JPH09131339A - Three-dimensional image processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability relating to move of a view point in a cavity of an internal organ for correctly and speedily grasp a three-dimensional structure inside the organ in a display image of three-dimensional image data. SOLUTION: A device is provided with a cross sectional data inputting device 1, a three-dimensional image composing unit 2, and a three-dimensional image observing device 3. The unit 2 is provided with a view point position moving part 9 at a required part in addition to specified parts 4-8. The view point position moving part 9 is provided with a minimum proximity distance designator 13 to hold a set distance value (minimum proximity distance Lmin) between a view point and an internal organ cavity surface SF, a view point moving direction designator 11 and a view point moving quantity designator 12 to designate data (moving direction M and moving quantity L) relating to a moving way of the view point while viewing a display image in a three-dimensional image, and a view point position calculator 15 to determine an operated distance value between the view point in the moving way and the internal organ cavity surface SF, and correct data relating to the moving way for maintaining the condition in which the operated distance value in the moving direction M is a set distance value or more.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional image processing apparatus for image processing medical images and the like, and more particularly to a three-dimensional image when three-dimensional image data of an organ lumen is viewed from a viewpoint defined by the organ lumen. Creation and correction of moving position of viewpoint.

[0002]

2. Description of the Related Art Conventionally, an X generated by a medical examination of a subject.
By constructing three-dimensional image data from two-dimensional slice image (tomographic image) data such as line CT images and MR images and displaying this three-dimensionally on a two-dimensional screen, the shape and size of each organ in the human body, etc. There is known an image processing apparatus capable of observing the outside of each organ.

In particular, in recent years, this image processing apparatus targets an organ such as a blood vessel or a stomach whose interior is hollow, places a viewpoint inside the organ, and produces a three-dimensional image along a line of sight defined by the viewpoint. It is also known that the internal cavity of an organ can be observed by constructing it and displaying it stereoscopically on a two-dimensional screen like an endoscopic image observed by an electronic endoscope apparatus.

An example of the processing method of the image processing apparatus that endoscopically displays the state of the internal organ cavity as a stereoscopic image will be described.

First, in the first step, three-dimensional image data is constructed. That is, a plurality of two-dimensional slice images are prepared, the organ of the target site and its contour portion are individually extracted from these two-dimensional slice images, and interpolation data is created from this extracted data and the original two-dimensional slice image. , 3D image data (volume data) is constructed.

Then, in the second step, the stereoscopic image of the three-dimensional image data is displayed on the screen. That is, a viewpoint is placed in the organ lumen on the three-dimensional image data, the line-of-sight direction of the viewpoint is set, and the distance to the organ surface is calculated in the radial direction by the fisheye lens method with the set viewpoint as the center. The distance calculation is performed on the entire two-dimensional projection surface of the projection target, and the calculated distance value is stored as data of the two-dimensional projection surface. Using this distance value and the density gradient value of the original image on the organ surface, the normal vector of the organ surface is calculated, and the projected image is shaded based on the calculated normal vector, and this is displayed on the monitor. Display on screen.

Then, in the third step, a stereoscopic image obtained when the viewpoint is moved in the internal cavity of the organ is displayed on the screen. That is,
The position of the viewpoint is moved back and forth in parallel along the line-of-sight direction, the projection surface corresponding to the screen of the monitor is moved back and forth vertically to the direction of the line-of-sight, and a stereoscopic image when viewed from the moved viewpoint is created By alternately repeating the movement of the viewpoint and the creation of the stereoscopic image after the movement, the state of the organ lumen seen from the moving viewpoint can be observed as a stereoscopic image.

[0008]

However, in the conventional three-dimensional image processing apparatus, since only the information of the lumen portion is acquired from the stereoscopic image with the viewpoint of the organ lumen, for example, a blood vessel When the viewpoint placed inside is moved forward or backward, the viewpoint itself may get into the inner wall depending on the position of the internal cavity of the organ such as the uneven portion of the blood vessel, the curved portion, or the branch portion.

As described above, even though the viewpoint has entered the inner wall, the operator does not have a mechanism for recognizing the viewpoint, so that the operator can detect the position of the viewpoint or the direction in which the viewpoint is facing (operation). It may be difficult to determine the direction in which a person is looking), and it may not be possible to accurately and quickly (with good operability) grasp the internal three-dimensional structure of a small organ or a thin tubular organ.

The present invention has been made in consideration of the above-mentioned problems of the prior art, and improves the operability regarding the movement of the viewpoint in the internal cavity of the organ, and shows the three-dimensional structure inside the organ on the display image of the three-dimensional image data. It is an object to provide a three-dimensional image processing device that can be grasped accurately and quickly.

[0011]

In order to achieve the above object, a three-dimensional image processing apparatus according to the invention of claim 1 is
When three-dimensional image data including the surface shape data of the organ lumen is constructed from a plurality of slice image data related to the target site of the subject and the constructed three-dimensional image data is viewed from the viewpoint defined by the organ lumen The display unit is configured to display a stereoscopic image of the internal organ lumen, and holds the set value of the distance between the viewpoint and the surface of the internal organ lumen. However, designating means for designating data regarding a moving path including the moving direction of the viewpoint, and the viewpoint and the organ lumen in the moving direction based on the data concerning the moving path and the surface shape data designated by the designating means. And a state in which the calculated value of the distance on the movement route along the movement direction is equal to or greater than the set value of the distance. As described above, the correction means for correcting the data relating to the movement path, and the three-dimensional shape of the organ lumen seen from the moving viewpoint while moving the viewpoint along the movement path corrected by the correction means. Display means for displaying an image on a monitor in real time.

According to the second aspect of the invention, the designating means is means for manually or automatically designating the data relating to the movement route.

In the invention according to claim 3, the calculated value of the distance includes at least one of a calculated value of the distance in the moving direction and a calculated value of the distance in a direction orthogonal to the moving direction.

According to a fourth aspect of the invention, the designating means comprises means for designating the information on the line-of-sight direction at the viewpoint, and the correcting means comprises means for correcting the information on the line-of-sight direction based on the surface shape data. I have it.

According to a fifth aspect of the invention, there is further provided means for color-synthesizing another organ adjacent to the organ lumen on the three-dimensional image of the organ lumen.

According to a sixth aspect of the present invention, there is further provided means for shaving at least a part of the surface of the organ lumen in the stereoscopic image of the organ lumen.

According to a seventh aspect of the present invention, there is further provided means for arranging a three-dimensional object having an arbitrary shape on the three-dimensional image of the internal cavity of the organ.

The invention according to claim 8 further comprises means for displaying the position of the viewpoint in the internal cavity of the organ on a stereoscopic image viewed from the outside of the organ.

According to a ninth aspect of the present invention, there is further provided a means for designating a rough position of the movement path of the viewpoint in the internal organ space on a stereoscopic image viewed from outside the internal organ.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS.

The three-dimensional image processing apparatus shown in FIG.
A tomographic data input device 1 for inputting tomographic image data of a human body collected by a tomographic imaging device (medical image diagnostic device) such as a T scanner or MRI, and this tomographic data input device 1
A three-dimensional image construction unit 2 that constructs three-dimensional image data based on the tomographic image data input to the monitor, and a monitor that displays a stereoscopic image based on the three-dimensional image data constructed by the three-dimensional image construction unit 2. The three-dimensional image observation device 3 is provided.

The tomographic data input device 1 operates, for example, under the control of a predetermined controller (not shown), an image memory for temporarily storing tomographic image data, and the image memory and the medical image diagnostic device via a predetermined communication line. The interface for image data that can be connected online or the image reading device that can read the image data of the recording medium by a predetermined disk drive mechanism is integrally mounted, and the tomographic image data input to the image memory is stored. 3D image construction unit 2
To supply.

The three-dimensional image construction unit 2 has a main part of a processor capable of executing a plurality of preset image processing algorithms individually or simultaneously in parallel.
For example, a processor (not shown) having at least one CPU, and an input device (not shown) such as a mouse or a keyboard for an operator to give an operation command to the processor while looking at the screen of the three-dimensional image observation apparatus 3.
Etc. are provided.

The three-dimensional image construction unit 2 has a software configuration in which a plurality of algorithms are programmed.
The tomographic data interpolation unit 4, the image binarization / region extraction unit 5, the three-dimensional image creation unit 6, the viewpoint position designation unit 7, the line-of-sight direction designation unit 8, and the viewpoint position movement unit 9 are provided. Each of these parts 4
Due to the hardware configuration, 9 to 9 do not necessarily have to be installed as separate processors, and may be integrated in a predetermined processor, for example.

The tomographic data interpolating unit 4 creates volume data (interpolation data) in a three-dimensional space from a plurality of tomographic images input to the tomographic data input device 1, and uses the volume data as an image binarization / region. It is supplied to the extraction unit 5.

The image binarization / region extraction unit 5 is, for example, a CT.
Based on the features of the organ corresponding to the type of medical image such as an image or an MR image, for example, the position, size, threshold value, edge, distribution statistic of pixel value of the organ, etc. It is extracted as a binarized image, and the binarized image is supplied to the three-dimensional image creation unit 6 together with the original image.

The three-dimensional image creating section 6 is a binarized image of the organ and the original image (3 of the organ) from the image binarizing / region extracting section 5.
D data) and an input unit 6a such as an interface for receiving a command (viewpoint position, line-of-sight direction) from an operator, and a projection / shadow processing unit that performs projection / shadow processing (also referred to as "rendering") on the data of the input unit 6a. 6b, and an image storage unit 6c such as an image memory for temporarily storing the data processed by the projection / shadow processing unit 6b.

The projection / shadow processing unit 6a creates a projection image when viewed radially by the fisheye lens system from the viewpoint position designated by the internal organ cavity, based on the data input from the input unit 6a, and this projection The image is shaded by a predetermined shading method (voxel method or the like), and the stereoscopic image is supplied to the three-dimensional image observation apparatus 3 via the image storage unit 6c.

The viewpoint position designating unit 7 sets the coordinates of the viewpoint position Px designated by the operator manually or by the viewpoint position moving unit 6, and supplies the coordinates of the viewpoint position Px to the three-dimensional image creating unit 6.

The line-of-sight direction designating section 8 executes, for example, the processing shown in FIG. 2 and the viewpoint position P designated by the operator.
The line-of-sight direction vector D at x is set, and the line-of-sight direction vector D is supplied to the three-dimensional image creation unit 6.

The viewpoint position moving unit 9 includes a data input unit 10, a viewpoint moving direction designator 11, and a viewpoint moving amount designator 1.
2, minimum approach distance designator 13, viewpoint movement method designator 1
4 and the viewpoint position calculator 15. Each of the designators 11 to 14 and the calculator 15 does not necessarily have to be equipped as a separate processor because of the hardware configuration, and may be integrated in a predetermined processor, for example.

Here, the overall operation of this embodiment will be described with reference to FIGS. 2 to 8, focusing on the respective processing examples of the designators 11 to 14 and the calculator 15.

First, the three-dimensional image processing apparatus is activated,
The three-dimensional image construction system 2 (the tomographic data interpolating unit 4,
3D image data of the organ lumen is constructed via the image binarization / region extraction section 5 and 3D image creation section 6), and the 3D image data is an organ along a preset viewpoint and its line of sight. It is assumed that it is displayed on the three-dimensional image observation device 3 as a stereoscopic image of the lumen.

Here, the viewpoint position and the line-of-sight direction of the stereoscopic image are preset by the viewpoint position designating unit 7 and the line-of-sight direction designating unit 8.

FIG. 2 illustrates an example of the line-of-sight direction setting by the line-of-sight direction designation unit 9. That is, when the three-dimensional image data (3D data) of the internal organ lumen and the viewpoint position data are input in step S1, the arrow pattern (indicated by the visual axis direction based on the viewpoint position on the image of the internal organ lumen) is input in step S2. 2) is set and displayed on the three-dimensional image observation apparatus 3.

Then, in step S3, an instruction of the line-of-sight direction from the operator is received. For example, while the operator looks at the screen of the three-dimensional image observing device 3, he / she operates the mouse (input device) to align the cursor position with a desired line-of-sight direction on the arrow pattern, and clicks the mouse button at the cursor position. Receives gaze direction instructions.

Next, when the distance calculation value between the viewpoint position and the cursor position is obtained in step S4, the coordinate value of the cursor position is moved by the distance calculation value in the direction perpendicular to the screen in step S5, and in step S6. The line-of-sight direction vector D from the viewpoint position Px toward the moved cursor position is calculated, and the calculated line-of-sight direction vector D is supplied to the three-dimensional image creation unit 6 in the process of step S7.

Next, consider moving the viewpoint position in the state where the stereoscopic image is displayed. At the time of moving the viewpoint position, the viewpoint position moving unit 6 is moved to the position shown in FIGS.
The processing shown in is performed.

FIG. 3 illustrates an example of processing of the viewpoint moving direction designator 11. That is, the viewpoint movement direction designator 11
When the stereoscopic image of the inside of the organ and the data of the viewpoint position are input in step S11, an arrow pattern indicating the moving direction of the viewpoint is set on the stereoscopic image of the organ lumen in step S12, and this is set in the three-dimensional image observation apparatus. Display in 3.

In this state, if "manual designation" is instructed, the process proceeds to step S13, and if "automatic designation" is instructed, the process proceeds to step S16.

Here, in the case of "manual designation",
In step S13, the instruction of the viewpoint moving direction is received. For example, while looking at the screen of the three-dimensional image observation device 3, the operator operates the mouse to align the cursor position with a desired moving direction along the arrow pattern on the screen, and clicks the mouse button at the cursor position. Receives an instruction in the direction of viewpoint movement.

Next, when the distance calculation value between the viewpoint position and the cursor position is obtained in step S14, the moving direction vector M is calculated in step S15. That is, step S1
In 51, the coordinates of the cursor position are moved in the direction perpendicular to the screen by the distance calculation value, and in step S152, the moving direction vector M from the current viewpoint position to the moved viewpoint position corresponding to the cursor position is calculated. .

In the case of "automatic designation", the instruction to move the viewpoint forward or backward is received in step S16. This forward or backward movement instruction means, for example, that the operator operates the mouse while looking at the screen of the three-dimensional image observation apparatus 3 to move the cursor to the "forward movement" or "backward movement" displayed on the screen. It is given by aligning with one of the software keys shown and clicking the mouse button at the cursor position.

Next, in step S17, the viewpoint position is moved in the direction perpendicular to the screen, and the coordinates of the viewpoint position after the movement are obtained. In step S18, the coordinates of the viewpoint position before the movement and the coordinates of the viewpoint position after the movement are calculated. A moving direction vector M connecting with and is calculated.

Then, in step S19, the moving direction vector M calculated in step S15 or S18 is supplied to the viewpoint moving method designator 14.

FIG. 4 illustrates an example of processing by the viewpoint movement amount designator 12. That is, in step S21, the input mode of the distance to be moved by one operation is selected. The input mode includes “manual input” and “automatic input”.

In the case of "manual input", for example, the input mode of the viewpoint movement amount L can be further selected in "mm unit" or "pixel unit". When the input mode is selected, the process proceeds to step S22. An area (memory) for shifting the viewpoint movement amount L specified in the selected input mode and preset in the software in the system 2
To enter.

In the case of "automatic input", it is possible to move to a position separated by the minimum approach distance Lmin before the organ surface SF existing on the extension line of the moving direction vector of the viewpoint, and in step S23, the viewpoint is moved. When the point of the organ surface SF existing on the extension line of the moving direction is obtained, step S2
At 4, the minimum approach distance Lmin is subtracted from the straight line distance connecting the viewpoint and the point on the organ surface SF, and the subtracted value is the viewpoint movement amount L.
And

Next, in step S25, the viewpoint moving amount L set in step S22 or S24 is supplied to the viewpoint moving method designator 14.

FIG. 5 illustrates an example of processing of the minimum approach distance designator 13. That is, the minimum approach distance designator 13
In step S31, the input mode of the minimum approach distance Lmin (set value of distance) between the viewpoint Px and the surface SF of the organ lumen, that is, "mm unit" or "pixel unit" is selected. Minimum approach distance Lmi instructed in step S32
n is input to a numerical value input area (memory) preset on the software in the system 2, and the minimum approach distance L
min is output in step S33.

FIG. 6 illustrates an example of processing of the viewpoint moving method designator 14. That is, the viewpoint movement method designator 14
Is the 3D data of the organ and the viewpoint position P in step S41.
x, viewpoint moving direction M, viewpoint moving amount L, minimum approach distance Lm
When each data of in is input from each of the above-mentioned designating devices, in step S42, the operator receives an instruction to select a viewpoint moving mode, that is, "designated direction movement" or "inner wall following movement". When "move in the designated direction" is selected in step S42, the process proceeds to step S43, and when "move inner wall following motion" is selected, the process proceeds to step S44 and both steps S43.
And S44, each of the above data is output.

FIGS. 7 and 8 explain an example of processing of the viewpoint position calculator 15. The viewpoint position calculator 15 executes processing in accordance with the viewpoint movement mode designated by the viewpoint movement method designator 14, that is, "designated direction movement" and "inner wall following movement".

FIG. 7 is a flow chart for explaining the process in the case of "movement in the designated direction". In this case, the designated position calculator 15 receives the 3D data of the organ, the viewpoint position Px, the viewpoint movement direction vector M, the viewpoint movement amount L, and the minimum approach distance Lmin from the viewpoint movement method designator 14 in step S51. When data is input, step S5 in step S52
In S21 and S522, the processing for measuring the viewpoint approach distance and the viewpoint position movement in the moving direction of the viewpoint and the direction orthogonal to the moving direction is executed.

First, in step S521, step S1
The viewpoint approach distance in the viewpoint moving direction is calculated by executing each processing of 00 to S102. That is, in step S100, the current viewpoint position P is calculated along the viewpoint moving direction vector M.
When 0 is moved by the amount of viewpoint movement L and the three-dimensional coordinate value of the new viewpoint position P1 at the moving position is calculated, the new viewpoint position P1 and a point on the surface of the organ existing in the viewpoint moving direction are calculated in step S101. The distance Lx from a is measured.

Next, in step S102, the distance Lx is compared with the minimum approach distance Lmin, and the presence or absence of the viewpoint position movement is determined according to the comparison result. That is, in the process of step S102, the distance calculation value Lx is the minimum approach distance Lmi.
When it is determined that it is smaller than n (Lx <Lmin),
The new viewpoint position P1 is the minimum approach distance Lmi to the point a.
Since it exists at a position closer than n, movement to a new viewpoint position P1 is avoided and the coordinate value of the current viewpoint position P0 is not changed. Therefore, the viewpoint movement along the movement direction vector M is stopped (the position is moved (corrected and moved) to a position equal to the minimum approach distance Lmin).

On the contrary, in the process of step S102, the distance Lx is the minimum approach distance Lmin or more (Lx ≧ Lmi
n), the new viewpoint position P1 is present at a position that is at least the minimum approach distance Lmin with respect to the point a, so movement to the new viewpoint position P1 is permitted, and the current viewpoint position P1 is allowed. The coordinate value of P0 is changed to the newly obtained three-dimensional coordinate value of the viewpoint position P1. Therefore, the viewpoint movement along the movement direction vector M is executed.

Processing of step S521 (S100-
When each process of S102) is completed, the process proceeds to step S522, where each process of steps S103 to S105 is executed to calculate the viewpoint approach distance in the direction orthogonal to the viewpoint moving direction.

That is, in step S103, the organ surface S is within the range of the minimum approach distance Lmin in the radial direction centered on the viewpoint position Px in the plane orthogonal to the movement direction vector.
It is determined whether or not the point b on F exists. When it is determined in step S103 that the point b exists, the process proceeds to step S104, and the viewpoint is set at a position corresponding to the minimum approach distance Lmin on the vector connecting the viewpoint position and the point b on the organ surface SF. After moving, the three-dimensional coordinate value of the new viewpoint position at this moving position is obtained and updated.

Similarly, in step S105, the minimum approach distance Lmin is also applied to the point on the organ surface SF existing within the range of the minimum approach distance Lmin in the radial direction with the viewpoint as the center.
The viewpoint position is moved so that the three-dimensional coordinate value of the new viewpoint position at the moved position is obtained.

Step S52 (S521 and S52)
When the process of 2) ends, the process proceeds to step S53, and the coordinate value of the viewpoint position is output to the three-dimensional image creation unit 6 via the viewpoint position designation unit 7.

FIG. 8 illustrates the processing in the case of "inner wall following movement". In this case, the designated position calculator 1
In step S61, 5 inputs the 3D data of the organ, the viewpoint position P, the viewpoint moving direction vector M, the viewpoint moving amount L, and the minimum approach distance Lmin from the viewpoint moving method designator 14, and then in step S62, step S110. ~ S
Each processing of 118 is performed.

That is, in step S110, the viewpoint Px and the organ surface SF in the radial direction R ... R centering on the viewpoint position Px in the plane MP orthogonal to the viewpoint moving direction vector M are examined.
When the calculated value of each distance to the upper point b is obtained, the point b having the smallest calculated value Lb (set value) among the calculated values of each distance obtained in step S111, that is, the closest point from the viewpoint. Examine point b.

Then, in step S112, 3D of the organ
When the normal vector of the organ surface SF at the position of the point b is calculated based on the data, the viewpoint position is moved to a position on the normal vector corresponding to the distance value Lb obtained in the above step S111 in step S113, The three-dimensional coordinate value of the moving position is calculated.

Next, in step S114, 3D of the organ
The position near the point b is checked on the data, and the point on the organ surface SF existing in the direction perpendicular to the screen on which the stereoscopic image is displayed is checked. In step S115, the point closest to the point existing on the moving direction vector of the viewpoint is examined from the points on the organ surface SF.

Next, in step S116, 3D of the organ
The normal vector of the organ surface SF is calculated based on the data. The viewpoint position is moved to a position that exists on the normal vector obtained in step S117 and the distance between the surface and the viewpoint is equal to the distance Lb obtained in step S111.

Then, in step S118, the distance L between the viewpoints (surface distance) between the viewpoints before and after the steps S114 to S117 is input.
Repeat until it is equal to.

Step S62 (S110 to S11)
When the process of 8) ends, the process moves to the process of step S63, and the coordinate value of the viewpoint position is output to the three-dimensional image creating unit 6 via the viewpoint position specifying unit 7.

In this way, in any of the movement modes of "specified direction movement" and "inner wall following movement", the three-dimensional image creating section 6 newly sets the viewpoint as described above according to the shape of the internal organ cavity. A three-dimensional image viewed from the position is created and supplied to the three-dimensional image observation device 3.

Therefore, in the three-dimensional image processing apparatus according to this embodiment, when the viewpoint is moved, the distance to the surface of the organ lumen is checked from the position of the viewpoint, and within a certain distance in the direction in which the viewpoint is going to advance. When there is a surface on the inside of the organ, the movement range is controlled so that the viewpoint position does not approach the organ anymore, so the viewpoint can be automatically moved along the inner wall shape of the organ lumen. It is possible to almost avoid the situation where the car gets inside the inner wall.

As a result, the operator does not have to perform a relatively difficult operation regarding the viewpoint position and the direction of the line of sight when moving the viewpoint, but can perform a relatively simple operation such as specifying the forward and backward movement of the viewpoint. Just by doing, you can observe the stereoscopic image seen from the desired viewpoint position as if you were looking at the endoscopic image, so you can achieve the same operational feeling as an electronic endoscope with a relatively simple operation, and the morphological information of the organ lumen Can be grasped accurately.

Although the three-dimensional image processing apparatus according to the above embodiment is configured to control the moving path of the viewpoint position,
Not only the viewpoint position but also the line-of-sight direction may be controlled along the shape of the inner wall of the organ lumen.

In this case, for example, a normal vector of the object surface existing in the movement path of the viewpoint is obtained, a two-dimensional plane parallel to the normal vector from the object surface is obtained, and a vector orthogonal to the two-dimensional plane is obtained. By providing a means for executing the algorithm for calculating, it is possible to correct the line-of-sight direction of the viewpoint at the time of moving the viewpoint to a desired angle along the inner wall shape of the organ lumen. As a result, in addition to the above effects, there is an advantage that the morphological information of the organ lumen can always be observed from the easy-to-see direction along the inner wall shape of the organ lumen when moving the viewpoint.

Next, an application example of the present invention will be described with reference to FIG. In this application example, in addition to the above configuration, various tools for supporting a treatment plan are installed.

The three-dimensional image processing apparatus shown in FIG. 9 further comprises a tomographic data input apparatus 20 equivalent to the above, and a three-dimensional image construction further equipped with a treatment planning support tool (organ surface shape processing section and object insertion placement section). A unit 30 and a three-dimensional image synthesizing and observing device 40 in which a treatment plan support tool (color synthesizing unit) is integrally mounted in addition to the same configuration as the above three-dimensional image observing device are provided.

The three-dimensional image construction unit 30 has the same configuration as that described above (a tomographic data interpolation unit 31, an image binarization / region extraction unit 32, a three-dimensional image creation unit 33, a viewpoint position designation unit (not shown), and a line of sight). Direction designation unit 34, viewpoint position movement unit 3
In addition to 5), it is equipped with an organ surface shape processing unit 36 and an object insertion placement unit 37 as a treatment planning support tool.

Of these, the organ surface shape processing unit 36 is composed of a processor capable of executing an algorithm for shaving an organ surface of a region of interest on a three-dimensional image. For example, a part of the instructed inner wall surface is shaving and the shaving is performed. At the position, for example, the lesion area is color-synthesized by the three-dimensional image synthesis observation device 40. Therefore, the operator can easily grasp the positional relationship of the lesion in the internal organ cavity.

The three-dimensional object insertion / arrangement unit 38 is composed of a processor capable of executing an algorithm for arranging a three-dimensional object having an arbitrary shape in the internal cavity of an organ, and inserts a spherical filler into the internal cavity such as an aneurysm. It is arranged (this process is also referred to as “emvolution”).

The three-dimensional image synthesizing and observing device 40 is a color synthesizing unit (not shown) including a processor capable of executing an algorithm for color synthesizing a plurality of three-dimensional images with each other.
Is integrally mounted, and other organs such as a tumor existing in the lumen of the target organ are compositely displayed as an opaque or translucent color image.

Therefore, in addition to the advantage of observing the morphological information of the internal organ cavity described above, the three-dimensional image processing apparatus according to this application example has a real relationship with other organs such as a positional relationship with other organs, color composite display, and treatment planning. It becomes possible to perform a treatment suitable for treatment, and the range of application in the fields of diagnosis and treatment can be further expanded.

Note that the treatment planning support tool is not limited to the above-mentioned configuration, and for example, a stereoscopic image of the position of the viewpoint moving in the organ lumen from the outside of the organ, for example, a skull and a cerebral blood vessel. A tool for composite display (semi-transparent composite display) as markings of spheres etc. on the semi-transparent composite image,
A tool for directly designating a rough position (general position) of the viewpoint for moving the internal organ cavity on a stereoscopic image viewed from the outside of the organ, for example, a stereoscopic image of the blood vessel surface may be added.

[0081]

As described above, according to the three-dimensional image processing apparatus of the present invention, the set value of the distance between the viewpoint and the surface of the organ lumen is held and the stereoscopic image is displayed while being viewed. , Specify the data related to the moving path including the moving direction of the viewpoint, and calculate the calculated value of the distance between the viewpoint and the surface of the internal organ lumen in the moving direction based on the data about the moving path and the surface shape data of the organ lumen. , Correct the data related to the moving route so that the calculated value of the distance on the moving route according to the moving direction becomes equal to or larger than the set value of the distance, and move the viewpoint while moving the viewpoint along the corrected moving route. Since the stereoscopic image of the internal organ lumen when viewed from the viewpoint is displayed on the monitor in real time, it is possible to move the viewpoint along the surface shape of the internal organ lumen. When the points can be avoided almost a situation from entering within the inner wall co, greatly enhances the operability related to the viewpoint moving in organ lumen, it can be relatively simple and easy to obtain the form information of an organ lumen.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram showing the overall configuration of a three-dimensional image processing apparatus according to an embodiment of the present invention.

FIG. 2 is a schematic flowchart showing a processing concept of a line-of-sight direction designating unit.

FIG. 3 is a schematic flowchart showing a processing concept of a viewpoint movement direction designator.

FIG. 4 is a schematic flowchart showing a processing concept of a viewpoint movement amount designator.

FIG. 5 is a schematic flowchart showing a processing concept of a minimum approach distance designator.

FIG. 6 is a schematic flowchart showing a processing concept of a viewpoint movement method designator.

FIG. 7 is a schematic flowchart showing a processing concept in the case of “movement in a designated direction” of the viewpoint position calculator.

FIG. 8 is a schematic flowchart showing a processing concept in the case of “inner wall following movement” of the viewpoint position calculator.

FIG. 9 is a schematic block diagram showing the overall configuration of a three-dimensional image processing apparatus according to an application example.

[Explanation of symbols]

 1 tomographic data input device 2 3D image construction system 3 3D image observation system 4 tomographic data interpolation unit 5 image binarization / region extraction unit 6 3D image creation unit 7 viewpoint position designation unit 8 gaze direction designation unit 9 viewpoint position Moving part 10 Data input part 11 Viewpoint moving direction designator 12 Viewpoint moving amount designator 13 Minimum approach distance designator 14 Viewpoint moving method designator 15 Viewpoint position calculator

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Claims (9)

[Claims] 1. Constructing three-dimensional image data including surface shape data of an organ lumen from a plurality of slice image data relating to a target region of a subject, and defining the constructed three-dimensional image data in the organ lumen. In a three-dimensional image processing device formed so as to be displayed as a stereoscopic image of the organ lumen when viewed from a viewpoint, a holding unit that holds a set value of a distance between the viewpoint and the surface of the organ lumen. , A designation means for designating data relating to a movement route including a movement direction of the viewpoint while looking at the display image of the stereoscopic image, and the movement based on the data relating to the movement route designated by the designation means and the surface shape data. And a calculation means for calculating a calculation value of a distance between the viewpoint and the surface of the organ lumen in a direction, and a calculation value of the distance in a movement path according to the movement direction is Correcting means for correcting the data relating to the moving route so as to maintain the state of being equal to or larger than the set value of the distance, and the moving viewpoint while moving the viewpoint along the moving route corrected by the correcting means. A three-dimensional image processing apparatus, comprising: a display unit that displays a three-dimensional image of the internal organ lumen when viewed from above on a monitor in real time. 2. The three-dimensional image processing apparatus according to claim 1, wherein the designation unit is a unit that manually or automatically designates the data regarding the movement route. 3. The calculated value of the distance includes at least one of a calculated value of the distance in the moving direction and a calculated value of the distance in a direction orthogonal to the moving direction.
The three-dimensional image processing device described. 4. The designating means comprises means for designating information on the line-of-sight direction at the viewpoint, and the correcting means comprises means for correcting the line-of-sight direction information based on the surface shape data. 3D image processing device. 5. The three-dimensional image processing apparatus according to claim 1, further comprising means for color-synthesizing another organ adjacent to the organ lumen on the three-dimensional image of the organ lumen. 6. The three-dimensional image processing apparatus according to claim 1, further comprising means for shaving at least a part of the surface of the organ lumen in the stereoscopic image of the organ lumen. 7. The three-dimensional image processing apparatus according to claim 1, further comprising means for arranging a three-dimensional object having an arbitrary shape on the three-dimensional image of the internal cavity of the organ. 8. The three-dimensional image processing apparatus according to claim 1, further comprising means for marking and displaying a position of a viewpoint in the internal cavity of the organ on a stereoscopic image viewed from the outside of the organ. 9. The three-dimensional image processing apparatus according to claim 1, further comprising means for designating a rough position of the movement path of the viewpoint in the internal organ cavity on a stereoscopic image viewed from outside the organ.