CN102819657A - Image-guided device for ablation therapies - Google Patents
Image-guided device for ablation therapies Download PDFInfo
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- CN102819657A CN102819657A CN2012100309406A CN201210030940A CN102819657A CN 102819657 A CN102819657 A CN 102819657A CN 2012100309406 A CN2012100309406 A CN 2012100309406A CN 201210030940 A CN201210030940 A CN 201210030940A CN 102819657 A CN102819657 A CN 102819657A
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Abstract
Disclosed is an image-guided device for ablation therapies. The device comprises a processor, a display screen, a keyboard and a mouse. The processor is a core part for the image-guided device for ablation therapies. The display screen, the keyboard and the mouse are connected with the processor which comprises an image acquisition unit, an image processor and an image managing unit inside, wherein the image processor comprises an image two dimensional processing unit, an image three dimensional processing unit, an image measuring unit, an image registration unit and an image segmentation unit and processes image information acquired by the image acquisition unit to obtain images needed by users. Processed images are displayed directly through the display screen and output to the image managing unit to be stored, so that users can call the images at any time. The display screen is composed of three two-dimensional view windows and a three-dimensional view window, wherein the three two-dimensional view windows are a transverse section window, a median sagittal section window and a coronal section window respectively.
Description
Technical field
The present invention relates to a kind of image-guided equipment that is used for ablation, belong to medical auxiliary equipment.
Background technology
In recent years; Under image-guided through skin thermal ablation therapy method rely on that its Wicresoft, safety, complete tumor necrosis rate in oncotherapy is high, good effect and do not have the toxic and side effect of chemotherapy, radiotherapy; Little to normal tissue injury; And can activate the remarkable advantages such as antineoplastic immune of enhancing body, become the important component part of modern tumor therapeuticing method.
Under image-guided is that the puncture degree of accuracy is required much skill through the heating ablation of skin tumour.The enforcement of its treatment need be before art according to the imaging examination planning that undergos surgery, select suitable puncture approach, confirm that simultaneously needing to form what ablation area could cover whole tumour fully.The guiding that in art, then need rely on iconography is inner with the planning implantation tumour of ablation needle before according to art.Postoperative need be judged whether tumour ablation is complete, have or not the residual or edge recurrence of tumour.No matter the surgery planning before the art, the location of the puncture in the art still are the experience that the recruitment evaluation of postoperative all highly relies on the patient, receive the interference of various human factors, directly influence the curative effect of heating ablation.Thereby be necessary to adopt new technology and method to overcome the interference of various human factors, and solving in the planning of art prescience, the art and accurately locate, the difficult problem of postoperative effect assessment is based upon image-guided tumour heating ablation on more objective, the accurate basis.
Summary of the invention
On this basis, we have researched and developed a kind of image-guided equipment that is used for ablation.This equipment handles through 3-dimensional image and analytical technology is come directly perceived, clear, arbitrarily angled ground display space neighbouring relationship; And carry out the surgery planning before qualitative assessment carries out art through calculating; And combine the intervene operation navigational system to carry out the accurate location in the centesis, can also through judge tumour ablation whether fully, have or not the residual or edge recurrence of tumour to carry out effective surgery to assess.The various difficult problems that the proposition of this equipment has effectively solved before the art, in the art, postoperative runs into have been based upon image-guided tumour heating ablation on more objective, the accurate basis.
The image-guided equipment of ablation of the present invention comprises processor, display screen, keyboard and mouse; Processor is the core component of the image-guided equipment of ablation; Display screen, keyboard and mouse all are connected with processor, and display screen is as the output device of processor, and show image is beneficial to the user and browses, judges, analyzes intuitively; Keyboard and mouse be as the input equipment of processor, can manipulation processor, make demand and the judgement of user according to oneself, and image is processed, handled; It is characterized in that: said processor inside comprises image collection device, image processor and Image Management device, and the image collection device is used to gather image information, and the image information that collects is transferred to image processor; Image processor will be processed, handled by the image information that the collection of image collection device comes, to obtain the image that the user needs; Image through processing, processing is directly shown by display screen, transfers to the Image Management device simultaneously and stores, and calls at any time in order to the user; Wherein, said image processor comprises image two-dimensional process device, image three-dimensional treating apparatus, image measuring device, Image registration device, image segmenting device.And said display screen is made up of three two dimension view windows and a 3-D view window, and said three two dimension view windows are respectively cross-section position window, sagittal plain window, crown position window.
The invention solves in the planning of art prescience, the art and accurately locate, the difficult problem of postoperative effect assessment has overcome the interference of various human factors, has directly improved the curative effect of heating ablation, and image-guided tumour heating ablation is based upon on more objective, the accurate basis.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of processor of the present invention;
Fig. 3 is image cutting figure;
Fig. 4 is the tumor shape size and arrives each piping system bee-line figure;
Fig. 5 is secure border figure;
Fig. 6 is three-dimensional PDF report figure;
Fig. 7 is the surgical navigational synoptic diagram;
Fig. 8 is the color coding analysis chart of ablation areas;
Fig. 9 is a tumour ablation surgical effect evaluation graph.
Embodiment
Below in conjunction with accompanying drawing and concrete embodiment the image-guided equipment of ablation of the present invention is further described, but can not be with this as restriction protection scope of the present invention.
Referring to Fig. 1,2, the image-guided equipment of ablation of the present invention comprises processor 1, display screen 2, keyboard 3 and mouse 4.Wherein, processor 1 is a core component of the present invention, and its inside comprises image collection device 5, image processor 6 and Image Management device 7, and image collection device 5 is used to gather image information, and the image information that collects is transferred to image processor 6; Image processor 6 will be gathered the image information that comes by image collection device 5 and process, handles, to obtain the image that the user needs; Image through processing, processing directly shows 2 by display screen, transfers to Image Management device 7 simultaneously and stores, and calls at any time in order to the user.Display screen 2, keyboard 3 and mouse 4 all are connected with processor 1, and display screen 2 is as the output device of processor 1, and show image is beneficial to the user and browses, judges, analyzes intuitively; Keyboard 3 and the input equipment of mouse 4 as processor can manipulation processor 1, make demand and the judgement of user according to oneself, and image is processed, handled.
Referring to Fig. 3, display screen 2 is made up of three two dimension view windows and a 3-D view window, and three two dimension view windows are respectively cross-section position window, sagittal plain window, crown position window.
Image two-dimensional process device 8 is made up of image base conditioning device and image Scissoring device two parts.Image base conditioning device comprises to the Filtering Processing of single width image and to the arithmetical operation of two width of cloth images to be handled.The image Scissoring device generally can be analyzed all image datas, reaches mode of operation more flexibly for obtaining better contrast, and the user can carry out trimming operation and select the subregion data to carry out the image processing operation.
The image three-dimensional treating apparatus reaches " video production " two parts by " volume drawing " and forms.Each point in the middle of the volume data can distribute the emission and the absorption parameter of a light.Like this, through the propagation of portion in vivo of simulation light, just can realize the demonstration of volume data under the condition of any visual angle.
The volume render operation step is following:
(1) in data management system, choose need the image of executable operations node after, click the check box on " volume drawing " left side.The ample resources of processor can be taken when carrying out volume render operation, therefore the implementation effect that to see volume drawing a moment need be born with.
(2) select " presetting " Shipping Options Page.
(3) except that direct editor's transfer function, the image three-dimensional treating apparatus also provides two kinds of figures commonly used that can produce transfer function automatically, i.e. threshold figure and bell figure.This dual mode all comprises two parameters, after clicking the cross figure on/down and a left side/the mouse that moves right, can be used for revising parameter value.
The image processing result can preserve video or view screenshotss get off through making video record.
Image measuring device can make user and bidimensional image or contain storehouse and individual image dough sheet of the three-dimensional of graphics plane data type carries out interactive operation.It can measuring distance, angle, path and some geometric figures.After carrying out measuring operation, can the identical or different measurement pattern with the selected correction of image be preserved, in order in the future used.When on image, having drawn a plurality of figure, current application graphic presentation is red, and all the other Graphics Applications then are shown as white, and the displayed value on the image is the rreturn value of current application figure.All measurement pattern all can each self-generating the node of an image tree in data management system, show.The single measurement pattern that no longer needs or image can be deleted in data management system one by one or as one group of whole deletion.
The Image registration device reaches " non-rigid body registration " three parts by " some registration ", " rigid body registration " and forms.The medical image registration is meant one group of medical image behind spatial alternation, makes it and another group keep corresponding point on the motionless medical image to reach consistent on the space.Keep motionless being called with reference to image, conversion is called unsteady image.The result of registration is applied to the image that floats.
The image segmenting device can be that anatomical structure and pathologic structure establishment are cut apart on the medical image of human body.Comprise Interactive Segmentation and blood vessel segmentation two parts.
Blood vessel segmentation comprises based on the blood vessel segmentation of threshold value with based on two steps of reconstructing blood vessel of model.
Use this equipment and can realize following several function:
1, art preplanning
(1) to tumour size, maximum diameter and tumor surface to the calculating of each piping system distance and visual.Referring to Fig. 4, tumour size, shape, maximum diameter and surperficial each point be to vena hepatica, arteria hepatica, portal vein, the bee-line of each piping system of gall-bladder can reflect with measurement through this equipment accurately.
The venture analysis of the secure border of (2) tumour ablation being delimited.Referring to Fig. 5, through the three-dimensional rendering figure after rebuilding, can clearly see melting secure border and whether having risk of delimiting in advance, can delimit secure border again according to actual conditions.
(3) liver three-dimensional reconstruction model is generated three-dimensional PDF report.Referring to Fig. 6, planning can realize liver three-dimensional reconstruction model and each item information are exported to PDF software after accomplishing, and generates three-dimensional PDF report.
2, surgical navigational
Intervene operation navigational system under image-guided adopts the medical image of multiple modalities to assist a physician operating theater instruments directly is punctured to inside tumor carries out topical therapeutic, and then improves the operation quality, reduces operation wound, reduces the patient suffering.The function of native system comprises:
(1) native system has been carried out the demarcation between operating theater instruments summit and the trace tool.Referring to Fig. 7; After magnetic orientator is unified in the coordinate information of the trace tool of obtaining and the ultrasonoscopy in the art in the same coordinate system; System with unified information mapping in coordinate systems in image; Realize obtaining the coordinate information of any time operating theater instruments summit in coordinate systems in image, and carry out 3-D display.Finally realized the registration between the preceding CT image of location instrument, patient/intraoperative ultrasound image, trace tool, operating theater instruments and art.The conversion and the registration of coordinate system have been realized.
(2) native system can carry out registration with CT image before the art and the ultrasonoscopy in the art, and through the accurate registration between the medical image in the stereotaxic instrument device realization art, patient, the operating theater instruments.
(3) inserting needle path planning before the art: according to medical image design entry point distance, needle angle and the depth of needle after handling.
(4) inserting needle guiding in the art: the real-time coordinate information of the operating theater instruments that will be obtained by locating device through mapping maps in the coordinate systems in image, calculates the deviation between operating theater instruments and the path planning simultaneously, and accurately the guiding operation is punctured according to the art preplanning.
(5) merge the three-dimensional artificial device of navigation: in operation is carried out, realized the real time fusion of CT image before intraoperative ultrasound image and the art, and overlapped demonstration with 3-dimensional image.Calculate intraoperative ultrasound image corresponding tangent plane position, space on 3-dimensional image, resample and show corresponding with it multiplanar reconstruction through on the CT volume data, carrying out real-time three-dimensional, be convenient to the doctor from multi-angle, observe at many levels and analyze.
3, postoperative evaluation
This equipment can be judged whether tumour ablation is complete, have or not the residual or edge recurrence of tumour.
Whether the piping system after (1) clear demonstration is melted has damage.
(2) use the green color-coded scheme of reddish yellow and represent three-dimensional tumor model.Use the green color-coded scheme of reddish yellow and represent assessment result.Be the zone that red expression can not be carried out ablative surgery, the zone that yellow expression is not melted fully, green is represented the zone of successful ablation.
(3) three-dimensional tumor model being launched into 2 d plane picture intuitively shows.Referring to Fig. 8, the tumor model after rebuilding is launched into 2 d plane picture, and uses color-coded scheme and come zone clear, that displaying is not intuitively melted, do not melted fully and melts fully.
(4) to the assessment of tumour ablation surgical effect.Referring to Fig. 9,, promptly analyze whether melt and reached the secure border that melts fully to the assessment of tumour ablation surgical effect.Through this equipment, do not melt, do not melt fully, fully ablation areas accounts for to such an extent that number percent can calculate, the tumour 3 D coordinate of every some correspondence and can calculate and show apart from the distance on surface, ablation area on the planimetric map.
Claims (1)
1. an image-guided equipment that is used for ablation comprises processor, display screen, keyboard and mouse; Processor is the core component of the image-guided equipment of ablation; Display screen, keyboard and mouse all are connected with processor, and display screen is as the output device of processor, and show image is beneficial to the user and browses, judges, analyzes intuitively; Keyboard and mouse be as the input equipment of processor, can manipulation processor, make demand and the judgement of user according to oneself, and image is processed, handled; It is characterized in that: said processor inside comprises image collection device, image processor and Image Management device, and the image collection device is used to gather image information, and the image information that collects is transferred to image processor; Image processor will be processed, handled by the image information that the collection of image collection device comes, to obtain the image that the user needs; Image through processing, processing is directly shown by display screen, transfers to the Image Management device simultaneously and stores, and calls at any time in order to the user; Wherein, said image processor comprises image two-dimensional process device, image three-dimensional treating apparatus, image measuring device, Image registration device, image segmenting device.And said display screen is made up of three two dimension view windows and a 3-D view window, and said three two dimension view windows are respectively cross-section position window, sagittal plain window, crown position window.
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| CN2012100309406A CN102819657A (en) | 2012-02-10 | 2012-02-10 | Image-guided device for ablation therapies |
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| CN2012100309406A CN102819657A (en) | 2012-02-10 | 2012-02-10 | Image-guided device for ablation therapies |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105286988A (en) * | 2015-10-12 | 2016-02-03 | 北京工业大学 | CT image-guided liver tumor thermal ablation needle location and navigation system |
| CN113538572A (en) * | 2020-04-17 | 2021-10-22 | 杭州三坛医疗科技有限公司 | Method, device and equipment for determining coordinates of target object |
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| US20050080328A1 (en) * | 2002-06-04 | 2005-04-14 | General Electric Company | Method and apparatus for medical intervention procedure planning and location and navigation of an intervention tool |
| CN2759392Y (en) * | 2005-01-14 | 2006-02-22 | 路成文 | Optical canal exact vector position scanning and angle-positioning box |
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- 2012-02-10 CN CN2012100309406A patent/CN102819657A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20050080328A1 (en) * | 2002-06-04 | 2005-04-14 | General Electric Company | Method and apparatus for medical intervention procedure planning and location and navigation of an intervention tool |
| CN2759392Y (en) * | 2005-01-14 | 2006-02-22 | 路成文 | Optical canal exact vector position scanning and angle-positioning box |
Non-Patent Citations (1)
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| 鲁通: "超声引导经皮微波消融治疗机器人系统的研发和实验研究", 《中国硕士学位论文全文数据库（电子期刊）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105286988A (en) * | 2015-10-12 | 2016-02-03 | 北京工业大学 | CT image-guided liver tumor thermal ablation needle location and navigation system |
| CN113538572A (en) * | 2020-04-17 | 2021-10-22 | 杭州三坛医疗科技有限公司 | Method, device and equipment for determining coordinates of target object |
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Application publication date: 20121212 |