CN102609620A - Ablation therapy image guide device with image segmenting device - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及一种带有影像分割装置的消融治疗影像引导设备，属于医疗辅助设备。The invention relates to an image guidance device for ablation therapy with an image segmentation device, which belongs to medical auxiliary equipment.
背景技术Background technique
近年来，影像引导下的经皮热消融治疗方法凭借其在肿瘤治疗上的微创、安全、肿瘤完全坏死率高、疗效好而无化疗、放疗的毒副作用，对正常组织损伤小，并且能激活增强机体的抗肿瘤免疫等显著优点，成为现代肿瘤治疗方法的重要组成部分。In recent years, image-guided percutaneous thermal ablation therapy has been used in tumor treatment because of its minimally invasive, safe, high rate of complete tumor necrosis, good curative effect and no toxic side effects of chemotherapy and radiotherapy, less damage to normal tissues, and can The significant advantages of activating and enhancing the body's anti-tumor immunity have become an important part of modern tumor treatment methods.
影像引导下的经皮肿瘤热消融是对穿刺精确度要求很高的技术。其治疗的实施需要在术前根据影像学检查进行手术规划，选择合适的穿刺入路，同时确定需要形成多少个消融区才能完全覆盖整个肿瘤。在术中则需要依靠影像学的引导将消融针按照术前的规划植入肿瘤内部。术后需要判断肿瘤消融是否完全、有无肿瘤残留或边缘复发。无论术前的手术规划、术中的穿刺定位还是术后的效果评估均高度依赖术者的经验，受到各种人为因素的干扰，直接影响热消融的疗效。因而有必要采用新的技术和方法克服各种人为因素的干扰，解决术前科学规划、术中精确定位，术后效果评估的难题，将影像引导的肿瘤热消融建立在更加客观、精确的基础上。Image-guided percutaneous tumor thermal ablation is a technique that requires high puncture accuracy. The implementation of its treatment requires preoperative surgical planning based on imaging examinations, selection of a suitable puncture approach, and determination of how many ablation zones need to be formed to completely cover the entire tumor. During the operation, it is necessary to rely on the guidance of imaging to implant the ablation needle into the tumor according to the preoperative plan. Postoperatively, it is necessary to judge whether the tumor ablation is complete, whether there is residual tumor or marginal recurrence. Regardless of preoperative surgical planning, intraoperative puncture positioning, or postoperative effect evaluation, they are highly dependent on the experience of the operator, and are interfered by various human factors, which directly affect the efficacy of thermal ablation. Therefore, it is necessary to adopt new technologies and methods to overcome the interference of various human factors, solve the problems of preoperative scientific planning, intraoperative precise positioning, and postoperative effect evaluation, and establish image-guided tumor thermal ablation on a more objective and accurate basis superior.
发明内容Contents of the invention
在此基础上，我们研发了一种带有影像分割装置的消融治疗影像引导设备。这种设备通过三维影像处理和分析技术来直观、清晰、任意角度地显示空间毗邻关系，并通过计算进行定量评估进行术前的手术规划，以及结合介入手术导航系统进行穿刺术中的精确定位，还能通过判断肿瘤消融是否完全、有无肿瘤残留或边缘复发进行有效的手术评估。这种设备的提出有效的解决了术前、术中、术后遇到的各种难题，将影像引导的肿瘤热消融建立在了更加客观、精确的基础上。On this basis, we developed an image-guided device for ablation therapy with an image segmentation device. This device uses three-dimensional image processing and analysis technology to display the spatial adjacency relationship intuitively, clearly, and at any angle, and conducts quantitative evaluation through calculation for preoperative surgical planning, and combines the interventional surgical navigation system for precise positioning during puncture. It can also perform effective surgical evaluation by judging whether tumor ablation is complete, whether there is residual tumor or marginal recurrence. The proposal of this device effectively solves various problems encountered before, during, and after surgery, and establishes image-guided tumor thermal ablation on a more objective and accurate basis.
本发明所述的带有影像分割装置的消融治疗影像引导设备包括处理器、显示屏、键盘和鼠标。显示屏、键盘和鼠标都与处理器连接，显示屏作为处理器的输出设备，可以直观地显示影像，以利于使用者浏览、判断、分析；键盘和鼠标作为处理器的输入设备，可以操纵处理器，使使用者根据自己的需求和判断，对影像进行加工、处理。处理器是本发明的核心部件，其内部包括影像采集器、影像处理器和影像管理器，影像采集器用于采集影像信息，并将采集到的影像信息传输给影像处理器；影像处理器将由影像采集器采集来的影像信息进行加工、处理，以得到使用者需要的影像；经过加工、处理的影像直接由显示屏显示，同时传输至影像管理器进行存储，以备使用者随时调用。其中，影像处理器包括影像二维处理装置、影像三维处理装置、影像测量装置、影像配准装置、影像分割装置。所述影像分割装置包括交互式分割及血管分割两部分。The image guiding device for ablation therapy with an image segmentation device according to the present invention includes a processor, a display screen, a keyboard and a mouse. The display screen, keyboard and mouse are all connected to the processor, and the display screen, as the output device of the processor, can display images intuitively, which is convenient for users to browse, judge and analyze; as the input device of the processor, the keyboard and mouse can be manipulated and processed. The device enables users to process and process images according to their own needs and judgments. The processor is the core component of the present invention, and it includes an image collector, an image processor and an image manager inside, the image collector is used to collect image information, and transmits the collected image information to the image processor; The image information collected by the collector is processed and processed to obtain the image required by the user; the processed and processed image is directly displayed on the display screen, and at the same time transmitted to the image manager for storage, so that the user can call it at any time. Wherein, the image processor includes a two-dimensional image processing device, a three-dimensional image processing device, an image measurement device, an image registration device, and an image segmentation device. The image segmentation device includes two parts: interactive segmentation and blood vessel segmentation.
更进一步，所述血管分割包括基于阈值的血管分割和基于模型的血管重建。Furthermore, the vessel segmentation includes threshold-based vessel segmentation and model-based vessel reconstruction.
本发明解决了术前科学规划、术中精确定位，术后效果评估的难题，并利用分割处理后的影像，克服了各种人为因素的干扰，直接提高了热消融的疗效，将影像引导的肿瘤热消融建立在更加客观、精确的基础上。The present invention solves the problems of preoperative scientific planning, intraoperative precise positioning, and postoperative effect evaluation, and utilizes the images after segmentation and processing to overcome the interference of various human factors, directly improve the curative effect of thermal ablation, and guide image Tumor thermal ablation is based on a more objective and precise basis.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明的处理器的结构示意图；Fig. 2 is a schematic structural diagram of a processor of the present invention;
图3为影像裁剪图；Figure 3 is an image clipping diagram;
图4为交互式分割图；Figure 4 is an interactive segmentation diagram;
图5为血管分割图；Figure 5 is a blood vessel segmentation diagram;
图6为肝段分割图；Figure 6 is a liver segment segmentation map;
图7为肝内血管图；Figure 7 is a diagram of blood vessels in the liver;
图8为肿瘤形状大小以及到各管道系统最短距离图；Figure 8 is a diagram of the shape and size of the tumor and the shortest distance to each pipeline system;
图9为安全边界图；Figure 9 is a safety boundary diagram;
图10为三维PDF报告图；Figure 10 is a three-dimensional PDF report diagram;
图11为手术导航示意图；Figure 11 is a schematic diagram of surgical navigation;
图12为消融区域的颜色编码分析图；Figure 12 is a color-coded analysis diagram of the ablation region;
图13为肿瘤消融手术效果评估图。Fig. 13 is a graph showing the effect evaluation of tumor ablation surgery.
具体实施方式Detailed ways
下面结合附图和具体的实施例对本发明所述的带有影像分割装置的消融治疗影像引导设备作进一步的说明，但不能以此作为限制本发明的保护范围。The image guidance device for ablation therapy with an image segmentation device according to the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but this should not be taken as limiting the protection scope of the present invention.
参见图1、2，本发明所述的带有影像分割装置的消融治疗影像引导设备包括处理器1、显示屏2、键盘3和鼠标4。其中，处理器1是本发明的核心部件，其内部包括影像采集器5、影像处理器6和影像管理器7，影像采集器5用于采集影像信息，并将采集到的影像信息传输给影像处理器6；影像处理器6将由影像采集器5采集来的影像信息进行加工、处理，以得到使用者需要的影像；经过加工、处理的影像直接由显示屏显示2，同时传输至影像管理器7进行存储，以备使用者随时调用。显示屏2、键盘3和鼠标4都与处理器1连接，显示屏2作为处理器1的输出设备，可以直观地显示影像，以利于使用者浏览、判断、分析；键盘3和鼠标4作为处理器的输入设备，可以操纵处理器1，使使用者根据自己的需求和判断，对影像进行加工、处理。Referring to FIGS. 1 and 2 , the image guidance device for ablation therapy with an image segmentation device according to the present invention includes a processor 1 , a
影像处理器6包括影像二维处理装置8、影像三维处理装置9、影像测量装置10、影像配准装置11、影像分割装置12。The
参见图3，显示屏2由三个二维视图窗口和一个三维视图窗口组成，三个二维视图窗口分别为横断位窗口、矢状位窗口、冠状位窗口。Referring to FIG. 3 , the
影像二维处理装置8由影像基本处理装置及影像裁剪装置两部分构成。影像基本处理装置包括针对单幅影像的滤波处理及针对两幅影像的算术运算处理。单幅影像的滤波处理包括：噪声抑制、形态运算、边缘检测以及其它处理方式。两幅影像的算术运算包括算术运算和布尔运算。影像裁剪装置一般会分析所有影像数据，为获得更好的对比度及更加灵活的操作方式，用户可执行裁剪操作来选择部分区域数据执行影像处理操作。The two-dimensional
影像三维处理装置由“体绘制”及“视频制作”两部分组成。体数据当中的每一个点都可以分配一个光线的发射与吸收参数。这样，通过模拟光线在体内部的传播，就能够实现体数据在任意视角条件下的显示。影像处理结果可以通过制作视频录制将视频或视图截屏保存下来。The image three-dimensional processing device consists of two parts: "volume rendering" and "video production". Each point in the volume data can be assigned a ray emission and absorption parameter. In this way, by simulating the propagation of light inside the volume, the display of volume data under any viewing angle can be realized. The image processing result can be saved by making a video recording to save the video or view screenshot.
影像测量装置能够使用户与二维影像或含有堆栈及平面图形数据类型的三维单张影像面片进行交互操作。它可以测量距离、角度、路径及一些几何图形。执行测量操作后，可将与所选影像相关的相同或不同的测量图形一起进行保存，以备将来所用。当在影像上画了多个图形时，当前应用图形显示为红色，其余应用图形则显示为白色，影像上的显示值为当前应用图形的返回值。所有的测量图形都会各自生成一个影像树的结点在数据管理器中显示出来。不再需要的单一的测量图形或影像能够在数据管理器中逐个进行删除或作为一组整体删除。The image measuring device enables users to interact with 2D images or 3D single image patches containing stacked and planar graphics data types. It can measure distances, angles, paths, and some geometric figures. After performing a measurement operation, the same or different measurement graphics associated with the selected image can be saved for future use. When multiple graphics are drawn on the image, the current application graphics will be displayed in red, and other application graphics will be displayed in white, and the displayed value on the image is the return value of the current application graphics. All measurement graphics will each generate a node of the image tree to be displayed in the data manager. Individual survey graphics or images that are no longer needed can be deleted individually or as a group in the data manager.
影像配准装置由“点配准”、“刚体配准”及“非刚体配准”三部分组成。医学影像配准是指将一组医学影像经空间变换后，使它与另一组保持不动的医学影像上的对应点达到空间上的一致。保持不动的叫做参考影像，做变换的称作浮动影像。配准的结果应用于浮动影像。The image registration device consists of three parts: "point registration", "rigid body registration" and "non-rigid body registration". Medical image registration refers to spatially transforming a set of medical images to achieve spatial consistency with corresponding points on another set of medical images that remain still. The one that remains still is called the reference image, and the one that is transformed is called the floating image. The result of the registration is applied to the floating image.
影像分割装置能够在人体的医学影像上为解剖结构及病理结构创建分割。包括交互式分割及血管分割两部分。以下以肝脏为例，说明影像分割装置的工作原理。The image segmentation device is capable of creating segmentations for anatomical and pathological structures on medical images of the human body. It includes two parts: interactive segmentation and vessel segmentation. The following takes the liver as an example to illustrate the working principle of the image segmentation device.
血管分割包括基于阈值的血管分割和基于模型的血管重建两步。Vessel segmentation includes two steps: threshold-based vessel segmentation and model-based vessel reconstruction.
影像基本要求为血管强化过CT数据，层厚≤2mm，且血管CT体素平均值大于周围器官30个灰度值，基本能看到血管就可用于分割(核磁也可以，不过对操作人员要求较高不建议采用核磁影像)。The basic requirements for imaging are blood vessels enhanced CT data, slice thickness ≤ 2mm, and the average value of vascular CT voxels greater than 30 gray values of surrounding organs, and blood vessels can be basically seen for segmentation (nuclear magnetic resonance is also possible, but there are requirements for operators) Higher MRI is not recommended).
基于阈值的血管分割操作步骤如下：The operation steps of threshold-based blood vessel segmentation are as follows:
(1)选取种子点(1) Select the seed point
(2)确定阈值(2) Determine the threshold
即确定血管的上下阈值，把鼠标移动到血管内，确定阈值范围，点击预览观查分割效果，调整阈值，直到取得较理想的血管分割数据。That is to determine the upper and lower thresholds of the blood vessel, move the mouse into the blood vessel, determine the threshold range, click the preview to view the segmentation effect, and adjust the threshold until the ideal blood vessel segmentation data is obtained.
(3)血管分割(3) Blood vessel segmentation
确定完阈值后点击分割按钮，等待分割完成的血管数据。After determining the threshold, click the segmentation button and wait for the segmented blood vessel data.
(4)基于模型的血管重建(4) Model-based vessel reconstruction
完成分割后的血管比较粗糙，无法完成后续的各种分析，因此需要对血管进行重建，首先在三维窗口选取血管的起点(一般为一个点)，然后按照你所需要的血管分支选取血管的终止点，未选取的分支则不重建，选择好种子点之后点击重建按钮，此步骤耗时较长，等待计算完成就可以看到重建后的血管结果。The blood vessels after segmentation are relatively rough, and subsequent analysis cannot be completed. Therefore, it is necessary to reconstruct the blood vessels. First, select the starting point of the blood vessel (usually a point) in the 3D window, and then select the end of the blood vessel according to the branch of the blood vessel you need. Click, the unselected branches will not be reconstructed. After selecting the seed point, click the rebuild button. This step takes a long time. Wait for the calculation to complete before you can see the reconstructed blood vessel results.
(5)中心线提取(5) Centerline extraction
用于形态分析及血管重建。For morphological analysis and vascular reconstruction.
(6)肝段分割(6) Liver segmentation
能够将肝脏按照医学要求，将肝脏分为八段用不同的颜色显示出来，并将每个肝段内部相应的血管也用不同的颜色显示出来。According to medical requirements, the liver can be divided into eight segments and displayed in different colors, and the corresponding blood vessels inside each liver segment can also be displayed in different colors.
应用该设备可实现如下几个功能：The application of this device can realize the following functions:
1、术前规划1. Preoperative planning
(1)对肿瘤大小、最大径以及肿瘤表面到各管道系统距离的计算及可视化。参见图11，肿瘤大小，形状，最大径及表面各点到肝静脉，肝动脉，门脉，胆囊各管道系统的最短距离可通过该设备精准的反映与测量出来。(1) Calculation and visualization of the tumor size, maximum diameter, and distance from the tumor surface to each pipeline system. See Figure 11. The size, shape, maximum diameter of the tumor and the shortest distance from each surface point to the hepatic vein, hepatic artery, portal vein, and gallbladder piping system can be accurately reflected and measured by this device.
(2)对肿瘤消融所划定的安全边界的风险分析。参见图12，通过重建后的三维渲染图，可以清晰看到预先划定的消融安全边界是否存在风险，可根据实际情况，重新划定安全边界。(2) Risk analysis of the safety margin delineated by tumor ablation. Referring to Fig. 12, through the reconstructed 3D rendering, it can be clearly seen whether there is a risk in the pre-delineated ablation safety boundary, and the safety boundary can be re-delineated according to the actual situation.
(3)将肝脏三维重建模型生成三维PDF报告。参见图13，规划完成后，可实现将肝脏三维重建模型及各项信息导出到PDF软件，并生成三维PDF报告。(3) Generate a 3D PDF report from the liver 3D reconstruction model. See Figure 13. After the planning is completed, the liver 3D reconstruction model and various information can be exported to PDF software, and a 3D PDF report can be generated.
2、手术导航2. Surgical navigation
影像引导下的介入手术导航系统采用多种模态的医学影像协助医生将手术器械直接穿刺到肿瘤内部进行局部治疗，进而提高手术质量、减少手术创伤、降低患者痛苦。本系统的功能包括：The image-guided interventional surgery navigation system uses medical images of various modalities to assist doctors to puncture surgical instruments directly into the tumor for local treatment, thereby improving surgical quality, reducing surgical trauma, and reducing patient pain. The functions of this system include:
(1)本系统执行了手术器械顶点与跟踪工具之间的标定。参见图14，磁定位仪将获取的跟踪工具的坐标信息与术中的超声图像统一在同一坐标系内后，系统将统一的信息映射到影像坐标系内，实现获得任意时刻手术器械顶点在影像坐标系内的坐标信息，并进行三维显示。最终实现了定位仪器、病人/术中超声影像、跟踪工具、手术器械及术前CT影像之间的配准。实现了坐标系的转换和注册。(1) The system performs the calibration between the vertices of the surgical instrument and the tracking tool. See Figure 14. After the magnetic locator unifies the acquired coordinate information of the tracking tool and the intraoperative ultrasound image in the same coordinate system, the system maps the unified information to the image coordinate system to obtain the position of the vertex of the surgical instrument at any time in the image. Coordinate information in the coordinate system, and three-dimensional display. Registration between positioning instruments, patient/intraoperative ultrasound images, tracking tools, surgical instruments, and preoperative CT images was finally achieved. The conversion and registration of the coordinate system has been realized.
(2)本系统能够将术前的CT图像与术中的超声图像进行配准，并通过立体定位仪器实现术中的医学图像、患者、手术器械之间的精确配准。(2) This system can register the preoperative CT image with the intraoperative ultrasound image, and realize the precise registration among intraoperative medical images, patients, and surgical instruments through stereotaxic instruments.
(3)术前进针路径规划：根据处理后的医学图像信息设计进针点距离、进针角度和进针深度。(3) Needle path planning during operation: Design the needle point distance, needle angle and needle depth according to the processed medical image information.
(4)术中进针引导：通过映射将由定位装置获取的手术器械的实时坐标信息映射至影像坐标系内，同时计算手术器械与规划路径之间的偏差，精确引导手术按照术前规划进行穿刺。(4) Intraoperative needle guidance: map the real-time coordinate information of the surgical instrument obtained by the positioning device into the image coordinate system through mapping, and calculate the deviation between the surgical instrument and the planned path at the same time, and accurately guide the operation to perform puncture according to the preoperative plan .
(5)融合导航的三维仿真装置：在手术进行中实现了术中超声影像和术前CT影像的实时融合，并与三维影像重合显示。计算出术中超声影像在三维影像上相应的空间切面位置，通过在CT体数据上进行实时的三维重采样来显示与之对应的多平面重建，便于医生从多角度、多层次进行观察和分析。(5) Three-dimensional simulation device for fusion navigation: Real-time fusion of intraoperative ultrasound image and preoperative CT image is realized during the operation, and it is superimposed and displayed with the three-dimensional image. Calculate the corresponding spatial section position of the intraoperative ultrasound image on the 3D image, and display the corresponding multi-plane reconstruction through real-time 3D resampling on the CT volume data, which is convenient for doctors to observe and analyze from multiple angles and levels .
3、术后评估3. Postoperative evaluation
该设备可以判断肿瘤消融是否完全、有无肿瘤残留或边缘复发。The device can determine whether tumor ablation is complete, whether there is residual tumor or marginal recurrence.
(1)清楚显示消融后的管道系统是否有损伤。(1) Clearly show whether there is damage to the pipeline system after ablation.
(2)应用红黄绿颜色编码方案表示三维肿瘤模型。应用红黄绿颜色编码方案来表示评估结果。即红色表示不能进行消融手术的区域，黄色表示未完全消融的区域，绿色表示已成功消融的区域。(2) A red-yellow-green color coding scheme was applied to represent the three-dimensional tumor model. A red-yellow-green color-coding scheme is applied to represent assessment results. That is, red indicates the area that cannot be ablated, yellow indicates the area that has not been completely ablated, and green indicates the area that has been successfully ablated.
(3)将三维肿瘤模型展开成二维平面图直观显示。参见图15，将重建后的肿瘤模型展开成二维平面图，并应用颜色编码方案来清晰、直观的展示未消融、未完全消融与已完全消融的区域。(3) Expand the three-dimensional tumor model into a two-dimensional plane view for visual display. Referring to Fig. 15, the reconstructed tumor model is unfolded into a two-dimensional plan, and a color coding scheme is applied to clearly and intuitively display unablated, incompletely ablated and completely ablated regions.
(4)对肿瘤消融手术效果的评估。参见图16，对肿瘤消融手术效果评估，即分析是否完全消融并且达到了消融的安全边界。通过该设备，未消融，未完全消融，完全消融区域占得百分比可以计算出来，平面图上每点对应的肿瘤三维坐标以及距消融区表面的距离都可以计算并显示出来。(4) Evaluation of the effect of tumor ablation surgery. Referring to FIG. 16 , the evaluation of the effect of the tumor ablation operation is to analyze whether the ablation is complete and the safety margin of the ablation is reached. With this device, the percentage of unablated, incompletely ablated, and fully ablated areas can be calculated, and the three-dimensional coordinates of the tumor corresponding to each point on the plan view and the distance from the surface of the ablation area can be calculated and displayed.
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