JP2001070248A - Image processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display the distance from the tip of a biopsy needle to an internal organ, etc., in front of the needle to be more easily grasped in an image processing device for preparing and displaying operation assisting data for the biopsy needle. SOLUTION: This image processing device produces an endoscopic three- dimensional image from a view point behind the tip of a biopsy needle by a prescribed length as operation assisting data for the biopsy needle by an endoscopic image producing part 21 based on the volume data on a subject part, superimposes a graphic model of the needle produced by a needle graphic model producing part 16, and displays the image.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention creates and displays information that assists in inserting a needle into a subject for biopsy (biopsy) such as collecting a tissue sample. The present invention relates to an image processing device.

[0002]

2. Description of the Related Art Careful work is required for inserting a biopsy needle into a subject so as not to damage surrounding organs and blood vessels. In order to support this work, computer-based image processing technology is currently applied. A fly-through display method is a display method of a three-dimensional image (3D image). This fly-through display method is based on three-dimensional data (volume data) in the body collected in advance by an X-ray computed tomography apparatus (CT scanner), a magnetic resonance imaging apparatus (MRI), etc. Is extracted, a viewpoint is set inside the extracted part, and a three-dimensional image as if viewed with an endoscope is created and displayed.

[0003] In order to apply this fly-through display method to the support of a biopsy operation, the viewpoint of the three-dimensional image must be changed to obtain a three-dimensional image (endoscopic image) looking forward from the needle tip. The main improvements are to measure the direction and position of the needle so that the image changes in real time following the movement of the needle as it moves, and then take it and reflect it in the 3D image creation process. Part. Further, as an additional function, a useful function peculiar to biopsy, such as a collision determination function of determining before the needle collides with an organ wall or the like and issuing an alarm such as an alarm, has been developed and incorporated.

However, such improvements and additions alone are
Its effectiveness and practicality are far from high. The biggest reason is that this is true not only for fly-through but also for all three-dimensional image display technologies. However, since the depth (depth) is expressed only in light and shade, the sense of distance, especially needle It is very difficult to grasp the distance from the tip of the needle to the organ in front of it.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to provide an image processing apparatus for creating and displaying operation assisting information for a biopsy needle, in which the sense of distance from the tip of the biopsy needle to an organ or the like in front thereof can be more clearly understood. It is to provide easily.

[0006]

(1) An image processing apparatus according to the present invention provides, as operation assisting information for a biopsy needle, an endoscopic 3D image viewed from a viewpoint at a predetermined distance behind the distal end position of the needle. It is characterized in that a dimensional image is created from volume data relating to the target part, and a graphic model of the needle is superimposed and displayed.

(2) The present invention relates to the apparatus of (1),
A side image of the target site viewed from the lateral direction of the needle is created from the volume data, and a graphic model of the needle is superimposed and displayed at the same time as the three-dimensional image.

(3) The present invention relates to the device of (1),
An outer shape image representing the outer shape of the target site is created from the volume data, and a graphic model of the needle is superimposed and displayed simultaneously with the three-dimensional image.

(4) The image processing apparatus according to the present invention is an image processing apparatus for creating an endoscopic three-dimensional image from volume data relating to a target site as operation support information for a biopsy needle. Can be selected between the distal end position of the needle and a position behind the distal end position by a predetermined distance, and when the viewpoint of the three-dimensional image is selected at a position behind the distal end position of the needle by a predetermined distance. A three-dimensional image is displayed together with the graphic model of the needle.

(5) The image processing apparatus according to the present invention creates a side image of the target site viewed from the lateral direction of the needle from volume data relating to the target site as operation support information for the biopsy needle, It is characterized by being displayed together with a graphic model.

(6) The image processing apparatus according to the present invention creates an outer shape image representing the outer shape of the target portion from volume data relating to the target portion as operation support information for the biopsy needle, and displays the image together with the graphic model of the needle. It is characterized by the following.

(7) The image processing apparatus according to the present invention comprises: means for storing volume data relating to a target site; means for detecting the position and orientation of the biopsy needle; and the biopsy needle based on the position and orientation of the biopsy needle. Means for creating an endoscopic three-dimensional image from a viewpoint at a position behind the distal end of the needle by a predetermined distance from the volume data, and a graphic of the biopsy needle based on the position and orientation of the biopsy needle Means for creating a model, means for aligning and synthesizing the graphic model of the biopsy needle with the endoscopic three-dimensional image, and endoscopic three-dimensional art in which the graphic model of the biopsy needle is synthesized Means for displaying an image.

(8) The image processing apparatus according to the present invention includes means for storing volume data relating to a target site, means for detecting the position and orientation of the biopsy needle, and the biopsy needle based on the position and orientation of the biopsy needle. Means for creating, from the volume data, an endoscopic three-dimensional image viewed from the viewpoint of the tip position of the needle and the viewpoint at a position behind the tip position by a predetermined distance, and changing the viewpoint of the volume data to the tip location and,
Means for selectively specifying from a position behind the tip position by a predetermined distance, and when a viewpoint at a position behind the tip position by a predetermined distance is specified, based on the position and orientation of the biopsy needle, Means for creating a graphic model of the biopsy needle, and synthesizing the graphic model of the biopsy needle by aligning the graphic model of the biopsy needle with the endoscopic three-dimensional image when a viewpoint at a position behind the tip position by a predetermined distance is designated. And the endoscope-like 3 when the viewpoint of the tip position is designated.
Means for displaying a three-dimensional image and displaying an endoscopic three-dimensional image in which a graphic model of the biopsy needle is synthesized when a viewpoint at a position behind the tip position by a predetermined distance is designated. It is characterized by.

(9) The image processing apparatus according to the present invention includes means for storing volume data relating to a target site, means for detecting the position and orientation of the biopsy needle, and the biopsy needle based on the position and orientation of the biopsy needle. The side view from the side of the needle
Means for creating from the volume data, means for creating a graphic model of the biopsy needle viewed from the lateral direction based on the position and orientation of the biopsy needle, and aligning the graphic model of the biopsy needle with the side image And a means for displaying a side image combined with the graphic model of the biopsy needle.

(10) An image processing apparatus according to the present invention comprises: means for storing volume data relating to a target site; means for detecting the position and orientation of a biopsy needle;
Means for creating an outer shape image representing the outer shape of the target site from the volume data, means for creating a graphic model of the biopsy needle based on the position and orientation of the biopsy needle, and position and orientation of the biopsy needle And a means for aligning the graphic model of the biopsy needle with the outline image and synthesizing the graphic model, and a means for displaying an outline image obtained by synthesizing the graphic model of the biopsy needle.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The preferred embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of the image processing apparatus of the present embodiment. The image processing apparatus 10 includes a display unit 11 and a needle position sensor 26 for detecting positions at a plurality of positions behind the biopsy needle, centering on the computer main body 19.
And are connected. Input devices such as a mouse 12 and a keyboard 13 are connected to the computer main body 19 via an input interface 14. Further, an X-ray computed tomography apparatus (CT scanner) and a magnetic resonance imaging apparatus (M
A storage unit 25 for storing multi-slice image data collected by, for example, RI) is connected via the storage interface 15.

The computer main body 19 mainly includes a system control unit 24, and in addition to the input interface 14 and the storage interface 15 described above, three types of images (endoscopic image, external image, and side image) which will be described later.
Needle graphic model creation unit 16 for creating each needle graphic model, color information storage unit 17 for storing color information on various objects such as a color palette for coloring on an object to be displayed or a base thereof, and storage unit 25 A volume data creating unit 18 that extracts a target region from the stored multi-slice image data and creates three-dimensional data (volume data). A needle tip / orientation calculation unit 20 for calculating the position and its orientation is connected.

Further, based on the volume data of the target part created by the volume data creating unit 18, the system control unit 24 of the computer main body 19 stores a three-dimensional image (endoscope-like image) that can be seen with an endoscope. Image), an outline image in which the planar shape of the entire target region is expressed, and an endoscopic image generation unit 21, an outline image generation unit 22, which creates a side image of the target region viewed from the lateral direction of the needle. The image creation unit 23 is connected.

The image creation processing functions of the endoscope image creation unit 21, the outer shape image creation unit 22, and the side image creation unit 23 will be described below together with the operation procedure according to the flowchart of FIG. It is assumed that the target region is extracted by binarization processing from the multi-slice image data stored in the storage unit 25 by the volume data generation unit 18 and volume data of the region is generated (S
1). Next, the position of the needle tip and the direction of the axis thereof are calculated by the needle tip / direction calculation unit 20 from, for example, two positions on the rear part of the needle detected by the needle position sensor 26 (S2). In accordance with the position and orientation of the needle tip calculated by the needle tip / orientation calculation unit 20, based on the volume data, an endoscopic image creation unit 21 allows an endoscopic three-dimensional image to be viewed with an endoscope. At this time, the surgeon sets the viewpoint of the three-dimensional image to a needle tip position PVf and a predetermined distance from the tip position PVf or an input device such as a mouse 12 as shown in FIG. One of the two positions can be selected from the position PVr and the rear position PVr by a distance arbitrarily designated through the operation (S3).

When the tip position PVf is selected as the viewpoint, the endoscopic image creating unit 21 sets the needle axis to the line-of-sight direction from the needle tip position PVf calculated by the needle tip / direction calculation unit 20 and further designates it. The color information is read from the color information storage unit 17 and sent to the endoscopic image generation unit 21 to create endoscopic image data (S4).

On the other hand, when the rear position PVr is selected as the viewpoint, the endoscopic image creating unit 21 calculates the needle tip position P calculated by the needle tip / direction calculation unit 20.
A rear position PVr behind the predetermined distance along the needle axis from Vf is calculated (S5), and the calculated rear position PV is calculated.
From r, the needle axis is set as the line-of-sight direction, and the designated color information is read from the color information storage unit 17 and sent to the endoscopic image generation unit 21 to create endoscopic image data (S6).

When the viewpoint is located behind the tip of the needle as described above, the portion from the tip of the needle to the viewpoint PVr enters the conical field of view FVr. This viewpoint PV
A three-dimensional graphic model of the needle portion seen from r is created by the needle graphic model creating unit 16 and is synthesized by the endoscopic image creating unit 21 into an endoscopic image.

Further, in the outer shape image creating section 22, an outer shape image displaying the entire target portion is created based on the volume data in accordance with the position and orientation of the needle tip calculated by the needle tip / orientation calculating section 20, further,
Needle graphic model creation unit 16
The graphic model of the needle corresponding to the outer shape image created in step is synthesized.

Further, in accordance with the position and orientation of the needle tip calculated by the needle tip / orientation calculation unit 20, the side image creating unit 23 generates a side image as if the target site was viewed from right beside the needle, by volume data. The needle graphic model corresponding to the side image created by the needle graphic model creating unit 16 is synthesized with the side image.
In addition, in addition to the needle graphic model, a scale model (measurement image) may be combined with the side image and displayed. In this case, the distance from the tip of the needle to a portion in front of the needle model is quantitatively determined. It becomes easy to grasp.

The endoscopic image 100 of the front viewpoint or the rear viewpoint created by the endoscopic image creating unit 21 in this manner is
As shown in FIG. 4, the outline image 200 created by the outline image creation unit 22 and the side image 300 created by the side image creation unit 23 are simultaneously displayed on the screen of the display unit 11 (S9).

During this display, when the viewpoint position is switched from the tip to the rear or from the back to the tip (S1).
0), returning to step S4 or S5, an endoscopic image corresponding to the switched viewpoint is created, and is switched from the endoscopic image corresponding to the viewpoint before switching and displayed. When the needle is moved by the operator (S1
1) Returning to step S2, the above three types of images are created and displayed according to the position after the movement. Thus, the three kinds of images always change following the movement of the needle.

As described above, according to the present embodiment, an endoscopic image is created according to the viewpoint set at a position behind the tip of the needle, and the endoscope is created together with the graphic model near the tip of the needle to be seen from that viewpoint. Since the target image is displayed, it is possible to compare the organ or the like and the tip of the needle on the image at the same time, and to grasp the sense of distance from the needle tip of the needle to the organ or the like in front thereof. In addition, since a side image of the target site viewed from the side of the needle is created and displayed together with the graphic model of the needle, the distance from the needle tip of the needle to an organ or the like in front thereof can be directly understood. . Furthermore, since an outline image representing the outline of the target site is displayed together with the graphic model of the needle, not only the distance from the needle tip of the needle to the organ or the like in front of it, but also the position of the needle within the entire target site You can understand exactly what orientation you are in.

The present invention is not limited to the embodiments described above, but can be implemented with various modifications. For example, the above three types of images may be displayed simultaneously,
The display may be largely switched one by one over the entire screen.

[0029]

According to the present invention, an endoscopic three-dimensional image viewed from the viewpoint at a position behind the distal end of the needle by a predetermined distance is displayed together with a graphic model near the distal end of the needle to be viewed from that viewpoint. Therefore, the organ and the like and the tip of the needle can be compared on the image at the same time, which makes it easier to understand the sense of distance from the tip of the biopsy needle to the organ and the like in front thereof.

Further, since a side image of the target portion viewed from the side of the needle is displayed together with the graphic model of the needle, the distance from the tip of the biopsy needle to the organ or the like in front thereof can be directly understood. can do.

Further, since the outer shape image representing the outer shape of the target site is displayed together with the graphic model of the needle, not only the distance from the tip of the biopsy needle to the organ or the like in front thereof, but also the position of the biopsy needle with respect to the target site. Can understand the position and orientation.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an image processing apparatus according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an operation procedure of the embodiment.

FIG. 3 is a diagram showing, as an example, a bronchus of a visual field of a needle tip viewpoint and a rear viewpoint that can be selected by the endoscopic image creating unit of FIG. 1;

FIG. 4 is a diagram showing a display screen according to the present embodiment by taking a bronchus as an example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Image processing apparatus, 11 ... Display part, 12 ... Mouse, 13 ... Keyboard, 14 ... Input interface, 15 ... Storage interface, 16 ... Needle graphic model creation part, 17 ... Color information storage part, 18 ... Volume data creation part , 19 ... computer body part, 20 ... needle tip / direction calculation unit, 21 ... endoscopic image creation unit, 22 ... outside image creation unit, 23 ... side image creation unit, 24 ... system control unit, 25 ... storage unit , 26 ... Needle position sensor.

Claims (10)

[Claims] 1. An endoscopic three-dimensional image viewed from a viewpoint at a position a predetermined distance behind a distal end position of the needle is created from volume data relating to a target site as operation assistance information of the biopsy needle, An image processing apparatus characterized by superimposing and displaying the graphic model. 2. A side view image of the target part viewed from a lateral direction of the needle is created from the volume data, and a graphic model of the needle is superimposed and displayed simultaneously with the three-dimensional image. The image processing device according to claim 1. 3. The three-dimensional image is displayed simultaneously with the three-dimensional image by creating a contour image representing the contour of the target part from the volume data, superimposing a graphic model of the needle. Image processing device. 4. An image processing apparatus for creating an endoscopic three-dimensional image from volume data relating to a target region as operation assistance information of a biopsy needle, wherein the viewpoint of the three-dimensional image is determined by a tip position of the needle and a tip thereof. The position is selectable from a position behind a predetermined distance from the position, and when the viewpoint of the three-dimensional image is selected to a position after a predetermined distance from the tip position of the needle, the three-dimensional image is displayed as a graphic model of the needle. And an image processing device for displaying the image. 5. As a biopsy needle operation support information, a side image of the target site viewed from a lateral direction of the needle is created from volume data relating to the target site, and is displayed together with a graphic model of the needle. Image processing device. 6. An image processing apparatus according to claim 1, wherein, as operation assistance information for the biopsy needle, an outer shape image representing the outer shape of the target site is created from volume data on the target site, and displayed together with a graphic model of the needle. 7. A means for storing volume data relating to a target site, a means for detecting the position and orientation of a biopsy needle, and
Means for creating an endoscopic three-dimensional image viewed from the viewpoint at a position behind the tip of the biopsy needle by a predetermined distance from the volume data, based on the position and orientation of the biopsy needle,
Means for creating a graphic model of the biopsy needle; means for aligning and synthesizing the graphic model of the biopsy needle with the endoscopic three-dimensional image; and an endoscope in which the graphic model of the biopsy needle is synthesized. Means for displaying a mirror-like three-dimensional image. 8. A means for storing volume data relating to a target site; a means for detecting the position and orientation of the biopsy needle; and
Means for creating, from the volume data, an endoscopic three-dimensional image viewed from the viewpoint of the tip position of the biopsy needle and a viewpoint located at a predetermined distance behind the tip position, Means for selectively designating the tip position and a position behind the tip position by a predetermined distance, and when a viewpoint at a position behind the tip position by a predetermined distance is designated, the position and orientation of the biopsy needle Means for creating a graphic model of the biopsy needle on the basis of, when a viewpoint at a position behind the tip position by a predetermined distance is specified, the graphic model of the biopsy needle is displayed on the endoscopic three-dimensional image. Means for synthesizing the position, and displaying the endoscopic three-dimensional image when a viewpoint of the tip position is designated. Means for displaying an endoscopic three-dimensional image in which a graphic model of the biopsy needle is synthesized when a viewpoint at a position behind the tip position by a predetermined distance is designated. Image processing device. 9. means for storing volume data relating to a target site; means for detecting the position and orientation of the biopsy needle; and based on the position and orientation of the biopsy needle.
Means for creating a side image of the biopsy needle from the lateral direction from the volume data, based on the position and orientation of the biopsy needle,
Means for creating a graphic model of the biopsy needle viewed from the lateral direction; means for aligning and synthesizing the graphic model of the biopsy needle with the side image; synthesizing the side image on which the graphic model of the biopsy needle is synthesized An image processing apparatus comprising: a display unit. 10. A means for storing volume data relating to a target part, a means for detecting the position and orientation of a biopsy needle, a means for creating a contour image representing the contour of the target part from the volume data, Based on the position and orientation of the needle,
Means for creating a graphic model of the biopsy needle, based on the position and orientation of the biopsy needle,
An image processing apparatus, comprising: means for aligning and synthesizing the graphic model of the biopsy needle with the outline image, and displaying the outline image in which the graphic model of the biopsy needle is synthesized.