CN115553818A - A Myocardial Biopsy System Based on Fusion Positioning - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及外科诊疗仪器技术领域，具体涉及一种基于融合定位的心肌活检系统。The invention relates to the technical field of surgical diagnosis and treatment instruments, in particular to a myocardial biopsy system based on fusion positioning.
背景技术Background technique
心肌活检主要用于心肌的浸润性或炎症性的疾病的确诊，如心肌的排异反应、心肌肉瘤样病变的诊断、心脏血色素沉着症、心脏纤维弹力组织增生和心脏的糖原累积病。一些感染性累及心肌的疾病可以通过心肌的活检帮助明确诊断。以心肌炎为例，心肌活检是确定引起炎症原因的最直接、最准确手段。Myocardial biopsy is mainly used for the diagnosis of myocardial infiltrating or inflammatory diseases, such as myocardial rejection, diagnosis of cardiac myomatous lesions, cardiac hemochromatosis, cardiac fibroelastic tissue hyperplasia, and cardiac glycogen accumulation disease. Some infectious diseases involving the myocardium can be diagnosed by biopsy of the myocardium. Taking myocarditis as an example, myocardial biopsy is the most direct and accurate means to determine the cause of inflammation.
心肌活检可以采取经桡动脉、左心室、心内膜心肌活检的方法，在活检前需要进行超声图像采集或者心室造影，明确心室的图形；或者可以经颈静脉，锁骨下静脉和股静脉的静脉中，通过静脉插管放入心肌活组织检查钳进行右心室活检。Myocardial biopsy can be performed via the radial artery, left ventricle, or endomyocardial biopsy. Ultrasound image acquisition or ventriculography is required before the biopsy to clarify the pattern of the ventricles; or via the jugular vein, subclavian vein, and femoral vein In , a biopsy of the right ventricle was performed with myocardial biopsy forceps placed through an intravenous cannula.
活检时，经过指引导管，将活检钳导管端孔置于心室腔，而未抵住心室壁，导管头端距离心室壁以2-3cm为宜。如果距离过近容易造成穿孔，距离太远则会增加二尖瓣腱索损伤的风险。用肝素盐水纱布擦拭心内膜心肌活检钳，在X线或超声指引下，引导管送入活检钳，将其送至室心尖或者室外侧壁，透视下调整活检钳的位置，回撤活检钳约1cm，张开钳口，重新将活检钳前送，一旦感受到阻力，快速的闭合钳口，平稳回拽活检钳，使其脱离心室壁。During biopsy, place the end hole of the biopsy forceps catheter in the ventricular cavity through the guiding catheter, without touching the ventricular wall, and the distance between the tip of the catheter and the ventricular wall is preferably 2-3cm. If the distance is too close, it is easy to cause perforation, and if the distance is too far, it will increase the risk of mitral valve chordal injury. Wipe endomyocardial biopsy forceps with heparinized saline gauze, under the guidance of X-ray or ultrasound, guide the guide tube into the biopsy forceps, send it to the apex of the ventricle or the side wall of the outdoor room, adjust the position of the biopsy forceps under fluoroscopy, and withdraw the biopsy forceps About 1cm, open the jaws, and forward the biopsy forceps again. Once resistance is felt, quickly close the jaws, and pull the biopsy forceps back smoothly to make it detach from the ventricular wall.
但是，手术时不管是超声引导还是X射线引导，由于涉及到心脏部位，必须尽快完成活检取样，否则很容易造成心肌损伤、感染等问题，而如果操作失当又容易造成心内间隔穿刺，因此，有效地图像引导至关重要。现有的引导方式均是采用直接图像引导的方式，引导过程完全依赖于实时的超声图像或X射线图像。这种图像极度依赖于医师对于超声的即时观察，而超声图像的边界往往并不足够清晰，在高度紧张情况，容易引起失误。However, whether it is ultrasound-guided or X-ray-guided, since the heart is involved, biopsy sampling must be completed as soon as possible, otherwise it is easy to cause myocardial damage, infection and other problems, and if the operation is improper, it is easy to cause intracardiac septum puncture. Therefore, Effective image guidance is crucial. The existing guidance methods all use direct image guidance, and the guidance process completely depends on real-time ultrasound images or X-ray images. This kind of image is extremely dependent on the physician's real-time observation of the ultrasound, and the boundaries of the ultrasound image are often not clear enough, and it is easy to cause mistakes in highly stressful situations.
发明内容Contents of the invention
针对上述问题，本发明希望提供一种基于融合定位的心肌活检系统，包括：超声图像采集装置、图像处理单元、图像融合装置、融合显示装置以及心肌活检装置，所述超声图像采集装置用于采集或接收目标患者的术前超声图像，并且将术前超声图像与外部的ECG检测装置采集的目标患者的心动周期数据关联；所述图像处理单元用于对多张术前超声图像按照目标患者的心动周期进行划分，划分成不同心跳状态的图像集，所述图像处理单元分别从心动周期中每个心动状态的图像集中选取周期末的图像进行轮廓特征提取获取相应周期末左心室或者右心室的轮廓图像；所述实时图像采集装置还用于术中采集心脏部位的实时图像，所述图像融合装置用于根据当前患者的心动周期将相应周期末的提取的轮廓信息以弱轮廓线形式投影到所述实时图像中的对应轮廓位置。In view of the above problems, the present invention hopes to provide a myocardial biopsy system based on fusion positioning, including: an ultrasonic image acquisition device, an image processing unit, an image fusion device, a fusion display device and a myocardial biopsy device, and the ultrasonic image acquisition device is used for acquiring Or receive the preoperative ultrasound image of the target patient, and associate the preoperative ultrasound image with the cardiac cycle data of the target patient collected by an external ECG detection device; The cardiac cycle is divided into image sets of different heartbeat states, and the image processing unit selects the image at the end of the cycle from the image set of each cardiac state in the cardiac cycle to perform contour feature extraction to obtain the left ventricle or right ventricle at the end of the corresponding cycle. Contour image; the real-time image acquisition device is also used to collect real-time images of the heart during the operation, and the image fusion device is used to project the extracted contour information at the end of the corresponding cycle in the form of weak contour lines according to the current patient's cardiac cycle The corresponding contour position in the real-time image.
进一步地，还包括X射线图像采集装置。Further, an X-ray image acquisition device is also included.
进一步地，所述图像融合装置基于所采集的实时超声图像进行轮廓提取，并且将所提取的实时轮廓与预先提取的轮廓图像进行匹配，进而确定当前超声图像与轮廓图像之间的映射关系。Further, the image fusion device performs contour extraction based on the collected real-time ultrasound image, and matches the extracted real-time contour with the pre-extracted contour image, and then determines the mapping relationship between the current ultrasound image and the contour image.
进一步地，在对患者进行图像采集时，采用ECG检测装置同步采集患者的心电数据，以确定患者的心动周期。Further, when the image is collected from the patient, the ECG detection device is used to collect the patient's electrocardiogram data synchronously, so as to determine the patient's cardiac cycle.
进一步地，所述图像处理装置用于对实时轮廓图进行截取，截取心内间隔部分的轮廓与预先提取的轮廓图像中心内间隔部分匹配，以心内间隔部分的匹配结果为基准，将预先提取的轮廓图像投影到实时超声图像，与实时超声图像融合。Further, the image processing device is used to intercept the real-time contour map, and the contour of the intercepted intracardiac interval part is matched with the pre-extracted contour image central interval part, and based on the matching result of the intracardiac interval part, the pre-extracted The contour image of the image is projected onto the real-time ultrasound image and fused with the real-time ultrasound image.
进一步地，在对患者进行图像采集时，采用ECG检测装置同步采集患者的心电数据，以确定患者的心动周期。Further, when the image is collected from the patient, the ECG detection device is used to collect the patient's electrocardiogram data synchronously, so as to determine the patient's cardiac cycle.
进一步地，将所述心动周期划分为收缩期和舒张期两个心动状态。Further, the cardiac cycle is divided into two cardiac states of systole and diastole.
轮廓选取基于活检钳插入位置确定，比如，经颈静脉，锁骨下静脉和股静脉的静脉的活检则提取右心室轮廓，轮廓提取可以在术前进行。Contour selection is based on the location of biopsy forceps insertion. For example, the biopsy of transjugular, subclavian, and femoral veins extracts the contour of the right ventricle. Contour extraction can be performed preoperatively.
本发明的心肌活检系统能够将预先精确采集的不同心动状态的心室壁极限位置，投影到实时的超声图像或者X射线图像上，为医务人员提供更加清晰的心室边界概念，有助于对业务不够熟练的医务人员提供更明确地指引，进而有效地控制手术风险。The myocardial biopsy system of the present invention can project the limit positions of the ventricular wall in different cardiac states accurately collected in advance onto the real-time ultrasound image or X-ray image, so as to provide medical personnel with a clearer concept of the ventricular boundary, which is helpful for the inadequacy of the business. Skilled medical staff provide clearer guidelines to effectively control surgical risks.
附图说明Description of drawings
图1为本发明的心肌活检系统的架构示意图。FIG. 1 is a schematic diagram of the structure of the myocardial biopsy system of the present invention.
图2为本发明的心肌活检系统进行图像融合过程的示意性流程图。Fig. 2 is a schematic flowchart of the image fusion process performed by the myocardial biopsy system of the present invention.
图3-6为以右心室为例进行的图像融合示意，其中图3为扩张期末的术前超声图像，图4为选定的感兴趣区域视图，这里设感兴趣区域为心室间隔和右侧壁，图5为掩模处理后的感兴趣区域，图6为在实时图像上以弱轮廓形式显示的扩张期末轮廓线。Figure 3-6 is a schematic diagram of image fusion taking the right ventricle as an example, in which Figure 3 is the preoperative ultrasound image at the end of the diastolic period, and Figure 4 is the view of the selected region of interest, here the regions of interest are the ventricular septum and the right side Figure 5 is the region of interest after mask processing, and Figure 6 is the contour line at the end of the dilation displayed in the form of a weak contour on the real-time image.
具体实施方式detailed description
实施例1Example 1
本实施例提供一种基于融合定位的心肌活检系统。如图1所示，本实施例的基于融合定位的心肌活检系统包括：超声图像获取单元101、图像处理单元102、图像融合装置103、融合显示装置104以及心肌活检装置，超声图像获取单元101用于采集或接收目标患者的术前超声图像。在对患者进行术前检查时，还要采用ECG心电监测设备同步采集患者的心电数据，以确定患者的心动周期。将术前超声图像与目标患者的心动周期数据关联，术前超声图像处理单元用于对多张术前超声图像按照目标患者的心动周期进行划分，划分成不同心动状态的图像集。本实施例中，以收缩和舒张期两个心动状态为例进行心动周期的描述。This embodiment provides a myocardial biopsy system based on fusion positioning. As shown in Figure 1, the myocardial biopsy system based on fusion positioning in this embodiment includes: an ultrasonic image acquisition unit 101, an image processing unit 102, an image fusion device 103, a fusion display device 104, and a myocardial biopsy device. To acquire or receive preoperative ultrasound images of the target patient. During the preoperative examination of the patient, ECG monitoring equipment is also used to collect the patient's ECG data synchronously to determine the patient's cardiac cycle. The preoperative ultrasonic image is associated with the cardiac cycle data of the target patient, and the preoperative ultrasonic image processing unit is used to divide the multiple preoperative ultrasonic images according to the cardiac cycle of the target patient into image sets of different cardiac states. In this embodiment, two cardiac states of systole and diastole are taken as examples to describe the cardiac cycle.
图像处理单元102分别接收心动周期中每个心动状态的图像集，从中选取周期末、轮廓清晰的超声图像进行轮廓特征提取以获取右心室的轮廓图像。当然，本发明方法还可以应用于左心室的心肌活检操作。The image processing unit 102 respectively receives the image sets of each cardiac state in the cardiac cycle, and selects the ultrasonic images at the end of the cycle and with clear contours for contour feature extraction to obtain the contour image of the right ventricle. Of course, the method of the present invention can also be applied to the myocardial biopsy operation of the left ventricle.
在优选实现方式中，轮廓提取的过程如下：In a preferred implementation, the process of contour extraction is as follows:
从术前超声图像集中调取舒张期末端的若干张，比如，3张或5张图像，调取收缩期末端的的若干张，比如，3张或5张图像。在一种实现方式中，对从多张周期末期图像提取的轮廓进行平均，获得收缩和舒张期末期的均化轮廓图。From the preoperative ultrasound image set, several images at the end of diastole, for example, 3 or 5 images, and several images at the end of systole, for example, 3 or 5 images, are retrieved. In one implementation, contours extracted from multiple end-period images are averaged to obtain an averaged contour map for systole and end-diastole.
然后，对图像进行滤波降噪处理，对高阶噪声进行平滑处理，比如降噪可以采用P-M模型进行或者采用中值滤波降噪算法或高斯滤波进行滤波处理。Then, filter and denoise the image, and smooth the high-order noise. For example, P-M model can be used for denoising, or median filtering denoising algorithm or Gaussian filtering can be used for filtering.
利用Canny算子或者Sobel算子进行边缘检测，Canny算子可以检测出更加细腻的边缘轮廓信息，但是计算更为繁琐复杂，就本发明而言，图像中的很多细节轮廓并不重要，重要的是在心肌活检之前，对心室壁不同心动状态下极限位置的确定，以免术中对患者心肌的损伤乃至穿刺。因此，可以在医师手动选取的基础上手动对心肌轮廓图中的感兴趣部位进行圈定，截取出圈定区域的图像。然后，借助Sobel算子基于图像梯度进行边缘轮廓的确定。Utilize Canny operator or Sobel operator to carry out edge detection, Canny operator can detect more delicate edge contour information, but calculation is more loaded down with trivial details and complexity, as far as the present invention is concerned, many detail contours in the image are not important, important It is to determine the limit position of the ventricular wall under different cardiac states before myocardial biopsy, so as to avoid damage to the patient's myocardium during the operation and even puncture. Therefore, the site of interest in the myocardial contour map can be manually delineated on the basis of manual selection by the physician, and an image of the delineated area can be intercepted. Then, the edge contour is determined based on the image gradient with the help of Sobel operator.
Sobel算子包括横向算子Gx和纵向算子Gy：Sobel operator includes horizontal operator Gx and vertical operator Gy :
即，在获取到期末图像之后，医师进行手动轮廓的大体确认，基于医师圈定的轮廓位置，提取出相应位置处的像素，利用掩膜将其余位置的像素值归零，如图4和5所示。That is, after the final image is acquired, the physician generally confirms the manual contour, extracts the pixels at the corresponding position based on the contour position delineated by the physician, and uses the mask to reset the pixel values at the remaining positions to zero, as shown in Figures 4 and 5 Show.
对于非零区域的每一个像素，提取该像素为中心的3*3子区域内的像素值，构成3*3的矩阵，分别与Gx和Gy卷积，获得相应卷积结果值
对选定轮廓区域中所有像素点按照上述方式计算相应梯度值和梯度方向，剔除梯度方向角与相邻若干像素梯度方向角均相差大于阈值，比如45度，用相邻像素均值替代,以便去除突变的毛刺点。For all pixels in the selected contour area, calculate the corresponding gradient value and gradient direction according to the above method, and eliminate the difference between the gradient direction angle and the gradient direction angle of several adjacent pixels greater than the threshold, such as 45 degrees, and replace it with the average value of adjacent pixels to remove Mutation glitches.
利用最小二乘法对轮廓内像素点的梯度值进行拟合，确定最大梯度曲线作为当前心动周期的心室壁轮廓，该最大梯度曲线的线宽尽可能窄，以免对后续实时图像造成干扰。Using the least square method to fit the gradient values of the pixel points in the contour, determine the maximum gradient curve as the ventricular wall contour of the current cardiac cycle. The line width of the maximum gradient curve is as narrow as possible to avoid interference to the subsequent real-time images.
以同样方式，再对收缩期末期的轮廓图进行提取。In the same manner, the contour map of the end-systolic phase is extracted.
在进行心肌活检时，超声图像采集装置103实时或间隔性采集患者的超声图像，ECG装置实时采集患者的心跳数据并将心动周期同步到图像融合装置104。During myocardial biopsy, the ultrasound image acquisition device 103 collects ultrasound images of the patient in real time or at intervals, and the ECG device collects the heartbeat data of the patient in real time and synchronizes the cardiac cycle to the image fusion device 104 .
如图6所示，图像融合装置104将上述步骤中提取的轮廓数据根据心动周期投影到实时图像数据中，即在心脏收缩期将收缩期末轮廓投影到实时图像数据中，在心脏舒张期将舒张期末期轮廓投影到实时图像数据中，投影时以弱轮廓线的形式进行投影，在提供位置参考的同时避免对实时图像造成较大干扰。As shown in Figure 6, the image fusion device 104 projects the contour data extracted in the above steps into the real-time image data according to the cardiac cycle, that is, the end-systolic contour is projected into the real-time image data during systole, and the diastolic contour is projected into the real-time image data during diastole. The contour at the end of the period is projected into the real-time image data, and it is projected in the form of a weak contour line, which provides position reference while avoiding major interference to the real-time image.
在进行轮廓投影时，需要从实时超声图像中提取锚定点或锚定段，可以将心肌壁上轮廓足够清晰的一段或者特征点作为锚定点进行实时图像与投影轮廓的对准。比如，将心室间隔处梯度值超过平均梯度值110%的一段作为锚定段，基于锚定段的位置将投影轮廓投影到实时图像中。When contour projection is performed, anchor points or anchor segments need to be extracted from real-time ultrasound images, and a segment or feature point with a sufficiently clear contour on the myocardial wall can be used as anchor points to align the real-time image with the projection contour. For example, a segment whose gradient value exceeds 110% of the average gradient value at the ventricular septum is used as an anchor segment, and the projection contour is projected into the real-time image based on the position of the anchor segment.
以经右颈内静脉进行活检为例，活检时，患者头低、肩高体位，从右颈静脉进行穿刺，插入引导丝。导丝插入过程中实时进行超声图像采集（或辅以斜向60度X射线检测），导丝到位以后，插入活检钳，此时实时采集超声图像以及患者ECG心动数据，将已提取的患者轮廓数据根据心动周期投影到实时图像数据中，即在心脏收缩期将收缩期末轮廓投影到实时图像数据中，在心脏舒张期将舒张期末期轮廓投影到实时图像数据中，进行融合显示，如图6所示。每一个心动周期末，对投影轮廓的位置与实时图像进行匹配以及二次校准（必要时基于匹配的角度差对轮廓进行旋转），避免由于超声设备的移动投影轮廓的失准。采用这种方式，可以为操作者提供更为清晰的边界警示，避免由于力度过大引起的心肌损伤或穿刺。Take the biopsy via the right internal jugular vein as an example. During the biopsy, the patient's head is lowered and the shoulders are higher. The puncture is performed from the right jugular vein and the guide wire is inserted. Real-time ultrasound image acquisition (or supplemented by oblique 60-degree X-ray detection) during guidewire insertion. After the guidewire is in place, biopsy forceps are inserted. At this time, ultrasound images and patient ECG cardiac data are collected in real time, and the extracted patient contour The data is projected into the real-time image data according to the cardiac cycle, that is, the end-systolic contour is projected into the real-time image data during systole, and the end-diastolic contour is projected into the real-time image data during diastole for fusion display, as shown in Figure 6 shown. At the end of each cardiac cycle, the position of the projection contour is matched with the real-time image and re-calibrated (if necessary, the contour is rotated based on the matched angle difference) to avoid misalignment of the projection contour due to the movement of the ultrasound equipment. In this way, the operator can be provided with a clearer boundary warning, and avoid myocardial damage or puncture caused by excessive force.
需要说明的是，虽然上述以右心室为例进行的描述，但是本发明方法可以应用其他心室。并且，本发明方法可以根据需要调整轮廓显示与实时超声显示的亮度比。此外，根据使用需要，舒张期和收缩期的轮廓显示可以适当延长，即同时显示舒张期末轮廓和收缩期末轮廓，但是这样容易导致医务人员收到干扰较多。It should be noted that although the above description takes the right ventricle as an example, the method of the present invention can be applied to other ventricles. Moreover, the method of the present invention can adjust the brightness ratio of the outline display and the real-time ultrasound display as required. In addition, according to the needs of use, the diastolic and systolic contour display can be appropriately extended, that is, the end-diastolic contour and the end-systolic contour can be displayed at the same time, but this will easily lead to more interference for medical personnel.
虽然上面结合本发明的优选实施例对本发明的原理进行了详细的描述，本领域技术人员应该理解，上述实施例仅仅是对本发明的示意性实现方式的解释，并非对本发明包含范围的限定。Although the principle of the present invention has been described in detail above in conjunction with the preferred embodiments of the present invention, those skilled in the art should understand that the above embodiments are only explanations for the exemplary implementation of the present invention, and are not intended to limit the scope of the present invention.
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