JP4979682B2 - 手術前予測のための方法及びシステム - Google Patents
手術前予測のための方法及びシステム Download PDFInfo
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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Description
身体(の一部)の3D幾何学的描写を取得する幾つかの方法が存在する。CT及びMRIの如き医療画像診断法、及び3D写真システムが良く知られている。後者は二つのカテゴリー、即ち身体に特定のパターンを投射する能動法を使用するもの、及び先験的な幾何学的知識の使用ありで又はなしで一つ以上の像及び照明条件から身体の3D幾何学的描写を取得する受動法を使用するものに細分されることができる。3D幾何学的描写と同時に、3D写真システムは3D表面を表現するために使用される身体のテクスチャを与える。
3D身体形状を動画化するための幾つかの方法が存在する。動きのシミュレーションは帰納法、物理学ベースの知識に基くことができ、又はそれは画像導出されることができる(例えば、異なる人及び/又は表現からの一組の像に基いた統計的な変形モデルを構築する)。結果は自然なものであってもよいし、又は人工的なものであってもよい。例えば、ある人の顔の動きは別の人の顔の動きを導出するために使用されることができる。
3D視覚化又は表現(レンダリング)はテクスチャマップ及び身体(の部分)の反射率モデルを使用する。
− 身体の少なくとも一部の3D手術前描写を決定する;
− 任意の観察位置からの身体の少なくとも一部の手術前2D写真を取得する;
− 3D手術前描写を手術前2D写真と一致させる;
− 典型的には3D計画システムで、3D手術前描写を変形するための変形範囲(deformation field)を決定する、そして
− 変形範囲及び手術前2D写真によって身体の少なくとも一部の3D手術後描写の予測された手術後像を導出する。
− 身体の少なくとも一部の3D手術前描写を決定するための手段;
− 3D手術前描写を身体の少なくとも一部の2D手術前写真と一致させるための手段;
− 3D手術前描写を変形するために変形範囲を決定するため及び身体の少なくとも一部の3D手術後描写の予測された手術後像を導出するための計算手段、及び
− 予測された手術後像を示すための表示手段。
図1aは整合後に2D手術前写真上に投射された3D手術前表面メッシュを表す。図1b及び図1cはそれぞれ、2D手術前及び手術後の写真を示す。図1dは2D写真の組から得られたテクスチャマップを使用して表現された表面メッシュの二つの図を表す。
この射影は下記のように行列の形で書かれることができる:
次に、座標(u,v)を有する写真像は平面z=fにおける射影像から取得される。この読み出し工程はスケーリング、せん断(shear)及び平行移動を受ける。それは3×3行列として表されることができる。
従って、
方程式2と方程式3を組み合わせると以下のようになる。
カメラ読み出し機構に関連する技術的な理由のため、kyは通常、0である。方程式4において行列を乗算し、sx・f,sy・f及びkx・fをそれぞれfx,fy及びkxに置換すると以下のようになる。
方程式5における変換行列は5つのパラメータを含む。これらのパラメータがわかるとき、カメラは内部的に較正されていると言える。カメラはI及びRの6つの自由度がわかるなら外部的に構成される。従って、合わせると、較正工程全体は11個のパラメータを規定することを要求する。これは3D表面及び2D写真(図5)のそれぞれの上に一組の対応する点を示すことによってなされることができる。それぞれのこのような点は二つの方程式を生み出す。これは少なくとも6個の点が11個のパラメータの値を算出するために必要とされることを意味する。実際には、解の精度を向上するためにより多くの参照点が推奨される。
Claims (15)
- 以下の工程を含む、身体の少なくとも一部の手術後像の予測を手術前に得るための方法:
− 身体の少なくとも一部の3D手術前モデルを決定する;
− 一つ以上の観察位置からの前記身体の少なくとも一部の手術前2D写真を取得する;
− 前記3D手術前モデル上の点の第一の組を前記手術前2D写真上の点の対応する第二の組と一致させる、但し前記点の第一の組及び第二の組は、変換によって幾何学的に関連付けられる;
− 前記3D手術前モデル及び前記点の第一の組を変形するための変形範囲を決定する、そして
− 前記身体の少なくとも一部の3D手術後モデルの予測された手術後像を導出する、但し前記予測された手術後像は前記変形範囲を使用して前記手術前2D写真上の前記点の第二の組を変形することによって得られる2D写真である。 - 前記予測された手術後像が3D表面レンダリングである請求項1に記載の方法。
- 複数の手術前2D写真が取得される請求項1又は2に記載の方法。
- 前記身体の少なくとも一部の少なくとも輪郭の3D手術前表面メッシュを前記3D手術前描写から生成する工程をさらに含む請求項1〜3のいずれかに記載の方法。
- 前記予測された像を導出する工程が前記身体の少なくとも一部の少なくとも前記輪郭の3D手術後表面メッシュの予測を前記3D手術前表面メッシュから導出することを含む請求項4に記載の方法。
- 前記輪郭の予測が前記変形範囲の決定において使用される請求項5に記載の方法。
- 前記3D手術前モデルが3D像取得システムを使用して得られる請求項1〜6のいずれかに記載の方法。
- 前記3D像取得システムがコンピュータ断層撮影システム、磁気共鳴画像診断システム又は3D写真システムである請求項7に記載の方法。
- 較正対象の写真をとる工程をさらに含む請求項1〜8のいずれかに記載の方法。
- 前記較正対象の前記写真がカメラを較正するために使用され、前記カメラが前記少なくとも一つの手術前2D写真を取得するために使用され、カメラを較正することが前記変換のパラメータを決定することを含む請求項9に記載の方法。
- 前記一致させる工程の後、前記一致させた手術前2D写真から3D視覚化のためのテクスチャマップを作成する工程が実施される請求項3〜10のいずれかに記載の方法。
- 前記3D手術前モデルが前記身体の少なくとも一部の軟組織描写を含む請求項1〜11のいずれかに記載の方法。
- 前記身体の少なくとも一部の前記3D手術前モデルが前記身体の少なくとも一部の内部構造についての情報を含む請求項1〜12のいずれかに記載の方法。
- 以下のものを含む、身体の少なくとも一部の予測された手術後像を手術前に示すための手術計画システム:
− 身体の少なくとも一部の3D手術前モデルを決定するための手段;
− 前記3D手術前モデル上の点の第一の組を前記身体の少なくとも一部の2D手術前写真上の点の対応する第二の組と一致させるための手段、但し前記点の第一の組及び第二の組は、変換によって幾何学的に関連付けられる;
− 前記3D手術前モデル及び前記点の第一の組を変形するために変形範囲を決定するため及び前記身体の少なくとも一部の3D手術後モデルの予測された手術後像を導出するための計算手段、但し前記予測された手術後像は前記変形範囲を使用して前記手術前2D写真上の前記点の第二の組を変形することによって得られる予測された手術後2D写真である、及び
− 前記予測された手術後像を示すための表示手段。 - 前記予測された手術後像が3D像である請求項14に記載の手術計画システム。
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Application Number | Priority Date | Filing Date | Title |
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GB0507204.6 | 2005-04-08 | ||
GBGB0507204.6A GB0507204D0 (en) | 2005-04-08 | 2005-04-08 | Maxillofacial and plastic surgery |
PCT/BE2006/000035 WO2006105625A1 (en) | 2005-04-08 | 2006-04-07 | Method and system for pre-operative prediction |
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JP2008534181A JP2008534181A (ja) | 2008-08-28 |
JP2008534181A5 JP2008534181A5 (ja) | 2009-05-07 |
JP4979682B2 true JP4979682B2 (ja) | 2012-07-18 |
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US (1) | US8428315B2 (ja) |
EP (1) | EP1872337B1 (ja) |
JP (1) | JP4979682B2 (ja) |
AT (1) | ATE532155T1 (ja) |
ES (1) | ES2376905T3 (ja) |
GB (1) | GB0507204D0 (ja) |
WO (1) | WO2006105625A1 (ja) |
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US6081273A (en) * | 1996-01-31 | 2000-06-27 | Michigan State University | Method and system for building three-dimensional object models |
JPH1074271A (ja) * | 1996-08-30 | 1998-03-17 | Nippon Telegr & Teleph Corp <Ntt> | 3次元似顔作成方法および装置 |
US6072496A (en) * | 1998-06-08 | 2000-06-06 | Microsoft Corporation | Method and system for capturing and representing 3D geometry, color and shading of facial expressions and other animated objects |
AU2002254217A1 (en) * | 2001-02-24 | 2002-09-12 | Eyesee360, Inc. | Method and apparatus for processing photographic images |
US6645413B2 (en) * | 2001-02-26 | 2003-11-11 | Stanley Winston Jacobs | Method for making face masks for reconstructive surgical patients |
CA2465102A1 (en) * | 2001-10-31 | 2003-05-08 | Imagnosis Inc. | Medical simulation apparatus and method for controlling 3-dimensional image display in the medical simulation apparatus |
GB0208909D0 (en) * | 2002-04-18 | 2002-05-29 | Canon Europa Nv | Three-dimensional computer modelling |
US7103399B2 (en) * | 2003-09-08 | 2006-09-05 | Vanderbilt University | Apparatus and methods of cortical surface registration and deformation tracking for patient-to-image alignment in relation to image-guided surgery |
JP2006004158A (ja) * | 2004-06-17 | 2006-01-05 | Olympus Corp | 画像処理プログラム、画像処理方法、画像処理装置及び記録媒体 |
US8233681B2 (en) * | 2004-09-24 | 2012-07-31 | The University Of North Carolina At Chapel Hill | Methods, systems, and computer program products for hierarchical registration between a blood vessel and tissue surface model for a subject and a blood vessel and tissue surface image for the subject |
US20060161052A1 (en) * | 2004-12-08 | 2006-07-20 | Perception Raisonnement Action En Medecine | Computer assisted orthopaedic surgery system for ligament graft reconstruction |
US7609859B2 (en) * | 2005-06-14 | 2009-10-27 | Mitsubishi Electric Research Laboratories, Inc. | Method and system for generating bi-linear models for faces |
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US8428315B2 (en) | 2013-04-23 |
EP1872337B1 (en) | 2011-11-02 |
US20080159608A1 (en) | 2008-07-03 |
GB0507204D0 (en) | 2005-05-18 |
ATE532155T1 (de) | 2011-11-15 |
ES2376905T3 (es) | 2012-03-20 |
WO2006105625A1 (en) | 2006-10-12 |
EP1872337A1 (en) | 2008-01-02 |
JP2008534181A (ja) | 2008-08-28 |
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