JP3683977B2 - Medical diagnostic imaging equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is obtained by an in-subject imaging means such as an optical endoscope, an ultrasonic endoscope, an NMR (each magnetic resonance) endoscope, an ESR (electron spin resonance) endoscope, etc. that images the inside of the subject. The present invention relates to a medical image diagnostic apparatus that corresponds to an image and displays an image obtained by processing an image obtained by a three-dimensional image image acquisition unit such as an X-ray CT apparatus, an MRI apparatus, SPECT, PET, or a three-dimensional ultrasonic diagnostic apparatus. .
[0002]
[Prior art]
Conventionally, an optical endoscope, an ultrasonic endoscope, and an NMR (each magnetic resonance) endoscope have been used as means for imaging an inside of a subject and imaging the properties near the imaging portion. Endoscopic devices such as mirrors and ESR (electron spin resonance) endoscopes are known. In addition, an ultrasonic diagnostic apparatus is known as means for imaging the properties in the subject near the imaging unit without putting the imaging unit in the subject.
[0003]
On the other hand, MPR (multiplanar reconstruction) is used as an image processing means for creating (rendering) an image similar to an image that the imaging unit of the endoscope apparatus would acquire based on three-dimensional image data obtained from other means. ), Surface rendering, graphics, etc. are known. As 3D image acquisition means for obtaining 3D image data, an X-ray CT apparatus, an MRI apparatus, a SPECT (single photon emission computed tomography), a PET (positron emission tomography), a 3D ultrasonic diagnostic apparatus, etc. are known. ing.
[0004]
The MPR creates voxel data based on the three-dimensional image data obtained by the three-dimensional image acquisition means, and renders an arbitrary cross section in the subject from the voxel data. Further, the surface rendering is performed when a certain part in the object is made transparent based on the three-dimensional image data obtained by the imaging means, and the other part is made opaque, and a certain direction is observed from a certain point in the transparent part. The surface shape of the opaque part is depicted as an image.
[0005]
[Problems to be solved by the invention]
However, in the endoscope, there is a problem that it is not easy to know which part in the subject is currently observed and what is the object currently captured in the image.
[0006]
On the other hand, the image processing means can create only an image similar to an image expected to be acquired by the endoscope. In MPR, the internal properties of the opaque part can be understood, but the definition is far inferior to that of a cross-sectional image obtained using an ultrasonic endoscope or NMR endoscope which is a kind of endoscope. Furthermore, in surface rendering, the surface shape of the opaque part is known, but the definition is far inferior compared to the image of the wall in the lumen obtained using an optical endoscope that is a kind of endoscope, The color of the wall in the lumen cannot be depicted at all.
[0007]
The present invention has been made in view of the above problems, and provides a medical image diagnostic apparatus that can easily know from which direction the image data obtained by the in-subject imaging means is observed from which direction. The purpose is to do.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention includes an imaging unit for imaging an inside of a subject, and the imaging unit for acquiring image data in the subject by inserting or contacting the imaging unit with the subject. A position / direction detecting means for detecting the position and direction of the tip of the imaging unit; and a position of the tip of the imaging unit obtained by the position / direction detecting means from voxel data acquired by the image acquiring means; An image processing unit that generates a rendering image in the vicinity of the tip according to the direction, image data in the subject acquired by the in-subject imaging unit, and a rendering image that has been subjected to image processing by the image processing unit And a display means for displaying in correspondence with the above.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of an embodiment of a medical image diagnostic apparatus according to the present invention.
As shown in FIG. 1, a medical image diagnostic apparatus 1 according to this embodiment includes an endoscope apparatus 10 as an in-subject imaging means, an X-ray CT apparatus 20 as a three-dimensional image acquisition means, and an image processing means. An image processing apparatus 30, and an image corresponding to the endoscopic image obtained by the endoscope apparatus 10 is also created by the image processing apparatus 30 based on the voxel data obtained by the X-ray CT apparatus 20. By comparing with the mirror image, it is possible to easily know which part of the endoscopic image is observed from which direction.
[0012]
FIG. 2 is a functional block diagram showing this embodiment.
As shown in FIG. 2, the medical image diagnostic apparatus 1 includes an endoscope apparatus 10 that images an inside of a subject, an X-ray CT apparatus 20 that acquires voxel data that is three-dimensional image data of the subject, and an X-ray CT. The image processing apparatus 30 that performs image processing on voxel data obtained by the apparatus, and a position / direction detection unit 40 as position / direction detection means.
[0013]
As shown in FIG. 1, the endoscope apparatus 10 includes an endoscope apparatus main body 11 having a monitor 11a and an endoscope 13 having an imaging unit 13a that is inserted into the subject and images the inside of the subject. An endoscopic image in the subject is obtained. As the endoscope apparatus 10, for example, an optical endoscope, an ultrasonic endoscope, an NMR (each magnetic resonance) endoscope, an ESR (electron spin resonance) endoscope, or the like is used.
[0014]
As shown in FIG. 1, the X-ray CT apparatus 20 includes an operation unit (not shown) to which scan conditions and the like are input, an X-ray CT apparatus main body 21 having a monitor 21a and the like, and an X-ray beam X A gantry 23 having a rotating part (none of which is shown) for rotating an X-ray tube, a detector for detecting an X-ray beam that has been irradiated by the X-ray tube and passed through the subject, It comprises a bed 25 having a top plate on which a specimen is placed, and acquires image data of a cross section of the subject as slice data from data detected by the detector.
[0015]
As shown in FIG. 2, the image processing apparatus 30 includes an operation unit 31, an arithmetic processing unit 33, an image memory 35, and a display unit 37, and displays voxel data obtained by the X-ray CT apparatus 20 as an image. Process to create an MPR image, a surface rendering image, and the like.
[0016]
The operation unit 31 includes a keyboard, a trackball, and the like, and an operator designates an image processing method (designation of MPR, surface rendering, etc.), designates a cross-sectional position, and the like.
[0017]
The arithmetic processing unit 33 includes a CPU (not shown) and a memory (not shown) that stores a program for operating the CPU, and outputs voxel data based on slice data supplied from the X-ray CT apparatus 20. create. Further, the arithmetic processing unit 33 creates an MPR image, a surface rendering image, and the like according to the designation from the operation unit 31 based on the created voxel data.
[0018]
The image memory 35 stores voxel data, an MPR image, a surface rendering image, and the like created by the arithmetic processing unit 33.
[0019]
The display unit 37 includes two monitors 37a and 37b as shown in FIG. 1, and displays an endoscopic image obtained by the endoscope device 10, an MPR image created by the image processing device 30, a surface rendering image, and the like. Displayed on the monitors 37a and 37b.
[0020]
The position / direction detection unit 40 detects the position and direction of the imaging unit 13a by using known magnetic / optical / mechanical position / direction detection means.
[0021]
For example, in the case of the magnetic type, as shown in FIG. 3, at least two magnetic sensors 51 that are built in the tip of the imaging unit 13a or that have a sensor surface exposed from the surface of the imaging unit 13a and detect the magnetic field strength. (Two in FIG. 3), three axes fixed to the periphery of the subject, for example, the bed 25, and orthogonal to each other, for example, a horizontal axis, an axis perpendicular to this axis, and a vertical axis Are composed of three magnetism generating coils 53a, 53b, 53c and a calculation unit (not shown) built in the endoscope body 11, and in order from the three magnetism generating coils 53a, 53b, 53c in order, A magnetic field is generated, the magnetic field strength is detected by at least two magnetic sensors 51 for each of the magnetism generating coils 53a, 53b, and 53c, and the difference between the values is obtained by the calculation unit. To detect the location and direction. The magnetic position / direction detection unit 40 is not suitable for an NMR endoscope or an ESR endoscope because it uses magnetism and the magnetic sensor 51 is provided at the distal end of the imaging unit 13a. It is suitable for an endoscope, particularly a flexible optical endoscope that can be bent.
[0022]
In the case of the optical type, as shown in FIG. 4, at least two light emitters 55 (three in FIG. 4) fixed to the hand operation side of the endoscope 13, and positions where these light emitters 55 can be imaged. The camera 57 for imaging these light emitters 55 and a calculation unit (not shown) built in the endoscope body 11, the reference position of the light emitter 55 obtained by the camera 57, and movement of the endoscope 13 A difference in the position of the light emitter 55 obtained by the later camera 57 is obtained by the calculation unit to detect the position and direction of the imaging unit 13a. The optical position / direction detection unit 40 is not suitable for an optical endoscope capable of bending operation because the light emitter 55 is fixed to the hand operation side, and is suitable for a rigid optical endoscope. The optical position / direction detection unit 40 is also suitable for an ultrasonic diagnostic apparatus that images the inside of the subject from the outside of the subject. Further, when an NMR endoscope or an ESR endoscope is used as the endoscope apparatus 10, the position and direction of the imaging unit 13a can be determined by detecting the position and direction of the portion outside the subject. An optical position / direction detection unit 40 can be used.
[0023]
In the case of the mechanical type, as shown in FIG. 5, the arm 63 connected at one end to the base 61, the arm 65 connected to the other end of the arm 63, and the arm 63 moved to the base An angle for detecting a rotation angle of the rotation A on a plane parallel to a fixing surface of the shaft 67 that can be fixed, a shaft 69 that fixes the arm 65 rotatably with respect to the arm 63, and a base 61 of the shaft 67. Sensor 71, angle sensor 73 for detecting the rotation angle of rotation B on the surface perpendicular to the fixed surface of shaft 67, and rotation angle of rotation C on the surface perpendicular to the fixed surface of shaft 69 Angle sensor 75 and a calculation unit (not shown) built in endoscope body 11, and the position and direction of imaging unit 13 a are determined by the calculation unit based on the angles detected by angle sensors 71, 73, and 75. Calculate. The arm 65 is provided with an extendable arm 65a, and a sensor 77 for detecting the extension / contraction amount of the arm 65a is provided. In addition to the detection angles of the angle sensors 71, 73, 75, an image is picked up from the detection value of the sensor 77. You may make it detect the position and direction of the part 13a. Further, a gyroscope 79 may be provided at the tip of the arm 65 or the arm 65a, and the direction of the imaging unit 13a may be detected by the gyroscope 79. The mechanical position / direction detection unit 40 can be applied to any endoscope apparatus 10.
[0024]
Next, the operation of this embodiment will be described.
First, the operator inputs scan conditions and the like using the operation unit of the X-ray CT apparatus main body 21 of the X-ray CT apparatus 20 and starts tomographic imaging of a desired region of the subject by the X-ray CT apparatus 20. At this time, since the slice data obtained by the X-ray CT apparatus 20 and the endoscopic image obtained by the endoscope apparatus 10 are made to correspond to each other, the X-ray CT apparatus 20 can form an image on a body surface in a region where slice data is obtained. Add a reference marker.
[0025]
Further, the range in which slice data is acquired is wider than the range of the endoscopic image acquired by the endoscope apparatus 10. Then, the X-ray CT apparatus 20 acquires slice data of a predetermined region of the subject corresponding to the scan condition, and supplies it to the image processing apparatus 30.
[0026]
When the slice data is supplied, the arithmetic processing unit 33 of the image processing apparatus 30 creates a scanogram from the slice data and displays it on the monitor 37 b of the display unit 37 via the image memory 35. The operator matches the cursor to the reference marker displayed in the scanogram with a trackball. Thereby, the arithmetic processing unit 33 creates voxel data using the reference marker as a coordinate reference. The created voxel data is stored in the image memory 35.
[0027]
In this state, the operator makes the tip of the imaging unit 13a of the endoscope apparatus 10 coincide with the reference marker attached to the body surface, and this portion is a coordinate reference with respect to the calculation unit of the position / direction detection unit 40. Instructed to detect the position and direction of the imaging unit 13a. This instruction is given from an operation panel provided in the endoscope apparatus main body 11.
[0028]
Then, the operator starts taking an endoscopic image by the endoscope apparatus 10. The endoscope apparatus 10 displays image data obtained when endoscopic image capturing is started as an endoscopic image on the monitor 11 a and supplies the image data to the image processing apparatus 30. At this time, the position / direction detection unit 40 always detects the position and direction of the imaging unit 13 a of the endoscope apparatus 10, and supplies the detection result to the arithmetic processing unit 33 of the image processing apparatus 30.
[0029]
Next, the arithmetic processing unit 33 of the image processing apparatus 30 displays the image data supplied from the endoscope apparatus 10 as an endoscopic image on the monitor 37 a via the image memory 35.
[0030]
Here, when the endoscope apparatus 10 is a means for imaging an internal property of a substantial part (non-cavity part) near the tip of the imaging unit 13a, such as an ultrasonic endoscope, an NMR endoscope, an ESR endoscope, or the like. The operator instructs creation of an MPR image by pressing a predetermined key on the keyboard of the operation unit 31.
[0031]
At this time, for example, it is assumed that the endoscope apparatus 10 is an ultrasonic endoscope and a region A of a part of an organ is imaged into an endoscopic image as shown in FIG. In many cases, this endoscopic image cannot be recognized only from this endoscopic image as to which part of the whole organ. Therefore, the operator instructs the MPR image creation using the operation unit 31 and displays the MPR image together with the endoscopic image.
[0032]
When the MPR image creation is instructed, the arithmetic processing unit 33 of the image processing apparatus 30 corresponds to the position and direction of the imaging unit 13a supplied from the position / direction detection unit 40 as shown in FIG. An MPR image is created based on the voxel data with a plane perpendicular to the imaging surface as a cross section of the MPR image. The created MPR image is displayed on the monitor 37b as shown in FIG. At this time, the arithmetic processing unit 33 writes the imaging unit mark M1 in the MPR image in correspondence with the position and size of the imaging unit 13b.
[0033]
As a result, it can be easily understood which part of the whole organ is imaged by confirming the MPR image shown in FIG. 8 (b) in a wider range than the endoscopic image shown in FIG. 8 (a). become.
[0034]
Further, by pressing a predetermined key on the operation unit 31, an MPR image as shown in FIG. 9B orthogonal to the MPR image shown in FIG. 8B is created, and the position of the imaging unit 13a is formed on the MPR image. The imaging part mark M2 may be displayed in correspondence with the size.
[0035]
Further, by pressing a predetermined key on the operation unit 31, surface rendering showing the organ surface is performed as shown in FIG. 10B, and the surface rendering image is made to correspond to the position and size of the imaging unit 13a. The image pickup unit mark M3 may be displayed. At this time, the range in the depth direction in which the surface rendering image is displayed is specified using the operation unit 31. As shown in FIG. 8A, an ultrasonic endoscopic image is displayed on the monitor 37a as shown in FIGS. 9A and 10A.
[0036]
When the endoscope apparatus 10 is a means for imaging the surface properties near the tip of the imaging unit 13a, such as an optical endoscope, the operator performs surface rendering by pressing a predetermined key on the keyboard of the operation unit 31. Instruct the creation of an image.
[0037]
For example, assume that the imaging unit 13a is inserted into the bronchus of the subject as shown in FIG. 11, and an optical endoscopic image is obtained as shown in FIG. In the surface rendering in this case, the voxel representing the air in the voxel data is regarded as transparent, the other is considered opaque, and the surface formed by the opaque voxel when the voxel data is viewed from the position and direction of the imaging unit 13a. The shape is visualized and displayed on the monitor 37b as an image similar to the optical endoscopic image as shown in FIG. At this time, the range in the depth direction in which the surface rendering image is displayed is specified using the operation unit 31.
[0038]
In this case, in the optical endoscopic image, the shape, mottle, color, and the like of the bump N can be observed as shown in FIG. 12A, and only the shape of the bump N can be seen in the surface rendering image as shown in FIG. .
[0039]
In addition, an image by the minimum value projection method for projecting the minimum value of the voxel corresponding to each pixel is created by the arithmetic processing unit 33 of the image processing device 30, and an image pickup unit mark indicating the position and direction of the image pickup unit 13a on the image May be written. For example, based on the voxel data, an image of the bronchial portion shown in FIG. 13 by the minimum value projection method is created, and an image pickup unit mark M4 indicating the position and direction of the image pickup unit 13a is formed on the image by the minimum value projection method. Write and display on monitor 37b.
[0040]
Thereby, it can be shown on the image which shows the shape of the bronchi which is a to-be-photographed object in which position and the direction which the imaging part 13a is located in the test object.
[0041]
When examining the external bronchial properties of an object such as an aneurysm N observed on the optical endoscopic image shown in FIG. 12 (a) and the surface rendering image shown in FIG. 12 (b), for example, in FIG. As shown in FIG. 15, a surface p separated by a distance d from the position indicated by the image pickup unit mark M4 is designated using the trackball of the operation unit 31, and the MPR image of this surface p is generated by the arithmetic processing unit 33. Is displayed on the monitor 37b. Thereby, the structure in the inside of the lump N (inside, back side) can be observed.
[0042]
Further, in the MPR image shown in FIG. 15, when each point corresponding to the cross section of the MPR image is a voxel that is considered to be transparent as shown in FIG. Instead of an image, a surface rendering image may be created and displayed. Further, in this case, as shown in FIG. 17A, the voxel portion that is regarded as transparent may be combined and displayed as a surface rendering image, and the other portion as an MPR image. At this time, the range in the depth direction in which the surface rendering image is displayed is specified using the operation unit 31. In FIG. 17A, regions corresponding to the regions a1 and a2 indicated by hatching in FIG. 17B are surface rendering images, and other portions are MPR images.
[0043]
Thereby, information on a tomographic plane that is not visualized in the optical endoscopic image can be displayed in association with the optical endoscopic image.
[0044]
As described above, in the medical image diagnostic apparatus 1 of the present embodiment, the image processing apparatus 30 also creates an image corresponding to the endoscopic image obtained by the endoscope apparatus 10 based on the voxel data obtained by the X-ray CT apparatus 20. Since this is contrasted with the endoscopic image, it can be easily understood which part of the whole organ is imaged by confirming an MPR image in a wider range than the endoscopic image. It is also possible to indicate on the image indicating the shape of the subject which position in the subject the imaging unit 13a is in and in which direction. Furthermore, it is also possible to display information on a tomographic plane that is not visualized in an endoscopic image in association with the endoscopic image.
[0045]
In this embodiment, the MPR image, the surface rendering image, and the image by the minimum value projection method are created by the image processing apparatus. However, the present invention is not limited to this, and other images such as a tertiary image are used. An original graphics image or the like may be created.
[0046]
In this embodiment, a reference marker is provided on the body surface, and the reference marker is used as a coordinate reference. However, the present invention is not limited to this, and other positions, for example, a wall surface or a floor surface of an examination room. The predetermined position may be used as a coordinate reference.
[0047]
Furthermore, in this embodiment, the MPR image, the surface rendering image, and the like obtained by the arithmetic processing unit 33 are displayed on the monitor 37b of the image processing apparatus 30, but the MPR image, the surface rendering image, and the like are displayed on the monitor 37a. May be displayed together with the endoscope image, or may be displayed on the monitor of the endoscope apparatus 10 or the X-ray CT apparatus 20. In this case, the number of monitors can be reduced.
[0048]
【The invention's effect】
As described above, according to the present invention, from the voxel data acquired by the image acquisition unit, a rendering image near the tip is obtained according to the position and direction of the tip of the imaging unit obtained by the position / direction detection unit. Since the generated rendering image data can be compared with the image data obtained by the in-subject imaging means, the image data obtained by the in-subject imaging means observes which part from which direction. You can easily know what you did.
[Brief description of the drawings]
FIG. 1 is a diagram showing a schematic configuration of an embodiment of a medical image diagnostic apparatus according to the present invention.
FIG. 2 is a functional block diagram showing an embodiment of a medical image diagnostic apparatus according to the present invention.
FIG. 3 is a diagram illustrating an example of a position / direction detection unit (magnetic type).
FIG. 4 is a diagram illustrating an example of a position / direction detection unit (optical type).
FIG. 5 is a diagram illustrating an example of a position / direction detection unit (mechanical type).
FIG. 6 is a diagram illustrating an imaging region of an imaging unit and its surroundings.
FIG. 7 is a diagram showing a cross section of an MPR image in a diagram illustrating an imaging region of an imaging unit and its surroundings.
FIG. 8 is a diagram showing an ultrasonic endoscopic image and an MPR image.
FIG. 9 is a diagram showing an ultrasonic endoscopic image and an MPR image.
FIG. 10 is a diagram showing an ultrasonic endoscopic image and a surface rendering image.
FIG. 11 is a diagram showing a bronchus of a subject and an imaging unit inserted into the bronchus.
FIG. 12 is a diagram showing an optical endoscopic image and a surface rendering image.
FIG. 13 is a diagram illustrating an image obtained by a minimum value projection method.
FIG. 14 is a diagram for explaining a case in which a cross section of an MPR image is designated on an image obtained by a minimum value projection method.
FIG. 15 is a diagram illustrating an MPR image and a voxel portion that is considered transparent on the MPR image.
FIG. 16 shows voxels that are considered transparent on voxel data. It is a ~ figure of a prior art example.
FIG. 17 is a diagram illustrating a composite image of an MPR image and a surface rendering image.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Medical diagnostic imaging apparatus 10 Endoscope apparatus 20 X-ray CT apparatus 30 Image processing apparatus 31 Operation part 33 Operation processing part 35 Image memory 37 Display part 40 Position / direction detection part

Claims (9)

In-subject imaging means for acquiring an image data in the subject by having an imaging portion for imaging the inside of the subject and inserting or contacting the imaging portion to the subject;
Position / direction detection means for detecting the position and direction of the tip of the imaging unit;
Image processing means for generating a rendering image in the vicinity of the distal end portion according to the position and direction of the distal end portion of the imaging section obtained by the position / direction detection means from voxel data obtained by the image obtaining means;
Display means for displaying the image data in the subject acquired by the in-subject imaging means and the rendering image image-processed by the image processing means in correspondence with each other ;
A medical image diagnostic apparatus comprising: The medical image diagnostic apparatus according to claim 1, wherein the image processing unit generates an MPR image as the rendering image . The image processing unit generates, as the rendering image, an MPR image with a plane orthogonal to a visual axis of the imaging unit determined by a position and a direction of a tip of the imaging unit. The medical image diagnostic apparatus according to claim 1. The medical image diagnostic apparatus according to claim 1, wherein the image processing unit generates a surface rendering image as the rendering image.   5. The medical image diagnostic apparatus according to claim 4, further comprising designation means for designating a range in a depth direction in which the surface rendering image is displayed. The medical image diagnostic apparatus according to claim 1, wherein the image processing unit generates an image by a minimum value projection method as the rendering image. The image processing means, as the rendered image, the medical image diagnostic apparatus according to claim 1, wherein the creating a composite image of the surface rendering image and MPR image. The medical image diagnostic apparatus according to claim 1, wherein the display unit displays rendering image data in a wider range than the image data acquired by the intra-subject imaging unit. 9. The image processing unit according to claim 1, wherein the image processing unit embeds a mark indicating the tip of the imaging unit detected by the position / direction detection unit in the rendered image subjected to the image processing. Item 1. A medical image diagnostic apparatus according to item 1.

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