JPS63240851A - Three-dimensional pure system for operation - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a surgical three-dimensional viewer system for obtaining surgical planning information.

(Prior Art) When a doctor performs surgery on a necessary part of a subject, a surgical plan is made in advance in order to perform the operation efficiently and reliably. For this purpose, for example, the subject is scanned in advance with a CT device to obtain voxel data, and a three-dimensional image based on this voxel data is displayed on a monitor.
A surgical plan is made while observing this monitor image.

(Problems to be Solved by the Invention) However, in the conventional method, there is a problem in that when the scheduled surgery site is difficult to directly observe with the naked eye, it takes time and effort to grasp the positional relationship of this site. For this reason, it has been difficult to proceed with the work efficiently, especially when performing a so-called blind operation, in which surgery is performed without directly seeing the planned site.

The present invention has been made in response to the above-mentioned problems.
Surgical grade 3 that allows you to proceed with your work efficiently and reliably
The purpose is to provide a dimensional viewer system.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention includes a storage device that stores data obtained by scanning a subject in advance, and a storage device that stores data obtained by scanning a subject in advance; a viewer whose orientation is movable and which combines a direct image of the subject with a three-dimensional image displayed on a monitor based on the data; The device is characterized by comprising a three-dimensional processor that synthesizes images and sends them to a monitor.

(Function) Since a three-dimensional image corresponding to the position and orientation of the viewer is displayed on the monitor and a direct view image is combined with this, the positional relationship of the subject's scheduled surgery site can be always grasped. Therefore, the surgical work can be carried out efficiently and reliably.

(Embodiment) FIG. 1 is a configuration diagram showing a surgical three-dimensional viewer system according to an embodiment of the present invention, in which 1 is a three-dimensional memory, an X-ray CT device,
Voxel data obtained by scanning the patient 4 in advance with a CT device such as an MRI device is stored. This voxel data is generated by extracting a predetermined region based on multiple slices @ (3D data composed of stacked 2D data) obtained by scanning along the body axis direction. 2 is the viewer
It is attached to an arbitrary position via an arm 5 so that its position and orientation can be moved in any direction.

As shown in FIG. 2, this viewer 2 allows a doctor 6 or the like to observe a direct image of a patient 4, and also displays a three-dimensional image and a direct image displayed on a monitor 7 based on voxel data. A composite image can be observed through the half mirror 8.

3 is a three-dimensional processor that uses the voxel data in the three-dimensional memory 1 to synthesize a three-dimensional image according to the position and orientation of the viewer 2, and displays it on the monitor 7. Viewer 2 allows the viewer to observe the composite image as a stereo image.
A pair of left and right are available. Figures 3 (a) and (b) show examples of three-dimensional images displayed on the monitor 7;
(b) shows an example in which the lesion 11 is displayed superimposed on a wire frame 12 representing the surface of an organ. All of these images are displayed as stereo images (images slightly shifted left and right). Moreover, FIG. 4 shows a direct view image. These three-dimensional images and direct images are half mirrors.
8, and a composite image as shown in FIG. 5 can be observed.

The position and orientation of the viewer 2 is 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 voxel data to
A three-dimensional image, which is observed according to its position and orientation, as shown by Pl and P2 in FIG. 6, is sent to the monitor 7 and displayed.

This 3D processor 3 uses the 3D data (various types of data such as voxel data, wire frame data, and surface data) stored in the 3D memory 1 to process the arbitrary position and orientation of the viewer 3. Composes a three-dimensional image when viewed from. The position of the patient 4 observed by the viewer 3 is fixed by a patient fixation frame 10.

Figure 7 shows an example of the configuration of the arm system.
The position and orientation of the head can be changed by taking a picture of the neck with the 0 point as the center. Moreover, FIG. 8 (a>, (b) shows the relationship of vectors in the optical system of the viewer 3. 1: The swing center C of the viewer 3 and the patient fixation frame 1
0 and origin O: vector a perpendicular drawn from the neck photography center C to the optical axis t: optical axis vector.

By measuring the position of the zero point using angle sensors attached to each movable part belonging to the positional degree of freedom A1 in FIG. 7, the vector l can be found. In addition, the three degrees of freedom of the 0 point (
By measuring the movable part in the x, y, and z directions with an angle sensor, the degree of freedom of swinging can be determined, so vectors a and d can be determined.

9(a) and 9(b) respectively show a direct viewing optical system and a monitor optical system, and FIG. 10 shows an optical system for a composite image.

Ll, L2, and L3 are the positions of the lenses, H is the position of the virtual image (synthetic image), and H is the position of the half mirror.

M' and M indicate the position of the real image, and E indicates the observation position.

Furthermore, m indicates the size of the image at position M, and p indicates the size of the image at position M'. The distances M'-H and M-H are set to be the same, and the positions in FIGS. 9(a> and (b)) are adjusted to be the same.

FIG. 11 shows another optical system, showing a simple configuration example.

Each of these optical systems can have an arbitrary configuration using known techniques.

The three-dimensional processor 3 processes each vector A, a,
d, an appropriate three-dimensional image is synthesized by knowing the distance @8°KE as shown in FIG. 12, and is displayed on the monitor 7. The image synthesized by this three-dimensional processor 3 is
This is nothing but a real image that can be formed at M' when a direct viewing optical system is simulated as shown in FIG. If the amount of calculation required for simulation becomes large, the following method can be used.

First, as shown in FIG. 14, a projected image J of a virtual object is created on a plane S that is perpendicular to the optical axis t and passes through point K with point E as the center, and then this is reduced. Referring to FIG. 9, the degree of reduction may be set to (p/m) times.

The three-dimensional processor 3 sends a three-dimensional image to a pair of left and right monitors through the operations described above.

The patient fixation frame 10 is attached to the operating table 13 in advance as shown in FIG. 15, and the patient frame 14 is attached and positioned to the patient 4 to be scanned by the CT apparatus. According to this, the positional relationship between the patient fixation frame 10 and the arm system is determined in advance from the beginning, so the positional relationship between the patient fixation 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 fixation frame, thereby allowing scanning and surgery to be performed using the patient fixation frame as the reference coordinate system.

According to the embodiments of the present invention as described above, an image obtained by combining the real image as a direct view image and a monitor image synthesized by a three-dimensional processor can be observed as a stereo image, so that internal structures that are not directly visible from the outside can be observed. This allows you to see virtual lines drawn during surgical planning as if they were actually drawn in the air (inside the patient's body).

Therefore, by using these, it is possible to clearly grasp the positional relationship of the scheduled surgery site, so that the surgery can be carried out efficiently and reliably.

FIG. 16 shows another embodiment of the present invention, in which a three-dimensional digitizer is also used.

Coils 15a and 15b in the X direction (y and Z direction coils are omitted) are arranged to form a gradient magnetic field, and a digitizer 16 equipped with a magnetic field measuring element 16a is placed in contact with a desired part of the patient 4 within this magnetic field. The spatial position of the element (X, 'i/) is determined by measuring the magnetic field strength.

2). If this spatial position is used as a coordinate and stereo display is performed, as shown in FIG. 17, even if the part cannot be seen directly, it can be observed as if it were there. Therefore, if a magnetic field measuring element is attached to the tip of the probe or electric knife, it will be possible to measure the position of the tip of the instrument, which is not directly visible from the outside, during surgery.1 The position of the line or affected area according to the surgical plan.

Since the external appearance of the patient can be seen at once, the positional relationship can be clearly understood. Therefore, this embodiment can also provide the same effects as those of the previous embodiment.

[Effects of the Invention] As described above, according to the present invention, a three-dimensional image corresponding to the position and orientation of the viewer is displayed on the monitor, and an image in which a direct view image is synthesized can be observed, and the area to be operated can be viewed. Since the positional relationship can be clearly understood, the surgical work can be carried out efficiently and reliably.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram showing a three-dimensional surgical viewer system according to an embodiment of the present invention, Fig. 2 is a cross-sectional view of the viewer, Figs. 3(a) and l) are examples of monitor image display, and Fig. 4 5 is an example of displaying a direct image, FIG. 5 is an example of displaying a composite image, FIG. 6 is an example of different display of a monitor image, FIG. 7 is a schematic diagram of the arm system, and FIG.
), (b). FIG. 12 is a vector diagram of the optical system, and FIG. 9(a). (b), FIG. 10, and FIG. 11 are examples of the configuration of the optical system, and FIG.
Figures 14 and 14 are simulation examples of optical systems, and Figure 15.
The figure shows an example of fixing a patient, and FIGS. 16 and 17 show configuration examples of other embodiments of the present invention. 1... Three-dimensional memory, 2... Viewer-13...
3D processor, 5.5a, 5b...arm, 7...monitor, 8...
・Half mirror 110...Patient fixation frame. Agent Patent Attorney Noriyuki Chika Kenshu Daiko Norio (a)
(b) Figure 3 Figure 4 Funeral 5 Figure 10 Meien (b) Figure 8 Figure 11 Figure 12 Figure 14

Claims (1)

[Claims] A three-dimensional surgical viewer system that selectively displays the scheduled surgical site of a patient for observation includes a storage device that stores data obtained by scanning the patient in advance, and a system that moves in position and direction in any direction. a viewer that synthesizes a direct image of the subject and a three-dimensional image displayed on a monitor based on the data; and a viewer that synthesizes a three-dimensional image according to the position and orientation of the viewer using the data. A surgical three-dimensional viewer system characterized by comprising a three-dimensional processor that sends data to a monitor.