CN103371844A - Method and system for visualizing kidney area - Google Patents

Abstract

The invention discloses a method for visualizing the kidney area, comprising: collecting a three-dimensional CT data group of the kidney area; taking a perspective image of the kidney area; and superimposing the three-dimensional CT data group registered with the perspective image with the perspective image displayed. The invention also discloses a system for visualizing the kidney area. Through the implementation of the present invention, the kidney area can be clearly visualized.

Description

Method and system for visualizing kidney regions

technical field

The invention relates to the technical field of medical devices, in particular to a method and system for visualizing the kidney area.

Background technique

Renal interventional procedures such as percutaneous pelvic puncture are common methods for the diagnosis and treatment of urinary tract and kidney diseases. For example, for kidney stones with large diameters, the surgical treatment process may include: establishing a percutaneous nephrolithotomy path through percutaneous pelvic puncture; Take the stone.

In the above process, how to establish a suitable percutaneous pelvic puncture path is a very critical step in renal interventional surgery. Because the kidney has a rich vasculature, slight puncture deviations can have serious consequences, such as massive bleeding. In addition, the establishment of a suitable percutaneous pelvic puncture route can also effectively reduce the complications of renal interventional surgery, such as internal bleeding and damage to adjacent tissues.

In order to guide the above process and establish a suitable path for percutaneous renal pelvic puncture, the combination of fluoroscopy and ultrasound imaging is currently used to guide percutaneous renal pelvic puncture. Among them, fluoroscopy can guide the puncture process, but cannot clearly locate the position of the renal pelvis; ultrasound imaging can locate the position of the renal pelvis, but cannot guide the puncture process. Therefore, the combination of the two can usually achieve the correct guidance of renal interventional surgery.

However, in some cases, for example, sometimes the renal pelvis is not dilated, and ultrasound cannot play a guiding role; for example, sometimes ultrasound has poor resolution for the guide wire used for renal pelvic puncture, and ultrasound cannot play a guiding role at this time. In this case, ultrasound imaging cannot be used to guide renal interventional surgery, and fluoroscopy alone cannot clearly display the internal structure of the kidney area, so it is impossible to guide renal interventional surgery.

Therefore, medical imaging equipment needs a technology that can clearly display the internal structure of the kidney area.

The Chinese patent with the authorized notification number CN1689516B discloses a method and a device for using two-dimensional perspective images to support the application of electrophysiology catheters.

Contents of the invention

In view of this, on the one hand, the present invention proposes a method for visualizing the kidney area, and on the other hand, proposes a system for visualizing the kidney area, so as to clearly display the internal structure of the kidney area.

Therefore, the present invention provides a method for visualizing the kidney area, comprising:

Acquisition of three-dimensional CT data sets of the kidney area;

taking fluoroscopy images of the kidney area;

The 3D CT data set registered to the fluoroscopic image is displayed superimposed on the fluoroscopic image.

In one embodiment, the same C-arm X-ray machine is used to collect the three-dimensional CT data set and shoot the fluoroscopic image.

Optionally, in the case that the kidney area moves when the three-dimensional CT data set of the kidney area is collected and/or the fluoroscopic image of the kidney area is taken, the method further includes: using the three-dimensional CT data set and the fluoroscopic image The visible markers in , register the 3D CT data set with the fluoroscopic image.

In another implementation manner, different X-ray machines are used to respectively collect the three-dimensional CT data group and shoot the fluoroscopic image. The method further includes: before displaying the three-dimensional CT data set registered with the fluoroscopic image superimposed on the fluoroscopic image, using an X-ray machine that captures the fluoroscopic image to acquire a reference CT data set of the kidney region; Using visible markers in the 3D CT data set and the reference CT data set, registering the 3D CT data set with the reference CT data set to obtain a 3D CT data set that is registered with the fluoroscopic image .

In the case that the kidney region moves when the reference CT data set of the kidney region is acquired and/or the fluoroscopic image of the kidney region is taken, the method further includes: using the reference CT data set and visible markers in the fluoroscopic image , registering the reference CT data set with the fluoroscopic image.

The present invention also provides a system for visualizing the area of the kidney, comprising:

a first X-ray machine for acquiring a three-dimensional CT data set of the kidney area;

a second X-ray machine for taking fluoroscopic images of the kidney area;

A superimposed display device for superimposing and displaying the 3D CT data set registered with the fluoroscopic image and the fluoroscopic image.

According to an implementation manner, the first X-ray machine and the second X-ray machine are the same C-arm X-ray machine.

Optionally, the system further includes: a registration device, which is used to adopt the set when the kidney area moves when the C-arm X-ray machine collects the three-dimensional CT data group of the kidney area and/or takes the fluoroscopic image of the kidney area. and registering the 3D CT data set with the fluoroscopic image.

According to another embodiment, the first X-ray machine and the second X-ray machine are different X-ray machines. The second X-ray machine is further used to acquire a reference CT data set of the kidney area. The system further includes: a registration device for registering the 3D CT data set with the reference CT data set using visible markers in the 3D CT data set and the reference CT data set to obtain A 3D CT data set registered with the fluoroscopic image.

Optionally, when the second X-ray machine collects the reference CT data set of the kidney area and/or takes the fluoroscopic image of the kidney area, when the kidney area moves, the registration device is further used to: combine the three-dimensional CT data set The reference CT data set is registered with the fluoroscopic image using visible markers in the reference CT data set and the fluoroscopic image prior to registration with the reference CT data set.

It can be seen from the above scheme that in the embodiment of the present invention, before taking the fluoroscopic image of the kidney area, a three-dimensional CT data set that can clearly show the internal structure of the kidney area is collected, and when the fluoroscopic image of the kidney area is taken in real time, the The 3D CT data set registered with the fluoroscopic image is displayed superimposed on the fluoroscopic image, so that the kidney region can be clearly visualized.

In specific implementation, by using the same C-arm X-ray machine to collect the 3D CT data set and fluoroscopic image of the kidney area, the 3D CT data set can be used for the visualization of the kidney area, which simplifies the process, saves time, and improves Surgical safety.

In addition, by using other CT machines to collect higher-resolution three-dimensional CT data sets, clearer visual images can be obtained.

Description of drawings

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those of ordinary skill in the art will be more aware of the above-mentioned and other features and advantages of the present invention. In the accompanying drawings:

FIG. 1 is an exemplary flowchart of a method for visualizing kidney regions in an embodiment of the present invention.

Fig. 2 is an exemplary structural diagram of a system for visualizing kidney regions in an embodiment of the present invention.

Wherein, the reference signs are as follows:

101-Acquisition of CT data sets of the kidney region

102 - Taking fluoroscopy images of the kidney area

103 - Display of superimposed CT data sets with fluoroscopic images

201-The first X-ray machine

202-Second X-ray machine

203-overlay display device

204 - registration device

Detailed ways

In the embodiment of the present invention, in order to clearly display the internal structure of the kidney area, it is considered to collect a three-dimensional X-ray computed tomography (CT) data set of the kidney area, and superimpose the three-dimensional CT data set with the captured fluoroscopic image of the kidney area show.

In order to make the purpose, technical solution and advantages of the present invention clearer, the following examples are given to further describe the present invention in detail.

FIG. 1 is an exemplary flowchart of a method for visualizing kidney regions in an embodiment of the present invention. As shown in Figure 1, the process includes the following steps:

Step 101, collecting a three-dimensional CT data set of the kidney area.

In this step, a C-arm X-ray machine such as a vascular machine can be used to collect a three-dimensional CT data set of the kidney area. At this time, the three-dimensional CT data set can also be called a flat panel CT data set (DyanCT).

In addition, in this step, other CT machines with higher resolution can also be used to acquire the three-dimensional CT data set of the kidney area, and at this time, the three-dimensional CT data set may have a higher resolution than the flat-panel CT data set.

In this step, when collecting the three-dimensional CT data set of the kidney area, in order to obtain a clearer effect, a contrast agent may be injected into the kidney.

In the scenario of percutaneous renal pelvic puncture, the kidney area where the three-dimensional CT data set is collected may be a set scanning area related to renal interventional surgery. It can include the renal pelvis, ureters, and spine, among others.

Step 102, taking a perspective image of the kidney area.

In this step, the fluoroscopic image of the kidney area can be taken by the same X-ray machine that took the three-dimensional CT data set of the kidney area.

For example, in step 101, the C-arm X-ray machine is used to capture the flat-panel CT data set of the kidney area, and the same C-arm X-ray machine can also be used to capture the fluoroscopic image of the kidney area in this step.

Optionally, in this step, an X-ray machine different from the three-dimensional CT data set of the kidney area may be used to capture the fluoroscopic image of the kidney area.

For example, in the case of using other CT machines to acquire the three-dimensional CT data set of the kidney area in step 101, a C-arm X-ray machine can be used to take a fluoroscopic image of the kidney area in this step.

Step 103, displaying the 3D CT data group registered with the fluoroscopic image superimposed on the fluoroscopic image.

In step 101 and step 102, the same X-ray machine is used to shoot the three-dimensional CT data set of the kidney area and the perspective image of the kidney area, if the patient does not move during the shooting process, that is, the position of the kidney area does not shift (such as for the patient When kidney interventional surgery is performed under general anesthesia), since the shooting parameters (such as geometric coordinates, etc.) are all the same, the perspective image generated in real time in step 102 is automatically configured with the three-dimensional CT data group collected in step 101, so In this step, the two can be superimposed and displayed directly.

In step 101 and step 102, the same X-ray machine is used to shoot the three-dimensional CT data set of the kidney area and the fluoroscopic image of the kidney, if the patient moves during the shooting process, the position of the kidney area will be displaced (such as for the patient in the local If the renal interventional operation is performed under anesthesia), it is necessary to perform compensation calibration for the movement before this step 103.

For example, the 3D CT data set in step 101 and the visible markers in the fluoroscopic image in step 102 can be used, such as the spine, to register the 3D CT data set with the fluoroscopic image, and then, in this step 103, the The three-dimensional CT data set registered with the fluoroscopic image is displayed superimposed on the fluoroscopic image.

For the situation in step 101 and step 102 that different X-ray machines are used to take the three-dimensional CT data set of the kidney area and the fluoroscopic image of the kidney area, before this step 103, the same X-ray machine used to take the fluoroscopic image of the kidney area can be used A three-dimensional CT data set of the kidney area, such as a flat-panel CT data set, is collected, and the three-dimensional CT data set is used as a reference CT data set, that is, a registration benchmark. Afterwards, the visible markers in the 3D CT data set in step 101 and the visible markers in the reference CT data set, such as the spine, can be used to register the 3D CT data set with the reference CT data set, A three-dimensional CT data set registered with the fluoroscopic image is obtained.

For example, if the location of the kidney region moves when the reference CT data set of the kidney region is acquired and/or when the fluoroscopic image of the kidney region is taken, if necessary, before registering the three-dimensional CT data set with the reference CT data set, further The reference CT data set is registered with the fluoroscopic image using visible markers in the reference CT data set and visible markers in the fluoroscopic image.

The method for visualizing the kidney area in the embodiment of the present invention has been described in detail above, and a system for visualizing the kidney area capable of implementing the above method will be described in detail below.

Fig. 2 is an exemplary structural diagram of a system for visualizing kidney regions in an embodiment of the present invention. As shown in FIG. 2 , the system includes: a first X-ray machine 201 , a second X-ray machine 202 and a superimposed display device 203 .

Wherein, the first X-ray machine 201 is used to acquire the three-dimensional CT data set of the kidney area.

The second X-ray machine 202 is used to take fluoroscopic images of the kidney area.

The superimposed display device 203 is used for superimposing and displaying the 3D CT data group registered with the fluoroscopic image and the fluoroscopic image.

Optionally, the first X-ray machine 201 and the second X-ray machine 202 may be the same C-arm X-ray machine. In this case, if the C-arm X-ray machine collects the three-dimensional CT data group of the kidney area and/or takes the fluoroscopic image of the kidney area, the patient moves and the position of the kidney area is displaced, then the system can be further shown in the figure 2, includes a configuration device 204, which is used for when the position of the kidney area moves when the C-arm X-ray machine collects the three-dimensional CT data set of the kidney area and/or takes the fluoroscopic image of the kidney area, The 3D CT data set is registered with the fluoroscopic image using the 3D CT data set and visible markers in the fluoroscopic image. If the position of the kidney area does not shift when the C-arm X-ray machine acquires the three-dimensional CT data set of the kidney area and/or captures the fluoroscopic image of the kidney area, the above-mentioned configuration device 204 may not be needed.

Alternatively, the first X-ray machine 201 and the second X-ray machine 202 may also be different X-ray machines.

In addition, the second X-ray machine 202 can be further used to acquire a three-dimensional CT data set of the kidney area, that is, a reference CT data set. At this point, the system may further include a registration device 204, as shown by the dotted line in FIG. The three-dimensional CT data set is registered with the reference CT data set to obtain a three-dimensional CT data set registered with the perspective image.

If the position of the kidney area moves when the reference CT data set of the kidney area is acquired and/or when the fluoroscopic image of the kidney area is taken, the registration device 204 can be further used to: combine the three-dimensional CT data set with the reference CT data set Before the data sets are registered, the reference CT data set is registered with the fluoroscopic image using the visible markers in the reference CT data set and the visible markers in the fluoroscopic image.

The invention discloses a method for visualizing the kidney area, comprising: collecting a three-dimensional CT data group of the kidney area; taking a perspective image of the kidney area; superimposing the three-dimensional CT data group registered with the perspective image with the perspective image displayed. The invention also discloses a system for visualizing the kidney area. Through the implementation of the present invention, the kidney area can be clearly visualized.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. method with the kidney area visualization comprises:

Gather the three dimensional CT data set in kidney zone;

Take the fluoroscopy images in kidney zone;

To show with three dimensional CT data set and the described fluoroscopy images stack ground of described fluoroscopy images phase registration.

2. method according to claim 1 is characterized in that,

Adopt same C arm X-ray production apparatus to gather described three dimensional CT data set and take described fluoroscopy images.

3. method according to claim 2 is characterized in that, the kidney zone occurs in the mobile situation at the three dimensional CT data set in described collection kidney zone and/or when taking the fluoroscopy images in kidney zone, and the method further comprises:

Adopt the witness marking in described three dimensional CT data set and the described fluoroscopy images, described three dimensional CT data set and described fluoroscopy images are carried out registration.

4. method according to claim 1 is characterized in that, adopts different X-ray production apparatus to gather respectively described three dimensional CT data set, takes described fluoroscopy images;

The method will further comprise before described will the demonstration with the three dimensional CT data set of described fluoroscopy images phase registration and described fluoroscopy images stack ground:

Utilize the X-ray production apparatus of taking described fluoroscopy images to gather the reference CT data set in kidney zone;

Adopt described three dimensional CT data set and described with reference to the witness marking in the CT data set, with described three dimensional CT data set and describedly carry out registration with reference to the CT data set, obtain the three dimensional CT data set with described fluoroscopy images phase registration.

5. method according to claim 4 is characterized in that, the kidney zone occurs in the mobile situation at the reference CT data set in described collection kidney zone and/or when taking the fluoroscopy images in kidney zone, and the method further comprises:

Adopt describedly with reference to the witness marking in CT data set and the described fluoroscopy images, carry out registration with described with reference to CT data set and described fluoroscopy images.

6. system with the kidney area visualization comprises:

One first X-ray production apparatus (201) is for the three dimensional CT data set that gathers the kidney zone;

One second X-ray production apparatus (202) is for the fluoroscopy images of taking the kidney zone;

An Overlapping display device (203) is used for and will shows with three dimensional CT data set and the described fluoroscopy images stack ground of described fluoroscopy images phase registration.

7. system according to claim 6 is characterized in that, described the first X-ray production apparatus (201) is same C arm X-ray production apparatus with the second X-ray production apparatus (202).

8. system according to claim 7, it is characterized in that, this system further comprises: a registration apparatus (204), being used for when described C arm X-ray production apparatus gathers the three dimensional CT data set in kidney zone and/or take the fluoroscopy images in kidney zone the kidney zone occurs when mobile, adopt the witness marking in described three dimensional CT data set and the described fluoroscopy images, described three dimensional CT data set and described fluoroscopy images are carried out registration.

9. system according to claim 6 is characterized in that, described the first X-ray production apparatus (201) and the second X-ray production apparatus (202) are different X-ray production apparatus;

Described the second X-ray production apparatus (202) is further used for gathering the reference CT data set in kidney zone;

This system further comprises: a registration apparatus (204), be used for adopting described three dimensional CT data set and described witness marking with reference to the CT data set, with described three dimensional CT data set and describedly carry out registration with reference to the CT data set, obtain the three dimensional CT data set with described fluoroscopy images phase registration.

10. system according to claim 9, it is characterized in that, the kidney zone occurs when mobile when described the second X-ray production apparatus (202) gathers the reference CT data set in kidney zone and/or take the fluoroscopy images in kidney zone, described registration apparatus (204) is further used for: with the three dimensional CT data set and describedly carry out before the registration with reference to the CT data set, adopt describedly with reference to the witness marking in CT data set and the described fluoroscopy images, carry out registration with described with reference to CT data set and described fluoroscopy images.

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