TW499308B

TW499308B - A new method for registration of computerized brain atlas and CT image

Info

Publication number: TW499308B
Application number: TW89111371A
Authority: TW
Inventors: Jian-De Li; Shr-Tzeng Li; Yung-Cheng Jang; Jung-Shian Huang
Original assignee: Nat Science Council
Priority date: 2000-06-08
Filing date: 2000-06-08
Publication date: 2002-08-21

Abstract

In the clinical application of surgery, mini-invasive procedures have attracted the attention of surgeons since it can extract targeted tissue while minimizing damage to adjacent structures. The difficulty of this three-dimensional (3-D) localization is increased by the fact that it often requires isolating a structure deeply buried within the body. While methods exist for imaging and displaying the 3-D structure of the body, the surgeon must still relate what he sees on the 3-D display with the patient's actual anatomy. Current methods often involve a surgeon simply utilizing traditional two dimensional (2-D) slices of MRI or CT imagery and mentally transforming them to the actual patient. Thus, there is a clear need for registered visualization techniques, where 3-D reconstruction of internal anatomy is overlaid with the surgeon's view of the patient, so that he can directly visualize important structures, and act accordingly. In this patent, we propose a new scheme for 3-D registration and fusion of the computerized stereotactic atlas and computered tomography (CT) slices. Based on 3-D geometrical analysis, the localization and correction algorithms are used to derive the accurate position of the desired target in the surgery. In summary, his scheme has the following functions. (1) 3D localization of brain CT images. (2) Registration of brain atlas and brain CT images. This scheme can provide the accurate location of targeted tissue for driving the probe to the optimal treatment position. The success of this scheme is helpful in automating the surgery system and improving the quality and efficiency of the surgery.

Description

499308 五、發明說明（1) 產業上之利用領域本發明係揭示—種腦部電腦圖譜與CT影像對位方法。在腦神經外科臨床應用上’將CT影像配合腦部電腦圖譜能定量腦部組織的: 面結構，方便醫生對於不可見病灶的定位。景背醫學上，對帕金森氏症病人的治療，有下列方法 1、内科樂物治療：是最主要的治射法，醫師通常由單—低劑量開 f ’再ϋ增加到適當的維持濟量，要記得按時服藥，藥物的劑 3：、種類及服藥後的反應要經常紀錄並和醫生討論，不可隨咅更改藥量或擅自。凡患有心臟血管 '呼吸系統、内分泌騎臟疾病的病人服樂需特別小心。另外，維他命β6會降低藥效，故宜避免服用過量。 2、外科手術治療··視丘燒灼術（她酬—或蒼白球燒灼術 (palhdotomy) ’ {指將位在視丘腹側核或蒼自球的抑制及興卷運駐魏觀斷，㈣善絲，讀放手術就^要朗^ 时觀速，㈣視丘财及德也_明 == 減少藥物服用及併發症，立體定位手術遂成: ，最彻咖細19Γ $ 7頁 499308 五、發明說明（2) ^Horsley及aarfce兩位醫師的手術實驗，當時由於技術成熟度不夠，沒有引起太大的注意，但對腦内深部的手術實在已甚具價值。之後世界，進各_繼發展這項技術，在5G肖6G年代，它甚至成為治療帕金森氏症的主要方法。到了 197〇〜觸年，因藥物的使用，大部分的病患改採藥物治療，立體定位手術的應用才相對減少。膽年後立體粒手術的制又獲得革命性的進展，主要是由於電腦斷層_，技術已和它能相互配合，經由電腦斷層的顯影找出腦内又小 :A的（target)’ -般傳統手術非常不易達到，立體定位手術的精確深入，可以彌補它的不足。立體定位手術的原理，基本上是以特殊儀器固定於頭上，再利用χ 光顯影技術例如電麟麟影’來齡儀㈣刻度和助標的，帕金就在視丘。經過判讀x紅刻度數值後，藉由電腦軟 2精確轉重組，決定視丘在三度空間立體的座標方位。已知座桿後，再於儀器上機探針的位置，來到達舰，進行手術。以往=所述，立败財_錢，繫料術標的植的準確性。狀戶=設騎提供之定位軟體，不僅價格昂責（_㈣萬美金），八耠供的腦部電腦圖譜仍然只是二維資、、’ 神經外科醫師的經驗，才能順利完成手術。^依舊需要靠 4咖的基底財找到平衡的基底核並=細《丘大小約縣置崎關影像 ~ --— w 予〜像(如 CT5 MR，pet)，第8頁 499308499308 V. Description of the invention (1) Industrial application field The present invention discloses a method for aligning computer atlas of brain and CT image. In the clinical application of neurosurgery, the CT image combined with the computer atlas of the brain can quantify the surface structure of the brain tissue, which is convenient for doctors to locate invisible lesions. In Jingbei medicine, there are the following methods for the treatment of patients with Parkinson's disease: 1. Internal medicine and music therapy: the most important treatment method, physicians usually increase from a single-low-dose pretreatment f 'and then increase to appropriate maintenance. Do not forget to take the medicine on time. The type and type of the medicine and the reaction after taking the medicine must be recorded and discussed with your doctor. Do not change the medicine or change it without permission. Patients with cardiovascular, respiratory, and endocrine diseases must take special care. In addition, vitamin β6 will reduce the effectiveness of the drug, so avoid overdose. 2. Surgical treatment ················································ refers to the inhibition of the ventral nucleus of the visual mound or the ball of the Cang from the view of Wei Quan, Shansi, read and put the operation ^ to be languing ^ speed watch, despise Qiu Cai and Deya _ Ming = = reduce drug consumption and complications, stereotactic surgery was completed:, the most thorough coffee 19Γ $ 7 pages 499308 five 、 Explanation of invention (2) ^ Horsley and aarfce's surgical experiments, due to insufficient technical maturity at that time, did not attract much attention, but the surgery in the deep part of the brain was already very valuable. Following the development of this technology, in the 5G and 6G years, it even became the main method for treating Parkinson's disease. By the 1970s ~ years, due to the use of drugs, most patients switched to drug treatment and stereotactic surgery. The application has been relatively reduced. After the bile years, the production of three-dimensional granule surgery has made revolutionary progress, mainly due to computer tomography. Technology has been able to cooperate with it. Through computer tomography, it is found that the brain is small: A's ( target) '-like traditional surgery Achieved, the accuracy and depth of stereotactic surgery can make up for its shortcomings. The principle of stereotactic surgery is basically fixed on the head with special instruments, and then using x-ray development technology such as electric Linlin Ying's aging instrument calibration and assistance The target is parked in the visual mound. After interpreting the value of the red scale, the computer software 2 is used to accurately reorganize and determine the three-dimensional spatial coordinate position of the visual mound. After the seat post is known, it can be explored on the instrument by machine. The position of the needle will arrive at the ship and undergo surgery. In the past, the accuracy of the target plant was as described above. The accusation = the positioning software provided by Qiqi, which is not only costly (_ $ 10,000) The computer map of the brain provided by Hachiman is still only a two-dimensional resource and the experience of a neurosurgeon to successfully complete the operation. ^ It is still necessary to find a balanced basal nucleus by the basal wealth of 4 coffee and = Image of Chizaki Pass ~ --- w I ~ image (such as CT5 MR, pet), page 8 499308

^^^®#m(sUrface feature)^^t^^(def〇nnaWe m〇del) ? 舄轉換矩陣(Transfer matrix)，谁杆斜办缺 ^ ,^ )進仃對位。然而其誤差卻都在數個咖以於需高精確度的立體定位手術而言，並不翻，因手術標的物 =圍料過數個議。這也就是為什麼立败位手術仍然採財框式頭。固疋架的顧。換言之，無框式定㈣統將定位標誠於頭皮上，而碩皮為軟組織…推即動，稍不留意，誤錢應運而生，正所謂『差之宅厘，失之千里』。故唯有财框式定㈣釘在财上，方能得到準確的‘的物座標。其次’舰上關辦彡像對財法，均假設電腦斷 ^掃猫的基準軸固定（即將立體頭部固定架置於理想之位置），或偏移罝小到可忽略。_此理練況在臨床應社，”不能狀。換言之，一個完整定位系統應具備有此項修正功能。發明目標^^^ ® # m (sUrface feature) ^^ t ^^ (def〇nnaWe m〇del)? 舄 Transfer matrix, who can't do it ^, ^) to align. However, the errors are in several coffees. As for the high-precision stereotactic surgery, it does not turn over, because the object of the surgery = the surrounding material has been discussed for several times. That's why the frame and head surgery is still adopted. Gu Gujia. In other words, the frameless system will place the positioning on the scalp, and the skin is soft tissue ... Push it immediately, pay no attention, and the wrong money comes into being. It is the so-called "poor house, lost a thousand miles." Therefore, only when the money frame is nailed to the money can we get the exact ‘object coordinates’. Secondly, on the ship ’s customs office, for the financial law, it is assumed that the computer breaks the reference axis of the cat (that is, the three-dimensional head holder is placed in the ideal position), or the offset is small enough to be ignored. _This practice is in the clinical application society, "cannot be. In other words, a complete positioning system should have this correction function. Objective of the invention

本發明之首要目的係揭示一種電腦斷層掃瞄影像與電腦圖譜對位的新方法’糊取像裝置所得之—組CT醫學影像，取出影像平面上九個定位點，推導整組CT醫學影像在框架座標上之三維座標；再根據不同病人的CT影像尺度量’與電腦斷層掃瞒之基準軸在㈣座標系統的位置，利用座標轉換對電腦圖譜進行平移'伸展（或收縮）與旋轉之立體對位。不僅可縮短醫師搜尋病灶所需時間，更可提高手術的安全性。The primary object of the present invention is to reveal a new method of computer tomography scans and computer atlas alignment—the group of CT medical images obtained by the imaging device, extracting nine positioning points on the image plane, and deriving the entire group of CT medical images in The three-dimensional coordinates on the frame coordinates; then according to the CT image scales of different patients and the position of the reference axis of computer tomography in the ㈣ coordinate system, the computer map is translated by using coordinate transformation to extend (or shrink) and rotate the three-dimensional Alignment. Not only can it shorten the time it takes for a physician to search for a lesion, but it can also improve the safety of surgery.

499308499308

發明之詳細說明本發明_種腦部電腦圖譜與ct影像對位方法」，包括： Γ:處理’用於產生腦部三維CT影像資料，及腦部電腦圖譜; —恥p CT衫像定位，用於轉換CT影像座標至框架座標系統； - Si位參考基準軸侧，祕提供GT影像與圖譜對位；四、圖譜與CT影像對位，根據口影像三維座標轴在空間位置，將腦部圖譜于於轉換至框架座標系統。圖-所示為本發明腦部電賴譜與CT#像對位方法的方塊圖詳述如下：一、前置處理本方法之前置處理包含腦部電腦圖譜資料產生，兑乃利用肩 3_Ρ1*3_Ρ1錢高職度之掃糾，將三個軸向的二賴部圖解料轉成512*512像素的圖形樓。而腦部三維CT影像資料之產生，則步 -序列橫切面CT影像讀性灰階嶋法重建其三維體積資料。此前遷處理所用線性灰階内插法，方程式如下：Detailed description of the invention The present invention _ a method for aligning computer brain atlas and CT image ", including: Γ: processing 'for generating three-dimensional CT image data of the brain, and computer atlas of brain; It is used to convert the CT image coordinates to the frame coordinate system;-The Si position refers to the reference axis side, and the GT provides the alignment of the GT image and the map; 4. The alignment of the map and the CT image, according to the 3D coordinate axis of the mouth image in the spatial position, the brain The map is converted to a frame coordinate system. Figure-shows the block diagram of the brain electrical spectrum and CT # image alignment method of the present invention in detail as follows: 1. Pre-processing The pre-processing of this method includes the generation of computer atlas data of the brain. * 3_P1 Qian high-level job sweeping and correction, the three axial Erlai Department graphic materials into a 512 * 512 pixel graphics building. For the generation of 3D CT image data of the brain, the step-sequential cross-section CT image read gray scale chirp method is used to reconstruct its 3D volume data. The linear gray-scale interpolation method used in the previous process is as follows:

第m層㈣位置的灰階值乂㈣㈣為第/7」層影像之相對位置灰其中M為内插的層數，/j3c,勿為内插為第η層影像之相對位置灰階值，/ W-i 階值。二、腦部CT影像定位The gray level value of the ㈣ position of the m layer 乂㈣㈣ is the relative position of the image of the / 7 ″ layer gray where M is the number of interpolated layers, / j3c, do not interpolate to the relative position of the η layer image , / Wi order value. Brain CT image localization

499308 五、發明說明（5) 立體定值步耻要絲描述頭細目標結構對顧立體框架座標、呈序。而一個目標點可以是腦部組織正常解剖結構，也可以是在腫瘤立體定位手術巾_細胞_ 一點。在立體^位手射有三個要求條件。—、目標财財放射線照相中直接或間接的被看到；二、立體定位麵上的參考點座標必須是已知；三、必須有—影像、放射線照相或生理標點的位置，並證實立體定位手術中，指引器具的位置=== 千術錢中，立體雜座標的計算，包含兩個基本步驟。首先，為了精確叶异定位後之三維座標，病人的頭必_確的固定在—個立體定位系統中的頭環上，再將立體定位框架接合到頭環。圖二所示，即為在電腦斷層掃r钟賴的CRW頭環與BRW立奴健架；然後， 1用BRWLRiL體疋位框架上的二则型結構，進行電腦斷層掃猫以便在CT〜像中產生所需之九個參考點，如圖三所示。由於三個點即能決定-個平面，所以糊CT影像上這九個參考點，我們就能求出 CT影像上任-點的三維座標。料，這九個參考點所在區域可輕易由影像残運算(MO咖oglcal ope嫩），以5x5之圓形結構元素得出’接者再算出各區域的中心點即為參考點所在位置，如圖三所示，以表各參考點位置。個N型結構裝置中，—個妓桿和_個斜桿可被視為構成兩邊，而一張以影像將會橫切右邊三甘一 Μ499308 V. Description of the invention (5) The three-dimensional fixed-value step shame description describes the structure of the thin target and the coordinates of the three-dimensional frame. And a target point can be the normal anatomical structure of the brain tissue, or it can be a little bit of surgical towel _ cells _ in the tumor. There are three requirements for three-dimensional hand shooting. — The target property is seen directly or indirectly in radiography; 2. The coordinates of the reference point on the stereotactic surface must be known; 3. There must be—the location of the image, radiography, or physiological punctuation, and the stereolocation In the operation, the position of the guiding instrument === The calculation of three-dimensional miscellaneous coordinates in Qianshu Qian includes two basic steps. First of all, in order to accurately determine the three-dimensional coordinates after the heterolocalization, the patient's head must be fixed on the head ring in a stereo positioning system, and then the stereo positioning frame is joined to the head ring. As shown in Figure 2, the CRW headband and BRW stand are used in computed tomography scans; then, a two-dimensional structure on the BRWLRiL body position frame is used to perform a computed tomography scan in CT ~ The required nine reference points are generated in the image, as shown in Figure 3. Since three points can determine a plane, so by pasting these nine reference points on the CT image, we can find the three-dimensional coordinates of any-point on the CT image. It is expected that the area where these nine reference points are located can be easily calculated by image residual calculation (MO coffee oglcal ope tender), using a 5x5 circular structure element, and then calculate the center point of each area as the reference point location, such as Figure 3 shows the positions of the reference points. In the N-type structure device, one prostitute rod and one oblique rod can be regarded as constituting two sides, and one image will cross the right three Ganyi M

第11頁 499308 五、發明說明（6) ，如圖四所示。而對於由垂直端（長度和斜邊所產生參考點間長度疋此二角形的短邊長度α，所以，位在立體框架基環上的高度办即可由(1)式求出， tan^ (1) 口此。亥N型疋位系統，可提供空間中共平面的三個點，以定義該平面的方向和位置。此-平面可能是平行於立體定位系統的巧平面，也可能與Χ-y平面產生前後傾斜4、側面傾斜績或前後側面各傾 '斗α度及度（如圖五所示）。考慮如圖三所示具有九個參考點的Q =像，設每-座標點的二維螢幕座標*4)，而參考點（A到υ座私為<X4’J^)，(X…)，...，(Wi)。則由螢幕座標得出相對應框架座標之座標定位程序，可由下列四個步驟求出。Page 11 499308 5. Description of the invention (6), as shown in Figure 4. For the length of the reference point produced by the vertical end (length and hypotenuse), the length of the short side of the triangle α, so the height on the base ring of the three-dimensional frame can be obtained by formula (1), tan ^ (1 ) This. The N-type niche system can provide three points on a plane in space to define the direction and position of the plane. This -plane may be a coincident plane parallel to the stereo positioning system, or it may be the same as XY The plane produces forward and backward tilt4, side tilt, or front and back side tilt, as shown in Figure 5. Consider Q = image with nine reference points as shown in Figure 3. 2D screen coordinates * 4), and reference points (<X4'J ^), (X ...), ..., (Wi). The coordinate positioning procedure corresponding to the frame coordinates is obtained from the screen coordinates, which can be obtained by the following four steps.

Step 1·由參考點A, C，D，F，G，I決定立體定位座標系統零點 (-^0 5 y〇 5 2slice ) x0 +½ +xG 十；^ 6 (2)Step 1 · Determine the zero point of the stereo positioning coordinate system by reference points A, C, D, F, G, and I (-^ 0 5 y〇 5 2slice) x0 + ½ + xG ten; ^ 6 (2)

6 • slice6 • slice

£i±£2+^3 其中、是每個N型裝置在基環上的高度，£ i ± £ 2 + ^ 3 where is the height of each N-type device on the base ring,

499308 五、發明說明（7) ^(xA-xB)2+(yA-yB)2499308 V. Description of the invention (7) ^ (xA-xB) 2+ (yA-yB) 2

tanS (3)tanS (3)

d(χE -xf)2 + (ye -yf)2 tmS z3 ^j(xH -xG)2 +{yH -yGf tan 5d (χE -xf) 2 + (ye -yf) 2 tmS z3 ^ j (xH -xG) 2 + (yH -yGf tan 5

Step 2.決定偏差角a，々，/ a = tan i[(Zl -Z3〉 XA +xc XG-\-Xj , 2 2 /? = tan_1[(z2 1 •少0 ⑷ 2 γ = tan' -y〇~yF X £) 一 X pStep 2. Determine the deviation angle a, 々, / a = tan i [(Zl -Z3> XA + xc XG-\-Xj, 2 2 /? = Tan_1 [(z2 1 • Less 0 ⑷ 2 γ = tan '- y〇 ~ yF X £)-X p

Step3.決定三維空間座標(x3D，j；3D，z3D) =(xs - x0)cos r + (ys - ^〇)sin γyrei = (ys - y〇)G〇s r -(^s- x〇)sin r x X3D = frel a (5) y^D = y rel C0S β ^3D = + ^r,/ sin ^ + xrelsun aStep3. Determine the three-dimensional space coordinates (x3D, j; 3D, z3D) = (xs-x0) cos r + (ys-^ 〇) sin γyrei = (ys-y〇) G〇sr-(^ s- x〇) sin rx X3D = frel a (5) y ^ D = y rel C0S β ^ 3D = + ^ r, / sin ^ + xrelsun a

Step4.決定在圓弧象限（Arcquadrant)裝置的座標Step4. Determine the coordinates of the device in the Arcquadrant

lAO =X3D + βχ ⑹ y AQ = y^D + βγ 2 AO = Z3D + βζ 其中瓦，八，A為立體定位圓弧象限對定位系統的偏移因子（B ias factors ) °lAO = X3D + βχ ⑹ y AQ = y ^ D + βγ 2 AO = Z3D + βζ where watts, eight, and A are the offset factors of the stereo positioning circular quadrant to the positioning system (B ias factors) °

第13頁 499308 五、發明說明（8) 三、對位參考基準軸偵測在轉換之月丨）’對於在CT影像上的dc (Anterior commissure)和 PC (Postenor _miSSUre)兩點之初始位置，可藉由影像處理技術之區域成長法(regiongrowing)得到，再由專業醫師確認。將兩點連線（即 AC-PC)得出參考基準軸方程式。四、圖譜與CT影像對位在電腦圖譜與CT影像的靠工作上，有兩_標纽被使用。 -者是立蚊位系統上的框架座標系統，其定義了 CT影像上每一點位4(w);其次，對於一個目標座標系統定義了由S㈣咖nd和 Wahren所建構的腦部電腦圖譜上的每一點座標位私，，以），其中X 軸為如切面、r軸為w切面、z軸為祕切面。對位描述了一個理〜的h座‘系統上的一個點0，乂小從電腦圖譜中被選取且透過一個座標轉換程序轉換至框架座標系統rUu)。因此， XC(Wl，Z,)#° PC(〜从）的三維座標可視為已知，則P心力與點表示己知未偏移的二個座標點(即况^ 愛叙偏移後的座標點，D表示尤與p ” ? ( 一 _〜 L之距離，其關係如圖六所示。則Pj與凡4可以推得：Page 13 499308 V. Description of the invention (8) III. Alignment reference datum axis detection in the conversion month 丨) 'For the initial positions of dc (Anterior commissure) and PC (Postenor _miSSUre) on the CT image, It can be obtained by regiongrowing of image processing technology, and then confirmed by a professional physician. Connect the two points (ie AC-PC) to get the reference datum equation. 4. Atlas alignment with CT images In the work of computer atlases and CT images, two _ standard buttons are used. -This is the frame coordinate system on the standing mosquito bit system, which defines 4 (w) for each point on the CT image; second, for a target coordinate system, the computer map of the brain constructed by S㈣ka nd and Wahren The coordinates of each point are private, and), where the X-axis is such as the cut plane, the r-axis is the w-cut plane, and the z-axis is the secret cut plane. The alignment describes a point h on the system ‘a point 0 on the system. Xiao Xiao was selected from the computer map and converted to the frame coordinate system rUu through a coordinate conversion program. Therefore, the three-dimensional coordinates of XC (Wl, Z,) # ° PC (~ 从) can be regarded as known, then the P force and point represent two coordinate points that are known to have not shifted (that is, the situation Coordinate points, D represents especially the distance from p ”? (_ ~ L, the relationship is shown in Figure 6. Then Pj and Fan 4 can be deduced:

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〜[(尤厂、)2 +(少1 一少2)2 +(Z1 -Z2)2]1/2 ΡΑ^[(χλ-x2Uyx-y2^zi ~z2)] PA =[D,0,0] (7) PO =R4xPA =[NvN2，N3] 其中尸點與其垂直點^即為5與^?之外積，亦即其單位法向量 [Hm]。藉由队，#2，％]以及A與/之夾角Θ，我們將電腦圖譜的座標系統Γ·(χ’，ηζ’）到CT影像上的框架座標系統Γ(Ζ，Κ，Ζ)的轉換式分成四個步驟說明。~ [(You plant,) 2 + (less 1 to less 2) 2 + (Z1 -Z2) 2] 1/2 ΡΑ ^ [(χλ-x2Uyx-y2 ^ zi ~ z2)] PA = [D, 0, 0] (7) PO = R4xPA = [NvN2, N3] where the dead point and its vertical point ^ is the outer product of 5 and ^ ?, which is its unit normal vector [Hm]. With the team, # 2,%] and the angle Θ between A and /, we have transformed the coordinate system Γ · (χ ', ηζ') of the computer map to the frame coordinate system Γ (Z, K, Z) on the CT image. The conversion formula is divided into four steps.

Stepl ·座標系統r(X，r，Z)上的任一點(x.，y,z)平移到原點 TRl- 0 0 - Xc X 0 1 0 -y〇 y 0 0 1 一& z 0 0 0 1 ⑻Stepl · Any point (x., Y, z) on the coordinate system r (X, r, Z) is translated to the origin TRl- 0 0-Xc X 0 1 0 -y〇y 0 0 1 a & z 0 0 0 1 ⑻

Step2 :對PO·的旋轉量Step2: Rotation amount of PO

499308 五、發明說明（ίο) 其中〜，· = 1··9可由及Θ得出。499308 V. Description of the invention (ίο) where ~, · = 1 ·· 9 can be obtained from Θ.

Step3 :增益量（Scale)Step3: Gain (Scale)

Sx 0 0 0 s = 0 Sy 0 0 0 0 Sz 0 0 0 0 1 (1〇) 其中（UV，A)分別為不同病人的为^w切片方向的增益量。Sx 0 0 0 s = 0 Sy 0 0 0 0 Sz 0 0 0 0 1 (1〇) where (UV, A) are the gains in different slice directions for different patients.

Step4 :將座標系統轉換到八又义乃 r R2 0 0 1 0 y〇 0 1 0 0 1 (11) 正式⑻至式(11)我們即可得從座標系統^.(尤Ό·)到取上z) 的轉換式，Step4: Convert the coordinate system to Yayaina R R 2 0 0 1 0 y〇0 1 0 0 1 (11) Formally ⑻ to (11) we can get from the coordinate system ^. (You Ό) to get Z),

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499308499308

五、發明說明（π) 換言之，經由式(12)，即可將電腦圖譜資料對應到框架座標系統，達到對位的目的。圖七所示為應財發明關發之定位纽之圖形化人機介面。V. Explanation of the invention (π) In other words, through the formula (12), the computer map data can be mapped to the frame coordinate system to achieve the purpose of alignment. Figure 7 shows the graphical human-machine interface of the positioning button of the financial invention.

表一所列即為本發明所提方法與傳統方式及臨床所得結果之比較 (根據W序列之12.0mm切面）。其中，傳統方法！乃假設基準轴偏移角度為零，接著調整圖譜對應軸尺度量，再直接與CT影像疊合。傳統方法2則假設基準軸偏移角度為0，然後應用二維旋轉公式 X = xcos0 +少.sin0 y = x*cos^-^*sin^ 元成座標修正，再調整圖譜對應軸尺度量，最後直接與ct影像疊合。至於臨床上標的物的確認，則可經由標的物之電生理特性得到驗證。由表我們發現所提方法平均差異約在〇〇23mm，優於傳統方式，也證實本法之有效性。本發明首創之腦部圖譜與CT影像對位方法，乃帕金森氐症病人之外科治療手術過程中，重要的輔助工具。更是立體定位手術醫療軟體廠商亟欲開發之技術，故值得申請專利保護。Table 1 shows the comparison between the method proposed in the present invention and the traditional method and clinical results (based on the 12.0mm section of the W series). Among them, the traditional method! It is assumed that the offset angle of the reference axis is zero, and then the corresponding axis scale of the map is adjusted, and then it is directly superimposed on the CT image. The traditional method 2 assumes that the offset angle of the reference axis is 0, and then applies the two-dimensional rotation formula X = xcos0 + less. Sin0 y = x * cos ^-^ * sin ^ element correction, and then adjust the corresponding axis scale of the map, Finally, it is directly superimposed with the ct image. As for the confirmation of the clinically superior target, the electrophysiological characteristics of the target can be verified. From the table, we find that the average difference of the proposed method is about 0.02 mm, which is superior to the traditional method and also confirms the effectiveness of this method. The brain mapping and CT image alignment method pioneered by the present invention is an important auxiliary tool in the surgical treatment of Parkinson's disease patients. It is a technology that manufacturers of stereotactic surgery medical software are eager to develop, so it is worth applying for patent protection.

499308499308

不脫離本發明之精神和範圍内，當可作為些許之更動與泪之保護範圍當視後附之申請專利範圍所界定為準。綜上所遠’本發明具備原創性、新穎性及進步性。雖然本發明以一些較佳實施例揭露如上，然其並非用以限定本發明，任何_此技術者，在尋飾，因此本發明表一 si 12.0 mm 差異量 (mm) Lat AP Vert 臨床對位結果 9.75 -0.86 -35,58 ~ 傳統方法1 9.84 -0.76 -35.29 Ϊ異量（mm) 0.09 0.1 0.29 ~~〇ΤΪ6' 傳統方法2 9.73 -0.93 -35.29 ----—J 差異量（mm) 0.02 0.07 0.29 本法對位結果 9.75 -0.92 -35.59 差異量（mm) 0.0 0.06 0.01 圖式簡單^ --- ~~—- 表列之說明：表一：本發明所提方法與傳統方式及臨床所得結果之比較圖式說明：圖一腦部電腦圖譜與CT影像對位方法的方塊圖圖二⑻CRW頭環（b) BRW-LR立體定位框架圖三藉由立體定位框架在CT影像上將產生九個參考點圖四CT影像在N型結構裝置之橫切圖 … 圖五立體定位框架的傾斜角（α，β，丫）圖六⑻AC與PC在腦部解剖圖譜中之位置圖六（b)電腦斷層掃瞒基準轴角度偏移示意圖圖七圖形化人機介面Without departing from the spirit and scope of the present invention, the scope of protection that can be regarded as a slight change and tears shall be defined by the scope of the attached patent application. To sum up, the present invention is original, novel, and progressive. Although the present invention is disclosed as above with some preferred embodiments, it is not intended to limit the present invention. Anyone skilled in this field is looking for a decoration. Therefore, the present invention is shown in Table 1. Si 12.0 mm Difference (mm) Lat AP Vert Clinical alignment Results 9.75 -0.86 -35,58 ~ traditional method 1 9.84 -0.76 -35.29 difference amount (mm) 0.09 0.1 0.29 ~~ 〇ΤΪ6 'traditional method 2 9.73 -0.93 -35.29 ----- J difference (mm) 0.02 0.07 0.29 Alignment result of this method 9.75 -0.92 -35.59 Difference (mm) 0.0 0.06 0.01 Simple diagram ^ --- ~~ --- Description of the table: Table 1: The method and traditional method and clinical Schematic illustration of the results obtained: Figure 1. Block diagram of the computer brain atlas and CT image alignment method. 2. CRW headband. (B) BRW-LR stereotactic frame. 3. The CT image will be generated by the stereo positioning frame. Nine reference points Figure 4 Cross-sectional view of CT image in N-type device ... Figure 5 Tilt angle (α, β, γ) of the stereotactic frame Figure 6: Position of AC and PC in the brain anatomy map Figure 6 (b Schematic diagram of angular deviation of the reference axis for computer tomography interface

Claims

部電譜與CT影像對位方法，包括：及腦部電腦圖 '前置處理，驗產生腦部三維CT影像資料，譜； :CT影像雜，用於轉換CT影像座標至框架座標系統；位參考基S軸伽彳，肖於提供GT影像與嶋對位； —圖譜與CT影像對位，根據CT影像三維座標軸在蝴立置，將腦部圖譜于於轉換至框架座標系統。 2.如申請專利範圍第丨項之腦部電腦圖譜與CT影像對位方法，其前置處理包含·· y' -腦部電顧譜資料產生，_具3_pi*3_pi或更高解析度之掃描器，將三個軸向的二維腦部圖譜資料轉成 512312像素的圖形檔。 3·如申凊專利範圍第1項之腦部電腦圖譜與CT影像對位方法，其前置處理所用線性灰階内插法，方程式如下： r f v Μ — //2 +1 γγι w X’y)= μ +1 w^^ + Μ+ΤΙη'λm = 其中Μ為内插的層數，4/χ,Μ為内插第所層仏^位置的灰階值，//々Μ為第η層影像之相對位置灰階值，，勿為第〜7 層影像之相對位置灰階值。 4·如申請專利範圍第2項之腦部電腦圖譜與CT影像對位方法，其腦部CT影像定位方法，乃根據3N型頭框架在CT影像上的九個參考點；設每一座標點的二維螢幕座標為(心凡），而參考Methods for aligning electrical spectrum and CT images, including: and pre-processing of computer brain maps to generate 3D CT image data of the brain, spectrum; CT image miscellaneous, used to convert CT image coordinates to frame coordinate system; bit With reference to the base S-axis gamma, Xiao Yu provided GT images and 嶋 alignment;-maps were aligned with CT images, and the three-dimensional coordinate axes of the CT images were erected to transform the brain atlas to the frame coordinate system. 2. If the brain computer atlas and CT image alignment method of item 丨 of the patent application range, the pre-processing includes ... y '-brain electrospectrum data generation, _ with 3_pi * 3_pi or higher resolution The scanner converts the three-dimensional two-dimensional brain atlas data into a graphic file of 512,312 pixels. 3. As for the method of aligning brain computer atlas and CT image in the first item of the patent application, the linear gray-scale interpolation method used for preprocessing is as follows: rfv Μ — // 2 +1 γγι w X'y ) = μ +1 w ^^ + Μ + ΤΙη'λm = where M is the number of interpolated layers, 4 / χ, M is the grayscale value of the position 仏 ^ at the interpolated layer, and // 々M is the η The gray scale value of the relative position of the layer image. Do not set it to the gray scale value of the relative position of the 7th layer image. 4. If the brain computer atlas and CT image alignment method of item 2 of the patent application, the brain CT image positioning method is based on the 9 reference points of the 3N head frame on the CT image; set each coordinate point 2D screen coordinates are (心凡), and the reference

第20頁申請專利範" 一一"一 —— 點（A到I)座標為(〜，^^，(〜，心)，，(巧⑺）；利用下列方程式，達成CT影像座標轉換為框架座標的目的··其中0心，為標的物之框架座標，（^，χ)為標的物螢幕座標， (h’h)’(〜，心)，···，(Χ/，α)為參考點（a到I)螢幕座標· 久，八，Α為立體定位圓弧象限對定位系統的偏移因子· XA0 = X3D ^ βχ y AO = y^D + βγ ZAQ=ZW+ β2 X3D = Xrel y^o = yreiC0S^ ^3D = + Vrei sin ^ + xrc/ sin a Vrei^^s - Joicosr-C^ -^〇)sinr a = tan r(zx — Z3 )y rXA+XC XG +XI 2 2 2 γ = tan~ [ 一 XF ^/(〜一〜)2+(叉4—^)2 tan 5 ▲χ £ - x f)2 + (y £ - y f)2 tmS yj(xH -xG)2 +(yH -y〇f tan^ 6 6 3 .如申請專利範圍第1項之腦部電腦圖譜與CT影像對位方法，其對位參考基準軸偵測，係由申請專利範圍第2項所得之一組頭邛CT景々像。先將原影像放大4倍，再利用影像處理技術之區域成長法(region growing)，由CT影像上自動偵測AC (anterior commissures)與 pc (p〇steri〇r c〇mmissures)兩點初始位置，再由專業醫師確認，將兩點連線（即A〇ePC)得出參考基準軸方程式。 6·如申請專利範圍第1項之腦部電腦圖譜與CT影像對位方法，其頭框架九個參考點偵測；首先，這九個參考點所在區域可輕易由影像型態運算（以5x5之圓形結構元素）得出，接著再算出各區域的中心點即為參考點所在位置，以”+，，表各參考點位置。 7·如申請專利範圍第1項之腦部電腦圖譜與邙影像對位方法，其圖譜與CT影像對位，係根據參考基準軸在框架座標系統的位置，利用下列公式達成·· 499308Patent application on page 20 " One by one " One-the coordinates of points (A to I) are (~, ^^, (~, heart), ((⑺)); use the following equations to achieve CT image coordinate conversion For the purpose of frame coordinates ... where 0 center is the frame coordinate of the target, (^, χ) is the screen coordinate of the target, (h'h) '(~, heart), ..., (χ /, α ) Are the screen coordinates of reference point (a to I). Jiu, eight, Α is the offset factor of the stereo positioning circular quadrant to the positioning system. XA0 = X3D ^ βχ y AO = y ^ D + βγ ZAQ = ZW + β2 X3D = Xrel y ^ o = yreiC0S ^ ^ 3D = + Vrei sin ^ + xrc / sin a Vrei ^^ s-Joicosr-C ^-^ 〇) sinr a = tan r (zx — Z3) y rXA + XC XG + XI 2 2 2 γ = tan ~ [one XF ^ / (~ one ~) 2+ (fork 4 — ^) 2 tan 5 ▲ χ £-xf) 2 + (y £-yf) 2 tmS yj (xH -xG) 2 + (yH -y〇f tan ^ 6 6 3. If the brain computer atlas and CT image alignment method of item 1 of the patent application range, the registration reference axis detection is obtained from the item 2 of the patent application range One group of CT scenes. First enlarge the original image by 4 times, and then use the image processing technology. Region growing method, automatic detection of the initial positions of AC (anterior commissures) and pc (p〇steri〇rc〇mmissures) on the CT image, and then confirmed by a professional physician, the two points are connected (ie A 〇ePC) to obtain the equation of the reference datum axis. 6. If the brain computer atlas and CT image alignment method of item 1 of the scope of patent application, the head frame detects nine reference points; first, the area where the nine reference points are located It can be easily obtained by image type calculation (using 5x5 circular structural elements), and then calculate the center point of each area as the position of the reference point, and use "+" to indicate the position of each reference point. 7 · If applying for a patent The method of aligning the brain computer atlas and radon image in the first item of the scope. The atlas is aligned with the CT image according to the position of the reference axis in the frame coordinate system using the following formula. 499308

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