KR101485899B1 - Image matching method between computed tomography angiography image and X-Ray angiography image based on hemisphere shaped radiopaque 3D Marker - Google Patents

Abstract

The present invention relates to a real-time matching system between a radiopaque 3D marker based X-ray angiography and a coronary computed tomography angiography (CCTA) Because the images are matched using stereoscopic sign, Radiopaque 3D markers (3D markers) that maximize the accuracy of the procedure by allowing rapid response to external environment such as respiration or patient's motion, The purpose of the present invention is to provide a real-time matching system between X-ray angiography and coronary computed tomography angiography (CCTA), in which an X-ray is projected on a human body at various angles and reconstructed by a computer An X-ray CT scanner and a catheter are placed in the patient's vein to image the internal cross-section of the human body, CT angiography is performed using an X-ray CT scanner of the system with the stereoscopic sign attached to the center of the patient's chest, and an angiographic examination device for allowing blood vessels of the human body to be seen through the X- And an X-ray angiographic examination is performed by an angiographic examination apparatus in the coronary artery interventional examination room, and a stereographic mark in the image obtained by the CT angiography is obtained. Ray-angiographic image based on a radiopaque stereoscopic-based x-ray image obtained by real-time matching of stereoscopic markers in a real-time X-ray angiography image acquired from a procedure and a real- And a real-time matching system between CT angiographic images.

Description

[0001] The present invention relates to a method of matching between an X-ray angiography image and an X-ray angiography image based on a radiopaque hemispherical stereographic marker,

The present invention relates to a real-time matching system between a radiopaque 3D marker based X-ray angiography and a coronary computed tomography angiography (CCTA) (Radiopaque) stereoscopic sign-based (3D) system that maximizes the accuracy of the procedure by enabling real-time treatment induction at the treatment site by rapidly responding to all external environments such as respiration or patient's movement. To a real-time matching system between a marker-based X-ray angiography and a coronary computed tomography angiography (CCTA).

With the rapid development of interventional treatment techniques and devices for cardiac and vascular diseases, there has been actively attempted treatment for diseases that were previously considered impossible. For example, the area of interventions for chronic obstructive pulmonary disease, complex coronary artery disease, or structural heart disease is continuously expanding. However, as the scope of the intervention is expanded and the difficulty of the procedure is increased, the related complications are inevitably increasing rapidly. The reason for this is that the procedure is performed with reference to the past image in a state where the operation site can not be observed in real time, so that the operation may be performed at an inappropriate position or the wound may be wound on the normal blood vessel while moving the prosthetic insert into the blood vessel. In order to reduce the inevitable complications due to such technical limitations, a technique of matching between two different types of images has been developed to induce accurate procedures in a surgical field. However, the current technology is in the level of performing the matching between the still images separately using the CT coronary angiogram before the operation. Such matching between still images provides only a result of matching between simple images that do not reflect the movement of blood vessels due to actual breathing exercise and heartbeat, so that it is very difficult to induce the procedure in the treatment field.

Korean Patent No. 10-1190645

The present invention has been developed in recognition of the problems of the prior art as described above. Since the images are registered using stereoscopic signatures, it is possible to promptly respond to external environment such as breathing or patient's motion, A real-time matching system between Radiopaque 3D Marker Based X-ray Angiography and Coronary Computed Tomography Angiography (CCTA) that maximizes the accuracy of the procedure. The goal is to provide.

In order to achieve the above object, a system according to an embodiment of the present invention includes a radiopaque 3D marker based X-ray angiography and a CT angiogram Coronary Computed Tomography Angiography (CCTA)

An X-ray CT scanner and a catheter are inserted into the patient's blood vessel to inject the contrast agent into the blood vessel of the human body to project the image of the internal cross-section of the human body by projecting the X- And an angiographic examination device for viewing through an X-ray,

CT angiography using an X-ray CT scanner of the system with the stereoscopic sign attached to the center of a patient's chest to acquire images necessary for matching between stereoscopic signs included in a plurality of images, In the interventional room, an X-ray angiography examination was performed with an angiographic examination apparatus, and stereographic markings in the image obtained by the CT angiography and stereoscopic markings in the real-time X-ray angiography image obtained from the procedure were real- A real-time matching system between a radiopaque stereoscopic-based X-ray angiographic image and a CT angiographic image is provided.

In the above embodiment, the radiopaque stereoscopic sign for facilitating the matching between the images is formed by attaching a radiopaque material to the hollow hemispherical object in a lattice pattern, and the chest of a patient in need of CCTA And the CCTA was taken at the center of the image and the stereoscopic sign was included in the image. Then, the patient was transferred to the blood vessel intervention room and the blood vessel intervention procedure was performed to confirm the appearance of the two-dimensionally projected image on the angiogram The 3D angular model of the CCTA image is projected on the 2D angiographic image by matching the mark of the angiographic image with the mark of the CCTA image in real time to find the angle of rotation between the images.

According to the present invention, the angle of rotation between the images of the cover of the angiographic image and the CCTA image is found in real time and the 3D angular model of the CCTA image is projected on the two-dimensional angiographic image using the angle of rotation, It is possible to maximize the accuracy of the procedure by allowing quick response to external environment such as respiration or patient's motion and real-time treatment induction at the treatment site.

FIG. 1 shows a configuration of a real-time matching system between a radiopaque stereoscopic-based X-ray angiographic image and a CT angiographic image according to an embodiment of the present invention.
FIG. 2 shows a screen showing a virtual procedure scenario for real-time therapy induction based on heterogeneous image matching.
FIG. 3 shows an X-ray vessel cardiac chart for extracting a blood vessel model
4 is a view conceptually showing a hemispherical radiopaque stereoscopic sign attached to a patient's chest according to an embodiment of the present invention.
5 (a) and 5 (b) are views showing images of cardiovascular coronary artery by X-ray angiography and images of cardiovascular coronary artery by CT angiography.
Fig. 6 shows a screen of the result of matching the images of Fig. 5 (a) and Fig. 5 (b).
FIG. 7 shows a screen in which the stereoscopic sign is not completely included in an image after zooming in on an interventional procedure.
FIG. 8 shows a hypothetical chart in which models of coronary arteries of an X-ray angiogram and a CT angiogram are matched through matching of three-dimensional markers included in different images.

Hereinafter, a system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same or similar reference numerals are given to the same or similar portions.

FIG. 1 shows a configuration of a real-time matching system between a radiopaque stereoscopic-based X-ray angiographic image and a CT angiographic image according to an embodiment of the present invention.

Referring to the drawings, an apparatus of the present invention includes an X-ray CT scanner 100 and a catheter (not shown) for projecting an X-ray or an ultrasonic wave onto a human body at various angles and reconstructing the image by using a computer, And an angiographic examination apparatus 200 for injecting a contrast agent into a blood vessel of a patient so that a blood vessel of a human body can be seen through an x-ray.

In the present invention, Aquilion (TM) manufactured by Toshiba is used as the X-ray scanner, but the present invention is not limited thereto and any scanner may be used as long as it has the same or similar functions.

Using the system, a CT angiogram is performed by an X-ray CT scanner 100 in a state where stereoscopic markers are attached to the center of a patient's chest to acquire an image necessary for matching between stereoscopic markers included in a plurality of images . Then, the patient is transferred to the coronary artery interventional treatment room, the X-ray angiography examination is performed with the angiographic examination apparatus 200, and the three-dimensional mark in the image obtained by the CT angiography and the real- Real-time matching of 3D markers to match coronary arteries leads to real-time treatment at the treatment site.

FIG. 2 shows a screen showing a virtual procedure scenario for real-time therapy induction based on heterogeneous image matching.

FIG. 3 shows an X-ray vessel cardiac chart for extracting a blood vessel model. For the guide on the position of the catheter during the test, the practitioner generally uses the internal structure of the animal, the guide wire, , Catheter behavior, and intermittent use of a fluoroscope and low X-ray dose for visualization when needed. This is done without recording these simple surveys. Also, if the operator wishes to record a Diagnostic View that is stored and can be examined more carefully at a later time, operate the instrument and examine the very high X-ray dose called Cine.

4 is a view conceptually showing a hemispherical radiopaque stereoscopic sign attached to a patient's chest according to an embodiment of the present invention.

Referring to the drawings, a radiopaque stereoscopic sign 300 is attached to the center of a patient's chest, and a catheter 400 is injected into a blood vessel of a patient. When intervention is performed, the coronary arteries by the contrast agent are imaged on the X-ray image and the stereoscopic sign is also projected. The image of FIG. 2 is obtained from the C-arm detector 200a of FIG.

The stereoscopic sign 300 is formed by attaching a radiopaque material to a hollow semi-spherical object in a lattice pattern, and the object is unique even when projected to the radiation at an angle. To establish the intervention plan, attach a stereoscopic sign to the center of the patient's chest where the CCTA is needed, and capture the CCTA to include the stereoscopic sign on the image. Then, by transferring the patient to the vascular intervention chamber and performing the vascular intervention, it is possible to confirm the appearance of the two-dimensional projection on the angiogram. In addition, the angle of rotation between the images of the CCTA image is matched with the mark of the CCTA image in real time, and the 3D angular model of the CCTA image is projected on the 2D angiographic image using the angle.

5 (a) and 5 (b) are views showing images of cardiovascular coronary artery by X-ray angiography and images of cardiovascular coronary artery by CT angiography.

The image matching between the stereoscopic sign 300 of the X-ray two-dimensional image of Fig. 5 (a) and the stereoscopic sign 300 of the three-dimensional CT image of Fig. 5 (b) is performed.

FIG. 6 shows a screen of a result obtained by matching the images of FIG. 5 (a) and FIG. 5 (b). As a result of matching of stereoscopic signs 300 of two images, .

FIG. 7 shows a screen in which the stereoscopic sign is not completely included in an image after zooming in on an interventional procedure.

In the case of FIG. 7, zoom-out is performed to include all three-dimensional markers in the image.

FIG. 8 shows a hypothetical chart in which models of coronary arteries of an X-ray angiogram and a CT angiogram are matched through matching of three-dimensional markers included in different images.

As shown in FIG. 8, the computation time can be minimized by using the matching between the three-dimensional markers, not the matching between the coronary arteries, so that the treatment can be induced in real time.

According to the present invention described above, the angle of rotation between images is obtained by matching the cover of the angiographic image with the cover of the CCTA image in real time, and the three-dimensional blood vessel model of the CCTA image is projected on the two- Since the images are registered using the front cover, it can react quickly to all external environments such as respiration or patient's movement, and it is possible to induce real-time treatment at the treatment site, thereby maximizing the accuracy of the procedure.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims. And such modified embodiments should not be individually understood from the technical idea or viewpoint of the present invention.

100: X-ray scanner 200: Angiographic device
200a: C arm detector 300: Radiopaque stereoscopic marker
400: catheter

Claims (2)

As a matching method between a CT angiographic image and an X-ray angiographic image based on a radiopaque hemispherical stereoscopic marker,
Attaching the radiopaque hemispherical stereoscope to a patient;
Obtaining a CT angiogram image of a three-dimensional blood vessel model for a patient to which the impermeable hemispherical stereoscope is attached using an X-ray CT scanner;
Obtaining an X-ray angiographic image of a patient to which the impermeable hemispherical stereogram is attached using an angiographic examination apparatus; And
Dimensional angiographic model of the CT angiographic image according to the angle of rotation between the radiopaque hemispherical stereographic marker in the X-ray angiogram and the radiopaque hemispherical stereogram in the CT angiogram, Comprising the step of: projecting the X-ray angiogram on the X-ray angiographic image of the X-ray and the X-ray angiogram on the basis of the radiopaque hemispherical stereographic marker A method of matching between CT angiography and X-ray angiography.
The method according to claim 1,
The radiation-impermeable stereoscopic sign attached to the patient may include,
A method of matching between a CT angiographic image and an X-ray angiographic image based on a radiopaque hemispherical stereoscopic marker, characterized in that the radiopaque hemispherical stereoscopic marker is a cubic marker with a radiopaque substance attached to a hollow hemispherical object.

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