TWI778922B - nasal measurement system - Google Patents

nasal measurement system Download PDF

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TWI778922B
TWI778922B TW111106192A TW111106192A TWI778922B TW I778922 B TWI778922 B TW I778922B TW 111106192 A TW111106192 A TW 111106192A TW 111106192 A TW111106192 A TW 111106192A TW I778922 B TWI778922 B TW I778922B
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image
module
target point
photoacoustic
nasal cavity
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TW202334982A (en
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巫建興
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國立勤益科技大學
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Abstract

本發明提供一種鼻腔量測系統，定位鼻腔內目標點之位置資訊，以及多維度之鼻腔資訊，用以導引診斷或進行手術該目標點，結合三維光聲診斷影像，完成鼻腔內部內視鏡影像之導航，提供有關所量測區域的鼻腔結構細節。The present invention provides a nasal cavity measurement system, which locates the position information of a target point in the nasal cavity, and multi-dimensional nasal cavity information, which is used to guide diagnosis or perform surgery on the target point, and combine with three-dimensional photoacoustic diagnostic images to complete nasal endoscopy Navigation of the image, providing details about the nasal structure in the area being measured.

Description

鼻腔量測系統nasal measurement system

本發明為一種量測系統技術領域，特別是於人體鼻腔內建立三維光聲診斷影像，並用以導航控制機械手臂之鼻腔量測系統。The invention belongs to the technical field of measurement systems, in particular to a nasal measurement system for establishing a three-dimensional photoacoustic diagnostic image in the nasal cavity of a human body and used for navigating and controlling a robotic arm.

於傳統醫學領域中所發生的「空鼻症(Empty Nose Syndrome, ENS)」，係屬於耳鼻喉科醫學的治療領域，而通常會發生空鼻症的主要原因之一，多係由「鼻甲切除手術(turbinate reduction surgery)」所引發，即當進行手術時，由於過度切除(exenteration)下鼻甲，造成了鼻腔異常且引發了可能的併發症。"Empty Nose Syndrome (ENS)" occurs in the field of traditional medicine, which belongs to the field of otolaryngology. "turbinate reduction surgery", that is, when surgery is performed, the nasal cavity is abnormal due to exenteration of the inferior turbinate and leads to possible complications.

於人類的鼻子(nose)構造中，具有三對鼻甲，包括了下鼻甲(inferior nasal concha)，中鼻甲(middle concha)，以及上鼻甲(superior concha)三個部位，而每一對鼻甲的尺寸大小和形狀都並不相同，都有著各自所保護的鼻腔(nasal cavity)空間，其中下鼻甲的尺寸最大，佔據了整個鼻腔下部，係從鼻子的前部一直延伸到接近鼻咽(nasopharynx)處，而中鼻甲位於下鼻甲之上，大約位在鼻腔中部；相對地，中鼻甲的尺寸較小，其含有嗅覺神經軸突(olfactory nerve axons)，以保護鼻腔上部；而上鼻甲的尺寸最小，亦是保護嗅覺區(olfactory region)的最後一道防線。In the structure of the human nose, there are three pairs of turbinates, including the inferior nasal concha, the middle concha, and the superior concha. The size of each pair of turbinates is They are different in size and shape, and they all have their own protected nasal cavity. The inferior turbinate is the largest, occupying the entire lower part of the nasal cavity and extending from the front of the nose to the nasopharynx. , while the middle turbinate is located above the inferior turbinate, approximately in the middle of the nasal cavity; relatively, the middle turbinate is smaller in size and contains olfactory nerve axons to protect the upper part of the nasal cavity; while the upper turbinate is the smallest in size, It is also the last line of defense to protect the olfactory region.

而傳統臨床醫學於進行「鼻甲切除手術」時，多會採用「鼻內視鏡(nasal endoscopy)」診斷方法，而該鼻內視鏡診斷方法，目前仍存在有許多缺點尚未解決，包含了以下的缺點：In traditional clinical medicine, the diagnosis method of “nasal endoscopy” is often used in “turbinate resection”. However, this method of nasal endoscopy still has many shortcomings that have not yet been resolved, including the following Shortcomings:

第一缺點: 目前臨床上無法提供手術前的精準鼻甲量化感測(quantitative sensing)系統，故而部分患者於手術後，會出現下鼻甲的過度切除結果，像是瘢痕組織(scar tissue)附著在鄰近的組織上的現象，而眼周會產生瘀血(ecchymosis)腫脹 (tumescence)現象，故於嚴重時，則會出現空鼻症，發生像是嚴重出血(hemorrhage)，眼周(periorbital)受傷，腦傷(traumatic brain injury)等受傷症狀，無法即時得知感測位置應變/應力等的相關資訊。而對於患者上頜竇(maxillaris sinus)中所存在的氣、液等亦須進行評估，才能得以有效判別且分類出是鼻病毒感染(rhinovirus infections)，亦或是細菌感染(bacterial infections)等兩種感染類型，目前臨床仍需要通過穿刺檢查(examination by centesis)，或是影像學檢查(radiology)，以作為評估物理診斷的可靠性提供標準。亦或是由進行X光(X ray)檢查，或是電腦斷層掃描(computed tomography scanning, CT)，得以用於評估鼻腔是否有液體的存在，但因前述兩種方法的高成本以及使用上較不便，成為阻礙該兩方法作為常規用診斷的主要原因。The first disadvantage: Currently, there is no accurate quantitative sensing system for the turbinate before surgery. Therefore, some patients may experience excessive resection of the inferior turbinate after surgery, such as scar tissue attached to the adjacent area. ecchymosis and swelling (tumescence) around the eyes, so in severe cases, empty nose syndrome will occur, such as severe hemorrhage (hemorrhage), periorbital injury, Injury symptoms such as brain injury (traumatic brain injury) cannot immediately obtain information about the strain/stress of the sensing location. The presence of air and fluid in the maxillaris sinus of the patient must also be evaluated in order to be effectively differentiated and classified as rhinovirus infections or bacterial infections. The type of infection still requires examination by centesis or radiology to provide a standard for evaluating the reliability of physical diagnosis. Alternatively, X-ray (X ray) examination or computed tomography scanning (CT) can be used to assess whether there is fluid in the nasal cavity, but due to the high cost of the aforementioned two methods and the relatively low cost of use. Inconvenience is the main reason for preventing these two methods from being routinely used for diagnosis.

第二缺點: 空鼻症的早期監測極為不易，傳統監測技術的以超音波診斷(ultrasound diagnosis)鼻甲或鼻竇(paranasal sinuses)，已廣泛應用以高振幅聲脈衝(high-amplitude sound pulse wave)通過上頜骨(maxilla)，而向該上頜骨的另一側的鼻竇腔後壁(posterior wall of paranasal sinuses cavity)進行傳輸，且以A掃描模式檢測粘液(mucus)等顱液(cerebrospinal fluid)時，由於正常鼻竇腔內的空氣會阻止超音波(ultrasound)傳播，故而前壁(anterior wall)只有一個回波(returning echo)。而當鼻竇被感染時，鼻竇會充滿傳導超聲波的液體，並且會產生來自後壁(posterior wall of tympanic cavity)的第二回波。近年的研究文獻曾探討該種方法所造成的顯著差異，係由於頭骨(skull)所造成的強烈超聲散射(ultrasound scattering)和衰減所致，導致無法完全準確判別其檢測準確性。The second disadvantage: the early detection of empty nose syndrome is extremely difficult. The traditional monitoring technology, which uses ultrasound to diagnose the turbinates or paranasal sinuses, has been widely used to pass high-amplitude sound pulse waves. When the maxilla is transmitted to the posterior wall of paranasal sinuses cavity on the other side of the maxilla, and cerebrospinal fluid such as mucus is detected in A-scan mode, Since the air in the normal sinus cavity prevents the propagation of ultrasound (ultrasound), there is only one returning echo in the anterior wall. And when the sinuses are infected, the sinuses fill with fluid that conducts ultrasound, and a second echo is generated from the posterior wall of the tympanic cavity. In recent years, the research literature has discussed the significant difference caused by this method, which is caused by the intense ultrasonic scattering and attenuation caused by the skull, which makes it impossible to completely accurately judge its detection accuracy.

第三缺點: 在早年傳統的超音波鼻甲檢測(ultrasonic concha detection)研究中，超聲換能器(ultrasonic transducer)以平行於上頜骨(maxilla)的方式進行放置，入射角約為零度，此時，聲速(acoustic velocity)的巨大差異會導致明顯的阻抗失配(impedance mismatch)，大部分超聲能量(ultrasonic energy)在介質之間的邊界處進行反射，而這種方法則相當降低了通過骨骼傳輸的超聲能量(ultrasonic energy)。The third disadvantage: In the traditional ultrasonic concha detection research in the early years, the ultrasonic transducer was placed parallel to the maxilla, and the incident angle was about zero degrees. Large differences in acoustic velocity can lead to significant impedance mismatch, most of the ultrasonic energy is reflected at the boundary between the media, and this method considerably reduces the transmission through the bone Ultrasonic energy.

第四缺點: 由於換能器(transducer)平行於骨骼(skeleton)的定向(orientation)，因此在骨骼和換能器之間可能會發生多次的反射，更造成了多重迴聲(multiple echo)，而這些多重迴聲會降低了所需的後壁迴聲(hyperechoic area in the posterior wall)信號的信噪比(SNR)，從而降低檢測的準確性，且無法即時獲得組織間的實際應變/應力(strain/stress)等正確資訊。Fourth disadvantage: Since the transducer is parallel to the orientation of the skeleton, multiple reflections may occur between the skeleton and the transducer, resulting in multiple echoes. These multiple echoes reduce the signal-to-noise ratio (SNR) of the desired hyperechoic area in the posterior wall signal, thereby reducing the accuracy of detection and the inability to instantly obtain the actual strain/stress between tissues. /stress) and other correct information.

第五缺點: 由於傳統內視鏡(endoscopy)所呈現的是平面影像(plane image)，造成動手術的醫生的肉眼無法區分出手術位置的深淺相關位置，極易造成動手術的病患的鼻甲的傷口過大，亦或是因此增加了病患不必要的出血量，又因為手術個案與臨床醫師的手術經驗的有相當大的相關，更因此造成了為求能夠復原，病患延長了於手術後的住院醫療時間等相關醫療照顧問題。The fifth disadvantage: Because the traditional endoscopy presents a plane image, the surgeon's naked eye cannot distinguish the relative position of the surgical location, which is very easy to cause the turbinate of the patient undergoing surgery. The wound is too large, or it increases the unnecessary bleeding of the patient, and because the surgical case is quite related to the surgical experience of the clinician, it also causes the patient to prolong the operation in order to recover. Post-hospitalization time and other related medical care issues.

有鑑於前述缺點所存在的多種缺失問題，相關醫療領域或是醫學研究領域極需要一種有效可靠的鼻腔量測系統，方得以解決習知技術的缺失，更能夠有效促進醫學手術的進步。In view of the aforementioned shortcomings, there is a great need for an effective and reliable nasal cavity measurement system in related medical fields or medical research fields, so as to solve the deficiencies of conventional technologies and effectively promote the progress of medical operations.

本發明提供一種鼻腔量測系統，定位鼻腔內目標點之位置資訊，以及多維度之鼻腔資訊，用以導引診斷或進行手術該目標點，結合三維光聲診斷影像，完成鼻腔內部內視鏡影像之導航，提供有關所量測區域的鼻腔結構細節。The present invention provides a nasal cavity measurement system, which locates the position information of a target point in the nasal cavity, and multi-dimensional nasal cavity information, which is used to guide diagnosis or perform surgery on the target point, and combine with three-dimensional photoacoustic diagnostic images to complete nasal endoscopy Navigation of the image, providing details about the nasal structure in the area being measured.

為達到上述目的，本發明之目的係一種鼻腔量測系統，其優勢係以光聲超音波影像結合內視鏡機械導航構，提供高解析鼻甲內視影像與尺標視野，減少醫療錯誤發生率與提高手術精準度。In order to achieve the above object, the object of the present invention is a nasal cavity measurement system, the advantage of which is to provide high-resolution turbinate endoscopic images and scale field of view by combining photoacoustic ultrasound images with endoscopic mechanical navigation, reducing the incidence of medical errors. and improve surgical precision.

本發明提供一種鼻腔量測系統，其優勢係可定位鼻腔內目標點之位置資訊，以及多維度之鼻腔資訊，用以導引診斷或手術該目標點。The present invention provides a nasal cavity measurement system, which has the advantage of locating the position information of a target point in the nasal cavity and multi-dimensional nasal cavity information, so as to guide the diagnosis or operation of the target point.

本發明提供一種鼻腔量測系統，其系統包含以下的單元模組：追蹤單元，合成光聲影像模組，三維光聲影像模組，立體內視鏡圖像捕獲單元，以及手術單元。The invention provides a nasal cavity measurement system, which includes the following unit modules: a tracking unit, a synthetic photoacoustic imaging module, a three-dimensional photoacoustic imaging module, a stereoscopic endoscope image capturing unit, and an operation unit.

本發明提供一種鼻腔量測系統，其系統之追蹤單元，係用以量測該鼻腔內之超音波光聲影像，並找出第一目標點以及第二目標點，將第一目標點影像以及第二目標點影像與資料庫轉換器比對，找出可判別的該目標點。The present invention provides a nasal cavity measurement system, the tracking unit of the system is used to measure the ultrasonic photoacoustic image in the nasal cavity, find a first target point and a second target point, and compare the first target point image and the second target point. The second target point image is compared with the database converter to find out the identifiable target point.

本發明提供一種鼻腔量測系統，其系統之合成光聲影像模組係電性連接該追蹤單元，該合成光聲影像模組包含第一激光模組以及第一超音波模組，該第一激光模組用以感測第一光影像，該第一超音波模組用以感測第一聲影像，該合成光聲影像模組結合該第一光影像以及該第一聲影像成為第一光聲影像，並透過合成光生影像介面形成診斷影像。The present invention provides a nasal cavity measurement system. A synthetic photoacoustic image module of the system is electrically connected to the tracking unit. The synthetic photoacoustic image module includes a first laser module and a first ultrasonic module. The first The laser module is used for sensing the first optical image, the first ultrasonic module is used for sensing the first acoustic image, and the synthetic photoacoustic image module combines the first optical image and the first acoustic image to become the first Photoacoustic images, and form diagnostic images through a synthetic photogenerated image interface.

本發明提供一種鼻腔量測系統，其系統之三維光聲影像模組，係電性連接該合成光聲影像模組，該三維光聲影像模組包含第一擴充資料標記視窗，該三維光聲影像模組運用該第一光聲影像、該第一光影像以及即時內視鏡影像，搭配該第一擴充資料標記視窗，對該診斷影像進行處理，以成為三維光聲診斷影像。The present invention provides a nasal cavity measurement system. A three-dimensional photoacoustic imaging module of the system is electrically connected to the synthetic photoacoustic imaging module. The image module uses the first photoacoustic image, the first optical image and the real-time endoscopic image, and the first extended data mark window to process the diagnostic image to become a three-dimensional photoacoustic diagnostic image.

本發明提供一種鼻腔量測系統，其系統之目標點辨識單元，係用以搜尋該第一目標點以及第二目標點，並傳送給該三維光聲影像模組。The present invention provides a nasal cavity measurement system, and a target point identification unit of the system is used for searching the first target point and the second target point, and transmitting them to the three-dimensional photoacoustic image module.

本發明提供一種鼻腔量測系統，其系統之立體內視鏡圖像捕獲單元，用以捕獲該鼻腔之該即時內視鏡影像，並建立立體即時內視鏡影像，該立體內視鏡圖像捕獲單元電連接該三維光聲影像模組。The present invention provides a nasal cavity measurement system, and a stereoscopic endoscopic image capturing unit of the system is used to capture the real-time endoscopic image of the nasal cavity, and create a three-dimensional real-time endoscopic image. The stereoscopic endoscopic image The capture unit is electrically connected to the three-dimensional photoacoustic image module.

本發明提供一種鼻腔量測系統，其系統之手術單元，係電性連接該目標點辨識單元，以及該立體內視鏡圖像捕獲單元，包含第二激光模組，第二超音波模組，內視鏡模組，主動工具機械手臂，以及被動感測器，其中該主動工具機械手臂包含內視鏡模組，以及擴充資料標記視窗，該被動感測器包含該第二激光模組用以感測第二光影像，該第二超音波模組用以感測第二聲影像，結合該第二光影像，以及該第二聲影像以成為第二光聲影像，該內視鏡模組捕獲該鼻腔內之該即時內視鏡影像。其中該手術單元將主動工具機械手臂，以及被動感測器之動作，與第二光聲影像結合為三維光聲影像座標，以完成鼻腔內部內視鏡影像導航，達到控制主動工具機械手臂，以及被動感測器，藉以對該第一目標點，或 是該第二目標點，賡續進行鼻部手術。 The present invention provides a nasal cavity measurement system, the surgical unit of the system is electrically connected to the target point identification unit and the stereoscopic endoscope image capture unit, comprising a second laser module, a second ultrasonic module, An endoscope module, an active tool manipulator, and a passive sensor, wherein the active tool manipulator includes an endoscope module and an expanded data marking window, and the passive sensor includes the second laser module for Sensing the second optical image, the second ultrasonic module is used for sensing the second acoustic image, combining the second optical image and the second acoustic image to form a second photoacoustic image, the endoscope module Capture the real-time endoscopic image within the nasal cavity. The operation unit combines the actions of the active tool robotic arm and the passive sensor with the second photoacoustic image to form three-dimensional photoacoustic image coordinates to complete the navigation of endoscopic images in the nasal cavity to control the active tool robotic arm, and a passive sensor whereby the first target point, or This is the second target, and nose surgery continues.

為充分瞭解本發明之目的、特徵及功效，茲藉由下述具體之實施例，並配合所附之圖式，對本發明做一詳細說明如後。In order to fully understand the purpose, features and effects of the present invention, the present invention is described in detail by the following specific embodiments and the accompanying drawings.

圖1A係本發明鼻腔量測系統之使用示意圖，該圖1A顯示病患U鼻腔N內之鼻甲，經由圖1A鼻腔量測系統100之主動工具機械手臂1610，以及被動感測器1620，以伸入且放置於鼻腔N中。FIG. 1A is a schematic diagram of the use of the nasal cavity measurement system of the present invention. FIG. 1A shows the turbinate in the nasal cavity N of the patient U, through the active tool robot arm 1610 and the passive sensor 1620 of the nasal cavity measurement system 100 in FIG. 1A to extend into and placed in the nasal cavity N.

經由圖1B之本發明實施例之鼻腔量測系統100，以導航對位於圖2A所示鼻甲n之患部A，以進行鼻部的後續診斷或是進行手術。Through the nasal cavity measurement system 100 of the embodiment of the present invention shown in FIG. 1B , the affected part A located in the turbinate n shown in FIG. 2A is navigated to perform subsequent diagnosis of the nose or perform surgery.

參考圖1B本發明實施例之鼻腔量測系統100，定位圖2A所示鼻腔N內目標點T的位置資訊，以及多維度之鼻腔資訊，用以導引診斷或手術目標點T。1B, the nasal cavity measurement system 100 according to the embodiment of the present invention is used to locate the position information of the target point T in the nasal cavity N shown in FIG.

而該圖1B本發明實施例之鼻腔量測系統100包含了以下的組件單元：追蹤單元110，合成光聲影像模組120，三維光聲影像模組130，目標點辨識單元140，立體內視鏡圖像捕獲單元150，以及手術單元160。1B , the nasal cavity measurement system 100 according to the embodiment of the present invention includes the following components: a tracking unit 110 , a synthetic photoacoustic image module 120 , a three-dimensional photoacoustic image module 130 , a target point identification unit 140 , and a stereoscopic interior view Mirror image capture unit 150 , and surgical unit 160 .

仍請參考圖1B，追蹤單元110用以量測圖2A所示鼻腔N內之超音波光聲影像。於圖1B之追蹤單元110可找出圖2A所示第一目標點T 1，以及圖2A所示第二目標點T 2。圖1B之追蹤單元110將圖1B所示第一目標點影像I T1，以及圖1B所示第二目標點影像I T2，與圖1B之資料庫轉換器112比對，找出可判別的圖2A所示目標點T。例如，當圖2A所示第一目標點影像I T1與圖1B所示資料庫轉換器112比對後，得到結果為正確，則判別為所要尋找的圖2A所示目標點T。需說明的是，本實施例所指之圖2A所示目標點T為需要手術或診斷之圖2A所示患部A。 Still referring to FIG. 1B , the tracking unit 110 is used to measure the ultrasonic photoacoustic image in the nasal cavity N shown in FIG. 2A . The tracking unit 110 in FIG. 1B can find the first target point T 1 shown in FIG. 2A and the second target point T 2 shown in FIG. 2A . The tracking unit 110 of FIG. 1B compares the first target point image I T1 shown in FIG. 1B and the second target point image I T2 shown in FIG. 1B with the database converter 112 of FIG. 1B to find a distinguishable image Target point T shown in 2A. For example, when the first target point image IT1 shown in FIG. 2A is compared with the database converter 112 shown in FIG. 1B and the result is correct, it is determined that the target point T shown in FIG. 2A is to be found. It should be noted that the target point T shown in FIG. 2A referred to in this embodiment is the affected part A shown in FIG. 2A that needs surgery or diagnosis.

續請參考圖1B之合成光聲影像模組120以電性連接追蹤單元110，而該合成光聲影像模組120包含第一激光模組121，以及第一超音波模組122。圖1B之第一激光模組121可發出激光，並感測圖1B之第一光影像IL1。而圖1B之第一超音波模組122發出聲輻射力，並感測第一聲影像IS1。圖1B之合成光聲影像模組120結合第一光影像IL1，以及第一聲影像IS1成為第一光聲影像ILS1，並透過合成光生影像介面126形成診斷影像ID。 Please refer to the synthetic photoacoustic imaging module 120 in FIG. 1B to electrically connect the tracking unit 110 , and the synthetic photoacoustic imaging module 120 includes a first laser module 121 and a first ultrasonic module 122 . The first laser module 121 of FIG. 1B can emit laser light and sense the first light image I L1 of FIG. 1B . The first ultrasonic module 122 in FIG. 1B emits acoustic radiation force and senses the first acoustic image I S1 . The synthetic photoacoustic image module 120 of FIG. 1B combines the first photoacoustic image I L1 and the first acoustic image I S1 to become the first photoacoustic image I LS1 , and forms the diagnostic image ID through the synthetic photo-generated image interface 126 .

又請參考圖1B，其中三維光聲影像模組130以電性連接合成光聲影像模組120。該三維光聲影像模組130包含第一擴充資料標記視窗132。圖1B之三維光聲影像模組130運用前述第一光聲影像ILS1，第一光影像IL1，以及即時內視鏡影像IE，搭配第一擴充資料標記視窗132，對診斷影像ID進行處理，以成為圖2B所示之三維光聲診斷影像I3D。 Please refer to FIG. 1B again, wherein the three-dimensional photoacoustic image module 130 is electrically connected to the synthetic photoacoustic image module 120 . The 3D photoacoustic imaging module 130 includes a first extended data mark window 132 . The three- dimensional photoacoustic image module 130 of FIG. 1B uses the aforementioned first photoacoustic image I LS1 , the first optical image I L1 , and the real-time endoscopic image IE , together with the first extended data mark window 132 , to detect the diagnosis image ID Processing is performed to become the three-dimensional photoacoustic diagnostic image I 3D shown in FIG. 2B .

還請參考圖1B，其中目標點辨識單元140搜尋該圖2A所示第一目標點T1，以及圖2A所示第二目標點T2，並傳送至圖1B之三維光聲影像模組130。 Please also refer to FIG. 1B , wherein the target point identification unit 140 searches for the first target point T 1 shown in FIG. 2A and the second target point T 2 shown in FIG. 2A , and sends them to the 3D photoacoustic imaging module 130 of FIG. 1B .

於圖1B，立體內視鏡圖像捕獲單元150係捕獲圖2A所示鼻腔N之圖1B即時內視鏡影像IE，並建立立體即時內視鏡影像，而顯現如圖2B所示鼻腔N內鼻甲n之立體即時內視鏡影像。 In FIG. 1B , the stereoscopic endoscopic image capturing unit 150 captures the real-time endoscopic image IE of FIG. 1B of the nasal cavity N shown in FIG. 2A , and creates a stereoscopic real-time endoscopic image to display the nasal cavity N shown in FIG. 2B . Stereoscopic real-time endoscopic image of internal turbinate n.

請參考圖1B，內視鏡圖像捕獲單元150以電性連接三維光聲影像模組130，而手術單元160電性連接目標點辨識單元140，以及立體內視鏡圖像捕獲單元150。圖1B手術單元160包含第二激光模組1622，第二超音波模組1624，內視鏡模組1612，主動工具機械手臂1610，以及被動感測器1620。 Please refer to FIG. 1B , the endoscopic image capturing unit 150 is electrically connected to the 3D photoacoustic imaging module 130 , and the surgical unit 160 is electrically connected to the target point identification unit 140 and the stereoscopic endoscopic image capturing unit 150 . The surgical unit 160 of FIG. 1B includes a second laser module 1622 , a second ultrasonic module 1624 , an endoscope module 1612 , an active tool robotic arm 1610 , and a passive sensor 1620 .

仍請參考圖1B，主動工具機械手臂1610包含內視鏡模組1612，以及擴充資料標記視窗1614。而圖1B被動感測器1620包含第二激光模組1622用以感測第二光影像IL2，圖1B第二超音波模組1624用以感測第二聲影像IS2。由圖1B顯示，結合第二光影像IL2，以及第二聲影像IS2成為第二光聲影像ILS2(圖1B中未示)。由圖1B顯示，內視鏡模組捕獲鼻腔N內之即時內視鏡影像I E。其中，圖1B之手術單元160將主動工具機械手臂1610，以及被動感測器1620之動作，與第二光聲影像I LS2結合為圖2A所示三維光聲影像座標C，即鼻甲n之三維光聲影像座標，完成鼻腔N內部之導航。 Still referring to FIG. 1B , the active tool manipulator 1610 includes an endoscope module 1612 and an extended data mark window 1614 . The passive sensor 1620 in FIG. 1B includes a second laser module 1622 for sensing the second optical image I L2 , and the second ultrasonic module 1624 in FIG. 1B is used for sensing the second acoustic image I S2 . As shown in FIG. 1B , combining the second optical image I L2 and the second acoustic image I S2 becomes the second photoacoustic image I LS2 (not shown in FIG. 1B ). As shown in FIG. 1B , the endoscopic module captures the real-time endoscopic image IE in the nasal cavity N. The operation unit 160 in FIG. 1B combines the actions of the active tool robotic arm 1610 and the passive sensor 1620 with the second photoacoustic image I LS2 to form the three-dimensional photoacoustic image coordinate C shown in FIG. 2A , that is, the three-dimensional image of the turbinate n. Photoacoustic image coordinates to complete the navigation inside the nasal cavity N.

如圖1B所示，鼻腔量測系統100可定義出主動工具機械手臂1610，以及被動感測器1620之動作路徑。圖2A所示第一目標點T 1於三維光聲影像座標C具有第一座標資訊C 1，圖2A所示第二目標點T 2於三維光聲影像座標C具有第二座標資訊C 2，藉此控制主動工具機械手臂1610，以及被動感測器1620對鼻甲n之第一目標點T 1(即第一座標資訊C 1)，或是第二目標點T 2(即第二座標資訊C 2)進行鼻部的手術，亦可參考如圖2B所示之鼻腔側面透視圖，其所標示的鼻腔N位置，以及鼻甲n位置。更可參考圖2C之鼻腔立體示意圖，其所標示的病患U之鼻腔N位置，以及病患U之鼻甲n位置。 As shown in FIG. 1B , the nasal cavity measurement system 100 can define an active tool robotic arm 1610 and a motion path of a passive sensor 1620 . The first target point T 1 shown in FIG. 2A has the first coordinate information C 1 at the three-dimensional photoacoustic image coordinate C, and the second target point T 2 shown in FIG. 2A has the second coordinate information C 2 at the three-dimensional photoacoustic image coordinate C, Thereby, the active tool manipulator 1610 and the passive sensor 1620 are controlled to the first target point T1 (ie the first coordinate information C1 ) of the turbinate n, or the second target point T2 (ie the second coordinate information C1 ) 2 ) For the operation of the nose, you can also refer to the lateral perspective view of the nasal cavity as shown in FIG. 2B , the marked position of the nasal cavity N, and the position of the turbinate n. 2C is a three-dimensional schematic view of the nasal cavity, which indicates the position of the nasal cavity N of the patient U and the position of the turbinate n of the patient U.

綜前所述，本發明運用激光和聲輻射力做為彈性影像觸發來源，以光聲技術優勢，達到快速(時間低於5 分鐘)獲得高分辨率鼻甲切除手術的三維體積數據集結影像，以提供鼻腔內視鏡系統應變/應力彈性影像資訊使用，利用電腦斷層攝影的重建方法，快速建立出鼻腔內實際尺寸與三維度影像建構，重建出整個掃描範圍內聲波的速度/彈性分布，改善目前內視鏡了解剖結構的可視化限制，以剖面立體結構提供準確的定位，實際結合至手術導航系統，解決術前圖像和術中坐標系之間的配準不准確問題，以提供手術所需之最佳路線規劃與精準醫療目的。In summary, the present invention uses laser and acoustic radiation force as the trigger source of elastic images, and takes advantage of photoacoustic technology to achieve rapid (time less than 5 minutes) acquisition of high-resolution 3D volumetric data collection images for turbinate resection surgery. Provides the use of strain/stress elasticity image information of the nasal endoscope system, and uses the reconstruction method of computed tomography to quickly establish the actual size and three-dimensional image construction of the nasal cavity, reconstruct the velocity/elasticity distribution of sound waves in the entire scanning range, and improve the current The endoscope overcomes the limitations of visualization of anatomical structures, provides accurate positioning with cross-sectional stereoscopic structures, and is actually integrated into the surgical navigation system to solve the problem of inaccurate registration between the preoperative image and the intraoperative coordinate system, so as to provide the required surgical operation. for optimal route planning and precision medicine purposes.

以上所述僅為本發明之較佳實施例而已，並非用以限定本發明之申請專利範圍；凡其它未脫離本發明所揭示之精神下所完成之等效改變或修飾，均應包含在下述之申請專利範圍內。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of the patent application of the present invention; all other equivalent changes or modifications accomplished without departing from the spirit disclosed in the present invention shall be included in the following within the scope of the patent application.

100:鼻腔量測系統100: Nasal measurement system

110:追蹤單元110: Tracking Unit

112:資料庫轉換器112: Database Converter

120:合成光聲影像模組120: Synthetic photoacoustic image module

121:第一激光模組121: The first laser module

122:第一超音波模組122: The first ultrasonic module

126:合成光生影像介面126: Synthetic Photogenerated Image Interface

130:三維光聲影像模組130: 3D photoacoustic imaging module

132:第一擴充資料標記視窗132: First extended data marker window

140:目標點辨識單元140: Target point identification unit

150:立體內視鏡圖像捕獲單元150: Stereoscopic image capture unit

160:手術單元160: Surgical Unit

1610:主動工具機械手臂1610: Active tool robotic arm

1612:內視鏡模組1612: Endoscope Module

1614:擴充資料標記視窗1614: Extended data tag window

1620:被動感測器1620: Passive Sensors

1622:第二激光模組1622: Second Laser Module

1624:第二超音波模組1624: Second Ultrasonic Module

A:患部A: Affected part

C:三維光聲影像座標C: three-dimensional photoacoustic image coordinates

C 1:第一座標資訊C 1 : First coordinate information

C 2:第二座標資訊C 2 : Second coordinate information

I D:診斷影像ID : Diagnostic Imaging

I 3D:三維光聲診斷影像I 3D : 3D Photoacoustic Diagnostic Imaging

I E:即時內視鏡影像 IE : Instant Endoscopic Image

I L1:第一光影像I L1 : First Light Image

I L2:第二光影像I L2 : Second Light Image

I S1:第一聲影像I S1 : First sound image

I S2:第二聲影像I S2 : Second sound image

I LS1:第一光聲影像I LS1 : The First Photoacoustic Image

I T1:第一目標點影像I T1 : Image of the first target point

I T2:第二目標點影像I T2 : Image of the second target point

N:鼻腔N: nasal cavity

n:鼻甲n: turbinate

T:目標點T: target point

T 1:第一目標點T 1 : the first target point

T 2:第二目標點T 2 : the second target point

U:病患U: patient

圖1A係本發明鼻腔量測系統之使用示意圖。 圖1B之本發明實施例之鼻腔量測系統示意圖。 圖2A為本發明實施例之鼻腔剖面示意圖。 圖2B為圖2A之鼻腔側面透視圖。 圖2C為圖2A之鼻腔立體示意圖。 FIG. 1A is a schematic diagram of the use of the nasal cavity measurement system of the present invention. FIG. 1B is a schematic diagram of a nasal cavity measurement system according to an embodiment of the present invention. 2A is a schematic cross-sectional view of a nasal cavity according to an embodiment of the present invention. 2B is a side perspective view of the nasal cavity of FIG. 2A. FIG. 2C is a three-dimensional schematic diagram of the nasal cavity of FIG. 2A .

100:鼻腔量測系統 100: Nasal measurement system

110:追蹤單元 110: Tracking Unit

112:資料庫轉換器 112: Database Converter

120:合成光聲影像模組 120: Synthetic photoacoustic image module

121:第一激光模組 121: The first laser module

122:第一超音波模組 122: The first ultrasonic module

126:合成光生影像介面 126: Synthetic Photogenerated Image Interface

130:三維光聲影像模組 130: 3D photoacoustic imaging module

132:第一擴充資料標記視窗 132: First extended data marker window

140:目標點辨識單元 140: Target point identification unit

150:立體內視鏡圖像捕獲單元 150: Stereoscopic image capture unit

160:手術單元 160: Surgical Unit

1610:主動工具機械手臂 1610: Active tool robotic arm

1612:內視鏡模組 1612: Endoscope Module

1614:擴充資料標記視窗 1614: Extended data tag window

1620:被動感測器 1620: Passive Sensors

1622:第二激光模組 1622: Second Laser Module

1624:第二超音波模組 1624: Second Ultrasonic Module

ID:診斷影像 ID : Diagnostic Imaging

I3D:三維光聲診斷影像 I 3D : 3D Photoacoustic Diagnostic Imaging

IE:即時內視鏡影像 IE : Instant Endoscopic Image

IL1:第一光影像 I L1 : First Light Image

IL2:第二光影像 I L2 : Second Light Image

IS1:第一聲影像 I S1 : First sound image

IS2:第二聲影像 I S2 : Second sound image

ILS1:第一光聲影像 I LS1 : The First Photoacoustic Image

IT1:第一目標點影像 I T1 : Image of the first target point

IT2:第二目標點影像 I T2 : Image of the second target point

Claims (3)

一種鼻腔量測系統，以定位一鼻腔內目標點之一位置資訊，以及多維度之鼻腔資訊，用以進行一導引診斷或進行一手術該目標點，該系統包含： 一追蹤單元，該追蹤單元係用以量測該鼻腔內之一超音波光聲影像，找出一第一目標點以及一第二目標點，將一第一目標點影像以及一第二目標點影像與一資料庫轉換器比對，找出可判別的該目標點； 一合成光聲影像模組，該合成光聲影像模組係以電性連接該追蹤單元，該合成光聲影像模組包含第一激光模組，以及第一超音波模組，該第一激光模組用以感測一第一光影像，該第一超音波模組用以感測一第一聲影像，該合成光聲影像模組結合該第一光影像，以及該第一聲影像成為一第一光聲影像，並透過合成該第一光聲影像介面以形成一診斷影像； 三維光聲影像模組，該三維光聲影像模組係以電性連接該合成光聲影像模組，該三維光聲影像模組包含一第一擴充資料標記視窗，該三維光聲影像模組運用該第一光聲影像，該第一光影像，以及一內視鏡影像，搭配該第一擴充資料標記視窗，處理該診斷影像，以成為三維光聲診斷影像； 一目標點辨識單元，該目標點辨識單元係用以搜尋該第一目標點，以及該第二目標點，並傳送至該三維光聲影像模組； 一立體內視鏡圖像捕獲單元，該立體內視鏡圖像捕獲單元係用以捕獲該鼻腔之一即時內視鏡影像，建立一立體即時內視鏡影像，該立體內視鏡圖像捕獲單元係電性連接該三維光聲影像模組；以及， 一手術單元，該手術單元係以電性連接該目標點辨識單元，以及該立體內視鏡圖像捕獲單元，該手術單元包含一第二激光模組，一第二超音波模組，一內視鏡模組，一主動工具機械手臂，以及一被動感測器，該主動工具機械手臂包含一內視鏡模組，以及一擴充資料標記視窗，該被動機械手臂包含該第二激光模組，該第二激光模組係用以感測第二光影像，該第二超音波模組係用以感測第二聲影像，結合該第二光影像以及該第二聲影像以成為一第二光聲影像，該內視鏡模組捕獲該鼻腔內之該即時內視鏡影像； 其中，該手術單元將該主動工具機械手臂，以及該被動感測器之動作，與該第二光聲影像結合為三維光聲影像模組的一座標，完成該鼻腔內部導航，控制該該主動工具機械手臂，以及該被動感測器，藉以對該第一目標點或該第二目標點進行一鼻部手術。 A nasal cavity measurement system for locating a position information of a target point in a nasal cavity and multi-dimensional nasal cavity information for conducting a guided diagnosis or performing an operation on the target point, the system comprising: a tracking unit for measuring an ultrasonic photoacoustic image in the nasal cavity, finding a first target point and a second target point, and converting a first target point image and a second target point The image is compared with a database converter to find the identifiable target point; A synthetic photoacoustic image module, the synthetic photoacoustic image module is electrically connected to the tracking unit, the synthetic photoacoustic image module includes a first laser module, and a first ultrasonic module, the first laser The module is used for sensing a first optical image, the first ultrasonic module is used for sensing a first acoustic image, the synthetic photoacoustic image module combines the first optical image, and the first acoustic image becomes a first photoacoustic image, and forming a diagnostic image by synthesizing the first photoacoustic image interface; A 3D photoacoustic imaging module, the 3D photoacoustic imaging module is electrically connected to the synthetic photoacoustic imaging module, the 3D photoacoustic imaging module includes a first extension data mark window, the 3D photoacoustic imaging module Using the first photoacoustic image, the first photoacoustic image, and an endoscopic image, in conjunction with the first extended data marker window, to process the diagnostic image to become a three-dimensional photoacoustic diagnostic image; a target point identification unit, the target point identification unit is used to search for the first target point and the second target point, and transmit them to the three-dimensional photoacoustic image module; a stereoscopic endoscopic image capturing unit, the stereoscopic endoscopic image capturing unit is used to capture a real-time endoscopic image of the nasal cavity to create a stereoscopic real-time endoscopic image, and the stereoscopic endoscopic image captures The unit is electrically connected to the three-dimensional photoacoustic image module; and, an operation unit, the operation unit is electrically connected to the target point identification unit and the stereoscopic endoscope image capture unit, the operation unit includes a second laser module, a second ultrasonic module, an internal A sight glass module, an active tool robotic arm, and a passive sensor, the active tool robotic arm includes an endoscope module, and an expanded data marking window, the passive robotic arm includes the second laser module, The second laser module is used for sensing the second optical image, the second ultrasonic module is used for sensing the second acoustic image, and the second optical image and the second acoustic image are combined to form a second Photoacoustic image, the endoscope module captures the real-time endoscopic image in the nasal cavity; Wherein, the operation unit combines the action of the active tool robotic arm and the passive sensor with the second photoacoustic image to form a coordinate of a three-dimensional photoacoustic image module, completes the internal navigation of the nasal cavity, and controls the active The tool robot arm and the passive sensor are used to perform a nose surgery on the first target point or the second target point. 如請求項1所述之鼻腔量測系統，其中該第一激光模組以及該第二激光模組發出一激光，以感測該第一光影像，以及該第二光影像。The nasal cavity measurement system as claimed in claim 1, wherein the first laser module and the second laser module emit a laser to sense the first optical image and the second optical image. 如請求項1所述之鼻腔量測系統，其中該第一超音波模組，該第二超音波模組發出一聲輻射力。The nasal cavity measurement system according to claim 1, wherein the first ultrasonic module and the second ultrasonic module emit a sound radiation force.
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