經濟部中央橾準局男工消費合作社印製 A7 B7_ 五、發明説明（1 ) 發明背景 (a)發明領域 概略而言，本發明係關於一種路學影像處理，特別， 本發明係關於一種使用徑向轉移與儲存地形（RBR)方法進 行手術中之超音波掃描供施行自動化攝護腺切除術，該方 法可提供一種由經輸尿管或經直腸或其它攝得的横向影像 快速而完整的擷取攝護腺輪廊。根據本發明，此種方法用 以自動繪出攝護腺輪廊區。超音波影像處理结果用來自動 化經輸尿管切除攝護腺。 (b)先前技術之說明 近十年來積極從事機械人手術的研究與進展。90年代 開發多種手術機械人，而若干進行臨床試驗研究。自動化 攝護腺切除術乃機械人手術之一例，揭示於文獻名稱 "Robotic surgery-a first hand experience in TURP", IEEE Engineering in Medicine and Biological magazine, 12(1), 120-125頁，1993年3月，作者 Ng Wan Sing, Davies B.等。文中提示經輸尿管切除攝護腺乃目 前最常用的解除尿流阻塞的方法。手術包括通過輸尿管引 進一把切刀，將切刀伸至攝護腺內部，成功地施行切割而 去除攝護腺肥大的腺瘤部。隨著男性的老化，無可避免地 發生攝護腺肥大，引起尿流阻塞。腺瘤靠近精阜，須K手 術去除俾解除阻塞。一種稱作「SARP」（攝護腺切除術手 術輔助機械人）的裝置用K施行自動化攝護腺切除術。 SARP乃不尋常例，其中開發具有適當動力構型的特定安全 本紙張尺度適用中國國家揉準（CNS ) A4規格（210X297公釐） 丨A丨裝— (請先閲讀背面之注意事項再填寫本頁) ,」 1T. 經濟部中央揉準局男工消費合作社印裝 319687 A7 _B7__ 五、發明説明（2 ) 圃框，俾於攝護腺產生多個錐形或桶形穴。不似多種其它 一----—------S. 系統，fcARP是一種主^手術機械;由SARP機械人手術所 得長處為位置準確且省時。此等特質對手術而言相當要緊 ，原因是（i)位置準確可確保不會意外切除非期望區，位 置的準確可藉内感知器或外感知器達成（内感知器之例有 光頻編碼器安裝於各關節馬達；外感知器之例有光/磁示 蹤裝置）；及（Π)縮短時間例如可藉免除反複檢査某些重 要地標或特徵；小心研究因切開而露出的組織紋路；和連 績專注目測檢視周圍解剖而達成。（由高速馬達達成的時 間節省，可直接縮短病人的麻醉時間，和減少注洗劑吸收 量）° 就自動化攝護腺切除術系統而言，外科醫生通常係面 對下列三種系統組件：（1)電腦及其相關監視顯示器；（2) 内視鏡顯示器單元；及（3) —排開關和發光二極體顯示器 。自動化攝護腺切除術系統中，欲使機械人系統視野超過 内視鏡所見緊鄰環境，使用超音波顯像與機械人系統併同 操作。超音波探針可屬經輸尿管或經直腸型遵照常規步驟 前進至膀胱頸然後•正確回縮。此等步驟中獲得攝護腺的 横向掃描。標記攝護腺輪廓。精囊/腺瘤輪廓（精囊與肥 大組織間之邊界）位在攝護腺輪廊內部。精囊/腺瘤輪廊 於前向方向接觸攝護腺輪廊，而於後向方向略微遠雛攝護 腺輪廊。 由於兩次掃描間隔時間已知，且其具共同超音波探針 軸線，故可重構三度空間影像。獲得且即時顯示三度空間 本紙法又度適用中國國家梂準（CNS ) A4規格（210X297公釐） an nn m —h nn In —y— 1 1^1-β-τ-aj1 (請先閱讀背面之注意Ϋ項再填寫本頁) A7 B7 經濟部中央揉準局属工消費合作社印製 五、發明説明（3 ) 容積資料的三度空間超音波系統述於” Merging Virtual Objects with the Real World： Seeing Ultrasound Imagery Within the Patient", Michael Bajura, Henry Fuchs, and Ryutarou Ohbuchi, 1996年公開於，編輯 R. Taylor。該文揭未（1)獲得且使具有已知位置和取向的即 時超音波資料可被外感知器示蹤的演算；（2)產生一種可 獲得並顯示即時三度空間超音波資料的工作虛擬實境；和 (3)特別由超音波資料回復構造容積資訊。结切割策 略可據此規劃而獲得最大切除， ，留下有限量的腺瘤仍足夠獲得術後可接受的性能。 現有多種顯像方法，可藉電腦輔助，例如，CT,MRI， 和超音波。比較CT影像和MRI影像和攝自顯微鏡的照相影 像，超音波顯像因存在有火花、雑訊、和解像度不佳，故 更難K處理。擷取輪廊資訊或其它特徵如腫瘤的超音波顯 像分段已有眾多研究。然而，超音波顥像具有優於其它模 組的長處。對CT和MRI等模組而言，欲快速獲得高解析度 影像耗時，初期與維修成本極髙，無法未經繁瑣審慎地而 方便安全地用於手術室。目前經輸尿管超音波顯像程序高 度人工作業，故耗費人力。由於掃描係於術前進行，故當 機械人用於病人時排齊術前與術中資料大為困難。超音波 曾經用於SARP，原因是成本相當低，易於引進手術室，且 對病人無不良影響。 SARP使用的超音波影像和處理系統為B&K型1846掃描 ，配備有7 MHz和5.5 MHz探針。影像系統為診斷掃描器， (请先閲讀背面之注意事項再填寫本页) —Λ丨裝. 訂· • IL. 本紙張尺度適用中國國家標準（CNS ) A4规格（210X297公釐）' 319687 A7 _B7 五、發明説明（4 ) 用於SARP主要供測定攝護腺大小。術前經直腸依序拍攝攝 護腺的横向掃描而決定大小。於IBM電腦重構連續多曼横 向掃描而形成攝護腺的三度空間模式。 欲實現快速攝護腺輪廓估計（含演算重構三度空間模 式、及陲後，基於該模式作切除計耋），發明人藉像素分 析、及藉引介徑向轉移與儲存地形方法而遠離習知像素方 法。轉移與儲存地形是照相使用的暗房技術。參考文獻 "The step-by-step guide to photography", Hew York： Alfred A. Knopf, Inc.，by Langford, M，揭示一種照 相使用的轉移與儲存地形方法。根據本發明，發現徑向轉 移與儲存地形（RBR)方法可用於評估攝護腺輪廓或其它器 官輪廓。根據本方法，經由叠置正像於負像上、略微非排 齊而製作轉移與儲存地形影像，列印出影像如同由一側照 光的低地形雕像。所得影像可簡化成線條與平淡色度圖樣 。藉此方式，強調影像邊緣。 發明概述 本發明係針對可滿足正確測定攝護腺（M攝護腺為例 )大小的轚學影像（特別，超音波影像）處理方法。根據 本發明，也揭示一種使用電腦而估計攝護腺輪廊之簡單方 法，其進一步用於經輸尿管切除攝護腺手術。根據本發明 之較佳具體例，使用機械人系統進行自動化攝護腺切除術 之超音波掃描方法，該機械人系統包括一部手術機械人， 其具有一根頭軸、一部電腦、一部4軸運動控制器、一部 超音波掃描器，和一根超音波探針（經輸尿管或經直腸型 本紙張尺度適用中國國家橾準（CNS ) A4规格（210X297公釐） nn nn —Lr m _ ---Γ--*---^ -裝-- (請先閱讀背面之注意Ϋ項再填寫本頁) 經濟部中央梂準局員工消費合作社印装 A7 B7 五、發明説明（5 ) )，探針通過安裝於手術機械人的切除鏡外鞘，該方法包 括下列步驟： (a) 齧合切除鏡至機械人，機械人已經懸吊於對重高 架的非干擾參考位置（稱為精阜）； (b) 藉著移動已經安裝著超音波探針的手術機械人頭 軸，而掃描病人的攝護腺； (c) 步驟（b)所得掃描影像饋進圖框接收器，並將影 像數位化而提供蓮算影像處理；及 (d) 由電腦繪出攝護腺輪廊。 根據本發明，使用徑向轉移與儲存地形方法電腦化評 估超音波影像又包括下列步驟： (a) 逆轉攝護腺的超音波影像而獲得負像； (b) 於正交方向成比例放大負像而得放大影像； (c) 將（b)之放大影像加至如申請專利範圍第1項所 得超音波影像而獲得含灰階的轉移與儲存地形影像，現在 附有邊緣資訊增強； (cl)二元化（c)所得轉移與儲存地形影像而去除其灰 階； 經濟部中央梂準局男工消费合作社印製 (請先閲讀背面之注意事項再填寫本頁) (e) 擴張與溶蝕（d)之二元化影像，獲得攝護腺邊緣 輪廊之更平順外形圖；及 (f) 稀薄化（e)之擴張或溶蝕影像而提供一種節略外 形圖， 如此由攝護腺輪廓決定精囊輪廊。 因此，本發明之目的係提供一種超音波影像處理方法 本紙張尺度逋用中國國家榡準（CNS ) A4规格（210X297公釐） 經濟部中央揉準局貝工消費合作社印製 A7 B7五、發明説明（6 ) ，其中手術用切除鏡和掃描用超音波探針係由機械人攏載 ，故其與機械人共有相同參考圖框。 本發明之另一個目的係提供一種自動化攝護腺切除術 用之超音波影像處理方法，其中經由使顯像系統與機械人 共用參考點而可免除繁瑣需有耐心的排齊（術前與術中資 料的匹配）。 .本發明之又另一個目的係提供一種自動化攝護腺切除 術用之超音波影像處理方法，其中捕捉與處理各次掃描所 耗時間縮短。 本發明之又另一個目的係提供一種自動化攝護腺切除 術用之超音波影像處理方法，其中經由設置對重高架而使 機械人手術設備大為簡化。 本發明之此等及其它特徵、態樣、和優點就下文說明 、隨附之申請專利範圍、和附圖將顯然自明，附圖者： 圖式之簡單說明 第1圖示例說明根據本發明之電腦輔助超音波顯像裝 置之設置； 第2圖示例說明根據本發明之特選泌尿系病症用外科 醫生輔助機械人略圖； 第3圖示例說明根據本發明之經直腸拍攝典型攝護腺 之超音波掃描： 第4圖示例說明根據本發明之第3圖之單純負像； 第5圖示例說明根據本發明加成第4圖影像至第3圖 所得圖像； (請先閱讀背面之注意事項再填寫本頁) —^1 Λ1 ^1^1. ml- n « Λ丨裝 訂-. 本紙張尺度適用中國國家榡準（CNS ) A4規格（210 X 297公羞） 經濟部中央標準局負工消費合作社印製 319687 A7 __B7_ 五、發明説明（7 ) 第6圖示例說明根據本發明之第5圖之二元化影像； 第7圖示例說明根據本發明之第6圖藉擴張與溶蝕而 平順化的影像； 第8圖示例說明根據本發明之擷取得之精囊輪廊影像 ;及 第9圖示例說明根據本發明之典型精囊/腺瘤輪廊之 X-Y座標式。 較佳具體例之說明 參見第1圖，顯示電腦輔助超音波顯像系統略圖，該 糸統稱為特選泌尿系病症用外科轚生輔助機械人，或稱「 SAURD」。根據本發明，該糸統包括一部個人電腦1〇，一 片母板配備有高速圖框接收器12附有硬體執行影像處理功 能，例如，反相、加成、與放大，一部4軸運動控制器U 一具手術機械人16，一部超音波掃描器18，和一根經直腸 或經輸尿管探針20。超音波掃描器18可擇自Bruel and Kjoer 1846型掃描器或Krez Combinson 4.30。本發明之較 佳具體例中，機械人16懸吊於對重上，固定經直腸超音波 探針或經輸尿管超音波探針20。4軸蓮動控制器14提供四 軸蓮動，亦即，頭移行軸（線性軸），環軸（旋轉），弧 軸（旋轉），和樞軸長度傅動軸（線性）。各軸以此序安 裝於另一軸之上。第2圖示意顯示根據本發明之機械人16 略圖。如第2圖所示，經輸尿管探針20通經切除鏡22外鞘 。一個接頭（未顯示出）用以提供切除鏡22剛性安裝於機 械人16。一個偏離切除鏡22中軸的不同接頭（未顯示出） 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本頁) Λ丨裝. 訂- 經濟部中央梂準局員工消費合作杜印11 A7 B7 五、發明説明（8 ) 用於經直腸探針（未顯示出）。如第2圖所示，當於内視 鏡檢發現參考位置（稱作精阜的解剖地標）且未受干擾時 ，切除鏡22齧合機械人16。機械人16懸吊於對重高架，特 別設計的工具固定器用於安裝。病人動手術前，攝護腺使 用SARUD之經輸尿管超音波掃描或SARUD之經直腸超音波掃 描。僅移動機械人16頭軸俾撕帶機械手臂的其餘部分’含 水平安裝超音波探針20及其接頭（未顯示出），故可掃描 許多攝護腺横剖面，始於膀胱頸而朝向精阜方向。 攝護腺長度（由精阜量至膀胱頸）係經由於掃描前’ 藉人工控制K内視鏡將機械人16頭伸進獲得。前述方法利 用機械人16工具固定器一次安裝手術用切除鏡22和掃描超 音波探針20。整個掃描器與切除程序中，切除鏡22外鞘保 持於病人輸尿管。如此確保影像參考軸排齊環袖，且平行 機械人16頭軸。由於相同軸用於進行切除，结果，無需排 齊或術前和術中資料。掃描係於術中進行，而影像參考圖 框同機械人16的參考圖框。 掃描完成時，引進切割元件（未顯示出），搭接於切 除鏡22外鞘，而未干擾目標位置，或使用對重高架與结構 體充分剛性安裝的機械人16。 掃描過程中，超音波影像饋進圖框接收器12 ·圖框接 收器12將影像數位化而可作運算影像處理。每次横向掃描 經捕捉，顯示於監視器上，儲存，最終供建檔。 所有攝護腺輪廓可由外科醫生或訓練有素人士（其經 由電腦控制與監督手術）使用光筆、或引進自動精囊描圖 本紙張尺度適用中國國家揉準（CNS ) Α4说格（210X297公釐.） —,I------%---1 --11--訂------^ (請先閔讀背面之注意事項再填寫本頁) 經濟部中央梂準局員工消費合作社印袋 A7 B7五、發明説明（9 ) 程式來繪出輪廓。 要緊地須縮短TURP時間，使病人不必長時間麻醉。又 ，導致注洗液吸收減少，可避免呼吸困難與血液稀釋等併 發症。此外，失血較少。欲人工繪出精囊輪廊，極為耗時 ，特別當外科醫.生未熟練讀知超音波圖時尤為如此。依攝 護腺長度與所需準確度與解析度而定，易作十次以上横剖 面，各剖面需繪出精囊輪廊。因希望機械人16於30分鐘以 內完成整個手術，故高度希望掃描費時不超過5至8分鐘 ，而留下足夠時間進行切除。 根據本發明，希望尋求借助於電腦繪圖的自動化繪圖 。一種新穎變化法稱為轉移與儲存地形，此乃攝影技術已 知，可由經輸尿管或經直腸攝得之横影像，快速而完整地 擷取攝護腺輪廓。轉移與儲存地形方法可將三度空間效果 加至列印圖。欲於電腦記憶體獲得清晰圖像，去除與所需 輪廊同時檢知的非期望的分支。完成攝護腺輪廊所需無法 獲得的資訊可基於掃描於鄰近區外推得知。 第3圖顯示經直腸的攝護腺典型横向超音波掃描。攝 護腺輪廊以白箭頭標示。精囊/腺瘤輪廊（精囊與肥大組 織「腺瘤」間之界線）位在攝護腺輪廊内。腺瘤以手術去 除。如圖所示，顯然於標記「X」位置有個密度夠高的標 的物，例如结石。第4圖顯示第3圖之超音波影像的負像 。負像於正交方向成比例放大。然後，放大的負像加至原 先影像。加成结果示於第5圖。第5圖可見邊緣周圍帶係 來自負像大於原像。此乃PBR方法结果。使用極其基本的 (請先閱讀背面之注意事項再填寫本頁) —^1 -----1 n^i IL7 n mw.- ί —I- lw - . 1-i 1 . 訂-A7 B7_ Printed by the Central Industry Bureau of the Ministry of Economic Affairs of the Male Workers' Consumer Cooperative. V. Description of the invention (1) Background of the invention (a) Field of the invention In general, the present invention relates to a road image processing, in particular, the present invention relates to a use Radial transfer and storage terrain (RBR) method for ultrasonic scanning during surgery for automated prostatectomy. This method can provide a fast and complete acquisition of lateral images taken through the ureter or through the rectum or other Prostate Contour. According to the present invention, this method is used to automatically plot the area of the prostate wheel corridor. Ultrasound image processing results are used to automate transureterectomy for the prostate. (b) Description of the prior art The research and development of robot surgery have been actively carried out in the past decade. In the 1990s, a variety of surgical robots were developed, and a few conducted clinical trial research. Automated prostatectomy is an example of robotic surgery and is disclosed in the literature titled "Robotic surgery-a first hand experience in TURP", IEEE Engineering in Medicine and Biological magazine, 12 (1), pages 120-125, 1993 In March, the authors Ng Wan Sing, Davies B. etc. The article suggests that transureteral resection of the prostate is currently the most commonly used method to relieve urinary obstruction. Surgery involves introducing a cutter through the ureter, extending the cutter into the prostate, and successfully performing a cut to remove the adenoma of the prostate. As men age, prostate hypertrophy inevitably occurs, causing obstruction of urine flow. The adenoma is close to Jingfu and must be removed by surgery to remove the blockage. A device called "SARP" (Prostate Resection Surgery Assistant Robot) uses K to perform automated prostatectomy. SARP is an unusual example, in which the development of a specific safety paper with appropriate power configuration is applicable to the Chinese National Standard (CNS) A4 specification (210X297mm) 丨 A 丨 installed — (please read the precautions on the back before filling in this Page), "1T. Printed by 319687 A7 _B7__, Men's Workers' Consumer Cooperative of the Central Bureau of Economic Development of the Ministry of Economic Affairs. 5. Description of the invention (2) The garden frame produces multiple cone-shaped or barrel-shaped holes for the prostate. Unlike many other ones -------- S. system, fcARP is a main surgical machine; the advantages of SARP robot surgery are accurate location and time saving. These characteristics are very important for surgery, because (i) accurate positioning can ensure that the unintended area is not accidentally cut, and the accuracy of the position can be achieved by the inner sensor or the outer sensor (the example of the inner sensor is optical frequency coding). The sensor is installed on each joint motor; examples of external sensors include optical / magnetic tracking devices); and (Π) shorten the time, for example, by avoiding repeated inspection of certain important landmarks or features; carefully study the tissue lines exposed by the incision; He Lianji focused on visual inspection of the surrounding anatomy. (The time savings achieved by the high-speed motor can directly shorten the patient's anesthesia time and reduce the amount of injection lotion absorbed) ° For automated prostatectomy systems, surgeons usually face the following three system components: (1 ) Computer and related monitoring displays; (2) Endoscope display unit; and (3) Row switch and LED display. In the automated prostatectomy system, if the vision of the robot system is greater than the immediate environment seen by the endoscope, ultrasound imaging is used in conjunction with the robot system. Ultrasonic probes can be of the transureteral or transrectal type. Follow the usual steps to advance to the bladder neck and then retract correctly. In these steps, a lateral scan of the prostate is obtained. Mark the prostate outline. The outline of the seminal vesicle / adenoma (the boundary between the seminal vesicle and the hypertrophic tissue) is located inside the prostate wheel gallery. The seminal vesicle / adenoma carousel contacts the prostate carousel in the anterior direction, and slightly away from the prostate carousel in the posterior direction. Because the interval time between two scans is known and it has a common ultrasonic probe axis, it can reconstruct a three-dimensional spatial image. Obtain and immediately display the three-dimensional space original paper method again applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) an nn m —h nn In —y— 1 1 ^ 1-β-τ-aj1 (please read first Note Ϋ on the back and then fill out this page) A7 B7 Printed by the Industrial and Consumer Cooperative of the Central Bureau of Economic Development of the Ministry of Economic Affairs 5. Description of Invention (3) The volumetric three-dimensional ultrasonic system is described in "Merging Virtual Objects with the Real World" : Seeing Ultrasound Imagery Within the Patient ", Michael Bajura, Henry Fuchs, and Ryutarou Ohbuchi, published in 1996, edited by R. Taylor. This article reveals (1) the real-time ultrasound data obtained with a known position and orientation Calculations that can be traced by external perceptrons; (2) Generate a working virtual reality that can obtain and display real-time three-dimensional spatial ultrasound data; and (3) Specially construct volume information from ultrasound data recovery. The cutting strategy can be According to this plan, the maximum resection is obtained, leaving a limited amount of adenoma still enough to obtain acceptable performance after surgery. There are a variety of imaging methods available, which can be assisted by computer, for example, CT, MRI, and ultrasound Comparing CT images with MRI images and photographic images taken from a microscope, ultrasound imaging is more difficult to process due to the presence of sparks, insignia, and poor resolution. Retrieving information about carousel information or other features such as tumors There have been many studies on imaging segmentation. However, ultrasonic Hao images have advantages over other modules. For modules such as CT and MRI, it takes time to obtain high-resolution images quickly, and the initial and maintenance costs are extremely high. It cannot be used conveniently and safely in the operating room without tedious care. At present, the ureteral ultrasound imaging procedure is highly manual and requires labor. Because the scanning is performed before surgery, it is aligned when the robot is used for the patient Preoperative and intraoperative data are extremely difficult. Ultrasound was used in SARP because the cost is relatively low, it is easy to introduce into the operating room, and there is no adverse effect on the patient. The ultrasound imaging and processing system used by SARP is B & K 1846 , Equipped with 7 MHz and 5.5 MHz probes. The imaging system is a diagnostic scanner, (please read the precautions on the back before filling in this page) —Λ 丨 installation. Ordering • IL. This paper size is applicable National Standard (CNS) A4 specification (210X297mm) '319687 A7 _B7 V. Description of the invention (4) It is mainly used for SARP to measure the size of the prostate. Before the operation, the rectum is sequentially taken and the lateral scan of the prostate is determined Size. Reconstruct a continuous Doman lateral scan on an IBM computer to form a three-dimensional spatial pattern of the prostate. To achieve rapid prostate contour estimation (including calculation and reconstruction of the three-dimensional space model, and after that, based on this model for excision calculations), the inventor used pixel analysis and introduced radial transfer and storage terrain methods to stay away from the practice Know the pixel method. The transfer and storage of terrain is a darkroom technique used in photography. References " The step-by-step guide to photography ", Hew York: Alfred A. Knopf, Inc., by Langford, M, reveals a photographic method of transferring and storing terrain. According to the present invention, it has been found that the Radial Transfer and Storage Terrain (RBR) method can be used to evaluate prostate contours or other organ contours. According to this method, the topographic image is transferred and stored by superimposing the positive image on the negative image and slightly non-aligned, and the image is printed as a low-terrain statue illuminated by one side. The resulting image can be simplified into lines and flat chroma patterns. In this way, the image edges are emphasized. SUMMARY OF THE INVENTION The present invention is directed to a method of processing metamorphic images (especially, ultrasound images) that can accurately measure the size of the prostate (M prostate as an example). According to the present invention, there is also disclosed a simple method for estimating the prostate rotator using a computer, which is further used for transureterectomy prostate surgery. According to a preferred embodiment of the present invention, an ultrasonic scanning method for automated prostatectomy using a robot system, which includes a surgical robot, which has a head shaft, a computer, and a 4-axis motion controller, an ultrasonic scanner, and an ultrasonic probe (transureteral or transrectal type paper size is applicable to China National Standards (CNS) A4 specifications (210X297 mm) nn nn —Lr m _ --- Γ-* --- ^ -install-- (please read the note Ϋ on the back before filling in this page) A7 B7 printed and printed by the Employees ’Cooperative of the Central Bureau of Economic Development of the Ministry of Economic Affairs 5. Description of the invention (5) ), The probe passes through the sheath of the excision mirror installed on the surgical robot. The method includes the following steps: (a) Engage the excision mirror to the robot. The robot has been suspended at the non-interfering reference position of the counterweight overhead (called Jingfu); (b) Scanning the patient ’s prostate by moving the shaft of the surgical robot with the ultrasound probe installed; (c) The scanned image from step (b) is fed into the frame receiver, and Digitize the image to provide lotus image processing; and (d) by Brain prostate contour plots. According to the present invention, the computerized evaluation of ultrasound images using radial transfer and storage terrain methods includes the following steps: (a) Reverse the ultrasound image of the prostate to obtain a negative image; (b) Proportionally magnify the negative image in the orthogonal direction The magnified image is obtained from the image; (c) The magnified image of (b) is added to the ultrasonic image obtained as the first item of the scope of the patent application to obtain the grayscale transfer and storage terrain image, now with edge information enhancement; (cl ) Dualization (c) The resulting transfer and storage of terrain images to remove the gray scale; Printed by the Central Bureau of Economics of the Ministry of Economic Affairs, printed by the Male Workers ’Consumer Cooperative (please read the precautions on the back before filling this page) (e) Expansion and dissolution (D) the binary image, to obtain a smoother outline of the prostate edge contour; and (f) the thinned (e) expansion or dissolution image to provide a simplified outline, which is determined by the contour of the prostate Seminal vesicles. Therefore, the object of the present invention is to provide an ultrasonic image processing method. The paper scale is printed using the Chinese National Standard (CNS) A4 (210X297 mm). The A7 B7 is printed by the Beigong Consumer Cooperative of the Central Bureau of Economic Development of the Ministry of Economic Affairs. Explanation (6), in which the surgical resection mirror and the scanning ultrasonic probe are carried by the robot, so they share the same reference frame as the robot. Another object of the present invention is to provide an ultrasonic image processing method for automated prostatectomy, in which the cumbersome alignment and pre-operation (preoperative and intraoperative) can be eliminated by sharing the reference point of the imaging system and the robot Data matching). Yet another object of the present invention is to provide an ultrasonic image processing method for automated prostatectomy, in which the time taken to capture and process each scan is shortened. Still another object of the present invention is to provide an ultrasonic image processing method for automated prostatectomy, in which the robotic surgical equipment is greatly simplified by setting a counterweight overhead. These and other features, aspects, and advantages of the present invention will be self-evident from the following description, the accompanying patent application scope, and the drawings. The drawings are: a brief description of the drawings. FIG. 1 illustrates an example according to the present invention. The setup of the computer-assisted ultrasound imaging device; Figure 2 illustrates the outline of the surgeon-assisted robot for the specially selected urinary diseases according to the present invention; Ultrasonic scanning: Figure 4 illustrates the simple negative image of Figure 3 according to the invention; Figure 5 illustrates the addition of images from Figure 4 to Figure 3 according to the invention; (Please read first Note on the back and then fill out this page) — ^ 1 Λ1 ^ 1 ^ 1. Ml- n «Λ 丨 Binding-. This paper size is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 public) Central Ministry of Economic Affairs Printed 319687 A7 __B7_ by the Bureau of Standards Consumer Labor Co., Ltd. V. Description of the invention (7) Figure 6 illustrates the binary image of Figure 5 according to the invention; Figure 7 illustrates the sixth image according to the invention Smoothing images by expansion and erosion; FIG 8 illustrates an example of the present invention have the capture seminal contour image; illustrates an exemplary of the present invention seminal vesicle / adenoma contour of the formula X-Y coordinate and Figure 9 an example. For a description of a preferred specific example, refer to FIG. 1, which shows a schematic diagram of a computer-assisted ultrasound imaging system, which is collectively referred to as a specially selected surgical auxiliary robot for urinary disorders, or “SAURD”. According to the invention, the system includes a personal computer 10, a motherboard equipped with a high-speed frame receiver 12 with hardware to perform image processing functions, such as inversion, addition, and magnification, a 4-axis The motion controller U includes a surgical robot 16, an ultrasonic scanner 18, and a transrectal or transureteral probe 20. The ultrasonic scanner 18 can be selected from Bruel and Kjoer 1846 scanner or Krez Combinson 4.30. In a preferred embodiment of the present invention, the robot 16 is suspended on the counterweight and fixes the transrectal ultrasound probe or the transureteral ultrasound probe 20. The 4-axis lotus motion controller 14 provides four-axis lotus motion, that is, , Head movement axis (linear axis), ring axis (rotation), arc axis (rotation), and pivot length axis (linear). Each axis is mounted on the other axis in this order. Figure 2 schematically shows a sketch of the robot 16 according to the invention. As shown in Figure 2, the ureteral probe 20 passes through the sheath of the excision mirror 22. A connector (not shown) is provided to provide the mirror 22 to be rigidly mounted on the robot 16. A different connector (not shown) that deviates from the central axis of the excision mirror 22 (This paper size applies to the Chinese National Standard (CNS) A4 specification (210X297mm) (Please read the precautions on the back before filling out this page) Λ 丨 装. Order- Du Yin 11 Employee Consumer Cooperation of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs 11 A7 B7 V. Description of invention (8) Used for transrectal probes (not shown). As shown in FIG. 2, when the reference position (an anatomical landmark called Jingfu) is found during endoscopy and is not disturbed, the resection mirror 22 engages the robot 16. The robot 16 is suspended from the counterweight overhead, and specially designed tool holders are used for installation. Before surgery, the prostate used SARUD transureteral ultrasound scan or SARUD transrectal ultrasound scan. Only move the 16-axis axis of the robot to tear the remaining part of the robot arm. It includes a horizontally mounted ultrasonic probe 20 and its connector (not shown), so it can scan many prostate cross-sections, starting from the bladder neck and facing the fine. Fu direction. The length of the prostate (from the sperm to the bladder neck) is obtained by manually extending the head of the robot by controlling the K endoscope before scanning. The aforementioned method uses the robot 16 tool holder to install the surgical resection mirror 22 and the scanning ultrasound probe 20 at a time. Throughout the scanner and resection procedure, the outer sheath of the resection mirror 22 is held by the patient's ureter. This ensures that the image reference axis is aligned with the sleeves and parallel to the 16 head axis of the robot. Because the same axis is used for resection, as a result, there is no need to align or preoperative and intraoperative data. Scanning is performed during surgery, and the image reference frame is the same as the robot 16 reference frame. When the scan is completed, a cutting element (not shown) is introduced and attached to the sheath of the ablation mirror 22 without disturbing the target position, or a robot 16 with a counterweight elevated frame and a structure rigidly installed is used. During the scanning process, the ultrasonic image is fed into the frame receiver 12. The frame receiver 12 digitizes the image and can perform arithmetic image processing. Each horizontal scan is captured, displayed on the monitor, stored, and finally used for file creation. All the prostate contours can be used by surgeons or well-trained persons (who are controlled and supervised by computer) using light pens, or introducing automatic seminal vesicle tracings. The paper size is suitable for China National Standardization (CNS) Α4 said grid (210X297 mm.) —, I ------% --- 1 --11--Subscribe ------ ^ (Please read the notes on the back first and then fill out this page) Employee Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs Printing bag A7 B7 5. Description of invention (9) Program to draw the outline. It is important to shorten the TURP time so that the patient does not have to be anesthetized for a long time. In addition, it reduces the absorption of injection fluid, which can avoid complications such as breathing difficulties and blood thinning. In addition, there is less blood loss. It is extremely time-consuming to draw the seminal vesicles artificially, especially when the surgeon is not skilled in reading the sonogram. Depending on the length of the prostate and the required accuracy and resolution, it is easy to make more than ten cross-sections, and each section needs to draw the seminal vesicle. Since it is hoped that the robot 16 will complete the entire operation within 30 minutes, it is highly hoped that the scan will take no more than 5 to 8 minutes and leave enough time for resection. According to the present invention, it is desirable to seek automated drawing by means of computer drawing. A novel method of change is called transfer and storage of terrain. This is known in photography technology. It can quickly and completely capture the contour of the prostate gland from horizontal images taken through the ureter or the rectum. The method of transferring and storing terrain can add a three-dimensional spatial effect to the printed image. To obtain a clear image from the computer memory, remove the undesired branches detected at the same time as the required corridor. The unavailable information needed to complete the prostate carousel can be extrapolated based on scanning in the neighboring area. Figure 3 shows a typical transverse ultrasound scan of the transrectal prostate. The prostate carousel is marked with white arrows. The seminal vesicle / adenoma wheel gallery (the boundary between the seminal vesicle and the hypertrophic tissue "adenoma") is located within the prostate gland. The adenoma is removed surgically. As shown in the figure, it is clear that there is a high-density target, such as stones, at the position marked “X”. Figure 4 shows the negative image of the ultrasonic image of Figure 3. The negative image is proportionally enlarged in the orthogonal direction. Then, the enlarged negative image is added to the original image. The result of the addition is shown in Figure 5. Figure 5 shows that the band around the edge comes from the negative image is larger than the original image. This is the result of the PBR method. Very basic to use (please read the notes on the back before filling in this page) — ^ 1 ----- 1 n ^ i IL7 n mw.- ί —I- lw-. 1-i 1. Order-
Ai. 本紙張尺度逍用中國國家標準（CNS ) A4規格（210X297公釐） A7 B7 五、發明説明（10) 數位影像操作（稱二元化），影像被進一步處理而去除灰 階。二元化影像示於第6圖。欲獲得精囊輪廊之更平順外 形，二元化影像接受所謂「擴張」與「溶蝕」操作。此等 操作修補輪廊帶的小「孔」（如第7圖所示）俾輔助次一 操作，稱為節略或稀薄。第8圖顯示稀薄後擷取的精囊輪 廓。「擴張」與「溶蝕」操作和節略操作可使用影像處理 套裝軟體（例如，「Optimas」得自Bioscan公司）完成。 標K「X」的標的物可產生回波，其通出徑向路徑的 全部有用資訊。於第8圖可見偏離所需輪廊的短分支（偁 爾長分支）。須應用某種外推與消除分支，俾獲得如第9 圖所示輪廊。此外，整個尺寸須適量縮小俾彌補負像的放 大。根據本發明，徑向轉移與儲存地形（RBR)可由習知影 像處理方式（例如，灰階常規化等，係於特定區內逐一處 理像素）獲益。若無機械人臺RBR也無法發揮效果。 顯然易知對醫學顯像可做多種變化與修改。可未悖離 如隨附之申請專利範圍陳述之本發明之精髓及範圍做出此 等變化及其它。 nn n^i n^i 0 -----,---^ —裝-- (請先閱讀背面之注意事項再填寫本頁)Ai. This paper scale uses the Chinese National Standard (CNS) A4 specification (210X297mm) A7 B7 V. Invention description (10) Digital image operation (called binary), the image is further processed to remove grayscale. The binary image is shown in Figure 6. To obtain a smoother shape of the seminal vesicles, the binary image is subject to the so-called "expansion" and "erosion" operations. These operations repair the small "holes" (as shown in Figure 7) of the corridor belt to assist the next operation, which is called abbreviation or thinning. Figure 8 shows the outline of the seminal vesicles captured after thinning. "Expansion" and "dissolution" operations and abbreviated operations can be done using image processing software packages (for example, "Optimas" from Bioscan). The object marked K "X" can generate an echo, which leads to all useful information of the radial path. In Figure 8 you can see a short branch (a long branch) that deviates from the required wheelhouse. It is necessary to apply some kind of extrapolation and branch elimination to obtain a wheelhouse as shown in Figure 9. In addition, the entire size must be reduced to compensate for the enlargement of the negative image. According to the present invention, radial transfer and storage terrain (RBR) can benefit from conventional image processing methods (eg, grayscale regularization, etc., which process pixels one by one within a specific area). Without the robot table RBR, it will not be effective. Obviously, Yi Zhi can make many changes and modifications to medical imaging. These changes and others can be made without departing from the essence and scope of the invention as stated in the accompanying patent application scope. nn n ^ i n ^ i 0 -----, --- ^ —install-- (please read the notes on the back before filling this page)
tT .ο 經濟部中央樣準局属工消费合作社印製 本紙張尺度逍用中國國家榇準（CNS ) A4规格（210X297公釐） 319687 A7 B7 五、發明説明（11 ) 元件標號對照 10.. ..個人電腦 12.. ..圖框接收器14.. ..4.蓮動控制器 16.. ..機械人 18.. ..超音波掃描器 20.. ..超音波探針 22.. ..切除鏡 • 1^1^1 —^n —m —Βι^ν (請先閱讀背面之注意事項再填寫本頁) • 1-< J— »tT.ο The Ministry of Economic Affairs, Central Bureau of Standards, Printing and Printing Co., Ltd. of the Industrial and Consumer Cooperative Society uses the Chinese National Standard (CNS) A4 specifications (210X297mm) 319687 A7 B7 V. Description of the invention (11) Comparison of component labels 10. .. Personal Computer 12 ... Frame Receiver 14 ... 4. Lotus Motion Controller 16 ... Robot 18 ... Ultrasonic Scanner 20 ... Ultrasonic Probe 22 .. .. excision mirror • 1 ^ 1 ^ 1 — ^ n —m —Βι ^ ν (please read the precautions on the back before filling this page) • 1- < J— »
Λ-裝-----訂------A 經濟部中央棣準局員工消費合作社印裝 本紙铁尺度ϋ用中國國家揉準（CNS ) A4规格（210X297公釐）Λ- 装 ----- 定 ------ A Printed and printed by the Employee Consumer Cooperative of the Central Bureau of Economic Affairs of the Ministry of Economic Affairs The iron standard of this paper is the Chinese National Standard (CNS) A4 (210X297mm)