CN109247985A - A kind of surgical assistant system and method based on 3D human body - Google Patents
A kind of surgical assistant system and method based on 3D human body Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004088 simulation Methods 0.000 claims abstract description 31
- 238000001356 surgical procedure Methods 0.000 claims abstract description 24
- 230000003902 lesion Effects 0.000 claims abstract description 16
- 210000001519 tissue Anatomy 0.000 claims abstract description 16
- 230000037361 pathway Effects 0.000 claims abstract description 8
- 210000004204 blood vessel Anatomy 0.000 claims abstract description 7
- 210000004872 soft tissue Anatomy 0.000 claims abstract description 7
- 238000007689 inspection Methods 0.000 claims abstract description 5
- 230000001537 neural effect Effects 0.000 claims abstract description 3
- 210000005036 nerve Anatomy 0.000 claims description 5
- 239000003814 drug Substances 0.000 claims description 3
- 230000008685 targeting Effects 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims description 2
- 244000144985 peep Species 0.000 claims description 2
- 230000011218 segmentation Effects 0.000 claims description 2
- 210000002435 tendon Anatomy 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 208000008918 voyeurism Diseases 0.000 claims description 2
- 210000000281 joint capsule Anatomy 0.000 claims 1
- 210000003041 ligament Anatomy 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 claims 1
- 206010033675 panniculitis Diseases 0.000 claims 1
- 210000003491 skin Anatomy 0.000 claims 1
- 210000004304 subcutaneous tissue Anatomy 0.000 claims 1
- 230000002792 vascular Effects 0.000 claims 1
- 230000005311 nuclear magnetism Effects 0.000 abstract description 2
- 238000010146 3D printing Methods 0.000 description 12
- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000007639 printing Methods 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000009472 formulation Methods 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000010882 preoperative diagnosis Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013334 tissue model Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
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Abstract
The invention proposes a kind of surgical assistant system and method based on 3D human body, wherein the system includes: that medical image data obtains module, for obtaining the medical image data of patient；Three-dimensional model reconfiguration module obtains threedimensional model for the medical image data to be carried out three-dimensionalreconstruction；Surgery systems are simulated, for importing the threedimensional model, phantom images is checked, carries out the inspections and examinations of lesions position, and surgery planning and simulation operation are carried out on Image model by scalpel.The model of three-dimensional reconstruction is carried out using this system and method, it include the content that all CT such as neural blood vessel, soft tissue sclerous tissues or nuclear-magnetism image can be shown, and in subsequent simulation surgery systems, it can carry out a series of simulated surgical operation, while facilitating doctor to be diagnosed in detail, better operation pathway planning can also be carried out by simulation operation and operation plan is formulated.
Description
Technical field
The present invention relates to medical surgery field, espespecially a kind of surgical assistant system and method based on 3D human body.
Background technique
At present in terms of medicine, the lesion tissue model of 3D printing organ, the technology of prosthetic model are increasingly mature, should
The generation and development of technology promote positive minimally invasiveization of medical domain, and precision direction is developed, so that operation safety has obtained more preferably
Guarantee.The main process of this technology is that DICOM image is obtained by CT scan, using high performance graphics process server
And related software carries out data processing, three-dimensional reconstruction, then uses suitable material by the 3D printer of industry, accurate 3D is beaten
Printing is made, and the threedimensional model of equal proportion is obtained.Doctor is by carrying out observation analysis, the further progress state of an illness to the model of 3D printing
Diagnosis and successive treatment scheme formulation.
Above-mentioned technology is primarily present following defect and deficiency:
1, production types of models is single, and fine degree is not enough the common fault of 3D printing medical model.For example, printing tumour is raw
Long knee joint can only print the rough idea of knee joint bone and tumour at present, and there is no knee joint is embodied on model
The distribution situation and details of the complex organizations such as tumor vicinity nerve, tendon, blood vessel.
2, simple 3D printing technique cost is high, and speed is slow, and printed material type is few.
3, model is limited using function, and existing 3D printing medical model manufacturing technology, the model produced can only assist
Doctor carries out illness analysis, not can be carried out the further operatings such as surgery planning and simulation.
Analysis causes defect and insufficient reason:
It 1, commonly used in the model of 3D printing, is made under related software by being read out analysis to DICOM data
Then stl format model out carries out 3D printing, the major defect of the program is that production model can only be complete lesion model,
It not can be carried out the decomposition of each tissue, and there is the technical error of 3D printing to limit, model accuracy damages.
2, due to needing special composite material, printed material type is limited for 3D printing, so printing is at high cost, usual one
The charge of group joint model is all in thousands of first unequal intervals.And 3D printing operating process is complicated, is printed, is calibrated to model
Deng fabrication cycle is long.
3, traditional 3D printing medical model is only available to doctor due to being the master pattern for meeting file printing and going out
It helps it to carry out illness analysis and condition-inference, the operations such as other simulation operations, and model can not be carried out on model again
Content is limited, is to print skeleton model mostly, and nerve, blood vessel and other soft tissue contents cannot then be printed and shown
Come.
Summary of the invention
It is to overcome the shortcomings of existing technologies and insufficient, present applicant proposes a kind of surgical assistant system based on 3D human body and
Method；The model that three-dimensional reconstruction is carried out using this system and method, include all CT such as neural blood vessel, soft tissue sclerous tissues or
The content that nuclear-magnetism image can be shown, and in subsequent simulation surgery systems, a series of simulation operation behaviour can be carried out
Make, while facilitating doctor to be diagnosed in detail, better operation pathway planning and operation can also be carried out by simulation operation
Solution formulation.
Specifically, the system includes that medical image data obtains module, for obtaining the medical image data of patient；It is three-dimensional
Model reconstruction module obtains threedimensional model for the medical image data to be carried out three-dimensionalreconstruction；Surgery systems are simulated, are used
It is imported in by the threedimensional model, checks phantom images, carry out the inspections and examinations of lesions position, and by scalpel in image mould
Surgery planning is carried out in type and simulation is performed the operation.
In addition, the application also proposed a kind of operation householder method based on 3D human body, comprising: S1 obtains the doctor of patient
Learn image data；The medical image data is carried out three-dimensionalreconstruction, obtains threedimensional model by S2；S3 leads the threedimensional model
Enter to simulation surgery systems and check phantom images using the simulation surgery systems, carries out the inspections and examinations of lesions position, and lead to
It crosses scalpel and carries out surgery planning and simulation operation on Image model.
Surgical assistant system and method proposed by the present invention based on 3D human body has the following advantages that and effect:
1, the preoperative diagnosis based on VR technology is to dramatically save into than the advantage for the preoperative diagnosis that 3D printing is simulated
This, while can be overlapped again in position be more good with effect on presented inline with real-time perfoming interaction.
2, in terms of operation plan formulation: being decomposed by the preoperative observation to 3D model, make a definite diagnosis the state of an illness and formulate operation side
Case further decreases operation risk, optimization operation pathway etc. by simulating operation, it is ensured that success rate of operation.
3, in terms of assessment of performing the operation, the postoperative situation of patient is directly really presented in patient at the moment, in this way
Patient will really see oneself present physical condition, can eliminate the psychological doubt of patient in time, accelerate the rehabilitation of patient.
4, in terms of medicine training, traditional medical training is all by means of the equipment of various auxiliary, some involve great expense
And cannot reuse, this just needs very big cost overhead, while will also result in very big waste.
5, using this system, the various medical trainings of simulation that can be true to nature are live, greatly improve trainee under battle conditions
When psychological fitness, institute can repeatedly be simulated, and the loss etc. without worrying consumptive material is reducing the same of expense
When, also allow student it is vivid experience various actual combat environment and when participating in the cintest processing mode.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, not
Constitute limitation of the invention.In the accompanying drawings:
Fig. 1 is the surgical assistant system structural schematic diagram based on 3D human body of one embodiment of the invention.
Fig. 2 is the operation householder method flow diagram based on 3D human body of one embodiment of the invention.
Fig. 3 is the S2 detailed process schematic diagram of one embodiment of the invention.
Fig. 4 is the S3 detailed process schematic diagram of one embodiment of the invention.
Fig. 5 is the threedimensional model schematic diagram of a specific embodiment of the invention.
Specific embodiment
Cooperate schema and presently preferred embodiments of the present invention below, the present invention is further explained to reach predetermined goal of the invention institute
The technological means taken.
Firstly, core of the invention key point is to propose medical three-dimensional reconstruction system and simulation fusion surgery system, it is existing
Some technical solutions, or simple medical three-dimensional reconstruction, or the simple display that VR and MR is carried out to model, not into one
The simulation of step is performed the operation, and does not more merge both Model Reconstruction and simulation surgery systems directly.The present invention can carry out the two
Fusion, after three-dimensional reconstruction, it may be convenient to enter in simulation surgery systems and be operated, ensure that doctor observes first
The precision of model.Secondly can be performed the operation practical operation by simulation, obtain the experience for preferably facilitating user.
Specifically, as shown in connection with fig. 1, which includes:
Medical image data obtains module 100, for obtaining the medical image data of patient；
Three-dimensional model reconfiguration module 200 obtains threedimensional model for the medical image data to be carried out three-dimensionalreconstruction；
Simulation surgery systems 300 check phantom images, carry out the sight of lesions position for importing the threedimensional model
Diagnosis is examined, and surgery planning and simulation operation are carried out on Image model by scalpel.
In conjunction with shown in Fig. 2 to Fig. 4, integrated operation process is as follows:
S1 obtains the DICOM image of patient by CT or MR scanning, i.e., traditional medical image data can be from hospital
It directly acquires.
Medical image is imported into three-dimensionalreconstruction software by S2, by the sequence of operations of software, obtains threedimensional model.
The step specifically includes:
S21 reads image data；
S22 carries out Threshold segmentation to medical image and (obtains the different tissues such as sclerous tissues, soft tissue, such as bone, skin
Content), obtain targeting moiety；
S23 chooses lesion tissue, carries out three-dimensional reconstruction；
S24, reduced model data.
Threedimensional model is imported into simulation surgery systems by S3, by simulating surgery systems, carries out sequence of operations, example
Such as, 720 degree of rotations, translation, scaling, slice, the interior modes such as peep check image, carry out the complete observation diagnosis of lesions position, and
And surgery planning and simulation operation can be carried out on Image model by scalpel.The step specifically includes:
S31 reads three-dimensional modeling data；
S32 carries out 720 degree without dead angle observation, into one by the fundamental operations such as being rotated to 3D model, scaling, translate
Walk analysing patient's condition；
S33 (can turn model by using peeping in simulation, being sliced (any fault plane of observable model) and transparence
It is changed to transparent mode, facilitates observation) function, lesions position is examined, and determine lesion tissue and nerve, the blood vessel of human body etc.
The positional relationship of tissue assesses operation risk, while preferably carrying out the planning of operation pathway；
S34, after aforesaid operations completion, doctor holds a consultation, and operation pathway and operation plan is designed, then in 3D mould
Simulation operation is carried out in type, is performed the operation by simulation, and practical operation assessment is carried out to operation risk, is further decreased in actual operation process
In emergency risk, improve success rate of operation and surgical quality, promote procedure efficiency simultaneously.
Specifically, being the threedimensional model schematic diagram of one embodiment of the invention as shown in connection with fig. 5.Wherein, C1 is green, C2
Be yellow for purple, C3, C4 is blue, C5 be it is red, various colors can be used for distinguishing soft tissue, sclerous tissues, with preferably
Determine the positional relationship of the tissues such as nerve, the blood vessel of lesion tissue and human body.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Range is protected, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of invention.
Claims (8)
1. a kind of surgical assistant system based on 3D human body characterized by comprising
Medical image data obtains module, for obtaining the medical image data of patient；
Three-dimensional model reconfiguration module obtains threedimensional model for the medical image data to be carried out three-dimensionalreconstruction；
Surgery systems are simulated, for importing the threedimensional model, phantom images is checked, carries out the inspections and examinations of lesions position,
And surgery planning and simulation operation are carried out on Image model by scalpel.
2. a kind of operation householder method based on 3D human body characterized by comprising
S1 obtains the medical image data of patient；
The medical image data is carried out three-dimensionalreconstruction, obtains threedimensional model by S2；
The threedimensional model is directed into simulation surgery systems by S3, using the simulation surgery systems, checks phantom images, is carried out
The inspections and examinations of lesions position, and surgery planning and simulation operation are carried out on Image model by scalpel.
3. the operation householder method according to claim 2 based on 3D human body, which is characterized in that in S1, the doctor of patient
Image data is DICOM image, is obtained by CT or MR scanning.
4. the operation householder method according to claim 2 based on 3D human body, which is characterized in that in S1, obtained from hospital
Take the medical image data of patient.
5. the operation householder method according to claim 2 based on 3D human body, which is characterized in that in S2, by the doctor
It learns image data and carries out three-dimensionalreconstruction, obtain threedimensional model, comprising:
S21 reads medical image data；
S22 carries out Threshold segmentation to medical image, marks sclerous tissues, soft tissue respectively, obtains targeting moiety；
S23 chooses lesion tissue according to targeting moiety, carries out three-dimensional reconstruction；
S24 exports threedimensional model after reconstruction.
6. the operation householder method according to claim 4 based on 3D human body, which is characterized in that the sclerous tissues include bone
Bone or tooth；Soft tissue includes skin, subcutaneous tissue, muscle, tendon, ligament, joint capsule, synovial bursae, neural or blood vessel.
7. the operation householder method according to claim 2 based on 3D human body, which is characterized in that in S3, check medicine
The mode of image data includes: rotation, translation, scaling, slice, interior peeps.
8. the operation householder method according to claim 7 based on 3D human body, which is characterized in that in step s3, including
Following steps:
S31 reads threedimensional model；
S32 carries out 720 degree by the operation for being rotated, being scaled or being translated to threedimensional model and observes without dead angle, analysing patient's condition；
S33 observes lesions position by using peeping, being sliced and transparence in simulation, determine lesion tissue and human body nerve,
The positional relationship of vascular tissue assesses operation risk, carries out the planning of operation pathway；
S34, after completing above-mentioned steps, doctor holds a consultation, and designs operation pathway and operation plan, carries out mould in the three-dimensional model
Quasi- operation, is performed the operation by simulation, carries out practical operation assessment to operation risk, and improve operation pathway and operation plan.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811033091.3A CN109247985A (en) | 2018-09-05 | 2018-09-05 | A kind of surgical assistant system and method based on 3D human body |
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| CN201811033091.3A CN109247985A (en) | 2018-09-05 | 2018-09-05 | A kind of surgical assistant system and method based on 3D human body |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110838373A (en) * | 2019-09-30 | 2020-02-25 | 广州幻境科技有限公司 | Virtual reality simulation method and system applied to consultation |
| CN111419398A (en) * | 2020-04-22 | 2020-07-17 | 蚌埠医学院第一附属医院（蚌埠医学院附属肿瘤医院） | An auxiliary control system for thoracic surgery based on virtual reality |
| CN111768491A (en) * | 2020-06-03 | 2020-10-13 | 上海昕健医疗技术有限公司 | Medical image display method and system based on virtual reality technology |
| CN111920520A (en) * | 2020-08-07 | 2020-11-13 | 重庆医科大学 | Test method for optimizing hearing reconstruction scheme by adopting simulation mould |
| CN112336476A (en) * | 2020-11-04 | 2021-02-09 | 四川大学 | Automatic image identification method and system for oral medical treatment |
| CN114795465A (en) * | 2022-05-31 | 2022-07-29 | 浙江大学 | Operation assisting system and method based on medical image three-dimensional reconstruction |
| CN115153858A (en) * | 2022-08-10 | 2022-10-11 | 珠海赛纳数字医疗技术有限公司 | Surgical robot system and its control method and device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110838373A (en) * | 2019-09-30 | 2020-02-25 | 广州幻境科技有限公司 | Virtual reality simulation method and system applied to consultation |
| CN111419398A (en) * | 2020-04-22 | 2020-07-17 | 蚌埠医学院第一附属医院（蚌埠医学院附属肿瘤医院） | An auxiliary control system for thoracic surgery based on virtual reality |
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| CN111920520A (en) * | 2020-08-07 | 2020-11-13 | 重庆医科大学 | Test method for optimizing hearing reconstruction scheme by adopting simulation mould |
| CN111920520B (en) * | 2020-08-07 | 2021-06-04 | 重庆医科大学 | A test method for optimizing hearing reconstruction scheme by using simulation mold |
| CN112336476A (en) * | 2020-11-04 | 2021-02-09 | 四川大学 | Automatic image identification method and system for oral medical treatment |
| CN114795465A (en) * | 2022-05-31 | 2022-07-29 | 浙江大学 | Operation assisting system and method based on medical image three-dimensional reconstruction |
| CN114795465B (en) * | 2022-05-31 | 2024-11-22 | 浙江大学 | A surgical assistance system and method based on three-dimensional reconstruction of medical images |
| CN115153858A (en) * | 2022-08-10 | 2022-10-11 | 珠海赛纳数字医疗技术有限公司 | Surgical robot system and its control method and device |
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Application publication date: 20190122 |