CN103841895A - Apparatus and method for imaging - Google Patents

Apparatus and method for imaging Download PDF

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Publication number
CN103841895A
CN103841895A CN201280046614.2A CN201280046614A CN103841895A CN 103841895 A CN103841895 A CN 103841895A CN 201280046614 A CN201280046614 A CN 201280046614A CN 103841895 A CN103841895 A CN 103841895A
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China
Prior art keywords
cross
visualization
image
data set
sbn
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Granted
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CN201280046614.2A
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Chinese (zh)
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CN103841895B (en
Inventor
R.格劳曼
S-A.尼古
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Siemens Healthineers AG
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Siemens AG
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/462—Displaying means of special interest characterised by constructional features of the display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/466—Displaying means of special interest adapted to display 3D data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5223—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data generating planar views from image data, e.g. extracting a coronal view from a 3D image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/46—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient
    • A61B6/467—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with special arrangements for interfacing with the operator or the patient characterised by special input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/56—Details of data transmission or power supply, e.g. use of slip rings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/462—Displaying means of special interest characterised by constructional features of the display

Abstract

With the apparatus and the associated method, patient-oriented imaging is made possible on the basis of the alignment of a portable display with respect to a patient-assigned 3D data set on the portable display.

Description

The apparatus and method that show for image
Technical field
The present invention relates to a kind of device and a kind of relevant method, show for the image that is derived from 3D data set in visualization.
Background technology
In the distance with can be predetermined, for example after the track of fan-shaped or circular arc carries out X ray shooting to object, multiple 2D data sets that X ray is taken can be calculated as a 3D data set.Based on 3D data set, can in 3D data set, calculate tomographic image or the arbitrary section figure of object.By type of cut in input mask (Eingabemaske), cut direction and for example predetermined value of cutting inclination, doctor or surgeon can carry out imaging to the cross section through object on fixing screen.
Summary of the invention
The technical problem to be solved in the present invention is, visual for image of another kind of device and a kind of relevant method is provided.
Feature by claim 1 or 8 solves described technical problem.
By described device and relevant method, can calculate and be derived from the cross-sectional image of the 3D data set corresponding with object or virtual radioscopic image, and in portable visualization, carry out imaging.For this purpose, by least one, the sensor in visualization determines that it is about the orientation and the position that are arranged in the indexing unit on diagnosis unit.By the orientation of visualization, derive the line of vision that cross-sectional image is taken at position and/or the virtual X ray of 3D data centralization, and calculate the view data of radioscopic image cross-sectional image or digital reconstruction, and on virtual unit, carry out imaging.
The present invention brings such advantage,, in operation, use mobile display to show by the cross section of 3D data set or the radioscopic image of digital reconstruction, wherein, according to position and the place of position patient, reconstruct volume and visualization, orientation is carried out in the cross section showing or the radioscopic image of digital reconstruction respectively.
The present invention brings such advantage,, draws the orientation for cross section to be shown according to the position coordinates of 3D data set and the relation between the diagnostic equipment and visualization that is.
The present invention brings such advantage, that is, treatment doctor obtains rapidly and all sidedly demonstration its important region, that be consistent with the orientation of 3D data set.
The present invention brings such advantage, that is, and and can be at visualization or the inner or outside algorithm of being implemented the intensive calculations that is used for image calculation by high-performance calculation unit of operating room.
The present invention brings such advantage, that is, the data of cross-sectional image can be with the WLAN(wireless network with high data rate) connect the receiving element that is transferred to mobile display.
The present invention brings such advantage,, can directly observe cross-sectional image demonstration on patient side with suitable position and direction in on-the-spot ground that is.
Brief description of the drawings
Explain the present invention by accompanying drawing according to embodiment below.Wherein,
Fig. 1 illustrates general view,
Fig. 2 illustrates that the first cross section shows,
Fig. 3 illustrates that the second cross section shows,
Fig. 4 illustrates that the 3rd cross section shows, and
Fig. 5 illustrates another general view.
Detailed description of the invention
By described device and relevant method, the cross-sectional image towards patient based on 3D data set on portable display shows becomes possibility.
In general view, the layout of carrying out imaging for pair cross-section image is exemplarily shown.Illustrated is the X-ray apparatus being arranged on C type support component C, and it may also be referred to as diagnosis unit.Diagnosis unit can be also computer tomograph, magnetic resonance equipment or ultrasonic device at this.For this diagnosis unit, provide computing equipment RE.As shown in block diagram in Fig. 5, in computing equipment, arrange modules or unit, for determining location components, carrying out affiliated cross-sectional image demonstration for the 3D data set that mobile display is carried out to relative orientation and exist at computing unit RE equally for basis.
The X-ray apparatus being made up of x-ray source RQ and detector D of schematically describing for embodiment at this, always aims at the object O that treats x-ray bombardment.By the control unit not specifically illustrating at this, corresponding to can be predetermined about object O or the track on the subregion of object O, guide this X-ray apparatus.Can, for example during the orbital motion of C type arm shape device, X ray be carried out repeatedly in the subregion of health and take at this.Except orbital motion OB, angular movement (Angulationsbewegung) can be also the transverse movement of C type arm.During track, treat subject area diagnosis or to be judged or body region and carry out repeatedly X ray shooting.Take by the X ray that reads 2D at this not detailed computing unit illustrating from detector cells D respectively, and be calculated as 3D data set by algorithm for reconstructing.This 3D data set can be kept in the mobile unit corresponding with X-ray apparatus C, or is temporarily stored on data server.From temporary 3D data set KO, can calculate sectional view or virtual X ray projection arbitrarily, it is also referred to as the radioscopic image DRR of digital reconstruction.In the radioscopic image of digital reconstruction, can observe respectively whole 3D data set from the visual angle of visualization.Can on that fix or portable picture screen unit, additionally observe the radioscopic image of these sectional views or cross-sectional image or digital reconstruction.In the embodiment that considered herein, portable picture screen unit or visualization can be constructed to mobile display DP, and it has corresponding computing capability to generate point other view data of cross-sectional image.By to the prior registration that is located at the object O on operating-table OPT, add the direction of provided 3D data set to it.For example, indexing unit OM on required for registration, to be arranged in image generation unit detector D, can identify by optical pickocff integrated in mobile display DP.As shown in Fig. 5, object O is corresponding to the first coordinate system KS1, and indexing unit OM is corresponding to the second coordinate system KS2, and mobile display DP is corresponding to three-coordinate KS3.Indexing unit OM can be made up of optical markings.Indexing unit OM can be for example made up of four labellings that are not positioned at a plane.Can or there is respectively optical camera K, the K1 of object recognition unit with CCD photographic head, the form of K2 is constructed the optical pickocff that display edge is arranged.The diagnostic equipment does not change between data are taken and be visual with regard to position and direction.
By for example in the marginal area of mobile display DP, arrange at least one first and/or the second optical system K1, a K2, can gather position and direction with respect to optical markings OM.To this, can in locating module ODP, in the computing unit RE corresponding with mobile display DP, determine calculating.For this reason, transfer of data can wirelessly be carried out.
At 3D data set KO be for example arranged in the local relation between the optical markings OM on detector D, by the first transformation rule (T m k) investigation in given in advance and computing unit RE in the first module ET, determined.
The second transformation rule T m ibe described in the local relation between optical markings OM and mobile display DP, and determined at the second module ZT.
The transformation rule T between 3D data set KO and mobile display DP obtaining k iby by the first and second transformation rule T m iand T m kbe associated and determine in three module DT, and calculate the relative position of display DP and each cross section by 3D data set.Can by computing unit RE implement for cross-sectional image SB1 ..., SBn calculating operation.In portable display DP corresponding calculated capacity, calculate therein cross-sectional image SB1 ..., SBn.The transformation rule obtaining is T k i=T m kt m i.The present invention brings such advantage, that is, and and can be with the view data that relation is observed acquisition in perform the operation front or operation accurately of the geometric shape with respect to patient.Cross-sectional image SB1 ..., SBn current data can be additionally or be presented on the picture screen that monitors car or be presented at independently on picture screen.Can be by with respect to current 3D data set, for example around aligning, inclination, rotation and/or the skew of the center of gravity of portable display DP select specific layer or cross-sectional image SB1 ..., SBn and digital reconstruction radioscopic image DRR.If specific image SBn, SBx or DRR are interested especially, it can for example be selected by the function key that operates in display edge, and preserves or be provided for view.
Within listing the place of mobile display and position in current 3D data set KO by described device and relevant method.Consider in the content shown in this and relevant method, the 3D data set KO of reconstruction is with respect to fixing point and/or for example place for labelling or the labelling apparatus on X-ray apparatus.Can construct fixing point and/or labelling or indexing unit by optical markings, sonac or electromagnetic transducer.
Portable display DP with respect to patient or the position for the indexing unit or the fixing point that are arranged on X-ray apparatus RQ, D can by for example first and/or identification component K, the K1, the K2 that arrange on portable display DP of second camera determine.
If photographic head mobile display DP is constructed by least two photographic head, can determine respectively distance and its direction for the labelling of indexing unit OM.If integrated optical sensor in all four limits of portable display DP or angular zone, always can have at least two photographic head K, K1, K2 to gather optical markings OM or fixing point.Then for example can calculate position or the direction of mobile display DP with respect to indexing unit OM or fixing point by triangulation.
If mobile display DP is only equipped with a sensor or photographic head, by have at least four not the optical markings unit OM of the labelling in a plane determine the direction of mobile display.
If portable display DP is mobile stretch journey between the first and second shootings, can take to first and second of indexing unit OM the direction of determining mobile display DP by the photographic head K by arranging in the marginal area of portable display DP.Can gather by sensing technology integrated in portable display respectively the position of portable display DP, and definite distance.By the position data of preserving for the first and second shootings, then provided computing unit can be provided, calculate position and the direction of portable display DP by triangulation.
Then according to the orientation of the direction of 3D data set KO and portable display DP, DP ', DP 〞, display layer image and/or cross-sectional image or virtual X ray projection on portable display.Also can fix the orientation of portable display DP, remove display, and observe cross-sectional image or virtual X ray projection in another location.The part or all of paragraph of computational process can be carried out in outside computing unit RE, and is transferred to online mobile display DP by transfer of data.Whole calculating of the radioscopic image of equivalent layer or digital reconstruction also can be carried out on outer computer, and wherein the physical location of mobile display DP and direction are used separately as input.
In Fig. 2 to 4, portable display DP, DP ', the DP 〞 position with respect to three-coordinate KS3 is corresponding thereto shown respectively.
In Fig. 2, in z direction, flatly or along the angular bisector in xy plane aim at portable display DP.Always aim at abreast 3D data set with the second basic coordinate system KS2 as 3D data set.In an embodiment, second and three-coordinate KS2, KS3 there is identical orientation.3D data set KO is shown with discontinuous trace.Through obtaining cross-sectional image SB1 in the cross section of the 3D data set KO shown in this cuboid shape.This cross-sectional image SB1 illustrates with hacures on portable display DP.
In Fig. 3, portable display DP ' keeps having a limit on the angular bisector of the xy of coordinate system KS3 plane during receding.The impact bringing is thus now from 3D data set KO, only also imaging to be carried out in the cross section of trapezoidal shape.With hacures, cross-sectional image SB2 is shown.
In Fig. 4, portable display DP, the DP ', the DP 〞 that are parallel to y Coordinates calibration move along x coordinate.Correspondingly, from 3D data set KO, calculate different cross-sectional image SB3, SB4, SBn.
In Fig. 5, show in detail the computing unit RE that portable display DP is equipped with.In computing unit RE, for data analysis and in order to calculate necessary coordinate and cross-sectional image, describe necessary 3D, ODP, DT, ET, ZT, SBM, DRRM unit.The possible orientation of portable display DP is described.In direction module ODP, determine the orientation of mobile display DP, DP ', DP 〞.In the first memory element 3D, temporary 3D data set KO.In first, second, and third module ET, ZT and DT, implement described transformation rule, and calculate respectively cross-sectional image SBn in cross-sectional image module, and the temporary cross-sectional image SB1 calculating ..., SBn.In radioscopic image module DRRM, determine and the radioscopic image DRR of temporary digital reconstruction.The 3D, the ODP that in computing unit RE, arrange, DT, ET, ZT, SBM, DRRM unit also can be corresponding to processors integrated in portable display DP, and the on-the-spot cross-sectional image that calculates.
Reference numerals list
C C type arm
P iPad
DP display
K photographic head
OM indexing unit
O object
KO cube/3D data set
OPT operating-table
D detector
RQ x-ray source
The first transformation rule of Tmi selected marker/iPad
Tmk selected marker/cubical the second transformation rule
Tki converts cube/iPad
K optical pickocff
K1 the first photographic head
K2 second camera
3D the first memory element
ODP direction module
ET the first module
ZT the second module
DT three module
SB1 ..., SBn cross-sectional image
The radioscopic image of DRR digital reconstruction
DRRM radioscopic image module
SBM cross-sectional image module
KS1 the first coordinate system
KS2 the second coordinate system
KS3 three-coordinate

Claims (8)

  1. For according to the 3D data set (KO) corresponding with object (O) visualization (DP) upper to image (SB1 ..., SBn) and carry out visible apparatus, it is characterized in that,
    Indexing unit (OM) is set on diagnosis unit (C, D, RQ),
    Described visualization (DP) has at least one sensor (K, K1, K2), gather whereby described visualization (DP) with respect at described diagnosis unit (C, D, orientation and the position of the indexing unit (OM) of arranging RQ), and therefrom derive the position of cross-sectional image (SBn) and/or according to 3D data set (KO) by the position of the radioscopic image of digital reconstruction (DRR), and calculate the data of described image (SBn, DRR) and imaging in described visualization (DP).
  2. 2. according to device claimed in claim 1, it is characterized in that,
    Locating module (ODP) is set, to determine the orientation of described visualization (DP) with respect to described indexing unit (OM).
  3. 3. according to the device described in any one in the claims, it is characterized in that,
    Cross-sectional image module (SBM) is set, to calculate the data of described cross-sectional image (SBn) with respect to the orientation of the described 3D data set corresponding with object (O) based on described visualization (DP).
  4. 4. according to the device described in any one in the claims, it is characterized in that,
    Radioscopic image module (DRRM) is set, to calculate the data of the radioscopic image (DRR) of described digital reconstruction with respect to the orientation of the described 3D data set corresponding with object (O) based on described visualization (DP).
  5. 5. according to the device described in any one in the claims, it is characterized in that,
    The first module (ET) is set, to realize the first transformation rule (T between indexing unit (OM) and described 3D data set (KO) m i),
    The second module (ZT) is set, to realize the second transformation rule (T between described indexing unit (OM) and display m k),
    Three module (DT) is set, with by described the first and second transformation rule (T k i) be associated.
  6. 6. according to the device described in any one in the claims, it is characterized in that,
    Described visualization (DP) has optical pickocff (K, K1, K2) at least two limits.
  7. 7. according to the device described in any one in the claims, it is characterized in that,
    Described visualization (DP) is portable display (DP),
    Described visualization (DP) has computing unit (RE), for determine cross-sectional image (SB1 ..., SBn) and the view data of virtual radioscopic image (DRR).
  8. For according to 3D data set (KO) the pair cross-section image corresponding with object (O) (SB1 ..., SBn) and carry out visualization method, it is characterized in that,
    Gather the orientation of visualization (DP), and therefrom derive the position of the radioscopic image (DDR) cross-sectional image (SBn) and/or numeral that is derived from 3D data set (KO), and calculate the view data of radioscopic image (DRR) described cross-sectional image (SBn) and/or numeral.
CN201280046614.2A 2011-09-28 2012-09-03 The apparatus and method shown for image Active CN103841895B (en)

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DE102011083634.9 2011-09-28
DE102011083634.9A DE102011083634B4 (en) 2011-09-28 2011-09-28 Apparatus and method for image display
PCT/EP2012/067134 WO2013045220A1 (en) 2011-09-28 2012-09-03 Apparatus and method for imaging

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CN108451536A (en) * 2017-02-21 2018-08-28 西门子保健有限责任公司 The automatically method and x-ray system of the x-ray source of positioning x-ray system

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DE102011083634B4 (en) 2021-05-06
CN103841895B (en) 2016-09-07
WO2013045220A1 (en) 2013-04-04

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