JP2693702B2 - 3D viewer system for surgery - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surgical three-dimensional viewer system for obtaining surgical plan information. 2. Description of the Related Art When a doctor performs an operation on a necessary portion of a subject, an operation plan is prepared in advance in order to perform the work efficiently and surely. For this purpose, for example, a subject is scanned in advance by a CT apparatus to secure voxel data, a three-dimensional image based on this voxel data is displayed on a monitor, and a surgery plan is made while observing this monitor image. Is being done. However, in the conventional method, when it is difficult to directly observe the planned surgical site with the eyes, there is a problem that it takes time to grasp the positional relationship of this site. For this reason, it is difficult to efficiently perform the work particularly when performing a so-called blind operation, in which a surgery is performed without directly looking at the planned site. SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and provides a surgical three-dimensional viewer system capable of advancing work efficiently and reliably. That is the purpose. Means for Solving the Problems The outline of the present invention for achieving the above object is to provide a storage device for storing data on the internal structure of a subject in advance and an instrument to be inserted into the subject. And a synthesizing means for synthesizing a three-dimensional image displayed on a monitor based on the direct-view image of the subject and the data, and a signal based on position information of the instrument.
A processor is provided, which uses the data and synthesizes a three-dimensional image corresponding to an observation position and an observation direction of a planned surgical site and a signal based on the position of the instrument and sends the combined signal to a monitor. [Operation] Since a three-dimensional image corresponding to the position to be observed and the observation direction of the planned surgery site is displayed on the monitor and the direct-view image is combined with this, the positional relationship between the planned surgery site of the subject should always be grasped. You can Therefore, the surgical operation can be advanced efficiently and reliably. FIG. 1 is a block diagram showing a part of an embodiment of a three-dimensional viewer system for surgery according to the present invention.
Voxel data obtained by scanning the patient 4 in advance by a CT device such as an X-ray CT device or an MRI device is stored in the dimensional memory. This voxel data is obtained by scanning a plurality of slice images (2
Based on three-dimensional data composed by stacking dimensional data)
An arbitrary product can be obtained by performing extraction processing of a predetermined part. A viewer 2 is attached to an arbitrary position so that the position and direction of the viewer can be moved with respect to an arbitrary direction via an arm 5. As shown in FIG. 2, a doctor 6 or the like can observe the direct-view image of the patient 4 on the pure 2 and, at the same time, the three-dimensional image and the direct-view image displayed on the monitor 7 based on the voxel data are half-viewed. The composite image composited through the mirror 8 can be observed. A three-dimensional processor 3 synthesizes a three-dimensional image corresponding to the position and orientation of the viewer 2 using the voxel data of the three-dimensional memory 1 and displays it on the monitor 7. A pair of left and right viewers 2 is prepared so that an observer can observe the combined image as a stereo image. 3A and 3B show examples of the three-dimensional image displayed on the monitor 7. FIG. 3A is a display example of the lesion 11, and FIG. 3B is a wire frame 12 showing the surface of the organ.
It shows an example in which the lesion 11 is displayed on top of each other. All of these images are displayed as stereo images (images that are slightly deviated on the left and right). Further, FIG. 4 shows a direct view image. The three-dimensional image and the direct-view image are combined by the half mirror 8, and a combined image as shown in FIG. 5 can be observed. The position and orientation of the viewer 2 are detected by the arm 5 and this information is sent to the three-dimensional processor 3. Based on this, the three-dimensional processor 3 uses the voxel data to send a three-dimensional image observed according to its position and orientation to P1 and P2 in FIG. 6 and display it on the monitor 7. This three-dimensional processor 3 uses the three-dimensional data (various data such as voxel data, wireframe data, surface data) stored in the three-dimensional memory 1 from an arbitrary position and orientation of the pure 3 in this way. A three-dimensional image when viewed is synthesized. The position of the patient 4 observed by the viewer 3 is fixed by the patient fixing frame 10. FIG. 7 shows an example of the structure of the arm system.
The position and direction of the viewer 3 can be changed by shaking the head around the point C. In addition, FIG.
(B) shows the relationship of the vectors in the optical system of the viewer 3, L: the swing center C of the viewer 3 and the patient fixed frame 1
It is assumed that the vector a between 0 and the origin 0 is a perpendicular vector d descending from the swing center C to the optical axis t: the optical axis vector. The vector L can be found by measuring the position of the point C using the angle sensor attached to each movable part belonging to the position freedom degree A1 in FIG. Also has a C point 3
By measuring the movable part with two degrees of freedom (x, y, z directions) with the angle sensor, the swinging degree of freedom can be known, and thus the vectors a and d can be known. 9A and 9B show a direct-view optical system and a monitor optical system, respectively, and FIG. 10 shows an optical system of a composite image. L1, L2 and L3 are lens positions, K is a virtual image (composite image) position, H is a half mirror position, Mf,
M indicates the position of the real image, and E indicates the position of observation. Also, m
Indicates the size of the image at the K position, and p indicates the size of the image at the Mf position. The distance between Mf-H and M-H is set to the same,
The K positions in FIGS. 9 (a) and 9 (b) are adjusted to be the same position. FIG. 11 shows another optical system and shows a simple configuration example. Each of such optical systems can be configured arbitrarily by using a known technique. The three-dimensional processor 3 is based on the respective vectors L, a, d as described above, and as shown in FIG.
By knowing KE, an appropriate three-dimensional image is synthesized and displayed on the monitor 7. The image synthesized by the three-dimensional processor 3 is nothing but a real image which can be Mf when the direct-view optical system is simulated as shown in FIG. If the amount of calculation becomes large when performing simulation, the following method can be used. First, a projected image J of a virtual object formed on a plane S centering on the point E and perpendicular to the optical axis t and passing through the point K
Create it as shown and then reduce it. The degree of this reduction may be set to (p / m) times with reference to FIG. The three-dimensional processor 3 sends the three-dimensional image to the pair of left and right monitors by the above operation. The patient fixing frame 10 is attached to the operating table 13 in advance as shown in FIG. 15, and the patient frame 14 is attached to the patient 4 for positioning, so that the CT apparatus scans. According to this, since the positional relationship between the patient fixing frame 10 and the arm system is previously determined, the positional relationship between the patient fixing frame 10 and the patient frame 14 is determined, and the positional relationship between the patient and the arm system can be determined. . As another example, the CT apparatus may also be provided with a patient fixing frame, which allows the patient fixing frame to be always used as a reference coordinate system for scanning and surgery. According to the partial configuration of the embodiment of the above-described surgical three-dimensional viewer system, the stereoscopic image is a composite image of the real image which is the direct-view image and the monitor image which is composited by the three-dimensional processor. Because you can observe
It is possible to see the internal structure that is not directly visible from the outside and the virtual lines that were decided during the surgery plan as if they were actually drawn in the air (in the patient's body). Therefore, by utilizing these, it is possible to clearly grasp the positional relationship of the planned surgery site, so that the surgery can be advanced efficiently and surely. FIG. 16 shows another part of the embodiment of the present invention, and shows a three-dimensional digitizer used in combination with a part of the construction of the above-mentioned embodiment. The x-direction coils 15a and 15b (y- and z-direction coils are omitted) are arranged to form a gradient magnetic field, and the patient 4 in this magnetic field is formed.
1 with a magnetic field measuring element 16a provided at a desired portion of the
By contacting 6 and measuring the magnetic field strength, the spatial position (x, y, z) of the element is known. If this spatial position is displayed in stereo as coordinates, the 17th
Even if the site is not directly visible as shown in the figure, it can be observed as something. Therefore, if the magnetic field measuring element is attached to the tip of the probe or the tip of the electric knife, the position of the instrument tip that is not directly visible from the outside, the line of the surgery plan, the position of the affected area, the appearance of the patient, etc. will be displayed once during surgery. Since it can be seen in, the positional relationship can be clearly understood. Therefore, according to this embodiment, the same effect as that of the above embodiment can be obtained. As described above, according to the present invention, a three-dimensional image corresponding to the observed position and the observed direction of the planned surgical site is displayed on the monitor and the image obtained by synthesizing the direct-view image is displayed on the monitor. Can be observed, and the positional relationship of the planned surgical site can be clearly understood, so that the surgical operation can be advanced efficiently and reliably.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram showing a surgical three-dimensional viewer system according to an embodiment of the present invention. FIG. 2 is a sectional view of a viewer. FIG. 3 is a display example of a monitor image. FIG. 4 is a display example of a direct-view image. FIG. 5 is a display example of a composite image. FIG. 6 is a display example in which different monitor images are displayed. FIG. 7 is a schematic diagram of an arm system. FIG. 8 is a vector diagram of an optical system. FIG. 9 is an explanatory diagram of a relative orbit of the X-ray source according to the other embodiment. FIG. 10 is a configuration example of an optical system. FIG. 11 is a configuration example of an optical system. FIG. 12 is a vector diagram of an optical system. FIG. 13 is a simulation example of an optical system. FIG. 14 is a simulation example of an optical system. FIG. 15 shows a fixed example of a patient. FIG. 16 is a configuration example of another embodiment of the present invention. FIG. 17 is a configuration example of another embodiment of the present invention. [Explanation of Codes] 1 ... 3D memory 2 ... Viewer 3 ... 3D processor 5, 5a, 5b ... Arm 7 ... Monitor 8 ... Half mirror 10 ... Patient fixed frame

Claims (1)

(57) [Claims] A surgical 3D Viewer system for selecting observable displayed surgical plan part of the object, a storage device for storing data relating to the internal structure of the pre-object, before
Means for detecting the position of the instrument inserted inside the subject
And a signal based on the three-dimensional image displayed on the monitor based on the direct-view image of the subject and the data and the position information of the instrument
Synthesizing means for synthesizing the door, using the data, three-dimensional image corresponding to the position and observation direction for observing the surgical proposed site
And a processor for synthesizing a signal based on the position of the instrument and sending the synthesized signal to a monitor.