WO2003063719A1

WO2003063719A1 - Skin-cutting surgery support system

Info

Publication number: WO2003063719A1
Application number: PCT/JP2003/000803
Authority: WO
Inventors: Sadao Omata; Hideyuki Usui
Original assignee: Nihon University
Priority date: 2002-01-29
Filing date: 2003-01-28
Publication date: 2003-08-07
Also published as: JPWO2003063719A1

Abstract

A television camera (15) picks up an image of an organism (1) and a probe (7) brought into contact with the surface of the organism (1). An image of a marker attached to the probe (7) picked up is isolated from the full image by a probe position signal isolation unit (21). Marker position information is acquired by a position acquiring unit (41). A marker trace signal (45) is generated by a trace signal generation unit (43). The sensing signal detected by the probe (7) generates a hardness signal (51) via a hardness calculation unit (47) and a hardness signal generation unit (49). In an overlap unit (23), the marker trace signal (45) and the hardness signal (51) are overlapped with a full screen signal (35), so that the organism image is overlapped with the hardness information image correlated with the probe current position and movement trace and they are displayed on a display (25).

Description

Description Skin open surgery surgery support system Technical field

The present invention relates to a skin-opening surgery support system that supports a skin-opening surgery for opening a skin part of a living body and performing treatment on an affected area inside the body. Background art

In open skin surgery in which the skin of a living body is opened and the affected area inside is treated, it is important to distinguish the site to be treated, that is, the affected area of the living body and other parts. In general, the affected part has a different hardness from other parts such as cirrhosis. Therefore, the surgeon manually palpates the surface of the opened skin and determines the difference in hardness between the affected part and other parts by tactile sensation. Japanese Patent Application Laid-Open No. Heisei 9-1455691 discloses a method for quantitatively measuring the degree of hardness of an affected part. A means for accurately measuring hardness information in a wide range from a hard object to a hard object is disclosed.

As described above, in the prior art, the difference in hardness between the affected part and other parts can be determined by the operator's tactile sensation, and the degree of hardness of the affected part can be known by numerical display of a hardness measuring instrument. However, the operator's tactile method requires experience, and individual differences in the discrimination between the affected area and other parts appear. In addition, since the hardness meter displays only numerical values, the difference in hardness between the affected part and other parts cannot be visually recognized in a real time during the operation.

An object of the present invention is to solve such a problem of the prior art, and perform a skin surgery in which the difference in hardness between an affected part and another part is visually displayed in real time during the operation without using the operator's tactile sensation. To provide a support system. Disclosure of the invention

In order to achieve the above object, a surgical operation support system according to the present invention detects a difference in hardness between an affected part of a living body and another part during open skin surgery, and performs an operation for assisting the operation. A support system, comprising: an imaging / display unit that images a surgical target region of a living body and projects it on a screen; and a living body hardness detecting unit that has a probe that comes into contact with the living body and detects the hardness of the living body. The imaging and display means corresponds to a probe trajectory superimposing unit that superimposes and displays a moving trajectory when the probe is moved on a living body in a surgical object of the living body. And a trajectory-corresponding hardness display unit for displaying the hardness of the living body.

Further, the skin-opening surgery support system according to the present invention preferably further comprises a contact pressure detection sensor for detecting a contact pressure of the probe with respect to a living body.

In the skin-opening surgery support system according to the present invention, it is preferable that the trajectory-corresponding hardness display unit displays the hardness of a living body under a constant contact pressure.

Further, in the skin-opening surgery support system according to the present invention, the living body hardness detecting means includes a vibrator and a vibration detection sensor provided at a tip, an input terminal connected to the vibrator, and a vibration detection sensor. A probe unit having an output terminal connected to the probe, an amplifier having an input terminal connected to the output terminal of the probe, and a probe unit provided between the output terminal of the amplifier and the input terminal of the probe. A phase shift circuit that changes the frequency and shifts the phase difference to zero when a phase difference occurs between the input waveform and the output waveform from the vibration detection sensor, and includes a resonance state of a closed loop including the probe and the living body. It is preferable to calculate the hardness of the living body from the frequency change caused by the change in the hardness of the living body while maintaining the above.

Further, it is preferable that the skin-opening surgery support apparatus according to the present invention further comprises: a marker that is linked to the movement of the probe. Further, in the surgical operation support apparatus according to the present invention, it is preferable that the marker is a hemispherical light reflector provided on the probe.

An open-cutting surgery support system according to the present invention includes: an imaging / display unit that images an operation target region of a living body and projects the image on a screen; and a probe that comes into contact with the living body, and detects the hardness of the living body. Means. Then, the probe is moved so as to scan on the living body, and when the hardness of the moving range is measured, the movement trajectory of the probe is displayed on the display of the imaging unit and the hardness corresponding to the movement trajectory is displayed. Is superimposed on the same display. Therefore, the difference in hardness between the affected part and the other part can be visually displayed in real time during the operation, without depending on the operator's tactile sensation.

Regarding the display of the movement path of the probe, the color of the screen in the moved area can be changed before and after the current position of the probe.For example, when the living body part is displayed in full color, the movement path of the probe can be displayed in black and white it can. This clarifies the positional relationship between the current position of the prop on the living body and the trajectory.

In addition, the display of the change in hardness corresponding to the movement locus is displayed on a display area of the display that does not hinder the display of the movement locus of the probe, for example, a band at the bottom of the display screen, an index indicating the position of the movement locus on the horizontal axis, It can be shown by a graph with the ordinate representing hardness. Also, for example, a white circle on the graph can indicate the hardness of the current position of the probe. In addition, the display of the change in hardness can be represented by, for example, changing the shading of the color or the roughness of the mesh within the region of the moving trajectory according to the difference in hardness. As a result, in the hardness display, the current position of the probe on the living body is clarified, and the difference in the hardness is clarified in which position from the current position of the probe, and the hardness is determined by the tactile sensation of the operator. Instead, the difference in hardness between the affected part and other parts can be visually displayed in real time during the operation.

The skin-opening surgery support system according to the present invention further includes a contact pressure detection sensor that detects a contact pressure of the probe with respect to a living body. This By displaying the output of the contact pressure sensor on a display, etc., the hardness of the living body can be measured while monitoring the contact pressure, and surgery support can be performed in consideration of the effect of the contact pressure on the hardness of the living body.

Further, in the open-skin surgery support system according to the present invention, a contact pressure sensor is used to display the hardness of a living body under a constant contact pressure. Therefore, it is possible to change the contact pressure to be set, for example, by setting a low contact pressure to the condition of the living body, for example, a soft tissue, and to perform surgery support in consideration of the influence of the contact pressure on the hardness.

Further, in the skin-opening surgery support system according to the present invention, the living body hardness detecting means includes: a probe having a vibrator and a vibration detection sensor at its tip; and a closed loop including a living body, an amplifier and a phase shift circuit. Is provided. Then, when a phase difference occurs between the input waveform to the vibrator and the output waveform from the vibration detection sensor, the phase shift circuit changes the frequency to shift the phase difference to zero. It is possible to calculate the hardness of the living body from the frequency change caused by the change in the hardness of the living body while maintaining the closed loop resonance state. Therefore, by expressing this hardness on the display using graphs, color differences, etc., the difference in hardness between the affected part and other parts can be realized in real time during surgery, regardless of the operator's tactile sensation. It can be displayed visually. Further, the skin-opening surgery support apparatus according to the present invention further includes a marker linked to the movement of the probe. It is preferable that the marker is a hemispherical light reflector provided on the probe. The current position of the probe can be recognized irrespective of the attitude of the probe by imaging the reflected light from the hemispherical light reflector.

Further, it is preferable that the trajectory-corresponding hardness display unit selects a color within the contour of the movement trajectory according to the calculated hardness of the living body, and forms and displays an image representing the hardness of the living body. With the above-described configuration, the hardness is displayed in different colors. Therefore, the difference in hardness between the affected part and other parts can be visually displayed.

In addition, the formation of an image representing the hardness of the living body is distinguished from the color of the surgical target area of the living body. If the hardness is harder, select the shade of the hardness display color according to the hardness of the living body, and replace the color of the living body in the outline of the movement trajectory with the hardness display color. It is preferable that the color is selected so as to give a darker hardness display color and a softer hardness display color when the color is softer.

With the above configuration, for example, when the operation target area is reddish, the display color of the hardness is selected to be blue, and the color in the outline of the movement locus is changed from reddish to blue. Then, add shades in the blue range, and make the harder parts dark blue and the softer parts lighter. Therefore, the affected part can be clearly distinguished from other parts, and the difference in hardness can be visually displayed.

The image representing the hardness of the living body is formed by using a hardness display color that can be distinguished from the image of the operation target region of the living body, and according to the hardness of the living body, the hardness display color and the color of the living body in the movement locus. It is preferable to select a color mixture ratio such that when the hardness is harder, the ratio of the hardness display color is increased, and when the hardness is softer, the ratio of the color of the living body is increased.

With the above configuration, for example, when the operation target area is reddish, the display color of the hardness is selected to be blue, and the color in the outline of the movement locus is a mixed color of reddish and blue. Then, the degree of color mixing is selected according to the hardness, with the harder parts being bluer and the softer parts being redder. Therefore, the hardness is displayed in blue with red as the background color, and even when the hardness is displayed, the color of the surgical target area of the living body can be seen through on the background, and the hardness of the living body is displayed in that part. The color of the living body can be seen and visually displayed.

Further, in the open-skin surgery support system according to the present invention, the color of the surgical operation target area image of the living body between the plurality of hardness images is selected based on the colors constituting each hardness image, and the interpolated hardness is selected. It is preferable to include an interpolation hardness image forming unit for forming an image.

According to the above configuration, not only is the hardness displayed in the movement trajectory, but when there are a plurality of movement trajectories, that is, the hardness display image, the area between the movement trajectories is displayed. Is also displayed by interpolation. Therefore, the hardness distribution over a wide area can be displayed by interpolation, and skin surgery can be efficiently supported. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a block diagram of a skin surgery support system according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a relationship between a screen from a full-screen signal, a screen from a trajectory signal, and a screen from a hardness signal when superimposing a screen on a display according to an embodiment of the present invention. FIG.

FIG. 3 is a diagram showing a display method on another display according to the embodiment of the present invention.

FIG. 4 is a sectional view of the probe according to the embodiment of the present invention.

FIG. 5 is a block diagram showing a part related to hardness detection extracted from components of the prop according to the embodiment of the present invention.

FIG. 6 shows color data of each point along the center line of the moving trajectory of the highest power in the upper part of the image obtained by removing the probe image from the screen from all image signals in the embodiment of the present invention. Is a diagram shown in the lower part of FIG.

FIG. 7 shows, in the embodiment of the present invention, an image obtained by giving a color representing hardness in the outline of the moving trajectory of the marker in the image from the trajectory signal of the marker, FIG. 3 is a diagram showing color data of each point in the lower row.

FIG. 8 is a diagram showing an image obtained by synthesizing the image of FIG. 6 and the image of FIG. 7 by the replacement method in the upper part of the embodiment of the present invention, and the color data of each point is shown in the lower part.

FIG. 9 shows an image obtained by combining the image of FIG. 6 and the image of FIG. 7 by the watermarking method in the embodiment of the present invention in the upper part, and the color data of each point in the lower part.

FIG. 10 is a diagram showing two marker movement trajectories according to the embodiment of the present invention. It is a figure which shows the image which gave the color which shows hardness in the area | region.

FIG. 11 shows an embodiment of the present invention in which an image obtained by interpolating the hardness of a region sandwiched between two movement trajectories is sandwiched between each point in the contour of the movement trajectory and the movement trajectory in an upper row. The lower row shows the color data of each point in the shaded area.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram of a skin surgery support system 3 that supports open skin surgery of a living body 1. The open-skin surgery support system 3 includes imaging and display means 5 for imaging an operation target area of the living body 1 and displaying the image on a screen, and a probe 7 for detecting the hardness of the living body by contacting the living body 1 with a probe 7. Further detects the contact pressure of the probe 7 on the living body.

The imaging / display means 5 is a television camera for imaging the probe 7 including the living body 1 and the marker 1 by the reflected light 11 from the surface of the living body and the reflected light 13 from the marker attached to the probe tip. 15 is provided. In addition, as an intermediate signal processing, the signal of the reflected light portion of the probe is extracted from the full screen signal captured by the TV camera 15, and a probe position signal 19 is generated separately from the full screen signal 17 And a superimposition unit 23 for superimposing a full-screen signal 17 and a locus signal, a hardness signal, and a contact pressure signal, which will be described in detail later. Furthermore, a display 25 for displaying a superimposed image based on the signal superimposed by the superimposing unit 23 is provided.

Further, the open skin surgery support system 3 includes a position acquisition unit 41 for acquiring a probe position from the probe position signal 37, and the trajectory signal generation unit 43 scans the probe 7 on a living body. The position of each probe at the time of movement is stored, and a trajectory signal 45 representing the trajectory of the probe 7 is generated.

In addition, it processes the sensing signal from the probe 7 and A hardness signal 51 for displaying the hardness on the screen is generated through a hardness signal generator 49.

Further, it processes the sensing signal from the probe 7 and generates a contact pressure signal 57 for displaying the contact pressure on the screen via the contact pressure calculation unit 53 and the contact pressure signal generation unit 55.

The operation of such a configuration will be described. When performing skin open surgery on the living body 1, the television camera 15 is set directly above the living body 1, and the operation target area is displayed on the display 25. Next, the operator performing the operation brings the probe 7 into contact with the surface of the living body 1. Then, the probe 7 is moved so as to scan the surface of the living body 1 while watching the display 25.

The image of the marker attached to the probe 7 picked up by the TV camera 15 is separated from the entire image by the probe position signal separation unit 21 and a signal relating to the position of the key is obtained. Using this signal, the position acquisition unit 41 acquires the instantaneous position information of the marker, and the trajectory signal generation unit 43 connects the position information of the moved range of the marker to create a movement trajectory. , And generate a trajectory signal 45. The trajectory signal 45 is superimposed on the full-screen signal 17 in the superimposition section 23, so that the biological image and the image of the movement trajectory are superimposed and displayed on the display 25.

In addition, the sensing signal detected by the probe 7 passes through a hardness calculator 47 and a hardness signal generator 49 to generate a hardness signal 51. The hardness signal 51 is superimposed on the full-screen signal 35 and the trajectory signal 45 by the superimposition unit 23, so that a living body image and the like and a hardness information image associated with the current position and the movement trajectory of the probe can be obtained. Are superimposed and displayed on the display 25. An image based on the contact pressure signal can be further superimposed.

In Fig. 2, to explain the superimposition of the screen on the display, the elements are divided into a screen 61 from a full screen signal, a screen 63 from a locus signal, and a screen 65 from a hardness signal. It is a figure showing mutual relations. Screen from full screen signal As for 61, an image 73 of the surface of the living body and an image 73 of the probe in contact with the living body are displayed. Also, an image 75 of the marker provided at the tip of the probe is displayed. Displaying these images in full color allows the surgeon to easily compare the image on the display screen with the actual living body.

On the screen 63 based on the trajectory signal, an image 77 of the current position of the marker and a trajectory image 79 showing the moving range of the marker in a predetermined period are displayed. The predetermined period can be, for example, a period after the operator presses the start button. At this time, the trajectory image is a trajectory image indicating the moving range of the marker 1 during the period from when the start button is pressed to the present. The trajectory image 79 of the trajectory that has moved the most can be displayed in different colors. For example, when the screen 61 from the full screen signal is full color, the moving trajectory of the marker is displayed in black and white by displaying the biological image in the range where the marker has moved in a predetermined period. And can be easily distinguished. Since the image 707 of the current position of the marker and the trajectory image 79 are displayed separately, the trajectory where the marker has moved by one degree is used as shown in the example of the screen 63 from the trajectory signal in Fig. 2. Even when returning to, the trajectory once moved before is displayed as it is. This clarifies the relationship between the marker's current position and the trajectory.

On the screen 65 from the hardness signal, the current position is displayed with the probe model mark.The current position image 81, the moving trajectory range image 83 showing the range of the moving trajectory with a thin band-like pattern, and the horizontal axis The position coordinates of the movement trajectory, the hardness-one-position relationship graph frame image 85 with the vertical axis representing hardness, and the change curve image 87 according to the hardness position shown in the graph frame are displayed. . The display area of these images is set to an area below the entire screen of the display that does not hinder observation of the whole image of the living body. In addition, the display area of these images can be moved within the range of the entire screen of the display, and can be arbitrarily moved to an area that does not hinder observation of the whole image of the living body or the like. Also, the current position image 81, The surrounding image 83 can be included in the change curve image 87 and displayed. For example, the range on the horizontal axis of the change curve can be displayed as the range of the movement locus, and the current position can be indicated by a bright spot on the change curve.

FIG. 3 is a diagram showing another embodiment of superimposed display on a display. Here, along with the image 77 of the current position of the marker and the trajectory image 89 of the moved marker, the difference in hardness is directly displayed in the area of the trajectory image 89 by the difference in roughness of the mesh. The screen is provided with a force sol 91 indicating the relationship between the roughness and the hardness of the mesh. In addition to differences in mesh roughness, differences in hardness may be indicated by differences in colors, differences in shades of colors, etc.

By superimposing the full-screen signal 17, the trajectory signal 45, and the hardness signal 51 in the superimposition unit 23, the display 25 displays the screen 61 from the full-screen signal and the trajectory signal A screen in which screen 63 and screen 65 from the hardness signal are superimposed is displayed. Furthermore, a screen based on the contact pressure signal 57 can be superimposed.

FIG. 4 is a cross-sectional view of the probe 7 and a diagram illustrating a connection relationship between the hardness calculator 47 and the contact pressure calculator 53. One end of a leaf spring 103 is fixed to the housing 101 of the probe 7, and a substantially hemispherical biological contact ball 105 and a vibrating body 107 are vibrated at the tip of the leaf panel 103. _c laminate of the sensor 1 0 9 is mounted also on the opposite side of the plate panel 1 0 3, contact pad 1 1 1 is provided, the contact Pas Uz de 1 1 1 casing 1 0 facing the The contact pressure detection sensor 1 13 is attached to the part 1. The vibrating body 107 and the vibration detection sensor 109 are respectively connected to the hardness calculation unit 47 by signal lines 115 and 117, and the contact pressure detection sensor 113 is connected to the signal line 119 by signal lines. Connected to contact pressure calculator 53. A substantially hemispherical light reflector 122 is attached to the outer wall of the housing 101 corresponding to the position of the living body contact ball 105.

The light reflector 122 can be obtained by applying gloss to metal or plastic, and the size is preferably 3 to 5 mm. The contact pressure detection sensor is It can be configured with a gauge. The method of attaching the substantially hemispherical living body contact ball 105, the vibrating body 107, and the vibration detecting sensor 109 to the tip of the plate panel 103 may be screwing or the like in addition to bonding. The configuration of the part for hardness detection will be described later in detail with reference to FIG.

The operation of the probe 7 having the configuration shown in FIG. 4 excluding the details of the hardness detection will be described. In order to detect the hardness of the living body, the surgeon has a handle (not shown) of the housing 101 and contacts the living body contact ball 105 with the living body. Due to the contact, the distal end portion to which the living body contact ball 105 is attached moves through the panel panel 103 toward the upper part in FIG. 4, that is, toward the ceiling of the housing 101, and the panel panel The contact pad 111 provided on the opposite side of the end of 103 is pressed against the contact pressure detection sensor 113. The contact pressure detection sensor 113, which is composed of a strain gauge, is capable of sensing the pressure applied, that is, the strain corresponding to the reaction force received by the living body contact ball 105 from the living body. A signal can be input to the contact pressure calculator 53 via the signal line 119 to calculate the contact pressure.

In addition to calculating the contact pressure, the contact pressure calculating section 53 can also set a constant contact pressure in advance and issue a constant contact pressure signal when the contact pressure reaches the constant value. The constant contact pressure signal is sent to the hardness calculating section 47 or the hardness signal generating section 49, and the hardness can be calculated or the hardness signal can be generated only when the constant contact pressure signal is sent. This makes it possible to display the hardness of a living body under a certain contact pressure.

A television camera is set above the probe 7 to detect the state of a living body and the movement of the probe 7 as an image. Here, since the light reflector 122 is substantially hemispherical and provided corresponding to the position of the living body contact ball 105, the position of the image of the light reflector 122 captured by the TV camera is: Even if the posture of the probe 7 changes, it almost indicates the position where the living body contact ball 105 comes into contact with the living body. In other words, the light reflector 1 2 1 is used as a key to work with the probe movement. Can be.

Next, a portion related to hardness detection will be described in detail. Fig. 5 is a block diagram of the components of the probe that are related to hardness detection. A vibrating body 107 and a vibration detection sensor 109 are laminated on the living body contact ball 105 by bonding. The signal line 1 17 from the vibration detecting sensor 109 and the signal line 1 15 to the vibrating body 107 are connected to the hardness calculating section 47. The hardness calculation section 47 has a signal line 117 from the vibration detection sensor 109 connected to the amplifier 131, and a signal line 115 between the amplifier 131 and the signal line 115 to the vibrating body 107. Is provided with a phase shift circuit 13 3. Phase shift circuit 1 3 3 has frequency deviation detector 1

35 is connected, and a hardness converter 13 7 is connected to the frequency deviation detector 13 5.

When a phase difference occurs between the input waveform to the vibrator and the output waveform from the vibration detection sensor, the phase shift circuit 133 is a circuit that changes the frequency and shifts the phase difference to zero. Regarding the internal configuration and its operation, see JP-A-9-111.

This is described in detail in Japanese Patent No. 456991. The biological contact ball 105 can be obtained by molding an insulator such as a plastic into a substantially hemispherical shape. The vibrating body 107 and the vibration detecting sensor 109 can be obtained by a piezoelectric element or the like. The vibrating body 107 and the vibration detecting sensor 109 may be laminated by bonding, or may be an integrated type using divided electrodes.

Under this configuration, when the living body contact ball 105 is brought into contact with the living body 1, the vibration from the oscillator 107 is given to the living body 1 via the living body contact ball 105, and it corresponds to the hardness of the living body. Then, the vibration whose phase and frequency have changed is returned via the biological contact ball 105. After the returned vibration is detected by the vibration detection sensor 109 and amplified by the amplifier 131, the phase shift circuit 133 detects the input signal to the vibrator 107 and the vibration detection sensor 109. The frequency is changed so that the phase difference from the output signal from 9 becomes zero. Since the change in the frequency, that is, the frequency deviation is a value corresponding to the hardness of the living body, this is calculated by the frequency deviation detector 135. The hardness of the living body can be obtained by detecting and converting into hardness with a hardness converter 13 7.

6 to 9 are diagrams for explaining another embodiment of the display of hardness in the synthesis of the screen on the display. In the display of hardness, a color that can be distinguished from the color of the surgical target area of the living body is selected as the hardness display color, and the inside of the outline of the movement trajectory is colored based on the hardness display color, so that the hardness of the portion is determined. Can be represented. Generally, the color of the surgical target area of the living body is mostly pink to red, so that the hardness display color can be selected from blue, green, and yellow. The coloring method within the outline of the movement trajectory includes a replacement method that replaces the color of the living body in that part with the hardness display color, and a method that leaves the living body color of that part as the background color and allows the background color to be transparent. It is possible to use a watermark method of mixing the color of the living body and the hardness display color so as to be visible.

6, for purposes of explanation, the image 1 6 1 disconnect the image of the probe from the screen from all the image signals in the upper part, each point along the centerline 1 8 1 of the movement locus of the marker one X ₁₅ X ₂ is a diagram showing a Irode Isseki of X ₃ in the lower part. For example, when the living body is cut off and the liver is exposed, the image 161 includes the image 1Ί1 of the liver portion and the image 173 of the living tissue other than the liver outside the liver portion. The color data can be represented by 256 gradations of RGB. In this example, the color of the X ₂ points liver unit content in pure red, the color of a point X ₁₃ X ₃ of the living tissue portion other than the liver is expressed as an off light red clogging pink color.

Figure 7 shows, for the sake of explanation, an image 1 63 with a color representing hardness within the outline 1 Ί 9 of the movement trajectory of the marker in the image from the marker trajectory signal. FIG. 9 is a diagram showing the color data of points X ₄ , X ₅ , X ₆ , and X _{7 in} the outline 179 of FIG. In this example, 0 1 0 at point X ₅ the hardness, the point X _4, X ₆ in 5 0, and 2 5 at point X _5, select the blue hardness display color, hardness data values and blue The hardness data value 100 is set to the color data-evening value 256 by associating the color data with the overnight value. 8, the image 1 6 1 and the image 1 6 5 obtained by synthesizing the image 1 6 3 7 6 by substitution method in the upper, the lower the Irode Isseki of each point X ~ chi ₇ ' FIG. In this example, the color value of the liver part at each point 〜 as a living body is originally 255 for R, but the color value for hardness corresponding to the hardness, that is, 1 2 7, 2 of Β 5 6, 1 2 7, 64 have been replaced. Therefore, the outline 1 19 of the movement locus can be clearly distinguished in the image 17 1 of the liver part, and the inside of the outline 1Ί9 of the movement locus is displayed in a shade of the hardness display color. The hardness can be visually recognized.

9, the image 1 67 obtained by synthesizing the image 1 6 1 and the image 1 6 3 7 6 by watermarking method in the upper part, a drawing color data shown in the lower part of the points X ~ chi ₇ " In this example, the color data of each point の₂ "to Χ ₆ " in the liver part correspond to the original color data of the original organism, R 2 5 5 and hardness. Color data values, that is, 1 2 7, 2 5 6, 1 2 7, and 6 4, are mixed color data values. The mixed color data value X "is the original value of the liver part. Let X be the color data value of, and Υ be the color value of the hardness display color of that part, and let the color mixing rate be, given by Χ "= (1−α) Χ + αΥ.

It is preferable that the color mixing ratio be 50% when the color value corresponding to the hardness is the largest, and 0% when the color value is the smallest. That is, in the hardest part, the color of the liver in the background is mixed half-and-half with the color of the liver in the background, and as the hardness becomes softer, the color of the liver in the background becomes stronger. An example of the color mixing ratio is shown in the lower part of FIG. This makes it possible to visually display the density of the hardness display color as if the liver color was used as a background color and was overlaid thereon.

FIGS. 10 and 11 are diagrams showing another embodiment of an image representing hardness. FIG. 10 shows, for the sake of explanation, the contours 2 1 1, 2 13 of two marker-moving trajectories in an image from the marker-locating signal, and the contours 2 1 1, 2 1 3 of each moving trajectory An image 201 in which a color indicating hardness is applied is shown. In this area, the hardness is interpolated for the area 2 1 5 between the two trajectories. It is an embodiment.

Figure 11 shows an image 203 obtained by interpolating the hardness of an area 205 sandwiched between two movement trajectories. Each point in the outline of the movement trajectory X ₁₁₃ X ₁₂ , X, ₃ The lower row shows the color data of each point X ₂₁ , X ₂₂₅ X ₂₃ in the contour _{213 of the} trajectory, and each point X ₃ , X ₃₂ , X ₃₃ of the area 2 15 sandwiched by the moving trajectory. In this example, the synthesis of the liver part with the image 171 is performed by the replacement method, and the color data of the liver part and the biological tissue other than the liver are omitted. The color data value of each point of the region 2 15 sandwiched between the movement trajectories can be obtained by interpolation based on the color data values in the outlines of the plurality of movement trajectories surrounding the region. Linear interpolation can be used as the interpolation method. Weighted interpolation can also be performed using weighting factors.

In the example of Fig. 11, the color value of the point X ₃ i is based on the color value of the point X (B-127) and the color value of the point X ₂ i (B—127). Interpolation yields (B-127). Irode Isseki value of the point X ₃₂ is Irode Isseki value of the point X ₁₂ (B - 255) and the color data value of the point X ₂₂ (B- 64) on based complement, by between a (B- 160) Desired. Further, Irode Isseki value of the point X _32, in addition to the interpolation of the point X ₁₂ and the point X _22, between complementary with interpolation and point X i and the point x ₂₃ between the point X ₁₃ and the point X ₂ i Can also be taken into account. Thus, in the interpolation point to be interpolated, for example, by using as many interpolated color data values for each hardness image surrounding the point X _32, to display the distribution of the smooth hardness over a wide area Can be.

When obtaining the interpolated hardness image, the watermark image may be used in place of the replacement method for synthesizing the hardness image and the image of the operation target region of the living body. In this case, after the hardness is interpolated, color mixing can be performed between the color data value of the interpolated hardness and the color value of the background operation target area image. Industrial applicability As described above, the skin-surgery surgery support system according to the present invention is useful for a system that supports a skin-surgery surgery by determining a site to be treated, that is, an affected part of a living body and other parts.

Claims

The scope of the claims

1. An operation support system that detects the difference in hardness between the affected part of the living body and other parts during open skin surgery, and supports the operation.

Imaging / display means for imaging a surgical target region of a living body and projecting the image on a screen, a living body hardness detecting means having a probe in contact with the living body and detecting the hardness of the living body,

With

The imaging and display means,

A probe trajectory superimposing unit that superimposes and displays a movement trajectory when the probe is moved on a living body on an image of a surgical operation area of the living body;

A trajectory corresponding hardness display unit that displays the hardness of the living body corresponding to the movement trajectory of the probe,

An open skin surgery operation support system comprising:

2. The open skin surgery support system according to claim 1, further comprising a contact pressure detection sensor that detects a contact pressure of the probe with respect to a living body.

3. The skin-opening surgery support system according to claim 2, wherein the trajectory-corresponding hardness display unit displays the hardness of a living body under a constant contact pressure. system.

4. In the open skin surgery support system according to any one of claims 1 to 3,

The living body hardness detection means,

A vibrator and a vibration detection sensor are provided at the tip, a probe section having an input terminal connected to the vibrator, an output terminal connected to the vibration detection sensor, and an input terminal connected to the output terminal of the probe. And an amplifier to which is connected

If a phase difference is provided between the output end of the amplifier and the input terminal of the probe and the input waveform to the transducer of the probe and the output waveform from the vibration detection sensor, the frequency is changed to change the phase difference. A phase shift circuit that shifts to zero, and calculates a hardness of the living body from the frequency change caused by a change in the hardness of the living body while maintaining a closed loop resonance state including the probe and the living body. An open skin surgery support system characterized by the following.

5. The open-cutting surgery support apparatus according to claims 1 to 4,

And a marker that is linked to the movement of the probe.

6. The open-skin surgery support apparatus according to claim 5,

The marker is a hemispherical light reflector provided on the probe.

7. The skin-opening surgery support system according to claim 1, wherein the trajectory-corresponding hardness display unit selects a color within the contour of the movement trajectory according to the calculated hardness of the living body, and An open-skin surgery support system characterized by forming and displaying an image representing the height.

8. In the surgical surgery support system according to claim 1, the image representing the hardness of the living body is formed by using a hardness display color that can be distinguished from the color of the surgical operation target area of the living body. ^ Select the shade of the hardness display color and replace the color of the living body in the contour of the movement trajectory with the hardness display color, and when the hardness is harder, use the darker hardness display color and when it is softer, use the hardness display color An open skin surgery support system characterized by selecting a light hardness display color.

9. The surgical operation support system according to claim 7, wherein the image representing the hardness of the living body is formed by using a hardness display color that can be distinguished from the image of the surgery target region of the living body. The color mixture ratio between the hardness display color and the color of the living body in the movement trajectory is selected, and when the hardness is harder, the ratio of the hardness display color is larger, and when the hardness is softer, the ratio of the color of the living body is higher. An open-cutting surgery support system characterized by selection to increase.

10. The skin open surgery support system according to claim 7, wherein a color of a surgical operation target region image of the living body among the plurality of hardness images is selected based on a color constituting each hardness image, and interpolation is performed. An open skin surgery operation support system, comprising: an interpolation hardness image forming unit that forms a corrected hardness image.