JP2010179024A - Magnetic resonance imaging system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform operating navigation suppressed in the unstableness of an imaging cross section based on the instability (fluctuation) of a three-dimensional position detector. <P>SOLUTION: Utilizing the three-dimensional position detector, a nuclear magnetic resonance imaging system for imaging the optional cross sectional image of a subject while updating it in real time, and an initialization (registration) instrument for defining the positional relation of them, fundamental data necessary for imaging is preliminarily calculated from operating appliance data using the FOV data adapted in MRI and registered in an internal memory, and the imaging cross section is defined in real time from the fundamental data and registration data at the time of update imaging in real time. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a surgical navigation technique using a magnetic resonance imaging (hereinafter referred to as MRI) apparatus.

  An MRI apparatus is an apparatus that measures nuclear magnetic resonance signals (hereinafter referred to as MR signals) from hydrogen, phosphorus, etc. in a subject and visualizes nuclear density distribution, relaxation time distribution, and the like. Currently, the imaging target of MRI apparatuses that are widely used in clinical practice is the main constituent substance of the subject, proton. The MRI apparatus images the form or function of the human head, abdomen, limbs, etc. in a two-dimensional or three-dimensional manner by imaging the spatial distribution of proton density and the spatial distribution of the relaxation phenomenon in the excited state.

  In I-MRI devices (interventional-MRI devices or abbreviated as Intraoperative-MRI devices) used for cardiac imaging using such MRI devices, puncture monitoring during surgery, percutaneous treatment, etc., in real time There is a demand to arbitrarily set a tomographic plane to be imaged.

  As a method for arbitrarily setting the tomographic plane to be imaged, Non-Patent Document 1 displays an MRI image on a graphical user interface (GUI), the operator clicks a button on the screen, and then the tomographic image to be imaged A method for determining the surface is described. Patent Document 1 describes a method using a three-dimensional mouse or the like.

  In these methods, since the operator has to adjust and set the position and orientation of the tomographic plane to be imaged using an input means such as a mouse, the position of the tomographic plane to be imaged more easily as an MRI apparatus It is desirable to be able to adjust and set the orientation. As such a technique, Patent Document 2 and Patent Document 3 propose an MRI apparatus that determines a tomographic plane to be imaged using a tomographic plane indicating device (such as a pointer). Patent Document 3 proposes a method of automatically determining and imaging a tomographic plane instructed using two infrared cameras and a pointer having three reflecting spheres. Further, in Patent Document 4, a light emitting diode is provided on a pointer which is a tomographic plane indicating device, and the position pointed by the operator by the pointer is detected by an infrared camera, or at the tip of an arm provided with a sensor at a joint. A method has been proposed in which a pointer is provided, the position of the pointer is detected based on the angle of the joint of the arm, and the tomographic plane is automatically adjusted based on the detected position. A system that is actually at a practical level is disclosed in Patent Document 5, and many clinical application results have been published at academic societies and the like.

  On the other hand, a surgical navigation system using a surgical instrument position detection device and volume data captured in the past has been put into practical use. This surgical navigation system navigates a surgical operation by displaying a position designated by a pointer or the like with respect to a subject at the time of surgery on a tomographic image having cross sections of three orthogonal planes of the subject including the position. This system is applied to high-precision surgery such as neurosurgery.

  Here, a tomographic image of a subject in such a surgical navigation system is generated in advance by volume data that is three-dimensional data imaged by an MRI apparatus. On the other hand, methods for detecting the position of the pointer required for specifying the position by the pointer include methods such as a mechanical method, an optical method, a magnetic method, and an ultrasonic method. Such surgical navigation technology is proposed in Patent Document 6. Similarly, Patent Documents 7 and 10 propose a technique combining the I-MRI apparatus and the 3D surgical navigation system.

  The correspondence (registration) between the detected pointer position and the position in the volume data is obtained by, for example, fixing the subject marker in the volume by performing imaging while fixing a plurality of subject markers on the subject. This is done by copying and associating the detected position of the pointer at the time of pointing the object marker with the pointer and the object marker position in the three-dimensional data. Such surgical navigation technology is proposed in Patent Document 8, and registration is proposed in Patent Document 9. In addition, a method for attaching / fixing a puncture needle (an example of a surgical instrument) and a pointer has been proposed in Patent Document 5, and since the relationship between the puncture needle and the pointer can be kept the same every time, registration is performed once. After that, it can be used without re-registration for several months.

US Patent No. 5512827 US Pat. No. 5,365,927 US Patent No. 6026315 US Pat. No. 5,365,927 International Publication WO2003-026505 JP 2003-79637 A JP 2003-190117 A JP 2002-35007 A Japanese Unexamined Patent Publication No. 2005-312698 JP 2003-190117 A

Magnetic Resonance in Medicine: Real-time interactive MRI on a conventional scanner; AB.Kerr et al., 38, pp.355-367 (1997)

  The method of taking an image while calculating an arbitrary cross-sectional image in real time by calculating an imaging cross-section from the surgical tool tip position and direction vector obtained with the 3D position detection device is the instability (fluctuation) of the 3D position detection device. The imaging section may become unstable (fluctuate) in proportion. When the imaging cross section fluctuates, the puncture accuracy is reduced from an unstable image at the clinical time.

  Accordingly, an object of the present invention is to perform surgical navigation in an MRI apparatus in which instability of an imaging section based on instability (fluctuation) of a three-dimensional position detection apparatus is suppressed.

  In order to solve the above problems, the MRI apparatus of the present invention follows a position detection unit that detects the position of a surgical instrument inserted into a subject, and the position of the surgical instrument detected by the position detection unit, An imaging section setting unit that sets an imaging section of the subject, an imaging unit that captures an imaging section of the subject set by the imaging section setting unit and obtains an image of the subject, a position detection unit, and an imaging unit A control section that controls the imaging cross-section setting section, and the imaging cross-section setting section calculates the basic cross-section information for each of the plurality of FOVs based on the predetermined position and direction of the surgical instrument, and obtains the basic cross-section information. It is characterized in that an imaging section that follows the position of the surgical instrument is set.

  Specifically, in the initial setting (registration) that defines the positional relationship between the 3D position detection device and the nuclear magnetic resonance imaging device that captures an arbitrary cross-sectional image of the subject while updating it, the surgical tool information The basic section information necessary for imaging is calculated and registered in the internal memory using the FOV information applied in the MRI apparatus, and the imaging section is updated from the basic information and registration information at the time of update imaging.

  According to the MRI apparatus of the present invention, imaging is performed while updating using the basic section information obtained in advance, instead of obtaining the imaging section information each time. As a result, not only the calculation load of the imaging section is reduced but also the imaging section can be updated at high speed. Further, by simplifying the calculation method, it is possible to perform surgical navigation in which the instability of the imaging cross section based on the instability (fluctuation) of the three-dimensional position detection device is suppressed. As a result, the effect of reducing the mental stress of the surgeon who sees the screen can also be expected.

The schematic diagram which defines the apparatus structure which concerns on embodiment of this invention. The flowchart figure which shows embodiment of this invention. The schematic diagram which defines the apparatus coordinate which concerns on embodiment of this invention. The schematic diagram which shows each space axis definition which concerns on embodiment of this invention. The schematic diagram which shows the coordinate integration algorithm which concerns on embodiment of this invention. The schematic diagram which shows the surgical instrument registration method which concerns on embodiment of this invention. The schematic diagram which shows the imaging cross-section definition method which concerns on embodiment of this invention. The schematic diagram which shows the surgical instrument registration method which concerns on embodiment of this invention. The schematic diagram which shows the imaging cross-section definition method after implementation of this invention. The schematic diagram which shows the usage example (GUI) after implementation of this invention. The GUI schematic diagram which shows embodiment of this invention.

  Hereinafter, each embodiment of the MRI apparatus of the present invention will be described with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiments of the present invention, and the repetitive description thereof is omitted.

  First, an outline of an example of the MRI apparatus according to the present invention will be described with reference to FIG. FIG. 1 shows an overall configuration of an example of an MRI apparatus according to the present invention, for example, a vertical magnetic field type 0.3T permanent magnet MRI apparatus 1, which includes an upper magnet 3 and a lower part that generate a vertical static magnetic field around the subject. A magnet 5 is disposed with an opening 32 interposed therebetween, and supports 7 for supporting the upper magnet 3 while connecting the magnets, a position detection device 9, an arm 11, a monitor 13, a monitor support unit 15, a reference tool 17, A personal computer 19, a bed 21, a control unit 23, and the like are included. In addition, although not particularly illustrated, a gradient magnetic field coil that generates a gradient magnetic field in a static magnetic field space, an RF transmission coil that generates a high-frequency magnetic field in this region, and an RF that detects a nuclear magnetic resonance signal generated by the subject. It includes a receiving coil.

  The gradient magnetic field coil is composed of gradient magnetic field coils in three directions of X, Y, and Z, and each generates a gradient magnetic field in response to a signal from a gradient magnetic field power supply. The RF transmission coil generates a high-frequency magnetic field according to a signal from the RF transmission unit. The signal of the RF receiving coil is detected by the signal detection unit, processed by the signal processing unit, and converted into an image signal by calculation. The image signal is displayed as a tomographic image on the display unit. A gradient magnetic field power source, an RF transmission unit, a signal detection unit, and the like are controlled by a control unit 23 configured by a workstation, and the control time chart is generally called a pulse sequence. The subject 24 lies on the bed 21 and is transported to a space 32 in the apparatus surrounded by an RF receiving coil, an RF coil, a gradient magnetic field coil, and the like, and imaging of a tomographic plane is performed.

  The position detection device 9 includes two infrared cameras 25 and a light emitting diode (not shown) that emits infrared light, and detects the position and posture of a pointer 27 that is a tomographic plane indicating device. Further, the position detection device 9 is connected to the upper magnet 3 so as to be movable by the arm 11, and the arrangement with respect to the MRI apparatus 1 can be appropriately changed as shown in FIG. As shown in FIG. 1, the monitor 13 displays an image of the tomographic plane of the subject 24 indicated by the pointer 27 held by the operator 29. The monitor support unit 15 causes the upper magnet 3 to be the same as the infrared camera 25. It is connected to. The reference tool 17 links the coordinate system of the infrared camera 25 serving as a position detection device and the coordinate system of the MRI apparatus 1, includes three reflection spheres 35, and is provided on the side surface of the upper magnet 3.

  Information of the pointer 27 detected and calculated by the infrared camera 25 is transmitted to the personal computer (PC) 19 through the RS232C cable 33, for example, as surgical instrument position data. The control unit 23 is connected to the personal computer 19. In the personal computer 19, the position of the pointer 27 detected and calculated by the infrared camera 25 is converted into position data that can be used by the MRI apparatus 1 in consideration of the surgical tool 36, and transmitted to the control unit 23. The position data is reflected on the imaging section of the imaging sequence. The image acquired with the new imaging section is displayed on the liquid crystal monitor. The image is recorded in the video recording device 34. For example, when a pointer, which is a tomographic plane indicating device, is attached to a puncture needle or the like and configured so that the position where the puncture needle is located is always an imaging cross section, the monitor 13 always displays a cross section including the needle. The biological information (respiration, pulse wave, electrocardiogram) is acquired from the dedicated synchronous measurement device 41.

(Description of registration method)
Next, a registration method will be described with reference to FIGS.
FIG. 3 shows the MRI apparatus and position detection device coordinate configuration in registration. The MRI apparatus system 301 has an MRI apparatus coordinate system 302, and the position detection apparatus system 303 has a position detection device coordinate system 304, which are different coordinate systems. In order to integrate the apparatus coordinate systems, for example, the position information in the position detection device coordinate system 304 of the phantom 305 is read by the infrared camera 25 of the position detection device 9, and the apparatus coordinate conversion 307 is performed, so that the position in the MRI apparatus coordinate system 302 is Converted to information. Here, the pointer 35 attached to the MRI apparatus is a reference pointer, and specifies the position of the position detection device 9. Normally, when the position of the position detection device 9 changes, it is necessary to perform registration each time.However, by installing the reference pointer 35, the relative position of the position detection device 9 can be determined and the amount of movement can be taken into account. Since the correction can be performed, the position detection device 9 can be moved. That is, once the registration work is performed, it is not necessary to worry about the installation position of the position detection device 9.

  Fig. 4 shows the registration method. The MRI apparatus performed 3D volume imaging of the subject 401 (patient or phantom) attached with the markers 402, 403, 404, and the 3-axis image (410, 411, 412) and the Volume Rendering image (413) were divided into four from the 3D volume data. Display each on the screen. Next, the MRI apparatus detects the markers 414 to 416 drawn on the three-axis image, and registers the image coordinates (421 to 423) of each marker in the memory. At the same time, the marker information is notified to the PC 19, and the PC 19 recognizes the marker position on the image. Next, the three-dimensional position detection device 9 detects the surgical instrument position. For example, the camera 25 emitting infrared rays specifies the position of the pointer 406 attached to the registration surgical tool 405. It is assumed that the relationship between the pointer 406 and the surgical instrument 405 is registered in advance in the three-dimensional position detection device 9, and the distal end of the surgical instrument with respect to the pointer position is already known. Further, this surgical tool tip information is notified to the MRI apparatus via the PC 19. Next, the MRI apparatus performs an operation (registration) for integrating the surgical instrument tip information obtained by the three-dimensional position detector 9 and the marker information registered as image coordinates. A minimum of 3 markers are required for registration.

  Fig. 5 shows the coordinate integration algorithm. There are eight coordinates (n0 to ni) with respect to the grid coordinates of the position detection device 501. Similarly, there are eight coordinates (m0 to mi) for the lattice coordinates 502 of the MRI image. The MRI apparatus repeats the alignment (503) of these eight positions a predetermined number of times (510), thereby creating a plurality of transformation matrices (504), and finally adopts the transformation matrix with the minimum average error (511). ). However, in order to perform registration, it is necessary to acquire position information of at least three points. The surgical instrument position information used in the I-MRI has a value obtained by converting the surgical instrument position information detected by the surgical instrument position detection device into the MRI apparatus coordinate system. In addition, since this coordinate integration process is intended to operate only inside the MRI apparatus, it is not necessary to perform registration immediately before the operation, and the work can be performed in advance.

  Fig. 6 shows the surgical instrument registration method. A pointer 27 that can be detected by the three-dimensional position detection device 9 is attached to the registration surgical instrument 601, and the three-dimensional position detection device 9 detects the position of the pointer 27 using infrared rays 25. The surgical instrument tip 606 is fixed at a specified position on the dedicated fixing base 610. In this state, the three-dimensional position detection device 9 acquires both the position information of the pointers 603 to 605 attached to the fixed base and the surgical instrument pointer 27 at the same time. Here, since the positional relationship between the fixed base pointer and the specified position 606 has been registered in advance, the surgical instrument pointer 27, the distal position of the surgical instrument 601, the direction vector 608 along the surgical instrument 601, and the direction vector 608 The orthogonal first orthogonal vector 607 is calculated and registered by the PC 19, and the surgical instrument registration work is completed. The first orthogonal vector 607 is uniquely determined with respect to the dedicated fixed base 610 as shown in FIG.

CpM：術具先端位置
Row：針方向ベクトル
Column：Rowとの直交ベクトル
PtoM：回転行列
FOV：Field Of View
撮像断面位置Pは、撮像断面FOVの左上隅の位置を表す。ここで、三次元位置検出装置で検出した位置情報にゆらぎがなければ、術具位置710とFOV 714に対するP₁(711)、Row₁(712)、Column₁(713)から撮像断面715が求められるが、揺らぎを検出した場合には、P₂(721)はFOV/2に比例してズレ量(726)が大きくなる。P₂(721)からRow₂ (722)、Column₂ (723)が定義され撮像断面(725)が定義されるので、三次元位置検出装置の揺らぎ量に比例して撮像断面が揺らいでしまう。 For comparison, FIG. 7 shows a conventional imaging cross-section definition method. The conventional imaging section definition method detects the surgical instrument position by the three-dimensional position detection device (701), and calculates the surgical instrument tip position and unit vectors Row and Column (702,703). Thus, the calculation (704) and imaging (705) of the imaging cross-section information are performed according to the equation (1).

CpM: surgical tool tip position
Row: Needle direction vector
Column: Orthogonal vector with Row
PtoM: rotation matrix
FOV: Field Of View
The imaging section position P represents the position of the upper left corner of the imaging section FOV. Here, if there is no fluctuation in the position information detected by the three-dimensional position detection device, the imaging section 715 is obtained from P ₁ (711), Row ₁ (712), and Column ₁ (713) with respect to the surgical instrument position 710 and FOV 714. However, when fluctuation is detected, the shift amount (726) of P ₂ (721) increases in proportion to FOV / 2. Since P ₂ (721) to Row ₂ (722) and Column ₂ (723) are defined and the imaging section (725) is defined, the imaging section fluctuates in proportion to the amount of fluctuation of the three-dimensional position detection device.

(Description of processing flow)
Next, the outline of the processing flow of the imaging section defining method according to the present invention will be described based on the flowchart shown in FIG.

  In step 201, the operator installs a dedicated phantom (which may be a subject attached with a marker) in the static magnetic field space of the MRI apparatus in the static magnetic field of the MRI apparatus.

  In step 202, the operator activates 3D volume imaging of the dedicated phantom installed in step 201, and in response, the MRI apparatus performs 3D volume imaging of the dedicated phantom.

  In step 203, the control unit 23 detects marker position information (MRI DICOM information) from the 3D image acquired in step 202. For example, a known image processing method may be used for the detection.

  In step 204, the control unit 23 notifies the dedicated PC 19 of the marker position information obtained in step 203 and records it in the memory of the PC.

  In step 205, the operator designates an arbitrary marker from among the markers detected in step 203 using the registered surgical tool. The control unit 23 associates the position information detected by the three-dimensional position detection device for the designated marker with the position information on the 3D image detected in step 203 (registration). Details of the registration are as described above.

  In step 206, the control unit 23 determines an error value of the registration result in step 205. If the error value is greater than or equal to the specified value, the process proceeds to step 207.

  If the error value is greater than or equal to the specified value in step 207, the designated marker is changed, and the process returns to step 205 to perform registration again. In this case, when the process of step 205 is performed again, the operator may be prompted to select another marker.

  In step 208, the control unit 23 creates and records a coordinate transformation matrix.

  In step 209, the operator attaches a pointer that can be detected by the position detection device to the surgical instrument in order to perform the surgical instrument registration work.

  In step 210, the operator registers a surgical instrument using the position detection device (surgical instrument tip and surgical instrument direction vector). Details of the registration process are as described above.

  In step 211, the control unit 23 calculates FOV information for the surgical instrument (device).

  In step 212, based on the fact that the FOV is a plurality of types of data, the control unit 23 calculates basic information (Pos, Row, Col) using this information, and records it in the internal memory. Details of step 211 and step 212 will be described later.

  In step 213, the control unit 23 automatically selects the optimum basic information (Pos, Row, Col) from the plurality of basic information obtained in step 212 based on the FOV information during actual ISC imaging. To do.

  In step 214, the control unit 23 calculates an actual imaging section in real time using the rotation matrix (that is, the coordinate transformation matrix in step 208), and performs imaging of the imaging section.

  The above is the outline of the processing flow of the imaging section defining method according to the present invention.

全ての術具方向(単位)ベクトルRow608、801〜808(Row608と方向が同じで位置がそれぞれ異なる)、第一直交(単位)ベクトルColumn607、809〜816(Colum607と方向が同じで位置がそれぞれ異なる)および撮影断面位置P817〜824を、MRI装置メモリ内部に登録して終了となる。本例ではFOV=100から50ピッチの例であるが、1ピッチから登録しても良い。 Next, among the steps of the processing flow, details of the characteristic processing of the present invention will be described.
First, the surgical instrument registration method in steps 210 to 212 will be described with reference to FIG. Registration of the surgical instrument with the pointer attached is performed as shown in FIG. However, although the internal calculation in the control unit 23 is added, the contents performed by the operator / operator are not changed. The surgical instrument direction Row 608 and the first orthogonal vector Column 607 obtained when registering the surgical instrument are registered in the same manner. Further, the control unit 23 uses the Row and Column vectors, for example, to obtain imaging section basic information (P _a , Row _a , Column _a ) to (P _h , Row _h , Column _h ) from FOV = 100 to 450, Using Equation 2, calculate each with varying FOV.

All surgical instrument direction (unit) vectors Row608, 801 to 808 (the same direction as Row608 and different positions), the first orthogonal (unit) vector Column607, 809 to 816 (the same direction and position as Colum607) (Different) and imaging cross-sectional positions P817 to 824 are registered in the MRI apparatus memory, and the process ends. In this example, FOV = 100 to 50 pitches, but registration may be made from 1 pitch.

Next, the imaging cross-section definition method in steps 213 to 214 will be described with reference to FIG.
In step 902, the surgical instrument position detection device 9 detects the position of the surgical instrument 909.
In step 903, the control unit 23 calculates an imaging section using the imaging section basic information (P, Row, Column) obtained in step 212 as described in FIG. For example, when FOV = 300 is set, the control unit 23 reads basic information corresponding to the nearest FOV from the basic information 901 registered in the memory. In this case, basic information corresponding to FOV = 300 is read (P _e , Row _e , Column _e ). The operator may change the basic information to be selected thereafter.

In step 904, the control unit 23 calculates the imaging sections P906, Row907, and Column908 from the rotation matrix at the surgical instrument position using the surgical instrument position detected in step 902 and the basic information read in step 903. .
P = P _e × PtoM (3)
Row = Row _e × PtoM (4)
Column = Column _e × PtoM (5)
P: Imaging section (positional information)
Row: Row vector (needle direction vector)
Column: Column vector (orthogonal vector with Row)
PtoM: Rotation matrix In step 905, the control unit 23 performs imaging of the imaging cross section calculated in step 904.
The above is the description of the processing flow of the imaging section defining method.

  The control unit 23 followed the surgical instrument by performing this calculation continuously, that is, based on the rotation matrix of the detected surgical instrument position, by calculating using the equations (3) to (5). A continuous cross section is imaged. As a result, as compared with the conventional method of FIG. 7, not all of P, Row, and Column affect the fluctuation of the imaging section, but are limited to the influence of Row and Column. As a result, it is possible to perform surgical navigation in which the instability of the imaging section based on the instability (fluctuation) of the three-dimensional position detection device is suppressed.

Next, the basic configuration of the registration GUI according to the present invention will be described according to the processing flow based on FIG. The registration GUI includes an area 1001 indicating a current task, an area 1002 indicating image information, and an area 1003 indicating detailed information. In addition, as a function for assisting the operator, there is a screen 1034 for displaying a work status message. In addition to an error message, an assist message is displayed indicating what the operator should do next. As an assist message, for example: ・ Check that the 3rd page and Volume Rendering image are displayed.
・ Move the crosshair cursor on each image in the three views and register each grid position.
・ If there is no mistake in the registration details, proceed to the next step.
Can be displayed.

  In step 2010, when the operator presses the 3D Scan buttons 1004 and 1005, the control unit 23 performs 3D volume imaging, and displays the Axial section 1020, the Sagittal section 1021, the Coronal section 1022, and the Volume Rendering image 1023 on the screen. Display.

  In step 2011, when the operator presses the specific position rendering button 1006, the control unit 23 detects the specific position (1024 to 1026) from the 3D images 1020 to 1023 and calculates the MRI apparatus coordinates for the specific position. .

  In step 2012, the operator presses the specific position rendering button 2 (1007) to activate the three-dimensional position detection device and points to the specific area (1024 to 1026). Thereby, the control unit 23 registers at least three specific areas (1031 to 1033) or more.

  In step 2013, when the operator presses the registration button 1008, the control unit 23 combines the MRI apparatus coordinates and the position information acquired by the position detection device for the specific region. That is, a transformation matrix is created.

  In step 2014, when the operator presses the surgical instrument registration button 1009 for registering the surgical instrument to be used for the last operation, the control unit 23 automatically calculates Pos, Row, Column for each FOV information, Record in memory.

When ISC is started in step 2015, the control unit 23 calculates the imaging section definition according to the content of FIG.
The above is the description of the basic configuration of the registration GUI.

  Next, the clinical GUI configuration will be described with reference to FIG. The clinical GUI includes an image display unit 1101, a surgery support message unit 1102, and a button configuration. The button configuration includes a preoperative planning unit used before surgery, a surgery support function unit used during surgery, and a surgery support additional function unit used as an option.

  First, before surgery, the 3D Scan button 1103 is pressed to activate 3D imaging, and an image is displayed on the Axial 1113, Sagittal 1114, Coronal 1115, and Volume Rendering 1116 screens. By pressing the Planning button 1104, a surgical route simulation 1121 is performed on the 3D image. When the navigation button 1106 is pressed during the operation, the surgical simulation information 1121 and the actual surgical instrument position 1120 are displayed on the Axial 1113, Sagittal 1114, Coronal 1115, and Volume Rendering 1116 screens, and the operator visually indicates the surgical route. Can be compensated.

  When the ISC button 1105 is pressed, a two-dimensional real-time image 1117 is captured and displayed, and a surgical route 1123 and an actual surgical instrument position 1122 are displayed by simulation. The message unit 1119 displays device information, subject information, various function information, and surgical tool information in real time. As an optional function, the display switching function in the Axial 1108, Sagittal 1109, and Coronal 1110 directions of Volume Rendering 1107 and the surgical instrument position confirmation button 1111 are pressed, so that the operation path 1125 and the actual surgical instrument position are displayed on the three-dimensional configuration display unit 1118. 1124 is displayed. Furthermore, since the target site 1126 registered in advance is also displayed, the surgeon can grasp the three-dimensional and relative distance from the surgical tool at a glance. In addition, when the treatment effect confirmation button 1112 is pressed, a function for virtually displaying the treatment region 1127 from the tip of the needle tip is provided. This assumes a thermal treatment such as Radio Frequency Ablation (RFA) or Cryotherapy, and indicates that treatment is possible if the virtual treatment region 1127 wraps around the target site 1126. The surgeon will proceed with the surgery using these functions effectively.

  1 MRI machine, 3 Upper magnet, 5 Lower magnet, 7 posts, 9 Position detection device, 11 Arm, 13 Monitor, 14 Monitor, 15 Monitor support, 17 Reference tool, 19 Personal computer, 21 Bed, 23 Control, 24 Subject, 25 Infrared camera, 27 Pointer, 28 Surgical tool B, 29 Operator, 30 Surgical monitor, 32 opening, 34 Video recording device, 35 Reflecting sphere, 36 Surgical tool (treatment device), 41 Synchronous (hours) Phase) Measuring device

Claims (5)

A position detection unit for detecting the position of the surgical instrument inserted into the subject;
An imaging section setting unit that sets the imaging section of the subject following the position of the surgical instrument detected by the position detection unit;
An imaging unit that captures an imaging section of the subject set by the imaging section setting unit and acquires an image of the subject;
A magnetic resonance imaging apparatus comprising a control unit that controls the position detection unit, the imaging unit, and the imaging section setting unit,
The imaging cross-section setting unit calculates basic cross-section information for each of a plurality of FOVs based on a predetermined position and direction of the surgical instrument, and uses the basic cross-section information to follow the surgical instrument position. The magnetic resonance imaging apparatus characterized by setting. The magnetic resonance imaging apparatus according to claim 1.
The cross-sectional basic information includes FOV position information and two vectors that define the FOV plane. The magnetic resonance imaging apparatus according to claim 2.
The magnetic resonance imaging apparatus according to claim 2, wherein the two vectors defining the FOV plane are a direction vector of a surgical instrument and a vector perpendicular to the direction vector. The magnetic resonance imaging apparatus according to claim 3.
The imaging cross-section setting unit uses, as the FOV position information, the FOV / 2 point in the direction opposite to the surgical instrument direction vector and the direction perpendicular to the vector perpendicular to the surgical instrument direction vector, with the distal end position of the surgical tool as the center. A magnetic resonance imaging apparatus for obtaining a FOV / 2 point. The magnetic resonance imaging apparatus according to claim 1.
The imaging cross-section setting unit selects, from among the basic cross-section information about the plurality of FOVs, cross-section basic information about the FOV closest to the FOV set at the time of imaging, and based on the selected basic cross-section information A magnetic resonance imaging apparatus characterized in that an imaging cross section following the surgical instrument position is set.

Images