JP7133474B2 - 内視鏡画像及び超音波画像の画像ベースの融合 - Google Patents
内視鏡画像及び超音波画像の画像ベースの融合 Download PDFInfo
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Description
(1)撮像モダリティ(例えば、コンピュータ断層撮影(CT又はXperCT)、磁気共鳴画像MRI、陽電子放出断層撮影法PETなど解剖学的領域内の解剖学的器官のビュー)によって生成された解剖学的領域のボリューム画像、又は
(2)解剖学的領域内の解剖学的器官の解剖学的アトラス
の形態で内視鏡/超音波画像の融合を解剖学的モデルに組み込む。
(1)内視鏡画像(例えば、内視鏡画像上の解剖学的モデルの基準面のレジストレーションされたオーバーレイ)と共に表示される解剖学的モデル、
(2)超音波画像(例えば、解剖学的モデル上の超音波画像のレジストレーションされたオーバーレイ)と共に表示される解剖学的モデル、及び/又は
(3)内視鏡/超音波画像(例えば、内視鏡画像上の解剖学的モデルの超音波画像と基準面との両方のレジストレーションされたオーバーレイ)の融合によって表示される解剖学的モデル
である。
1.ステージS72a:肝臓の形態の解剖学的器官の内視鏡像を示す内視鏡画像33aの視野内のLUSプローブ41のトランスデューサヘッド41hの自動パターン検出。
2.ステージ74a:内視鏡31の内視鏡画像空間(ピクセル)と、肝臓のセグメントの超音波ビューを提供する超音波画像43aを生成するLUSプローブ41の超音波画像空間との間のマッピング。
3.ステージ74b:超音波画像43aの輪郭45の描画。
4A.ステージ76a1:内視鏡画像33a上の超音波画像43aの透視的オーバーレイの形態の内視鏡/超音波画像33a/43aの融合を表示する輪郭45の利用。
4B.ステージ76a2:内視鏡画像33aの左上隅の超音波画像43aのウィンドウ表示の形態の内視鏡/超音波画像33a/43aの融合を表示するための輪郭45の利用。
で計算されることができる。
Claims (15)
- 内視鏡によって生成される解剖学的領域の内視鏡画像と、腹腔鏡超音波プローブによって生成される前記解剖学的領域の超音波画像との画像ベースの融合のための画像融合ワークステーションであって、前記画像融合ワークステーションは、
画像融合コントローラであって、
前記内視鏡画像及び前記超音波画像の通信に応答して、前記画像融合コントローラは、前記解剖学的領域の前記内視鏡の視野内の前記腹腔鏡超音波プローブの前記画像融合コントローラによる検出から導出される前記腹腔鏡超音波プローブの超音波画像空間と前記内視鏡の内視鏡画像空間との間の画像変換に基づいて、前記内視鏡画像と前記超音波画像との間の前記融合を制御する、
画像融合コントローラと、
表示コントローラであって、
前記表示コントローラは、前記内視鏡画像及び前記超音波画像の前記画像融合コントローラによる前記融合の表示を制御する、
表示コントローラと
を有する、画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記腹腔鏡超音波プローブからの前記超音波画像の深度のユーザインタラクティブ選択をさらに制御する、
請求項1に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域内に挿入される器具に対する前記超音波画像の表示をさらに制御する、
請求項1に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記超音波画像の前記表示の透視ビューをさらに制御する、
請求項1に記載の画像融合ワークステーション。 - 前記解剖学的領域の解剖学的モデルの通信に応答して、前記画像融合コントローラは、前記解剖学的モデルのボリュメトリック画像空間と前記内視鏡の前記内視鏡画像空間との間の画像変換に基づいて、前記解剖学的領域の前記解剖学的モデルと前記超音波画像及び前記内視鏡画像の前記融合との間のレジストレーションを制御する、
請求項1に記載の画像融合ワークステーション。 - 前記解剖学的モデルは、撮像モダリティによって生成される前記解剖学的領域のボリューム画像である、
請求項5に記載の画像融合ワークステーション。 - 前記解剖学的モデルは、前記解剖学的領域内の解剖学的構造の解剖学的アトラスである、
請求項5に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記内視鏡画像、前記超音波画像、及び前記内視鏡画像と前記超音波画像との前記融合の少なくとも1つの表示上に重ね合わされる前記解剖学的モデルの少なくとも1つの平面ビューの表示を更に制御する、
請求項5に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域の前記解剖学的モデルと前記超音波画像及び前記内視鏡画像の前記融合との間の前記レジストレーションに基づいて、前記腹腔鏡超音波プローブによって生成される前記解剖学的領域の複数の超音波画像のうちの特定の深度の超音波画像の表示を更に制御する、
請求項5に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域の前記解剖学的モデルと前記超音波画像及び前記内視鏡画像の前記融合との間の前記レジストレーションに基づいて、前記解剖学的モデルの表示とともに前記超音波画像及び仮想腹腔鏡プローブの表示をさらに制御する、
請求項5に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域内で行われる外科的プロシージャの状態を示す前記超音波画像の表示をさらに制御する、
請求項1に記載の画像融合ワークステーション。 - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域内で行われる外科的プロシージャの状態を示す前記解剖学的モデルの少なくとも1つの基準平面ビューの表示をさらに制御する、
請求項5に記載の画像融合ワークステーション - 前記画像融合コントローラ及び前記表示コントローラは、前記解剖学的領域の前記解剖学的モデルと前記超音波画像及び前記内視鏡画像の前記融合との間の前記レジストレーションに基づいて、前記解剖学的モデルに対する前記腹腔鏡超音波プローブの少なくとも1つの所望の位置の仮想表示をさらに制御する、
請求項5に記載の画像融合ワークステーション。 - 内視鏡によって生成される解剖学的領域の内視鏡画像と腹腔鏡超音波プローブによって生成される前記解剖学的領域の超音波画像との画像ベースの融合のための画像融合コントローラであって、前記画像融合コントローラは、
前記内視鏡の視野内の前記腹腔鏡超音波プローブの検出を制御するプローブ検出器と、
前記内視鏡の前記視野内の前記腹腔鏡超音波プローブの前記プローブ検出器による前記検出から導出される前記腹腔鏡超音波プローブの超音波画像空間と前記内視鏡の内視鏡画像空間との間の画像変換の計算を制御する画像変換器と、
前記画像変換器により計算される前記画像変換に基づいて、前記内視鏡画像と前記超音波画像との前記融合を制御する画像インテグレータと
を有する、画像融合コントローラ。 - 前記解剖学的領域の解剖学的モデルの通信に応答して、前記画像インテグレータは、前記解剖学的モデルのボリュメトリック画像空間と前記内視鏡の前記内視鏡画像空間との間の画像変換に基づいて、前記解剖学的領域の前記解剖学的モデルと前記超音波画像及び前記内視鏡画像の前記融合との間のレジストレーションを更に制御する、
請求項14に記載の画像融合コントローラ。
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