JP2010269067A - Treatment support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a treatment support device for facilitating an operation in treatment. <P>SOLUTION: The treatment support device includes: an ultrasonic probe 12 for reading the three-dimensional image data from an image recorder 8 for storing three-dimensional image data of a patient 6 imaged by an MRI apparatus 2, for generating a navigation image 40, and for treating the affected region of the patient 6; a position detecting device 14 for detecting the position and posture of the ultrasonic probe 12; and an image display unit for displaying treatment support information including the navigation image 40. The treatment support device also includes an action condition changing means for previously setting the parameters of the ultrasonic probe 12 in association with procedure states before the treatment, in the treatment, and after the treatment, for obtaining a procedure position 50 based on the position and posture of a treatment object region 54 which is set on the navigation image 40 and the ultrasonic probe 12 which are detected by the position detecting device 14, for determining the procedure state in response to a distance between the procedure position 50 and the treatment object region 54; and for changing the parameter of the ultrasonic probe 12 in response to the set parameter. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a treatment support apparatus using a medical imaging apparatus such as a magnetic resonance imaging apparatus (hereinafter referred to as an MRI apparatus), an ultrasonic apparatus, an X-ray CT apparatus or the like.

  The MRI apparatus continuously measures magnetic resonance signals (hereinafter referred to as NMR signals) from atomic nuclei such as hydrogen and phosphorus in an object, and visualizes the density distribution and relaxation time distribution of the nuclei. In an I-MRI apparatus (interventional-MRI apparatus or Intraoperative-MRI apparatus) used for cardiac imaging using an MRI apparatus, puncture monitoring during surgery, percutaneous treatment, etc., a tomographic plane to be imaged in real time is used. There is a request to set it arbitrarily.

  As a method for arbitrarily selecting a tomographic plane to be imaged, there is a method of displaying an MRI image on a monitor and clicking a button on the screen with a mouse to determine a tomographic plane to be imaged. The direction must be adjusted and set with an input means such as a mouse, which complicates the operation. As an MRI apparatus, it is desirable that the position and orientation of a tomographic plane to be imaged can be adjusted and set more easily. As a technique for this, in Patent Document 1, a pointer is provided at the tip of a treatment tool (hereinafter referred to as a treatment device), and the position of the pointer is detected by a three-dimensional position detection device. And a technology for automatically adjusting the orientation.

  On the other hand, there are a three-dimensional position detection device and a 3D surgical navigation system (hereinafter referred to as a treatment support device) using a tomographic image generated from imaged volume data that is three-dimensional data imaged in advance by an MRI apparatus. This treatment support apparatus navigates an operation at the time of treatment by displaying a position designated by a pointer at the time of treatment on a tomographic image having cross sections of three orthogonal planes of the patient including the position. It is applied to high-precision surgical operations such as surgery. For example, Patent Document 2 describes a technique that combines an I-MRI apparatus and a treatment support apparatus.

  Patent Document 3 describes a treatment support apparatus using a treatment probe using focused ultrasound as a treatment device used in the treatment support apparatus. From the therapeutic probe, focused ultrasound is irradiated to the lesioned part of the subject, and the irradiation time of one time is several seconds. When a plurality of sites are treated, an interval of ten and several seconds is provided. It is considered that the therapeutic effect can be obtained by heating to a temperature higher than the temperature at which the tissue is thermally coagulated by ultrasonic irradiation.

WO03 / 026505A1 JP 2003-190117 A US Pat. No. 5,676,692

  However, in the conventional treatment support apparatus, the treatment device and the medical image apparatus such as the MRI apparatus are not linked, and the treatment using the tomographic image generated from the volume data may be complicated. In many cases, there was a possibility of causing an operation error. Also, for example, when the treatment device is a treatment probe, it is necessary to interrupt the treatment and change the operation condition because the operation conditions such as the output and the focal position must be changed according to the target depth. It was.

  The problem to be solved by the present invention is to provide a treatment support apparatus that simplifies operations during treatment.

  In order to solve the above problems, a treatment support apparatus of the present invention includes a memory in which 3D image data of a subject imaged by a medical image apparatus is stored, and 3D image data is read from the memory to obtain a navigation image. A navigation image processing device to be generated, a treatment device for treating a lesion on the subject, a three-dimensional position detection device for detecting the position and orientation of the treatment device with respect to the subject, and treatment support information including a navigation image are displayed. In a treatment support apparatus including an image display apparatus, a navigation image processing apparatus, and a treatment support control apparatus for controlling a treatment device, the treatment support control apparatus performs an operation condition of the treatment device before treatment, during treatment, and after treatment. The operation condition setting means that is preset according to the situation and the navigation image displayed on the image display device are set. A treatment target region registration means for registering the treated treatment target region in the three-dimensional image data of the memory, and a treatment device operation position based on the position and orientation of the treatment device detected by the three-dimensional position detection device, and navigation The treatment status is determined according to the position detection means displayed on the image and the distance between the treatment position and the treatment target region, and the operation condition of the treatment device is changed according to the operation condition set by the operation condition setting means. And operating condition changing means.

  According to the present invention, for example, when the operation position of the treatment device is within the treatment target area where the lesion exists, the operation condition is set in advance by the operation condition setting means so that the operation condition is the optimum operation condition for treatment. By doing so, the operating condition of the treatment device is automatically changed to the optimum operating condition for the treatment when the treatment position enters the treatment target region, so that the trouble of setting the operating condition during the treatment can be saved. Moreover, the operating condition unsuitable for treatment is not set by mistake.

  Furthermore, if the operation condition setting means is set so that the treatment device does not operate before treatment (when the treatment position is outside the treatment target region), it will operate incorrectly in an area unrelated to treatment. I can prevent it. In this way, it is possible to change the preset operating conditions according to the treatment situation to create an optimal treatment environment and to shorten the treatment time, thereby reducing the burden on the patient. The treatment position is a place where the treatment device performs treatment. If the treatment device is an ultrasonic treatment probe, the treatment position is a focal point of focused ultrasound, and if it is a puncture needle, it is the tip of the needle.

  In this case, the therapeutic device is an ultrasonic therapeutic probe, and is formed integrally with an ultrasonic diagnostic probe that captures a tomographic image of the subject, and an ultrasonic transmission means for treatment that drives the ultrasonic therapeutic probe; The diagnostic ultrasound transmitting means for driving the ultrasound diagnostic probe and the degeneration detection means for detecting the degeneration of the biological tissue of the subject based on the tomographic image. The diagnostic ultrasonic transmission means and the degeneration detection means can also be activated when the therapeutic ultrasonic transmission means stops.

  As a result, when the ultrasonic therapy probe is stopped at the time of treatment, the ultrasonic diagnostic probe is automatically activated to take a tomographic image, and a denatured region can be obtained based on the tomographic image. In addition, it is possible to confirm the therapeutic effect by capturing tomographic images before and after treatment, and it becomes easier to visually recognize the degenerated region by overlaying the navigation image. It is preferable that the operating conditions of the ultrasonic diagnostic probe at the time of tomography are set in advance so as to be automatically changed to the optimal operating conditions in the same manner as the treatment device.

  The treatment device can also be a puncture needle or a radiation treatment device.

  Further, the operating condition changing means can be configured to change the resolution of the navigation image according to the treatment situation. In addition, for example, a navigation image obtained by an MRI apparatus is usually preferably T1-weighted, but T2-weighted is preferable during treatment. Therefore, a therapeutic image in which the navigation image is T2-weighted during treatment when photographing in real time with the MRI apparatus. It can also be configured to change to

  Further, the operating condition changing means can be configured to change the therapeutic image according to the position and posture of the therapeutic device. Accordingly, for example, by displaying an image in a direction in which the treatment device is facing, the treatment can be easily performed.

  ADVANTAGE OF THE INVENTION According to this invention, the treatment assistance apparatus which simplifies operation at the time of treatment can be provided.

It is a block diagram of the treatment assistance apparatus of this invention. It is a block diagram of the ultrasonic probe used by this invention. It is an example of the navigation image structure used by this invention. It is an example of the screen structure at the time of the treatment preparation displayed on a monitor. It is a figure used about description of a parameter. It is a graph which shows the relationship between depth, a frequency, and an output. It is an example of the screen structure before the treatment displayed on a monitor. It is an example of the screen structure at the time of the treatment displayed on a monitor. It is an example of the screen structure at the time of the treatment displayed on the personal computer in Example 2. FIG.

  Hereinafter, a treatment support apparatus of the present invention will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of the treatment support apparatus according to the first embodiment. The patient 6 is fixed to the operating table 17, and the operator 26 treats the affected area using a treatment device (in this embodiment, the ultrasonic probe 12). The treatment support apparatus of this embodiment includes an MRI apparatus 2, a control apparatus 4 that controls the MRI apparatus 2, a video recording apparatus 8 that stores three-dimensional image data of a patient 6 imaged by the MRI apparatus 2, and a navigation image. A monitor 10 that displays treatment support information including the ultrasonic probe 12, a position detection device 14 that detects the position and posture of the ultrasonic probe 12 relative to the patient 6, and an ultrasonic transmission for treatment that drives the ultrasonic probe 12. And an ultrasonic device 16 having diagnostic means and ultrasonic transmission means for diagnosis, and a personal computer 18.

  The ultrasonic device 16 of this embodiment also includes a navigation image processing unit that reads out three-dimensional image data from the video recording device 8 and generates a navigation image, a control unit that controls the navigation image processing unit and the ultrasonic probe 12. It has.

  The MRI apparatus 2 includes an upper magnet 3 and a lower magnet 5 that generate a vertical static magnetic field, a support 7 that connects these magnets and supports the upper magnet 3, an arm 9 that supports the position detection device 14, and an upper part. The monitor 3 is connected to the magnet 3 and supports the arm 9 and the operator monitor 11, a reference tool 15, and an operating table 17.

  A gradient magnetic field generation unit (not shown) of the MRI apparatus 2 generates the oblique magnetic field in pulses. Further, an RF transmitter (not shown) for generating nuclear magnetic resonance in the patient 6 in a static magnetic field and an RF receiver (not shown) for receiving a nuclear magnetic resonance signal from the patient 6 are provided. These are resonant coils. is there.

  The position detection device 14 includes two infrared cameras 20 and a light emitting diode (not shown) that emits infrared light, and a pointer 22 that is a tomographic plane indicating device attached to the ultrasonic probe 12 held by the operator 26. Thus, the position and orientation of the ultrasonic probe 12 are detected. Further, the position detection device 14 is connected to the upper magnet 3 so as to be movable by the arm 9, and is configured so that the arrangement with respect to the MRI apparatus 2 can be appropriately changed as shown in FIG.

  The reference tool 15 links the coordinate system of the infrared camera 20 and the coordinate system of the MRI apparatus 2, includes three reflection spheres 24, and is provided on the side surface of the upper magnet 3. The control device 4 is composed of a workstation, is connected to the personal computer 18 and the video recording device 8, and controls an RF transmitter, an RF receiver, etc. (not shown).

  Information on the pointer 22 detected by the infrared camera 20 is transmitted to the personal computer 18 as position data of the ultrasonic probe 12 via, for example, the RS232C cable 33. The personal computer 18 calculates the position of the ultrasonic probe 12 from the position of the pointer 22 detected by the infrared camera 20, transmits it to the ultrasonic apparatus 16, converts it into position data that can be used by the MRI apparatus 2, and controls the control apparatus 4. Send to. The position data is reflected on the imaging section of the imaging sequence.

  An image acquired with a new imaging section is displayed on the monitor 10. Connection information between the MRI apparatus 2 and the ultrasonic apparatus 16 is displayed on the operator monitor 11. The acquired image is simultaneously recorded in the video recording device 8. In addition, it is also possible to perform measurement in synchronization with biological information, and various information (pulse wave, electrocardiogram, respiration) can be acquired by the synchronous measurement device 28 attached to the patient 6.

  Here, the ultrasonic probe 12 will be described with reference to FIG. The ultrasonic probe 12 is a treatment / diagnosis integrated probe. The diagnostic convex ultrasonic probe 30 emits a radial ultrasonic wave 31, while the convergent ultrasonic probe 32 is irradiated 35 so as to converge at a certain point 33. In the present embodiment, a diagnostic probe is attached to the central portion of the convergent ultrasonic wave, and a treatment / diagnosis integrated probe including an ultrasonic diagnostic apparatus 36 and a treatment generator / amplifier 38 is used.

  FIG. 3 shows a navigation image 40 used in the present system. The navigation image 40 is generated from a cross-sectional view obtained by cutting three-dimensional image data of the patient 6 captured in advance by the MRI apparatus 2 in a real space 42 at a desired cross section. In this embodiment, a volume rendering image 48 is used in addition to the triaxial cross-sectional image 46.

  The position of the ultrasonic probe 12 and the treatment position 50 detected from the position of the pointer 22 by the infrared camera 20 attached to the position detection device 14 are superimposed on the navigation image 40, respectively. The treatment position 50 is an ultrasonic focusing position of the ultrasonic probe 12. In the navigation image 40, a warning area 52 and a treatment target area 54, which will be described later, are superimposed and displayed.

  Here, the configuration and operation that characterize the present embodiment will be described. FIG. 4 shows an image displayed on the monitor 10 before treatment. The monitor 10 includes a flowchart 56 showing a procedure up to the start of treatment, a navigation image 40, a work detail message 58 displayed at each step of the flowchart 56, a 3D imaging button 60 used at each step, and a treatment target region rendering. A button 62, a parameter setting button 64, a registration button 66, and a treatment device registration button 68 are displayed. Use this screen to prepare for the start of surgery.

  First, in the flowchart 56, 3D volume imaging is performed using the 3D imaging button 60 (step 1). The captured three-dimensional image data is recorded in the video recording device 8 and displayed as a navigation image 40 in a three-axis cross-sectional image 46 and a volume rendering display 48. Next, the treatment target region rendering button 62 is pressed to detect the volume of the treatment target region 54 (segmentation) from the 3D image and register the treatment target region 54 in the 3D image (step 2).

  The treatment target area 54 is a lesion to be treated. In step 2, the warning area 52 can be set around the treatment target area 54. The warning area 52 is an area that enters a treatment mode described later when the treatment position 50 enters this area.

  Next, the parameter setting button 64 is pressed to perform normal (before treatment) parameter setting (step 3) and parameter setting during treatment (step 4). Here, with reference to FIG. 5, the setting and changing of the parameters will be described. The case of the positions A and B of the ultrasonic probe 12 with respect to the patient 6 will be described. At positions A and B, the angle, position and direction of the ultrasonic probe 12 are different. The ultrasonic image 70 at the position A depicts the treatment target area 72, and the ultrasonic image 74 at the probe position B depicts the treatment target area 76. Further, the ultrasonic device 16 has a focus position automatic change function 80 and a frequency automatic change function according to the distance.

  The distance between the treatment position 50 of the ultrasonic probe 12 at the position A and the registered treatment target region 72 is calculated in real time based on the three-dimensional image data and fed back to the ultrasonic device 16. The treatment status before, during and after treatment is determined from the distance. When the treatment position 50 is close to the treatment target region 72, it is determined that the treatment is before treatment. When the treatment position 50 is within the treatment target region 72, it is determined that the treatment is being performed.

  The parameter is set by parameter setting means of the ultrasonic device 16. The parameters are set before, during, and after treatment, respectively. The parameters (operating conditions) are the optimum frequency, depth, angle, frame rate, etc. for obtaining a clear image of the ultrasonic probe 12.

  For example, as shown in FIG. 6, the relationship between the frequency and the output intensity at the high-frequency and low-frequency in-vivo depths is set such that the frequency 82 decreases and the output 84 increases as the depth increases. These parameter settings can be set in advance by the operator 26.

  Furthermore, the navigation image 40 is set according to each treatment situation. For example, the navigation image 40 is set as a therapeutic image during treatment. The therapeutic image is an image obtained by enlarging the normal navigation image 40 and increasing the resolution, and is set so as to be easily changed according to the position and posture of the ultrasonic probe 12.

  On the other hand, the parameter setting can be used not only for the purpose of treatment but also for the purpose of ensuring the safety of the patient (monitoring outside the treatment target area, monitoring the abnormality of the biological monitor, warning of the access prohibition area such as blood vessels). When a preset value (such as an upper limit of biological abnormality) is exceeded, a warning is displayed on the monitor 10 and a warning is issued by voice.

  Next, the real space and image registration button 66 and the registration button 68 of the treatment device to be used are pressed (step 5), and the operation before the operation is completed. Finally, the surgical instrument / device is activated (step 6), and the surgery is started. The treatment target area 54 can be displayed not only on the navigation image 40 but also on the absolute (device) coordinates 86, and at each step, a work detail message 58 is displayed to assist the next work content. Or, it has a warning function.

  The ultrasonic device 16 can perform frequency setting, automatic depth setting on / off, and display / non-display setting of the treatment target region 54. On the other hand, the navigation image 40 includes image selection, setting of a plurality of treatment target areas 54, treatment device display methods, color-specific display methods, and warning methods. These can be freely set by the operator 26, and the timing at which the display method is changed can also be set.

  FIG. 7 shows a screen displayed on the monitor 10 in the normal mode (when the treatment position 50 is outside the warning area 52). 7 shows an ultrasonic image 90, information 92, a navigation image 40, a planning button 94, a biological information button 96, an ultrasonic image button 98, a navigation image button 100, and a parameter change button 102 used in the normal mode. An image information change button 104 and a treatment start button 106 are displayed.

  The navigation image 40 is updated according to the position of the ultrasonic probe 12. The operator 26 performs image guidance using the biological information button 96, the ultrasonic image button 98, and the navigation image button 100 while creating (correcting) the surgical route using the Planning 94 as necessary. Each information 92 displays details of biological information such as pulse and respiration and information such as a treatment device, and the ultrasound image 90 also displays various parameters such as depth and frequency. In the navigation image 40, a volume rendering image 48 is displayed in addition to the triaxial cross-sectional image 46, and the position of the ultrasonic probe 12, the treatment position 50, and the warning area 52 are superimposed and displayed.

  Although the center of the triaxial cross-sectional image 46 is generally set at the treatment position 50, the ultrasonic probe 12 and the treatment position 50 can also be displayed. In addition, by pressing the parameter change button 102, a preset parameter group can be changed at once, and can be changed in real time each time it is pressed. The navigation image 40 can also be changed simply by pressing the image information change button 104 by registering an MRI image or CT image in advance. The treatment mode is shifted to the moment when the treatment position 50 enters the warning area 52. However, the treatment mode can be forcibly shifted by pressing the treatment start button 106.

  FIG. 8 shows a screen displayed on the monitor 10 in the treatment mode. In FIG. 8, ultrasound images 91 and 93, information 92, parameter list 95, navigation image 40, planning button 94 used during treatment, biological information button 96, ultrasound image button 98, A navigation image button 100, a treatment start button 106, a diagnosis parameter setting button 108, a treatment parameter setting button 110, an image information button 112, a treatment progress button 114, and a log button 116 are displayed.

  In the treatment mode, the parameter changing means incorporated in the ultrasonic device 16 changes the parameters of the ultrasonic probe 12 in accordance with the parameters set in FIG. 4, and the navigation image 40 is changed to the treatment images 122 and 124. , 126.

  Further, in the treatment mode, the ultrasonic images 91 and 93 can be taken when the treatment with the ultrasonic probe 12 is temporarily stopped. Thereby, the area | region 118 at the time of treatment and the remaining treatment area | region 120 are known. Further, the denatured region detected based on the ultrasonic image can be superimposed on the navigation image 40.

  The denatured region is detected by the denatured detection means of the ultrasonic device 16. The degeneration detection means detects the temperature of the lesion that has risen as a result of irradiation with therapeutic ultrasound, converts the detected temperature into luminance, and displays it on the ultrasound image. The denatured region can also be detected from a T2-weighted image taken with the MRI apparatus 2.

  The operator 26 performs image guidance using the biological information button 96, the ultrasonic image button 98, and the navigation image button 100 while creating (correcting) the surgical route using the planning button 94 as necessary. . Each information 92 displays details of information such as biological information and a treatment device, and the ultrasound image includes an ultrasound image 91 before treatment and an ultrasound image 93 at the time of treatment (real time). In addition, various parameters such as depth and frequency, the treatment area 118 and the remaining treatment area 120 are known. In addition, when the ultrasonic probe 12 moves, an automatic tracking function works, and parameters with optimal frequency and depth are automatically changed.

  In the navigation image 40, a volume rendering image 48 is displayed in addition to the triaxial sectional image 46, and the position of the ultrasonic probe 12 and the treatment position 50 can be superimposed on the image.

  The parameters can be manually changed as appropriate, and the setting status can be displayed in the parameter list 95. The image information button 112, the treatment progress button 114, and the log button 116 are turned on in conjunction with the treatment start button 106, but can be manually turned off as necessary.

  With this function, pre-treatment information, treatment-time information, and difference information (treatment progress information, remaining treatment area, etc.) are displayed as image information. The log information is used for reviewing the progress of treatment performed in the past. Information before and after the treatment can be displayed as numerical data in addition to the ultrasonic images 91 and 93, the triaxial cross-sectional image 46, and the volume rendering image 48.

  As described above, according to the present embodiment, when the treatment position 50 of the ultrasonic probe 12 is within the treatment target region 54 where the lesion exists in the parameter setting, the parameter is the optimum parameter for treatment. If the setting is made in advance, the parameters of the ultrasonic probe 12 are automatically changed to the optimum parameters for treatment when the treatment position 50 enters the treatment target region 54. Therefore, the parameters are set at the time of treatment. Saves time and effort. In addition, there is no possibility of erroneously setting parameters inappropriate for treatment.

  Furthermore, if the ultrasonic probe 12 is set not to operate before treatment in the parameter setting, it is possible to prevent erroneous operation in a region unrelated to treatment. According to the present embodiment, it is possible to change the preset parameters according to the treatment situation to create an optimal treatment environment, to shorten the treatment time, and to reduce the burden on the patient.

  Further, when the therapeutic probe of the ultrasonic probe 12 is stopped during the treatment, the diagnostic probe is automatically activated to pick up an ultrasonic image, and a denatured region is obtained based on the tomographic image. In addition, the therapeutic effect can be confirmed by imaging the ultrasound images 91 and 93 before and after the treatment, and further, the degeneration area is superimposed on the navigation image 40 to facilitate visual recognition.

  A second embodiment will be described with reference to FIG. The difference from the first embodiment is that in the second embodiment, a puncture needle 130 is used instead of the ultrasonic probe 12, and direct puncture to a lesioned part and direct treatment from the needle tip part 136 are performed. The parameter setting and parameter change in FIG. 4 performed by the ultrasonic apparatus 16 of the first embodiment are performed by the personal computer 18.

  FIG. 9 is a screen displayed on the personal computer 18 in the treatment mode. The difference from FIG. 8 is the display of the image 132 immediately after puncture and the image 134 during treatment. These are photographed by the MRI apparatus 2. The image before treatment is a T1-weighted image, and the image at the time of treatment is set to be a T2-weighted image.

  FIG. 9 shows a state in which the treatment target region 54 is punctured and the progress is monitored by thermotherapy from the tip 136 of the puncture needle 130. The navigation image 40 has a function of displaying a difference image of treatment progress every time the volume image is updated. For example, when the pointer 22 is attached to the puncture needle 130 so that the position where the puncture needle 130 is located is always taken as an imaging section, the personal computer 18 displays a section that always includes the puncture needle 130.

  As described above, according to the present embodiment, the puncture needle 130 can be applied as a treatment device.

  As described above, the first and second embodiments have been described. However, the present invention is not limited to these and can be applied by appropriately changing the configuration. For example, the case classification at the time of parameter setting is made before treatment, at the time of treatment, and after treatment, but more detailed case division may be made to set image information and device operating conditions for each of a plurality of conditions. .

  The navigation image processing means, the control means for controlling the navigation image processing means and the ultrasonic probe 12, parameter setting, parameter changing means, etc. may be provided in the ultrasonic device 16 or the personal computer 18.

  The configuration of the screen is not limited to the configuration of FIGS. 4, 7 to 9, and may be displayed on any of the monitor 10, the operator monitor 11, and the personal computer 18.

  In the first embodiment, the treatment / diagnosis integrated probe is used as the ultrasonic probe 12. However, only the treatment probe may be used, and in the second embodiment, a diagnostic probe is used to obtain an ultrasonic image. Also good. The treatment device can also be a radiation treatment device.

  The present invention can be applied to either treatment by the operator 26 itself (procedure) or indirect treatment using a robot manipulator.

2 MRI apparatus 6 Patient 10 Monitor 11 Operator monitor 12 Ultrasonic probe 14 Position detection apparatus 16 Ultrasound apparatus 18 Personal computer 22 Pointer 26 Operator 40 Navigation image 50 Treatment position 54 Treatment target area 130 Puncture needle

Claims (5)

A memory storing 3D image data of a subject imaged by a medical image device, a navigation image processing device that reads the 3D image data from the memory and generates a navigation image, and a lesioned part of the subject A treatment device that performs treatment on the subject, a three-dimensional position detection device that detects the position and orientation of the treatment device relative to the subject, an image display device that displays treatment support information including the navigation image, and the navigation image processing device A treatment support apparatus comprising a treatment support control apparatus for controlling the treatment device;
The treatment support control device comprises:
Operation condition setting means for presetting the operation conditions of the treatment device in advance of treatment, during treatment, and corresponding to the treatment situation after treatment;
Treatment target region registration means for registering the treatment target region set on the navigation image displayed on the image display device in the three-dimensional image data of the memory;
Position detection means for obtaining a treatment position of the treatment device based on the position and posture of the treatment device detected by the three-dimensional position detection device and displaying the treatment position on the navigation image;
An operation condition changing means for determining the treatment status according to a distance between the treatment position and the treatment target region, and changing an operation condition of the treatment device according to an operation condition set by the operation condition setting means; A treatment support apparatus comprising: The treatment support apparatus according to claim 1,
The therapeutic device is an ultrasonic therapeutic probe, and is formed integrally with an ultrasonic diagnostic probe for capturing a tomographic image of the subject, and the therapeutic ultrasonic transmission means for driving the ultrasonic therapeutic probe; A diagnostic ultrasonic transmission unit that drives an ultrasonic diagnostic probe; and a degeneration detection unit that detects a degeneration of a biological tissue of the subject based on the tomographic image, and the operation condition changing unit includes the treatment A treatment support apparatus that activates the diagnostic ultrasonic transmission unit and the degeneration detection unit when the therapeutic ultrasonic transmission unit stops depending on the situation. The treatment support apparatus according to claim 1,
A treatment support apparatus, wherein the treatment device is a puncture needle or a radiation treatment device. The treatment support apparatus according to any one of claims 1 to 3,
The treatment condition changing means changes the resolution of the navigation image according to the treatment status. The treatment support apparatus according to claim 4, wherein
The treatment support apparatus, wherein the operation condition changing unit changes the navigation image according to a position and posture of the treatment device.

Images