JP2022012499A - Lesion resection area analysis system, surgery navigation system, and lesion resection area analysis method - Google Patents

Abstract

To provide a system capable of displaying an area resected with a surgical instrument.SOLUTION: On the basis of information on turning on operation of a surgical instrument and positional information of the surgical instrument, the system obtains a position of the surgical instrument at a time point when the surgical instrument is turned on. A resection area of a size corresponding to the size of a tip of the surgical instrument is displayed at the position of the surgical instrument on a medical image and in a predetermined display color indicating that it is already resected.SELECTED DRAWING: Figure 4

Description

The present invention is a lesion excision area analysis system using a medical image obtained from a medical image acquisition device, a surgical instrument usage status obtained from the surgical instrument, and the position information of the surgical instrument obtained from the surgical instrument position detection unit, and a lesion excision region analysis system thereof. The present invention relates to a technique for displaying a lesion excision area on a medical image.

A technique is known in which medical information is acquired from a plurality of medical devices used in surgery, and the plurality of medical information are integrated and displayed on a display device.

For example, in the technique described in Patent Document 1, medical information is acquired from a plurality of medical devices, and an event extracted into an image including a surgical site is displayed based on the time given on the medical information. For example, information on the trajectory of the electric knife and the amount of heat generated by the electric knife is displayed on the image.

Further, there is also known a technique of storing a locus of position information of a surgical instrument and displaying the locus on the assumption that it is an operated area.

For example, in the technique described in Patent Document 2, the locus of the position information of the surgical instrument is acquired and saved, the region of the locus is assumed to be the region already operated (actual surgical region), and the locus is determined by performing a surgical simulation in advance. It is displayed superimposed on the planned surgery area that has been set.

Japanese Unexamined Patent Publication No. 2018-89310 Japanese Unexamined Patent Publication No. 2008-17315

If it is possible to display on the surgical navigation image the route and procedure for excision of the lesion during surgery, and whether tissue biopsy or ablation is being performed, the planned excision The degree of progress of surgery such as the excision rate of the area can be grasped on the spot, and the surgeon can be assisted. In addition, the technique of a skilled doctor can be transmitted to other doctors, which can contribute to the improvement of the technique. Furthermore, it becomes possible to determine the skill level of the doctor's procedure.

Although the technique described in Patent Document 1 can acquire and display the trajectory information of the electric knife, it simply displays the trajectory of the movement of the electric knife. Therefore, it is not possible to know whether or not the electric scalpel actually excised the tissue on the trajectory.

Further, although the technique described in Patent Document 2 can acquire and store the trajectory of the surgical instrument, it is determined to be the surgical area regardless of whether or not the surgical instrument is used.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a system capable of displaying an area excised by a surgical instrument.

In order to achieve the above object, the lesion excision area analysis system of the present invention has a medical image acquisition unit that receives a medical image and a surgical tool that receives at least information that the operation of the surgical tool is turned on from a connected surgical tool. It has an on-information acquisition unit, a surgical instrument position information acquisition unit that receives the position information of the surgical instrument from the connected surgical instrument position detection unit, and a calculation unit. The calculation unit obtains the position of the surgical tool at the time when the surgical tool is turned on based on the information that the operation of the surgical tool is turned on and the position information of the surgical tool, and the position of the surgical tool on the medical image is set to the position of the surgical tool. The excision area having a size corresponding to the size of the tip of the surgical instrument is displayed in a predetermined display color indicating that the excision has been completed.

According to the present invention, by analyzing and clarifying the ratio of completed excision to the entire lesion and the excised / unresected area, it is possible to know at a glance which area is unresected, which contributes to the reduction of the unresected area. It is expected that it can be done. In addition, quantitative surgical evaluation can be expected by quantitatively showing the rate of lesion resection.

The figure which shows the hardware structure of the lesion excision area analysis system of 1st Embodiment of this invention. Functional block diagram of the information acquisition / processing unit 4 of the lesion excision area analysis system of the first embodiment A flowchart showing the processing operation of the information acquisition / processing unit 4 of the lesion excision area analysis system of the first embodiment. (A) and (b) An example of a display screen of the lesion excision area analysis system of the first embodiment. A flowchart showing the processing operation of the information acquisition / processing unit 4 of the lesion excision area analysis system of the second embodiment. The figure explaining the process of step S311 of 2nd Embodiment A flowchart showing the processing operation of the information acquisition / processing unit 4 of the lesion excision area analysis system of the third embodiment. The figure explaining the process of step S311 of 3rd Embodiment An example of a display screen of the lesion excision area analysis system of the fourth embodiment

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description and the accompanying drawings, components having the same functional configuration are designated by the same reference numerals to omit duplicate description.

[1. First Embodiment]
[1-1. Constitution]
FIG. 1 is a diagram showing a hardware configuration of the lesion excision region analysis system 1 of the first embodiment. FIG. 2 is a functional block diagram of the information acquisition / processing unit 4. As shown in FIG. 1, the lesion excision area analysis system 1 of the first embodiment displays an information acquisition / processing unit 4, a storage unit 2, a main memory 3, and a display memory 5 to which the display unit 9 is connected. A unit 6, a controller 7 to which a mouse 8 is connected, and a keyboard 9 are provided, and these are connected by a system bus 10 so as to be able to send and receive signals. Here, "to be able to send and receive signals" means a state in which signals can be sent and received to each other or from one to the other regardless of whether they are electrically or optically wired or wireless.

The information acquisition / processing unit 4 is connected to the medical image acquisition device 11, the surgical tool position detection unit 12 of the surgical navigation device 20, and the surgical tool 13 so that signals can be transmitted and received.

The medical image acquisition device 11 is a device for taking an image of a patient such as an MRI (magnetic resonance imaging) device, an X-ray CT device, and an X-ray image pickup device.

The surgical navigation device 20 is a device that superimposes and displays an image of the surgical field taken in advance by the medical image acquisition device 11 and the current position of the surgical tool 13, and displays the current position of the surgical tool 13. It has a surgical instrument position detecting unit 12 for detecting.

The surgical tool 13 is a surgical tool that requires power supply, and is, for example, an electric knife such as a monopolar or a bipolar.

As a result, the information acquisition / processing unit 4 can acquire medical image information from the medical image acquisition device 11 via a LAN (Local Area Network) or the like. Similarly, the information acquisition / processing unit 4 can acquire the position information of the surgical tool from the surgical tool position detection unit 12 and the ON / OFF information of the surgical tool from the surgical tool 13.

The information acquisition / processing unit 4 loads the program stored in the storage unit 2 in advance and the data necessary for program execution into the main memory 3 and executes the program, thereby performing each block (201 to 207) of FIG. 2 to be described later. Each function shown) is realized. Further, the information acquisition / processing unit 4 has a function of controlling the operation of each component of FIG. 1 in addition to the function of the block of FIG.

The storage unit 2 is a device for storing medical image information acquired from the medical image acquisition device 11, position information acquired from the surgical instrument position detection unit 12, and ON / OFF information of the surgical instrument acquired from the surgical instrument 13. It is a hard disk or the like. Further, the storage unit 2 may be a device for exchanging data with a portable recording medium such as a flexible disk, an optical (magnetic) disk, a ZIP memory, or a USB memory.

The main memory 3 stores a program executed by the information acquisition / processing unit 4 and the progress of arithmetic processing.

The display memory 5 temporarily stores display data for display on a display unit 6 such as a liquid crystal display or a CRT (Cathode Ray Tube).

The mouse 8 and the keyboard 9 are operation devices in which the operator gives an operation instruction to the extraction area display device 1. The mouse 8 may be another pointing device such as a trackpad or a trackball.

The controller 7 detects the state of the mouse 8, acquires the position of the mouse pointer on the display unit 6, and outputs the acquired position information and the like to the information acquisition / processing unit 4.

The developed image is displayed on the display unit 6 by the information acquisition / processing unit 4 executing the method described later.

As shown in the functional block diagram in FIG. 2, the information acquisition / processing unit 4 is connected to the medical image acquisition unit 201 that receives the medical image from the medical image acquisition device 11 and the surgical tool 13 for excision of the lesion. The position of the surgical tool 13 from the surgical tool on information acquisition unit 203 connected to the surgical tool on information acquisition unit 203, which receives at least the information that the operation of the surgical tool 13 is turned on (power supply start) by the operation of the operator. It includes a surgical tool position information acquisition unit 202 for receiving information, a calculation unit 204, a synthesis unit 206, and an output unit 207.

The calculation unit 204 of the information acquisition / processing unit 4 determines the position of the surgical tool 13 at the time when the surgical tool 13 is turned on, based on the information that the operation of the surgical tool 13 is turned on and the position information of the surgical tool 13. Ask. Then, the excision region having a size corresponding to the size of the tip of the surgical instrument 13 is displayed at the position of the surgical instrument 13 on the medical image in a predetermined display color indicating that the excision has been completed.

At this time, the calculation unit 204 repeatedly obtains the position of the surgical tool at the time when the surgical tool is turned on at predetermined time intervals, and displays the excision area at each of the obtained positions of the plurality of surgical tools.

Further, the calculation unit 204 may receive the setting of the lesion region from the user or the like, obtain the ratio of the total area of one or more excision regions to the area of the lesion region, and display it as the lesion excision rate.

[1-2. process]
Hereinafter, the processing operation of each part of the information acquisition / processing unit 4 will be specifically described with reference to the flow of FIG.

(Step S301)
The medical image information acquisition unit 201 of the information acquisition / processing unit 4 acquires medical image information from the medical image acquisition device 11 via a LAN (Local Area Network) or the like. Specifically, an MRI image, an X-ray CT image, or the like is acquired.

(Step S302)
The surgical tool ON / OFF information acquisition unit 203 of the information acquisition / processing unit 4 acquires ON / OFF information of the surgical tool 13 from the surgical tool 13 in chronological order. That is, the surgical tool ON / OFF information acquisition unit 203 turns on (power supply starts) the surgical tool 13 and starts excision or the like in order to perform the surgical procedure, and turns off (power). Information indicating the time when the excision etc. was stopped after the supply was stopped) is acquired in chronological order according to the progress of the procedure.

(Step S303)
The surgical instrument position acquisition unit 202 of the information acquisition / processing unit 4 acquires the position information (coordinates) of the surgical instrument from the surgical instrument position detection unit 12 of the surgical navigation device 20. This position information (coordinates) is information that has been converted by the surgical instrument position detection unit 12 into the position information in the coordinate system of the medical image acquired in step S301.

(Step S304)
The calculation unit 204 of the information acquisition / processing unit 4 extracts the information of the time when the surgical tool 13 acquired in step S302 is turned on, and the extracted time is the acquisition time of the position information of the surgical tool acquired in step S303. , Match the time within the default range. If they match, the calculation unit 204 of the information acquisition / processing unit 4 proceeds to step S305, and if they do not match, returns to steps S302 and S303.

(Step S305)
The calculation unit 204 of the information acquisition / processing unit 4 extracts the position information of the surgical tool 13 at the time when the surgical tool 13 is turned on based on the collation result in step S304, and records it in the main memory 3. As a result, the position information of the surgical tool 13 at the time when the surgical tool 13 is turned on (that is, the time when the lesion is resected) is recorded in the main memory 3. If the main memory 3 has already recorded the position information of the surgical tool 13 at the time when the surgical tool 13 was turned on before the previous time, the position information of the surgical tool 13 at the current ON time is added to the position information.

(Step S306, 307)
The setting unit 205 of the information acquisition / processing unit 4 determines whether or not the operator or the user has pressed the parameter setting change button 421, 422, 431, 441 on the screen of FIG. 5 (step S306), and presses the button. In that case, the process proceeds to step S307, the change in the setting is received from the operator or the user, recorded, and the process proceeds to step S308 (step S307). Here, the setting change button 441 is used to change the display color, the setting change button 431 is used to change the size of the surgical instrument diameter to be displayed, and the setting change button 421 is used to display the excised area or the unexcised area. The setting of the lesion area is accepted by the setting change button 422 to change the selection of. In addition to this, a configuration that accepts changes in display transparency may be used.

When the lesion area setting change button 422 is pressed, the setting unit 205 sets the lesion area by acquiring the information of the lesion area set in the surgical navigation device.

The display color and the size of the surgical instrument diameter set by the setting change buttons 441 and 431 are stored in the main memory 3.

If the setting change buttons 421, 422, 431, 441 are not pressed in step S306, the process proceeds to step S308 as it is. In that case, the setting unit 205 has predetermined set values for the display color, the display surgical tool diameter, the display selection of the excised area or the unexcised area, and the display transparency, and step S308 is performed using the set values. Execute. The lesion area is not set unless input from the user, and the excision rate is not displayed or the unresected area is not displayed. Further, step S306 may be configured so that the user can execute it at an arbitrary timing.

(Step S308)
The calculation unit 204 of the information acquisition / processing unit 4 displays the display color, the display tool diameter, the excised area or the unexcised area set in step S307 on one or more position information in the main memory 3. Information on the selection, set lesion area, and display transparency is attached.

(Step S309)
When the synthesis unit 206 of the information acquisition / processing unit 4 receives the position information with the incidental information from the calculation unit 204 and the incidental information indicates that the excision area is selected, the lesion indicated by the incidental information is indicated. The area is displayed as a "lesion area", and a circular area with the size of the surgical instrument diameter in the display color indicated by the incidental information is displayed on the "lesion area" at the position of the surgical instrument ON position information indicated by the incidental information. The image 40 to be displayed as is generated as shown in FIG. 4 (a).

On the other hand, when the incidental information indicates that the unresected area is selected to be displayed, the synthesis unit 206 displays the lesion area indicated by the incidental information as the “unresected area”, and the incidental area is above the lesion area. As shown in FIG. 4 (b), an image 41 displaying the area of the size of the surgical instrument diameter in the display color indicated by the incidental information as the “resected lesion area” at the position of the surgical instrument ON position information indicated by the information is shown. Generate.

Further, in the case of any of the images 40 and 41, the ratio of the total area of the circular area having one or more surgical instrument diameters to the area of the lesion area is calculated, and the excision rate is displayed in the excision rate display area 451. indicate.

As a result, the user sets a circular area of the size of the surgical tool diameter set by the user in step S307 at the position of the surgical tool 13 at the time when the surgical tool 13 is turned on (when the lesion is resected) recorded in step S305. An image to be displayed in the display color is generated.

The synthesis unit 206 of the information acquisition / processing unit 4 superimposes the generated image on the medical image acquired in step S301, and generates the composite image as shown in FIGS. 4A and 4B. In the example of the composite image of FIGS. 4A and 4B, three medical images of an axial cross section 511, a sagittal cross section 512, and a 3D rendered image 513 are composited.

(Step S310)
The output unit 207 of the information acquisition / processing unit 4 outputs the superimposed and synthesized image 501 in step S309 to the display unit 6 as shown in FIGS. 4A and 4B. As a result, the image superimposed on the medical image is displayed on the display unit 6.

By repeating steps S302 to S310 at predetermined time intervals while the operation is continued, the positions at the time when the surgical instrument 13 is turned on (the time when the lesion is resected) are sequentially stored in the main memory 3. The number of circular areas of the displayed surgical instrument diameter increases. As a result, it is possible to display an image in which the area of the resected region (the above-mentioned “resected region” and “resected lesion region”) gradually expands in real time during the operation.

[1-3. effect]
According to the lesion excision area analysis system of the first embodiment, the following effects can be obtained.

The excised area (the area where the surgical instrument 13 is turned on) can be clearly displayed by an image.

Further, it is possible to display an image that can grasp at a glance the ratio of the lesion area to which the excision is completed and which area is unresected. This is expected to contribute to the reduction of the unresected area. In addition, quantitative surgical evaluation can be expected by quantitatively showing the rate of lesion resection.

[1-4. Modification example]
In the first embodiment, the region representing the surgical instrument is circular, but the region is not limited to a circular shape, and it can be configured so that the user can set a desired shape.

Although the lesion excision area analysis system has been described in the first embodiment described above, it is also possible to arrange this system in the surgical navigation device to configure the surgical navigation system.

[2. Second Embodiment]
The lesion excision region analysis system of the second embodiment will be described with reference to FIGS. 5 and 6.

In the second embodiment, when the interval between the obtained surgical instrument positions is narrower than the predetermined interval, the calculation unit 204 displays it as a line connecting the surgical instrument positions. That is, as shown in FIG. 6, the region 601 indicating the position at the time when the surgical instrument 13 is turned on (the time when the lesion is excised) is connected and displayed as a line 602.

[2-1. Constitution]
Since the device configuration of the lesion excision area analysis system of the second embodiment is the same as that of FIGS. 1 and 2 of the first embodiment, the description thereof will be omitted.

[2-2. process]
The operation of the information acquisition / processing unit 4 of the second embodiment will be described with reference to FIGS. 5 and 6.

(Steps S301 to S310)
Similar to the first embodiment, an image to be displayed as shown in FIG. 6 is generated as a region in which the circular region 601 of the surgical instrument diameter is excised at the position of the surgical instrument 13, and is displayed by being combined with the medical image.

(Step S311)
In step S311 the synthesis unit 206 calculates the interval (interval between circular regions 601) of the positions of the surgical instruments whose times recorded in step S305 are continuous. When the calculated interval is not more than a predetermined distance, a band-shaped area connecting continuous circular areas 601 is added to the displayed image, and a process of displaying as a line 602 is performed. After that, the process returns to step S302.

[2-3. effect]
According to the lesion excision area analysis system of the second embodiment, the following effects can be obtained.

In the system of the first embodiment, the user may mistakenly recognize the excised area 601 as an unexcised area depending on the timing of acquiring the data, but the user sees the line 602 to prevent it and correctly. The excised area can be determined.

[3. Third Embodiment]
The lesion resection analysis system of the third embodiment will be described with reference to FIGS. 7 and 8.

In the third embodiment, when the line connecting the positions of the plurality of surgical instruments draws a closed curve, the arithmetic unit 204 also displays the inner region of the closed curve as the excision region. That is, as shown in FIG. 8, when the excision region 601 located at the outermost part of the set of excision regions 601 draws a closed curve, the inner region 802 of the closed curve is also displayed as the excised region.
[3-1. Constitution]
Since the device configuration of the lesion excision region analysis system of the third embodiment is the same as that of the first embodiment, the description thereof will be omitted.

[3-2. process]
(Steps S301 to S310)
Similar to the first embodiment, an image is generated in which the circular region 601 of the surgical instrument diameter is displayed as an excised region at the position of the surgical instrument 13, and the image is combined with the medical image and displayed.

(Step S321)
When the excision region (position at the time when the surgical instrument is turned on) recorded in the main memory 3 in step S305 draws a closed curve, the synthesis unit 206 considers that the inside of the closed curve is also excised as shown in FIG. Perform the process of displaying as an excision area.

Specifically, the synthesis unit 206 sets a range including the ON positions (that is, the excision area 601) of the plurality of surgical tools 13 recorded in the main memory 3 as the target area, and sets the target area to a predetermined size. By setting the grid, the target area is discretized into the minute area 801 by the grid.

The synthesis unit 206 calculates the density of the excision region in the micro region 801 by counting the number of excision regions 601 (positions at the time when the surgical instrument is turned on) included in each micro region.

The synthesizing unit 206 determines whether or not the density exceeds a predetermined threshold value for each minute region 801. If the density exceeds the threshold value, 1 is assigned to the minute region and 0 is assigned to the minute region not exceeding the threshold value. Binarize.

Next, the synthesis unit 206 executes raster scanning 803 of the target region from the minute region 801 of 0 that does not exceed the threshold value, and if it reaches the minute region 801 of 1 that exceeds the threshold value, tracks the minute region. The start region 801a is used.

The synthesis unit 206 determines whether or not there is one minute region 801 that exceeds the threshold value in the proximal region of the tracking start region, and if so, the outermost part of the one minute region that exceeds the threshold value. The boundary 804 between the microregion 801 and the microregion of 0 that does not exceed the threshold value outside the microregion 801 is searched.

By repeating this, the synthesis unit 206 traces the above-mentioned boundary clockwise, and when the first tracking start region 801a is reached, the synthesis unit 206 determines that the boundary is a closed curve 804. A closed curve 804 is obtained by connecting the traced boundaries.

The synthesis unit 206 considers that the inner region 802 of the closed curve 804 has been excised, and all the pixels of the inner region of the closed curve of the images 40 and 41 have the same display color as the display color of the circular region of the surgical instrument 13 received in step S307. Change to the image displayed in. After that, the process returns to step S302.

As a result, when the outermost shell of the set of positions where the surgical instrument 13 is turned on draws a closed curve, the inner region 802 can be filled with the display color of the excised region and displayed.

Further, the synthesis unit 206 recalculates the ratio of the area of the inner region 802 to the area of the lesion region as the area of the excision region 601 and displays it in the excision rate display region 451 of the images 40 and 41.

Even when the object is three-dimensional, a closed curved surface can be obtained by performing the same processing, and the inside of the closed curved surface is also regarded as being cut off, and the processing is performed to fill the closed curved surface.

The method for determining whether or not the closed curve is closed and the method for extracting the closed curve are not limited to the above method, and it is of course possible to use another method.
Further, although FIG. 8 shows the minute region 801 divided by the grid as a circle, it is not limited to the circle and can be set to a desired shape such as a quadrangle or a cube.

[3-3. effect]
According to the third embodiment, the following effects can be obtained.

Even when the periphery of the lesion is incised and the lesion is excised as a mass, the user can correctly recognize the excision region 802 from the displayed image. In addition, an appropriate excision rate / excision area can be displayed.

[4. Fourth Embodiment]
The lesion excision region analysis system of the fourth embodiment will be described with reference to FIG.

In the system of the fourth embodiment, in addition to displaying the excision region as in the first embodiment, the mode information of the incision / coagulation of the surgical instrument 13 is also displayed in the images 40 and 41. That is, the surgical tool on information acquisition unit 203 acquires the information of the mode set in the surgical tool 13 in addition to the turned-on information. The calculation unit 204 displays a predetermined display color indicating that the cut has been completed in a different color for each mode.

[4-1. Constitution]
Since the device configuration of the lesion excision region analysis system of the fourth embodiment is the same as that of FIGS. 1 and 2 of the first embodiment, the description thereof will be omitted.

[4-2. process]
The processing of the lesion excision region analysis system of the fourth embodiment will be described with reference to the flow of FIG.

(Step S301)
This is performed in the same manner as in the first embodiment.

(Step S302)
The surgical tool ON / OFF information acquisition unit 203 of the information acquisition / processing unit 4 acquires ON / OFF information of the surgical tool 13 from the surgical tool 13 in chronological order, and also obtains mode information of the surgical tool 13 (for example, whether it is an incision mode). Coagulation mode) is also acquired.

(Step S303 to Step S307)
The same as the first embodiment is performed, but in step 307, one color representing the excision region can be set as the display color in the first embodiment by the setting change button 421, but in the fourth embodiment, it is possible to set one color. , Accepts settings for each mode of the surgical tool 13. Specifically, the incision / coagulation mode display color change button 931 shown in FIG. 9 accepts different display color settings for, for example, the incision mode and the coagulation mode.

(Step S308)
The calculation unit 204 of the information acquisition / processing unit 4 attaches the color information of the display color for each mode set in step S307 to the position information of one or more in the main memory 3 according to the mode information of the position. .. The diameter of the display surgical tool, the selection of whether to display the resected area or the unresected area, the set lesion area, the information of the display transparency, and the like are attached in the same manner as in the first embodiment.

(Step S309)
The synthesis unit 206 of the information acquisition / processing unit 4 receives the position information with the incidental information from the calculation unit 204, displays the lesion area indicated by the incidental information as the "lesion area", and the surgical tool indicated by the incidental information on the lesion area. As shown in FIG. 9, an image 901 is generated at each position of the ON position information, in which a circular area having a size of the surgical tool diameter is displayed in a display color corresponding to the mode of the surgical tool at that position.

The generated image 901 is combined with an axial cross section, a sagittal cross section and a 3D rendered medical image 911, 912,913 and displayed as shown in FIG.

Since the other processes are the same as those in the first embodiment, the description thereof will be omitted.

[4-3. effect]
According to the fourth embodiment, the following effects can be obtained.
By changing the display according to the incision / coagulation mode of the surgical instrument, it is possible to distinguish and visualize the position and structure of each mode that can be used properly according to the lesion such as blood vessel and tumor, and the detailed structure of the excision area can be visualized. Can be displayed.

Although the embodiments of the present invention have been described above, the present invention is not limited thereto.

1: Extraction area analysis device 2: Storage unit 3: Main memory 4: Information acquisition / processing unit 5: Display memory 6: Display unit 7: Controller 8: Mouse 9: Keyboard 10: System bus 11: Medical image acquisition device 12: Surgery position detection unit 13: Surgery tool 20: Surgery navigation device 201: Medical image information acquisition unit 202: Surgery tool position information acquisition unit 203: Surgery tool ON / OFF information acquisition unit 204: Calculation unit 205: Setting unit 206: Synthesis Unit 207: Output units 40, 41: Display screen of the first embodiment 411: Navigation image (axial cross section)
412: Navigation image (sagittal cross section)
413: Navigation image (3D rendered image)
421: Resection area display / unresected area display change button 422: Lesion area setting change button 431: Display surgical tool diameter setting change button 441: Display color setting change button 451: Lesion resection rate display area 601: Surgical tool position 602: Line 801: Micro region 802: Inner region 901: Display image of Embodiment 4 911: Navigation image (axial cross section)
912: Navigation image (sagittal cross section)
913: Navigation image (3D rendered image)
921: Incision / coagulation mode display color legend 931: Incision / coagulation mode display color change button

Claims (11)

From the medical image acquisition unit that receives the medical image, the surgical instrument on information acquisition unit that receives at least the information that the operation of the surgical instrument is turned on from the connected surgical instrument, and the surgical instrument position detection unit that is connected. It has a surgical tool position information acquisition unit and a calculation unit that receive the surgical tool position information.
The calculation unit obtains the position of the surgical tool at the time when the surgical tool is turned on based on the information that the operation of the surgical tool is turned on and the position information of the surgical tool, and obtains the position of the surgical tool at the time when the surgical tool is turned on, and on the medical image. A lesion excision area analysis system characterized in that an excision area having a size corresponding to the size of the tip of the operation instrument is displayed at a position of the surgical instrument in a predetermined display color indicating that the surgical instrument has been excised. .. The lesion excision region analysis system according to claim 1, wherein the calculation unit repeatedly obtains the position of the surgical tool at a time when the surgical tool is turned on at a predetermined time interval, and obtains the plurality of the above. A lesion excision area analysis system characterized in that the excision area is displayed at each position of the surgical instrument. The lesion excision area analysis system according to claim 1, wherein the calculation unit accepts the setting of the lesion area, obtains the ratio of the total area of one or more of the excision areas to the area of the lesion area, and excises the lesion. A lesion excision area analysis system characterized by displaying as a rate. The lesion excision area analysis system according to claim 1, further comprising a reception unit for receiving the size of the excision area and the display color from the user, respectively. The lesion excision region analysis system according to claim 3, further comprising a reception unit for receiving the setting of the lesion region from the user. The lesion excision area analysis system according to claim 3, further comprising a reception unit that accepts from the user the choice of displaying the excised area or the unresected area.
When the user chooses to display the excision area, the arithmetic unit superimposes the excision area on the lesion area and displays the excision area.
When the user selects to display the unresected area, the calculation unit displays the unresected area as the unresected area, and superimposes the excised area on the unresected area to display the excised lesion area. A lesion excision area analysis system characterized by. The lesion excision region analysis system according to claim 2, wherein the calculation unit displays as a line connecting the positions when the interval between the positions of the plurality of surgical instruments is narrower than a predetermined interval. The lesion excision area analysis system. In the lesion excision region analysis system according to claim 2, when the line connecting the positions of a plurality of the surgical instruments draws a closed curve, the calculation unit also displays the inner region of the closed curve as the excision region. Characteristic lesion excision area analysis system. In the lesion excision region analysis system according to claim 2, the surgical instrument on information acquisition unit acquires information on the mode set in the surgical instrument in addition to the turned on information.
The calculation unit is a lesion excision area analysis system, characterized in that a predetermined display color indicating that the excision has been completed is displayed in a different color for each mode. An operation tool position detection unit that detects the position of the surgical instrument, a medical image acquisition unit that receives a medical image, an operation tool on information acquisition unit that receives at least information that the operation is turned on from the connected surgical instrument, and an operation. Has a part and
The arithmetic unit obtains the position of the surgical tool at the time when the surgical tool is turned on based on the information that the operation of the surgical tool is turned on and the detected position of the surgical tool, and obtains the position of the surgical tool at the time when the surgical tool is turned on. A surgical navigation system characterized in that an excision region having a size corresponding to the size of the tip of the surgical instrument is displayed at a position of the surgical instrument in an image in a predetermined display color indicating that the surgical instrument has been excised. Receives medical images from the connected medical image acquisition unit, receives at least information that the operation of the surgical instrument is turned on from the connected surgical instrument, and position information of the surgical instrument from the connected surgical instrument position detection unit. Received
Based on the information that the operation of the surgical tool is turned on and the position information of the surgical tool, the position of the surgical tool at the time when the surgical tool is turned on is obtained.
It is characterized in that an excision region having a size corresponding to the size of the tip of the surgical instrument is displayed at a position of the surgical instrument on the medical image in a predetermined display color indicating that the surgical instrument has been excised. Lesion resection area analysis method.

Images