WO2006068285A1 - 物体内部位計測システム、物体内部位計測用演算装置、物体内部位計測用プログラム及びそのプログラムを記録したコンピュータ読み取り可能な記録媒体 - Google Patents
物体内部位計測システム、物体内部位計測用演算装置、物体内部位計測用プログラム及びそのプログラムを記録したコンピュータ読み取り可能な記録媒体 Download PDFInfo
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- WO2006068285A1 WO2006068285A1 PCT/JP2005/023992 JP2005023992W WO2006068285A1 WO 2006068285 A1 WO2006068285 A1 WO 2006068285A1 JP 2005023992 W JP2005023992 W JP 2005023992W WO 2006068285 A1 WO2006068285 A1 WO 2006068285A1
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- Prior art keywords
- image
- object surface
- ray
- position vector
- plane
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- 239000013598 vector Substances 0.000 claims abstract description 254
- 238000003384 imaging method Methods 0.000 claims abstract description 57
- 238000004364 calculation method Methods 0.000 claims description 113
- 238000000034 method Methods 0.000 claims description 62
- 238000005259 measurement Methods 0.000 claims description 39
- 238000006243 chemical reaction Methods 0.000 claims description 33
- 230000009466 transformation Effects 0.000 claims description 25
- 238000007789 sealing Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000003340 mental effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 210000004400 mucous membrane Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000003625 skull Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/022—Stereoscopic imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30036—Dental; Teeth
Definitions
- In-object region measurement system in-object region measurement arithmetic device, in-object region measurement program, and computer-readable recording medium recording the program
- the invention of this application relates to a body part measurement system, a body part measurement arithmetic device, a body part measurement program, and a computer-readable recording medium storing the program. More specifically, the invention of this application uses a two-dimensional X-ray photograph to accurately determine the direction or position of a specific part in an object. This invention relates to a position measurement program and a computer-readable recording medium on which the program is recorded. Background art
- a specific example in medicine is injection into the otogapore in oral surgery.
- a mental hole is a hole with a diameter of a few millimeters in the skull, through which nerves pass, but in some treatments it is necessary to inject drugs into the mental hole by injection.
- the position and direction of the hole is determined by the surface of the object.
- Japanese Patent Laid-Open No. 3-1015 1 discloses that an object to be inspected is moved at a predetermined speed, X-rays are irradiated from different directions, and an X-ray image signal transmitted through the object to be inspected.
- An object inspection apparatus that three-dimensionally inspects a defective part of an object to be measured is disclosed.
- Japanese Patent Application Laid-Open No. 7-9 2 1 1 1 the object to be inspected is fixed, the X-ray source is moved, X-rays are transmitted from two places, and the difference in X-ray transmission amount is used.
- a defect inspection apparatus for detecting the depth of a defective portion of an object to be inspected is disclosed.
- an X-ray image is taken from a plurality of directions, and a diagnostic site such as a blood vessel or a heart of the subject is analyzed from the X-ray image.
- An X-ray diagnostic imaging apparatus is disclosed in which a three-dimensional grasp of a diagnostic part is performed in consideration of errors due to fluctuations in the direction of movement. Disclosure of the invention
- Japanese Patent Laid-Open No. 3-1015 1 is for inspecting a ceramic substrate for defects and the like, and the X-ray is irradiated by moving the object to be inspected at a constant speed. It is not suitable for the purpose of accurately grasping the direction and position of a specific part.
- Japanese Patent Laid-Open No. 7-9 2 1 1 1 is for nondestructive inspection of defects in plants and the like, and there is a problem of exposure dose. It is not suitable for the purpose of grasping accurately.
- Japanese Patent Laid-Open No. 9- 1874 748 uses a depth correction based on images obtained by X-ray photography from two directions in order to grasp the degree of diseases such as blood vessels and the heart. This is a three-dimensional grasp of the state of the diagnosis site. It is not suitable for the purpose of accurately grasping the direction and position of a specific part in the body with respect to the reference position on the surface of the object for injection into the hole.
- the invention of this application was made in view of the circumstances as described above, and inexpensively obtains the three-dimensional information of a specific part such as the direction and position of the mental hole with respect to the reference position on the surface of the object (skin).
- An object is to provide a computer-readable recording medium.
- the technology of this patent can be used not only for internal measurement of the body but also for internal measurement of general objects. Therefore, providing a simple method for measuring the position of a specific part of a general object is also a problem to be solved by this patent.
- the invention of this application first has two frames, an object surface frame that adheres to the object surface and a film frame that adheres the X-ray film, separated from each other.
- a reference object and an input unit for inputting a two-dimensional X-ray image obtained by imaging an internal part of the object with an X-ray imaging device in a state where the object surface frame of the reference object is in close contact with the object surface;
- a first computing unit for determining a projection magnification of the image of the object surface frame based on the size of the predetermined figure existing on the plane and the size of the image of the predetermined figure in the two-dimensional X-ray image; Projection magnification obtained by the second calculation unit and the first calculation unit to obtain the position vector of a specific point on the plane and the position vector of the image of the specific point on the plane of the object surface frame in the 2D X-ray image And the position vector of the specific point on the plane of the object surface frame obtained by the second calculation unit and 3rd computing
- the object surface frame to be brought into close contact with the object surface is brought into close contact with the X-ray film.
- a reference object having two frames, ie, a film frame, spaced apart from each other; and an internal part of the object being imaged from different directions with an X-ray imaging device while the object surface frame of the reference object is in close contact with the object surface
- Input unit for inputting two or more two-dimensional X-ray images, the size of a predetermined figure existing on the plane of the object surface frame, and the size of the image of the predetermined figure in the two-dimensional X-ray image.
- the first calculation unit that calculates the projection magnification of the image of the object surface frame, the position vector of the specific point on the plane of the object surface frame, and the image of the specific point on the plane of the object surface frame in the 2D X-ray image
- the second calculation unit for obtaining the position vector, the projection magnification obtained by the first calculation unit, the object obtained by the second calculation unit, the position vector of the specific point
- a reference object having two frames, ie, an object surface frame closely attached to the object surface and a film position reference frame serving as a position reference of an X-ray film placed at a free position;
- An input unit for inputting a two-dimensional X-ray image obtained by imaging an area inside the object with an X-ray imaging device while the object surface frame of the reference object is in close contact with the object surface, film position reference on the X-ray film Obtain a conversion coefficient for two-dimensional projective conversion of the frame image to the film position reference frame image on the reference plane to be captured when the X-ray film is taken in close contact with the film position reference frame.
- a first arithmetic unit that converts an image of the object surface frame on the line image into an image of the object surface frame on the reference plane, and two-dimensional projection conversion using the conversion coefficient, and exists on the plane of the object surface frame Size of the predetermined figure to be processed and an image of the predetermined figure on the reference plane Based on the size, a second calculation unit that obtains the projection magnification of the image of the object surface frame, the position vector of the specific point on the plane of the object surface frame, and the position of the image of the specific point on the reference plane The third and second calculators that calculate the Based on the shadow magnification, the position vector of the specific point on the plane of the object surface frame obtained by the third calculation unit, and the position vector of the image of the specific point on the reference plane, the X-ray source A fourth computing unit for obtaining a position vector, a fifth computing unit for obtaining a position vector of an image of an in-object region on the reference plane, and an X-ray source position vector obtained by the fourth computing unit; Based on the position vector
- an object surface frame that is closely attached to the object surface and a film position reference frame that serves as a position reference for an X-ray film placed at a desired position are separated from each other by a reference object;
- an input unit that inputs two or more two-dimensional X-ray images obtained by imaging X-ray imaging devices from different directions with the object surface frame in close contact with the object surface
- a first computing unit for performing a two-dimensional projective transformation on the object surface frame on the two-dimensional X-ray image to the image of the object surface frame on a reference plane using the conversion coefficient; and on the plane of the object surface frame The size of the given figure that exists in the
- a second calculation unit that calculates the projection magnification of the image of the object surface frame based on the size of the image of the predetermined figure
- the arithmetic unit Based on the position vectors of the two or more internal objects determined by the arithmetic unit and the sixth arithmetic unit, To provide an object in the site measuring system, characterized in that it comprises a; seventh arithmetic unit having a computing section for determining the location
- an in-object region measurement system according to the first or second invention, further comprising an X-ray imaging apparatus.
- an in-object region measuring system characterized in that imaging is performed using an X-ray force mela instead of using an X-ray film.
- the reference object has a square object surface frame and a square film frame or film position reference frame of the same size.
- An in-object region measurement system is provided.
- the object surface frame of the reference object having two frames, an object surface frame to be in close contact with the object surface and a film frame to be in close contact with the X-ray film, is in close contact with the object surface.
- An input unit that inputs a 2D X-ray image obtained by imaging an internal part of the object with an X-ray imaging device, the size of a predetermined figure on the plane of the object surface frame, and the 2D X-ray image Based on the size of the image of the predetermined figure, a first calculation unit for calculating a projection magnification of the image of the object surface frame, a position vector of a specific point on the plane of the object surface frame, and a two-dimensional X-ray image The second calculation unit that calculates the position vector of the image of a specific point on the plane of the object surface frame inside, the projection magnification calculated by the first calculation unit, and the object surface frame calculated by the second calculation unit Based on the position vector of the specific point on the plane of the object and the position vector of the image of the
- the object surface frame of the reference object having two frames, an object surface frame to be in close contact with the object surface and a film frame to be in close contact with the X-ray film, is in close contact with the object surface.
- An input unit for inputting two or more two-dimensional X-ray images obtained by imaging X-ray imaging devices from different directions in the object, and the plane of the object surface frame
- a first computing unit for obtaining a projection magnification of the image of the object surface frame based on the size of the predetermined figure existing on the image and the size of the image of the predetermined figure in the two-dimensional X-ray image; Projection magnification obtained by the second calculation unit and the first calculation unit to obtain the position vector of the specific point on the surface and the position vector of the image of the specific point on the plane of the object surface frame in the two-dimensional X-ray image And the position vector of the specific point on the plane of the object surface frame and the position vector of the image of the specific point on the plane of the object surface frame obtained by the second arithm
- a third computing unit for obtaining a vector a fourth computing unit for obtaining a position vector of an image of a part in an object in a two-dimensional X-ray image, an X-ray source position vector obtained by a third computing unit, Based on the position vector of the image of the part in the object obtained by the calculation part 4, a fifth calculation part for obtaining the position vector of the part in the object, and In-object region measurement, comprising: a sixth operation unit that determines the three-dimensional position of the in-object region based on the position vectors of the two or more in-object regions obtained by the fifth operation unit An arithmetic device is provided.
- the reference object having two frames that is, an object surface frame to be brought into close contact with the object surface and a film position reference frame serving as a position reference of the X-ray film placed at a free position, are separated from each other.
- a first computing unit for performing a two-dimensional projective transformation on the image of the object surface frame to an image of the object surface frame on a reference plane using the conversion coefficient; and a size of a predetermined figure existing on the plane of the object surface frame And the size of the image of the predetermined figure on the reference plane.
- a second calculation unit for calculating a projection magnification of the image of the object surface frame, a position vector of the specific point on the plane of the object surface frame, and a position vector of the image of the specific point on the reference plane.
- the projection magnification obtained by the third computing unit and the second computing unit, the position vector of the specific point on the plane of the object surface frame obtained by the third computing unit, and the position of the image of the specific point on the reference plane Based on the vector, the fourth calculation unit for obtaining the position vector of the X-ray source, the fifth calculation unit for obtaining the position vector of the image of the part in the object on the reference plane, and the fourth calculation unit
- the obtained position vector of the X-ray source and the object obtained by the fifth calculation unit Based on the position vector of the image of the internal body part, the position vector of the internal part of the object is obtained, and a sixth operation unit is provided for determining the direction of the internal body part relative to the position of the internal body image.
- an arithmetic unit for measuring a part in an object.
- the first object is a reference object having two frames, an object surface frame closely attached to the object surface and a film position S quasi-frame as a position reference for an X-ray film placed at a free position.
- An input unit for inputting two or more two-dimensional X-ray images obtained by imaging an in-object region with an X-ray imaging device with the object surface frame in close contact with the object surface, film position reference on the X-ray film A 2D X-ray image is obtained by obtaining a conversion coefficient for two-dimensional projective transformation of the frame image to the image of the film position reference frame on the reference plane to be taken when the X-ray film is taken in close contact with the film position reference frame.
- the second calculation unit that calculates the projection magnification of the image of the object surface frame, the position vector of the specific point on the plane of the object surface frame, and the position vector of the image of the specific point on the reference plane
- a sixth calculation unit for determining a position vector of the part in the object based on the position vector
- the interior of the object is characterized by using an image captured using an X-ray camera instead of using an X-ray film.
- An arithmetic device for position measurement is provided.
- the object surface of the reference object having two frames, an object surface frame closely contacting the object surface and a film frame closely contacting the X-ray film, separated from each other.
- B for determining the projection magnification of the image of the object surface frame based on the size of the image of the predetermined figure in the two-dimensional X-ray image, the position vector of the specific surface on the plane of the object surface frame, and the two-dimensional Obtaining the position vector of the image of a specific point on the plane of the object surface frame in the X-ray image
- the projection magnification obtained in step C and step A, and the specific point on the plane of the object surface frame obtained in step B To obtain the position vector of the X-ray source based on the position vector of the object and the position vector of the image
- the object surface frame of a reference object having two frames, an object surface frame that is closely attached to the object surface and a film frame that is closely attached to the X-ray film is closely attached to the object surface.
- an object surface frame that is in close contact with the object surface and an X placed at a free position.
- An internal region of an object is imaged by an X-ray imaging device in a state where the object surface frame of a reference object having two frames, which are a film position reference frame which is a position reference of the line film, is spaced apart from the object surface.
- Step B for two-dimensional projective transformation Find the projection magnification of the image of the object surface frame based on the size of the predetermined figure existing on the plane of the object surface frame and the size of the image of the predetermined figure on the reference plane
- Procedure (:, special features on the plane of the object surface frame Find the position vector of the point and the position vector of the image of the specific point on the reference plane D, the projection magnification obtained in step B, and the object obtained in step C
- the position vector of the specific point on the plane of the surface frame And the procedure E for obtaining the position vector of the X-ray source based on the position vector of the image of the specific point on the reference plane, the procedure F and the procedure E for obtaining the position vector of the image of the part in the object on the reference plane
- the position vector of the internal part of the object is obtained, and the position of the internal part of the object relative to the position of the image of the internal part of the object
- the reference object of the reference object having two frames that is, an object surface frame closely attached to the object surface and a film position reference frame serving as a position reference of the X-ray film placed at a free position, is separated from each other.
- Procedure for receiving input of two or more two-dimensional X-ray images obtained by imaging an in-object region with an X-ray imaging device with the object surface frame in close contact with the object surface A, film on X-ray film Obtain a conversion coefficient for two-dimensional projective conversion of the image of the position reference frame to the film position reference frame image on the reference plane that should be taken when the X-ray film is taken in close contact with the film position reference frame.
- Procedure B for two-dimensional projective transformation of the image of the object surface frame on the X-ray image to the image of the object surface frame on the reference plane using the conversion coefficient, and a predetermined figure existing on the plane of the object surface frame And the size of the image of the predetermined figure on the reference plane
- Procedure E to obtain the position vector of the X-ray source based on the vector
- Procedure F to obtain the position vector of the image of the part in the object on the reference plane
- the position vector of the X-ray source obtained in Procedure E Based on the position vector of the image of the part in the object obtained in F, the position vector of the object internal position is obtained based on the position vector
- the direction of a specific part in the body with respect to the image of the specific part in the body with respect to the image of the specific part in the body using one two-dimensional X-ray photograph and a reference object can be measured at a low cost and to the patient. It is possible to determine with high accuracy by minimizing the amount of X-ray irradiation. Further, according to the invention of this application, it is necessary to measure the three-dimensional position of the specific part inside the body with respect to the image of the specific part inside the body at low cost using two or more two-dimensional X-ray photographs and a reference object. This makes it possible to make accurate determinations while minimizing the amount of labor and patient X-ray irradiation.
- the direction of a specific part inside the object with respect to the image of the specific part in the general object using one two-dimensional X-ray photograph and the reference object, and two or more two-dimensional X-rays It is possible to easily measure the three-dimensional position of a specific part inside an object with respect to an image of a specific part in the object using a line photograph and a reference object.
- FIG. 1 is an explanatory diagram of a reference object, an X-ray imaging method, and a set three-dimensional space in the object internal position measurement system according to the first embodiment of the present invention.
- FIG. 2 is a side view showing the relationship between the object surface frame and film frame of the reference object, the X-ray film, the X-ray source, the specific part R in the object, and the image R ′ of the specific part R on the X-ray film. is there.
- FIG. 3 is a block diagram showing a schematic configuration of a hard disk of a computing device in the intra-object site measurement system according to the first embodiment of this application.
- FIG. 4 is a block diagram showing the configuration of the processing unit of the arithmetic device.
- FIG. 5 is an explanatory diagram for determining the projection magnification s of the object surface frame image of the reference object and the position of the X-ray source.
- FIG. 6 is a flowchart showing the procedure of the arithmetic processing of the processing unit of the arithmetic unit of FIG.
- FIG. 7 is a block diagram showing the configuration of the processing unit of the arithmetic unit in the intra-object site measurement system according to the second embodiment of this application.
- FIG. 8 is a flowchart showing the procedure of the arithmetic processing of the processing unit of the arithmetic unit of FIG.
- FIG. 10 is a conceptual diagram of image conversion by two-dimensional projective conversion.
- This intra-object site measurement system has a reference object and an arithmetic unit, sets a three-dimensional orthogonal coordinate system with a predetermined point of the reference object as the origin, and sets the reference position of the object surface (in the X-ray image). The direction of the specific part in the object with respect to (the position of the image of the specific part) is obtained.
- the reference object (1) has two frames (2) and (3) that are spaced apart from each other, and one frame (2) is a frame that is in close contact with the object surface.
- Frame (3) is a frame that attaches the X-ray film closely.
- the frame (2) that is in close contact with the object surface is referred to as “object surface frame”
- the frame (3) that is in close contact with the X-ray film is referred to as “film frame”.
- object surface is a broad term including the normal outer skin and the mucous membrane in the oral cavity when the body is targeted.
- the reference object (1) consists of a square object surface frame (2) with a side ⁇ and a square film frame (3) of the same size as the support member (4), (5), (6). The two are separated by a certain distance ⁇ and supported so as to be parallel to each other.
- a material constituting the object surface frame (2), film frame (3), support member (4), (5), (6) for example, a metal wire such as iron or copper can be used.
- ⁇ can be set to 2 cm and j3 to 1 cm for measuring the pit hole.
- the values of a and i3 can be appropriately set according to the size of the measurement target.
- the shape of the frame of the reference object (1) does not need to be a square in principle, and can be an appropriate shape such as a rectangle, but a square is particularly easy to handle and is advantageous.
- (7) is an X-ray film and (8) is an X-ray source.
- Figure 2 shows the object surface frame (2) and film frame (3) of the reference object (1), X-ray film (7), X-ray source (8), specific part R in the object, X-ray film ( 7)
- the relationship between the image R ′ of the specific site R above is shown in a side view.
- FIG. 3 shows a block diagram of the hardware configuration of the arithmetic unit.
- the arithmetic unit (10) includes an input unit (11), a processing unit (12), a main storage unit (13), a mass storage unit (14), and an output unit (15). Connected.
- the input unit (11) is a two-dimensional X-ray image obtained by imaging a specific part of the object with an X-ray imaging device while the object surface frame (2) of the reference object (1) is in close contact with the object surface. Enter.
- image information of one X-ray photograph is input.
- the processing unit (12) includes a first calculation unit (21) and a second calculation unit.
- the first computing unit (21) is the size of a predetermined figure that exists on the plane of the object surface frame (2).
- the projection magnification (one-dimensional magnification) s of the image of the object surface frame (2) is obtained based on the size of the image of the predetermined figure in the two-dimensional X-ray image.
- the predetermined figure may be a one-dimensional line or a two-dimensional figure.
- the second calculation unit (22) is a specific point on the plane of the object surface frame (2), for example, the Q position vector [Q] in FIG. 5 (in the specification of this application, the vector is represented by []. The same applies hereinafter) and the position vector [Q '] of the image Q' of the specific point Q on the plane of the object surface frame (2) in the two-dimensional X-ray image.
- the position vector [Q] may be set in advance.
- the third computing unit (23) uses the projection magnification s obtained by the first computing unit (21) and the specific point Q on the plane of the object surface frame (2) obtained by the second computing unit (21). Position vector
- the fourth computing unit (24) finds the position vector [R '] of the image R' of the part R in the object in the two-dimensional X-ray image.
- the fifth computing unit (25) includes the position vector [P s] (or P s>) of the X-ray source (8) obtained by the third computing unit (23) and the fourth computing unit (24 ) Is used to determine the direction vector [u] of the in-object region R based on the position vector [R '] of the image R' in the object, and the direction of the in-object region R relative to the image R 'in the object decide.
- the main storage device 13 has a control program for the arithmetic unit (10), and controls the operation of each unit based on the control program.
- the large-capacity storage device (14) is a memory device that can store the X-ray image data captured by the input unit (10) as well as the calculation results of each unit.
- the hard disk device, magneto-optical disk An internal storage device such as a device or a DVD device or an external storage device can be used.
- the output unit (15) outputs the result calculated by the calculation device (10), and a device for outputting an image such as a display or a print output such as a printer can be used.
- the function of each part of the arithmetic unit (10) can be realized by a computer or various devices connected thereto (including attached devices such as a keyboard and a display).
- the object surface frame (2) of the reference object (1) is in intimate contact with the object surface
- the X-ray film (7) is in intimate contact with the film frame (3).
- X-rays are emitted from the X-ray source (8) of the X-ray imaging device.
- the vertices of the object surface frame (2) are a, b, c, and d
- the images on the X-ray film (7) are a ', b', c ', and d'.
- each arithmetic unit performs arithmetic processing using the image data to determine the direction of a specific part in the object.
- the film frame (3) of the reference object (1) appears in the same size and shape as the substance, but the object surface frame (2) is the position P s of the X-ray source (8). Therefore, the position and size are different.
- the X-ray film (7) and the object surface frame (2) are ⁇ ff
- the shape of the image on the X-ray film (7) is similar to the shape of the object surface frame (2), and is a square. . Therefore, the position P s of the X-ray source (8) can be obtained from the square position and magnification of the image shown on the X-ray film (7).
- one vertex of the film frame (3) is the origin O, and the two sides connected to it are the X and Y axes.
- the Z-axis is perpendicular to those axes, and it faces the object surface frame (2).
- the X-ray film (7) has the reference object (1) side as a table, and the position on the X-ray film (7) is specified using a two-dimensional coordinate system consisting of the X and Y axes.
- the position Ps of the X-ray source (8) connects Q' and Q. Exists on a straight line. Also, due to the similar relationship, the ratio of the length of the straight line Q'Q and the straight lines Q and P s is s vs. s-1. As a result, the position Ps of the X-ray source (8) is given by equation (1). However, [P s], [Q], and [Q,] are the position vectors of P s, Q, and Q ', respectively.
- Equation (1) is theoretically correct unless the X-ray source (8) is at infinity. However, in actual calculations, when the X-ray source (8) is far away and the magnification s is close to 1, it becomes numerically unstable. To avoid this problem, using homogeneous coordinates ⁇ P s> to represent the position of the X-ray source (8) is as follows.
- each position vector is expressed by the equation (3 ) become that way.
- the position of a 'in the XY plane is (X a ., Y ).
- the film frame (3) in the X-ray image gives the axis.
- the position and magnification of the image on the object surface frame (2) can be measured using this as a reference, but in practice the position of each side of the object surface frame (2) is easy to plan.
- the shape of the image of the object surface frame (2) constructed from the measured positions of each side is not always square. Therefore, in this embodiment, the measurement value is corrected as follows so that the shape of the image of the object surface frame (2) becomes a square, and the accuracy is improved.
- the X coordinate of side a 'd' in Fig. 1 is the side b, the X coordinate of c 'is X 2 , and the Y of side a' b 'is Y sides coordinate d, c, a Y coordinate and Y 2.
- the following equation must be established.
- the position P s of the X-ray source (8) can be calculated from the coordinate values of each side of the object surface frame (2) in the X-ray image.
- the target region whose position is to be determined is on a straight line connecting the position R 'of the image on the X-ray film (7) and the position Ps of the X-ray source (8). Therefore, since the direction of the target part R can be known with reference to the reference frame set for the reference object (1), the direction of the target part can be determined.
- the details are as follows.
- the target region whose position is to be determined is R
- the point on the X-ray image is R '
- the position vectors are [R] and [R'], respectively. If the X and Y coordinate values of R 'measured from the X-ray image are XD. And Y R , respectively, [R'] is as follows.
- equation (11) causes problems in actual calculations when the difference is close to 1, it is transformed as follows.
- sl Equation (12) indicates that the target region R exists in the direction indicated by the vector [u] in Equation (13) with reference to the position of R '. If you want to know only the direction of the target region, The direction can be obtained by the above procedure.
- the operation for obtaining s is performed by the first operation unit (21), and the operation for obtaining [Q] and [Q '] is performed by the second operation unit (22), and [Ps] (or ⁇ Ps> ) Is calculated by the third calculation unit (23), and [R '] is calculated by the fourth calculation unit (2
- this intra-object site measurement system has a reference object and a computing device, sets a three-dimensional orthogonal coordinate system with a predetermined point of the reference object as the origin, The 3D position of a specific part is obtained.
- the same reference object as that used in the first embodiment can be used as the reference object.
- elements similar to those in the first embodiment other than the configuration of the processing unit are denoted by the same reference numerals.
- the schematic hardware configuration of the arithmetic unit can be the same as that of the first embodiment, but the processing unit (12) has a configuration as shown in FIG.
- the input unit (11) has two two-dimensional X-rays obtained by imaging the part in the object from two different directions with the object surface frame (12) of the reference object (1) in close contact with the object surface. Enter the image.
- image information of two X-ray photographs is input.
- a number with parentheses attached to the shoulders of each variable to distinguish the values in each X-ray image of each variable used above. I will write.
- the processing unit (12) includes a first calculation unit (31), a second calculation unit (32), a third calculation unit (33), a fourth calculation unit (34), It has a fifth calculation unit (35) and a sixth calculation unit (36).
- the first computing unit (31) calculates the size of the predetermined figure existing on the plane of the object surface frame (2) and the size of the predetermined figure in the two-dimensional X-ray image for the two X-ray images. Based on Te, projection magnification s of the projected object surface frame (2) (1>, obtains s (2) respectively. Where the constant graphic may be a one-dimensional line, a two-dimensional figure Also good.
- the second calculation unit (32) uses the position vector [Q] of the specific point Q on the plane of the object surface frame (2) and the object surface frame (2) in the two-dimensional X-ray image for the two X-ray images.
- the position vector [Q] may be set in advance.
- the third computing unit (33) includes the projection magnifications s (1 ) and s ( 2 ) obtained by the first computing unit (31) and the object surface frame (2) obtained by the second computing unit (32). )
- the fourth computing unit (34) calculates the position vector [R, R ′ (1) , R ′ ( 2) of the region R in the object in the 2D X-ray image. Find ( 1> ], [R, ( 2 )].
- the fifth computing unit (35) is the position vector [P s (1) ], [P s (2) ] (or ⁇ Ps ( ">, ⁇ P s (2) » and the image R ' (1 ), R' position vector [R '( 1 )], [R, Based on ( 2 )], the direction vectors [u ")] and [u ⁇ 2) ] of the in-object region R are found.
- the calculation methods of the first to fifth calculation units (31) to (35) are basically the calculation methods of the first to fifth calculation units (21) to (25) of the first embodiment. Is the same.
- the sixth computing unit (36) finds the intersection point based on the direction vectors [u (1) ] and [u (2) ] of the in-body region R obtained by the fifth computing unit (35). The point is determined as the 3D position of the body part.
- Figure 8 shows the flow of the calculation process.
- the second embodiment for determining a specific part in an object by two X-ray photographs has been described.
- a specific part in an object by three or more X-ray photographs is described. The decision can be made, in which case the accuracy is improved.
- the X-ray film was placed in close contact with one frame (film frame) of the reference object and photographed.
- the X-ray film can be placed at a free position without taking close contact with the frame (film frame), and the target part can be photographed to determine the direction of the intra-object part relative to the position of the image of the intra-object part.
- the third and fourth embodiments are the same as those in the first and second embodiments, respectively, based on images taken with the X-ray film placed at a free position. The direction of the position is determined.
- the film frame constituting the reference object is referred to as “film position reference frame”.
- the structure, material, etc. of the film position reference frame are the same as those of the film frame in the first and second embodiments.
- the geometric relationship between the image taken with the X-ray film placed at a free position and the image taken with the reference object film position reference frame in close contact is related by two-dimensional projective transformation. If the conversion count is determined from the shape of the reference object taken on the X-ray, and the position of the image on the X-ray is converted using the determined conversion coefficient, the film position reference frame of the reference object is displayed. It can be converted into an image when X-ray film is placed in close contact.
- Figure 9 shows the X-ray source Ps (8), the reference object (1), the X-ray film (7), and the X-ray film (7) as the film position reference frame (3 ') of the reference object (1).
- the relationship with the reference plane (9) when placed in close contact is shown.
- Figure 10 shows a conceptual diagram of image transformation by two-dimensional projective transformation.
- the four vertexes of the image on the reference plane (9) of the film position reference frame (3 ') of the reference object (1) are the points e', f ', g', h ', and the X-ray film (7)
- Let the four vertices of the corresponding image be the points e ", f", g ", h".
- a two-dimensional projective transformation that converts a point (X, y) on a two-dimensional plane into a point (u, V) on another two-dimensional plane is expressed by the following equation, where the coefficient is au. «113? + I2jE + Ol3
- the coefficient au of the two-dimensional projective transformation is uniquely determined if the correspondence between the four points on the image is known.
- These vertices are attached to the film position reference frame (3 ') by the X-ray film (7).
- the points e “, f”, g “, h” on the X-ray film (7) can be determined.
- the vertex of the image of the object surface frame (2) on the X-ray film (7) position a ", b", c “ , d” and the position R of the image of the target site on the X-ray film (7) "(X R", the Y R, of the image on the respective reference surfaces (9)
- the image data equivalent to that obtained when the X-ray film (7) is brought into close contact with the film position reference frame (3 ′) can be obtained.
- the direction of the body part relative to the position of the image of the part within the object can be determined based on the image taken with the X-ray film (7) placed at any position.
- the position of the X-ray film placed in the free position and the object surface frame that closely contacts the object surface is assumed that two frames, the reference film position reference frame, are separated from each other, and a new image of the film position reference frame on the X-ray film is displayed with the X-ray film in close contact with the film position reference frame.
- the image is provided with a calculation unit that performs two-dimensional projective transformation using the conversion coefficient.
- a combination evening program for executing each procedure of arithmetic processing (for example, processing such as the flow of FIGS. 6 and 8) in the first to fourth embodiments. Is done.
- a recording medium such as a CD or DV which can store the program in a readable manner is provided.
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2006549082A JP4512833B2 (ja) | 2004-12-21 | 2005-12-21 | 物体内部位計測システム、物体内部位計測用演算装置、物体内部位計測用プログラム及びそのプログラムを記録したコンピュータ読み取り可能な記録媒体 |
EP05822504A EP1834584A4 (en) | 2004-12-21 | 2005-12-21 | SYSTEM FOR MEASURING A REGION IN AN OBJECT, COMPUTER DEVICE FOR MEASURING THE REGION IN AN OBJECT, PROGRAM FOR MEASURING THE REGION IN AN OBJECT, COMPUTER READABLE RECORDING MEDIUM ON WHICH THE PROGRAM IS RECORDED |
US11/722,174 US7680623B2 (en) | 2004-12-21 | 2005-12-21 | Measuring system, computing device and computer readable medium having program executing to perform measuring a region-in-object |
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JP2004369900 | 2004-12-21 | ||
JP2004-369900 | 2004-12-21 | ||
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JP2005-232161 | 2005-08-10 |
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PCT/JP2005/023992 WO2006068285A1 (ja) | 2004-12-21 | 2005-12-21 | 物体内部位計測システム、物体内部位計測用演算装置、物体内部位計測用プログラム及びそのプログラムを記録したコンピュータ読み取り可能な記録媒体 |
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US (1) | US7680623B2 (ja) |
EP (1) | EP1834584A4 (ja) |
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CN113916128A (zh) * | 2021-10-11 | 2022-01-11 | 齐鲁工业大学 | 一种基于光笔式视觉测量系统的提高精度的方法 |
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US8681935B2 (en) * | 2009-10-06 | 2014-03-25 | Koninklijke Philips N.V. | Automatic C-arm viewing angles for structural heart disease treatment |
JP6034310B2 (ja) * | 2011-03-04 | 2016-11-30 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 2d/3d画像レジストレーション |
WO2013106926A1 (en) * | 2012-01-17 | 2013-07-25 | Sunnybrook Health Sciences Centre | Method for three-dimensional localization of an object from a two-dimensional medical image |
CN110097597B (zh) * | 2019-05-05 | 2022-02-11 | 中国工程物理研究院激光聚变研究中心 | 一种目标物的系列x光像的坐标对应方法 |
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JPH10201749A (ja) * | 1997-01-17 | 1998-08-04 | Siemens Elema Ab | バイオプシーシステムにおける少なくとも1つの計算アルゴリズムの変更のための方法及びバイオプシーシステム |
JP2004337538A (ja) * | 2003-05-19 | 2004-12-02 | Hitachi Medical Corp | X線画像診断装置 |
JP2004350767A (ja) * | 2003-05-27 | 2004-12-16 | Canon Inc | 画像撮影装置及び画像撮影方法 |
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JPS5865142A (ja) | 1981-10-13 | 1983-04-18 | 株式会社東芝 | 画像診断装置 |
US4942539A (en) * | 1988-12-21 | 1990-07-17 | Gmf Robotics Corporation | Method and system for automatically determining the position and orientation of an object in 3-D space |
JPH0310151A (ja) | 1989-06-07 | 1991-01-17 | Fujitsu Ltd | 物体検査装置 |
JP3219565B2 (ja) | 1993-09-21 | 2001-10-15 | 三菱重工業株式会社 | 欠陥深さ位置検出装置及びその方法 |
JP3630812B2 (ja) | 1996-01-12 | 2005-03-23 | 株式会社東芝 | X線画像診断装置 |
US6389104B1 (en) * | 2000-06-30 | 2002-05-14 | Siemens Corporate Research, Inc. | Fluoroscopy based 3-D neural navigation based on 3-D angiography reconstruction data |
US7155046B2 (en) * | 2003-02-12 | 2006-12-26 | Pie Medical Imaging Bv | Method of determining physical parameters of bodily structures |
-
2005
- 2005-12-21 EP EP05822504A patent/EP1834584A4/en not_active Withdrawn
- 2005-12-21 JP JP2006549082A patent/JP4512833B2/ja active Active
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JPH10201749A (ja) * | 1997-01-17 | 1998-08-04 | Siemens Elema Ab | バイオプシーシステムにおける少なくとも1つの計算アルゴリズムの変更のための方法及びバイオプシーシステム |
JP2004337538A (ja) * | 2003-05-19 | 2004-12-02 | Hitachi Medical Corp | X線画像診断装置 |
JP2004350767A (ja) * | 2003-05-27 | 2004-12-16 | Canon Inc | 画像撮影装置及び画像撮影方法 |
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CN113916128A (zh) * | 2021-10-11 | 2022-01-11 | 齐鲁工业大学 | 一种基于光笔式视觉测量系统的提高精度的方法 |
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JP4512833B2 (ja) | 2010-07-28 |
EP1834584A1 (en) | 2007-09-19 |
US20080275666A1 (en) | 2008-11-06 |
US7680623B2 (en) | 2010-03-16 |
EP1834584A4 (en) | 2010-11-17 |
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