技术领域technical field
本发明涉及一种手术规划技术，尤其涉及一种热治疗术前规划系统及术前规划方法。The invention relates to an operation planning technology, in particular to a thermal treatment preoperative planning system and a preoperative planning method.
背景技术Background technique
癌症(也称为肿瘤)为人类常见的重大疾病，更在许多国家所统计死亡因素排名中位居前三位。由此可见，癌症治疗在各国医疗需求十分迫切，且针对癌症相关治疗的各式医疗器材也是目前重要的研究领域。Cancer (also known as tumor) is a common major human disease, and ranks among the top three in the ranking of death factors in many countries. It can be seen that the medical needs of cancer treatment in various countries are very urgent, and various medical equipment for cancer-related treatment is also an important research field at present.
另一方面，肿瘤的热治疗手术是当前癌症治疗技术之一。例如，磁热肿瘤烧灼术中的射频肿瘤烧灼术(radio frequency ablation；RFA)及微波肿瘤烧灼术(microwave ablation；MWA)。这些技术已应用于局部肿瘤治疗，但考量于治疗费用及应用限制，多数病患难以采用。On the other hand, thermotherapy surgery for tumors is one of the current cancer treatment techniques. For example, radio frequency ablation (radio frequency ablation; RFA) and microwave ablation (microwave ablation; MWA) in magnetic thermal tumor ablation. These technologies have been applied to local tumor treatment, but considering the cost of treatment and application limitations, most patients are difficult to adopt.
而随着热治疗手术的快速发展，其已成为组织增生、良性肿瘤及恶性肿瘤治疗的根治性方法之一。为了获得优良的临床效果，术前规划、术中精确定位以及术后评估是热治疗治疗过程中不可缺少的关键步骤。然而，术前规划作为整个治疗过程的第一步，其目的是为了降低并发症的前提下，确保热治疗手术有安全的治疗范围，从而提高患者的治疗品质。治疗规划的优劣将直接影响着术后的疗效，且术前规划是提高手术安全性与精确性的重点。因此，热治疗手术规划系统的开发对于热治疗手术来说是非常重要的课题。而对于重要神经与血管丰沛的器官组织进行热治疗手术时，需要更为精确的手术规划。此外，不同病患或不同患部的热传物理性质可能产生差异，由此更体现出手术规划的重要。由此可知，开发针对不同病患或不同患部的热传物理性质的热治疗手术规划系统是非常重要的课题。With the rapid development of thermotherapy surgery, it has become one of the radical methods for the treatment of tissue hyperplasia, benign tumors and malignant tumors. In order to obtain excellent clinical results, preoperative planning, intraoperative precise positioning, and postoperative evaluation are indispensable key steps in the process of thermal therapy. However, preoperative planning is the first step in the entire treatment process, and its purpose is to ensure a safe range of treatment for thermal surgery while reducing complications, thereby improving the quality of treatment for patients. The quality of treatment planning will directly affect the curative effect after surgery, and preoperative planning is the focus of improving the safety and accuracy of surgery. Therefore, the development of a thermotherapy surgery planning system is a very important subject for thermotherapy surgery. However, more precise surgical planning is required when thermal therapy is performed on organs and tissues rich in important nerves and blood vessels. In addition, the heat transfer physical properties of different patients or different affected parts may be different, which further reflects the importance of surgical planning. From this, it can be seen that it is a very important subject to develop a thermal therapy operation planning system for different patients or heat transfer physical properties of different affected parts.
发明内容Contents of the invention
本发明提供一种热治疗术前规划系统及术前规划方法，通过分析医学图像以及模拟多个手术情境来建立手术数据库，从而为术前规划提供专业且准确的评估。The present invention provides a thermal treatment preoperative planning system and preoperative planning method, which establishes a surgical database by analyzing medical images and simulating multiple surgical scenarios, thereby providing professional and accurate evaluation for preoperative planning.
本发明的热治疗术前规划系统，包括图像获取装置以及处理装置。图像获取装置用以获取医学图像。处理装置耦接图像获取装置，其中处理装置分析医学图像以分辨组织性质，并依据组织性质取得这些手术情境所需的多个物理参数，并依据这些物理参数模拟这些手术情境以建立手术数据库。The thermal treatment preoperative planning system of the present invention includes an image acquisition device and a processing device. The image acquisition device is used for acquiring medical images. The processing device is coupled to the image acquisition device, wherein the processing device analyzes the medical image to distinguish tissue properties, obtains multiple physical parameters required for these surgical scenarios according to the tissue properties, and simulates the surgical scenarios based on these physical parameters to establish a surgical database.
在本发明的一实施例中，上述的处理装置包括组织热特性数据库，且处理装置依据组织热特性数据库模拟这些手术情境。In an embodiment of the present invention, the above-mentioned processing device includes a tissue thermal characteristic database, and the processing device simulates these surgical situations according to the tissue thermal characteristic database.
在本发明的一实施例中，上述的手术情境至少包括多种针具数量、多种针具摆放位置及各治疗时间。处理装置分析各针具数量、各针具摆放位置及各治疗时间，以分别计算对应的手术模拟信息，且将手术模拟信息输入至手术数据库。此手术模拟信息包括各手术情境的温度分布及热融范围。In an embodiment of the present invention, the aforementioned operation scenarios include at least the number of various types of needles, the positions of various types of needles, and each treatment time. The processing device analyzes the number of needles, the placement positions of each needle, and each treatment time to calculate corresponding operation simulation information, and input the operation simulation information into the operation database. The surgical simulation information includes the temperature distribution and thermal fusion range of each surgical scenario.
在本发明的一实施例中，上述的处理装置通过输入单元接收量测参数输入操作，以取得这些物理参数。In an embodiment of the present invention, the above-mentioned processing device receives a measurement parameter input operation through the input unit to obtain these physical parameters.
在本发明的一实施例中，上述的处理装置通过输入单元接收手术参数输入操作，且依据手术参数输入操作及手术数据库提供对应的温度分布与热损伤状态信息，其中温度分布与热损伤状态信息包括温度分布及热损伤范围。In an embodiment of the present invention, the above-mentioned processing device receives the operation parameter input operation through the input unit, and provides corresponding temperature distribution and thermal damage state information according to the operation parameter input operation and the operation database, wherein the temperature distribution and thermal damage state information Including temperature distribution and thermal damage range.
在本发明的一实施例中，上述的术前规划系统还包括图像显示装置。图像显示装置耦接处理装置。而处理装置通过图像显示装置而依据温度分布与热损伤状态信息提供手术导引信息。In an embodiment of the present invention, the above-mentioned preoperative planning system further includes an image display device. The image display device is coupled to the processing device. The processing device provides operation guidance information according to the temperature distribution and thermal damage state information through the image display device.
本发明的术前规划方法，其包括下列步骤。获取医学图像。分析医学图像分辨组织性质，并依据此组织性质取得多种手术情境所需的多个物理参数。依据这些物理参数模拟这些手术情境以建立手术数据库。The preoperative planning method of the present invention includes the following steps. Acquire medical images. Analyze medical images to distinguish tissue properties, and obtain multiple physical parameters required for various surgical scenarios based on the tissue properties. These surgical scenarios are simulated according to these physical parameters to establish a surgical database.
在本发明的一实施例中，上述依据这些物理参数模拟这些手术情境以建立手术数据库还包括下列步骤。依据组织热特性数据库模拟这些手术情境。In an embodiment of the present invention, simulating the operation scenarios based on the physical parameters to establish the operation database further includes the following steps. These surgical scenarios were simulated against a database of tissue thermal properties.
在本发明的一实施例中，上述的这些手术情境至少包括多种针具数量、多种针具摆放位置及多种热治疗时间。而依据这些物理参数模拟这些手术情境以建立手术数据库还包括下列步骤。分析各针具数量、各针具摆放位置及各热治疗时间，以分别计算对应的手术模拟信息。将手术模拟信息输入至手术数据库。而此手术模拟信息包括各手术情境的温度分布及热损伤范围。In an embodiment of the present invention, the aforementioned operation scenarios at least include various numbers of needles, various placement positions of needles, and various heat treatment times. And simulating these surgical situations according to these physical parameters to establish the surgical database also includes the following steps. The number of each needle, the position of each needle and the time of each thermal treatment are analyzed to calculate the corresponding operation simulation information. Enter surgical simulation information into a surgical database. The operation simulation information includes temperature distribution and thermal damage range of each operation situation.
在本发明的一实施例中，上述的组织热特性数据库包括对应于多个器官的热物理参数。而这些器官的热物理参数包括热传导系数、热容值、血液灌注率及新陈代谢热量。In an embodiment of the present invention, the above-mentioned tissue thermal property database includes thermal physical parameters corresponding to a plurality of organs. The thermophysical parameters of these organs include thermal conductivity, heat capacity, blood perfusion rate and metabolic heat.
在本发明的一实施例中，上述分析医学图像以取得多种手术情境所需的物理参数还包括下列步骤。接收量测参数输入操作，以取得这些物理参数。In an embodiment of the present invention, the above analysis of the medical image to obtain the physical parameters required by various surgical scenarios further includes the following steps. The measurement parameter input operation is received to obtain these physical parameters.
在本发明的一实施例中，上述分析医学图像以取得多种手术情境所需的多个物理参数，还包括下列步骤。接收手术参数输入操作。依据手术参数输入操作及手术数据库提供对应的温度分布与热损伤状态信息。温度分布与热损伤状态信息包括温度分布及热损伤范围。In an embodiment of the present invention, the analysis of the medical image to obtain multiple physical parameters required by various surgical scenarios further includes the following steps. A surgical parameter input operation is received. According to the input operation of operation parameters and the operation database, the corresponding temperature distribution and thermal injury state information are provided. Information on temperature distribution and thermal damage state includes temperature distribution and thermal damage range.
在本发明的一实施例中，上述依据该手术参数输入操作及该手术数据库提供对应的该温度分布与热损伤状态信息之后，还包括下列步骤。依据温度分布与热损伤状态信息提供手术导引信息。In an embodiment of the present invention, after providing the corresponding temperature distribution and thermal injury state information according to the operation parameter input operation and the operation database, the following steps are further included. Provide surgical guidance information based on temperature distribution and thermal injury status information.
基于上述，本发明实施例所提出的术前规划系统以及术前规划方法，其通过图像获取装置获取医学图像，且依据医学图像对多种手术情境进行模拟，从而建构出客制化的手术数据库。据此，手术人员可依据手术需求，为不同病患提供个人化的专业术前规划。Based on the above, the preoperative planning system and preoperative planning method proposed by the embodiment of the present invention acquire medical images through an image acquisition device, and simulate various surgical scenarios based on the medical images, thereby constructing a customized surgical database . Accordingly, surgeons can provide personalized professional preoperative planning for different patients according to their surgical needs.
为让本发明的上述特征和优点能更明显易懂，下文特举实施例，并配合附图作详细说明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings.
附图说明Description of drawings
图1是依据本发明一实施例说明一术前规划系统的装置方块图；Fig. 1 is a device block diagram illustrating a preoperative planning system according to an embodiment of the present invention;
图2是依据本发明另一实施例说明一种术前规划系统的装置方块图；Fig. 2 is a device block diagram illustrating a preoperative planning system according to another embodiment of the present invention;
图3是依据本发明一实施例说明一种术前规划方法的流程图；Fig. 3 is a flowchart illustrating a preoperative planning method according to an embodiment of the present invention;
图4是一范例说明图3中步骤S320～S330的流程图；FIG. 4 is a flowchart illustrating steps S320-S330 in FIG. 3;
图5是范例进一步说明图4中步骤S441的流程图；FIG. 5 is an example to further illustrate the flowchart of step S441 in FIG. 4;
图6是依据本发明另一实施例说明一种术前规划方法的流程图。Fig. 6 is a flowchart illustrating a preoperative planning method according to another embodiment of the present invention.
附图标记说明：Explanation of reference signs:
100、200：术前规划系统；100, 200: preoperative planning system;
110、210：图像获取装置；110, 210: image acquisition device;
120、220：处理装置；120, 220: processing device;
230：输入单元；230: input unit;
240：图像显示装置；240: image display device;
S310、S320、S330、S410、S420、S430、S440、S441、S442、S443、S450、S460、S470、S510、S515、S512、S513、S521、S522、S523、S550、S610、S620、S630、S640、S650、S660：步骤。S310, S320, S330, S410, S420, S430, S440, S441, S442, S443, S450, S460, S470, S510, S515, S512, S513, S521, S522, S523, S550, S610, S620, S630, S640, S650, S660: steps.
具体实施方式detailed description
本发明实施例所提出的术前规划系统可以分析医学图像(电脑断层扫描(Computed Tomography；CT)、磁共振成像(Magnetic Resonance Imaging；MRI)或超声波等)，且模拟多种手术情境以建立手术数据库，从而针对不同患者或患部的组织热传物理性质的不同分别提供不同的术前规划。以下提出符合本发明的精神的多个实施例，应用本实施例的可依其需求而对这些实施例进行适度调整，而不仅限于下述描述中的内容。The preoperative planning system proposed in the embodiments of the present invention can analyze medical images (Computed Tomography (CT), Magnetic Resonance Imaging (MRI) or ultrasound, etc.), and simulate various surgical scenarios to establish surgical procedures. Database, so as to provide different preoperative plans for different patients or different tissue heat transfer physical properties of affected parts. A number of embodiments conforming to the spirit of the present invention are presented below, and those who apply this embodiment can make appropriate adjustments to these embodiments according to their needs, and are not limited to the content in the following description.
图1是依据本发明一实施例说明用于热治疗的术前规划系统的装置方块图。请参照图1，术前规划系统100包括图像获取装置110以及处理装置120。FIG. 1 is a device block diagram illustrating a preoperative planning system for thermal therapy according to an embodiment of the present invention. Referring to FIG. 1 , the preoperative planning system 100 includes an image acquisition device 110 and a processing device 120 .
图像获取装置110可以是电脑断层扫描装置、核磁共振成像装置或超声波感测装置等临床上常用的医学图像装置，且用以对人体器官、组织进行图像获取，以获得例如电脑断层图像、核磁共振图像或超声波图像等医学图像，本发明实施例不加以限制。The image acquisition device 110 may be a commonly used clinical medical image device such as a computerized tomography device, a nuclear magnetic resonance imaging device, or an ultrasonic sensing device, and is used to obtain images of human organs and tissues to obtain, for example, computerized tomography images, nuclear magnetic resonance imaging devices, etc. Medical images such as images or ultrasound images are not limited in this embodiment of the present invention.
处理装置120耦接图像获取装置110。处理装置120可以是台式电脑、笔记本电脑、服务器、工作站电脑等具运算功能的电子装置，其可至少包括(但不仅限于)处理器(未示出)(例如，中央处理器(Central Processing Unit；CPU)、微处理器(Microprocessor)、数字信号处理器(DSP)、可程序化控制器、特殊应用集成电路(Application Specific Integrated Circuit；ASIC)、系统单芯片(system on chip；SoC)或其他类似元件或上述元件的组合)及储存单元(未示出)(例如，任何型态的固定或可移动随机存取存储器(RandomAccess Memory；RAM)、只读存储器(Read-Only Memory；ROM)、快闪存储器(flash memory)或类似元件或上述元件的组合)。The processing device 120 is coupled to the image acquisition device 110 . The processing device 120 may be an electronic device with computing functions such as a desktop computer, a notebook computer, a server, a workstation computer, etc., which may at least include (but not be limited to) a processor (not shown) (for example, a central processing unit (Central Processing Unit; CPU), Microprocessor (Microprocessor), Digital Signal Processor (DSP), Programmable Controller, Application Specific Integrated Circuit (ASIC), System on Chip (SoC) or other similar components or a combination of the above components) and a storage unit (not shown) (for example, any type of fixed or removable random access memory (Random Access Memory; RAM), read-only memory (Read-Only Memory; ROM), fast flash memory (flash memory) or similar components or a combination of the above components).
在本发明实施例中，处理装置120用以分析图像获取装置110所获取的医学图像，并据以规划出多种手术情境的手术数据库，其说明待后续实施例详加叙述。而储存单元可储存组织热特性数据库、手术模拟信息、物理参数(含热物理参数)、温度分布与热损伤状态信息、手术导引信息、手术模拟程序、组织温度分布预测软件等。In the embodiment of the present invention, the processing device 120 is used to analyze the medical images obtained by the image obtaining device 110, and plan a surgical database of various surgical scenarios accordingly. The description will be described in detail in subsequent embodiments. The storage unit can store tissue thermal characteristic database, surgical simulation information, physical parameters (including thermophysical parameters), temperature distribution and thermal injury status information, surgical guidance information, surgical simulation program, tissue temperature distribution prediction software, etc.
依据不同设计需求，术前规划系统100可能增设其他装置或元件。举例而言，图2是依据本发明另一实施例说明一种术前规划系统的装置方块图。请参照图2，术前规划系统200包括图像获取装置210、处理装置220、输入单元230以及图像显示装置240。图像获取装置210及处理装置220的说明可参照图1中的图像获取装置110及处理装置120，故于此不再赘述。本实施例的术前规划系统200与上述图1实施例的术前规划系统100的差别在于，术前规划系统200还包括输入单元230(也可内建于处理装置220中)以及图像显示装置240。According to different design requirements, other devices or components may be added to the preoperative planning system 100 . For example, FIG. 2 is a device block diagram illustrating a preoperative planning system according to another embodiment of the present invention. Referring to FIG. 2 , the preoperative planning system 200 includes an image acquisition device 210 , a processing device 220 , an input unit 230 and an image display device 240 . The description of the image acquisition device 210 and the processing device 220 can refer to the image acquisition device 110 and the processing device 120 in FIG. 1 , so details are not repeated here. The difference between the preoperative planning system 200 of this embodiment and the preoperative planning system 100 of the above-mentioned embodiment in FIG. 240.
输入单元230例如是键盘、鼠标或是电容式(capacitive)、电阻式(resistive)或光学式(optical)等类型的触控单元。在本实施例中，处理装置220可通过输入单元230接收量测参数输入操作，以取得多种手术情境所需的物理参数，或者处理装置220也可通过输入单元230接收手术参数输入操作。The input unit 230 is, for example, a keyboard, a mouse, or a capacitive, resistive or optical touch unit. In this embodiment, the processing device 220 can receive the measurement parameter input operation through the input unit 230 to obtain physical parameters required in various surgical scenarios, or the processing device 220 can also receive the operation parameter input operation through the input unit 230 .
图像显示装置240可以是液晶显示器(Liquid Crystal Display；LCD)、薄膜液晶晶体管(Thin Film Transistor Liquid Crystal Display；TFT-LCD)、发光二极管显示器(Light-Emitting Diode；LED)、有机发光二极管显示器(Organic LIGHT-Emitting Diode；OLED)等各式显示器。在本实施例中，处理装置220通过图像显示装置240呈现手术模拟信息、物理参数、热物理参数、温度分布与热损伤状态信息、手术导引信息等。The image display device 240 may be a liquid crystal display (Liquid Crystal Display; LCD), a thin film liquid crystal transistor (Thin Film Transistor Liquid Crystal Display; TFT-LCD), a light-emitting diode display (Light-Emitting Diode; LED), an organic light-emitting diode display (Organic LIGHT-Emitting Diode; OLED) and other displays. In this embodiment, the processing device 220 presents surgical simulation information, physical parameters, thermophysical parameters, temperature distribution and thermal injury status information, surgical guidance information, etc. through the image display device 240 .
为了方便理解本发明实施例的操作流程，以下将举诸多实施例详细说明本发明图1以及图2实施例中术前规划系统100、200的术前规划方法。In order to facilitate the understanding of the operation process of the embodiment of the present invention, the preoperative planning methods of the preoperative planning systems 100 and 200 in the embodiment of the present invention shown in FIG. 1 and FIG.
图3是依据本发明一实施例说明一种术前规划方法的流程图。请同时参照图3，本实施例的术前规划方法适用于图1及图2的术前规划系统100、200。而为了方便说明，以下实施例将以图2中的装置及元件说明本发明实施例所述的方法。本方法的各个流程可依照实施情形而随之调整，且并不仅限于此。Fig. 3 is a flowchart illustrating a preoperative planning method according to an embodiment of the present invention. Please refer to FIG. 3 at the same time. The preoperative planning method of this embodiment is applicable to the preoperative planning systems 100 and 200 in FIG. 1 and FIG. 2 . For the convenience of description, the following embodiments will illustrate the method described in the embodiment of the present invention with the device and components shown in FIG. 2 . Each process of the method can be adjusted accordingly according to the implementation situation, and is not limited thereto.
在步骤S310中，图像获取装置210获取医学图像。获取医学图像(例如，CT、MRI或超声波图像等)的详细说明可参照图1中图像获取装置110的叙述，于此不再赘述。In step S310, the image acquisition device 210 acquires a medical image. For detailed descriptions of acquiring medical images (eg, CT, MRI, or ultrasonic images, etc.), reference may be made to the description of the image acquiring device 110 in FIG. 1 , which will not be repeated here.
在步骤S320中，处理装置220接收来自图像获取装置210的医学图像，并分析此医学图像以取得多种手术情境所需的物理参数。具体而言，现有的术前规划及手术导航系统大多会利用医学图像来辅助手术器械的三维路径规划与定位。而针对热治疗手术等能量的信息，现有技术通常无法随着不同患者或患部的组织热传物理性质的不同而分别提供不同的术前规划与导航。据此，本发明实施例便是结合手术相关的数据库，以依据不同医学图像或量测的物理参数对手术内容进行评估。In step S320, the processing device 220 receives the medical image from the image acquisition device 210, and analyzes the medical image to obtain physical parameters required by various surgical scenarios. Specifically, most of the existing preoperative planning and surgical navigation systems use medical images to assist the three-dimensional path planning and positioning of surgical instruments. For energy information such as heat therapy operations, the existing technology usually cannot provide different preoperative planning and navigation according to the different physical properties of tissue heat transfer in different patients or affected parts. Accordingly, the embodiment of the present invention combines the operation-related database to evaluate the operation content according to different medical images or measured physical parameters.
在本实施例中，这些手术情境可适用于热治疗手术。处理装置220可先依据图像获取装置200所取得的医学图像建立可供后续分析的格式，再依据此医学图像来分辨其组织性质(例如是肌肉、脂肪等)，并依据组织性质来建立热治疗手术模拟所需的物理参数。这些物理参数可以是磁、电流、磁导率、热传导、比热等特性，依据不同手术情境而有所不同，本发明实施例不加以限制。而手术情境至少包括多种针具数量、多种针具摆放位置、多种热治疗时间、针具深度、线圈电流、交电频率、针径大小等。In this embodiment, these surgical scenarios are applicable to thermal therapy procedures. The processing device 220 can first establish a format for subsequent analysis based on the medical image obtained by the image acquisition device 200, and then distinguish its tissue properties (such as muscle, fat, etc.) based on the medical image, and establish a thermal treatment according to the tissue properties. Physical parameters required for surgical simulation. These physical parameters may be properties such as magnetism, current, magnetic permeability, heat conduction, and specific heat, which vary according to different surgical scenarios, and are not limited by the embodiments of the present invention. The surgical situation includes at least the number of various needles, the placement of various needles, the time of various heat treatments, the depth of needles, the current of the coil, the frequency of alternating current, and the size of the needle diameter.
针对无文献数据的参数，在一实施例中，处理装置220可进一步利用输入单元230来进行量测参数输入操作，以取得无文献数据的物理参数。例如，量测参数输入操作中的量测参数是以实验方式或直接对人体进行量取(热传逆问题)而得。For parameters without document data, in one embodiment, the processing device 220 may further use the input unit 230 to perform a measurement parameter input operation, so as to obtain physical parameters without document data. For example, the measurement parameter in the operation of inputting the measurement parameter is obtained experimentally or directly from the human body (heat transfer inverse problem).
在步骤S330中，处理装置220依据物理参数来模拟多种手术情境以建立手术数据库。在本实施例中，处理装置220依据组织热特性数据库模拟手术情境。而组织热特性数据库包括对应于不同器官的热物理参数。各器官的热物理参数至少包括热传导系数、热容值、血液灌注率及新陈代谢热量等。处理装置220可分析各针具数量、各针具摆放位置及各热治疗时间，以分别计算对应的手术模拟信息。接着，处理装置220将计算的手术模拟信息输入至储存单元中的手术数据库。而此手术模拟信息包括这些手术情境的温度分布及热损伤范围等治疗情形。In step S330 , the processing device 220 simulates various surgical scenarios according to physical parameters to establish a surgical database. In this embodiment, the processing device 220 simulates a surgical situation according to the tissue thermal characteristic database. Whereas the tissue thermal properties database includes thermophysical parameters corresponding to different organs. The thermophysical parameters of each organ include at least thermal conductivity, heat capacity, blood perfusion rate and metabolic heat, etc. The processing device 220 can analyze the number of each needle, the placement position of each needle, and each heat treatment time, so as to calculate corresponding operation simulation information. Next, the processing device 220 inputs the calculated operation simulation information into the operation database in the storage unit. The surgical simulation information includes treatment situations such as temperature distribution and thermal damage range of these surgical scenarios.
举例而言，图4是一范例说明图3中步骤S320～S330的流程图。请参照图4，处理装置220可启动组织温度分布预测软件(步骤S410)，以分析依据图像获取装置210所取得的医学图像。接着，处理装置220可通过输入单元230接收病灶位置以及治疗条件设定的输入操作(步骤S420)，且依据病灶位置以及治疗条件设定来执行热治疗演算(步骤S430)。处理装置220可以利用数据库程序依据运算结果来建立手术数据库(步骤S440)，于实务上，手术数据库可选用关联式数据库管理系统(如MySQL)来建置。例如，建立磁感应热治疗温度分布数据库。此数据库可能是经由超级电脑、服务器或处理装置220运算各种情况的治疗温度分布。或者，处理装置220拟合温度(例如，离散数据拟合)以预测温度分布的经验公式，并加以实验验证。For example, FIG. 4 is a flow chart illustrating steps S320 - S330 in FIG. 3 . Referring to FIG. 4 , the processing device 220 can start the tissue temperature distribution prediction software (step S410 ) to analyze the medical image obtained by the image obtaining device 210 . Next, the processing device 220 may receive the input operation of the lesion location and the treatment condition setting through the input unit 230 (step S420 ), and execute the thermal treatment calculation according to the lesion location and the treatment condition setting (step S430 ). The processing device 220 can use the database program to establish the operation database according to the operation result (step S440 ). In practice, the operation database can be established by using a relational database management system (such as MySQL). For example, establish a temperature distribution database for magnetic induction thermal therapy. The database may be calculated by supercomputer, server or processing device 220 to calculate the treatment temperature distribution of various conditions. Alternatively, the processing device 220 fits the temperature (eg, discrete data fitting) to predict an empirical formula for the temperature distribution, and validates it experimentally.
其中，在步骤S441中，处理装置220可通过架设组织热特性量测平台，以建构出具有磁(e)、电流(i)、磁导率(μ)、热传导(k)、比热(c)等特性的组织热特性数据库。Wherein, in step S441, the processing device 220 can set up a tissue thermal characteristic measurement platform to construct ) and other characteristics of tissue thermal characteristics database.
举例而言，图5是范例进一步说明图4中步骤S441的流程图。请参照图5，此流程是针对组织热特性量测、分析及验证。在步骤S510中，处理装置220执行模拟程序。首先，处理装置220判断温度分布与实验误差小于设定值(步骤S512)。接着，处理装置220设定组织热传导系数猜值(步骤S513)，利用模拟程序计算组织温度分布。通过建立数值分析程序(例如，有限元素法、有限差分法或边界元素法等)求解热传方程式(例如，Pennes热传导方程式)，且接着判断温度分布与实验误差是否小于设定值(步骤S515)。其中，针对实验数据的产生，处理装置220可先取得不同背景温度下量测温度分布(步骤S521)，对温度数据数字化(步骤S522)，且模拟拟合实验数据(步骤S523)，从而产生实验数据以供步骤S515来进行判断。For example, FIG. 5 is a flowchart illustrating step S441 in FIG. 4 . Please refer to Figure 5, this process is for the measurement, analysis and verification of tissue thermal characteristics. In step S510, the processing device 220 executes a simulation program. First, the processing device 220 judges that the temperature distribution and the experimental error are smaller than the set value (step S512 ). Next, the processing device 220 sets a guess value of the thermal conductivity of the tissue (step S513 ), and uses a simulation program to calculate the temperature distribution of the tissue. Solve the heat transfer equation (for example, Pennes heat conduction equation) by establishing a numerical analysis program (for example, finite element method, finite difference method or boundary element method, etc.), and then determine whether the temperature distribution and the experimental error are less than the set value (step S515) . Among them, for the generation of experimental data, the processing device 220 can first obtain the measured temperature distribution under different background temperatures (step S521), digitize the temperature data (step S522), and simulate and fit the experimental data (step S523), thereby generating the experimental data. The data is used for step S515 to judge.
而若温度分布与实验误差未小于(例如，大于或等于)设定值，则返回步骤S512来重设组织热传导系数猜值。换句而言，处理装置220所执行的模拟程序会在未小于设定值的情况下持续迭代运算(即，重复执行步骤S512～S515)。另一面，若温度分布与实验误差小于设定值，则完成估算热传导系数(步骤S550)。最后，处理装置220进行热治疗特性模拟分析与实验验证(步骤S560)。例如，将热电偶温度、热像仪分布或热治疗范围等与实验进行验证。If the temperature distribution and the experimental error are not less than (for example, greater than or equal to) the set value, return to step S512 to reset the guessed value of the tissue thermal conductivity. In other words, the simulation program executed by the processing device 220 will continue the iterative operation (that is, repeatedly execute steps S512 - S515 ) if the value is not less than the set value. On the other hand, if the error of the temperature distribution and the experiment is smaller than the set value, then the estimation of the thermal conductivity is completed (step S550 ). Finally, the processing device 220 performs thermal treatment characteristic simulation analysis and experimental verification (step S560). For example, verify thermocouple temperature, camera distribution, or thermal treatment range, etc. with experiments.
请接着参照图4，处理装置220可通过磁感应热治疗经验公式来即时运算(步骤S442)，且执行校正程序/信号储存/统计运算，以完成手术数据库的建立(步骤S443)。Referring to FIG. 4 , the processing device 220 can perform real-time calculations through the magnetic induction thermal therapy empirical formula (step S442 ), and execute correction procedures/signal storage/statistical calculations to complete the establishment of the surgical database (step S443 ).
另一方面，处理装置220可通过输入单元230接收输入操作，以利用基础外挂程序来撰写诸如图层模块、警示呼叫或各类显示画面等数据(步骤S450)。经确认规划结果(步骤S460)后，处理装置220可通过图像显示装置240来显示数据显示介面(步骤S470)。例如，图像显示装置240显示手术模拟信息中的治疗情形。On the other hand, the processing device 220 can receive an input operation through the input unit 230 to use the basic plug-in program to compose data such as a layer module, an alert call, or various display screens (step S450 ). After confirming the planning result (step S460), the processing device 220 may display a data display interface through the image display device 240 (step S470). For example, the image display device 240 displays the treatment situation in the operation simulation information.
在建构出手术数据库之后，处理装置220可利用输入单元230接收手术参数输入操作，且依据手术参数输入操作以及手术数据库来提供对应的温度分布与热损伤状态信息。温度分布与热损伤状态信息可包括温度分布以及热损伤范围等不同治疗情形。具体而言，在实际应用上，以感磁热治疗为例，输入单元230可接收医生所输入诸如线圈电流、交变频率、针径、针具深度、时间等手术操作参数。此外，依据不同需求，手术数据库可能适用于其他类型的热治疗，本发明不以此为限。而处理装置220便能根据手术数据库呈现此手术参数下的温度分布、烧灼范围、组织热损伤范围、热损伤范围与预计治疗范围的差异等温度分布与热损伤状态信息。After the surgical database is constructed, the processing device 220 can use the input unit 230 to receive the surgical parameter input operation, and provide corresponding temperature distribution and thermal injury state information according to the surgical parameter input operation and the surgical database. The temperature distribution and thermal damage state information may include different treatment situations such as temperature distribution and thermal damage range. Specifically, in practical applications, taking magnetothermal therapy as an example, the input unit 230 can receive surgical operation parameters such as coil current, alternating frequency, needle diameter, needle depth, and time input by the doctor. In addition, according to different requirements, the operation database may be applicable to other types of heat treatment, and the present invention is not limited thereto. The processing device 220 can present temperature distribution and thermal damage status information such as temperature distribution, cauterization range, tissue thermal damage range, difference between thermal damage range and expected treatment range under the surgical parameters according to the surgical database.
举例来说，处理装置220依据下针位置、针具数量等手术参数模拟计算治疗范围，以通过图像显示装置240显示图像模拟治疗范围与真实医学图像，从而让医生在手术前可从多角度、多层次进行观察和进行分析比较。For example, the processing device 220 simulates and calculates the treatment range based on surgical parameters such as the position of the needle and the number of needles, so that the image display device 240 displays the simulated treatment range and the real medical image, so that the doctor can view it from multiple angles, Multi-level observation and analysis and comparison.
藉此，在手术前的评估过程中，本实施例的术前规划系统200可提供医生能更直观的理解各操作条件下的治疗情形，并可获得治疗区与周围重要结构的空间关系，避免周围结构热损伤的发生，以提高诊断的准确性与手术品质和效果。In this way, during the preoperative evaluation process, the preoperative planning system 200 of this embodiment can provide doctors with a more intuitive understanding of the treatment situation under various operating conditions, and can obtain the spatial relationship between the treatment area and the surrounding important structures, avoiding Thermal damage to surrounding structures occurs to improve diagnostic accuracy and surgical quality and effectiveness.
在另一实施例中，在手术过程中，处理装置220还能依据温度分布与热损伤状态信息而通过图像显示装置240来提供手术导引信息。例如，术前规划系统200可包括另一个图像获取装置(未示出)，以拍摄手术图像。而处理装置220可依据手术图像及手术数据库对各种操作情形进行评估，且通过图像显示装置240呈现对应的手术导引信息。针对手术过程中的各流程及突发状况，手术导引信息能指引医生进行对应的操作或进行修正。In another embodiment, during the operation, the processing device 220 can also provide operation guidance information through the image display device 240 according to the temperature distribution and thermal damage state information. For example, the preoperative planning system 200 may include another image acquisition device (not shown) to capture surgical images. The processing device 220 can evaluate various operation situations according to the surgical images and the surgical database, and present corresponding surgical guidance information through the image display device 240 . For various procedures and emergencies during the operation, the operation guidance information can guide the doctor to perform corresponding operations or make corrections.
为了让本领域技术人员能明了本发明的操作流程，以下另举一情境说明。图6是依据本发明另一实施例说明一种术前规划方法的流程图。请同时参照图6，本实施例的术前规划方法例如至少可适用于图1及图2中的术前规划系统100、200。而为了方便说明，以下实施例将以图2中的装置及元件说明本发明实施例所述的方法。本方法的各个流程可依照实施情形而随之调整，且并不仅限于此。In order for those skilled in the art to understand the operation process of the present invention, another scenario description is given below. Fig. 6 is a flowchart illustrating a preoperative planning method according to another embodiment of the present invention. Please refer to FIG. 6 at the same time. The preoperative planning method of this embodiment is at least applicable to the preoperative planning systems 100 and 200 in FIG. 1 and FIG. 2 , for example. For the convenience of description, the following embodiments will illustrate the method described in the embodiment of the present invention with the device and components shown in FIG. 2 . Each process of the method can be adjusted accordingly according to the implementation situation, and is not limited thereto.
首先，图像获取装置210取得医学图像(步骤S610)。此医学图像例如是CT、MRI或超声波图像等。处理装置220接着建立可供工程分析格式(步骤S620)，且分辨医学图像的组织性质(例如肌肉、脂肪等)，并建立热治疗手术模拟所需物理参数(例如，磁(e)、电流(i)、磁导率(μ)、热传导(k)、比热(c)等)。而若无文献数据的参数，则以实验方式量取(步骤S630)。处理装置220模拟不同热治疗情形(针具数量、针具位置与热治疗时间等)以建立组织热特性数据库(步骤S640)。处理装置220可利用模拟的组织热特性数据库建立热治疗手术的“专家系统”(即，包括手术模拟信息的手术数据库)。当医生输入手术操作参数(针具数量、针具位置与热治疗时间等)时，图像显示装置240便能依据手术数据库呈现此操作条件下的温度分布、烧灼范围等温度分布与热损伤状态信息(步骤S650)。通过图像显示装置240呈现手术模拟信息及温度分布与热损伤状态信息，可让医生与病患都能更清楚手术流程。而在手术过程中，术前规划系统200能提供即时手术导引系统，让医生于手术前或手术中能依据手术导引信息而更清楚下针位置与治疗范围，进而有利于医生即时修正手术操作(步骤S660)。First, the image acquisition device 210 acquires a medical image (step S610). The medical image is, for example, a CT, MRI, or ultrasound image. The processing device 220 then creates a format available for engineering analysis (step S620), and distinguishes the tissue properties (such as muscle, fat, etc.) of the medical image, and establishes the physical parameters (such as magnetic (e), current ( i), magnetic permeability (μ), thermal conductivity (k), specific heat (c), etc.). If there is no parameter in the literature data, it is measured experimentally (step S630). The processing device 220 simulates different thermal treatment situations (number of needles, positions of needles, thermal treatment time, etc.) to establish a tissue thermal characteristic database (step S640). The processing device 220 may use the database of simulated tissue thermal properties to create an "expert system" for thermal therapy procedures (ie, a surgical database including surgical simulation information). When the doctor inputs surgical operation parameters (the number of needles, the position of needles, and the thermal treatment time, etc.), the image display device 240 can present temperature distribution and thermal damage status information such as temperature distribution and ablation range under the operating conditions according to the operation database (step S650). Using the image display device 240 to present surgical simulation information, temperature distribution, and thermal injury status information, both doctors and patients can be more aware of surgical procedures. During the operation, the preoperative planning system 200 can provide a real-time surgical guidance system, so that the doctor can use the surgical guidance information to know more clearly the position of the needle and the treatment range before or during the operation, which is beneficial for the doctor to correct the operation immediately. Operation (step S660).
综上所述，本发明实施例提供术前规划系统以及术前规划方法，其术分析诸如超声波、CT、MRI等医学图像，以基于组织热特性数据库建立具有多种手术情境的手术数据库。此外，本发明实施例也能接收手术参数操作，以提供对应的温度分布与热损伤状态信息。此温度分布与热损伤状态信息不论是在术前能提供医生与病患了解手术情况，还能在手术过程中提供手术导引信息。藉此，通过结合医学图像、组热特性数据库、热治疗手术数据库、温度分布与热损伤状态信息而形成的术前规划系统，其能将模拟计算的手术模拟信息提供给医生来与真实医学图像进行比较，从而理解治疗情形、治疗区与周围重要结构的空间关系，以降低对周围结构造成热损伤的机会。此外，本发明实施例还能提高诊断的准确性与手术品质和效果，进而供医生作为在手术前或手术中评估及引导的重要参考。In summary, the embodiments of the present invention provide a preoperative planning system and preoperative planning method, which analyze medical images such as ultrasound, CT, MRI, etc., to establish a surgical database with various surgical scenarios based on the tissue thermal characteristic database. In addition, the embodiment of the present invention can also receive operation parameter operation to provide corresponding temperature distribution and thermal injury state information. The temperature distribution and thermal injury status information can provide doctors and patients with information about the operation situation before the operation, and can also provide operation guidance information during the operation. In this way, the preoperative planning system formed by combining medical images, group thermal characteristic database, thermal treatment operation database, temperature distribution and thermal injury status information can provide doctors with simulated operation simulation information to match real medical images. Make a comparison to understand the treatment situation, the spatial relationship between the treatment area and the surrounding important structures, so as to reduce the chance of thermal damage to the surrounding structures. In addition, the embodiments of the present invention can also improve the accuracy of diagnosis and the quality and effect of surgery, which can be used as an important reference for doctors to evaluate and guide before or during surgery.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
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| CN201510894956.5ACN106855912A (en) | 2015-12-08 | 2015-12-08 | Preoperative planning system and preoperative planning method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201510894956.5ACN106855912A (en) | 2015-12-08 | 2015-12-08 | Preoperative planning system and preoperative planning method |
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| CN106855912Atrue CN106855912A (en) | 2017-06-16 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201510894956.5APendingCN106855912A (en) | 2015-12-08 | 2015-12-08 | Preoperative planning system and preoperative planning method |
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| CN (1) | CN106855912A (en) |
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| CN108198632A (en)* | 2018-02-28 | 2018-06-22 | 烟台威兹曼智能信息技术有限公司 | The preoperative planning system and method for a kind of retinopathy laser therapy |
| TWI715349B (en)* | 2019-12-13 | 2021-01-01 | 優賀普股份有限公司 | System and method for cooperative management of medical devices |
| CN116864136A (en)* | 2023-09-05 | 2023-10-10 | 惠民县人民医院 | Postoperative perforation healing model for acute perforation of gastroduodenal ulcer |
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| CN102663416A (en)* | 2012-03-20 | 2012-09-12 | 苏州迪凯尔医疗科技有限公司 | Segmentation method of viscera and internal blood vessels thereof in surgical planning system |
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| CN1801214A (en)* | 2005-11-18 | 2006-07-12 | 厦门大学 | Apparatus and method for processing tumor image information based on digital virtual organ |
| CN102117378A (en)* | 2009-12-31 | 2011-07-06 | 苏州瑞派宁科技有限公司 | Liver tumor comprehensive operation planning simulation method and system based on three-dimensional multimode image |
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| CN107085671A (en)* | 2017-06-29 | 2017-08-22 | 江苏奥康尼医疗科技发展有限公司 | A kind of auxiliary equipment of repair of cartilage operation |
| CN108198632A (en)* | 2018-02-28 | 2018-06-22 | 烟台威兹曼智能信息技术有限公司 | The preoperative planning system and method for a kind of retinopathy laser therapy |
| TWI715349B (en)* | 2019-12-13 | 2021-01-01 | 優賀普股份有限公司 | System and method for cooperative management of medical devices |
| CN116864136A (en)* | 2023-09-05 | 2023-10-10 | 惠民县人民医院 | Postoperative perforation healing model for acute perforation of gastroduodenal ulcer |
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| WD01 | Invention patent application deemed withdrawn after publication | Application publication date:20170616 |