JP4792578B2 - Cut surface visualization device - Google Patents

Description

  The present invention relates to a cut surface visualization device that can display internal data when an arbitrary cut surface is specified for an object and the object is cut by the cut surface.

  A technique for displaying an image of a cut surface on an object is known. According to this, the internal state can be shown without actually cutting the object (see, for example, Non-Patent Document 1). Furthermore, there are some that can specify a cut surface.

Here, as a general means for designating a cut surface, a method of performing a logical operation while using a mouse or a keyboard and viewing volume data of an object displayed on a display device such as a monitor is well known. ing. For example, rotate the volume data itself with the mouse or keyboard, draw a line segment to specify the cutting plane, click and move the end point with the mouse, specify the section angle, or click the middle point In addition, the cross-sectional position can be specified by moving.
Medical Education Support by Projection to Patient Model, Toshiyuki Goto et al., 8th Annual Conference of the Virtual Reality Society of Japan, September 2003, p555

Here, in order to specify the cut surface of the object, it is necessary to specify the orientation of the cross section, the position of the cross section, and the positional relationship between the object and the viewpoint.
On the other hand, according to the prior art, since it operates on a plane such as a desk, it is only a plane (2D) that can be specified at once with the mouse, and there is some promise for an object (3D). The sequential operation based on this is necessary, and the operation method is learned in advance or the number of operations increases. That is, there has been a problem that the work of specifying the cut surface of the object becomes very complicated.

Further, since the designation operation is performed while looking on the screen without looking at the object itself, there is a problem that it is difficult to determine whether or not a desired position of the three-dimensional object is designated.
The present invention has been devised to solve such a problem, and an object of the present invention is to provide a cut surface visualization device capable of specifying a cut surface of an object in a simple operation and in an easy-to-understand manner. Yes.

In order to achieve this object, the cut surface visualization device according to claim 1 is a cut surface visualization device capable of displaying an image of an arbitrary cut surface of an object, wherein the volume data of the object and an object to be specified are displayed. Storage means for storing the surface shape data, designation means for designating the cut surface of the object with respect to the designated object, and the designation of the cut surface by the designation means. Generation means for generating image data of the cut surface of the object from volume data, display means for displaying the image data of the cut surface generated by the generation means, and viewpoint detection means for detecting the observer's viewpoint The specifying means includes a specifying tool for specifying a cutting surface of the object by a relative position and a relative posture with respect to the specified object, and the generating means is based on the viewpoint detected by the viewpoint detecting means. As well as the deformation in accordance with the observer's viewpoint position in the image data, said corrects the distortion of the image of the cut surface when projected onto the specified object by modifying the image data on the basis of the surface shape data of the specified object The display means displays the image data by projecting it onto the position of the cut surface specified for the specified object by the designating tool.

  The cut surface visualization device according to claim 2 is the cut surface visualization device according to claim 1, wherein the designated tool includes a holding portion held by an observer and at least one position and orientation sensor provided in the holding portion. It is characterized by being.

  The cutting surface visualization device according to claim 3 is the cutting surface visualization device according to claim 1 or 2, wherein the storage means stores volume data composed of voxel data, and the generation means stores the storage data. The image data is generated from the voxel data stored in the means.

The cutting surface visualization device according to claim 4 is the cutting surface visualization device according to claim 2 , wherein the holding unit specifies the cutting surface by directly applying the holding unit to the specified object. It is a feature.

The cut surface visualization device according to claim 5 is the cut surface visualization device according to any one of claims 1 to 4, further comprising a specified object detection unit that detects a position and a posture of the specified object, and the generation unit includes: The image data is rotated or translated based on the position and orientation detected by the designated object detection means, and correction is made in accordance with the position and orientation of the designated object.
(Function)
According to the cut surface visualization device according to any one of claims 1 to 5, in any case, the cut surface of the object is designated with respect to the designated object by manipulating the designation tool. For this reason, the designation operation while looking at the screen is eliminated, and it is eliminated from the trouble of studying the operation method in advance or performing the designation operation according to each promise. In addition, since the specification is made directly on the specified object, it becomes easy to grasp the cut surface.

According to the cut surface visualization device according to any one of claims 1 to 5 , there is an effect that a cross-sectional image of the cut surface of the object can be displayed without cutting the object. Furthermore, there is an effect that the operation of designating the cut surface can be simplified and the cut surface can be easily grasped.

Hereinafter, an example (example) of a preferred embodiment of the present invention will be described with reference to the accompanying drawings. Of course, the following examples do not limit the technical scope of the present invention.
Example 1
FIG. 1 is a diagram showing a schematic configuration of a cut surface visualization apparatus 100 according to the first embodiment (embodiment 1) of the present invention. As shown in FIG. 1, the cut surface visualization device 100 includes a computer 110 corresponding to a storage unit and a generation unit, a cut surface designation tool 120 corresponding to a designation unit and a designation tool, a projector 130 corresponding to a display unit, A viewpoint detection sensor 140 corresponding to the viewpoint detection means and a specified object detection sensor 150 corresponding to the specified object detection means are provided. The cutting plane designating tool 120, the projector 130, the viewpoint detection sensor 140, and the specified object detection sensor 150 are electrically connected to the computer 110, respectively.

  Although not shown, the computer 110 has functions normally provided in a personal computer such as a calculation unit and a storage unit, stores volume data of the object, and also uses the cutting surface designator 120 to determine the cutting surface A of the object. Based on the designation, the volume data is processed, and the processed image data of the cut surface A (hereinafter referred to as cut surface image data) is displayed. The volume data is composed of voxel data. In this embodiment, the human body is used as an object, and the volume data is composed of organ / bone data in the human body. In this embodiment, the cut surface A is not directly designated for the object (human body), but the human body model 500 as the designated object having a form approximating the object is used as a substitute for the object. The cutting plane A of the object is designated by

  The computer 110 generates cut surface image data from the voxel data. In other words, pixel data corresponding to the cut surface A is generated from the volume data. The computer 110 stores data (surface shape data) related to the surface shape of the human body model 500, and is configured to correct the cut surface image data based on the surface shape data.

  The cutting surface designating tool 120 is for designating the cutting surface A of the object with respect to the human body model 500, and is attached to the holding member 121 configured in a substantially U-shape and the holding member 121, so that the cutting surface is cut. It is comprised by the cut surface detection sensor 122 for detecting the position and attitude | position of the designated tool 120. FIG. The cut surface detection sensor 122 corresponds to at least one position and orientation sensor. Since the holding member 121 is configured in a substantially U-shape, the surface specified by the holding member 121, that is, the cut surface A of the object substituted by the human body model 500 is intuitively intuitive to the observer 600. Can be grasped. Therefore, the cutting plane designating tool 120 can specify an arbitrary cutting plane for an object having a three-dimensional shape with a single operation.

  In addition, since the position and orientation of the cutting plane designation tool 120 are detected by the cutting plane detection sensor 122 corresponding to the position / orientation sensor, the computer 110 calculates the cutting plane designation tool 120 and the human body model 500 based on the detection result. It is possible to calculate the relative position and the relative posture.

  FIGS. 2A and 2B are diagrams illustrating image display when the cutting plane A of the object is specified for the human body model 500 using the cutting plane specifying tool 120. FIG. When the human body model 500 is designated in the form as shown in FIG. 2A by the cutting plane designating tool 120, the cutting plane image data of the cutting plane A is displayed by the computer 110 corresponding to the designation. In FIG. 2 a, cutting surfaces other than the cutting surface A are also illustrated, but the degree of display of the cutting surface image data is changed according to the degree of designation of an appropriate location on the human body model 500 using the cutting surface designating tool 120.

  Further, as shown in FIG. 2b, by positioning the human body model 500 so that the cut surface specified by the cut surface specifying tool 120 is placed on a part of the human body model 500 (the chest front side in the figure), It is also possible to display the cut surface image data on the human body model 500. In this case, even when the cutting plane designating tool 120 is continuously moved or rotated downward in the drawing, the cutting plane detection sensor 122 detects a change in the position and orientation of the cutting plane designating tool 120, The cut surface image data of the cut surface of the object after the change in position or posture can be displayed on the human body model 500.

  Thus, when the observer 600 designates the cutting plane A of the object with respect to the human body model 500, the cutting surface designation tool 120 is directly applied to the human body model 500, whereby the cutting surface A of the object is designated through the human body model 500. It becomes possible to do. For this reason, for example, it is not necessary to perform a sequential operation based on every promise as in the prior art that is specified using a mouse or the like, and it is troublesome to learn the operation method or increase the number of operations. Can be eliminated. Furthermore, since it is not necessary to perform an operation while looking at the screen, it is possible to make the observer 600 intuitively grasp the cut surface A.

  The projector 130 displays the pixel data calculated by the computer 110 by projecting it onto the surface of the human body model 500. Since the human body model 500 also has a function as a projection object (screen) of the projector 130, it is preferable that the surface does not have a pattern that hinders image display.

  Thus, by displaying the cut surface image data on the surface of the human body model 500, the observer 600 can visually recognize the cut surface image of the object on the human body model 500, and the cut surface of the present embodiment. The visualization apparatus 100 can give the observer 600 a visual influence (image) as if the object itself was cut. Here, the projection image displayed by the projector 130 is larger than the cut surface image data. Thereby, even when the human body model 500 is moved, the cut surface image data can be displayed on the human body model 500. In other words, when the human body model 500 is fixed (when the human body model 500 does not move), even if the cut surface image data and the projected image are approximately the same size, there seems to be little trouble. .

  Further, the projector 130 is provided with a projector detection sensor 131 that is a means (projector detection means) for detecting the position and orientation of the projector 130. The detection data (output signal) of the projector detection sensor 131 is used by the computer 110 to generate cut surface image data from the volume data. Thereby, since the relative position and relative posture between the projector 130 and the human body model 500 can be known, it is possible to project appropriate image data onto the human body model 500.

  The viewpoint detection sensor 140 detects the viewpoint of the observer 600 and can be held by the observer 600 itself (not shown but may be provided in glasses or the like). The detection data (viewpoint) of the viewpoint detection sensor 140 is transmitted to the computer 110, and is used by the computer 110 to generate cut surface image data from the volume data based on the detection result of the viewpoint detection sensor 140. Here, as described above, the display of the cut plane image data by the projector 130 is performed by projection onto the surface of the human body model 500. Therefore, by generating image data based on the detection data of the viewpoint detection sensor 140, an image based on the viewpoint position of the observer 600 can be generated and projected onto the human body model 500.

The designated object detection sensor 150 detects the position and posture of the human body model 500, and the detection data of the designated object detection sensor 150 is transmitted to the computer 110. This detection data is used by the computer 110 to generate cut surface image data. If the specified object detection sensor 150 is not provided, an appropriate display and designation of the cut surface A cannot be performed unless the human body model 500 is fixed. However, by providing the specified object detection sensor 150, the human body model is provided. Even when 500 is moved, it is possible to appropriately display and specify the cut surface A. Thus, for example, in addition to the cut surface A when the human body is viewed from the front surface (upper surface) side, the cut surface A when the human body is viewed from the back surface (lower surface) can be projected by turning the human body model 500 upside down.
(Function)
Next, with reference to FIG. 3, the flow of data such as each sensor signal in the cut surface visualization apparatus 100 configured as described above will be described. As shown in FIG. 3, in the cut surface visualization device 100, in addition to the volume data of the human body that is the object, the surface shape data (shape data) of the human model 500 and the detection data of the projector detection sensor 131 are stored in advance. Has been. This is because these are all constants. Here, when the cutting plane A of the object is specified for the human body model 500 by the cutting plane specifying tool 120, the detection data (variable) of the cutting plane detection sensor 122 and the detection data (variable) of the specified object detection sensor 150 are displayed. ) And the detection data (variable) of the viewpoint detection sensor 140, the volume data is processed to generate cut surface image data. Further, the cut surface image data is corrected based on the detection data (variable) of the viewpoint detection sensor 140, the detection data (variable) of the designated object detection sensor 150, and the detection data of the projector detection sensor 131, and this correction is performed. The projected image is projected from the projector 130 onto the surface of the human body model 500 to display a cut surface.

  Next, processing executed in the cut surface visualization apparatus 100 will be described with reference to FIG. 4 in order to explain the operation of the cut surface visualization apparatus 100 in more detail. First, a preliminary storage process is executed (S1). In the process of S1, data to be stored in advance such as volume data of the object is stored. Since these are not variables, once they are stored, it is not necessary to execute the process of S1.

  Next, a first stage cut surface image data generation process is executed (S2). In the process of S <b> 2, based on the detection data of the specified object detection sensor 150 and the detection data of the cut surface detection sensor 122, the computer 110 calculates the relative position and relative posture between the human body model 500 and the cut surface specifying tool 120. First-stage cut surface image data is generated by calculating and calculating a cutting position in the object based on the calculation result. Here, in the calculation, it is also considered which of the cutting plane designator 120 the observer 600 views the cutting plane from the detection data of the viewpoint detection sensor 140.

  Next, a second stage cut surface image data generation process is executed (S3). In the process of S3, the first-stage cut surface image data is corrected (deformed) based on the detection data of the viewpoint detection sensor 140, and the second-stage cut surface image data is generated.

  Next, a third stage cut surface image data generation process is executed (S4). In the process of S4, the relative position between the human body model 500 and the projector 130 is calculated based on the detection data of the designated object detection sensor 150 and the detection data of the projector detection sensor 131, and based on the calculation result, Three-stage cut surface image data is corrected (rotated, parallel moved, etc.) to generate third-stage cut surface image data.

  Next, a fourth stage cut surface image data generation process is executed (S5). In the process of S5, the third-stage cut surface image data is corrected (deformed) based on the surface shape data of the human model 500 inputted in advance, and the fourth-stage cut surface image data is generated. Thereby, the distortion of the cut surface image when projected onto the human body model 500 can be corrected.

  Next, display processing is executed (S6). In the process of S6, the cut surface image data in the fourth stage is projected from the projector 130 onto the surface of the human body model 500 and displayed. As a result, a cut image as if the human body that is the object was cut appears on the human body model 500.

Note that the generation order of the cut surface image data is not limited at all. For example, the processing of S3, the processing of S4, and the processing of S5 may be interchanged, or the processing of S4 and the processing of S5 may be performed simultaneously.
(Example 2)
Hereinafter, a second embodiment (embodiment 2) of the present invention will be described with reference to FIGS. In describing the cut surface visualization apparatus 200 according to the second embodiment, the description will focus on differences from the first embodiment, and the description of the same parts will be omitted.

  The cut surface visualization device 200 according to the second embodiment is different from the cut surface visualization device according to the first embodiment in that the cut surface image data is displayed on the monitor 210 while the cut surface image data is displayed on the human body model 500.

  The cut surface visualization apparatus 200 includes a computer 110, a cut surface designating tool 120, a specified object detection sensor 150, and a monitor (corresponding to display means) 210. The computer 110 stores volume data of the object, and the cutting surface designating tool 120 and the human body model 500 are obtained by the cutting surface detection sensor 122 of the cutting surface designating tool 120 and the specified object detection sensor 150 of the human body model 500. The cutting plane image data to be displayed on the monitor 210 is generated based on the relative position and the relative posture. In this case, the viewpoint is defined at a position at a predetermined angle and distance with respect to the monitor 210.

  FIG. 6 is a diagram showing a flow of data (information) such as each sensor signal in the cut surface visualization apparatus 200. As shown in FIG. 6, the cut surface visualization apparatus 200 uses a flat monitor 210. Compared with the first embodiment, the surface shape data of the human body model 500 and the position data of the projector are unnecessary for display. Of course, it is not necessary to correct the image.

  FIG. 7 is a diagram illustrating processing executed in the cut surface visualization apparatus according to the second embodiment. As illustrated in FIG. 7, the cut surface visualization apparatus 200 performs the processes of S3 to S5 in the first embodiment. There is no need to execute, and the processing of S1, S2, and S6 is executed. In the process of S1, it is not necessary to store the position data of the projector 130 and the surface shape data of the human body model 500. In the process of S6, a process of displaying on the monitor 210 instead of the projection from the projector 130 is performed. Executed.

  The present invention has been described based on the embodiments. However, it goes without saying that the above embodiments can be variously improved and modified without departing from the spirit of the present invention. Includes these improved variants.

  For example, according to the above embodiment, the specified object detection sensor 150 is provided, and the cutting surface A of the object is specified based on the relative position and the relative posture between the human body model 500 and the cutting surface specifying tool 120, Image data projected onto the human body model 500 is generated (deformed) from the projector 130. However, when the human body model 500 is fixed, the designated object detection sensor 150 is not necessarily provided.

  Further, according to the first and second embodiments, the computer 110 stores voxel data as volume data, but is not necessarily limited to voxel data, and a captured image such as MRI or CT is used as volume data. It may be configured to store. In addition to the voxel data constituting the internal structure data (basic skeleton data), the volume data may be constituted by animation data such as blood flow and built-in movement.

  Further, in the first and second embodiments, the specified object is composed of the upper body model 500 having no hand and head, and the volume data is composed of data of the cut surface (organ, blood vessel, etc.) of the human body. However, it is not necessarily limited to this. For example, it may be a human model of the whole body or a living person. In addition, the cutting plane may be specified using the cutting plane specifying tool 120 for the object itself. In this case, the object and the designated object also have the other function.

  Furthermore, it may be an industrial product such as an automobile gasoline engine. In this case, the volume data is in addition to the internal structure data of industrial products (for example, driving of pistons and valves in an automobile engine), the flow of fuel supplied from the outside of the engine, the intake into the engine, and the outside of the engine Further, it may be constituted by animation data such as an air flow or heat distribution in the outer periphery of the engine. Thus, in the present invention, the expression of a cross section of an object including not only the inside of the object but also the outside is used.

  Furthermore, in Example 1 and Example 2, the holding member 121 is configured in a substantially U shape, but the shape of the holding member 121 is not limited to a substantially U shape, and is substantially U-shaped. Various shapes such as a substantially L shape can be used.

  Further, in the first embodiment, the projector 130 is fixed, but the projector 130 may be configured to rotate and move. In this case, the human body model 500 may be fixed.

  The present invention can be applied not only to the medical field such as a medical education apparatus and a patient explanation apparatus, but also to an industrial field such as an explanation apparatus for an internal structure of an engine.

It is a figure which shows the structure schematic of the cut surface visualization apparatus of Example 1 of this invention. It is a figure shown about the display of the image at the time of designating the cutting plane A using the cutting plane designation | designated tool. It is a figure which shows the flow of data, such as each sensor signal in the cut surface visualization apparatus of Example 1. FIG. It is a figure which shows the process performed in the cut surface visualization apparatus of Example 1. FIG. It is a figure which shows the structure schematic of the cut surface visualization apparatus of Example 2 of this invention. It is a figure which shows the flow of data, such as each sensor signal in the cut surface visualization apparatus of Example 2. FIG. It is a figure which shows the process performed in the cut surface visualization apparatus of Example 2. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100,200 ... Cutting surface visualization apparatus, 110 ... Computer as a memory | storage means and a production | generation means, 120 ... Cutting surface designation tool as a designation | designated means, 121 ... Holding member, 122 ... Cutting surface detection sensor, 130 ... Projector as a display means 131 ... Projector detection sensor, 140 ... Viewpoint detection sensor, 150 ... Designated object detection sensor, 210 ... Monitor as display means, 500 ... Human body model as designated object, 600 ... Observer.

Claims (5)

A cutting surface visualization device capable of displaying an image of an arbitrary cutting surface of an object,
Storage means for storing volume data of the object and surface shape data of the specified object;
Designating means for designating the cut surface of the object with respect to the designated object;
Generating means for generating image data of the cut surface of the object from the volume data stored in the storage means based on the designation of the cut surface by the specifying means;
Display means for displaying the image data of the cut surface generated by the generating means;
A viewpoint detection means for detecting an observer's viewpoint,
The designation means includes a designation tool for designating a cutting surface of an object by a relative position and a relative attitude with respect to the designated object,
The generation unit is configured to a deformation corresponding to the observer's viewpoint position to the image data based on the viewpoint detected by the viewpoint detection means, the deformed image data on the basis of the surface shape data of the object specified object It corrects the distortion of the image of the cut surface when projected onto the specified object.
The cutting surface visualization device, wherein the display means displays the image data by projecting it onto the position of the cutting surface specified for the specified object by the specifying tool.   The cutting surface visualization device according to claim 1, wherein the designator is configured by a holding unit held by an observer and at least one position and orientation sensor provided in the holding unit. The storage means stores volume data composed of voxel data,
The cutting surface visualization device according to claim 1 or 2, wherein the generation unit generates image data from voxel data stored in the storage unit. The cut surface visualization device according to claim 2 , wherein the holding unit designates a cut surface by directly applying the holding unit to the specified object . A designated object detection means for detecting the position and orientation of the designated object;
The generation unit is configured to perform correction according to the position and orientation of the designated object by rotating or translating the image data based on the position and orientation detected by the designated object detecting unit. The cut surface visualization apparatus according to any one of claims 1 to 4.

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