coordinate of focus point T in the DICOM coordinate system,

Tz represents the Z coordinate of focus point T in the DICOM coordinate system,

Tan γ represents adjusted coning angle,

Tan γ ₀Coning angle before expression is adjusted,

-Tx represents the inverse value of focus point T X coordinate in the DICOM coordinate system,

-Ty represents the inverse value of focus point T Y coordinate in the DICOM coordinate system,

-Tz represents the inverse value of focus point T Z coordinate in the DICOM coordinate system.

The operation pathway adjustment of Eulerian angles mode be by adjust with focus point T (target) be the center, ray TP and the formed Eulerian angles of three coordinate axess (three-dimensional coordinate XYZ) of putting P (piercing) direction to feed from focus point T adjust feed path (as shown in Figure 2).Among the figure: focus point T is respectively α, β, γ to feed point P this ray TP and three formed Eulerian angles of axle of operative space coordinate XYZ, and following relation is then arranged:

Cos ²α+cos ²β+cos ²γ=1 (1) is under the condition that does not limit ray TP length, determine two Eulerian angles (as β angle and γ angle) arbitrarily, calculate the angle number of Eulerian angles α by formula (1), Zheng Ti angular region position just can be determined by ray TP like this.

In the present invention, in order to select best feed point P to avoid the selected optimal path of human body vital tissue, to resulting Eulerian angles α, β, γ, the feed point before and after the variation that obtains Eulerian angles γ angle at the variation of conical form comes at a high speed in two images and the relation of focus point are (referring to shown in Figure 3, last tension fault picture is defined as m and opens, and back one tension fault picture is defined as n and opens).

(1) adjusts Eulerian angles γ angle, determine cone shape

If any angle of a given Eulerian angles γ, can determine one by the feed route round with focus point T summit, be a space conical surface of method arrow with the z direction of principal axis.This curved surface is robot may the inswept scope of feed route.And this circular cone hands over a conic section mutually with middle each aspect of passing.Adjustment is the center with focus point T, become the size of Eulerian angles γ with the z axle to the ray OP of feed point P direction from focus point, in the present invention, is 0 °～90 ° from a Pm to the Eulerian angles γ that a Qm planning operation forms, just can realize adjustment to this cone shape, as shown in Figure 3, on the image of three-dimensional reconstruction, just can see this cone shape.And owing to the adjustment of Eulerian angles γ, feed point P also can straight line QmPm in the selected just now unilateral upper edge of a tension fault figure and move just now, and this feed route passes the point of puncture of aspect also in continuous variation in the centre accordingly.Along with the angle variation of Eulerian angles γ, cone shape changes, and feed point P changes to a Qm from a PM, and its transformation matrix of coordinates is

$\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\frac{\tan {\mathrm{\χ}}^{\′}}{\tan \mathrm{\χ}}& 0& 0& 0\\ 0& \frac{\tan {\mathrm{\χ}}^{\′}}{\tan \mathrm{\χ}}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]---\left(2\right)$

This matrix notation the point Pm from m tension fault picture obtain the operative space environmental process that constitutes a conical structure model to the path planning of a Qm from the mathematical operation of translation, rotation, translation again.

As shown in Figure 3, after adjusted Eulerian angles γ angle is determined, the conical structure model has also just been determined, feed point P forms a circular arc around the z axle, takes to adjust counterclockwise this arc radius OmRm and Ym axle form between the some Rm of feed point P to the z axle on this circular arc angular dimension and can constitute and put in order the feed path of performing the operation under the three dimensions state.

In the present invention, the coordinate projection component of the operative space environment of conical structure model is that surgery planning central point adjustment point Pm satisfies relational expression to some Rm projection variation with center of circle Om

$\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& -\sin \left({\mathrm{\δ}-\mathrm{\δ}}_0\right)& 0& 0\\ \sin (\mathrm{\δ}-{\mathrm{\δ}}_0)& \cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]---\left(3\right)$

In the formula, cos (δ-δ ₀) be illustrated in the projection components of difference at the X coordinate, sin (δ-δ ₀) be illustrated in the projection components of Y coordinate.By existing feed point P and focus point T, can determine the initial value δ of projection components δ by the sign of the sine in the XmOmYm coordinate system and cosine value and value thereof ₀Simultaneously, the 3-D view space operation pathway that constitutes according to the stack of several tomography pictures is the bar space line, this space line, must pass the aspect between focus point and the feed point, and and these aspects corresponding intersection point is arranged, above this moment the circular cone introduced then the projection in the two dimensional image section of a certain aspect and the feed point the envisioned point that passes this layer all on plane picture, show.Adjust the size that Eulerian angles γ can adjust the projection annulus this moment, can allow point of puncture move along the projection annulus and adjust feed point P to the angle of this arc radius between the z axle.

In the present invention, three-dimensionalreconstruction is will the DICOM volume data information of display unit input be carried out three dimensional display.Be in order further image information better to be shown to doctor's path planning that undergos surgery.

In the present invention, a DICOM tomography picture is called a two dimensional image space, be called a 3-D view space after the stack of DICOM tomography picture more than two, the distance in the 3-D view space between each tension fault picture has just been represented the coordinate on the Z axle.

The present invention analyzes on the basis of department of cerebral surgery directional operation robot system to the requirement of scalpel feed path, has studied the two and three dimensions surgery planning, has proposed the planning way based on the celebral operating robot directional operation of Eulerian angles conversion.On the basis in labor operation feed path, provided specific implementation process based on the celebral operating robot system surgery planning of DICOM medical image.

Claims (7)

1, a kind of constrained operation planing method of the pre-demonstration puncture track based on medical image, it is characterized in that: be by one the three-dimensional puncture track display device of handling of planning to be carried out in the track operation of puncturing to finish, described puncture track display device is made up of display unit, surgery planning unit and 3-D view reconfiguration unit;

Described display unit receives the medical image of several DICOM forms of being gathered by armarium, and the medical image of DICOM form is converted to traffic flow information is transferred to surgery planning unit and 3-D view reconfiguration unit;

The described traffic flow information that receives is carried out the processing of DICOM view data in described surgery planning unit and the operative space coordinate data is handled, and both are handled Eulerian angles mode parameter information that the back obtains carry out the operation pathway adjustment of puncturing of the best of feed point P and focus point T, and the coordinate of adjusted feed point P initial position is exported to the 3-D view reconfiguration unit;

Wherein, the some Pm of Eulerian angles mode parameter information from m tension fault picture satisfies relational expression to the path planning variation of a Qm $\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\frac{\tan \mathrm{\γ}}{{\tan \mathrm{\γ}}_0}& 0& 0& 0\\ 0& \frac{\tan \mathrm{\γ}}{{\tan \mathrm{\γ}}_0}& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right],$ Then constitute a conical structure

The operative space environment of model, in the formula,

1, O represents constant,

Tx represents the X coordinate of focus point T in the DICOM coordinate system,

Ty represents the Y coordinate of focus point T in the DICOM coordinate system,

Tz represents the Z coordinate of focus point T in the DICOM coordinate system,

Tan γ represents adjusted coning angle,

Tan γ ₀Coning angle before expression is adjusted,

-Tx represents the inverse value of focus point T X coordinate in the DICOM coordinate system,

-Ty represents the inverse value of focus point T Y coordinate in the DICOM coordinate system,

-Tz represents the inverse value of focus point T Z coordinate in the DICOM coordinate system;

Described 3-D view reconfiguration unit carries out exporting after the parameter combinations control information to the operation of puncturing of operating robot equipment to the coordinate of the described traffic flow information that receives and described initial position point.

2, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1, it is characterized in that: is 0 °～90 ° from a Pm to the Eulerian angles γ that a Qm planning operation forms.

3, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1, it is characterized in that: the armarium of gathering the medical image of DICOM form is CT machine or MRI scanner unit.

4, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1, it is characterized in that: the DICOM medical image data converted stream information form of described display unit output is the bitmap format that has DICOM layer data spatial information.

5, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1, it is characterized in that: the coordinate projection component of the operative space environment of conical structure model is that surgery planning central point adjustment point Pm satisfies relational expression to putting Rm projection variation with center of circle Om

$\left[\begin{array}{cccc}1& 0& 0& \mathrm{Tx}\\ 0& 1& 0& \mathrm{Ty}\\ 0& 0& 1& \mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}\cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& -\sin (\mathrm{\δ}-{\mathrm{\δ}}_0)& 0& 0\\ \sin (\mathrm{\δ}-{\mathrm{\δ}}_0)& \cos (\mathrm{\δ}-{\mathrm{\δ}}_0)& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]\×\left[\begin{array}{cccc}1& 0& 0& -\mathrm{Tx}\\ 0& 1& 0& -\mathrm{Ty}\\ 0& 0& 1& -\mathrm{Tz}\\ 0& 0& 0& 1\end{array}\right],$ In the formula,

Cos (δ-δ ₀) be illustrated in the projection components of difference at the X coordinate,

Sin (δ-δ ₀) be illustrated in the projection components of Y coordinate.

6, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1, it is characterized in that: the DICOM volume data information to the display unit input of described 3-D view reconfiguration unit realizes that 3-D view shows.

7, the constrained operation regulation method of the pre-demonstration puncture track based on medical image as claimed in claim 1 is characterized in that: be based in the surgery directional operation robot system operation regulation method to scalpel feed path.

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