KR20020041577A - Virtual reality endoscopy method using 3D image processing method - Google Patents

Virtual reality endoscopy method using 3D image processing method Download PDF

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KR20020041577A
KR20020041577A KR1020000071234A KR20000071234A KR20020041577A KR 20020041577 A KR20020041577 A KR 20020041577A KR 1020000071234 A KR1020000071234 A KR 1020000071234A KR 20000071234 A KR20000071234 A KR 20000071234A KR 20020041577 A KR20020041577 A KR 20020041577A
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송철규
이철호
김종찬
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송철규
이철호
김종찬
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    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06T15/00—3D [Three Dimensional] image rendering
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    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract

PURPOSE: A virtual endoscope method using a three-dimensional image processing technique is provided to improve the quality of image by using the image reconstruction method and the virtual reality method. CONSTITUTION: A cross-sectional image is read(S110), wherein the cross-sectional image is outputted from an apparatus, such as an MRI(Magnetic Resonance Imaging), a CT(Computed Tomography), and an ultrasound imaging, for generating the cross-sectional image. A three-dimensional volume data is generated based on the cross-sectional image(S130). After the three-dimensional volume data is classified, a hierarchial tree-structure is created by using spacially related volume data to divide a space(S140). In the divided space, a portion representing a current view point is rendered(S160).

Description

3차원 영상처리방법을 이용한 가상 내시경 방법{Virtual reality endoscopy method using 3D image processing method}Virtual endoscope method using 3D image processing method {Virtual reality endoscopy method using 3D image processing method}

본 발명은 의료장비에 관한 것으로, 특히 환자의 기관지부위 CT, MRI영상의 3차원 재구성과 영상항해에 필요한 영상가시화 기법을 통해 혈관, 기관지, 소화기관 등을 관찰하는 가상 내시경 장치에 관한 것이다.The present invention relates to medical equipment, and more particularly, to a virtual endoscope apparatus for observing blood vessels, bronchial organs, and digestive organs through image visualization techniques required for 3D reconstruction and image navigation of bronchial CT and MRI images of patients.

종래의 기계적 내시경 사용시 삽입에 따른 고통, 고가의 비용, 직경이 작은부위의 관찰의 어려움 등의 문제점이 있었다.When using a conventional mechanical endoscope, there are problems such as pain caused by insertion, expensive cost, and difficulty in observing a small diameter part.

따라서, 종래의 기계적 내시경 대체 또는 보완할 수 있도록 실제 영상의 3차원 재구성을 통한 내부항해가 가능하며, VR장치와 상호작용을 통한 연동이 이루어지는 가상 내시경 장치가 등장하였다.Therefore, in order to replace or supplement the conventional mechanical endoscope, internal navigation is possible through three-dimensional reconstruction of an actual image, and a virtual endoscope device that interacts with a VR device has emerged.

하지만 종래의 가상 내시경 장치는 항해시 속도에 문제점이 있었으며, 또한 표면 렌더링에 의한 화질이 훼손되는 문제점이 있었다.However, the conventional virtual endoscope has a problem in speed during navigation, and also has a problem that the image quality is impaired by surface rendering.

본 발명이 이루고자하는 기술적 과제는 항해속도의 개선을 위한 공간분할방법과 입체적 진단기술, 볼륨 렌더링과 표면 렌더링을 복합화하는 가상 내시경 방법 및 장치를 제공하는 것이다.The technical problem to be achieved by the present invention is to provide a virtual endoscope method and apparatus that combines a spatial partitioning method, three-dimensional diagnostic technology, volume rendering and surface rendering to improve the navigation speed.

도 1은 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법의 일실시예를 도시한 것이다.1 illustrates an embodiment of a virtual endoscope diagnosis method using a 3D image processing method according to the present invention.

도 2는 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법의 다른 일실시예를 도시한 것이다.Figure 2 shows another embodiment of a virtual endoscope diagnostic method using a three-dimensional image processing method according to the present invention.

도 3은 공간 분할의 예를 도시한 것이다.3 shows an example of spatial division.

도 4는 가상 내시경 항해의 실시예를 도시한 것으로, 인체 기관지 적용의 예이다.4 illustrates an embodiment of a virtual endoscope navigation, which is an example of a human bronchial application.

도 5는 본 발명에서 적용한 충돌검출 방법의 실시예를 나타내고 있다.5 shows an embodiment of a collision detection method applied in the present invention.

상기 기술적 과제를 해결하기 위한 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법은 3차원 영상처리와 가상현실 기술을 이용하여 인체의 내부를 관찰하는 내시경 진단 방법에 있어서, (a)MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상을 읽어들이는 단계; (b)상기 영상을 입력받아 3차원 볼륨데이터를 생성하는 단계; (c)상기 3차원 볼륨데이터를 계층적으로 나눈 후, 공간적으로 상관성이 있는 것끼리 계층적인 트리구조를 만들어 공간을 분할하는 단계; 및 (d)상기 분할된 공간에서 현재의 뷰 포인트에 나타난 부분만을 렌더링하는 단계를 포함함을 특징으로 한다.Virtual endoscope diagnostic method using a three-dimensional image processing method according to the present invention for solving the technical problem is an endoscope diagnostic method for observing the inside of the human body using the three-dimensional image processing and virtual reality technology, (a) MRI Reading a cross-sectional image output from a device for outputting a cross-sectional image, such as CT and ultrasound; (b) receiving the image and generating 3D volume data; (c) dividing the three-dimensional volume data hierarchically, and dividing the space by creating a hierarchical tree structure of spatially correlated ones; And (d) rendering only a portion of the divided space that appears in the current view point.

또한, 상기 (b)단계는 (b1)영상의 해상도를 높이기 위해 연속되는 영상사이에 현재 시퀀스 영상의 이전과 이후의 차를 구해서 그 차분 영상을 보간하는 단계; 및 (b2)관심부위 영상의 강도에 해당되는 문턱치를 설정하고 문턱치 이상이 되는 값만을 필터링하는 단계로 이루어짐을 특징으로 한다.In addition, the step (b) comprises the steps of (b1) obtaining the difference before and after the current sequence image between successive images to increase the resolution of the image and interpolating the difference image; And (b2) setting a threshold corresponding to the intensity of the region of interest image and filtering only a value that is greater than or equal to the threshold.

또한, 상기 (b)단계에서 3차원 볼륨 데이터는 웹 인터페이스를 통한 관찰과 영상항해를 위해 VRML 포멧으로 변환이 가능하도록 3D 볼륨 포맷변환이 가능함을 특징으로 한다.In addition, in step (b), the 3D volume data may be converted into a 3D volume format to be converted into a VRML format for observation and image navigation through a web interface.

또한, 상기 (c)단계는 복수개의 삼각형 메쉬로 구성된 3차원 볼륨데이터에서 상기 복수개의 삼각형 메쉬의 각 꼭지점들의 공간적인 좌표를 이용하여 계층적인 서브 트리로 그룹핑함을 특징으로 한다.In addition, the step (c) is characterized in that the grouping into a hierarchical subtree using the spatial coordinates of the vertices of the plurality of triangle mesh in the three-dimensional volume data consisting of a plurality of triangle mesh.

상기 기술적 과제를 해결하기 위한 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법은 3차원 영상처리와 가상현실 기술을 이용하여 인체의 내부를 관찰하는 내시경 진단 방법에 있어서, (a)MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상을 읽어들이는 단계; (b)상기 단면영상을 보간하고 필터링하는 전처리 단계; (c)상기 (b)단계로부터 출력된 영상을 표면렌더링을 통해 3차원 볼륨데이터를 생성하는 단계; (d)상기 상기 (b)단계로부터 출력된 영상을 볼륨렌더링을 통해 3차원 볼륨데이터를 생성하는 단계; (e)상기 표면렌더링에 의한 3차원 볼륨데이터와 상기 볼륨렌더링에 의한 3차원 볼륨데이터를 이용하여 영상항해 경로를 생성하는 단계: 및 (f)상기 영상항해 경로의 중심을 따라 2차원 또는 3차원 항해하는 단계를 포함함을 특징으로 한다.Virtual endoscope diagnostic method using a three-dimensional image processing method according to the present invention for solving the technical problem is an endoscope diagnostic method for observing the inside of the human body using the three-dimensional image processing and virtual reality technology, (a) MRI Reading a cross-sectional image output from a device for outputting a cross-sectional image, such as CT and ultrasound; (b) a preprocessing step of interpolating and filtering the cross-sectional image; (c) generating 3D volume data through surface rendering of the image output from step (b); (d) generating 3D volume data through volume rendering of the image output from the step (b); (e) generating an image navigation path using the three-dimensional volume data by the surface rendering and the three-dimensional volume data by the volume rendering; and (f) a two-dimensional or three-dimensional image along the center of the image navigation path. And navigating.

또한, 상기 (e)단계에서 영상항해 경로 생성은 표면렌더링으로부터 얻어진폴리곤 볼륨데이터로부터 항해할 관의 모든 중심직경을 계산하여 생성함을 특징으로 한다.In addition, the image navigation path generation in the step (e) is characterized by generating by calculating all the central diameter of the pipe to be sailed from the polygon volume data obtained from the surface rendering.

또한, 상기 (f)단계는 가상 내시경 영상항해시 관찰시점이 인체기관 내부를 빠져나기 못하도록 하는 충돌검출방법을 이용하여 항해함을 특징으로 한다.In addition, the step (f) is characterized by navigating using a collision detection method to prevent the observation point in the virtual endoscope image navigation to escape inside the human organs.

또한, 상기 충돌검출방법은 가상 내시경의 가상카메라에서 반복적으로 광선을 발사시켜 기관의 내부표면 경계를 탐지하여 탐지가 되면 벽으로 인지하여 탐지된 벽면 방향으로는 관찰시점이 통과될 수 없도록 처리함을 특징으로 한다.In addition, the collision detection method repeatedly fires a beam from the virtual camera of the virtual endoscope to detect the internal surface boundary of the engine, and if detected, recognizes it as a wall so that the observation point cannot pass through the detected wall direction. It features.

이하 도면을 참조하여 본 발명을 상세히 설명하기로 한다.Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법의 일실시예를 도시한 것이다.1 illustrates an embodiment of a virtual endoscope diagnosis method using a 3D image processing method according to the present invention.

MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상들을 취득(acqisition)한다(S110).Acquisition of the cross-sectional images output from the device for outputting the cross-sectional image, such as MRI, CT, ultrasound (S110).

상기 취득된 단면영상을 보간(interpolation)과정과 분할(segmentation)과정을 통해 3D 볼륨 데이터를 만들기 전에 필요한 영상의 보간 등의 전처리과정을 거친다(S120).Before the 3D volume data is generated through interpolation and segmentation of the obtained cross-sectional image, a preprocessing process such as interpolation of necessary images is performed (S120).

여기서, 보간(interpolation)이란 영상의 해상도를 높이기 위해 연속되는 영상사이에 현재 시퀀스 영상의 이전과 이후의 차를 구하는 과정으로, 그 차분 영상을 보간한다.Here, interpolation is a process of obtaining a difference before and after the current sequence image between successive images in order to increase the resolution of the image, and interpolating the difference image.

분할(segmentation)은 3차원 볼륨을 생성하기 위해 관심부위 영상의 강도(intensity)에 해당되는 문턱치를 설정하고 문턱치 이상이 되는 값만을 필터링하는 과정이다.Segmentation is a process of setting a threshold corresponding to an intensity of an image of a region of interest and filtering only a value that is equal to or larger than a threshold to generate a 3D volume.

본 발명에서는 얻어진 3D 볼륨 데이터(S130)로부터 웹 인터페이스(Web interface:10)를 통한 관찰과 영상항해를 위해 VRML 포멧(20)으로 변환이 가능하도록 3D 볼륨 포맷변환이 가능하다.In the present invention, it is possible to convert the 3D volume format so that the 3D volume data S130 can be converted into the VRML format 20 for observation and image navigation through a web interface: 10.

그리고, 상기 3D 볼륨 데이터를 공간 분할한다(S140). 이러한 과정을 BPS(binary space partitioning)이라 한다.The 3D volume data is spatially partitioned (S140). This process is called binary space partitioning (BPS).

이 과정이 필요한 이유는 3D 볼륨데이터를 실시간 상호작용 하기에는 너무 크기 때문이며(trachea의 경우 20만 폴리곤 이상의 폴리곤이 존재함), BPS과정은 3차원 polygonal mesh 데이터를 계층적으로 작게 나눈 후, 공간적으로 상관성이 있는 것끼리 계층적인 트리구조를 만드는 과정이다.This process is necessary because the 3D volume data is too large for real time interaction (more than 200,000 polygons exist in Trachea), and the BPS process involves spatially correlating spatially small three-dimensional polygonal mesh data. This is the process of creating a hierarchical tree structure.

BPS(binary space partitioning)과정은 다음과 같이 상세히 설명된다.The binary space partitioning process is described in detail as follows.

기본적인 trachea의 3차원 볼륨은 20여만개의 삼각형 매쉬로 구성되는데 각 꼭지점들을 3차원 공간상에서 vertex라 한다. 이러한 vertex들의 공간적인 좌표를 알 수 있으므로 계층적인 sub-tree로 그룹핑할 수 있다. 이때에 트리형태로 구조화가 잘되어 있어야 interaction부여시 각 부분들이 상호 연동되어 하나의 통일된 동작으로 연출하도록 한다.The basic three-dimensional volume of trachea consists of about 200,000 triangular meshes. Each vertex is called a vertex in three-dimensional space. Since the spatial coordinates of these vertices are known, they can be grouped into a hierarchical sub-tree. At this time, the structure of tree should be well structured so that each part can be interworked to produce one unified motion.

공간분할 후 2차원 또는 3차원으로 그 내부의 항해가 가능하며(S150) 이때 실시간 항해를 위해 현재의 view point에 나타난 부분만을 렌더링이 된다(S160).It is possible to navigate in the interior in two or three dimensions after the spatial partitioning (S150) at this time only the portion shown in the current view point for real-time navigation is rendered (S160).

출력장치모듈(output device module:40)은 HMD 또는 모니터이고, 사용자가 영상항해를 위해 사용하는 입력장치(30)는 2D 마우스 또는 가상현실에서 사용하는스페이스 볼 또는 3차원 마우스 등이 있다.The output device module 40 is an HMD or a monitor, and the input device 30 used by the user for image navigation includes a 2D mouse or a space ball or a 3D mouse used in virtual reality.

도 2는 본 발명에 의한 3차원 영상처리방법을 이용한 가상 내시경 진단 방법의 다른 일실시예를 도시한 것이다.Figure 2 shows another embodiment of a virtual endoscope diagnostic method using a three-dimensional image processing method according to the present invention.

MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상들을 취득(acqisition)한다(S210).Acquisition of the cross-sectional images output from the device for outputting the cross-sectional image, such as MRI, CT, ultrasound (S210).

상기 취득된 단면영상을 보간(interpolation)과정과 분할(segmentation)과정을 통해 3D 볼륨 데이터를 만들기 전에 필요한 영상의 보간 등의 전처리과정을 거친다(S220).The obtained cross-sectional image is subjected to a preprocessing process such as interpolation of the necessary image before generating 3D volume data through an interpolation process and a segmentation process (S220).

여기서, 보간(interpolation)이란 영상의 해상도를 높이기 위해 연속되는 영상사이에 현재 시퀀스 영상의 이전과 이후의 차를 구하는 과정으로, 그 차분 영상을 보간한다.Here, interpolation is a process of obtaining a difference before and after the current sequence image between successive images in order to increase the resolution of the image, and interpolating the difference image.

분할(segmentation)은 3차원 볼륨을 생성하기 위해 관심부위 영상의 강도(intensity)에 해당되는 문턱치를 설정하고 문턱치 이상이 되는 값만을 필터링하는 과정이다.Segmentation is a process of setting a threshold corresponding to an intensity of an image of a region of interest and filtering only a value that is equal to or larger than a threshold to generate a 3D volume.

본 발명에서는 얻어진 3D 볼륨 데이터로부터 웹 인터페이스(Web interface:10)를 통한 관찰과 영상항해를 위해 VRML 포멧(20)으로 변환이 가능하도록 3D 볼륨 포맷변환이 가능하다.In the present invention, it is possible to convert the 3D volume format so that the 3D volume data can be converted into the VRML format 20 for observation and image navigation through a web interface (10).

상기 전처리 과정을 통해 출력된 영상을 볼륨렌더링을 통해 3차원 볼륨데이터를 생성한다(S230).The 3D volume data is generated through volume rendering of the image output through the preprocessing process (S230).

3차원 볼륨렌더링(3D volume rendering)은 MIP(maximum intensityprojection) 또는 일반적 레이캐스팅 방법으로 3차원 볼륨 데이터를 만드는 방법을 의미한다.3D volume rendering refers to a method of generating 3D volume data by MIP (maximum intensity projection) or general raycasting.

그런데 상기 3차원 볼륨렌더링에 의한 볼륨데이터를 영상항해하려면 상호작용을 위한 공간좌표 데이터가 필요하므로 3차원 표면렌더링(3D surface rendering)을 하게 된다(S240).However, in order to visualize the volume data by the 3D volume rendering, spatial coordinate data for interaction is required, thereby performing 3D surface rendering (S240).

상기 3차원 표면렌더링에 의한 3차원 볼륨데이터를 이용하여 항해할 경로를 생성하게 된다(S250).A route to be navigated is generated using the 3D volume data by the 3D surface rendering (S250).

영상항해 경로 발생(navigation path generation projection)를 위해 3차원표면렌더링으로부터 얻어진 폴리곤 볼륨데이터로부터 항해할 관(tube)의 모든 중심 직경을 수학적으로 계산할 수 있다. 수학적으로 계산된 항해 좌표를 3차원 볼륨 데이터에 적용하여 항해 경로의 중심을 따라서 항해하는 방법을 본 발명에서 적용하였다.For the navigation path generation projection, all the center diameters of the tubes to be navigated can be mathematically calculated from the polygon volume data obtained from 3D surface rendering. The method of sailing along the center of the navigation route by applying mathematically calculated navigation coordinates to the three-dimensional volume data was applied in the present invention.

2차원 또는 3차원으로 그 내부의 항해가 가능하며(S260) 이때 실시간 항해를 위해 현재의 view point에 나타난 부분만을 렌더링이 된다(S270).Navigation in the interior is possible in two or three dimensions (S260). At this time, only the portion shown in the current view point is rendered for real-time navigation (S270).

출력장치모듈(output device module:40)은 HMD 또는 모니터이고, 사용자가 영상항해를 위해 사용하는 입력장치(30)는 2D 마우스 또는 가상현실에서 사용하는 스페이스 볼 또는 3차원 마우스 등이 있다.The output device module 40 is an HMD or a monitor, and the input device 30 used by the user for image navigation includes a 2D mouse or a space ball or a 3D mouse used in virtual reality.

도 3은 공간 분할의 예를 도시한 것이다.3 shows an example of spatial division.

도 4는 가상 내시경 항해의 실시예를 도시한 것으로, 인체 기관지 적용의 예이다.4 illustrates an embodiment of a virtual endoscope navigation, which is an example of a human bronchial application.

2D/3D 항해(navigation)시에 충돌검출 방법을 적용하였는데 이 방법은 가상내시경 영상항해를 할 때 관찰시점(viewing point)이 인체기관(organ) 내부를 빠져나가지 못하도록 하기 위한 방법이다.In 2D / 3D navigation, a collision detection method is applied. This method prevents the viewing point from escaping the organs during virtual endoscopic navigation.

도 5는 본 발명에서 적용한 충돌검출 방법의 실시예를 나타내고 있다.5 shows an embodiment of a collision detection method applied in the present invention.

가상 기관지 내시경의 가상카메라에서 반복적으로 광선을 발사(ray casting)시켜 기관의 내부표면 경계를 탐지하는 기법이다. 만약 탐지가 되면 벽으로 인지하여 탐지된 벽면 방향으로는 관찰시점이 통과될 수 없도록 처리한다. 이와 같은 충돌검출 방법에 의해 인체의 빈 장기(hollow organ)의 영상항해시에 기관의 외부로 이탈하지 않으면서 실제의 내시경처럼 진단이 가능하게 된다.It is a technique of detecting the inner surface boundary of the trachea by repeatedly casting a ray from a virtual camera of a virtual bronchoscope. If detected, it is recognized as a wall and the observation point cannot be passed in the direction of the detected wall. By such a collision detection method, it is possible to diagnose like an actual endoscope without escaping to the outside of the organ at the time of image navigation of the hollow organ of the human body.

도면과 명세서는 단지 본 발명의 예시적인 것으로서, 이는 단지 본 발명을 설명하기 위한 목적에서 사용된 것이지 의미한정이나 특허청구범위에 기재된 본 발명의 범위를 제한하기 위하여 사용된 것은 아니다. 그러므로 본 기술 분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다. 따라서, 본 발명의 진정한 기술적 보호 범위는 첨부된 특허청구범위의 기술적 사상에 의해 정해져야 할 것이다.The drawings and specification are merely exemplary of the invention, which are used for the purpose of illustrating the invention only and are not intended to limit the scope of the invention as defined in the appended claims or claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

본 발명에 의하면, 종래의 가상 내시경에서의 표면렌더링에 의한 화질의 훼손문제를 보완 할 수 있으며, 인체 장기의 내부를 항해속도를 향상시켰다.According to the present invention, it is possible to compensate for the problem of deterioration of image quality due to the surface rendering in the conventional virtual endoscope, and to improve the navigation speed inside the human organs.

Claims (8)

3차원 영상처리와 가상현실 기술을 이용하여 인체의 내부를 관찰하는 내시경 진단 방법에 있어서,In the endoscope diagnostic method for observing the inside of the human body using 3D image processing and virtual reality technology, (a)MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상을 읽어들이는 단계;(a) reading a cross-sectional image output from a device for outputting a cross-sectional image, such as MRI, CT, ultrasound; (b)상기 영상을 입력받아 3차원 볼륨데이터를 생성하는 단계;(b) receiving the image and generating 3D volume data; (c)상기 3차원 볼륨데이터를 계층적으로 나눈 후, 공간적으로 상관성이 있는 것끼리 계층적인 트리구조를 만들어 공간을 분할하는 단계; 및(c) dividing the three-dimensional volume data hierarchically, and dividing the space by creating a hierarchical tree structure of spatially correlated ones; And (d)상기 분할된 공간에서 현재의 뷰 포인트에 나타난 부분만을 렌더링하는 단계를 포함함을 특징으로 하는 가상 내시경 진단방법.and (d) rendering only a portion of the divided space that appears in the current view point. 제1항에 있어서, 상기 (b)단계는The method of claim 1, wherein step (b) (b1)영상의 해상도를 높이기 위해 연속되는 영상사이에 현재 시퀀스 영상의 이전과 이후의 차를 구해서 그 차분 영상을 보간하는 단계; 및(b1) interpolating the difference image by obtaining a difference before and after the current sequence image between successive images to increase the resolution of the image; And (b2)관심부위 영상의 강도에 해당되는 문턱치를 설정하고 문턱치 이상이 되는 값만을 필터링하는 단계로 이루어진 전처리과정을 더 구비함을 특징으로 하는 가상내시경 진단방법.(b2) A virtual endoscope diagnosis method, further comprising a preprocessing step of setting a threshold corresponding to an intensity of an image of a region of interest and filtering only a value equal to or more than a threshold. 제1항에 있어서, 상기 (b)단계에서 3차원 볼륨 데이터는The method of claim 1, wherein the three-dimensional volume data in the step (b) 웹 인터페이스를 통한 관찰과 영상항해를 위해 VRML 포멧으로 변환이 가능하도록 3D 볼륨 포맷변환이 가능함을 특징으로 하는 가상내시경 진단방법.Virtual endoscope diagnostic method characterized in that 3D volume format conversion is possible to convert to VRML format for observation and image navigation through web interface. 제1항에 있어서, 상기 (c)단계는The method of claim 1, wherein step (c) 복수개의 삼각형 메쉬로 구성된 3차원 볼륨데이터에서 상기 복수개의 삼각형 메쉬의 각 꼭지점들의 공간적인 좌표를 이용하여 계층적인 서브 트리로 그룹핑함을 특징으로 하는 가상내시경 진단방법.Virtual three-dimensional volume data consisting of a plurality of triangular mesh virtual endoscope diagnostic method characterized in that the grouping into a hierarchical subtree using the spatial coordinates of the vertices of the plurality of triangular mesh. 3차원 영상처리와 가상현실 기술을 이용하여 인체의 내부를 관찰하는 내시경 진단 방법에 있어서,In the endoscope diagnostic method for observing the inside of the human body using 3D image processing and virtual reality technology, (a)MRI, CT, 초음파 등과 같이 단면 영상을 출력하는 장비로부터 출력되는 단면영상을 읽어들이는 단계;(a) reading a cross-sectional image output from a device for outputting a cross-sectional image, such as MRI, CT, ultrasound; (b)상기 단면영상을 보간하고 필터링하는 전처리 단계;(b) a preprocessing step of interpolating and filtering the cross-sectional image; (c)상기 (b)단계로부터 출력된 영상을 표면렌더링을 통해 3차원 볼륨데이터를 생성하는 단계;(c) generating 3D volume data through surface rendering of the image output from step (b); (d)상기 상기 (b)단계로부터 출력된 영상을 볼륨렌더링을 통해 3차원 볼륨데이터를 생성하는 단계;(d) generating 3D volume data through volume rendering of the image output from the step (b); (e)상기 표면렌더링에 의한 3차원 볼륨데이터와 상기 볼륨렌더링에 의한 3차원 볼륨데이터를 이용하여 영상항해 경로를 생성하는 단계: 및(e) generating an image navigation path using the 3D volume data by the surface rendering and the 3D volume data by the volume rendering; and (f)상기 영상항해 경로의 중심을 따라 2차원 또는 3차원 항해하는 단계를 포함함을 특징으로 하는 가상 내시경 진단 방법.(f) a virtual endoscope diagnostic method comprising the step of navigating two-dimensional or three-dimensional along the center of the image navigation path. 제5항에 있어서, 상기 (e)단계에서 영상항해 경로 생성은The method of claim 5, wherein the image navigation path is generated in step (e). 표면렌더링으로부터 얻어진 폴리곤 볼륨데이터로부터 항해할 인체 혈관 및 장기의 모든 중심직경을 계산하여 생성함을 특징으로 하는 가상 내시경 진단 방법.Virtual endoscope diagnosis method characterized in that to calculate and generate all the central diameter of the human blood vessels and organs to navigate from the polygon volume data obtained from the surface rendering. 제5항에 있어서, 상기 (f)단계는The method of claim 5, wherein step (f) 가상 내시경 영상항해시 관찰시점이 인체기관 내부를 빠져나기 못하도록 하는 충돌검출방법을 이용하여 항해함을 특징으로 하는 가상 내시경 진단 방법.Virtual endoscope diagnostic method characterized in that the navigation by using a collision detection method to prevent the observation point from escaping inside the human organs. 제7항에 있어서, 상기 충돌검출방법은The method of claim 7, wherein the collision detection method 가상 내시경의 가상카메라에서 반복적으로 광선을 발사시켜 기관의 내부표면 경계를 탐지하여 탐지가 되면 벽으로 인지하여 탐지된 벽면 방향으로는 관찰시점이 통과될 수 없도록 처리함을 특징으로 하는 가상 내시경 진단 방법.Virtual endoscope diagnostic method characterized in that by firing the beam repeatedly from the virtual camera of the virtual endoscope to detect the internal surface boundary of the trachea, if detected, it is recognized as a wall so that the observation point cannot pass through the detected wall direction .
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