200826639 九、發明說明： 【發明所屬之技術領域】 本發明係提出一種影像掃描之整合系統及控制方法， 特別是關於藉由語音指令操控掃描動作之整合系統及控制 方法。 【先前技術】 現代醫學對疾病的診斷與治療，在很大程度上必須仰 賴醫學影像技術，以期能夠看到人體一層層的斷面影像， 以避免在同一位置可能有多個器官交互重疊而擋住了所要 觀察的目標，同時，為了避免對身體造成傷害，所以非侵 入式生醫斷層影像技術對於醫療診斷及生醫研究佔有相當 重要的地位。 目前’生醫斷層影像通常為使用X射線在不同的角度 照射和掃描人體，可從三維生物體重建出許多斷層切面的 影像，也就是現在大部分人熟悉的電腦斷層掃描（CT)，其 測量能量束通過生物體衰減後形成的交互作用量，再應用 電腦裝置計算，以重建出橫截面的組織特性影像或是三維 立體影像。其他非侵入式生醫斷層影像技術，如使用電子 射束、超音波或是核磁共振（MRI)等作為成像能量源，亦可 達到藉由觀察並紀錄能量造射在生物體上產生不同影響以 形成生物體内部結構之三維影像的目的。 在使用一般影像掃描儀器的應用上，由於儀器需要與 6 200826639 及進行計算以4，;;透=電腦裝置執行儀器的控制器 要操作者須於儀行 遠端的電腦裝置處來操控儀器的功能m位助手於 影像的應用上，操作者需要追縱儀器的探些醫學 像的觀看角度，因此除非操 取影 否則在使用上會有便利性及自主性;==佳的默契， 有鑑於上述問題，本發明人基於 實務經驗，經多方研究設計與事研究與諸多 -種影像掃描之整合系統及㈣方°、’逐於j發明提出 解決方式與依據。 彳，从作為前述問題之 【發明内容】 有鑑於上述課題，本發明之目的 掃描儀器、立體資料點對位於醫提供—種融合影像 航影像等多方面應用的整合系絶二/以及對位後追蹤導 見的操作方式，建立語音指^操觀，一般常 要功能，解決操作不便的問題，構忠二$掐儀态及其主 影像對位及導航之整合純。 套使用方便的醫學 緣是，為達上述目的，依本笋 ^ 影像擷取裝置、處理裝置及語音^ i合系統，包含有 描取點、對位處理、對位後的追縱^置’其提供影像掃 能。影像擷取裝置用於掃描一第〜与:以及影像顯示等功 像之資料點。處理裝置内建有至少二，以擷取此第一影 一弟二影像，第二影像 7 200826639 包含至少一詢問點，處 處理，藉此產生—掃 貝枓點及詢問點進行對位 ^ ., 知撝衫像負料。語音擷取裝置主要用於 接收一音頻信號，並將立相户哚祖w 7 # 1王罟用趴 ^ ^ ^ ^ ^ 將曰須仏唬棱供予處理裝置，由於處 理衣置接收0齡_，可_音頻信蚊 音指令相符合’以進—步控難行上述功能。㈣之- 承上所述，#作者可藉由語音擷取裝置輸入音頻信 號，以操作影像擷取裝置之取點功能或追蹤導航功能。且， 藉由執行影像之對位處理，將第一影像之資料點與第二影 像之詢問點進行對位處理，以產生掃描影像資料。再者， 藉由執行追縱導航功能，以控制顯示影像擷取裝置之探針 移動的位置及切入角度。此外，操作者更可藉由語音指令 以執行影像顯示功能，藉此便於選擇影像顯示方式及觀看 的角度、位置。上述之第一影像較佳為受測物體，第二影 像較佳為電腦斷層掃描或核磁共振（MRI)影像。 茲為使貴審查委員對本發明之技術特徵及所達成之 功效有更進一步·之暸解與涊識，下文謹提供較佳之實施例 及相關圖式以為輔佐之用，並以詳細之說明文字配合說明 如後。 【實施方式】 為讓本發明之上述目的、特徵和優點能更明顯易懂， 下文依本發明之影像掃描之整合系統及控制方法，特舉較 佳實施例，並配合所附相關圖式，作詳細說明如下，其中 相同的元件將以相同的元件符號加以說明。 200826639 /吾月餐閱-圖’其係本發明所揭露之影 敕人 系統之方塊示意圖，如圖所示，整合系統 裝置11、影像擷取裝置12及處理裝置13，I二叩θ擷取 2裝置u用於接收外部之音頻信號14，並將音頻= 擷取裝η 、十 抆制1^ 121用於控制探針122，藉由Μ4+ 199 掃描外部之第一影像15，以操 由^針122 ⑸’使控制器™料點 =單元16、㈣單元13卜對位處理單 料^ 押制^ ηι ’弟—影像162中含有至少—詢問點163。 131可接收音號14，並至 ，指令161，再比對音頻信號是否對應語音指令1611 :I 定之操作命令以控制整合系 擷取f置12之控制単元131即連繫影像 控㈣L = ^ m ’藉此控制操作探針122。又， 點15了提供122以取得資料點151後’即將資料 單元μ，理I置13之對位處理單元132，對位處理 151 Μ - 憶單元16讀取第二影像162，再將資料點 ^ : ^62之詢問點163進行對位處理，以產生 132 13〇。 、、早70 133’使顯不單元133可顯示影像資料 再者’此整合系統1除了上述提及之影像掃描取點、 200826639 對位處理及影_示#魏 其係將影像擷取裝置12之探針122:置=導航功能’ 於掃描影像資料13〇巾，切作端 ^人角度整合 上觀看，增加操作上的便利。上 顯不單元133 取點開始、取點結束、追 ^ ^令161包括為 始所指定之操作命令為控制影像擷其令取點開 開始擷取資料點151，取 '"置12之探針122 影像擷取|置12之探針1221 作命令為控制 始所指k操作料騎制料⑸，追蹤開 開始擷取資料點丨51，並進一 、置12之捸針122 :束所指定之操作命令為控制;像==追縱 停止擷取資料點151，並一 衣置12之捺針122 語音指令mi更包含用於選；γ轉航功能。此外， 位置等操作命令。影像_=^方式及觀看角度、 置，處理裝置13包括為—電 ^括為一影像掃插裝 人頭影像、脊椎影像或其他生’弟一影像15包括為 ^ 162 本二揭整合系統Γ，請參閱第二圖 路之靖描之控制方法之步驟流程圖 步驟S21:讀入事先儲存-旦 掃描或核磁共振影像，用以取二衫像162’如電腦藝 163; ㈣取传弟二影像162之詢問 步驟S22 :輪入音頻信號 W Μ控制掃描第一影像工 200826639 藉由影像擷取裝置12的探針122擷取第一影像i 點151 ; 丁叶 步驟S23 :利用對位處理單元132將資料點151及含句 問點163進行對位處理，取得兩空間座標轉換關係，以產 生掃描影像資料130; 步驟S24 :輸入音頻域14以開啟追縱導航功能 ^探針122的位置及切入角度顯示於㈣娜所^ 知插影像資料130中；以及 的 步驟輸入音頻信號14以選擇掃描影像資料13〇 <顯不形悲。 牛驟ΐ，請參閱第三圖，其係本發明所揭露之對位處理之 ^驟流程圖，包含以下步驟： 步驟S31 :將資料點151以第— 轴’並於每-次的投影以數學手段又衫至座標 第—資—π讀點151，建立 順序重複投影至座 分資料點151，建 步驟S32 :將資料點151再以第二 標輛，並於每一次的投影以數學手段二 立弟一貢料樹； 步驟S33 :利用一方程式來計算一門檻值· 步驟S34:尋找詢問點163至第1料樹及 祕中之最接近點； 弟一貝料 步驟S35 :回傳第一資料樹及第二資料樹之最接近點 11 200826639 與言旬問點163的距離； 2 S36 :當距離均小於門檻值時，第一資料樹之最 接近砧與詢問點163則成為一有效對應點； ”所二驟S37.疋成所有第二影像之詢問·點I63的詢問後， ^伸之有效對應點的數目來調整門摄值；以及 βΜ8 .再次詢問使有效對應點的數目足夠使第一 影像15與第二影像162進行對位。 ^述步驟中’在步驟s㈣，通常需先將第二影像的 或質心移動至第-影像的中心、點或質心附近，其可200826639 IX. Description of the Invention: [Technical Field] The present invention provides an integrated system and control method for image scanning, and more particularly relates to an integrated system and control method for manipulating scanning actions by voice commands. [Prior Art] Modern medical diagnosis and treatment of diseases must rely heavily on medical imaging technology in order to see a cross-sectional image of the human body layer to avoid overlapping and blocking of multiple organs at the same location. The goal to be observed, at the same time, in order to avoid harm to the body, non-invasive biopsy tomography technology plays an important role in medical diagnosis and biomedical research. At present, 'medical tomographic images usually use X-rays to illuminate and scan the human body at different angles. It can reconstruct images of many tomographic slices from three-dimensional organisms, which is the computerized tomography (CT) that most people are familiar with today. The amount of interaction formed by the energy beam after attenuation by the organism is then calculated by a computer device to reconstruct a cross-sectional tissue characteristic image or a three-dimensional image. Other non-invasive biomedical tomography techniques, such as the use of electron beam, ultrasonic or nuclear magnetic resonance (MRI) as imaging energy sources, can also achieve different effects on living organisms by observing and recording energy shots. The purpose of forming a three-dimensional image of the internal structure of the living body. In the application of the general image scanning instrument, the instrument needs to be calculated with 6 200826639 and 4;; through the computer device to execute the instrument controller, the operator must operate the instrument at the remote computer device Function m-bit assistant in the application of images, the operator needs to trace the angle of view of the medical image of the instrument, so unless it is operated, there will be convenience and autonomy in use; == good tacit understanding, in view of The above problems, the inventors based on practical experience, through multi-party research design and research and many kinds of image scanning integration system and (four) square °, 'by j invention, propose solutions and basis.彳 从 作为 作为 作为 作为 作为 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 有 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描 扫描Tracking the operation mode of the guide, establishing the voice guidance, general functions, solving the problem of inconvenient operation, constructing the integrity of the two 掐 掐 及其 and its main image alignment and navigation. The convenience of medical use is that, in order to achieve the above objectives, according to the bamboo shoots image capturing device, processing device and voice system, including the drawing point, the alignment processing, the tracking after the alignment It provides image sweeping energy. The image capturing device is used to scan the data points of the first and the: and the image display. The processing device has at least two built in to capture the first image and the second image. The second image 7 200826639 includes at least one query point, and is processed to generate a scan point and a query point for the alignment. , knowing the shirt is like a negative material. The voice capture device is mainly used for receiving an audio signal, and the front-end household 哚 w w 7 # 1 王罟用趴 ^ ^ ^ ^ ^ will be supplied to the processing device by the 仏唬 仏唬, because the processing clothes receive 0 years old _, can _ audio letter mosquito sound instructions in line with the 'into-step control difficult to do the above functions. (4) - As stated above, the # author can input the audio signal through the voice capture device to operate the image capture device's pick-up function or track navigation function. And performing the alignment processing of the image, and performing the alignment processing on the data point of the first image and the query point of the second image to generate the scanned image data. Furthermore, by performing the tracking navigation function, the position and the plunging angle of the probe for displaying the image capturing device are controlled. In addition, the operator can perform an image display function by using a voice command, thereby facilitating selection of the image display mode and the angle and position of the viewing. Preferably, the first image is a subject to be measured, and the second image is preferably a computed tomography or a nuclear magnetic resonance (MRI) image. In order to give your reviewers a better understanding of the technical features and the efficacies of the present invention, the preferred embodiments and related drawings are provided for assistance and detailed explanations. As after. The above-mentioned objects, features and advantages of the present invention will become more apparent and obvious. The following is a preferred embodiment of the image scanning integrated system and control method according to the present invention, and with the accompanying drawings, The detailed description is as follows, in which the same elements will be described with the same element symbols. 200826639 / 吾月餐-图' is a block diagram of the system of the present invention disclosed in the present invention, as shown in the figure, the integrated system device 11, the image capturing device 12 and the processing device 13, I 叩θ extraction 2 device u is used to receive the external audio signal 14, and the audio = capture η, tens of 1 ^ 121 is used to control the probe 122, and the external first image 15 is scanned by Μ 4 + 199 to operate ^ The needle 122 (5)' causes the controller TM material point = unit 16, the (four) unit 13 to be in the position processing unit, and the second image is contained in the image 162. 131 can receive the sound number 14, and then, the command 161, and then compare the audio signal corresponding to the voice command 1611: I determine the operation command to control the integration system to take the control unit 131 of the f set 12 to connect the image control (four) L = ^ m 'This controls the operation of the probe 122. In addition, the point 15 provides 122 to obtain the data point 151, and the data processing unit 132, the alignment processing unit 132, the alignment processing 151 Μ - the memory unit 16 reads the second image 162, and then the data point ^ : The inquiry point 163 of ^62 performs the alignment processing to generate 132 13〇. , 70 133' early display unit 133 can display image data and then 'this integrated system 1 in addition to the above mentioned image scanning point, 200826639 alignment processing and shadow _ display #魏其系 image capture device 12 The probe 122: set = navigation function 'scanned image data 13 wipes, cut into the end of the human angle integrated view, increase the convenience of operation. The upper display unit 133 takes the start of the point, the end of the point, and the command 161 includes the operation command specified for the start to control the image, and the point is taken to start the data point 151, and the '" Needle 122 image capture | set 12 probe 1221 as the command to control the starting point k operation material riding material (5), tracking start to capture data point 丨 51, and enter a 12-pin 122 pin 122: bundle specified The operation command is control; like == tracking, the data point 151 is stopped, and a pinch 122 voice command mi is included for selection; the gamma navigation function is included. In addition, position and other operational commands. The image_=^ mode and the viewing angle, and the processing device 13 includes an image-sweeping head image, a spinal image or other raw images of the body 15 including the image system. Please refer to the steps of the control method of the second picture road. Step S21: Read in the pre-storage-red scan or MRI image to take the second shirt like 162' such as computer art 163; (4) Take the second brother The inquiry step S22 of the image 162: the round-in audio signal W Μ control scans the first image worker 200826639. The first image i point 151 is captured by the probe 122 of the image capturing device 12; the step S23: using the alignment processing unit 132, the data point 151 and the sentence 163 are aligned, and the two space coordinate conversion relationship is obtained to generate the scanned image data 130; Step S24: input the audio field 14 to enable the position of the tracking navigation function ^ probe 122 and The cut-in angle is displayed in (4) Na's image data 130; and the step of inputting the audio signal 14 to select the scanned image data 13〇<not sorrowful. Referring to the third figure, which is a flowchart of the alignment processing disclosed in the present invention, the method includes the following steps: Step S31: the data point 151 is taken with the first axis and the projection of each time is The mathematics means the shirt to the coordinates - the capital - π reading point 151, the establishment of the sequence repeat projection to the seat data point 151, the construction step S32: the data point 151 and then the second standard, and each projection by mathematical means Second Lidi tributary tree; Step S33: Using a program to calculate a threshold value. Step S34: Find the closest point of the inquiry point 163 to the first material tree and the secret; Step one step S35: Return the first The closest point of a data tree and the second data tree 11 200826639 The distance from the question point 163; 2 S36: When the distance is less than the threshold value, the closest anvil to the query point 163 becomes effective. Corresponding point; "Second step S37. After all the queries of the second image, the inquiry of the point I63, the number of effective corresponding points is adjusted to adjust the door value; and βΜ8. Re-inquiring to make the number of valid corresponding points sufficient The first image 15 is aligned with the second image 162. In the step s (four), it is usually necessary to first move the second image or centroid to the vicinity of the center, point or centroid of the first image, which can
Li單純法I—來計算較佳的移動量，如 ⑤所不’第四圖係為本發明所揭露之單純法之步驟流 耩圖’包含以下步驟： 多驟S411 :隨機產生7點，γι至γ7，每_ γ點包含3個 平移量及 3個旋轉量 (R，T)KRx，Ry，Rz，Tx，Ty，Tz); 炎驟S412 :使用ICP演算法的目標函數（〇bjective function)來當作單純法的目標函數F(}〇、如第一方程 式所示，使用詢問點163(C1)及資料點151(c2)來計 算 F(J1)至 F(F7)。 F⑺=F队 Γ)) = ♦!㈣C2)/ + Μα),丨丨2 ⑴ 聚S413:比較步驟S412產生的7個,值、其記錄最 大F值為_)及發生的γ為ΥΗ ;其最小F值為f(yl) 12 200826639 及發生的Y為YL;計算除了 YA ; γΗ之外的所有γ點的平均值 步驟S414 ··觸是否滿足 心仕終止條件，·若是，則跳$牛 驟S424 ;若否，則跳5丰謙 疋職至步 、至v驟S415 ;終止條件有三· (終止條件υ目標值差距_使用者設定臨界值；射 (2) -取)]2 /=1 (終止條件2)最佳化的收斂逹到穩定；及 (終止條件3)計數n的疊代次數超過使用者設定次數； 步驟S415 :計算從ΥΗ出發的反射點没.·项， 算 F(YR) ; ° 步驟S416 :判斷F(YR)值是否大於F(YH)值；若是，則跳至 步驟S417 ;若否，則跳至步驟S42i ; 步驟S417:計算收縮點YC及F(YC)，其中； 步驟S418 :判斷F(YH)值是否大於F(YC)值；若是，則 YH=YC ’跳至步驟S419 ;若否，則跳至步驟s42〇 · 步驟S419 :疊代次數增加一並跳至步驟S413 ; 步驟S420 :更新i7 = ((i7+ri)/2)|_，並跳至步驟S419 ; 步驟S421:判斷F(YR)值是否大於F(YL)值；若是，則γΗ=γκ， 跳至步驟S419 ;若否，則跳至步驟S422 ; 步驟S422:計算膨脹點YE及F(YE)，其中= ¾兮⑽—坪； 步驟S423:判斷F(YE)值是否大於F(YL)值；若是，則yh=yR， 13 200826639 則Πί=ΥΕ，跳至步驟S419 ; 跳至步驟S41 9 ;若否 以及 ’ 424 ·献任_終止條件後輸出最佳平移及旋轉量 ’即孔的(RUy，Rz，Tx，Ty，Tz)，im·。 本發明之例性，而非為限制性者。任何未脫離 與㈣其進行之等效修改或變更，均 應匕3於後附之申請專利範圍中。 【圖式簡單說明】 Ϊ圖圖係為本發明所揭露之影像掃描之整合系統之方塊示 =圖係為本發明所揭露之影像掃描之控制方法之步驟流 ^三圖係為本發明所揭露之對位處理之步驟流程圖；以及 弟四圖係為本發明所揭露之單純法之步驟流程圖。 【主要元件符號說明】 I :整合系統； II · §吾音掏取裝置； 12 :影像擷取裝置； 121 :控制器； 14 200826639 122 :探針； 13 :處理裝置； 130 :掃描影像資料； 131 :控制單元； 132 :對位處理單元； 133 :顯示單元； 14 :音頻信號； 15 :第一影像； 151 :資料料； 16 :記憶單元； 161 :語音指令； 162 :第二影像； 163 :詢問點； S21〜S25 :流程步驟； S31〜S38 :流程步驟；以及 S411〜S424 :流程步驟。 15Li simple method I - to calculate the preferred amount of movement, such as 5 is not 'fourth is the step of the simple method of the invention disclosed in the flow diagram' contains the following steps: multiple steps S411: randomly generated 7 points, γι To γ7, each _ γ point contains 3 translations and 3 rotations (R, T) KRx, Ry, Rz, Tx, Ty, Tz); Inflammation S412: Objective function using ICP algorithm (〇bjective function ) as the objective function F(} of the simple method, as shown in the first equation, use the query point 163 (C1) and the data point 151 (c2) to calculate F(J1) to F(F7). F(7)=F Team Γ)) = ♦! (4) C2) / + Μα), 丨丨 2 (1) Poly S413: Compare 7 generated in step S412, the value, the maximum F value of the record is _) and the occurring γ is ΥΗ; its minimum F value f(yl) 12 200826639 and Y is YL; calculate the average value of all γ points except YA; γΗ. Step S414 ········································· If not, skip 5 Feng Qian to the end of the step, to step S415; the termination condition has three (end condition υ target value gap _ user set threshold; shot (2) - take) 2 / = 1 (terminate Condition 2) Optimized Convergence is stable; and (termination condition 3) the number of iterations of the count n exceeds the number of times set by the user; Step S415: Calculating the reflection point from the 没 does not have an item, and calculates F(YR); ° Step S416: Judging F Whether the (YR) value is greater than the F(YH) value; if yes, then skip to step S417; if not, go to step S42i; step S417: calculate the contraction points YC and F(YC), wherein; step S418: judge F ( Whether the YH) value is greater than the F(YC) value; if yes, YH=YC 'skips to step S419; if not, then skips to step s42 〇 · step S419: the number of iterations increases and jumps to step S413; step S420: Update i7 = ((i7+ri)/2)|_, and skip to step S419; Step S421: Determine whether the F(YR) value is greater than the F(YL) value; if yes, then γΗ=γκ, skip to step S419; If not, go to step S422; Step S422: Calculate the expansion points YE and F(YE), where = 3⁄4兮(10)-ping; Step S423: Determine whether the F(YE) value is greater than the F(YL) value; if yes, then Yh=yR, 13 200826639 Then Πί=ΥΕ, skip to step S419; skip to step S41 9; if no and ' 424 ·delivery_end condition, output the best translation and rotation amount' is the hole (RUy, Rz, Tx, Ty, Tz) im ·. The invention is exemplified and not intended to be limiting. Any unresolved or equivalent modifications or changes made by (4) shall be in the scope of the patent application attached. BRIEF DESCRIPTION OF THE DRAWINGS The block diagram is the block diagram of the integrated system for image scanning disclosed in the present invention. The figure is the step of the control method of the image scanning disclosed in the present invention. The flow chart of the steps of the alignment processing; and the fourth drawing of the system are the flow chart of the steps of the simple method disclosed in the present invention. [Description of main component symbols] I: integrated system; II · § I sound extraction device; 12: image capture device; 121: controller; 14 200826639 122: probe; 13: processing device; 130: scanned image data; 131: control unit; 132: registration processing unit; 133: display unit; 14: audio signal; 15: first image; 151: data material; 16: memory unit; 161: voice command; 162: second image; : inquiry point; S21 to S25: flow step; S31 to S38: flow step; and S411 to S424: flow step. 15