JP2011206168A - Observation support system, method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To confirm a finding acquired from another medical image simply and rapidly while a medical image such as an endoscope image or the like is displayed.SOLUTION: Finding information Kv indicating the finding regarding the three-dimensional medical image V and finding position information Pv indicating a position at which the finding information Kv is acquired are associated with each other to be recorded in a diagnostic reading report Rv, and the diagnostic reading report Rv is registered in an image information database 24. An endoscope-image formation part 2 displays the endoscope image S on a display 4, and an endoscope-position acquisition part 21 acquires endoscope position information Ps indicating the real-time position of the endoscope in the body cavity. Further a retrieval part 25 retrieves the finding information Kv associated with the finding position information Pv indicating a position corresponding to a conversion position Ps' obtained from the endoscope position information Ps, and the finding Kv indicated by the retrieved finding information Kv is displayed on the display 4.

Description

  The present invention relates to a technique for supporting endoscopic observation, for example, in an operation or examination under an endoscope inserted into a body cavity of a subject.

  In recent years, surgery performed under an endoscope such as laparoscopic surgery and thoracoscopic surgery has been attracting attention. In this endoscopic operation, it is only necessary to make a few centimeter holes for insertion of the endoscope and the treatment tool without performing abdominal or thoracotomy, so that the burden on the patient is extremely high. There is merit that it is small. On the other hand, it is technically difficult to perform an operation with a limited field of view of an endoscope, and a doctor who performs the operation requires skill. If a patient's blood vessels or organs are accidentally injured and they bleed, there is no choice but to proceed to conventional surgery with laparotomy, thoracotomy, etc.

  On the other hand, a virtual endoscope technique for generating an image similar to an endoscope from a three-dimensional volume image obtained by imaging with CT or the like is known. This technique is widely used in North America as a method for finding a tumor only by CT imaging without performing endoscopy in order to find a colon tumor. And the technique for performing endoscopic surgery or a test | inspection etc. safely and rapidly using a virtual endoscopic image is proposed.

  For example, in Patent Document 1, under endoscopic observation, a virtual endoscopic image of a peripheral portion that cannot be seen in an endoscopic image is superimposed and displayed on the endoscopic image to support endoscopic surgery. The method is described. In Patent Document 2, a virtual endoscopic image of a duct such as a bronchus is created, and a path to a target point along the duct is obtained in advance on the virtual endoscopic image. A method has been proposed in which a virtual endoscopic image along the line is used as a guide image during actual endoscopic observation. According to the methods described in Patent Documents 1 and 2, endoscopic observation can be performed safely and quickly by displaying a virtual endoscopic image together with an endoscopic image.

  On the other hand, in an actual image diagnosis field, doctors of each clinical department (hereinafter referred to as a requesting doctor) who are requesters of image diagnosis and doctors specializing in interpretation of medical images such as a three-dimensional volume image (hereinafter referred to as an interpreting doctor). Diagnosis is performed in cooperation with Specifically, based on the examination order from the requesting doctor, the radiologist captures the patient and obtains a medical image, and then the interpreting doctor interprets the medical image and creates an interpretation report that summarizes the interpretation results. Prepared and returned to the requesting doctor, the requesting doctor reads the findings described in the created interpretation report and refers to the image from which the interpretation report was acquired, and also considers various information such as interview results and other examination results And make a final diagnosis. In addition, an interpretation report is created by interpreting an endoscopic image. The interpretation report includes information on the position of a lesion or blood vessel and the findings related to the interpretation report. Therefore, by referring to the interpretation report, it is possible to confirm the findings together with the medical image at the position including the lesion based on the position information.

JP 2006-198032 A JP 2000-135215 A

  However, when it is desired to confirm the findings about a three-dimensional volume image acquired to create a virtual endoscopic image during endoscopic observation using the methods described in Patent Documents 1 and 2 above. It is necessary to display the findings described in the interpretation report separately. For this reason, findings cannot be confirmed quickly during endoscopic observation. In addition, it is desirable that the findings regarding the endoscopic image obtained during endoscopic observation can be easily confirmed even after endoscopic observation.

  The present invention has been made in view of the above circumstances. For example, while a medical image such as an endoscopic image or a three-dimensional medical image is being displayed, it is possible to easily and quickly confirm findings obtained in another medical image. The purpose is to do.

A first observation support system according to the present invention includes first image acquisition means for acquiring a three-dimensional medical image of a subject,
Second image acquisition means for acquiring an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject;
Display means for displaying the endoscopic image;
Storage means for storing at least one finding about the three-dimensional medical image in association with finding position information representing a position where the finding is obtained in the three-dimensional medical image;
Endoscope position acquisition means for acquiring endoscope position information representing a real-time position of the endoscope in the body cavity;
Notification means for notifying the finding when the position represented by the endoscope position information in the three-dimensional medical image is located within a predetermined spatial range with reference to the position represented by the finding position information. It is characterized by comprising.

  “Located within the predetermined range” includes a case where the position completely corresponds to the position represented by the first position information.

  In the first observation support system according to the present invention, the notifying means may be a means for notifying the findings by displaying the findings on the display means and / or outputting sound.

  In the first observation support system according to the present invention, the display means may be a means for displaying the three-dimensional medical image at the position where the finding to be notified is obtained when the finding is notified.

A second observation support system according to the present invention includes first image acquisition means for acquiring a three-dimensional medical image of a subject,
Second image acquisition means for acquiring an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject;
Display means for displaying the endoscopic image;
A finding acquisition means for acquiring a finding about at least one position in the body cavity;
Endoscope position acquisition means for acquiring endoscope position information representing the position of the endoscope in the body cavity that has obtained the findings;
Storage means for specifying a position corresponding to the endoscope position information in the three-dimensional medical image and storing the specific position information representing the specified position and the findings in association with each other is provided. It is what.

In the second observation support system according to the present invention, other display means for displaying the three-dimensional medical image at the position represented by the specific position information;
When the three-dimensional medical image at the position represented by the specific position information is displayed on the other display means, a notification means for notifying the finding associated with the position may be further provided.

  In the second observation support system according to the present invention, the notifying means may be a means for notifying the findings by displaying the findings on the other display means and / or outputting sound.

  In the second observation support system according to the present invention, the other display means may be a means for displaying the endoscopic image at the position where the finding to be notified is obtained when the finding is notified. .

A first observation support method according to the present invention includes a step of acquiring a three-dimensional medical image of a subject;
Obtaining an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject; and
Displaying the endoscopic image;
Storing at least one finding about the three-dimensional medical image in association with finding position information representing a position where the finding is obtained in the three-dimensional medical image;
Obtaining endoscope position information representing a real-time position of the endoscope in the body cavity;
Notifying the observation when the position represented by the endoscope position information in the three-dimensional medical image is located within a predetermined spatial range with reference to the position represented by the finding position information; It is characterized by having.

A second observation support method according to the present invention includes a step of acquiring a three-dimensional medical image of a subject;
Obtaining an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject; and
Displaying the endoscopic image;
Obtaining a finding for at least one location within the body cavity;
Obtaining endoscope position information representing the position of the endoscope in the body cavity that obtained the findings;
A step of specifying a position corresponding to the endoscope position information in the three-dimensional medical image, and storing the specific position information representing the specified position and the findings in association with each other. Is.

  In addition, you may provide as a program for making a computer perform the 1st and 2nd observation assistance method by this invention.

  According to the first observation support system and method of the present invention, a three-dimensional medical image of a subject is acquired, and an endoscopic image in a body cavity taken by an endoscope inserted in the body cavity of the subject is obtained. To be acquired. Then, at least one finding regarding the three-dimensional medical image is stored in association with the finding position information indicating the position where the finding is obtained in the three-dimensional medical image. On the other hand, an endoscope image is displayed, endoscope position information representing the real-time position of the endoscope in the body cavity is acquired, and the position represented by the endoscope position information is represented by the finding position information. The observation is notified when the position is within a predetermined space range based on the position. For this reason, during observation of an endoscopic image, a doctor who is a user, when an endoscope reaches a position near the position where the finding is acquired in the 3D medical image, the observation acquired in the 3D medical image is displayed. Simple and quick confirmation. In particular, the findings are created at important positions when performing endoscopic observations such as surgery and examination using an endoscope such as a position where a lesion is present or a blood vessel such as an artery is present. During the endoscopic observation, the doctor can know that the endoscope has approached such an important position by notifying the findings. Therefore, it is possible to safely and reliably perform surgery and inspection using an endoscope.

  Further, by displaying the 3D medical image at the position where the notified finding is acquired together with the notification of the finding, the doctor can also perform endoscopic observation with reference to the 3D medical image at the important position. . Therefore, endoscopic observation can be performed with higher accuracy.

  In addition, according to the second observation support system and method of the present invention, an endoscope in a body cavity in which a three-dimensional medical image of a subject is acquired and photographed by an endoscope inserted into the body cavity of the subject. An image is acquired. Then, an endoscopic image is displayed, a finding about at least one position in the body cavity is acquired, and endoscope position information indicating the position of the endoscope in the body cavity that obtained the finding is acquired. Further, the position in the three-dimensional medical image corresponding to the endoscope position information is specified, and the specific position information representing the specified position and the finding are stored in association with each other.

  For this reason, when a doctor observes a three-dimensional medical image, the doctor creates a finding created at the time of endoscopic observation such as surgery or examination using an endoscope at a position corresponding to the position where the finding was created. It can be confirmed easily and quickly together with the three-dimensional medical image. In particular, findings are created at important positions when performing surgery and examinations using an endoscope, such as where there is a lesion in the body cavity of the subject. After mirror observation, a three-dimensional medical image of such an important position can be confirmed along with the findings. Therefore, it is possible to safely and reliably perform a diagnosis at a position that is important at the time of endoscopic observation using a three-dimensional medical image.

  Further, by displaying the endoscopic image at the position where the finding to be notified is displayed together with the notification of the finding, the doctor also refers to the endoscopic image at the important position and performs the diagnosis using the three-dimensional medical image. It can be carried out. Therefore, the diagnosis using the three-dimensional medical image can be performed with higher accuracy.

The hardware block diagram which shows the outline | summary of the endoscope observation assistance system by the 1st Embodiment of this invention The block diagram which divided | segmented the endoscope observation assistance system in the 1st Embodiment of this invention in the functional level The flowchart which shows the process performed in the 1st Embodiment of this invention. The figure for demonstrating the display of an endoscopic image and a finding in the display for endoscopic images The figure for demonstrating the display of an endoscopic image and a finding in the display for endoscopic images The figure for demonstrating the display of an endoscopic image and a finding in the display for endoscopic images The block diagram which divided | segmented the endoscope observation assistance system in the modification of the 1st Embodiment of this invention in the functional level The block diagram which divided | segmented the endoscope observation assistance system in the 2nd Embodiment of this invention in the functional level The flowchart which shows the process performed in the 2nd Embodiment of this invention (the 1) The flowchart which shows the process performed in the 1st Embodiment of this invention (the 2) The figure for demonstrating the display of the three-dimensional medical image and finding on the display for image processing workstations The figure for demonstrating the display of the three-dimensional medical image and finding on the display for image processing workstations The figure for demonstrating the display of the three-dimensional medical image and finding on the display for image processing workstations

  Hereinafter, an endoscope observation support system according to an embodiment of the present invention will be described. FIG. 1 is a hardware configuration diagram showing an overview of an endoscope observation support system according to the first embodiment of the present invention. As shown in FIG. 1, the endoscope observation support system according to the first embodiment of the present invention includes an endoscope 1, a digital processor 2, a light source device 3, an endoscope image display 4, a modality 5, an endoscope. Mirror marker 7, position sensor 8, interpretation workstation 9, interpretation workstation display 10 (hereinafter simply referred to as display 10), image processing workstation 11, image processing workstation display 12 (hereinafter unit display 12) The endoscope 1 and the treatment tool 6 are inserted into the abdominal cavity of the subject, and an operation performed under an endoscope such as a laparoscopic operation or a thoracoscopic operation is performed. This is to support observation of the endoscope at the time.

  In this embodiment, the endoscope 1 is a rigid endoscope for abdominal cavity and is inserted into the abdominal cavity of a subject. Light guided by an optical fiber from the light source device 3 is irradiated from the distal end portion of the endoscope 1, and an image in the abdominal cavity of the subject is obtained by the imaging optical system of the endoscope 1. The digital processor 2 converts the imaging signal obtained by the endoscope 1 into a digital image signal, and corrects the image quality through digital signal processing such as white balance adjustment and shading correction, thereby converting the endoscope image data S into the image data S. The endoscope image S is acquired and displayed on the endoscope image display 4. Since acquisition of the imaging signal by the endoscope 1 is performed at a predetermined frame rate, the endoscope image S is displayed on the endoscope image display 4 as a moving image representing the abdominal cavity.

  The digital processor 2 includes an input device 2A such as a keyboard. When a lesion or the like is observed in the endoscopic image S displayed as a moving image on the endoscopic image display 4, a doctor who is a user is used. However, still image shooting can be performed using the input device 2A. Further, it is also possible to input a finding on the still endoscopic image Ss by interpreting an endoscopic image (still endoscopic image) Ss of a still image acquired by a doctor by taking a still image. At this time, the digital processor 2 displays a report creation screen for supporting the creation of an interpretation report on the display 4, and text (hereinafter referred to as observation information Ks) indicating the content of findings made based on the interpretation is input. At this time, an interpretation report Rs in which the endoscope position information Ps indicating the position of the endoscope 1 when the finding information Ks and the stationary endoscope image Ss to be interpreted are captured is created. The interpretation report Rs may record the still endoscope image Ss at the position where the findings are created.

  Further, not only the input device 2A but also voice may be used for inputting findings. When the endoscope image display 4 is a touch panel type input device, the input may be performed using a touch panel type input device. Further, not only a doctor but also an operation assistant (nurse) may be input. Thereby, the burden of the doctor during an operation can be reduced. The digital processor 2 transmits the created interpretation report Rs to the image processing workstation 11 via the LAN.

  When there are a plurality of still endoscopic images Ss, the interpretation report Rs records the finding information Ks and the endoscope position information Ps in association with each stationary endoscopic image.

  The digital processor 2 is defined in the DICOM (Digital Imaging and Communications in Medicine) standard for the endoscope image data S representing the endoscope image S and the stationary endoscope image data Ss representing the stationary endoscope image Ss. The supplementary information is added, and endoscope image data S and stationary endoscope image data Ss are output. The outputted static endoscope image data Ss is transmitted to the image processing workstation 11 via the LAN according to a communication protocol compliant with the DICOM standard.

  The modality 5 is an apparatus that generates image data V of a three-dimensional medical image representing a part of the subject by imaging the part to be examined, and is a CT apparatus here. The accompanying information defined by the DICOM standard is also added to the three-dimensional medical image data V. The three-dimensional medical image data V is also transmitted to the interpretation workstation 9 and the image processing workstation 11 via the LAN according to a communication protocol compliant with the DICOM standard.

  The interpretation workstation 9 displays the three-dimensional medical image V received from the modality 5 on the display 10 for interpretation by the interpretation doctor. Furthermore, the interpretation workstation 9 displays a report creation screen for supporting the creation of an interpretation report on the display 10, and when text indicating the content of findings (hereinafter referred to as finding information Kv) is input based on the interpretation. Then, an interpretation report Rv in which the finding information Kv and the finding position information Pv representing the position where the finding is acquired in the three-dimensional medical image V is recorded is created. Note that an image at the position where the finding information Kv of the three-dimensional medical image V is created (hereinafter referred to as an image to be interpreted) may be recorded in the interpretation report Rv. When there are a plurality of places where findings are created by interpretation, finding information Kv and finding position information Pv are recorded in the interpretation report Rv in association with each interpretation. The interpretation workstation 9 transmits the generated interpretation report to the image processing workstation 11 via the LAN.

  In the interpretation workstation 9, for example, a computer aided diagnosis (CAD) system represented by an abnormal shadow candidate detection method using an iris filter as described in Japanese Patent Application Laid-Open No. 2004-135867 is used. The lesion may be automatically detected from the three-dimensional medical image V, and the three-dimensional medical image V including the lesion may be displayed on the display 10 for interpretation.

  The endoscope marker 7 and the position sensor 8 constitute a known three-dimensional position measuring device. The endoscope marker 7 is provided near the hand of the endoscope 1, and the optical position sensor 8 detects the three-dimensional position of the marker 7 at a predetermined time interval. Since the endoscope marker 7 is composed of a plurality of marker pieces, the position sensor 8 can also detect the orientation of the endoscope 1 from the positional relationship of the marker pieces. The three-dimensional position of the tip can be calculated. The position sensor 8 transmits endoscope position information Ps representing the calculated three-dimensional position and orientation of the endoscope 1 to the digital processor 2 and the image processing workstation 11 via the USB interface.

  The image processing workstation 11 is a computer having a well-known hardware configuration such as a CPU, a main storage device, an auxiliary storage device, an input / output interface, a communication interface, a data bus, etc., and an input device (pointing device, keyboard, etc.) A display 10 is connected. The image processing workstation 11 is connected to the digital processor 2, the modality 5 and the image interpretation workstation 9 via a LAN, and is connected to the position sensor 8 via a USB. Further, the image processing workstation 11 is installed with a well-known operating system, various application software, and the like, and is also installed with an application for executing the endoscope observation support processing of the present embodiment. These software may be installed from a recording medium such as a CD-ROM, or may be installed after being downloaded from a storage device of a server connected via a network such as the Internet. Good.

  The image processing workstation 11 is installed in an operating room where endoscopic surgery is performed or in a waiting room adjacent to the operating room, so that a doctor can appropriately check information during or after the operation.

  FIG. 2 is a block diagram in which the endoscope observation support system according to the first embodiment of the present invention is divided at a functional level. As shown in FIG. 2, the endoscope observation support system according to the first embodiment of the present invention includes an endoscope 1, an endoscope image forming unit 2, an endoscope image display 4, and a three-dimensional medical image formation. Unit 5, finding creation unit 9, endoscope position detection unit 20, endoscope position acquisition unit 21, three-dimensional medical image acquisition unit 22, finding acquisition unit 23, image information database 24, search unit 25, and endoscope image The acquisition unit 26 is configured. In addition, when the hardware device shown in FIG. 1 and each functional block shown in FIG. That is, the function of the endoscope image forming unit 2 is realized by the digital processor of FIG. 1, the function of the three-dimensional medical image forming unit 5 is realized by the modality of FIG. 1, and the function of the finding creating unit 9 is the interpretation of FIG. Realized by a workstation. On the other hand, the function of the endoscope position detection unit 20 is realized by the endoscope marker 7 and the position sensor 8. A broken line frame indicates the image processing workstation 11, and the functions of the processing units in the broken line frame are realized by executing a predetermined program on the image processing workstation 11.

  Next, processing performed in the first embodiment will be described. FIG. 3 is a flowchart showing processing performed in the endoscope observation support system according to the first embodiment of the present invention.

  First, prior to observation of the subject in the abdominal cavity using the endoscope 1, a three-dimensional medical image V is formed by photographing the subject by the three-dimensional medical image forming unit 5. In addition, the finding creation unit 9 interprets the 3D medical image V by the interpreting doctor, and represents the finding information Kv about the 3D medical image V and the position on the 3D medical image V from which the finding information Kv is acquired. An interpretation report Rv in which the finding position information Pv is recorded is created.

  In the image processing workstation 11, the three-dimensional medical image acquisition unit 22 acquires the three-dimensional medical image V formed by the three-dimensional medical image forming unit 5 (step ST1), and the finding acquisition unit 23 further detects the finding creation unit. 9. Interpretation report Rv created in step 9 is acquired (step ST2). The three-dimensional medical image V and the interpretation report Rv are associated with each other and registered in the image information database 24 (step ST3). The above processing is performed before endoscopic surgery.

  During endoscopic surgery, that is, during observation of the subject in the abdominal cavity using the endoscope 1, the endoscope image forming unit 2 performs a predetermined frame until the observation is completed (Yes in step ST10). The endoscope image S by the endoscope 1 inserted into the body cavity at a rate is repeatedly formed, and the formed endoscope image S is displayed in real time as a through moving image on the endoscope image display 4 (step ST4). ). The endoscopic image S is acquired by the endoscopic image acquisition unit 26 and sequentially stored in a predetermined memory area in the image processing workstation 11. Further, the endoscope position detection unit 20 repeatedly detects the position of the endoscope 1 inserted into the body cavity in real time at predetermined time intervals.

  In the image processing workstation 11, the endoscope position acquisition unit 21 acquires endoscope position information Ps representing the position of the endoscope 1 detected by the endoscope position detection unit 20 (step ST5). A conversion position Ps ′ obtained by converting the endoscope position information Ps into a position in the coordinate system of the three-dimensional medical image V is acquired (step ST6).

  Then, the search unit 25 refers to the interpretation report Rv for the three-dimensional medical image V of the same subject in the image information database 24, and the finding information associated with the finding position information Pv representing the position corresponding to the converted position Ps ′. Kv is searched (step ST7). In this case, although it may be determined that the conversion position Ps ′ and the position represented by the finding position information Pv completely match, it may be determined that the search has been performed. A threshold value that determines the spatial range is set, and when the conversion position Ps ′ is included in the spatial range determined by the threshold value, it is determined that the finding information Kv is retrieved. Also good. The threshold value may be set by the user.

  Further, since the endoscope position information Ps includes the direction of the endoscope 1, the angle of view of the endoscope can be obtained from the direction of the endoscope 1. Accordingly, the search unit 25 calculates the angle of view of the endoscope 1 from the orientation information of the endoscope 1 included in the endoscope position information Ps, and the angle of view wider by a predetermined amount than the angle of view of the endoscope 1. If the position represented by the finding position information Pv of the three-dimensional medical image V exists in the range of, it may be determined that the finding information Kv has been searched.

  Further, using the method described in Patent Document 2, a route for performing endoscopic observation from the three-dimensional medical image V is obtained in advance, and a virtual endoscope image for the obtained route is created to obtain image information. The similarity between the endoscopic image S and the virtual endoscopic image acquired in real time is registered in the database 24, and the similarity is within a predetermined range (for example, the correlation value between the two images is a predetermined threshold value). Within the spatial range determined by a predetermined threshold value based on the position represented by the finding position information Pv. Sometimes, it may be determined that the finding information Kv has been searched.

  If step ST7 is negative, the process proceeds to step ST10. When step ST7 is affirmed, the search unit 25 acquires the finding information Kv searched from the image information database 24 (step ST8), and transmits it to the endoscope image display 4. The endoscopic image display 4 displays the finding Kv represented by the finding information Kv together with the endoscopic image S (step ST9).

  4 and 5 are diagrams for explaining the display of the endoscope image S and the finding information Kv on the endoscope image display 4. When the finding information Kv is not searched, only the endoscopic image S is displayed as shown in FIG. On the other hand, when the finding information Kv is retrieved, the finding Kv is superimposed on the endoscopic image S and displayed as shown in FIG. As shown in FIG. 6, a three-dimensional medical image V0 that is an image to be interpreted at the position where the finding information Kv is acquired may be displayed together with the finding Kv.

  Subsequently, the image processing workstation 11 determines whether or not an operation for instructing the end of observation has been performed (step ST10). If step ST10 is negative, the process returns to step ST4 and repeats the processes after step ST4. If step ST10 is affirmed, the endoscopic image S (moving image) stored in the memory so far is registered in the image information database 24 (step ST11), and the process is terminated.

  Next, details of processing performed in each processing unit in the image processing workstation 11 in the first embodiment will be described.

  The endoscope position acquisition unit 21 functions as a communication interface for acquiring endoscope position information Ps representing the endoscope position by communication with the endoscope position detection unit 20, and the acquired endoscope position information Ps. Is converted from the three-dimensional coordinate system of the position sensor 8 into a conversion position Ps ′ expressed by the coordinate values of the three-dimensional coordinate system of the three-dimensional medical image V and stored in a predetermined memory area of the image processing workstation 11. Have In the former communication interface function, endoscope position information Ps is acquired from the endoscope position detection unit 20 on a request basis from the endoscope position acquisition unit 21. In the latter coordinate conversion function, the rotation amount of the coordinate axis is determined in advance based on the correspondence relationship between the respective coordinate axes in the three-dimensional coordinate system of the position sensor 8 and the respective coordinate axes in the three-dimensional coordinate system of the three-dimensional medical image V. In addition, the coordinate value in the three-dimensional coordinate system of the position sensor 8 of the position in the subject corresponding to the origin of the three-dimensional medical image V is measured in advance, and both are calculated based on the coordinate value of the origin. If the translation amount of the coordinate axis is obtained, the endoscope position information Ps expressed in the three-dimensional coordinate system of the position sensor 8 is obtained by using a matrix for performing the rotation of the rotation amount and the translation of the translation amount. The three-dimensional medical image V can be converted to a conversion position Ps ′ expressed by the coordinate values of the three-dimensional coordinate system.

  The three-dimensional medical image acquisition unit 22 receives the three-dimensional medical image V from the three-dimensional medical image forming unit 5, stores it in a predetermined memory area of the image processing workstation 11, and associates image information with the interpretation report Rv. A communication interface function registered in the database 24 is provided.

  The finding acquisition unit 23 receives the interpretation report Rv from the interpretation workstation 9, stores it in a predetermined memory area of the image processing workstation 11, and registers it in the image information database 24 in association with the three-dimensional medical image V. Has an interface function.

  The image information database 24 stores the endoscope image data S, the static endoscope image data Ss, the accompanying information and the interpretation report Rs, and the three-dimensional medical image data V, the accompanying information and the interpretation report Rv in association with each other. It is possible. The incidental information includes, for example, an image ID for identifying individual images, a patient ID for identifying a subject, an examination ID for identifying examinations, a unique ID (UID) assigned to each piece of image information, and the image Examination date when the information was generated, examination time, type of modality used in the examination to obtain the image information, patient information such as patient name, age, gender, examination site (imaging site), imaging conditions (contrast Information such as the series number or collection number when a plurality of images are acquired in one examination may be included.

  The search unit 25 receives the converted position Ps ′ from the endoscope position acquisition unit 21 and searches for the finding information Kv associated with the finding position information Pv representing the position corresponding to the converted position Ps ′. In addition, when the finding information Kv is retrieved, it has a communication interface function for transmitting the finding information Kv retrieved from the image information database 24 to the digital processor 2.

  The endoscope image acquisition unit 26 is a communication interface that receives the endoscope image S through communication with the endoscope image forming unit (digital processor) 2 and stores it in a predetermined memory area of the image processing workstation 11. Yes, an endoscopic image is transferred from the endoscopic image forming unit 2 based on a request from the endoscopic image acquiring unit 26.

  Thus, in the first embodiment of the present invention, the three-dimensional medical image forming unit 5 acquires the three-dimensional medical image V of the subject, and the endoscope image forming unit 2 is in the body cavity of the subject. An endoscopic image S in a body cavity imaged by an endoscope inserted into the body is acquired, and finding information Kv indicating the findings about the three-dimensional medical image V and finding position information Pv indicating the position where the finding information Kv is acquired. Are recorded in the interpretation report Rv, and this interpretation report Rv is registered in the image information database 24. The endoscopic image forming unit 2 displays the endoscopic image S on the endoscopic image display 4, and the endoscopic position acquisition unit 21 represents the real-time position of the endoscope in the body cavity. The endoscope position information Ps is acquired, and the search unit 25 searches and searches the finding information Kv associated with the finding position information Pv representing the position corresponding to the converted position Ps ′ obtained from the endoscope position information Ps. The finding Kv represented by the finding information Kv is displayed on the endoscope image display 4.

  For this reason, when the doctor who is the user reaches the position where the endoscope 1 acquires the finding Kv in the three-dimensional medical image V during observation of the endoscopic image S, the doctor in the three-dimensional medical image V The finding Kv acquired in step 1 can be confirmed easily and quickly. In particular, the finding Kv is created at an important position when performing endoscopic observation such as surgery or examination using an endoscope such as a position where a lesion is present or a blood vessel such as an artery is present. Can know from the notification of the observation Kv that the endoscope has approached such an important position during the endoscopic observation. Therefore, it is possible to safely and reliably perform surgery and inspection using an endoscope.

  In the first embodiment, the observation Kv is notified by being displayed on the endoscope image display 4. However, as shown in FIG. 7, the endoscope image forming unit 2 (that is, a digital processor) is used. An audio output unit 2B composed of a speaker or the like may be provided, and the findings Kv may be output from the audio output unit 2B by voice. At this time, the findings Kv may be displayed together with the endoscope image display 4. Further, it may be notified that the finding Kv is displayed by a beep sound or the like.

  In the first embodiment, when the endoscopic image S is registered in the image information database 24, the endoscope represents the position of the endoscope 1 corresponding to the position associated with the finding information Kv. The position information Ps and the finding information Kv of the three-dimensional medical image V at the position may be associated with the endoscope image S. As a result, when the endoscopic image S is displayed later and the displayed endoscopic image S approaches the position represented by the endoscopic position information Ps, the findings Ks of the three-dimensional medical image V are displayed. Can be displayed together.

  Next, a second embodiment of the present invention will be described. The hardware configuration of the endoscope observation support system according to the second embodiment of the present invention is the same as the hardware configuration of the endoscope observation support system according to the first embodiment. Omitted. FIG. 8 is a block diagram in which the endoscope observation support system according to the second embodiment of the present invention is divided at the functional level. In FIG. 8, the same components as those in FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted here. The endoscopic observation support system according to the second embodiment replaces the finding creation unit 9, the finding acquisition unit 23, and the search unit 25 of the endoscopic observation support system according to the first embodiment with respect to the endoscopic image S. The second embodiment is different from the first embodiment in that it includes an observation creation unit 2C that creates an interpretation report Rs, an observation acquisition unit 27 that acquires the interpretation report Rs, a position information acquisition unit 28, and a display control unit 29.

  In addition, when the hardware apparatus shown in FIG. 1 and each functional block shown in FIG. That is, the functions of the endoscope image forming unit 2 and the finding creating unit 2C are realized by the digital processor of FIG. 1, and the functions of the three-dimensional medical image forming unit 5 are realized by the modality of FIG. The function 20 is realized by the endoscope marker 7 and the position sensor 8. A broken line frame indicates the image processing workstation 11, and the functions of the processing units in the broken line frame are realized by executing a predetermined program on the image processing workstation 11.

  Next, processing performed in the second embodiment will be described. FIG. 9 is a flowchart showing processing performed in the endoscope observation support system according to the second embodiment of the present invention.

  First, prior to observation of the subject in the abdominal cavity using the endoscope 1, a three-dimensional medical image V is formed by photographing the subject by the three-dimensional medical image forming unit 5. In the image processing workstation 11, the 3D medical image acquisition unit 22 acquires the 3D medical image V formed by the 3D medical image forming unit 5 (step ST21), and the 3D medical image V is stored in the image information database 24. (Step ST22). The above processing is performed before endoscopic surgery.

  During endoscopic surgery, that is, during observation of the subject in the abdominal cavity using the endoscope 1, the endoscopic image forming unit 2 performs a predetermined frame until the observation is completed (Yes in step ST <b> 32). The endoscope image S by the endoscope 1 inserted into the body cavity at a rate is repeatedly formed, and the formed endoscope image S is displayed on the endoscope image display 4 in real time as a through moving image (step ST23). ). In addition, the endoscope position detection unit 20 repeatedly detects the position of the endoscope 1 inserted into the body cavity in real time at a predetermined time interval and inputs the position to the endoscope image forming unit 2. The endoscopic image S is acquired by the endoscopic image acquisition unit 26 and sequentially stored in a predetermined memory area in the image processing workstation 11.

  Then, when a finding input operation is performed by a doctor who is a user in the digital processor 2 (Yes in step ST24), the endoscope image forming unit 2 captures, that is, captures a still image of the displayed endoscope image S0. Then, the static endoscope image Ss is displayed on the endoscope image display 4 (step ST25). The endoscopic image acquisition unit 26 acquires the captured still endoscope image Ss (step ST26) and stores it in a predetermined memory area in the image processing workstation 11. Further, the finding creation unit 2C receives the input of the finding by the doctor, and creates an interpretation report Rs in which the finding information Ks and the endoscope position information Ps indicating the position of the stationary endoscope image Ss to be interpreted are recorded. (Step ST27).

  In the image processing workstation 11, the finding acquisition unit 27 acquires the interpretation report Rs created by the finding creation unit 9c, and the position information acquisition unit 28 acquires the endoscope position information Ps recorded in the interpretation report Rs. (Step ST28) Further, a conversion position Ps ′ obtained by converting the endoscope position information Ps into a position in the coordinate system of the three-dimensional medical image V is acquired (step ST29).

  Then, the position information acquisition unit 28 specifies a position corresponding to the conversion position Ps ′ in the three-dimensional medical image V registered in the image information database 24 (step ST30), and interprets the specific position information Pv1 representing the specified position and interpretation. The finding information Ks recorded in the report Rs is associated with each other, and the stationary endoscope image Ss and the interpretation report Rs are associated with each other and registered in the image information database 24 (step ST31). Thereafter, the display of the static endoscopic image Ss on the endoscopic image display 4 is canceled, and the endoscopic image S is displayed again in real time.

  Subsequently, the image processing workstation 11 determines whether or not an operation for instructing the end of observation has been performed (step ST32). If step ST32 is negative, the process returns to step ST23 and repeats the processes after step ST23. If step ST32 is affirmed, the endoscopic image S (moving image) stored in the memory so far is registered in the image information database 24 (step ST33), and the process is terminated.

  FIG. 10 is a flowchart showing processing at the time of displaying a three-dimensional medical image in the second embodiment. When a doctor observes the three-dimensional medical image V for confirmation or the like after the endoscopic operation or during the operation, the doctor uses the input device of the image processing workstation 11 to operate the display of the three-dimensional medical image V. Perform (Yes at step ST41). As a result, the display control unit 29 displays the three-dimensional medical image V on the display 12 of the image processing workstation 11, and the display control unit 29 specifies the position (PvR) of the three-dimensional medical image V to be displayed from now on. It is determined whether or not it matches the position represented by the position information Pv1 (step ST42).

  In this case, although it may be determined that the position PvR and the position represented by the specific position information Pv1 are completely matched, it may be determined that the position is the same. A threshold value that defines the range may be set, and if the position PvR is included in the spatial range defined by the threshold value, it may be determined that they match. The threshold value may be set by the user.

  If step ST42 is negative, the display control unit 29 acquires the three-dimensional medical image V at that position from the image information database 24 and displays it on the display 12 (step ST43). The three-dimensional medical image V is displayed on the display 12 by slice images or volume rendering display at a plurality of tomographic positions. If step ST42 is positive, the display control unit 29 acquires the three-dimensional medical image V and the finding information Ks at the position, and displays the finding Ks represented by the finding information Ks on the display 12 together with the three-dimensional medical image V. (Step ST44).

  FIGS. 11 and 12 are diagrams for explaining the display of the three-dimensional medical image V and the finding Ks on the display 12. When the position PvR does not coincide with the position represented by the specific position information Pv1, only the three-dimensional medical image V (here, a slice image of a certain slice plane) is displayed as shown in FIG. On the other hand, when the position PvR matches the position represented by the specific position information Pv1, the finding Ks is superimposed on the three-dimensional medical image V and displayed as shown in FIG. In addition, as shown in FIG. 13, you may display the static endoscope image Ss in the position which acquired the finding information Ks with the finding Ks.

  When the doctor changes the display position of the three-dimensional medical image V (Yes at step ST45), the process returns to step ST42, and the processes after step ST42 are repeated. If step ST45 is negative, it is determined whether or not an operation for instructing the end of observation has been performed (step ST46). If step ST46 is negative, the process returns to step ST45. If step ST46 is affirmed, the process ends.

  Next, details of processing performed in each processing unit in the image processing workstation 11 in the second embodiment will be described.

  The function of the finding creation unit 2C is realized by a digital processor, and as described above, an endoscope position representing the position of the endoscope 1 when obtaining the finding information Ks and the stationary endoscope image Ss to be interpreted. An interpretation report Rs in which information Ps is recorded is created.

  The finding acquisition unit 27 has a communication interface function for receiving the interpretation report Rs from the digital processor 2 and storing it in a predetermined memory area of the image processing workstation 11.

  The position information acquisition unit 28 converts the endoscope position information Ps acquired from the interpretation report Rs from the three-dimensional coordinate system of the position sensor 8 to the converted position Ps ′ expressed by the coordinate values of the three-dimensional coordinate system of the three-dimensional medical image V. And a position corresponding to the converted position Ps ′ is specified in the three-dimensional medical image V registered in the image information database 24 and specified. The specific position information Pv1 representing the determined position is registered in the image information database 24 in association with the finding information Ks recorded in the interpretation report Rs. This coordinate conversion function is the same as the function performed by the endoscope position acquisition unit 21 in the first embodiment.

  The display control unit 29 generates a display screen in which the three-dimensional medical image V and the finding Ks are arranged on one screen, if necessary, and outputs the display screen to the display 12.

  As described above, in the second embodiment of the present invention, the endoscope position information Ps representing the position of the endoscope in the body cavity where the finding information creation unit 2C has obtained the findings about the stationary endoscope image Ss and An interpretation report Rs in which the observation information Ks is recorded is created, and the position information acquisition unit 28 identifies and identifies the position on the three-dimensional medical image V corresponding to the endoscope position information Ps recorded in the interpretation report Rv. The specific position information Pv1 representing the position and the finding information Ks are registered in the image information database 24 in association with each other.

  For this reason, when a doctor who is a user observes the three-dimensional medical image V, the position created at the time of observing an endoscope such as surgery or examination using the endoscope 1 is created. Can be confirmed easily and quickly together with the three-dimensional medical image V at the position corresponding to. In particular, findings are created at important positions when performing surgery and examinations using an endoscope, such as where there is a lesion in the body cavity of the subject. After the mirror observation, the three-dimensional medical image V for such an important position can be confirmed together with the finding Ks. Therefore, the diagnosis using the three-dimensional medical image V at a position that is important at the time of endoscopic observation can be performed safely and reliably.

  In the second embodiment, the observation Ks is notified by being displayed on the display 12. However, as in the first embodiment, the image processing workstation 11 has an audio output unit (such as a speaker). (Not shown) may be provided, and the observation Ks may be output by voice from the voice output unit. At this time, the finding Ks may be displayed together with the display 12. Further, it may be notified that the finding Ks is displayed by a beep sound or the like.

  In the second embodiment, the specific position information Pv1 is obtained based on the endoscope position information Ps. Since the endoscope 1 captures a part ahead of the position where the endoscope 1 exists, the position represented by the specific position information Pv1 in the three-dimensional medical image V is a position corresponding to the position. In some cases, a lesion included in the still endoscope image Ss is not included. For this reason, when the finding Ks is displayed while the 3D medical image V is being displayed, the position on the 3D medical image V to which the finding Ks is associated can be edited, and the actual 3D medical image V is displayed. The position where the lesion is visually recognized and the finding Ks may be associated with each other accurately.

  In the second embodiment, when the static endoscope image Ss and the interpretation report Rs are registered in the image information database 24 in association with each other, the specific position information Pv1 in the three-dimensional medical image V is also registered. You may make it do. Further, the specific position information Pv1 in the three-dimensional medical image V may be described in the incidental information of the image data of the static endoscope image Ss. Thereby, when a plurality of still endoscopic images Ss are captured, when the desired still endoscopic image Ss is displayed after or during the operation, it is registered in the image information database 24 or in the accompanying information. With reference to the described specific position information Pv1, it becomes possible to display the three-dimensional medical image V corresponding to the position together with the endoscopic image S.

  By the way, a balloon endoscope is known in which a balloon is attached to the endoscope 1 and the balloon is inflated in a body cavity to facilitate endoscopic observation. When such a balloon endoscope is inflated in the body cavity, the surrounding organs are deformed so as to expand. Therefore, the shape of the organ included in the three-dimensional medical image V at the corresponding position and the endoscopic image S Does not match the shape of the organs contained in. As described above, if the shape of the organ included in the three-dimensional medical image V does not match the shape of the organ included in the endoscopic image, in the first and second embodiments, the endoscopic images S and 3 are used. When the three-dimensional medical image V is displayed at the same time, it appears that the displayed parts do not match.

  For this reason, it is preferable to deform the position corresponding to the conversion position Ps ′ in the three-dimensional medical image V based on information on the size of the inflated balloon under observation using a balloon endoscope. For example, as described in the specification of WO 2007/015365, the deformation approximates the three-dimensional medical image V by a set of tetrahedrons, and uses a known finite element method technique to change the tetrahedral mesh structure. Deformation techniques can be used. Thereby, the shape of the organ included in the three-dimensional medical image V can be matched with the shape of the organ included in the endoscopic image S. The three-dimensional medical image V can be deformed during observation using the endoscope. However, if the position where the balloon is inflated is known in advance, the three-dimensional medical image V is displayed before observation. You may make it deform | transform.

  In addition, the endoscope image S and the three-dimensional medical image V corresponding to the position being displayed are displayed together to reflect the change in the shape of the organ included in the endoscope image S by inflating the balloon. As described above, the three-dimensional medical image V being displayed may be deformed.

  Note that when the three-dimensional medical image V is deformed, the position associated with the finding information Kv may be changed. In such a case, it is preferable to update the position information Kv recorded in the interpretation report Rv registered in the image information database 24 as the three-dimensional medical image V is deformed.

  In addition, the said 1st and 2nd embodiment is an illustration to the last, and all said description should not be utilized in order to interpret the technical scope of this invention restrictively.

  In addition, various modifications can be made to the system configuration, hardware configuration, processing flow, module configuration, user interface, specific processing contents, and the like in the first and second embodiments without departing from the spirit of the present invention. Those performed are also included in the technical scope of the present invention.

  For example, regarding the system configuration, in the above embodiment, in the hardware configuration of FIG. 1, the modality 5, the image interpretation workstation 9 and the image processing workstation 11 are directly connected, but the image storage server is connected on the LAN. The three-dimensional medical image V formed by the modality 5 is temporarily stored in the database of the image storage server, and is read from the image storage server in response to requests from the image interpretation workstation 9 and the image processing workstation 11. The three-dimensional medical image V may be transferred to the workstation 9 and the image processing workstation 11.

  Further, the endoscope 1 may be a flexible endoscope or a capsule endoscope instead of a rigid endoscope.

  The modality 5 may use an ultrasonic diagnostic apparatus or an MRI apparatus in addition to the above CT apparatus.

  The endoscope position detection unit 20 may be a magnetic type, or may be a gyroscope, a rotary encoder, or the like described in JP-A-2005-21353, for example.

  Furthermore, the observation site may be another site of the subject suitable for observation under the endoscope, such as in the chest cavity, not in the abdominal cavity.

DESCRIPTION OF SYMBOLS 1 Endoscope 2 Digital processor 3 Light source device 4 Endoscopic image display 5 Modality 7 Endoscopic marker 8 Position sensor 9 Interpretation workstation 10 Interpretation workstation display 11 Image processing workstation 12 Display for image processing workstation DESCRIPTION OF SYMBOLS 20 Endoscope position detection part 21 Endoscope position acquisition part 22 3D medical image acquisition part 23 Finding acquisition part 24 Image information database 25 Search part 26 Endoscope image acquisition part 27 Finding acquisition part 28 Position information acquisition part 29 Display Control unit

Claims (11)

First image acquisition means for acquiring a three-dimensional medical image of a subject;
Second image acquisition means for acquiring an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject;
Display means for displaying the endoscopic image;
Storage means for storing at least one finding about the three-dimensional medical image in association with finding position information representing a position where the finding is obtained in the three-dimensional medical image;
Endoscope position acquisition means for acquiring endoscope position information representing a real-time position of the endoscope in the body cavity;
Notification means for notifying the finding when the position represented by the endoscope position information in the three-dimensional medical image is located within a predetermined spatial range with reference to the position represented by the finding position information. An observation support system characterized by comprising:   2. The observation support system according to claim 1, wherein the notifying means is means for notifying the findings by displaying the findings on the display means and / or outputting sound.   3. The observation support system according to claim 1, wherein when the finding is notified, the display means displays the three-dimensional medical image at a position where the finding to be notified is acquired. First image acquisition means for acquiring a three-dimensional medical image of a subject;
Second image acquisition means for acquiring an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject;
Display means for displaying the endoscopic image;
A finding acquisition means for acquiring a finding about at least one position in the body cavity;
Endoscope position acquisition means for acquiring endoscope position information representing the position of the endoscope in the body cavity that has obtained the findings;
Storage means for specifying a position corresponding to the endoscope position information in the three-dimensional medical image and storing the specific position information representing the specified position and the findings in association with each other is provided. An observation support system. Other display means for displaying the three-dimensional medical image at the position represented by the specific position information;
And a notification means for notifying the finding associated with the position when the three-dimensional medical image at the position represented by the specific position information is displayed on the other display means. The observation support system according to claim 4.   6. The observation support system according to claim 4, wherein the notifying means is means for notifying the finding by displaying the finding on the other displaying means and / or outputting sound.   The said other display means is a means to display the said endoscopic image in the position which acquired the finding to notify, when notification of the said finding is made, The any one of Claim 4 to 6 characterized by the above-mentioned. The observation support system described. Obtaining a three-dimensional medical image of the subject;
Obtaining an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject; and
Displaying the endoscopic image;
Storing at least one finding about the three-dimensional medical image in association with finding position information representing a position where the finding is obtained in the three-dimensional medical image;
Obtaining endoscope position information representing a real-time position of the endoscope in the body cavity;
Notifying the observation when the position represented by the endoscope position information in the three-dimensional medical image is located within a predetermined spatial range with reference to the position represented by the finding position information; An observation support method characterized by comprising: Obtaining a three-dimensional medical image of the subject;
Obtaining an endoscopic image in the body cavity imaged by an endoscope inserted into the body cavity of the subject; and
Displaying the endoscopic image;
Obtaining a finding for at least one location within the body cavity;
Obtaining endoscope position information representing the position of the endoscope in the body cavity that obtained the findings;
A step of specifying a position corresponding to the endoscope position information in the three-dimensional medical image, and storing the specific position information representing the specified position and the findings in association with each other. Observation support method. A procedure for acquiring a three-dimensional medical image of a subject in a computer;
A procedure for acquiring an endoscopic image in the body cavity, which is taken by an endoscope inserted into the body cavity of the subject;
Displaying the endoscopic image;
Storing at least one finding about the three-dimensional medical image in association with finding position information representing a position where the finding is obtained in the three-dimensional medical image;
Obtaining endoscope position information representing a real-time position of the endoscope in the body cavity;
A procedure for notifying the finding when the position represented by the endoscope position information in the three-dimensional medical image is located within a predetermined spatial range with reference to the position represented by the finding position information; Observation support program characterized by causing A procedure for acquiring a three-dimensional medical image of a subject in a computer;
A procedure for acquiring an endoscopic image in the body cavity, which is taken by an endoscope inserted into the body cavity of the subject;
Displaying the endoscopic image;
Obtaining a finding for at least one location within the body cavity;
Obtaining endoscope position information representing the position of the endoscope in the body cavity that obtained the findings;
A step of specifying a position corresponding to the endoscope position information in the three-dimensional medical image and storing the specific position information representing the specified position and the findings in association with each other. Observation support program.