JP2007083048A - 管状臓器の3次元表現決定方法及びシステム - Google Patents
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Abstract
【解決手段】管状臓器の3次元表現を決定する方法であり、この方法は、3次元医用測位システム(MPS)座標系を2次元座標系とレジストレーションするステップと、前記管状臓器内でMPS座標系と関連する複数のMPS点を各別の臓器タイミング信号出力とともに収集するステップと、2次元座標系と関連する前記管状臓器の少なくとも1つの2次元画像を、少なくとも1つのパースペクティブ角度から、各別の臓器タイミング信号出力とともに収集するステップと、前記MPS点の各々を、その臓器タイミング信号に基づいて、前記少なくとも1つの2次元画像と関連させるステップと、各MPS点について、各別の2次元画像内で識別可能な前記管状臓器の一部分の一時的3次元表現を決定するステップとを具える。
【選択図】図1
Description
本発明は、管状組織の3次元(3D)表現を決定する新規な方法及びシステムを提供することにより従来の欠点を克服する。管状臓器内でMPSセンサの位置を表す複数の医用測位システム(MPS)点を収集する。MPSセンサはカテーテルに取り付けられ、3次元(3D)MPS座標系と関連する。このカテーテルは誘導測定カテーテル(GMC)、診断用カテーテル(例えば超音波撮像カテーテル)又は治療用カテーテル(例えばステント留置用カテーテル又は切除用カテーテル)とすることができる。更に、コントラスト色素を管状臓器内に注入し、この管状臓器の、少なくとも1つのパースペクティブ角度からの少なくとも1つの2次元(2D)画像(例えばX線画像、磁気共鳴画像、陽電子放射断層画像又は超音波画像)を収集する。2D画像は2次元(2D)座標系と関連する。コントラスト色素は画像内の管状臓器を強調する。2D座標系を3DMPS座標系に(例えば光−磁気キャリブレーション法により)登録する。MPS点を収集した後、管状臓器の3D表現を決定し表示する。
104 テーブル
106 カテーテル
108 カテーテル先端
110,112,114 MPS送信機
116 撮像用放射検出器
118 医用画像システム
120 撮像用放射送信機
122 表示装置
124 臓器タイミング信号検出器
124 医用測位システム(MPS)
128 プロセッサ
132 管状臓器の3次元表現
134 管状臓器
152 中心線
154,156,158 MPS点
160,162、166,168 境界点
164,170 円
172 輪郭
Claims (34)
- 管状臓器の3次元表現を決定する方法であって、
3次元医用測位システム(MPS)座標系を2次元座標系とレジストレーションするステップと、
前記管状臓器内でMPS座標系と関連する複数のMPS点を各別の臓器タイミング信号出力とともに収集するステップと、
2次元座標系と関連する前記管状臓器の少なくとも1つの2次元画像を、少なくとも1つのパースペクティブ角度から、各別の臓器タイミング信号出力とともに収集するステップと、
前記MPS点の各々を、その臓器タイミング信号に基づいて、前記少なくとも1つの2次元画像と関連させるステップと、
各MPS点に対して前記管状臓器の一部分の一時的3次元表現を決定するステップと、
を具えることを特徴とする管状臓器の3次元表現決定方法。 - 前記少なくとも1つの2次元画像の収集前に前記管状臓器内に色素を注入することを特徴とする請求項1記載の方法。
- 前記3次元表現を2次元画像上に重畳することを特徴とする請求項1記載の方法。
- 前記2次元画像はリアルタイム2次元画像であり、前記リアルタイム2次元画像は臓器タイミング信号出力と関連することを特徴とする請求項3記載の方法。
- 前記2次元画像は前記少なくとも1つの2次元画像の1つであることを特徴とする請求項3記載の方法。
- 前記2次元画像のパースペクティブは、前記3次元表現の前記2次元画像平面上への重畳により生ずる短縮化現象が最小となるように選択することを特徴とする請求項3記載の方法。
- 前記3次元表現の2次元画像への重畳投影は、前記リアルタイム2次元画像を収集する前に、色素注入の代わりに、仮想の色素として作用することを特徴とする請求項3記載の方法。
- 前記複数のMPS点は、MPSセンサ付きのカテーテルを前記管状臓器内に挿入することにより収集することを特徴とする請求項1記載の方法。
- 前記臓器タイミング信号は心電図信号であることを特徴とする請求項1記載の方法。
- 前記心電図信号を前記複数のMPS点からフィルタ処理により得ることを特徴とする請求項9記載の方法。
- 前記少なくとも1つの2次元画像は、
X線画像;
磁気共鳴画像;
陽電子放射断層画像
超音波画像;
からなる群から選ばれる1つのタイプのものであることを特徴とする請求項1記載の方法。 - 前記管状臓器の一部分の3次元表現は、前記MPS点と、前記少なくとも1つの2次元画像上で識別可能な前記管状臓器の境界とから決定することを特徴とする請求項1記載の方法。
- 前記管状臓器の一部分の3次元表現を決定するステップは、
前記管状臓器を含む少なくとも1つの2次元画像を選択するサブステップと、
前記MPS点を前記選択した2次元画像と関連させることにより決定された前記カテーテルの軌道を前記選択した2次元画像上に投影し、前記管状臓器の中心線を特定するサブステップと、
前記選択した2次元画像上で管状臓器の境界点を決定するサブステップと、
前記MPS点の各々の周囲に、前記選択した2次元画像と関連する3次元閉曲線を生成するサブステップと、
を具えることを特徴とする請求項1記載の方法。 - 前記境界点は前記特定した中心線と画像処理技術に従って検出することを特徴とする請求項13記載の方法。
- 前記3次元軌道を前記2次元画像上に投影する際、前記管状臓器の真の長さ評価を与えるために前記3次元軌道上に複数の等間隔のマーカ点を決定することにより、前記短縮化現象のカテーテルシステム評価を与えることを特徴とする請求項13記載の方法。
- 前記マーカは前記短縮化現象のレベルに応じて彩色することを特徴とする請求項15記載の方法。
- 前記マーカの間隔は1ミリメートルであることを特徴とする請求項13記載の方法。
- 管状臓器の3次元表現を決定する装置であって、
前記臓器の活動状態を表す臓器タイミング信号出力を収集する臓器タイミング信号検出器と、
2次元座標系と関連する医用画像システムであって、少なくとも1つのパースペクティブ角度から少なくとも1つの2次元画像を、各別の臓器タイミング信号出力と関連して、収集する医用画像システムと、
前記臓器タイミング信号検出器と結合された3次元MPS座標系と関連する医用測位システム(MPS)であって、複数のMPS点を各別の臓器タイミング信号出力と関連して収集する医用測位システムと、
前記医用測位システムと、前記臓器タイミング信号検出器と、前記医用画像システムとに結合され、前記3次元MPS座標系を前記2次元座標系とレジストレーションし、臓器タイミング信号出力を前記MPS点の各々及び前記少なくとも1つの2次元画像の各々と点の各々と関連させ、前記管状臓器の3次元表現を決定するプロセッサと、
を具えることを特徴とする管状臓器の3次元表現決定システム。 - 前記少なくとも1つの2次元画像の収集前に前記管状臓器内に色素を注入することを特徴とする請求項18記載のシステム。
- 前記3次元表現を表示する表示装置を更に具えることを特徴とする請求項18記載のシステム。
- 前記プロセッサは、前記3次元表現をリアルタイム2次元画像上に重畳するよう動作し、前記2次元画像は臓器タイミング信号出力と関連することを特徴とする請求項18記載のシステム。
- 前記表示装置は、2次元画像に重畳された前記3次元表現を表示するよう動作することを特徴とする請求項20記載のシステム。
- 前記2次元画像はリアルタイム2次元画像であることを特徴とする請求項22記載のシステム。
- 前記3次元表現の2次元画像への重畳投影は、前記リアルタイム2次元画像を収集する前に、色素注入の代わりに、仮想の色素として作用することを特徴とする請求項20記載のシステム。
- 前記プロセッサは、更に、前記2次元画像のパースペクティブを、前記3次元表現の前記2次元画像平面上への重畳により生ずる短縮化現象が最小となるように選択するよう動作することを特徴とする請求項22記載のシステム。
- 前記臓器アイミング信号は心電図信号であることを特徴とする請求項18記載のシステム。
- 前記プロセッサは、更に、前記心電図信号を前記複数のMPS点からフィルタ処理により得るよう動作することを特徴とする請求項9記載の方法。
- 前記少なくとも1つの2次元画像は、
X線画像;
磁気共鳴画像;
陽電子放射断層画像
超音波画像;
からなる群から選ばれる1つのタイプのものであることを特徴とする請求項18記載のシステム。 - 前記プロセッサは、更に、前記3次元表現を、前記MPS点と、前記少なくとも1つの2次元画像上で識別可能な前記管状臓器の境界とから決定するよう動作することを特徴とする請求項18記載のシステム。
- 前記プロセッサは、
前記管状臓器を含む少なくとも1つの2次元画像を選択し、
前記MPS点を前記選択した2次元画像と関連させることにより決定された前記カテーテルの軌道を前記選択した2次元画像上に投影し、前記管状臓器の中心線を特定し、
前記選択した2次元画像上で管状臓器の境界点を決定し、
前記MPS点の各々の周囲に、前記選択した2次元画像と関連する3次元閉曲線を生成することによって、
前記3次元表現を決定するよう動作することを特徴とする請求項18記載のシステム。 - 前記プロセッサは、更に、前記境界点を前記特定した中心線と画像処理技術により検出するよう動作することを特徴とする請求項30記載のシステム。
- 前記プロセッサは、更に、前記3次元軌道を前記2次元画像上に投影する際、前記3次元軌道上に複数の等間隔のマーカ点を決定して、前記管状臓器の真の長さの可視評価を与えるよう動作することを特徴とする請求項30記載のシステム。
- 前記マーカを前記短縮化現象のレベルに応じて彩色することを特徴とする請求項32記載のシステム。
- 前記マーカの間隔は1ミリメートルであることを特徴とする請求項32記載のシステム。
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US11/233,948 US7840252B2 (en) | 1999-05-18 | 2005-09-23 | Method and system for determining a three dimensional representation of a tubular organ |
US11/233,948 | 2005-09-23 |
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EP (1) | EP1768068B1 (ja) |
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Cited By (10)
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JP2009082468A (ja) * | 2007-09-28 | 2009-04-23 | Toshiba Corp | 画像表示装置及びx線診断治療装置 |
JP2009106502A (ja) * | 2007-10-30 | 2009-05-21 | Toshiba Corp | カテーテル挿入案内システムおよび該システムを組み込んだ医用画像診断装置 |
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JP7216655B2 (ja) | 2017-03-30 | 2023-02-01 | コーニンクレッカ フィリップス エヌ ヴェ | Oss奥行短縮検出システム |
JP2022500136A (ja) * | 2018-09-14 | 2022-01-04 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 超音波画像内のツールを追跡するためのシステム及び方法 |
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IL177923A0 (en) | 2006-12-31 |
IL177923A (en) | 2011-07-31 |
US7840252B2 (en) | 2010-11-23 |
JP5281740B2 (ja) | 2013-09-04 |
CA2559308A1 (en) | 2007-03-23 |
EP1768068A3 (en) | 2008-05-14 |
US20060064006A1 (en) | 2006-03-23 |
EP1768068A2 (en) | 2007-03-28 |
EP1768068B1 (en) | 2013-04-03 |
CA2559308C (en) | 2014-12-02 |
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