CN103961178B - Remote operation planning and navigation system - Google Patents
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Abstract
The present invention proposes a kind of remote operation planning and navigation system, comprise the medical image post processing subsystem that medical image is carried out to post processing, patient's multi-mode image is merged and is carried out the multi-mode image fusant system of three-dimensional reconstruction and visualization processing, patient's medical image is stored and is managed and sets up the medical image management subsystem of patient's Profile, the surgery planning subsystem of pre-operative surgical simulation and planning is provided, the remote medical consultation with specialists subsystem that carries out remote collaboration and the consultation of doctors to the surgical navigational subsystem that navigates of operation and for operative doctor and imaging doctor. described remote operation planning and navigation system can effectively realize the data sharing between different department, be convenient to carry out between the doctor of different department long-range communication exchange and plan as a whole cooperation, and then effectively solve scan image and do not meet diagnosis and need and need the problem of Resurvey, effectively improve efficiency and the success rate of operation.
Description
Technical field
The present invention relates to remote operation planning and navigation system, relate in particular to that can to solve teletherapy tiredDifficult, to realize diagnosis, treatment and multimode images integration remote operation planning and navigation system.
Background technology
In traditional operative treatment, due to the different requirements of diagnosis, treatment, patient conventionally in the preoperativeIn art, need to accept the image scanning of multiple different modalities, these image scannings generally need be via differenceSection office complete.
At present, owing to lacking the passage of data sharing between different department, between doctor, also lackPlan as a whole cooperation, need and need Resurvey and extensively exist scan image not meet diagnosisPhenomenon. And existing Telemedicine System concentrates on center of gravity patient's vital sign mostly, after one's own heartJump etc. above, general data amount is less, and being difficult to meet medical image, the performance data amount such as to share hugeRequirement; And the system of being based on medical image transmission, management is as PACS(PictureArchivingandCommunicationSystems, image archiving and communication system) etc., also only for independent mouldState, lacks the fusion between multi-modality images, is difficult to give full play to multiple image mode advantage separately,The function such as navigate in needed preoperative planning, art in operation is not provided simultaneously yet. In addition, thisTraditional operative treatment mode all depends on the equipment of hospital, and diagnosis, treatment behavior to doctor are madeBecome very large restriction. The Chinese invention patent application of application number CN201010123608 providesBased on a remote medical service system for wlan standard, it comprises the portable of collection patient informationFormula medical instrument, the handheld type diagnosis terminal that sends diagnostic message and storage patient information and diagnostic messageRemote medical server, connect to realize mobile diagnostics by network, but this long-rangeThe medical image of the more difficult complexity of medical service system, is therefore difficult at surgery planning and leadsIn boat, apply. Chinese invention patent CN03150952 provides a kind of expert's Telemedicine ConsultationSystem, comprises medical image file and communication subsystem, information for hospital subsystem, a plurality of processOr remote medical consultation with specialists subsystem, by middleware by its system integration, thereby realize data each otherTransmission, shares medical image number although this expert's Telemedicine Consultation subsystem can transmitAccording to, but because carrying out multimode images fusion, and cannot make full use of the excellent of different modalities imageGesture, meanwhile, can not realize the function such as surgery planning and surgical navigational.
Summary of the invention
For the problems referred to above, the object of this invention is to provide one and can solve teletherapy difficulty, realityNow diagnose, treat remote operation planning and navigation system that multimode images is integrated.
A kind of remote operation planning and navigation system, described remote operation planning and navigation system bagDraw together: medical image post processing subsystem, it is connected with multiple medical imaging devices, for to medical scienceImage carries out post processing; Multi-mode image fusant system, itself and described medical image post processing subsystemSystem connects, and merges, and carry out three-dimensional reconstruction and visual place for the multi-mode image to patientReason; Medical image management subsystem, it is connected with described multi-mode image fusant system, for rightPatient's medical image stores and manages, and sets up patient's Profile; Surgery planningSystem, it is connected with described medical image management subsystem, for pre-operative surgical simulation and rule are providedDraw; Surgical navigational subsystem, itself and described medical image management subsystem and described surgery planningSystem connects respectively, for operation is navigated; And remote medical consultation with specialists subsystem, it is arranged at instituteState between medical image post processing subsystem and medical imaging devices, for operative doctor and imaging doctorRemote collaboration and the consultation of doctors are carried out in life.
In the present invention's one preferred embodiments, described medical image post processing subsystem is to medical imageCarry out post processing comprise to described medical image carry out that image is cut apart, figure image intensifying, three-dimensional reconstruction andVisual.
In the present invention's one preferred embodiments, to described medical image carry out image cut apart comprise fromMoving, semi-automatic or manual cutting apart.
In the present invention's one preferred embodiments, described multi-mode image fusant system adopts semi-automatic joiningThe medical image of the multiple mode of accurate mode to patient merges.
In the present invention's one preferred embodiments, described multi-mode image fusant system is at different modalitiesIn medical image, select one to one respectively anatomic landmark point clearly, and adopt point set to point setRegistration Algorithm carry out registration.
In the present invention's one preferred embodiments, the medical science of described medical image management subsystem to patientImage stores with management and comprises that doctor is set accesses the image in patient files and access archivesThe authority of scope.
In the present invention's one preferred embodiments, described surgery planning subsystem for operative doctor through threeTie up and in visual patient image data, carry out sham operated overall process, and plan the fortune of operating theater instrumentsMoving path.
In the present invention's one preferred embodiments, described surgical navigational subsystem is integrated with patient imageThe position indicator that data are demarcated, described position indicator is followed the tracks of position and the directional information of operating theater instruments,And be placed in the virtual operation instrument of the same coordinate system by screen display.
In the present invention's one preferred embodiments, described surgical navigational subsystem provides on-the-spot pattern and far awayTwo kinds of surgical navigational patterns of journey pattern; Described on-the-spot pattern is entered by hand eye coordination via doctor sceneRow surgical navigational; Described remote mode is handled remote control arm by doctor and is controlled mechanical arm clamping surgical deviceTool completes operation.
In the present invention's one preferred embodiments, described medical image post processing subsystem and medical imagingBetween equipment, described multi-mode image fusant system and described medical image post processing subsystem itBetween, between described medical image management subsystem and described multi-mode image fusant system, described handBetween art planning subsystem and described medical image management subsystem, described surgical navigational subsystem andBetween described medical image management subsystem, described surgical navigational subsystem and described surgery planningBetween system, between described remote medical consultation with specialists subsystem and described medical image post processing subsystem and instituteState between remote medical consultation with specialists subsystem and medical imaging devices and all realize connection by network.
Compared to prior art, remote operation planning provided by the invention comprises medical science with navigation systemPost processing of image subsystem, medical image management subsystem, multi-mode image fusant system, operationPlanning subsystem, surgical navigational subsystem and Tele-consultation System, possess the multi-modal medical science figure of processingThe ability of picture, and can merge multiple modalities image, enhancing and three-dimensional visualization processing. WithTime, the planning of described remote operation and navigation system utilize pre-operative surgical simulation, remote operation planning andIn art, the function such as surgical navigational, can improve efficiency and the success rate of operation effectively. In addition profit,With described remote medical consultation with specialists subsystem, can effectively realize the data sharing between different department, be convenient toBetween the doctor of different department, carry out long-range communication exchange and plan as a whole cooperation, and then effectively solve scanningImage does not meet diagnosis to be needed and needs the problem of Resurvey.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand the present inventionTechnological means, and can be implemented according to the content of description, and for allow of the present invention onState with other objects, features and advantages and can become apparent, below especially exemplified by embodiment, and coordinateAccompanying drawing, is described in detail as follows.
Brief description of the drawings
The remote operation that Fig. 1 provides for one embodiment of the invention is planned the composition diagram with navigation system.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further detailed explanation.
Refer to Fig. 1, one embodiment of the invention provides a kind of remote operation planning and navigation system100, it comprises medical image post processing subsystem 10, medical image management subsystem 20, multimodeImage co-registration subsystem 30, surgery planning subsystem 40, surgical navigational subsystem 50 and long-range meetingExamine system 60.
In the present embodiment, described medical image post processing subsystem 10, described medical image managementSystem 20, described multi-mode image fusant system 30, described surgery planning subsystem 40, described inSurgical navigational subsystem 50 and described Tele-consultation System 60 can adopt computer, as fixed bitThe desktop computer of putting, as carrier, also can adopt portable mobile termianl, as but notebook electricityBrain or panel computer etc. are as carrier.
Described medical image post processing subsystem 10 is connected with multiple medical imaging devices, obtains manyMultiple medical images that individual medical imaging devices gathers patient, and after multiple medical images are carried outProcess. In the present embodiment, described medical image post processing subsystem 10 is by network and multiple doctorLearn imaging device and realize connection, be convenient to thus realize described medical image post processing subsystem 10 HesTelecommunication between multiple medical image systems. Described medical image post processing subsystem 10 is rightMedical image carry out post processing comprise to medical image carry out that image is cut apart, figure image intensifying, Three-dimensional GravityBuild and processing such as visual grade. Wherein, to medical image carry out image cut apart comprise automatic, semi-automaticOr manual cutting apart.
Be understandable that, described medical imaging devices comprises that X-ray imaging device, CT imaging establishStandby, electrocardio imaging device and nuclear magnetic resonant image documentation equipment etc.
Be understandable that, described medical image post processing subsystem 10 is established multiple medical imagingsThe standby multiple medical images that gather (be shown in Fig. 1, export 1 ..., output n) carries out rear placeAfter reason, form accordingly different modalities, as mode 1, mode 2 ..., mode n medical scienceImage.
Described multi-mode image fusant system 20 and described medical image post processing subsystem 10 connectConnect, merge for the multi-mode image to patient, and carry out three-dimensional reconstruction and visualization processing.In the present embodiment, described multi-mode image fusant system 20 and described medical image post processing subsystemSystem 10 realizes connection by network, and described medical image post processing subsystem 10 is by after post processingThe medical image of multiple mode transfers to described multi-mode image fusant system 20, by described multimode figureAs fusant system 20, the medical image of described multiple mode is merged. Described multi-mode imageFusant system 20 adopts the medical image of the multiple mode of semi-automatic registration mode to patient to carry outMerge. For the medical image of different modalities, described multi-mode image fusant system 20 is therefrom dividedXuan Ze be not one to one anatomic landmark point clearly, and adopt point set to enter to the registration Algorithm of point setRow registration.
Be understandable that, the registration Algorithm that described multimode image fusant system 20 adopts is notBe confined to adopt the method for registering between anatomic landmark point set, also can adopt other registration Algorithm,As long as can effectively realize, patient's multi-mode image is merged.
Preferably, described multi-mode image fusant system 20 by the different modalities after registration (as twoKind of mode) medical image be positioned in the same coordinate system, and by regulating respectively its transparencyMode reaches the effect of image co-registration and figure image intensifying. In the present embodiment, described multi-mode image meltsThe preferred image co-registration mode of zygote system 20 is the transparency that regulates the medical image of two kinds of mode,Certainly, be not limited to this, described multi-mode image fusant system 20 also can adopt other to meltClose mode, as the difference of the definition in different image modes according to different anatomical structures, from respectivelyIn the medical image of individual mode, select anatomical structure the most clearly to merge.
Described medical image management subsystem 30 is connected with described multi-mode image fusant system 20,For patient's medical image is stored and managed, and set up patient's Profile. This realityExecute in example, described medical image management subsystem 30 and described multi-mode image fusant system 20 are logicalCross network and realize connection, described multi-mode image fusant system 20 passes the fused images after mergingTransport to described medical image management subsystem 30, by described medical image management subsystem 30 to instituteState fused images and store and manage, comprise that doctor is set to be accessed in patient files and access archivesThe authority of image range. As the case may be different department doctor is accessed to patient image dataAuthority arrange. Particularly, carrying out the operative doctor of performing the operation has authority to access the whole of patientMedical image; The imaging doctor that each section office are responsible for imaging only can access the image that its section office gather;Described patient's archives are only browsed for the doctor relevant to its diagnoses and treatment, and other people do not have authority to visitAsk.
Be understandable that, described medical image management subsystem 30 can enter as the case may beRow right assignment, and adopt corresponding way to manage.
Described surgery planning subsystem 40 is connected with described medical image management subsystem 30, forPre-operative surgical simulation and surgery planning are provided. In the present embodiment, described surgery planning subsystem 40Realize and being connected by network with described medical image management subsystem 30, thus, can realize long-rangePre-operative surgical simulation and surgery planning. Described medical image management subsystem 30 by wherein storageFused images transfers to described surgery planning subsystem 40, and described surgery planning subsystem 40 is for handArt doctor carries out sham operated overall process in the patient image data through three-dimensional visualization, and planningThe motion path of operating theater instruments. Particularly, provide operation pathway and important anatomy structure as blood vessel,Other close on the coherent detection of organ etc., and for whether damaging important anatomy structure etc.Carry out correspondingly hint and caveat.
Described surgical navigational subsystem 50 and described medical image management subsystem 30 and described operationPlanning subsystem 40 connects respectively, for operation is navigated. In the present embodiment, described handBetween art navigation subsystem 50 and described medical image management subsystem 30, described surgical navigationalBetween system 50 and described surgery planning subsystem 40, all realize connection by network, thus, canRealize remote operation navigation. Described surgical navigational subsystem 50 is integrated with patient image data to enterThe position indicator that rower is fixed. Described medical image management subsystem 30 is by the fused images of wherein storingTransfer to described surgical navigational subsystem 50, described surgery planning subsystem 40 passes surgery planningTransport to described surgical navigational subsystem 50, described position indicator is marked patient's fusion image dataFixed, it is transformed into operating room coordinate system together with pre-operative surgical planning (comprising operation pathway etc.)In and be presented on screen. Particularly, follow the tracks of operating theater instruments position, direction (court by described position indicatorTo) etc. information, and show and be placed in the virtual operation instrument of the same coordinate system on screen.
Preferably, described position indicator is optical orientator, certainly, is not limited to this, described fixedPosition instrument can be also electromagnetic location instrument or optics, electromagnetism mixed positioning instrument, as long as can effectively realizeFusion image data to patient is demarcated.
In the present embodiment, described surgical navigational subsystem 50 provides on-the-spot pattern and remote mode twoPlant surgical navigational pattern; Described on-the-spot pattern realizes operation via doctor scene according to hand eye coordination and leadsBoat; Described remote mode is handled remote control arm by doctor and is controlled mechanical arm clamping operating theater instruments and complete handArt, and then realize the navigation to operation.
Described remote medical consultation with specialists subsystem 60 is arranged at described medical image post processing subsystem 10 and doctorLearn between imaging device, carry out remote collaboration and the consultation of doctors for operative doctor and imaging doctor. This realityExecute in example, between described remote medical consultation with specialists subsystem 60 and described medical image post processing subsystem 10,Between described remote medical consultation with specialists subsystem 60 and medical imaging devices, all realize connection by network. ByThis, can make to carry out the operative doctor energy of operation and the imaging doctor of responsible imaging in imaging processKeep communication exchange and Coordinated Economy, and then the medical imaging that can make as soon as possible to obtain can meet and examinesThe demand of disconnected and surgical navigational, realizes remote operation planning and navigation.
Be understandable that, described medical image post processing subsystem 10 and medical imaging devices itBetween, between described multi-mode image fusant system 20 and described medical image post processing subsystem 10,Between described medical image management subsystem 30 and described multi-mode image fusant system 20, described inBetween surgery planning subsystem 40 and described medical image management subsystem 30, described surgical navigationalBetween subsystem 50 and described medical image management subsystem 30, described surgical navigational subsystem 50And between described surgery planning subsystem 40, described remote medical consultation with specialists subsystem 60 and described medical science figureBetween picture post processing subsystem 10 and between described remote medical consultation with specialists subsystem 60 and medical imaging devicesAlso can adopt other data transfer modes, as bluetooth, WIFI etc.
Compared to prior art, remote operation planning provided by the invention comprises with navigation system 100Medical image post processing subsystem 10, medical image management subsystem 20, multi-mode image fusantSystem 30, surgery planning subsystem 40, surgical navigational subsystem 50 and Tele-consultation System 60,Possess the ability of multi-modality medical image of processing, can multiple modalities image be merged, be strengthened andThree-dimensional visualization processing. Meanwhile, described remote operation planning utilizes preoperative hand with navigation system 100The function such as surgical navigational in art simulation, remote operation planning and art, can improve operation effectivelyEfficiency and success rate. In addition, utilize described remote medical consultation with specialists subsystem 60, can effectively realize differenceData sharing between section office, is convenient to carry out long-range communication exchange and system between the doctor of different departmentRaise cooperation, and then effectively solve scan image and do not meet diagnosis and need and need ResurveyProblem.
The above, be only embodiments of the invention, not the present invention done any formalRestriction, although the present invention disclose as above with embodiment, but not in order to limit the present invention,Any those skilled in the art, are not departing within the scope of technical solution of the present invention, when can profitMake a little change or be modified to the equivalent embodiment of equivalent variations with the technology contents of above-mentioned announcement,In every case be not depart from technical solution of the present invention content, foundation technical spirit of the present invention is to above enforcementExample any simple modification, equivalent variations and the modification done, all still belong to technical solution of the present inventionIn scope.
Claims (9)
1. remote operation planning and a navigation system, is characterized in that, described remote operation planningComprise with navigation system:
Medical image post processing subsystem, it is connected with multiple medical imaging devices, for to medical scienceImage carries out post processing;
Multi-mode image fusant system, itself and described medical image post processing subsystem pass through network implementationNow connect, merge for the multi-mode image to patient, and carry out three-dimensional reconstruction and visual placeReason, it is one a pair of that described multi-mode image fusant system is selected respectively in the medical image of different modalitiesThe point of anatomic landmark clearly of answering, and adopt point set to carry out registration to the registration Algorithm of point set, described inThe medical image of the different modalities after registration is positioned over same coordinate by multi-mode image fusant systemIn system, and by regulating respectively the mode of its transparency to reach the effect of image co-registration and figure image intensifyingReally;
Medical image management subsystem, it is connected with described multi-mode image fusant system, for rightPatient's medical image stores and manages, and sets up patient's Profile;
Surgery planning subsystem, it is connected with described medical image management subsystem, for art is providedFront surgical simulation and planning;
Surgical navigational subsystem, itself and described medical image management subsystem and described surgery planningSystem connects respectively, for operation is navigated; And
Remote medical consultation with specialists subsystem, it is arranged at described medical image post processing subsystem and medical imagingBetween equipment, carry out remote collaboration and the consultation of doctors for operative doctor and imaging doctor.
2. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteStating medical image post processing subsystem carries out post processing to medical image and comprises described medical imageCarry out that image is cut apart, figure image intensifying, three-dimensional reconstruction and visual.
3. remote operation planning as claimed in claim 2 and navigation system, is characterized in that, rightDescribed medical image carries out image to be cut apart and comprises automatic, semi-automatic or manual cutting apart.
4. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteState the medical science that multi-mode image fusant system adopts the multiple mode of semi-automatic registration mode to patientImage merges.
5. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteStating medical image management subsystem stores with management and comprises doctor is set patient's medical imageThe authority of the image range in raw access patient files and access archives.
6. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteStating surgery planning subsystem carries out in the patient image data through three-dimensional visualization for operative doctorSham operated overall process, and plan the motion path of operating theater instruments.
7. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteState surgical navigational subsystem and be integrated with the position indicator that patient image data is demarcated, described locationInstrument is followed the tracks of position and the directional information of operating theater instruments, and is placed in the same coordinate system by screen displayVirtual operation instrument.
8. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteState surgical navigational subsystem on-the-spot pattern and two kinds of surgical navigational patterns of remote mode are provided; Described existingField mode carries out surgical navigational operation via doctor scene by hand eye coordination; Described remote mode byDoctor handles remote control arm and controls mechanical arm clamping operating theater instruments and complete operation.
9. remote operation planning as claimed in claim 1 and navigation system, is characterized in that instituteState between medical image post processing subsystem and medical imaging devices, described multi-mode image merge subsystemUnify between described medical image post processing subsystem, described medical image management subsystem and described inBetween multi-mode image fusant system, described surgery planning subsystem and described medical image managementBetween system, between described surgical navigational subsystem and described medical image management subsystem, described inBetween surgical navigational subsystem and described surgery planning subsystem, described remote medical consultation with specialists subsystem and instituteState between medical image post processing subsystem and described remote medical consultation with specialists subsystem and medical imaging devicesBetween all realize connection by network.
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