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WO2014175608A1 - Méthode de comparaison de niveau respiratoire préopératoire avec un niveau respiratoire peropératoire - Google Patents

Méthode de comparaison de niveau respiratoire préopératoire avec un niveau respiratoire peropératoire Download PDF

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Publication number
WO2014175608A1
WO2014175608A1 PCT/KR2014/003431 KR2014003431W WO2014175608A1 WO 2014175608 A1 WO2014175608 A1 WO 2014175608A1 KR 2014003431 W KR2014003431 W KR 2014003431W WO 2014175608 A1 WO2014175608 A1 WO 2014175608A1
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Prior art keywords
image
operating room
preoperative
level
image template
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PCT/KR2014/003431
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English (en)
Korean (ko)
Inventor
서준범
박창민
김남국
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Asan Foundation
Seoul National University Hospital
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Asan Foundation
Seoul National University Hospital
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Priority claimed from KR1020130046926A external-priority patent/KR101529659B1/ko
Priority claimed from KR1020130046936A external-priority patent/KR101513229B1/ko
Priority claimed from KR1020130046939A external-priority patent/KR101464330B1/ko
Application filed by Asan Foundation, Seoul National University Hospital filed Critical Asan Foundation
Publication of WO2014175608A1 publication Critical patent/WO2014175608A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis 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
    • A61B6/5217—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data extracting a diagnostic or physiological parameter from medical diagnostic data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/022—Stereoscopic imaging
    • A—HUMAN NECESSITIES
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    • A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
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    • G—PHYSICS
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    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
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    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/30—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for calculating health indices; for individual health risk assessment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/08—Measuring devices for evaluating the respiratory organs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/113—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb occurring during breathing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • A—HUMAN NECESSITIES
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    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—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
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    • A61B6/5258—Devices using data or image processing specially adapted for radiation diagnosis involving detection or reduction of artifacts or noise
    • A61B6/5264—Devices using data or image processing specially adapted for radiation diagnosis involving detection or reduction of artifacts or noise due to motion
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5288—Devices using data or image processing specially adapted for radiation diagnosis involving retrospective matching to a physiological signal
    • G—PHYSICS
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    • G06T2207/30004—Biomedical image processing
    • G06T2207/30061—Lung

Definitions

  • This disclosure relates generally to a method of comparing preoperative respiratory level and operating room respiratory level (METHOD OF COMPARING PREOPERATIVE RESPIRATORY LEVEL WITH INTRAOPERATIVE RESPIRATORY LEVEL). It is about how to compare levels.
  • Volume graphics is a field of computer graphics that deals with the visualization of objects represented by sample data having three or more dimensions. These samples, called volume elements or voxels, contain digital information representing the physical characteristics of the object. For example, the voxel data of a particular object may represent density, type of material, temperature, speed, or other property in discrete points, in space, throughout the interior and surroundings of the object.
  • Volume Rendering is a form of digital signal processing, which gives each voxel of a voxel-based representation color and transparency. to be.
  • Each of these voxels, given their color and transparency, is projected onto a two-dimensional viewing surface, such as a computer screen, where the background voxels are applied to the foreground opaque voxels. It is hidden by the form. This accumulation of projected voxels results in a visual image of the object.
  • Volume Rendering renders a volume or volume data set, which is the volume of data points called volume elements or voxels. It consists of a 3-D array of data points, a voxel is a three-dimensional counterpart of a pixel that contains color and transparency information, and changes the color and transparency of the object to You can see the outside and inside in different forms, for example, a doctor who wants to look at the ligaments, tendons, and bones of a knee before surgery can make blood, skin, and muscles appear completely transparent in a tomography scan of the knee. .
  • three-dimensional volume data sets or three-dimensional volume data such as CT images, MRI images, PET images, etc. can be utilized using this volume rendering technique (not necessarily limited to volume rendering techniques, It is usefully used.), Displayed on a monitor, and using the displayed image, it is possible to use a variety of methods, such as preparing for surgery, planning a surgery, using a surgical navigation apparatus, or using during surgery.
  • FIGS. 1 and 2 are diagrams illustrating an example of conventional interventional surgery.
  • a specific breathing level A of a patient before surgery eg, a state in which the patient inhales or exhales as much as possible
  • operation S100 a 3D image 100 of the patient is obtained.
  • a medical 3D image acquisition device such as a CT device, a Cone-beam CT (CBCT) device, or an MRI device may be used.
  • the surgery is planned using the obtained three-dimensional image 100 (S200).
  • a path 300 is inserted to insert a biopsy needle into the patient's target 200.
  • the image acquisition device eg, Fluoroscopy device, CBCT device; 400 placed in the operating room is moved to the path 300 planned in step S200, that is, the biopsy needle ( 500 is aligned with the same orientation as the orientation 300 to be inserted (S300).
  • the patient's breathing level (A) when acquiring the preoperative 3D image 100 is the patient's breathing level at the current operating room.
  • the patient should be breathed at a specific breathing level (A: the patient inhales or exhales as much as possible), and then includes the affected part using the image acquisition device 400 in the operating room.
  • the patient's breathing level (B) should be matched with the patient's breathing level (A) when acquiring a preoperative 3D image (S400).
  • the doctor's intuition is used here. In a method that does not depend on the physician's intuition, the respiratory level (A) when acquiring the pre-operative 3D image 100 is recorded on a computer, and then the respiratory level of the patient is continuously recorded at the operating room, and the two are compared When the patient's respiratory level (B) is the same as the respiratory level (A), it can be notified by an alarm sound, or the biopsy needle 500 can be configured to operate automatically.
  • Respiration level (A, B) can be applied to the conventional method of measuring the breath (for example, pressure belt type, breath meter using the InfraRed marker, etc.).
  • the biopsy needle 500 into the human body, it is possible to insert the surgical tool in the human body in the planned orientation (300) (S500).
  • the three-dimensional image 100 and the patient's image 600 used in FIG. 2 are for illustrative purposes and will be easily understood by those skilled in the art.
  • US Patent No. 5,368,844 is mentioned.
  • the method comprises: acquiring a three-dimensional image including an According to one aspect of the present disclosure and a surgical target; Setting at least one reference path in the three-dimensional image; Generating a preoperative image template corresponding to the at least one reference path from the 3D image; Generating an intraoperative image template according to at least one reference path; And, using the pre-operative image template and the operating room image template, comparing the respiratory level in the operating room and the respiratory level in the step of obtaining a three-dimensional image; and the preoperative respiratory level characterized in that it comprises a; A method of comparing operating room respiration levels is provided.
  • obtaining a three-dimensional image including a Surgical Target Setting at least one reference path in the three-dimensional image; Generating a preoperative image template corresponding to the at least one reference path from the 3D image; Generating an intraoperative image template continuously provided over time according to at least one reference path; and, the comparison line provided in the preoperative image template and the operating room image template Comparing the respiratory level at the operating room and the respiratory level in the step of obtaining a three-dimensional image using a comparison line; Is provided.
  • acquiring a three-dimensional image including a Surgical Target Setting at least one reference path in the three-dimensional image; Generating a preoperative image template corresponding to the at least one reference path from the 3D image; wherein the preoperative image template includes a plurality of medical images, the preoperative image template Generating a; Generating an intraoperative image template continuously provided over time according to at least one reference path in the operating room; And, using the pre-operative image template and the operating room image template, comparing the respiratory level in the operating room and the respiratory level in the step of obtaining a three-dimensional image; including, in the comparing step, Among the plurality of medical images of the template, a method of comparing the preoperative breathing level and the operating room breathing level, characterized by finding the medical image closest to the operating room image template and displaying the affected part on the medical image together with the operating room image template. Is provided.
  • FIG 1 and 2 are views for explaining an example of conventional interventional surgery (intervention surgery)
  • 3 and 4 are views for explaining an example of a method of comparing the preoperative respiratory level and the operating room respiratory level according to the present disclosure
  • FIG. 5 is a view showing an example of a method of creating a pre-operative image template
  • FIG. 6 is a diagram illustrating an example of a display screen according to the present disclosure.
  • FIG. 7 is a view showing an example of a method of comparing the pre-operative image template and the operating room image template
  • FIG. 8 is a diagram illustrating an example of a method of generating a comparison line from an operating room image template
  • FIG. 9 is a diagram illustrating an example of an edge detection method according to the present disclosure.
  • FIG. 10 illustrates an example of a display screen according to the present disclosure.
  • 3 and 4 are diagrams illustrating an example of a method of comparing the preoperative breathing level and the operating room breathing level according to the present disclosure.
  • a three-dimensional image 10 including the affected part 20 is obtained. (S10).
  • at least one reference path 30, 31 is set in the 3D image 10 (S20).
  • a preoperative image template 11 corresponding to at least one reference path 30, 31 is generated from the 3D image 10 (S30).
  • an intraoperative image template 12 is generated in accordance with at least one reference path 30 or 31 at the operating room (S40).
  • the respiratory level at step S10 of obtaining the three-dimensional image 10 is compared with the respiratory level at the operating room ( S50).
  • the affected part 20 is not limited to a person, but may extend to an animal that breathes.
  • the 3D image 10 may be a CT image, an MRI image, a PET image, a 3D ultrasound image, or the like. Via the device, it can be acquired in advance, stored in the computer 70, displayed via the monitor 71, and used by the user through the computer 70.
  • the CT image and the CBCT image are used as the 3D image 10. This is because the CT image is suitable for imaging the internal organs that interlock with the breath.
  • the concept of preoperative is a relative time concept, which can be obtained before the patient enters the operating room, but within the operating room, the CT device, the CBCT device, etc. can be obtained, and the surgical plan can be made.
  • one volume data set may be created before entering the operating room, and another volume data set may be created at the operating room.
  • Reference paths 30 and 31 are established in the course of planning the surgery.
  • Reference paths 30 and 31 may be, for example, insertion paths of surgical instruments (eg, biopsy needles; see FIG. 2).
  • the reference paths 30 and 31 can be determined by setting the entry point 32 and the orientation (the direction of the surgical tool, the vector) at which the surgical instrument enters the patient's body.
  • the present disclosure can also be applied to surgery in which the surgical instrument is not inserted into the human body. For example, as a starting point 32, a point at which the patient is to be incised with a surgical instrument is set, and the reference paths 30 and 31 can be determined by setting the line with the point and the lesion.
  • the present disclosure may be applied not only to surgical operations and surgical intervention procedures, but also to medical treatment and laser treatment.
  • the method of the present disclosure can be applied to set the orientation to which the laser will be irradiated in the preoperative 3D image 10 and to check the breathing level of the patient at the operating room. Therefore, in the present disclosure, the term surgery should be understood as a comprehensive medical act including a surgical operation, a surgical intervention procedure, a diagnostic act, and the like.
  • the accuracy of the respiration level comparison can be further improved.
  • the intraoperative image was taken with the reference path 30 set before the operation, it is possible to have various advantages, such as being able to use the reference path 31 that is well visible, in case the lesion is not easily seen.
  • the preoperative image template 11 includes at least one medical image corresponding to the at least one reference path 30, 31. Also, the preoperative image template 11 may include a plurality of medical images obtained from one reference path 30.
  • the pre-operative image template 11 preferably has a similar shape to that obtained by the image acquisition device 40. For example, when the image acquired by the image acquisition device 40 is a two-dimensional fluoroscopy image and the three-dimensional image 10 is a CT image, a parallel or perspective ray summ algorithm (Ray) Sum Algorithm) By using the Maximum Intensity Projection (MIP) or Minimum Intensity Projection (MinIP), it is possible to obtain an image similar to a perspective image with respect to at least one reference path (30, 31), which is a known technique. .
  • MIP Maximum Intensity Projection
  • MinIP Minimum Intensity Projection
  • the operating room image template 12 also includes at least one medical image corresponding to the at least one reference path 30, 31.
  • devices such as C-arm, Cone-beam can be used, but are not limited to this, and adjust the orientation to the patient. Any device may be used as long as the device can be used. Preferably, Fluoroscopy images are used which allow the generation of continuous two-dimensional images.
  • the operating room image template 12 may be an image 13 obtained by the image acquisition device 40 or may be generated by processing the image 13 as necessary.
  • the image 13 or operating room image template 12 is acquired by the image acquisition device 40, stored and processed in the computer 80, and displayed on the monitor 81.
  • the computer 80 and the computer 70 may interwork.
  • the computer 80 may use the preoperative image template 11 without storing it separately.
  • the computer 80 also performs a function of comparing the preoperative image template 11 and the operating room image template 12. This process can be displayed on the monitor 81.
  • the two templates 11 and 12 coincide with each other to some extent, it is also possible to sound an alarm or display the degree of the match numerically.
  • methods such as Mean Squares Difference, Normalized Correlation, Pattern Intensity, and Mutual Information may be used.
  • FIG. 5 is a diagram illustrating an example of a method for creating a preoperative image template, in which the preoperative image template 11 includes five medical images 11a, 11b, 11c, 11d, and 11e.
  • the five medical images 11a, 11b, 11c, 11d, and 11e consist of at least one actual medical image and at least one predictive medical image.
  • the medical image 11a is generated along the reference path 30 from the actually photographed three-dimensional image 10 and the remaining medical images 11b, 11c, 11d, and 11e are based on the medical image 11a.
  • By predicting the movement of the affected part 20 according to the breath can be generated based on the experience of the doctor.
  • this pre-operative image template 11 when used with the operating room image template 12 in the operating room, it is possible to more easily determine the breathing level of the patient.
  • two medical images 11a and 11e can be generated from an actual medical image.
  • two three-dimensional images 10 are required, and once the CT image is taken in a fully inhaled state and the CT image is taken in a fully exhaled state, two three-dimensional images 10 may be obtained. From each of these two medical images 11a and 11e can be obtained along the reference path 30.
  • two actual captured medical images 11a and 11e that is, using at least two or more actual captured medical images 11a and 11e, the accuracy of the predicted medical images 11b, 11c and 11d is increased. It becomes possible.
  • the accuracy of the prediction can be further improved.
  • the medical image 11c may be generated through actual imaging.
  • the movement of the affected part 20 according to the respiration level can be represented very accurately, and the operating room image template 12 is
  • the comparison between each other can be made easier.
  • the preoperative image template 11 may be made using thin plate warping, bspline warping, or the like.
  • FIG. 6 is a diagram illustrating an example of a display screen according to the present disclosure and may be understood as one graphical user interface (GUI). It is possible to display the preoperative image template 11 and the operating room image template 12 simultaneously, but depending on the performance of the computer and in terms of time consumption, there are cases where it is difficult or unnecessary. As shown in FIG. 6, in the state where only the operating room image template 12 is shown, the similarity with the preoperative image template 11 is calculated by a computer internal process, and as the similarity increases on the display, the color of the screen becomes darker. In other words, it can be expressed in a visual or audible manner intuitively, such as by expressing through a color, or by giving a flickering.
  • GUI graphical user interface
  • a portion that can be compared from the pre-image template 11 to be displayed as a comparison line (L1, L2, L3, L4, L5), it helps to understand the similarity between the two intuitively Can be. As the degree of similarity increases, it is also possible to change the color of the comparison lines L1, L2, L3, L4, and L5 to increase the intuitive power. It is also possible to display the pre-operative image template 11 and to obtain and display the required portion of the operating room image template 12. As a part to be compared, it is also possible to use an organ such as a diaphragm. In addition, it is possible to assist the operator by showing at least one of the compass 1000, the starting point 32, and the reference path 30 indicating the orientation.
  • the patient can adjust the breathing level by himself.
  • Surgery or interventional procedures e.g. biopsies, endoscopic procedures
  • medical robots using a master-slave system will leave the doctor at the operating room, but even in this case, by using the method according to the present disclosure, the patient will be able to breathe on their own You will have the advantage of matching them.
  • FIG. 7 is a diagram illustrating an example of a method of comparing a preoperative image template and an operating room image template, in which a comparison line 11-1 taken from the preoperative image template is displayed, and on the operating room image template 12.
  • the comparison line 12-1 is shown. 20 is affected.
  • the comparison line 11-1 may be generated automatically or manually in the process of forming the preoperative image template. By displaying the patient's breathing signals together, the comparison between the two can be helped.
  • a diaphragm can be used for the comparison line 11-1 and the comparison line 12-1.
  • FIG. 8 is a diagram illustrating an example of a method of generating a comparison line from an operating room image template, and a C-arm fluoroscopy image is illustrated as the operating room image template 12.
  • the diaphragm is used for the comparison line 12-1.
  • the edge detection method such as the enhancement method using the Hessian Matrix, as shown in FIG.
  • a method of finding the whole diaphragm by detecting and detecting the diaphragm edge portion may be used. This is done through the internal process of the computer.
  • the comparative line 12-1 in addition to the diaphragm, contrast-enhanced kidney, pulmonary vessels, bronchus, bone, or the like can be used.
  • the operating room image template 12 thus formed may be used to determine the breathing level of the patient in the operating room without the help of the preoperative image template 11.
  • the operating room image template 12 thus formed may be used to determine the breathing level of the patient in the operating room without the help of the preoperative image template 11.
  • identifying the movement of the comparison line 12-1 on the operating room image template 12 it is a matter of course that the movement of the affected area or organ near the comparison line 12-1 can be predicted.
  • the comparison line 11-1 obtained from the preoperative image template 11 is used as the target respiration level, and the diaphragm is extracted from the operating room image template 12 using the comparison line 12-1, and the image is displayed on the display.
  • the patient sees this display, the patient can adjust his or her breathing level while intuiting a change in color density, a change in the degree of flickering, an alarm sound, and the like. More preferably, in addition to adjusting the breathing level intuitively using visual and / or auditory, by quantifying and displaying the similarity evaluated through Mutual Information, etc., the patient can adjust the breathing level more comfortably (Fig. 7). Reference).
  • FIG. 10 is a diagram illustrating an example of a display screen according to the present disclosure, in which an affected part 20 obtained from a preoperative image template is displayed together on the operating room image template 12.
  • an affected part 20 obtained from a preoperative image template is displayed together on the operating room image template 12.
  • the operating room image template 12 is changed in real time (provided continuously in the course of time), a plurality of pre-operated image templates 11 are operated at the current respiration level through a computer internal process.
  • the intestinal image template 12 It is possible to match the intestinal image template 12, and for each image in the pre-operative image template 11, by separating the affected part 20 manually or automatically, the pre-operative image template 11 as necessary It is possible to display the affected part 20 obtained in the present invention on the operating room image template 12.
  • the affected part 20 may be augmented to be visually well represented using a known volume rendering technique, such as a specific color.
  • the affected area 20 may be obtained directly from the three-dimensional image 10, rather than from each image in the preoperative image template 11, but is not preferred.
  • At least one reference path is a plurality, and a plurality of preoperative image templates are generated for the plurality of reference paths.
  • At least one reference path is a path for insertion of a biopsy needle to compare the preoperative breathing level with the operating room breathing level.
  • the preoperative image template includes at least one of a fully inhaled medical image and a fully exhaled medical image.
  • the pre-operative image template comprises a plurality of medical images.
  • the preoperative respiratory level comprising at least one real medical image generated from a three-dimensional image and at least one predictive medical image predicted and generated from the at least one real medical image; To compare the respiratory level with the operating room.
  • At least one actual medical image comprises at least one of a fully inhaled medical image and a fully exhaled medical image.
  • (11) acquiring a 3D image including a surgical target; Setting at least one reference path in the three-dimensional image; Generating a preoperative image template corresponding to the at least one reference path from the 3D image; Generating an intraoperative image template continuously provided over time according to at least one reference path; And comparing the breathing level at the step of obtaining the 3D image with the breathing level at the operating room by using the comparison line provided in the preoperative image template and the comparison line provided in the operating room image template.
  • Method for comparing the preoperative breathing level and the operating room breathing level characterized in that.
  • An example of an operating room image template provided continuously over time may be a fluoroscopy image. Any type of image may be used as long as the image is obtained in real time.
  • the comparison line provided in the operating room image template is a diaphragm, the method of comparing the preoperative breathing level and the operating room breathing level.
  • a method of comparing the preoperative breathing level and the operating room breathing level characterized in that in the comparing step, the breathing signal is displayed together.
  • the preoperative breathing level and the operating room breathing level characterized in that it informs the proximity of the comparison line provided in the pre-operative image template of the comparison line provided in the operating room image template How to compare.
  • an operating room image template including a surgical target; Setting at least one reference path in the three-dimensional image; Generating a preoperative image template corresponding to the at least one reference path from the 3D image; wherein the preoperative image template includes a plurality of medical images, the preoperative image template Generating a; Generating an intraoperative image template continuously provided over time according to at least one reference path in the operating room; And, using the pre-operative image template and the operating room image template, comparing the respiratory level in the operating room and the respiratory level in the step of obtaining a three-dimensional image; including, in the comparing step, A method of comparing a preoperative respiratory level and a surgical respiratory level comprising finding a medical image closest to an operating room image template from among a plurality of medical images of the template and displaying the affected area on the medical image with the operating room image template.
  • An example of an operating room image template provided continuously over time may be a fluoroscopy image. Any type of image may be used as long as the image is obtained in real time.
  • the method of comparing the preoperative breathing level and the operating room breathing level it is possible to guide the breathing level of the patient using a medical image without the help of a separate breathing apparatus.
  • the method of comparing the preoperative breathing level and the operating room breathing level according to the present disclosure even if there is no operator in the operating room (for example, surgery, intervention, diagnosis, etc. by a medical robot using a master-slave system) The patient can easily adjust his breathing level.
  • the method of comparing the preoperative breathing level and the operating room breathing level according to the present disclosure, by guiding the breathing level using the patient's internal organs, it is easier for the patient to adjust the breathing level.

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Abstract

La présente invention concerne une méthode de comparaison d'un niveau respiratoire préopératoire avec un niveau respiratoire peropératoire. La méthode comprend les étapes suivantes : obtenir une image tridimensionnelle comprenant une cible chirurgicale ; définir au moins un trajet de référence à partir de l'image tridimensionnelle ; produire un modèle d'image préopératoire correspondant audit trajet de référence à partir de l'image tridimensionnelle ; produire un modèle d'image peropératoire pour se conformer audit trajet de référence ; et comparer un niveau respiratoire dans l'étape d'obtention de l'image tridimensionnelle avec un niveau respiratoire peropératoire utilisant le modèle d'image préopératoire et le niveau respiratoire peropératoire.
PCT/KR2014/003431 2013-04-26 2014-04-18 Méthode de comparaison de niveau respiratoire préopératoire avec un niveau respiratoire peropératoire Ceased WO2014175608A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR1020130046926A KR101529659B1 (ko) 2013-04-26 2013-04-26 수술전 호흡 레벨과 수술장 호흡 레벨을 비교하는 방법
KR1020130046936A KR101513229B1 (ko) 2013-04-26 2013-04-26 수술전 호흡 레벨과 수술장 호흡 레벨을 비교하는 방법
KR1020130046939A KR101464330B1 (ko) 2013-04-26 2013-04-26 수술전 호흡 레벨과 수술장 호흡 레벨을 비교하는 방법
KR10-2013-0046936 2013-04-26
KR10-2013-0046926 2013-04-26
KR10-2013-0046939 2013-04-26

Publications (1)

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WO2014175608A1 true WO2014175608A1 (fr) 2014-10-30

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PCT/KR2014/003431 Ceased WO2014175608A1 (fr) 2013-04-26 2014-04-18 Méthode de comparaison de niveau respiratoire préopératoire avec un niveau respiratoire peropératoire

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WO (1) WO2014175608A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005521507A (ja) * 2002-04-03 2005-07-21 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ Ｃｔ統合呼吸モニタ
KR20080039919A (ko) * 2005-07-22 2008-05-07 토모테라피 인코포레이티드 방사선 치료를 받는 환자의 호흡 상태를 검출하는 시스템및 방법
JP2010502244A (ja) * 2006-09-05 2010-01-28 ヴィジョン アールティー リミテッド 患者モニタ
JP2012196260A (ja) * 2011-03-18 2012-10-18 Mitsubishi Heavy Ind Ltd 放射線治療装置制御装置、その処理方法、及びプログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005521507A (ja) * 2002-04-03 2005-07-21 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ Ｃｔ統合呼吸モニタ
KR20080039919A (ko) * 2005-07-22 2008-05-07 토모테라피 인코포레이티드 방사선 치료를 받는 환자의 호흡 상태를 검출하는 시스템및 방법
JP2010502244A (ja) * 2006-09-05 2010-01-28 ヴィジョン アールティー リミテッド 患者モニタ
JP2012196260A (ja) * 2011-03-18 2012-10-18 Mitsubishi Heavy Ind Ltd 放射線治療装置制御装置、その処理方法、及びプログラム

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