JP2012081167A5

JP2012081167A5 -

Info

Publication number: JP2012081167A5
Application number: JP2010231432A
Authority: JP
Filing date: 2010-10-14
Publication date: 2013-11-14
Anticipated expiration: 2030-10-14

Claims

A medical image imaging device that captures a medical image of a subject, a display device that displays the medical image, and a subject that is provided with a relative positional relationship fixed to the subject in order to detect positional information of the subject A position detector, an imaging device position detector fixed to the medical imaging device for detecting position information of the medical imaging device, the subject position detector, and the imaging device position detector. A medical image display device system comprising: a three-dimensional position measurement device for measuring each position information; and a medical image display device for aligning the position information of the subject and the position information of the medical image. And
The medical image display device includes a medical image coordinate system C _{5 in} which position information including an image position and orientation attached to the medical image is developed, and a subject position detection coordinate system C developed by the subject position detection tool. ₂ is calculated as a homogeneous coordinate transformation matrix T ₅ for coordinate transformation through the imaging device coordinate system C ₃ and imaging space coordinate system C _{4 of the} medical image imaging device and the three-dimensional position measurement coordinate system C _1. the medical image display system, which comprises using the coordinate transformation matrix T ₅ as an alignment information of the position information of the medical image and the position information of the subject.

The medical image display apparatus system according to claim 1,
The medical image display device includes:
A homogeneous coordinate transformation matrix T ₁ is calculated for transforming the three-dimensional spatial position coordinate system C ₁ developed by the three-dimensional position measuring device into the subject position detection coordinate system C ₂ developed by the subject position detector. ,
And the three-dimensional spatial coordinates system C _1, the imaging apparatus position detection coordinate system C ₃ to be expanded by the image pickup device position detection device, an imaging space coordinate system C ₄ to be deployed by the imaging space of the medical imaging apparatus the on the basis of the medical image coordinate system C ₅ position information of the image attached to the medical image, the homogeneous coordinate transformation matrix T ₅ for converting the subject position detection coordinate system C ₂ to the medical image coordinate system C5 A medical image display apparatus system characterized by calculating

The medical image display apparatus system according to claim 2 ,
The medical image display device includes:
Based on the homogeneous coordinate transformation matrices T ₁ and T ₅ , the three-dimensional spatial position coordinate system C ₁ is made to correspond to a change in the position information of the subject position detector measured by the three-dimensional position measuring device. the medical image display system, characterized by a homogeneous coordinate transformation matrix Treg said alignment information and calculate the converting the medical image coordinate system C _5.

The medical image display apparatus system according to any one of claims 1 to 3,
Furthermore, it has a surgical instrument position detector for detecting position information of a surgical instrument that performs an operation on the subject,
The medical image display apparatus converts the position information of the medical image coordinate system C ₅ using a three-dimensional position measurement coordinate system C ₁ in measured by the surgical instrument position information the homogeneous coordinate transformation matrix T ₅ or Treg A medical image display system that displays a virtual surgical instrument display of the surgical instrument on the medical image.

The medical image display apparatus system according to any one of claims 1 to 3,
The medical imaging apparatus is an ultrasonic medical imaging apparatus, and includes a probe position detector for detecting position information of an ultrasonic probe of the ultrasonic imaging apparatus;
The medical image display apparatus, the position information of the medical image coordinate system C ₅ using a three-dimensional position measuring coordinate system the ultrasound the homogeneous coordinate transformation matrix T ₅ or Treg position information of the probe measured by C ₁ A medical image display apparatus system that converts and displays a virtual probe display of the ultrasonic probe superimposed on the medical image.

The medical image display apparatus system according to any one of claims 1 to 3,
The medical image display apparatus system, wherein the position information including the image position and orientation attached to the medical image is DICOM information.

The medical image display apparatus system according to any one of claims 1 to 6,
The medical image display system updates the alignment information every time it acquires the position information of the subject position detector measured by the three-dimensional position measurement device.

The medical image display system according to claim 7,
The medical image display system uses the alignment information before update when the position information of the subject position detector cannot be measured.

The medical image display system according to any one of claims 1 to 8,
The medical image display device displays a warning on the display device that the alignment information could not be updated when the position information of the subject position detector could not be acquired. system.

The medical image display system according to claim 4, wherein
The medical image display device, when the subject position detection device is provided with a plurality, the generated positioning information T ₅ or Treg for each of the plurality of subject position detection device, the three-dimensional position measurement coordinates A plurality of position information of the surgical instrument measured by the system C ₁ is converted into position information of the medical image coordinate system C ₅ using the homogeneous coordinate conversion matrix T ₅ or Treg, respectively, and the converted medical image coordinates obtains the first position information based on a plurality of position information system C _5, medical, characterized in that to display overlaid virtual surgical instrument display of the surgical instrument in the medical image based on the first position information obtained Image display system.

The medical image display system according to claim 10, wherein the medical image display device compares with a threshold value for determining alignment accuracy based on the plurality of pieces of position information of the medical image coordinate system C ₅ that have been converted. A medical image display system that displays a warning of a decrease in accuracy.

A medical image imaging device that captures a medical image of a subject, a display device that displays the medical image, and a subject that is provided with a relative positional relationship fixed to the subject in order to detect positional information of the subject A position detector, an imaging device position detector fixed to the medical imaging device for detecting position information of the medical imaging device, the subject position detector, and the imaging device position detector. A medical image guiding method for aligning the position information of the subject and the position information of the medical image using a three-dimensional position measurement device for measuring each position information,
The medical image imaging system C _{5 in} which position information including the image position and orientation attached to the medical image is developed and the subject position detection coordinate system C ₂ developed by the subject position detection tool are captured in the medical image. calculating a homogeneous coordinate transformation matrix T ₅ is a coordinate transformation through the imaging device coordinate system C ₃ and the imaging space coordinate system C ₄ and the three-dimensional position measurement coordinate system C ₁ of the apparatus, a of identity following coordinate transformation matrix T ₅ A medical image guiding method, wherein the position information of the subject and position information of the medical image are used as alignment information.

The medical image guiding method according to claim 12,
A homogeneous coordinate transformation matrix T ₁ is calculated for transforming the three-dimensional spatial position coordinate system C ₁ developed by the three-dimensional position measuring device into the subject position detection coordinate system C ₂ developed by the subject position detector. ,
And the three-dimensional spatial coordinates system C _1, the imaging apparatus position detection coordinate system C ₃ to be expanded by the image pickup device position detection device, an imaging space coordinate system C ₄ to be deployed by the imaging space of the medical imaging apparatus the on the basis of the medical image coordinate system C ₅ position information of the image attached to the medical image, the homogeneous coordinate transformation matrix T ₅ for converting the subject position detection coordinate system C ₂ to the medical image coordinate system C5 A medical image guiding method characterized by calculating

The medical image guiding method according to claim 13 ,
Based on the homogeneous coordinate transformation matrices T ₁ and T ₅ , the three-dimensional spatial position coordinate system C ₁ is made to correspond to a change in the position information of the subject position detector measured by the three-dimensional position measuring device. medical imaging-guided method, characterized in that the said positioning information to calculate the homogeneous coordinate transformation matrix Treg be converted to the medical image coordinate system C _5.

The medical image guidance method according to any one of claims 12 to 14,
Furthermore, using a surgical instrument position detector for detecting position information of a surgical instrument that performs surgery on the subject,
Is converted to the position information of the medical image coordinate system C ₅ position information of the surgical instrument measured by the three-dimensional position measurement coordinate system C ₁ using the homogeneous coordinate transformation matrix T ₅ or Treg, virtual said surgical instrument A medical image guidance method, wherein a surgical instrument display is displayed on the medical image.

The medical image guidance method according to any one of claims 12 to 14,
Using an ultrasonic medical imaging device as the medical image imaging device and a probe position detector for detecting position information of an ultrasonic probe of the ultrasonic imaging device,
Is converted to the position information of the medical image coordinate system C ₅ position information of the ultrasound probe measured by the three-dimensional position measurement coordinate system C ₁ using the homogeneous coordinate transformation matrix T ₅ or Treg, the ultrasonic A medical image guidance method, wherein a virtual probe display of a probe is displayed so as to be superimposed on the medical image.