JPH06205793A - Three-dimensional viewer system for operation - Google Patents

Abstract

PURPOSE:To clearly grasp the positional relation of the site to be operated and efficiently and surely perform an operation by providing a memory device storing the data regarding the internal structure of a testee, and providing a processor synthesizing the three-dimensional image of the site to be operated based on the direct-view image and data of the testee and sending it to a monitor. CONSTITUTION:The voxel data obtained when a patient 4 is scanned by a CT system in advance are stored in a three-dimensional memory 1, and the direct-view image of the patient 4 can be observed by a doctor 6 with viewers 2 via an arm 5. The synthetic image of a three-dimensional image displayed on a monitor 7 and the direct-view image can be observed via a half-mirror 8. A three-dimensional processor 3 synthesizes the three-dimensional image in response to the position and direction of the viewers 2 with the voxel data 1 of the three-dimensional memory 1 and displays it on the monitor 7. A pair of the right and left viewers 2 are provided to make the synthetic image a stereoscopic image. An internal structure and a virtual line can be observed as if they are located in the body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical three-dimensional viewer system for obtaining surgical plan information.

[0002]

2. Description of the Related Art When a doctor performs a surgery on a necessary part of a subject, a surgery plan is prepared in advance in order to perform the work efficiently and surely. For this purpose, for example, a subject is scanned in advance by a CT apparatus to secure voxel data, a three-dimensional image based on this voxel data is displayed on a monitor, and a surgery plan is made while observing this monitor image. Is being done.

However, in the conventional method, when it is difficult to directly observe the planned surgical site with the eyes, there is a problem that it takes time to grasp the positional relationship of this site. For this reason, it is difficult to efficiently perform the work particularly when performing a so-called blind operation, in which a surgery is performed without directly looking at the planned site.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a surgical three-dimensional viewer system capable of efficiently and surely advancing work. It is what

[0005]

In order to achieve the above object, the present invention provides a storage device for storing in advance data relating to the internal structure of a subject, and a direct view image of the subject and a display on a monitor based on the data. A synthesizing means for synthesizing the three-dimensional image thus obtained, and a processor for synthesizing a three-dimensional image according to the observed position and the observing direction of the planned surgical site by using the data and sending it to the monitor. It is what

[0006]

[Function] Since the three-dimensional image corresponding to the observed position and the observing direction of the planned surgical site is displayed on the monitor and the direct-view image is combined with this, the positional relationship of the surgical planned site of the subject can be always grasped. it can. Therefore, the surgical operation can be advanced efficiently and reliably.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a configuration diagram showing a three-dimensional viewer system for surgery according to an embodiment of the present invention. Reference numeral 1 is a three-dimensional memory in which a patient 4 is scanned in advance by a CT device such as an X-ray CT device or an MRI device The obtained voxel data is stored. This voxel data is extracted by performing a process of extracting a predetermined region based on a plurality of slice images (three-dimensional data formed by stacking two-dimensional data) obtained by scanning along the body axis direction. You can get things. Two
Is attached to an arbitrary position by a viewer so as to be movable in position and direction with respect to an arbitrary direction via an arm 5. As shown in FIG. 2, a doctor 6 or the like can observe a direct-view image of the patient 4 on the pure 2 and, at the same time, the 3D image and the direct-view image displayed on the monitor 7 based on the voxel data are half-viewed. The composite image composited through the mirror 8 can be observed. A three-dimensional processor 3 synthesizes a three-dimensional image corresponding to the position and orientation of the viewer 2 using the voxel data of the three-dimensional memory 1 and displays it on the monitor 7. A pair of left and right viewers 2 is prepared so that an observer can observe the combined image as a stereo image. Third
Figures (a) and (b) show an example of a three-dimensional image displayed on the monitor 7. (a) is a display example of a lesion 11, (b) is a lesion superimposed on a wire frame 12 representing the surface of an organ. 11 shows an example in which 11 is displayed. All of these images are displayed as stereo images (images that are slightly deviated on the left and right). Further, FIG. 4 shows a direct view image. The three-dimensional image and the direct-view image are combined by the half mirror 8, and a combined image as shown in FIG. 5 can be observed.

The position and orientation of the viewer 2 are detected by the arm 5 and this information is sent to the three-dimensional processor 3. Based on this, the three-dimensional processor 3 uses the voxel data to send a three-dimensional image observed according to its position and orientation to P1 and P2 in FIG. 6 and display it on the monitor 7. This three-dimensional processor 3 uses the three-dimensional data (various data such as voxel data, wireframe data, surface data) stored in the three-dimensional memory 1 from an arbitrary position and orientation of the pure 3 in this way. A three-dimensional image when viewed is synthesized. The position of the patient 4 observed by the viewer 3 is fixed by the patient fixing frame 10.

FIG. 7 shows an example of the structure of the arm system.
The position and direction of the viewer 3 can be changed by shaking the head around the point C. In addition, FIG.
(B) shows the relationship of the vectors in the optical system of the viewer 3, L: the swing center C of the viewer 3 and the patient fixed frame 1
A vector between 0 and the origin 0 is assumed to be a: a perpendicular vector drawn from the swing center C to the optical axis t, and d: an optical axis vector.

The vector L can be found by measuring the position of the point C using the angle sensor attached to each movable part belonging to the position freedom degree A1 in FIG. Also has a C point 3
By measuring the movable part with two degrees of freedom (x, y, z directions) with the angle sensor, the swinging degree of freedom can be known, and thus the vectors a and d can be known.

9A and 9B show a direct-view optical system and a monitor optical system, respectively, and FIG. 10 shows an optical system of a composite image.

L1, L2 and L3 are lens positions, K is a virtual image (composite image) position, H is a half mirror position, Mf,
M indicates the position of the real image, and E indicates the position of observation. Also, m
Indicates the size of the image at the K position, and p indicates the size of the image at the Mf position. The distance between Mf-H and M-H is set to the same,
The K positions in FIGS. 9 (a) and 9 (b) are adjusted to be the same position.

FIG. 11 shows another optical system and shows a simple configuration example.

Each of such optical systems can be configured arbitrarily by using a known technique.

The three-dimensional processor 3 is based on the respective vectors L, a, d as described above, and as shown in FIG.
By knowing KE, an appropriate three-dimensional image is synthesized and displayed on the monitor 7. The image synthesized by the three-dimensional processor 3 is nothing but a real image which can be Mf when the direct-view optical system is simulated as shown in FIG. If the amount of calculation becomes large when performing simulation, the following method can be used.

First, a projected image J of a virtual object formed on a plane S centering on the point E and perpendicular to the optical axis t and passing through the point K
Create it as shown and then reduce it. The degree of this reduction may be set to (p / m) times with reference to FIG.

The three-dimensional processor 3 sends the three-dimensional image to the pair of left and right monitors by the above operation. The patient fixing frame 10 is attached to the operating table 13 in advance as shown in FIG. 15, and the patient frame 14 is attached to the patient 4 for positioning, so that the CT apparatus scans. According to this, since the positional relationship between the patient fixing frame 10 and the arm system is previously determined, the positional relationship between the patient fixing frame 10 and the patient frame 14 is determined, and the positional relationship between the patient and the arm system can be determined. . As another example, the CT apparatus may also be provided with a patient fixing frame, which allows the patient fixing frame to be always used as a reference coordinate system for scanning and surgery.

According to the embodiment of the present invention as described above, an image obtained by synthesizing a real image which is a direct-view image and a monitor image synthesized by a three-dimensional processor can be observed as a stereo image, so that it can be seen directly from the outside. It can be seen as if it were actually drawn in the air (patient's body) such as the internal structure that is not present or the virtual line that was decided during the surgery plan.

Therefore, by utilizing these, it is possible to clearly grasp the positional relationship of the planned surgery site, so that the surgery can be advanced efficiently and surely.

FIG. 16 shows another embodiment of the present invention, and shows a case where a three-dimensional digitizer is also used. x
Directional coils 15a and 15b (y and z direction coils are omitted) are arranged to form a gradient magnetic field, and a digitizer 16 provided with a magnetic field measuring element 16a is brought into contact with a desired portion of the patient 4 within this magnetic field to contact this magnetic field. The spatial position (x, y, z) of the element is known by measuring the intensity. If this spatial position is used as coordinates for stereo display, the first
Even if the site is not directly visible as shown in FIG. 7, it can be observed as something. Therefore, if the magnetic field measurement element is attached to the tip of the deep probe or the tip of the electric knife, the position of the instrument tip that cannot be seen directly from the outside, the line of the surgery plan, the position of the affected area, the patient's appearance, etc. will be displayed once during surgery. Since it can be seen in, the positional relationship can be clearly understood. Therefore, according to this embodiment, the same effect as that of the above embodiment can be obtained.

[0021]

As described above, according to the present invention, a three-dimensional image corresponding to the observation position and the observation direction of the planned surgical site is displayed on the monitor, and the image in which the direct-view image is combined can be observed. Since the positional relationship of the planned surgery site can be clearly understood, the surgical operation can be efficiently and reliably advanced. According to the present invention described in detail above, it is possible to shorten the time required for feeding the subject at the time of data collection and reduce the time for restraining the subject, and to shorten the collection time of multiple slice planes. It is possible to provide an X-ray CT apparatus capable of performing the above.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a surgical three-dimensional viewer system according to an embodiment of the present invention.

FIG. 2 is a sectional view of a viewer.

FIG. 3 is a display example of a monitor image.

FIG. 4 is a display example of a direct-view image.

FIG. 5 is a display example of a composite image.

FIG. 6 is a display example in which different monitor images are displayed.

FIG. 7 is a schematic diagram of an arm system.

FIG. 8 is a vector diagram of an optical system.

FIG. 9 is an explanatory diagram of a relative orbit of the X-ray source according to the other embodiment.

FIG. 10 is a configuration example of an optical system.

FIG. 11 is a configuration example of an optical system.

FIG. 12 is a vector diagram of an optical system.

FIG. 13 is a simulation example of an optical system.

FIG. 14 is a simulation example of an optical system.

FIG. 15 shows a fixed example of a patient.

FIG. 16 is a configuration example of another embodiment of the present invention.

FIG. 17 is a configuration example of another embodiment of the present invention.

[Explanation of Codes] 1 ... 3D memory 2 ... Viewer 3 ... 3D processor 5, 5a, 5b ... Arm 7 ... Monitor 8 ... Half mirror 10 ... Patient fixed frame

Claims (1)

[Claims] 1. A surgical three-dimensional viewer system for selectively observing a planned surgical site of a subject, a storage device for storing data on an internal structure of the subject in advance, and a direct-view image of the subject. A synthesizing means for synthesizing a three-dimensional image displayed on the monitor based on the data and a synthesizing means for synthesizing a three-dimensional image according to the observed position and the observing direction of the planned surgical site using the data. A surgical three-dimensional viewer system comprising a processor.