KR102208577B1 - Medical Image Processing Apparatus and Medical Image Processing Method for Surgical Navigator - Google Patents

Abstract

The present invention relates to a medical image processing apparatus and a medical image processing method for a surgical navigator, and more particularly, to an apparatus and method for processing an image provided when the surgical navigator is used.
To this end, the present invention provides a medical image processing apparatus for a medical navigation apparatus, comprising: a location tracking unit that acquires location information of a medical navigation apparatus within an object; A memory for storing medical image data generated based on a medical image of the object; And a processor configured to set an ROI based on location information of the medical navigation device based on the medical image data and generate partial medical image data corresponding to the ROI. It provides a medical image processing apparatus including a and a medical image processing method using the same.

Description

Medical image processing apparatus and medical image processing method for surgical navigator {Medical Image Processing Apparatus and Medical Image Processing Method for Surgical Navigator}

The present invention relates to a medical image processing apparatus and a medical image processing method for a surgical navigator, and more particularly, to an apparatus and method for processing an image provided when the surgical navigator is used.

Minimally invasive surgery, which minimizes the patient's incision during surgery, is widely used. Minimally invasive surgery has the advantage of minimizing the incision site and minimizing the resulting blood loss and recovery period, but some surgeries have risk factors such as meningeal damage and eye damage due to the limited vision of the doctor. . As one of the tools for overcoming the shortcomings of minimally invasive surgery in which the doctor's field of view is limited, a medical navigation device (or surgical navigation device) is used. A medical navigation device provides real-time tracking of location information of an instrument inserted in a patient's affected area based on a previously secured medical image of a patient. In addition, such a medical navigation device may be used in combination with an endoscope.

An optical or electromagnetic positioning device may be used for real-time positioning of a surgical instrument inserted in a medical navigation device. As an example for tracking the location of the surgical instrument, an optical location tracking device including an infrared emission device and a passive image sensor may be used. The optical position tracking device emits reference light through an infrared emission device, and collects images reflected by a plurality of markers through an image sensor. The corresponding location tracking device may obtain location information of a procedure device based on locations of a plurality of markers. Meanwhile, as another example for tracking the location of the surgical instrument, an electromagnetic location tracking device including a magnetic field generator and a conductive metal object may be used. The electromagnetic position tracking device may obtain positional information of a surgical instrument by measuring an eddy current generated in a conductive metal object in a magnetic field generated by the magnetic field generator. In order to accurately display the positional relationship between the procedure device and the body part in the position tracking device, a registration process may be required to define the initial positional relationship between the medical data on the patient's body part and the procedure device.

1 shows an embodiment of an output image of a medical navigation device. The medical navigation apparatus may display at least one of images of a horizontal plane, a sagittal plane, and a coronal plane for a body part. The operator (or doctor) interprets each image to determine the three-dimensional position of the surgical instrument, and identifies adjacent risk factors. However, these cross-sectional images cannot intuitively express the position of the surgical instrument within the body part. Therefore, in order to determine the exact position of the surgical instrument by comparing a plurality of cross-sectional images, not only the operator's skill is required, but it may take a lot of time. In addition, if the time to watch the monitor of the medical navigation device is prolonged to determine the location of the procedure device, the overall treatment period may be prolonged, thereby increasing the fatigue of both the operator and the patient.

An object of the present invention is to provide a medical image processing method that enables a practitioner to intuitively grasp information on an operation site and adjacent elements in a patient's body.

In addition, the present invention has an object to effectively render a medical image of a patient collected in advance and an image of a treatment site collected in real time.

In addition, the present invention has an object to provide a medical navigation device that is easy to grasp the anatomical structure of a patient.

In order to solve the above problems, the present invention provides a medical image processing apparatus and a medical image processing method as follows.

First, according to an embodiment of the present invention, there is provided a medical image processing apparatus for a medical navigation apparatus, comprising: a location tracking unit that acquires location information of a medical navigation apparatus within an object; A memory for storing medical image data generated based on a medical image of the object; And a processor configured to set an ROI based on location information of the medical navigation device based on the medical image data and generate partial medical image data corresponding to the ROI. A medical image processing apparatus including a is provided.

In addition, according to an embodiment of the present invention, there is provided a medical image processing method for a medical navigation device, the method comprising: acquiring location information of a medical navigation device in an object; Storing medical image data generated based on the medical image of the object; Setting an ROI based on the location information of the medical navigation device based on the medical image data; And generating partial medical image data corresponding to the region of interest. A medical image processing method including a is provided.

In this case, the region of interest is set based on at least one of a horizontal plane, a sagittal plane, and a coronal plane of the medical image data, based on an area within a preset distance from the position of the medical navigation device.

In addition, a preset distance based on each of the horizontal plane, sagittal plane, and coronal plane is determined by user input.

According to an embodiment, the partial medical image data is generated by rendering voxels having values within a preset HU range within the ROI.

In addition, the preset HU range is determined based on the CT value of the specific tissue of the subject.

In addition, the specific organization is determined by the user's selection.

According to a further embodiment of the present invention, the partial medical image data is generated by rendering voxels of the region of interest when light is emitted from a virtual light source at a predetermined point based on the position of the medical navigation device.

는 다음 수학식에 기초하여 결정된다.At this time, each pixel value of the partial medical image data

Is determined based on the following equation.

는 복셀 x의 값, τ(t)는 복셀 t의 감쇄 계수, K_ref는 반사 계수, P₀는 가상의 광원의 위치, L은 가상의 광원의 P₀에서의 밝기 값.Here, S ₀ is the first voxel sampled by ray projection, S _n is the final voxel sampled by ray projection,

Is the value of voxel x, τ(t) is the attenuation coefficient of voxel t, K _ref is the reflection coefficient, P ₀ is the position of the virtual light source, L is the brightness value at P ₀ of the virtual light source.

In this case, K _ref is determined based on the following equation.

Here, G(x) is the gradient vector at the voxel x, and V _{p0 ->x} is the direction vector from the position P ₀ of the virtual light source to the voxel x.

In addition, the medical image data is voxels generated using a medical image of the object, and the partial medical image data is volume rendering data obtained by projecting light rays of voxels corresponding to the ROI.

According to an embodiment of the present invention, convenience of surgery and medical diagnosis may be provided by effectively rendering a patient's medical image and an operation site image.

In addition, according to an embodiment of the present invention, convenience and concentration of the procedure may be improved by allowing the operator to easily grasp the anatomical structure of the patient.

1 shows an embodiment of an output image of a medical navigation device.
2 and 3 illustrate a volume rendering technique according to an embodiment of the present invention.
4 is a block diagram of a medical image processing apparatus according to an embodiment of the present invention.
5 is a more detailed block diagram of a processor of a medical image processing apparatus according to an embodiment of the present invention.
6 shows an embodiment of setting an ROI for an object.
7 shows partial medical image data corresponding to an ROI set by FIG. 6.
8 illustrates an embodiment of a user interface for setting an ROI of an object.
9 and 10 illustrate partial medical image data corresponding to variously set regions of interest.
11 illustrates a method of generating partial medical image data according to an additional embodiment of the present invention.

The terms used in the present specification have been selected as currently widely used general terms as possible while considering the functions of the present invention, but this may vary according to the intention, custom, or the emergence of new technologies of the skilled person in the art. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in the description of the corresponding invention. Therefore, it should be noted that the terms used in the present specification should be interpreted based on the actual meaning of the term and the entire contents of the present specification, not a simple name of the term.

Throughout the specification, when a component is said to be “connected” with another component, this includes not only the case that it is “directly connected”, but also the case that it is “electrically connected” with another component in the middle. do. In addition, when a certain component "includes" a specific component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. In addition, the limitations of “above” or “less than” based on a specific threshold value may be appropriately replaced with “exceeding” or “less than”, respectively, according to embodiments.

Hereinafter, a medical image processing apparatus and a medical image processing method according to an embodiment of the present invention will be described with reference to each drawing. The image processing apparatus and image processing method according to an exemplary embodiment of the present invention may be applied to medical images of an object including a human body and an animal body. Medical images include X-ray images, computed tomography (CT) images, positron emission tomography (PET) images, ultrasound images, and magnetic resonance imaging (MRI). The invention is not limited thereto. In addition, in the present specification, medical image data is used as a term in a broad sense including not only the medical image itself, but also various types of data generated by rendering the medical image. According to an embodiment, the medical image data may refer to data obtained by volume-rendering a medical image. Further, the medical image data may refer to a 3D data set composed of a group of 2D medical images. The value of the regular grid unit of the 3D data set constructed as described above is called a voxel. The medical image processing apparatus and the medical image processing method according to an embodiment of the present invention may generate or process an image provided by an endoscope and/or a medical navigation apparatus.

2 and 3 illustrate a volume rendering technique according to an embodiment of the present invention. Volume rendering is a technique that displays a two-dimensional projection on a three-dimensional sample data set. A general 3D data set may be composed of a group of 2D tomographic images collected from the medical images described above. Images of the group may have a regular pattern and number of pixels. The value of the regular grid unit of the 3D data set constructed as described above is called a voxel.

2 shows a ray-casting technique that can be used in volume rendering. The ray projection method is defined as the voxels constituting the volume are translucent and emit light by themselves. The ray projection method acquires a rendering value by accumulating sampled voxel values along each ray (r ₀ , r ₁ ,…, r ₄ ) determined according to the user's gaze (or the position and direction of the camera). At this time, the number of rays to be generated is determined according to the resolution of the resulting image. A color cube technique can be used to properly render 3D volume data according to the user's gaze.

3 shows a color cube used in volume rendering. For volume rendering, the transparency and color of all voxels must be defined. To this end, an RGBA conversion function that defines red, green, blue, and alpha (RGBA) values for all voxel values may be defined. As an embodiment of the RGBA conversion function, a color cube may be used. As shown in Fig. 3, the color cube designates black at the origin (0, 0, 0) and white at the vertices (1, 1, 1) opposite the diagonal, and each coordinate value increases within the cube. As the value increases, the intensity of the corresponding RGB value increases. The RGB values according to each coordinate are used as normalized texture sampling coordinate values.

In order to define a start point and an end point of each ray in volume rendering, two images of a front image and a back image having the same size (ie, pixel size) may be generated. The values obtained at the same position of each of the two generated images become the starting and ending points of the rays corresponding to the positions. When the 3D texture sampling of the medical image is performed at predetermined intervals along the ray from the determined start point to the end point and the acquired values are accumulated, an intended volume rendering result may be obtained.

4 is a block diagram of a medical image processing apparatus 20 according to an embodiment of the present invention. As shown, the medical image processing apparatus 20 according to an embodiment of the present invention includes a processor 21, a communication unit 22, an input unit 23, a memory 24, a location tracking unit 25, and a display output. It may include a part 26.

First, the communication unit 22 includes wired/wireless communication modules of various protocols for performing communication with an external device. The input unit 23 includes various types of interfaces for receiving a user input for the medical image processing apparatus 20. According to an embodiment, the input unit 23 may include a keyboard, a mouse, a camera, a microphone, a pointer, a USB, a connection port with an external device, and the like, and the present invention is not limited thereto. The medical image processing apparatus may acquire a medical image of the object in advance through the communication unit 22 and/or the input unit 23. The memory 24 stores a control program used in the medical image processing apparatus 10 and various data related thereto. For example, the memory 24 may store a previously acquired medical image of an object. Also, the memory 24 may store medical image data generated by rendering a medical image of an object.

The position tracking unit 25 acquires position information of the medical navigation device 55 in the object. In an embodiment of the present invention, the medical navigation device 55 may include various types of surgical navigation devices. An optical location tracking method or an electromagnetic location tracking method may be used for location tracking of a medical navigation device, but the present invention is not limited thereto. When the location information obtained from the medical navigation device 55 is not matched with the medical image data of the object, the location tracking unit 25 performs a matching process to determine the location of the medical navigation device 55 based on the medical image data. Can generate information. The location tracking unit 25 may be connected to the medical navigation device 55 by wire or wirelessly to receive location information from the medical navigation device 55.

The display output unit 26 outputs an image generated according to an embodiment of the present invention. That is, the display output unit 26 may output medical image data corresponding to an ROI of the object, as described later. The image output by the display output unit 26 may be displayed by the monitor 65 connected to the medical image processing apparatus 20.

The processor 21 of the present invention may execute various commands or programs and may process data inside the medical image processing apparatus 20. In addition, the processor 21 controls each unit of the medical image processing apparatus 20 described above, and may control data transmission/reception between the units.

The medical imaging apparatus 20 shown in FIG. 4 is a block diagram according to an exemplary embodiment of the present invention, and the separated and displayed blocks are shown by logically distinguishing elements of the corresponding apparatus. Accordingly, the elements of the medical imaging apparatus 20 described above may be mounted as one chip or as a plurality of chips according to the design of the corresponding device. In addition, some of the components of the medical imaging apparatus 20 illustrated in FIG. 4 may be omitted, and additional components may be included in the medical imaging apparatus 20.

5 is a more detailed block diagram of the processor 21 of the medical image processing apparatus 20 according to an embodiment of the present invention. As shown, the processor 21 of the medical image processing apparatus 20 according to an embodiment of the present invention includes an ROI setting unit 210, a medical image data generation unit 220, and a partial medical image data generation unit 230. ) Can be included.

The region of interest setting unit 210 sets a region of interest of a user for an object. More specifically, the ROI setting unit 210 receives location information of the medical navigation device 55 from the location tracking unit 25, and sets the ROI based on the location information. According to an embodiment of the present invention, the region of interest is set based on at least one of a horizontal plane, a sagittal plane, and a coronal plane of the medical image data, based on an area within a preset distance from the position of the medical navigation device 55. To this end, the region of interest setting unit 210 may receive information on a preset distance based on each of the horizontal plane, the sagittal plane, and the coronal plane (ie, region setting information) as a user input in advance. The region of interest setting unit 210 is an area included within a first distance based on the horizontal plane from the position of the medical navigation device 55, within a second distance based on the sagittal plane, and/or within a third distance based on the coronal plane. Crop (crop) to set as the region of interest. If the user does not input region setting information for at least one of the horizontal plane, the sagittal plane, and the coronal plane, the region of interest setting unit 210 may not perform cropping based on the corresponding plane. have. The ROI information acquired by the ROI setting unit 210 is transmitted to the partial medical image data generation unit 230.

Next, the medical image data generator 220 generates medical image data by rendering a medical image of an object. As described above, the medical image includes at least one of an X-ray image, a CT image, a PET image, an ultrasound image, and an MRI. The medical image data may refer to voxels generated using a medical image of an object. However, the present invention is not limited thereto, and the medical image data may refer to data obtained by volume rendering a medical image of an object.

Next, the partial medical image data generation unit 230 extracts and renders medical image data of a portion corresponding to an ROI among medical image data of an object. More specifically, the partial medical image data generator 230 may perform volume rendering by selectively projecting light rays of voxels in the ROI. Accordingly, objects other than the region of interest are prevented from overlapping with the objects of the region of interest in the object, so that the operator can easily grasp the anatomy of the object.

According to an embodiment of the present invention, the partial medical image data generation unit 230 may generate volume rendering data in various ways. According to an embodiment, the partial medical image data generator 230 may generate volume rendering data by projecting light rays on all voxels included in the ROI.

According to another embodiment of the present invention, the partial medical image data generation unit 230 may generate volume rendering data by selectively projecting light rays on voxels having a value within a preset HU range within a region of interest. have. In this case, the preset HU range may be determined based on the CT value of a specific tissue of the subject. Also, a specific organization for performing volume rendering may be selected by the user. Through this, it is possible to generate volume rendering data by selectively projecting light rays only on voxels corresponding to a specific tissue selected by the user in the region of interest.

In the case of CT, which is the most widely used medical image, the CT values of each component of the human body are shown in Table 1 below. At this time, the unit of each numerical value is HU (Hounsfield Unit).

Tissue CT Number (HU) bone +1000 liver 40 to 60 White matter -20 ~ -30 Gray matter -37 to -45 blood 40 muscle 10 to 40 kidneys 30 Cerebrospinal fluid (CSF) 15 water 0 Fat -50 ~ -100 air -1000

Data according to the medical imaging standard DICOM (Digital Imaging and Communications in Medicine) uses 2 bytes per pixel. Therefore, the range of values that each pixel can have is 2 ¹⁶ , ranging from -32768 to 32767. Foreign substances such as implants may be inserted into the human body, but values outside the +/-1000HU range are not used in CT because they are replaced with appropriate levels during the reconstruction process.

As shown in Table 1, the range of CT values of each component of the human body is predetermined. If the user wants to selectively check only the gray matter in the region of interest of the object, the user can input an arbitrary value included in the CT value range of -37 to -45 or a CT value range including the range through the input unit 23. You can enter. In addition, the user may input a selection of gray matter among predetermined tissues of the object through the input unit 23. The partial medical image data generator 230 may generate volume rendering data by selectively projecting light rays only on voxels corresponding to gray matter among the ROI of the object based on a user input.

According to another embodiment of the present invention, the partial medical image data generation unit 230 may calculate voxel values of a region of interest when light is emitted from a virtual light source at a predetermined point based on the position of the medical navigation device 55 By rendering, partial medical image data may be generated. More specifically, the partial medical image data generation unit 230 assumes that a virtual light source exists at a predetermined point based on the position of the medical navigation device 55, and the region of interest when light is emitted from the virtual light source. Voxel values can be set. The partial medical image data generator 230 may generate volume rendering data by projecting light rays on voxels set as described above. A specific embodiment of this will be described later.

The partial medical image data generated by the partial medical image data generation unit 230 may be provided as an output image of the display output unit 26.

6 shows an embodiment of setting an ROI for an object. Referring to FIG. 6, a region included within a specific distance based on a sagittal plane in a color cube for performing volume rendering is set as a region of interest. 7 shows partial medical image data corresponding to the region of interest set as described above. More specifically, FIG. 7(a) shows volume rendering data of an object included in a cube, and FIG. 7(b) shows volume rendering data corresponding to an ROI set by FIG. 6. As shown in FIG. 7B, according to the user's setting of the region of interest, only an area included within a specific distance from the sagittal plane of the object may be volume rendered and displayed.

8 illustrates an embodiment of a user interface for setting an ROI of an object. Referring to FIG. 8, the user interface may receive information (ie, region setting information) about a preset distance based on each of a horizontal plane, a sagittal plane, and a coronal plane of an object from a user. The region of interest is set based on at least one of a horizontal plane, a sagittal plane, and a coronal plane of the medical image data, based on an area within a preset distance from the position of the medical navigation device 55. According to an embodiment of the present invention, location information of the medical navigation device 55 obtained from the location tracking unit 25 may be displayed as specific coordinates on a slide bar for each reference plane of the user interface. The user may set a reference distance to be included in the ROI based on the coordinates displayed on each slide bar. The ROI setting unit 210 receives at least one of first distance information based on a horizontal plane, second distance information based on a sagittal plane, and third distance information based on a coronal plane through a user interface. The region of interest setting unit 210 is an area included within a first distance based on the horizontal plane from the position of the medical navigation device 55, within a second distance based on the sagittal plane, and/or within a third distance based on the coronal plane. Crop (crop) to set as the region of interest.

9 and 10 illustrate partial medical image data corresponding to variously set regions of interest. 9(a) shows a case where an ROI is set based on the sagittal plane of an object, FIG. 9(b) shows a case where an ROI is set based on the horizontal plane of the object, and FIG. 9(c) shows the coronal surface of the object. Each represents a case in which an ROI is set as a reference. Further, FIG. 10 shows a case in which an ROI is set based on all of the sagittal plane, the horizontal plane, and the coronal plane of the object. As described above, according to an exemplary embodiment of the present invention, an ROI may be set in various forms according to a user's setting, and only medical images corresponding to the ROI may be selectively rendered and provided to the user.

Meanwhile, in the above embodiments, it has been described that the region of interest is set based on the horizontal plane, the sagittal plane, and the coronal plane of the medical image data, but the present invention is not limited thereto. In the present invention, the region of interest may be set with respect to an arbitrary reference axis or reference plane of medical image data.

11 illustrates a method of generating partial medical image data according to an additional embodiment of the present invention. As described above, the partial medical image data generating unit 230 renders voxel values of the region of interest by rendering the voxel values of the region of interest under the assumption that light is emitted from a virtual light source at a preset point for a special effect on the region of interest 30. Medical image data can be generated.

은 아래 수학식 1과 같이 표현될 수 있다.First, each pixel value of the volume rendering data using a general ray projection method

Can be expressed as in Equation 1 below.

는 복셀 x의 값(또는, 복셀 x의 강도) 이고,

는 최초 복셀 S₀부터 현재 복셀 x까지 누적된 투명도를 나타낸다. τ(t)는 복셀 t의 감쇄 계수를 나타낸다.Here, S ₀ denotes the first voxel sampled by ray projection, and S _n denotes the final voxel sampled by ray projection. Also,

Is the value of voxel x (or the intensity of voxel x),

Denotes the accumulated transparency from the first voxel S ₀ to the current voxel x. τ(t) represents the attenuation coefficient of voxel t.

는 아래 수학식 2와 같이 표현될 수 있다.According to an embodiment of the present invention, assuming that a virtual light source exists at a predetermined point P ₀ based on the position of the medical navigation device 55, the voxels of the region of interest 30 when light is emitted from the virtual light source You can set values. At this time, the value of voxel x

Can be expressed as Equation 2 below.

Here, R(x) is a voxel value adjusted by light emitted from a virtual light source, and may be defined as in Equation 3 below.

Here, K _ref is the reflection coefficient, P ₀ is the position of the virtual light source, and L is the brightness value at P ₀ of the virtual light source. According to an embodiment of the present invention, the reflection coefficient K _ref may be determined as in Equation 4 below.

Here, G(x) denotes a gradient vector at voxel x, and V _{p0 ->x} denotes a direction vector from the position P ₀ of the virtual light source to the voxel x. According to an embodiment, the gradient vector G(x) may be defined as a normal of a reference plane in which peripheral voxel values change the most based on the voxel x.

는 아래 수학식 5에 기초하여 결정될 수 있다.Therefore, according to an embodiment of the present invention, each pixel value of partial medical image data

May be determined based on Equation 5 below.

The partial medical image data generation unit 230 generates the volume rendering data generated as described above as partial medical image data. According to such an additional embodiment of the present invention, it is possible to achieve the same effect as inserting a light inside or around an ROI. When lighting is inserted inside or around the region of interest, the three-dimensional effect of the region of interest may be maximized due to the shadow effect on the region of interest, and the user's identification of the region of interest may be increased.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be construed that the embodiments described above are illustrative in all respects and are not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention do.

20: medical image processing device
55: medical navigation device
65: monitor

Claims (20)

As a medical image processing device for a medical navigation device,
A location tracking unit that acquires location information of a medical navigation device within an object;
A memory for storing medical image data generated based on a medical image of the object; And
A processor configured to set an ROI based on location information of the medical navigation device based on the medical image data and generate partial medical image data corresponding to the ROI,
The processor,
Receive the user's set distance information based on at least one plane,
A medical image processing apparatus for generating the partial medical image data by volume-rendering voxels within a 3D ROI including an area within the set distance from the plane based on the position of the medical navigation device. The method of claim 1,
The at least one plane includes at least one of a horizontal plane, a sagittal plane, and a coronal plane of the medical image data. The method of claim 1,
The partial medical image data is generated by rendering voxels having a value within a preset HU range within the ROI. The method of claim 3,
The predetermined HU range is determined based on a CT value of a specific tissue of the object. The method of claim 4,
The specific tissue is a medical image processing apparatus that is determined by a user's selection. The method of claim 1,
The partial medical image data is generated by rendering voxels of the region of interest when light is emitted from a virtual light source at a predetermined point based on the position of the medical navigation device. The method of claim 6,
Each pixel value of the partial medical image data

A medical image processing apparatus determined based on the following equation.

Here, S ₀ is the first voxel sampled by ray projection, S _n is the final voxel sampled by ray projection,

Is the value of voxel x, τ(t) is the attenuation coefficient of voxel t, K _ref is the reflection coefficient, P ₀ is the position of the virtual light source, L is the brightness value at P ₀ of the virtual light source. The method of claim 7,
The K _ref is determined based on the following equation.

Here, G(x) is the gradient vector at the voxel x, and V _p0->x is the direction vector from the position P ₀ of the virtual light source to the voxel x. The method of claim 1,
The medical image data is voxels generated using a medical image of the object, and the partial medical image data is volume rendering data obtained by projecting light rays of voxels corresponding to the region of interest. A medical image processing method of a medical image processing device for a medical navigation device,
Acquiring location information of a medical navigation device within an object;
Storing medical image data generated based on the medical image of the object;
Receiving information about a user's set distance based on at least one plane;
Setting an ROI based on location information of the medical navigation device based on the medical image data, wherein the ROI includes an area within the set distance from the plane based on the position of the medical navigation device. Set as a dimensional area; And
Generating partial medical image data by volume-rendering voxels within the ROI;
Medical image processing method comprising a. The method of claim 10,
The at least one plane includes at least one of a horizontal plane, a sagittal plane, and a coronal plane of the medical image data. The method of claim 10,
The partial medical image data is generated by rendering voxels having a value within a predetermined HU range within the ROI. The method of claim 12,
The predetermined HU range is determined based on a CT value of a specific tissue of the object. The method of claim 13,
The specific tissue is a medical image processing method that is determined by a user's selection. The method of claim 10,
The partial medical image data is generated by rendering voxels of the region of interest when light is emitted from a virtual light source at a predetermined point based on the position of the medical navigation device. The method of claim 15,
Each pixel value of the partial medical image data

Is a medical image processing method determined based on the following equation.

Here, S ₀ is the first voxel sampled by ray projection, S _n is the final voxel sampled by ray projection,

Is the value of voxel x, τ(t) is the attenuation coefficient of voxel t, K _ref is the reflection coefficient, P ₀ is the position of the virtual light source, L is the brightness value at P ₀ of the virtual light source. The method of claim 16,
The K _ref is a medical image processing method determined based on the following equation.

Here, G(x) is the gradient vector at the voxel x, and V _p0->x is the direction vector from the position P ₀ of the virtual light source to the voxel x. The method of claim 10,
The medical image data is voxels generated using a medical image of the object, and the partial medical image data is volume rendering data obtained by projecting light rays of voxels corresponding to the ROI. delete delete

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