JP3654977B2 - 3D image processing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional image processing apparatus that performs image processing of medical images and the like, and in particular, creates a three-dimensional image and corrects a moving position of a viewpoint when viewing three-dimensional image data of an organ lumen from a viewpoint determined by the organ lumen. About.
[0002]
[Prior art]
Conventionally, three-dimensional image data is constructed from two-dimensional slice image (tomographic image) data such as an X-ray CT image and MR image generated by a medical examination of a subject, and this is stereoscopically displayed on a two-dimensional screen. Thus, an image processing apparatus that can observe the shape, size, and the like of each organ in the human body from the outside of the organ is known.
[0003]
In this image processing device, particularly in recent years, targeting internal organs such as blood vessels and stomachs that are hollow inside, placing a viewpoint inside the organ, constructing a three-dimensional image along the line of sight determined by that viewpoint, It is also known that an organ lumen can be observed by stereoscopically displaying it on a two-dimensional screen like an endoscopic image observed with an electronic endoscope apparatus.
[0004]
An example of the processing method of the image processing apparatus for endoscopically displaying the state of the organ lumen as a stereoscopic image will be described.
[0005]
First, three-dimensional image data is constructed in the first step. That is, a plurality of two-dimensional slice images are prepared, and the organ of the target region and its contour are individually extracted from these two-dimensional slice images, and interpolation data is created from the extracted data and the original two-dimensional slice image. 3D image data (volume data) is constructed.
[0006]
Next, in the second step, a stereoscopic image of the three-dimensional image data is displayed on the screen. That is, place a viewpoint on the organ lumen on the 3D image data, set the line-of-sight direction of the viewpoint, calculate the distance to the organ surface in the radial direction with the fish-eye lens system around the set viewpoint, The distance calculation is performed on the entire projection target two-dimensional projection plane, and the calculated distance value is stored as data of the two-dimensional projection plane. Using this distance value and the density gradient value of the original image on the organ surface, the normal vector of the organ surface is calculated, and the projected image is shaded based on the calculated normal vector, Display on the screen.
[0007]
Next, a stereoscopic image when the viewpoint is moved in the organ lumen in the third step is displayed on the screen. That is, the position of the viewpoint is moved back and forth in parallel along the line-of-sight direction, and the projection plane corresponding to the monitor screen is moved back and forth perpendicularly to the line-of-sight direction, and a stereoscopic image when viewed from the moved viewpoint is created. Then, by alternately repeating the viewpoint movement and the creation of the stereoscopic image after the movement, the state of the organ lumen viewed from the moving viewpoint can be observed as a stereoscopic image.
[0008]
[Problems to be solved by the invention]
However, since the conventional three-dimensional image processing apparatus is configured to acquire only the information of the lumen portion from a stereoscopic image with the viewpoint in the organ lumen, the viewpoint set in the blood vessel is forward or backward, for example. In some cases, the viewpoint itself may enter the inner wall depending on the position of the organ lumen such as the uneven portion, curved portion, or branching portion of the blood vessel.
[0009]
Although the viewpoint has entered the inner wall in this manner, the 3D image processing apparatus has no mechanism for recognizing this, so that the operator can change the position of the viewpoint and the direction in which the viewpoint is facing (the operator sees In particular, for small organs and thin tubular organs, the internal three-dimensional structure may not be accurately and quickly grasped (good operability).
[0010]
The present invention has been made in consideration of the above-described problems of the prior art, improves the operability related to viewpoint movement in the organ lumen, and accurately and accurately shows the three-dimensional structure inside the organ on the display image of the three-dimensional image data. It is an object to provide a three-dimensional image processing apparatus that can be quickly grasped.
[0011]
[Means for Solving the Problems]
To achieve the above objective,The three-dimensional image processing apparatus according to the first aspect of the present invention is a three-dimensional image display device for displaying a three-dimensional image viewed from the viewpoint determined in the organ lumen of the target part based on the three-dimensional image data related to the target part of the subject. An image processing apparatus, a designation unit that designates data relating to a movement path including a movement direction of the viewpoint, a calculation unit that obtains a distance between the viewpoint and the surface of the organ lumen, and the distance is equal to or greater than a set value Correction means for correcting data relating to the movement path so as to maintain the state, and a viewpoint moving along the movement path corrected by the correction means, and a three-dimensional view of the organ lumen viewed from the moving viewpoint And display means for displaying an image on a monitor in real time.
[0012]
According to a second aspect of the invention, the designation means is means for manually or automatically designating data relating to the movement route.
[0013]
In invention of Claim 3,The distance is at least one of a distance in the moving direction and a distance in a direction orthogonal to the moving direction.Contains.
[0014]
According to a fourth aspect of the present invention, the specifying means includes means for specifying information on the line-of-sight direction at the viewpoint, and the correcting means includes means for correcting the information on the line-of-sight direction based on the surface shape data. .
[0015]
According to a fifth aspect of the present invention, there is further provided means for color-combining another organ adjacent to the organ lumen on the stereoscopic image of the organ lumen.
[0016]
According to a sixth aspect of the invention, there is further provided means for removing at least a part of the surface of the organ lumen in the stereoscopic image of the organ lumen.
[0017]
The invention according to claim 7 further includes means for arranging a three-dimensional object having an arbitrary shape on the stereoscopic image of the organ lumen.
[0018]
According to an eighth aspect of the present invention, there is further provided means for marking the position of the viewpoint in the organ lumen on a stereoscopic image viewed from the outside of the organ.
[0019]
According to the ninth aspect of the invention, there is further provided means for designating an approximate position of the viewpoint movement path in the organ lumen on a stereoscopic image viewed from the outside of the organ.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0021]
A three-dimensional image processing apparatus shown in FIG. 1 includes a tomographic data input apparatus 1 for inputting tomographic image data of a human body collected by a tomographic apparatus (medical image diagnostic apparatus) such as an X-ray CT scanner and an MRI, A 3D image construction unit 2 that constructs 3D image data based on the tomographic image data input to the tomographic data input device 1, and a 3D image based on the 3D image data constructed by the 3D image construction unit 2. And a three-dimensional image observation apparatus 3 such as a monitor for display.
[0022]
The tomographic data input device 1 operates under the control of a predetermined controller (not shown), for example, an image memory for temporarily storing tomographic image data, and the image memory and the medical image diagnostic apparatus online via a predetermined communication line. An interface for image data that can be connected or an image reading device that can read the image data of the recording medium with a predetermined disk drive mechanism, etc. is integrally mounted, and the tomographic image data input to the image memory is a three-dimensional image Supply to construction unit 2.
[0023]
The three-dimensional image construction unit 2 is configured with a processor that can execute a plurality of algorithms relating to preset image processing individually or simultaneously in parallel, for example, a processor (not shown) having at least one CPU, The processor includes an input device (not shown) such as a mouse or a keyboard for an operator to give an operation command while viewing the screen of the three-dimensional image observation apparatus 3.
[0024]
The three-dimensional image construction unit 2 has a software configuration in which a plurality of algorithms are programmed. The tomographic data interpolation unit 4, the image binarization / region extraction unit 5, the three-dimensional image creation unit 6, the viewpoint position designation unit 7, the line of sight A direction specifying unit 8 and a viewpoint position moving unit 9 are provided. These units 4 to 9 do not necessarily have to be provided as separate processors in terms of hardware configuration, and may be integrally mounted on a predetermined processor, for example.
[0025]
The tomographic data interpolation unit 4 creates volume data (interpolation data) in a three-dimensional space from a plurality of tomographic images input to the tomographic data input device 1, and the volume data is converted into an image binarization / region extraction unit 5. To supply.
[0026]
The image binarization / region extraction unit 5 is a distribution statistic of organ characteristics such as the position, size, threshold value, edge, and pixel value of an organ according to the type of medical image such as a CT image or an MR image. Based on the above, the organ lumen is extracted from the volume data as a binarized image, and the binarized image is supplied to the three-dimensional image creating unit 6 together with the original image.
[0027]
The three-dimensional image creation unit 6 is an interface that receives a binarized image of an organ from the image binarization / region extraction unit 5 and an original image (3D data of the organ) and an instruction (viewpoint position, line-of-sight direction) from an operator, etc. An input unit 6a, a projection / shadow processing unit 6b that performs projection / shadow processing (also referred to as "rendering") on the data of the input unit 6a, and data temporarily processed by the projection / shadow processing unit 6b And an image storage unit 6c such as an image memory.
[0028]
Based on the data input from the input unit 6a, the projection / shadow processing unit 6a creates a projection image when viewed radially from the viewpoint position indicated in the organ lumen by the fish-eye lens method, and the projection image Shading is performed by a predetermined shading method (such as a voxel method), and the stereoscopic image is supplied to the three-dimensional image observation apparatus 3 via the image storage unit 6c.
[0029]
The viewpoint position specifying unit 7 sets the coordinates of the viewpoint position Px that is instructed manually by the operator or by the viewpoint position moving unit 6, and supplies the coordinates of the viewpoint position Px to the 3D image creating unit 6.
[0030]
The line-of-sight direction designating unit 8 executes, for example, the processing shown in FIG. 2, sets the line-of-sight direction vector D at the viewpoint position Px instructed by the operator, and supplies the line-of-sight direction vector D to the three-dimensional image creation unit 6. .
[0031]
In addition to the data input unit 10, the viewpoint position moving unit 9 includes a viewpoint movement direction designator 11, a viewpoint movement amount designator 12, a minimum approach distance designator 13, a viewpoint movement method designator 14, and a viewpoint position calculator 15. ing. These designators 11 to 14 and the calculator 15 do not necessarily have to be provided as separate processors in terms of hardware configuration, and may be mounted integrally on a predetermined processor, for example.
[0032]
Here, the overall operation of this embodiment will be described with reference to FIGS. 2 to 8, focusing on the processing examples of the designators 11 to 14 and the calculator 15.
[0033]
First, the 3D image processing apparatus is activated, and a plurality of pieces of tomographic image data input to the tomographic data input unit 1 are converted into a 3D image construction system 2 (tomographic data interpolation unit 4, image binarization / region extraction unit). 5. Three-dimensional image data of the organ lumen is constructed via the three-dimensional image creation unit 6), and the three-dimensional image data is three-dimensionally represented as a stereoscopic image of the organ lumen along the preset viewpoint and the line of sight. It is assumed that the image is displayed on the image observation apparatus 3.
[0034]
Here, the viewpoint position and the line-of-sight direction of the stereoscopic image are set in advance by the viewpoint position specifying unit 7 and the line-of-sight direction specifying unit 8.
[0035]
FIG. 2 illustrates an example of setting the gaze direction by the gaze direction designating unit 9. That is, when three-dimensional image data (3D data) of the organ lumen and viewpoint position data are input in step S1, an arrow pattern (indicated by the arrow direction indicating the line-of-sight direction based on the viewpoint position on the organ lumen image in step S2). 2) is set and displayed on the three-dimensional image observation apparatus 3.
[0036]
Next, in step S3, an instruction of the line-of-sight direction by the operator is received. For example, the operator operates the mouse (input device) while viewing the screen of the 3D image observation apparatus 3 to adjust the cursor position on the arrow pattern to the desired line-of-sight direction and clicks the mouse button at the cursor position. Receive gaze direction indication.
[0037]
Next, when the distance calculation value between the viewpoint position and the cursor position is obtained in step S4, the coordinate value of the cursor position is moved in the direction perpendicular to the screen by the distance calculation value in step S5, and the viewpoint position Px is determined in step S6. The line-of-sight direction vector D toward the cursor position after movement is calculated, and the calculated line-of-sight direction vector D is supplied to the three-dimensional image creation unit 6 in the process of step S7.
[0038]
Next, let us consider moving the viewpoint position in a state where the stereoscopic image is displayed. When the viewpoint position is moved, the viewpoint position moving unit 6 executes the processes shown in FIGS.
[0039]
FIG. 3 illustrates a processing example of the viewpoint movement direction designator 11. That is, when the viewpoint movement direction designator 11 inputs the stereoscopic image inside the organ and the viewpoint position data in step S11, an arrow pattern indicating the movement direction of the viewpoint is set on the stereoscopic image of the organ lumen in step S12. This is displayed on the three-dimensional image observation apparatus 3.
[0040]
In this state, when “manual designation” is instructed, the process proceeds to step S13, and when “automatic designation” is instructed, the process proceeds to step S16.
[0041]
Here, in the case of “manual designation”, an instruction for the viewpoint movement direction is received in step S13. For example, the operator operates the mouse while viewing the screen of the 3D image observation device 3 to adjust the cursor position along the arrow pattern on the screen to a desired movement direction, and clicks the mouse button at the cursor position. An instruction is received in the direction of viewpoint movement.
[0042]
Next, when a distance calculation value between the viewpoint position and the cursor position is obtained in step S14, a moving direction vector M is calculated in step S15. That is, in step S151, the coordinates of the cursor position are moved in the direction perpendicular to the screen by the distance calculation value, and in step S152, the moving direction vector M from the current viewpoint position toward the viewpoint position after movement corresponding to the cursor position is displayed. Is calculated.
[0043]
In the case of “automatic designation”, an instruction to move the viewpoint forward or backward is received in step S16. This forward or backward movement instruction means, for example, “forward movement” or “backward movement” in which the operator operates the mouse while viewing the screen of the 3D image observation apparatus 3 and the cursor position is displayed on the screen. It is given by clicking the mouse button at the cursor position according to one of the software keys shown.
[0044]
Next, when the viewpoint position is moved in the direction perpendicular to the screen in step S17 and the coordinates of the viewpoint position after the movement are obtained, the coordinates of the viewpoint position before the movement and the coordinates of the viewpoint position after the movement are connected in step S18. A moving direction vector M is calculated.
[0045]
Next, in step S19, the movement direction vector M calculated in step S15 or S18 is supplied to the viewpoint movement method designator 14.
[0046]
FIG. 4 illustrates an example of processing performed by the viewpoint movement amount designator 12. That is, the input mode for the distance to be moved by one operation is selected in step S21. Input modes include “manual input” and “automatic input”.
[0047]
In the case of “manual input”, for example, the input mode of the viewpoint movement amount L can be further selected in “mm units” or “pixel units”. When the input mode is selected, the process proceeds to step S22. The viewpoint movement amount L designated in the selected input mode is input to a numerical value input area (memory) preset on the software in the system 2.
[0048]
In the case of “automatic input”, it is possible to move to a position separated by the minimum approach distance Lmin before the organ surface SF existing on the extension line of the viewpoint movement direction vector. When the point of the organ surface SF existing on the extension line is obtained, the minimum approach distance Lmin is subtracted from the linear distance connecting the viewpoint and the point of the organ surface SF in step S24, and the subtraction value is set as the viewpoint movement amount L.
[0049]
Next, in step S25, the viewpoint movement amount L set in step S22 or S24 is supplied to the viewpoint movement method designator 14.
[0050]
FIG. 5 illustrates a processing example of the minimum approach distance designator 13. That is, the minimum approach distance designator 13 inputs an input mode of the minimum approach distance Lmin (set value of distance) between the viewpoint Px and the surface SF of the organ lumen in step S31, that is, “mm unit” or “pixel unit”. Select. The minimum approach distance Lmin instructed in step S32 is input to a numerical value input area (memory) preset on the software in the system 2, and this minimum approach distance Lmin is output in step S33.
[0051]
FIG. 6 illustrates a processing example of the viewpoint movement method designator 14. That is, when the viewpoint movement method designator 14 receives the organ 3D data, viewpoint position Px, viewpoint movement direction M, viewpoint movement amount L, and minimum approach distance Lmin from the above designators in step S41, step S42 is entered. The operator receives an instruction for selecting a viewpoint movement mode, that is, “move in a specified direction” or “move along the inner wall”. If “move in specified direction” is selected in step S42, the process proceeds to step S43. If “inner wall follow-up movement” is selected, the process proceeds to step S44, and each of the above data is output in both steps S43 and S44. .
[0052]
7 and 8 illustrate an example of processing performed by the viewpoint position calculator 15. In this viewpoint position calculator 15, processing corresponding to the viewpoint movement mode designated by the viewpoint movement method designator 14, that is, “designated direction movement” and “inner wall following movement” is executed.
[0053]
FIG. 7 illustrates processing in the case of “designated direction movement”. In this case, the designated position calculator 15 sends each of the organ 3D data, viewpoint position Px, viewpoint movement direction vector M, viewpoint movement amount L, and minimum approach distance Lmin from the viewpoint movement method designator 14 in step S51. When data is input, in steps S521 and S522 in step S52, processing related to viewpoint approach distance measurement and viewpoint position movement in the direction of movement of the viewpoint and the direction orthogonal to the direction of movement is executed.
[0054]
First, in step S521, each process of steps S100 to S102 is executed to calculate the viewpoint approach distance in the viewpoint movement direction. That is, in step S100, the current viewpoint position P0 is moved by the viewpoint movement amount L along the viewpoint movement direction vector M, and the three-dimensional coordinate value of the new viewpoint position P1 at the movement position is calculated. The distance Lx between the new viewpoint position P1 and the point a on the organ surface existing in the viewpoint movement direction is measured.
[0055]
Next, in step S102, the distance Lx is compared with the minimum approach distance Lmin, and the presence or absence of the viewpoint position movement is determined according to the comparison result. That is, if it is determined in the process of step S102 that the distance calculation value Lx is smaller than the minimum approach distance Lmin (Lx <Lmin), the new viewpoint position P1 is closer to the point a than the minimum approach distance Lmin. Since it exists in the position, the movement to the new viewpoint position P1 is avoided, and the coordinate value of the current viewpoint position P0 is not changed. Therefore, the viewpoint movement along the movement direction vector M is stopped (the position is moved (corrected and moved) to a position equal to the minimum approach distance Lmin).
[0056]
On the contrary, if it is determined in step S102 that the distance Lx is equal to or greater than the minimum approach distance Lmin (Lx ≧ Lmin), the new viewpoint position P1 is set to a position where the point a is equal to or greater than the minimum approach distance Lmin. Since it exists, the movement to the new viewpoint position P1 is permitted, and the coordinate value of the current viewpoint position P0 is changed to the newly obtained three-dimensional coordinate value of the viewpoint position P1. Therefore, the viewpoint movement along the movement direction vector M is executed.
[0057]
When the process of step S521 (each process of S100 to S102) ends, the process proceeds to the process of step S522, where each process of steps S103 to S105 is executed, and the viewpoint approach distance in a direction orthogonal to the viewpoint movement direction. Is calculated.
[0058]
That is, in step S103, it is determined whether or not the point b on the organ surface SF exists within the range of the minimum approach distance Lmin in the radial direction centered on the in-plane viewpoint position Px orthogonal to the movement direction vector. If it is determined in step S103 that the point b exists, the process proceeds to step S104, and the viewpoint is set at a position corresponding to the minimum approach distance Lmin on the vector connecting the viewpoint position and the point b on the organ surface SF. The three-dimensional coordinate value of the new viewpoint position at this movement position is obtained and updated.
[0059]
Similarly, in step S105, the viewpoint position is moved so as to be the minimum approach distance Lmin with respect to a point on the organ surface SF existing within the range of the minimum approach distance Lmin in the radial direction centered on the viewpoint, and the movement is performed. A three-dimensional coordinate value of a new viewpoint position at the position is obtained.
[0060]
When the process of step S52 (S521 and S522) is completed, the process proceeds to step S53, and the coordinate value of the viewpoint position is output to the three-dimensional image creation unit 6 via the viewpoint position designation unit 7.
[0061]
FIG. 8 illustrates processing in the case of “inner wall following movement”. In this case, the designated position calculator 15 obtains the organ 3D data, viewpoint position P, viewpoint movement direction vector M, viewpoint movement amount L, and minimum approach distance Lmin from the viewpoint movement method designator 14 in step S61. When input is made, each process of steps S110 to S118 is executed in step S62.
[0062]
That is, in step S110, the radial direction R about the viewpoint position Px in the plane MP orthogonal to the viewpoint movement direction vector M ...Viewpoint in RWhen the calculated value of each distance between Px and the point b on the organ surface SF is obtained, the point b having the smallest calculated value Lb (set value) among the calculated values of each distance obtained in step S111, That is, the closest point b from the viewpoint is examined.
[0063]
Next, when the normal vector of the organ surface SF at the position of the point b is calculated based on the 3D data of the organ in step S112, the distance value obtained in step S111 on the normal vector as the viewpoint position in step S113. The position is moved to a position corresponding to Lb, and the three-dimensional coordinate value of the moved position is calculated.
[0064]
Next, in step S114, the position near the point b is checked on the 3D data of the organ, and the point on the organ surface SF existing in the direction perpendicular to the screen on which the stereoscopic image is displayed is checked. In step S115, the closest point among the points on the movement direction vector of the viewpoint is examined from the points on the organ surface SF.
[0065]
Next, in step S116, a normal vector of the organ surface SF is calculated based on the 3D data of the organ. The viewpoint position is moved to a position that exists on the normal vector obtained in step S117 and the distance between the surface and the viewpoint becomes equal to the distance Lb obtained in step S111.
[0066]
Next, in step S118, the processes in steps S114 to S117 are repeated until the distance between the viewpoint before movement and the viewpoint after movement (surface distance) becomes equal to the input viewpoint movement amount L.
[0067]
When the process of step S62 (S110 to S118) is completed, the process proceeds to step S63, and the coordinate value of the viewpoint position is output to the three-dimensional image creation unit 6 via the viewpoint position designation unit 7.
[0068]
As described above, in any of the movement modes of “specified direction movement” and “inner wall following movement”, the three-dimensional image creation unit 6 looks from the viewpoint position newly set as described above according to the shape of the organ lumen. 3D images are generated and supplied to the three-dimensional image observation apparatus 3.
[0069]
Therefore, in the 3D image processing apparatus according to this embodiment, when the viewpoint is moved, the distance to the surface of the organ lumen is checked from the position of the viewpoint, and the surface is within a certain distance in the direction in which the viewpoint is to advance. If it exists, the movement range is controlled so that the viewpoint position does not approach the organ any more, so the viewpoint can be automatically moved along the inner wall shape of the organ lumen. You can almost avoid the situation of getting inside.
[0070]
This allows the operator to perform relatively simple operations such as designation of the back and forth movement of the viewpoint, for example, without performing a relatively difficult operation regarding the designation of the viewpoint position and the direction of the line of sight when moving the viewpoint. Since a stereoscopic image viewed from a desired viewpoint position can be observed as if viewing an endoscopic image, an operation feeling equivalent to that of an electronic endoscope can be realized with a relatively simple operation, and the shape information of the organ lumen can be accurately obtained. I can grasp.
[0071]
The three-dimensional image processing apparatus according to the above embodiment is configured to control the movement path of the viewpoint position, but not only the viewpoint position but also the gaze direction may be controlled along the inner wall shape of the organ lumen. .
[0072]
In this case, for example, a normal vector of the object surface existing on the moving path of the viewpoint is obtained, a two-dimensional plane parallel to the normal vector from the object surface is obtained, and a vector orthogonal to the two-dimensional plane is calculated. By providing means for executing the algorithm, it is possible to correct the viewing direction of the viewpoint when the viewpoint is moved to a desired angle along the shape of the inner wall of the organ lumen. Thus, in addition to the above effects, there is an advantage that the shape information of the organ lumen can be observed from the easy-to-see direction along the inner wall shape of the organ lumen when the viewpoint is moved.
[0073]
Next, an application example of the present invention will be described with reference to FIG. In this application example, in addition to the above configuration, various tools for treatment plan support are installed.
[0074]
The three-dimensional image processing apparatus shown in FIG. 9 includes a tomographic data input device 20 equivalent to the above, and a three-dimensional image construction unit 30 further equipped with a treatment plan support tool (organ surface shape processing unit and object insertion placement unit). In addition to the same configuration as the above three-dimensional image observation apparatus, a three-dimensional image synthesis observation apparatus 40 integrally equipped with a treatment plan support tool (color synthesis unit) is provided.
[0075]
The three-dimensional image construction unit 30 has the same configuration as described above (tomographic data interpolation unit 31, image binarization / region extraction unit 32, three-dimensional image creation unit 33, viewpoint position designation unit (not shown), line-of-sight direction designation unit. 34, a viewpoint position moving unit 35), and an organ surface shape processing unit 36 and an object insertion placement unit 37 as a treatment plan support tool.
[0076]
Among these, the organ surface shape processing unit 36 is composed of a processor or the like that can execute an algorithm for cutting an organ surface of a region of interest on a stereoscopic image. For example, a part of the designated inner wall surface is cut, The three-dimensional image composition observation apparatus 40 performs color composition on the lesion. Therefore, the operator can easily grasp the positional relationship of the lesion in the organ lumen.
[0077]
The three-dimensional object insertion / arrangement unit 38 includes a processor or the like that can execute an algorithm for arranging a three-dimensional object having an arbitrary shape in an organ lumen, and inserts and inserts a spherical filling into a lumen such as an aneurysm. (This process is also called “embolization”).
[0078]
The three-dimensional image synthesis observation device 40 is integrally mounted with a color synthesis unit (not shown) including a processor or the like that can execute an algorithm for color synthesis of a plurality of three-dimensional images, and a tumor existing in the lumen of the target organ. Other organs are synthesized and displayed as an opaque or translucent color image.
[0079]
Therefore, the 3D image processing apparatus according to this application example is suitable for actual treatment such as positional relationship with other organs, color composite display, and treatment plan in addition to the advantage of observing the shape information of the organ lumen. Can be applied, and the scope of application in the field of diagnosis and treatment can be further expanded.
[0080]
Note that the treatment planning support tool is not limited to the above-described configuration. For example, a stereoscopic image obtained by viewing the position of the viewpoint moving through the organ lumen from the outside of the organ, for example, a translucent synthesis of a skull and a cerebral blood vessel. A tool for composite display (semi-transparent composite display) as a marking of a sphere or the like on an image, or a stereoscopic image in which a rough position (approximate position) of a viewpoint for moving an organ lumen is viewed from outside the organ, for example, a blood vessel A tool for specifying directly on the stereoscopic image of the surface may be added.
[0081]
【The invention's effect】
As described above, according to the three-dimensional image processing apparatus according to the present invention,Specify the data related to the movement path including the movement direction of the viewpoint, determine the distance between this viewpoint and the surface of the organ lumen, and correct the data related to the movement path so as to maintain the distance above the set value. Since the viewpoint is moved along the corrected movement path, and the stereoscopic image of the organ lumen viewed from the moving viewpoint is displayed on the monitor in real time,It is possible to move the viewpoint along the surface shape of the organ lumen, and this can almost avoid the situation where the viewpoint enters the inner wall as in the past.InThe operability related to viewpoint movement in the organ lumen is greatly improved, and the morphology information of the organ lumen can be acquired relatively easily and easily.
[Brief description of the drawings]
FIG. 1 is a schematic block diagram showing the overall configuration of a three-dimensional image processing apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic flowchart showing a processing concept of a line-of-sight direction designating unit.
FIG. 3 is a schematic flowchart showing a processing concept of a viewpoint movement direction designator.
FIG. 4 is a schematic flowchart showing a processing concept of a viewpoint movement amount designator.
FIG. 5 is a schematic flowchart showing a processing concept of a minimum approach distance designator.
FIG. 6 is a schematic flowchart showing a processing concept of a viewpoint moving method designator.
FIG. 7 is a schematic flowchart showing a processing concept in the case of “designated direction movement” of the viewpoint position calculator.
FIG. 8 is a schematic flowchart showing a processing concept in the case of “inner wall following movement” by the viewpoint position calculator.
FIG. 9 is a schematic block diagram showing the overall configuration of a 3D image processing apparatus according to an application example.
[Explanation of symbols]
1 Fault data input device
2 3D image construction system
3 Three-dimensional image observation system
4 Fault data interpolation unit
5 Image binarization / region extraction unit
6 3D image creation part
7 Viewpoint designation part
8 Gaze direction designation part
9 Viewpoint moving part
10 Data input section
11 Point of view direction indicator
12 Point of view movement specifier
13 Minimum approach distance specifier
14 Viewpoint movement method designator
15 viewpoint position calculator

Claims (9)

In a three-dimensional image processing apparatus that displays a three-dimensional image viewed from a viewpoint determined in the organ lumen of the target part, based on the three-dimensional image data related to the target part of the subject,
Designating means for designating data relating to a moving route including the moving direction of the viewpoint;
A calculation means for obtaining a distance between the viewpoint and the surface of the organ lumen;
Correction means for correcting data relating to the movement route so as to maintain a state where the distance is equal to or greater than a set value;
A display means for moving a viewpoint along the movement path corrected by the correction means and displaying a stereoscopic image of the organ lumen viewed from the moving viewpoint on a monitor in real time. 3D image processing device. The three-dimensional image processing apparatus according to claim 1, wherein the designation unit is a unit that manually or automatically designates data relating to the movement route. The three-dimensional image processing apparatus according to claim 2, wherein the distance includes at least one of a distance in the moving direction and a distance in a direction orthogonal to the moving direction. 2. The three-dimensional image processing according to claim 1, wherein the specifying unit includes a unit that specifies information on a line-of-sight direction at the viewpoint, and the correction unit includes a unit that corrects the information on the line-of-sight direction based on the surface shape data. apparatus. The three-dimensional image processing apparatus according to claim 1, further comprising means for color-combining another organ adjacent to the organ lumen on the stereoscopic image of the organ lumen. The three-dimensional image processing apparatus according to claim 1, further comprising means for removing at least a part of a surface of the organ lumen in the stereoscopic image of the organ lumen. The three-dimensional image processing apparatus according to claim 1, further comprising means for arranging a three-dimensional object having an arbitrary shape on the three-dimensional image of the organ lumen. The three-dimensional image processing apparatus according to claim 1, further comprising means for marking the position of the viewpoint in the organ lumen on a stereoscopic image viewed from the outside of the organ. The three-dimensional image processing apparatus according to claim 1, further comprising means for designating an approximate position related to the movement path of the viewpoint in the organ lumen on a stereoscopic image viewed from outside the organ.

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