CN102737158A - Ablation treatment image booting equipment with three-dimensional image processing device - Google Patents

Abstract

An ablation treatment image booting equipment with a three-dimensional image processing device comprises a processor, a display screen, a keyboard and a mouse; the processor is of a core component of the ablation treatment image booting equipment with three-dimensional image processing device; the display screen, the keyboard and the mouse are all connected with the processor; the processor internally comprises an image collector, an image processor and an image manager; the image processor is used for machining and processing image information collected by the image collector so as to obtain an image needed by a user; the image subjected to machining and processing is directly displayed on the display screen and transmitted to the image manager for storage for later random use of a user; the image processor consists of an image two-dimensional processing device, an image third-dimensional processing device, an image measuring device, an image registration device and an image cutting device; and the image three-dimensional processing device consists of volume rendering and video production.

Description

Translated fromChinese

一种带有影像三维处理装置的消融治疗影像引导设备An image guidance device for ablation therapy with an image three-dimensional processing device

技术领域technical field

本发明涉及一种带有影像三维处理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 guiding device for ablation therapy with an image three-dimensional processing 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三维处理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 three-dimensional processing 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三维处理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。所述影像三维处理装置由“体绘制”及“视频制作”两部分组成。The image guiding device for ablation therapy with an image three-dimensional processing 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 three-dimensional processing device is composed of two parts: "volume rendering" and "video production".

更进一步，所述体绘制可由使用者选择如下5种中的一种进行体绘制：GPU光线投射算法、GPU最大密度投影算法、GPU切面算法、GPU光线投射算法和GPU最大密度投影算法。Furthermore, the volume rendering can be performed by the user selecting one of the following five types: GPU ray casting algorithm, GPU maximum density projection algorithm, GPU slice algorithm, GPU ray casting algorithm and GPU maximum density projection algorithm.

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，尤其是解决了三维图象绘制问题，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, especially solves the problem of three-dimensional image rendering, overcomes the interference of various human factors, directly improves the curative effect of thermal ablation, and converts images Guided 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为三维体绘制图；Fig. 4 is a three-dimensional volume rendering;

图5为肿瘤形状大小以及到各管道系统最短距离图；Figure 5 is a diagram of the shape and size of the tumor and the shortest distance to each pipeline system;

图6为安全边界图；Figure 6 is a safety boundary diagram;

图7为三维PDF报告图；Figure 7 is a three-dimensional PDF report diagram;

图8为手术导航示意图；Figure 8 is a schematic diagram of surgical navigation;

图9为消融区域的颜色编码分析图；Figure 9 is a color-coded analysis diagram of the ablation region;

图10为肿瘤消融手术效果评估图。Fig. 10 is a diagram for evaluating the effect 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三维处理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 three-dimensional processing 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三维处理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 three-dimensional processing device according to the present invention includes aprocessor 1 , adisplay screen 2 , akeyboard 3 and amouse 4 . Wherein, theprocessor 1 is the core component of the present invention, and its interior includes animage collector 5, animage processor 6 and animage manager 7, and theimage collector 5 is used to collect image information, and transmit the collected image information to theimage Processor 6; theimage processor 6 processes and processes the image information collected by theimage collector 5 to obtain the image required by the user; the processed and processed image is directly displayed on thedisplay screen 2 and transmitted to the image manager at thesame time 7. Store it in case the user calls it at any time.Display screen 2,keyboard 3 andmouse 4 are all connected withprocessor 1, anddisplay screen 2, as the output device ofprocessor 1, can visually display images to facilitate users to browse, judge and analyze;keyboard 3 andmouse 4 are used as processing The input device of the device can manipulate theprocessor 1, so that the user can process and process the image according to his own needs and judgment.

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。Theimage processor 6 includes an image two-dimensional processing device 8 , an image three-dimensional processing device 9 , animage measurement device 10 , animage registration device 11 , and animage segmentation device 12 .

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 , thedisplay screen 2 is composed of three two-dimensional view windows and one three-dimensional view window. The three two-dimensional view windows are respectively a transverse view window, a sagittal view window and a coronal view window.

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。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-dimensionalimage processing device 8 is composed of two parts: a basic image processing device and an image cropping device. The basic image processing device includes filtering processing for a single image and arithmetic operation processing for two images. The image cropping device generally analyzes all the image data. In order to obtain better contrast and more flexible operation mode, the user can perform a cropping operation to select part of the area data to perform image processing operations.

影像三维处理装置由“体绘制”及“视频制作”两部分组成。The image three-dimensional processing device consists of two parts: "volume rendering" and "video production".

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。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.

体绘制操作步骤如下：Volume rendering operation steps are as follows:

(1)在数据管理器中选中需要执行操作的影像结点后，点击“体绘制”左边的复选框。执行体绘制操作时会占用处理器的大量资源，因此需耐心等待片刻才能够看到体绘制的执行效果。本设备提供了5种体绘制算法可供用户选择其中的一种进行体绘制：(1) After selecting the image node that needs to be operated in the data manager, click the check box to the left of "Volume Rendering". Executing volume rendering operations will take up a lot of processor resources, so you need to wait patiently for a while before you can see the execution effect of volume rendering. This device provides 5 volume rendering algorithms for users to choose one of them for volume rendering:

GPU光线投射算法GPU ray casting algorithm

GPU最大密度投影算法GPU maximum density projection algorithm

GPU切面算法GPU slice algorithm

GPU光线投射算法GPU ray casting algorithm

GPU最大密度投影算法GPU maximum density projection algorithm

(2)选择“预设”标签页。(2) Select the "Preset" tab.

①点击“选择预设体绘制转换函数”按钮，便可以选择使用内部定义或常用的预设值。①Click the "Select Preset Volume Rendering Conversion Function" button, and you can choose to use internal definitions or commonly used preset values.

“CT Generic”为转换函数默认的首选项。"CT Generic" is the default preference for the conversion function.

″CT Black&White″，不使用任何色彩，由于有些影像着色后会掩盖有用信息。"CT Black&White", do not use any color, because some images will cover up useful information after coloring.

″CT Cardiac″，能够增强心脏CT影像的细节。"CT Cardiac" can enhance the details of cardiac CT images.

″CT Bone″，突出显示骨骼，并使其它部位更加透明。"CT Bone", highlight the bones and make other parts more transparent.

″CT Bone(Gradient)″，突出显示骨骼，但运用阶梯的方式显示其它器官表面。"CT Bone(Gradient)", highlights the bones, but displays the surfaces of other organs in a stepped manner.

″MR Generic″为读取核磁影像时采用的默认的转换函数(核磁影像不像CT影像那样规则)。"MR Generic" is the default conversion function used when reading MRI images (MRI images are not as regular as CT images).

②保存与加载常用预设值② Save and load commonly used preset values

创建或编辑转换函数后，自定义转换函数能够被存储，并再次应用于文件系统。点击“保存”(“加载”)按钮，能够将阈值、色彩及梯度函数结合后保存(加载)在*.xml格式文件中。After creating or editing a transform function, the custom transform function can be stored and applied again to the file system. Click the "Save" ("Load") button to save (load) the threshold, color and gradient functions in a *.xml format file.

③灰度值区间调整③Gray value range adjustment

通过调整滑块来调整所有函数发生器对应的灰度值范围，或放大“灰度值范围”窗口的范围值。Adjust the gray value range corresponding to all function generators by adjusting the sliders, or enlarge the range value in the "Gray Value Range" window.

④不透明度映射函数发生器④ Opacity Mapping Function Generator

该点的灰度值将被映射到设定的透明度值。透明度值为0时显示为全透明，值为1时显示为全不透明。The gray value of the point will be mapped to the set transparency value. When the transparency value is 0, it is fully transparent, and when the value is 1, it is fully opaque.

⑤颜色映射函数发生器⑤ Color mapping function generator

该点的灰度值将被映射到设定的颜色。The grayscale value of the point will be mapped to the set color.

⑥梯度变换函数发生器⑥Gradient transformation function generator

设置灰度值变换的大小与不透明度之间的映射，用于控制某些特定的灰度值。Set the mapping between the size and opacity of the grayscale value transformation, which is used to control some specific grayscale values.

定制以上三种函数发生器时均可包含下列操作：The following operations can be included when customizing the above three function generators:

点击鼠标左键增加调节点。Click the left mouse button to increase the adjustment point.

点击鼠标右键删除调节点。Click the right mouse button to delete the adjustment point.

点击并按住鼠标左键可用于拖动调节已存在的调节点。Clicking and holding down the left mouse button can be used to drag and adjust existing adjustment points.

(3)除直接编辑转换函数外，影像三维处理装置还提供了两种能够自动产生转换函数的常用图形，即阈值图和钟形图。这两种方式均包含两个参数，在点击十字图形后上/下且左/右移动鼠标，可用于修改参数值。(3) In addition to directly editing the transfer function, the image three-dimensional processing device also provides two commonly used graphs that can automatically generate the transfer function, namely the threshold graph and the bell graph. These two methods both contain two parameters. After clicking the cross graphic, move the mouse up/down and left/right to modify the parameter value.

第一个参数为“中心”(通过平行移动鼠标来控制其大小)，用于指定将被加载的图形中心的灰度值。The first parameter is "center" (the size is controlled by moving the mouse in parallel), which is used to specify the gray value of the center of the graphic to be loaded.

第二个参数是“宽度”(通过垂直移动鼠标来控制其大小)，用于指定图形的宽度(或梯度倾斜度)。The second parameter is "width" (the size is controlled by moving the mouse vertically), which specifies the width (or gradient slope) of the graph.

①选择“阈值”标签页可激活创建阈值图形的阈值函数发生器。阈值图形起始于零点并提升至“中心”参数值。宽度值越小，阈值函数的图形越陡峭。① Select the "Threshold" tab to activate the threshold function generator for creating threshold graphs. The Threshold graph starts at zero and raises to the "Center" parameter value. The smaller the width value, the steeper the graph of the threshold function.

②点击“钟形”标签页可激活创建钟形图形的阈值函数发生器。阈值图形起始于零点，提升至“中心”参数值后再降到零点。“宽度”参数值对应于钟形图形的宽度。②Click the "Bell" tab to activate the threshold function generator that creates a bell-shaped graph. The Threshold graph starts at zero, increases to the Center parameter value, and then decreases to zero. The "width" parameter value corresponds to the width of the bell shape.

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 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.

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5，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 5, the tumor size, shape, maximum diameter, and the shortest distance from each point on the surface 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6，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 Figure 6, through the reconstructed 3D rendering, it can be clearly seen whether there is a risk in the pre-defined ablation safety boundary, and the safety boundary can be redefined 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7，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 7. 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8，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 8. 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 achieve the acquisition of 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9，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 Figure 9, the reconstructed tumor model is unfolded into a two-dimensional plan, and a color coding scheme is applied to clearly and intuitively display the unablated, incompletely ablated and completely ablated regions.

(4)对肿瘤消融手术效果的评估。参见图10，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. 10 , 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 non-ablated, incompletely ablated, and completely 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.

Claims (2)

Translated fromChinese

1.一种带有影像三维处理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；处理器是带有影像三维处理装置的消融治疗影像引导设备的核心部件；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；其特征在于：所述处理器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，所述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；所述影像三维处理装置由“体绘制”及“视频制作”两部分组成。1. An image guidance device for ablation therapy with an image three-dimensional processing device, including a processor, a display screen, a keyboard and a mouse; the processor is the core component of the image guidance device for ablation therapy with an image three-dimensional processing device; display screen, Both the keyboard and the mouse are connected to the processor, and the display screen, as the output device of the processor, can visually display images to facilitate users to browse, judge, and analyze; as the input device of the processor, the keyboard and mouse can manipulate the processor to make The user processes and processes the image according to his or her needs and judgments; it is characterized in that: the processor includes an image collector, an image processor and an image manager, the image collector is used to collect image information, and the collected The image information is transmitted to the image processor; the image processor processes and processes the image information collected by the image collector to obtain the image required by the user; the processed and processed image is directly displayed on the display screen and transmitted to the image processor at the same time. The manager stores it for the user to call at any time; wherein, the image processor includes an image two-dimensional processing device, an image three-dimensional processing device, an image measuring device, an image registration device, and an image segmentation device; the image three-dimensional processing device It consists of two parts: "Volume Rendering" and "Video Production".2.根据权利要求1所述的带有影像三维处理装置的消融治疗影像引导设备，其特征在于，所述体绘制可由使用者选择如下5种中的一种进行体绘制：GPU光线投射算法、GPU最大密度投影算法、GPU切面算法、GPU光线投射算法和GPU最大密度投影算法。2. The image-guided device for ablation therapy with an image three-dimensional processing device according to claim 1, wherein the volume rendering can be selected by the user as one of the following five types for volume rendering: GPU ray-casting algorithm, GPU maximum density projection algorithm, GPU slice algorithm, GPU ray casting algorithm and GPU maximum density projection algorithm.

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