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1. WO2019047820 - IMAGE DISPLAY METHOD, DEVICE AND SYSTEM FOR MINIMALLY INVASIVE ENDOSCOPIC SURGICAL NAVIGATION

Publication Number WO/2019/047820
Publication Date 14.03.2019
International Application No. PCT/CN2018/103929
International Filing Date 04.09.2018
IPC
G06T 7/10 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
G06T 7/30 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
30Determination of transform parameters for the alignment of images, i.e. image registration
G06T 7/70 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
G06T 5/30 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
20by the use of local operators
30Erosion or dilatation, e.g. thinning
G06T 11/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
112D image generation
CPC
G06T 11/003
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
112D [Two Dimensional] image generation
003Reconstruction from projections, e.g. tomography
G06T 2207/10081
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10072Tomographic images
10081Computed x-ray tomography [CT]
G06T 2207/20221
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
20Special algorithmic details
20212Image combination
20221Image fusion; Image merging
G06T 5/30
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
20by the use of local operators
30Erosion or dilatation, e.g. thinning
G06T 7/10
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
G06T 7/30
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
30Determination of transform parameters for the alignment of images, i.e. image registration
Applicants
  • 艾瑞迈迪科技石家庄有限公司 ARIEMEDI SCIENCE SHIJIAZHUANG CO. LTD [CN]/[CN]
  • 艾瑞迈迪医疗科技(北京)有限公司 ARIEMEDI MEDICAL SCIENCE (BEIJING) CO. LTD. [CN]/[CN]
Inventors
  • 杨峰 YANG, Feng
Agents
  • 北京欣永瑞知识产权代理事务所(普通合伙) BEIJING YOUNGRISE IP LAW FIRM
Priority Data
201710795485.106.09.2017CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) IMAGE DISPLAY METHOD, DEVICE AND SYSTEM FOR MINIMALLY INVASIVE ENDOSCOPIC SURGICAL NAVIGATION
(FR) PROCÉDÉ, DISPOSITIF ET SYSTÈME D'AFFICHAGE D'IMAGES POUR NAVIGATION CHIRURGICALE ENDOSCOPIQUE MINIMALEMENT INVASIVE
(ZH) 内窥镜微创手术导航的图像显示方法、装置及系统
Abstract
(EN)
An image display method, device and system for minimally invasive endoscopic surgical navigation, the image display method comprising: acquiring a CT image (S101); registering the CT image and the position and pose of a patient (S102); acquiring the position and the direction of the top end of an endoscope in a real time manner (S103); obtaining the relative position between the endoscope and the body of the patient and the distance between the endoscope and a surgical target according to the position and the direction of the top end of the endoscope and the registered CT image (S104); orthogonally cutting the registered CT image in the directions which are parallel to and perpendicular to the endoscope according to the position and the direction of the top end of the endoscope and the distance between the endoscope and the surgical target, and performing differential rendering on the orthogonally cut data on the basis of a distance weighted ray projection method (S105); and displaying a view of the relative position between the endoscope and the body of the patient, and an orthogonally cut view (S106). The image display device and system both use said image display method, realizing the image display in a surgical navigation process.
(FR)
La présente invention concerne un procédé, un dispositif et un système d'affichage d'images pour navigation chirurgicale endoscopique minimalement invasive, le procédé d'affichage d'images comportant les étapes consistant à: acquérir une image de CT (S101); enregistrer l'image de CT et la position et la posture d'un patient (S102); acquérir la position et la direction de l'extrémité supérieure d'un endoscope en temps réel (S103); obtenir la position relative entre l'endoscope et le corps du patient et la distance entre l'endoscope et une cible chirurgicale en fonction de la position et de la direction de l'extrémité supérieure de l'endoscope et l'image de CT enregistrée (S104); effectuer une coupe orthogonale de l'image de CT enregistrée dans les directions parallèle et perpendiculaire à l'endoscope en fonction de la position et de la direction de l'extrémité supérieure de l'endoscope et de la distance entre l'endoscope et la cible chirurgicale, et effectuer un rendu différentiel sur les données en coupe orthogonale selon une méthode de projection de rayons pondérée par la distance (S105); et afficher une vue de la position relative entre l'endoscope et le corps du patient, et une vue en coupe orthogonale (S106). Le dispositif et le système d'affichage d'images utilisent tous deux ledit procédé d'affichage d'images, réalisant l'affichage d'images au cours d'un processus de navigation chirurgicale.
(ZH)
一种内窥镜微创手术导航的图像显示方法、装置及系统,该图像显示方法包括:获取CT影像(S101);进行CT影像与病人位姿之间的配准(S102);实时获取内窥镜顶端的位置和方向(S103);根据内窥镜顶端的位置和方向,以及配准后的CT影像,获得内窥镜与病人人体之间的相对位置,以及内窥镜与手术目标之间的距离(S104);根据内窥镜顶端的位置和方向,以及内窥镜与手术目标之间的距离,对配准后的CT影像沿与内窥镜平行和垂直的方向进行正交剖切,并基于距离加权的光线投射方法对正交剖切的数据进行差异化渲染(S105);显示内窥镜与病人人体之间的相对位置视图,以及正交剖切视图(S106)。图像显示装置及系统均采用该图像显示方法,实现手术导航过程中的图像显示。
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