CN106806021A - A kind of VR surgery simulation systems and method based on human organ 3D models - Google Patents
A kind of VR surgery simulation systems and method based on human organ 3D models Download PDFInfo
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Abstract
The invention discloses a kind of VR surgery simulation systems based on human organ 3D models, including CT data import units, CT image segmentation units, three-dimensional modeling unit and VR surgical simulation units, the CT data import unit is used to import CT data, the CT image segmentation units are used to be partitioned into soft tissue organs on CT images, tumour, blood vessel and sclerous tissues, and soft tissue organs are segmented according to blood vessel, the three-dimensional modeling unit is used to set up each section of soft tissue organs, tumour, blood vessel and the threedimensional model of sclerous tissues, and it is fused into human organ 3D models, the VR surgical simulations unit includes that VR surgical simulations cut off module, excision result analysis module, surgical simulation measurement module, surgical simulation risk evaluation module.The invention also discloses a kind of VR surgical simulation methods based on human organ 3D models.The present invention can intuitively obtain the section of organ where tumour, positioning to tumour is more accurate, and then reduce operating difficulty and risk, realize preoperative simulation excision and operation risk assessment, surgical simulation is carried out using virtual reality technology, increases the authenticity of analog simulation and the accuracy of analog result.
Description
Technical field
The present invention relates to technical field of medical image processing, more particularly to a kind of VR operations based on human organ 3D models
Simulation system and method.
Background technology
With scientific technological advance, the mankind medically achieve many progress, but in clinical medicine, still there is part disease
Disease has that success rate of operation is low, risk is big.
At present, for the operation of the soft tissue organs such as liver, lung, because tumour is typically in the inside of organ, during operation still
Doctor is so needed rule of thumb to look for the position of tumour, the subject matter for so existing is that doctor finds knub position to be had
Certain difficulty, while also increasing the risk of operation.It is well known that some organs of human body are segmentation sexual organs, such as liver can
It is divided into eight sections of five leaf with by arteries, lung is divided into 20 sections of five leaf by arteries, if be known that before surgery swollen
Knurl is in which section the inside of organ, and situation will be different, and the segmentation of organ is looked for for doctor, comes compared to tumour is looked for
Simply many, the section where finding out tumour of meeting, only needs to this section of excision in operation, and tumour also can and then be removed.
Medical image three-dimensional visualization is that two-dimentional tomography medical image is changed into 3D rendering, represents the three-dimensional of human organ
Structure and form, can aid in doctor to carry out diseased organ in the preoperative and be observed and analyzed, and can improve the standard of medical diagnosis
True property and science, reduce operation risk.But for current medical image three dimensional visualization, device can not be realized
The segmentation of official, doctor is difficult to from 3D rendering intuitively find out which section is tumour is in.Other current medical image three-dimensional
Visualization technique only provides three-dimensional look facility, and can not realize preoperative simulation excision and operation risk assessment.
The content of the invention
It is an object of the invention to provide a kind of VR surgery simulation systems based on human organ 3D models, it can be directly perceived
The section of organ where tumour is obtained, the positioning to tumour is more accurate, and then reduces operating difficulty and risk, realizes preoperative
Simulation excision and operation risk assessment；Invention also provides a kind of VR surgical simulation sides based on human organ 3D models
Method.
To achieve the above object, the present invention uses following technical scheme：
A kind of VR surgery simulation systems based on human organ 3D models, including CT data import unit, CT image segmentations
Unit, three-dimensional modeling unit and VR surgical simulation units, wherein：
The CT data import unit is used to import CT data, CT packets image containing CT, patient information, hospital's letter
Breath, CT machines type information and CT piece precision informations；
The CT image segmentation units are used to be partitioned into soft tissue organs, tumour, blood vessel and sclerous tissues on CT images, its
Including soft tissue organs segmentation module, lesion segmentation module, blood vessel segmentation module, sclerous tissues's segmentation module and soft tissue organs point
Root module, the soft tissue organs segmentation module is used to be segmented soft tissue organs according to blood vessel；
The three-dimensional modeling unit is used to set up each section of threedimensional model of soft tissue organs, tumour, blood vessel and sclerous tissues, and
It is fused into human organ 3D models；
The VR surgical simulations unit includes that VR surgical simulations excision module, excision result analysis module, surgical simulation are surveyed
Amount module, surgical simulation risk evaluation module, the VR surgical simulations excision module are used to be carried out for human organ 3D models
Virtual reality simulation tumor resection is operated, and it includes display unit, input block and arithmetic element, and the display unit is used to show
Show human organ 3D models and produce 3D vision imaging effect, the input block is used to receive operator for display unit
The image of display and the feed information that is input into, and by feed feedback of the information to display unit, the arithmetic element are used for according to entering
Knife information calculates excision result, and excision result is fed back into display unit, and the excision result analysis module is cut for calculating
Except the volume of tumour, the volume of remaining organ and judge whether blood vessel loses, the volume of counting loss blood vessel, and generate report
Accuse, the surgical simulation measurement module is used to carry out the survey of angular surveying, line measurement and space to tumor resection, remaining organ
Amount, the surgical simulation risk evaluation module is used to generate operation risk assessment report.
Preferably, the CT data import unit has CT data previews module and CT image pre-processing modules, the CT
Data preview module is used to check the related content of CT data, and the CT image pre-processing modules are used to judge whether CT images go out
Now it is inverted, and by inverted CT Image Adjustings to correct direction.
Preferably, the display unit uses bore hole 3D displays.
A kind of VR surgical simulation methods based on human organ 3D models, based on above-mentioned based on human organ 3D models
VR surgery simulation systems realize that the method is comprised the following steps：
S1, using CT data import unit import CT data；
S2, soft tissue organs, tumour, blood vessel and sclerous tissues are partitioned on CT images using CT image segmentation units, and
Soft tissue organs are segmented according to blood vessel；
S3, three-dimensional modeling is carried out respectively to each section of soft tissue organs using three-dimensional modeling unit, to tumour, blood vessel and hard group
Knitting carries out three-dimensional modeling, is finally fused into human organ 3D models；
S4, virtual reality surgical simulation is carried out to human organ 3D models using VR surgical simulations unit.
Preferably, the step S2 specifically include it is following step by step：
S21, soft tissue organs segmentation, the position of soft tissue organs, automatic point are selected by man-machine interaction on CT images
Cut out soft tissue organs；
S22, lesion segmentation, the position of tumour is selected by man-machine interaction on CT images, and tumour is partitioned into automatically；
S23, blood vessel segmentation, the position of blood vessel is selected by man-machine interaction on CT images, using the gray value of CT images,
Enter row threshold division, blood vessel is partitioned into automatically；
S24, sclerous tissues's segmentation, the position of sclerous tissues are selected by man-machine interaction, using the ash of CT images on CT images
Angle value, enters row threshold division, and sclerous tissues is partitioned into automatically；
Soft tissue organs are segmented by S25, soft tissue organs segmentation according to blood vessel.
Preferably, the step S4 specifically include it is following step by step：
S41, the section for determining tumour growth position correspondence soft tissue organs, and based on virtual reality to this section of soft tissue organs
Carry out tumour simulation excision；
After the completion of S42, tumour simulation excision, volume, the volume of remaining organ of tumor resection are calculated, whether judge blood vessel
The volume of simultaneously counting loss blood vessel is lost, and generates report；
S43, angular surveying, line measurement and space measurement are carried out to tumor resection, remaining organ by man-machine interaction.
Preferably, the step S41 specifically includes following sub-step：
S411, the section for determining tumour growth position correspondence soft tissue organs；
S412, display unit display human organ 3D models simultaneously produce 3D vision imaging effect；
S413, operator are simulated operation feed action for the image that display unit shows, input block receives behaviour
The feed information of author's input, and display unit is fed back to, display unit display simulation feed action；
S414, arithmetic element receive the feed information of operator's input, calculate excision result according to feed information, and will cut
Division result feeds back to display unit, display unit display tumor resection result.
Preferably, the step S4 also include it is following step by step：S44, generation operation risk assessment report.
After adopting the above technical scheme, the present invention is compared with background technology, have the following advantages that：
1st, the present invention can be segmented by soft tissue organs, can intuitively be swollen in human organ 3D models
The section of organ where knurl, the positioning to tumour is more accurate, the section that the growth of soft tissue organs is directly had tumour in operation
Excision, tumour is removed therewith.The segmentation of soft tissue organs is looked for due to doctor, tumour is simply more compared to looking for, so can be with
The difficulty of operation is reduced, and then reduces operation risk.
2nd, assessed The invention also achieves preoperative simulation excision and operation risk, reduce further operation risk.
3rd, the present invention carries out surgical simulation excision using virtual reality technology, and the authenticity and simulation for increasing analog simulation are tied
The accuracy of fruit, by surgical simulation repeatedly, can improve the surgical skills and proficiency of user.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one
With reference to shown in Fig. 1, the invention discloses a kind of VR surgery simulation systems based on human organ 3D models, including CT
Data import unit 10, CT image segmentation units 20, three-dimensional modeling unit 30 and VR surgical simulations unit 40, wherein：
CT data import unit 10 is used to import CT data, CT packets image containing CT, patient information, information for hospital, CT
Machine type information and CT piece precision informations.CT data import unit 10 has CT data previews module and CT image preprocessing moulds
Block, CT data previews module is used to check the related content of CT data, and whether CT image pre-processing modules are used for judging CT images
Occur being inverted, and by inverted CT Image Adjustings to correct direction.
CT image segmentation units 20 are used to be partitioned into soft tissue organs, tumour, blood vessel and sclerous tissues on CT images, its bag
Include soft tissue organs segmentation module, lesion segmentation module, blood vessel segmentation module, sclerous tissues's segmentation module and soft tissue organs segmentation
Module, soft tissue organs segmentation module is used to be segmented soft tissue organs according to blood vessel.
Three-dimensional modeling unit 30 is used to set up each section of threedimensional model of soft tissue organs, tumour, blood vessel and sclerous tissues, and melts
Synthesized human organ 3D models.
VR surgical simulations unit 40 includes VR surgical simulations excision module, excision result analysis module, surgical simulation measurement
Module, surgical simulation risk evaluation module, VR surgical simulations excision module are used to be carried out virtually now for human organ 3D models
Real simulation tumor resection operation, it includes display unit, input block and arithmetic element, and display unit is used to show human organ
3D models simultaneously produce 3D vision imaging effect, and input block is used to receiving the image that operator shown for display unit and defeated
The feed information for entering, and by feed feedback of the information to display unit, arithmetic element is used to calculate excision result according to feed information,
And excision result is fed back into display unit, excision result analysis module is used to calculating the volume of tumor resection, remaining organ
Volume and judge whether blood vessel loses, the volume of counting loss blood vessel, and generate report, it is right that surgical simulation measurement module is used for
Tumor resection, remaining organ carry out angular surveying, line measurement and space measurement, and surgical simulation risk evaluation module is used to generate
Operation risk assessment report.In this example it is shown that unit uses bore hole 3D displays.
Embodiment two
The invention discloses a kind of VR surgical simulation methods based on human organ 3D models, the VR hands based on embodiment one
Art simulation system realizes that the method is comprised the following steps：
S1, using CT data import unit 10 import CT data.
S2, soft tissue organs, tumour, blood vessel and sclerous tissues are partitioned on CT images using CT image segmentation units 20,
And soft tissue organs are segmented according to blood vessel.The step is realized step by step by following：
S21, soft tissue organs segmentation, the position of soft tissue organs, automatic point are selected by man-machine interaction on CT images
Cut out soft tissue organs.Position of the soft tissue organs on CT images is selected by seed point under man-machine interaction, computer is certainly
It is dynamic to be partitioned into soft tissue organs, for bulky soft tissue organs, soft tissue organs are selected by lower multiple seeds
Position.For the soft tissue organs of obscure boundary Chu, manually sketch outline to extract soft tissue organs.Automatic seeking is also provided
The magic rod function on border is looked for, comes the border of Automatic-searching liver or lung.
S22, lesion segmentation, the position of tumour is selected by man-machine interaction on CT images, and tumour is partitioned into automatically.Pass through
Seed point selectes position of the tumour on CT images under man-machine interaction, and tumour is partitioned into automatically.Due to tumour density often
It is uneven, so providing the function of secondary fusion, it is only necessary to second next seed point, tells the tumour of computer second position
Put, computer can just extract the second tumour, and be merged with the first tumour.For the tumour of obscurity boundary, such as " hair glass
Glass " tumour, tumor's profiles are delineated using man-machine interactively to extract tumour manually.
S23, blood vessel segmentation, the position of blood vessel is selected by man-machine interaction on CT images, using the gray value of CT images,
Enter row threshold division, blood vessel is partitioned into automatically.Blood vessel is divided into Venous Arterial.And the difference of both blood vessels is exactly gray value differs
Sample, but the often the same action that Imaging enhanced (CTA) can be when CT is, so the CT arteries of arterial phase seem bright,
The CT vein displayings of venous phase obtain bright, and so we typically process blood vessel, and hospital can provide more than two sets of data.Carry out threshold value point
When cutting, it is also desirable to which first next seed point selectes position of the blood vessel on CT images, it is possible to be partitioned into blood vessel automatically.Threshold value
Can adjust, to reach optimal blood vessel segmentation effect.For the blood vessel (being not the blood vessel of our needs) for extracting by mistake, there is provided repair
Function is cut, the blood vessel that will be extracted by mistake is deleted.
S24, sclerous tissues's segmentation, the position of sclerous tissues are selected by man-machine interaction, using the ash of CT images on CT images
Angle value, enters row threshold division, and sclerous tissues is partitioned into automatically.
Soft tissue organs are segmented by S25, soft tissue organs segmentation according to blood vessel.By to the soft tissue device such as liver, lung
Official is segmented according to the distribution of blood vessel so that the positioning to tumour is more accurate, so in operation directly by soft tissue device
The section that the growth of official has tumour cuts off, rather than individually taking-up tumour.The segmentation of soft tissue organs is looked for due to doctor, it is swollen compared to looking for
Knurl is simply more, can so reduce the difficulty of operation, and then reduce operation risk.
S3, three-dimensional modeling is carried out respectively using 30 pairs of each section of soft tissue organs of three-dimensional modeling unit, to tumour, blood vessel and hard
Tissue carries out three-dimensional modeling, is finally fused into human organ 3D models.Three-dimensional modeling is by the segmentation knot to each layer CT images
Fruit superposition is realized.
S4, virtual reality surgical simulation is carried out to human organ 3D models using VR surgical simulations unit 40.The step is led to
Realized step by step below crossing：
S41, the section for determining tumour growth position correspondence soft tissue organs, and based on virtual reality to this section of soft tissue organs
Carry out tumour simulation excision.
S411, the section for determining tumour growth position correspondence soft tissue organs.
S412, display unit display human organ 3D models simultaneously produce 3D vision imaging effect.
S413, operator are simulated operation feed action for the image that display unit shows, input block receives behaviour
The feed information of author's input, and display unit is fed back to, display unit display simulation feed action.
S414, arithmetic element receive the feed information of operator's input, calculate excision result according to feed information, and will cut
Division result feeds back to display unit, display unit display tumor resection result.
After the completion of S42, tumour simulation excision, volume, the volume of remaining organ of tumor resection are calculated, whether judge blood vessel
The volume of simultaneously counting loss blood vessel is lost, and generates report.
S43, angular surveying, line measurement and space measurement are carried out to tumor resection, remaining organ by man-machine interaction.
S44, generation operation risk assessment report.The report result of combining step S42, the measurement result of step S43 are carried out
Operation risk is analyzed, and generates operation risk assessment report.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (8)
1. a kind of VR surgery simulation systems based on human organ 3D models, it is characterised in that including CT data import unit, CT
Image segmentation unit, three-dimensional modeling unit and VR surgical simulation units, wherein：
The CT data import unit is used to import CT data, CT packets image containing CT, patient information, information for hospital,
CT machines type information and CT piece precision informations；
The CT image segmentation units are used to be partitioned into soft tissue organs, tumour, blood vessel and sclerous tissues on CT images, and it includes
Soft tissue organs segmentation module, lesion segmentation module, blood vessel segmentation module, sclerous tissues's segmentation module and soft tissue organs segmentation mould
Block, the soft tissue organs segmentation module is used to be segmented soft tissue organs according to blood vessel；
The three-dimensional modeling unit is used to set up each section of threedimensional model of soft tissue organs, tumour, blood vessel and sclerous tissues, and merges
Adult body organ 3D models；
The VR surgical simulations unit includes VR surgical simulations excision module, excision result analysis module, surgical simulation measurement mould
Block, surgical simulation risk evaluation module, the VR surgical simulations excision module are used to be carried out virtually for human organ 3D models
Reality simulation tumor resection is operated, and it includes display unit, input block and arithmetic element, and the display unit is used to show people
Body organ 3D models simultaneously produce 3D vision imaging effect, and the input block shows for receiving operator for display unit
Image and the feed information that is input into, and by feed feedback of the information to display unit, the arithmetic element is used to be believed according to feed
Breath calculates excision result, and excision result is fed back into display unit, and it is swollen that the excision result analysis module is used for calculating excision
The volume of knurl, the volume of remaining organ and judge whether blood vessel loses, the volume of counting loss blood vessel, and generate report, institute
Surgical simulation measurement module is stated for carrying out angular surveying, line measurement and space measurement to tumor resection, remaining organ, it is described
Surgical simulation risk evaluation module is used to generate operation risk assessment report.
2. a kind of VR surgery simulation systems based on human organ 3D models as claimed in claim 1, it is characterised in that：It is described
CT data import units have CT data previews module and CT image pre-processing modules, and the CT data previews module is used to check
The related content of CT data, the CT image pre-processing modules are used to judge whether CT images occur being inverted, and by inverted CT
Image Adjusting is to correct direction.
3. a kind of VR surgery simulation systems based on human organ 3D models as claimed in claim 1, it is characterised in that：It is described
Display unit uses bore hole 3D displays.
4. a kind of VR surgical simulation methods based on human organ 3D models, based on described in claim any one of 1-3 based on
The VR surgery simulation systems of human organ 3D models are realized, it is characterised in that the method is comprised the following steps：
S1, using CT data import unit import CT data；
S2, soft tissue organs, tumour, blood vessel and sclerous tissues are partitioned on CT images using CT image segmentation units, and according to
Blood vessel is segmented to soft tissue organs；
S3, three-dimensional modeling is carried out respectively to each section of soft tissue organs using three-dimensional modeling unit, tumour, blood vessel and sclerous tissues are entered
Row three-dimensional modeling, is finally fused into human organ 3D models；
S4, virtual reality surgical simulation is carried out to human organ 3D models using VR surgical simulations unit.
5. a kind of VR surgical simulation methods based on human organ 3D models as claimed in claim 4, it is characterised in that described
Step S2 specifically include it is following step by step：
S21, soft tissue organs segmentation, the position of soft tissue organs is selected by man-machine interaction on CT images, is partitioned into automatically
Soft tissue organs；
S22, lesion segmentation, the position of tumour is selected by man-machine interaction on CT images, and tumour is partitioned into automatically；
S23, blood vessel segmentation, the position of blood vessel is selected by man-machine interaction on CT images, using the gray value of CT images, is carried out
Threshold segmentation, is partitioned into blood vessel automatically；
S24, sclerous tissues's segmentation, the position of sclerous tissues is selected by man-machine interaction on CT images, using the gray value of CT images,
Enter row threshold division, sclerous tissues is partitioned into automatically；
Soft tissue organs are segmented by S25, soft tissue organs segmentation according to blood vessel.
6. a kind of VR surgical simulation methods based on human organ 3D models as claimed in claim 5, it is characterised in that described
Step S4 specifically include it is following step by step：
This section of soft tissue organs and are carried out by S41, the section for determining tumour growth position correspondence soft tissue organs based on virtual reality
Tumour simulation excision；
After the completion of S42, tumour simulation excision, volume, the volume of remaining organ of tumor resection are calculated, judge whether blood vessel loses
And the volume of counting loss blood vessel, and generate report；
S43, angular surveying, line measurement and space measurement are carried out to tumor resection, remaining organ by man-machine interaction.
7. a kind of VR surgical simulation methods based on human organ 3D models as claimed in claim 6, it is characterised in that described
Step S41 specifically includes following sub-step：
S411, the section for determining tumour growth position correspondence soft tissue organs；
S412, display unit display human organ 3D models simultaneously produce 3D vision imaging effect；
S413, operator are simulated operation feed action for the image that display unit shows, input block receives operator
The feed information of input, and display unit is fed back to, display unit display simulation feed action；
S414, arithmetic element receive the feed information of operator's input, calculate excision result according to feed information, and excision is tied
Fruit feeds back to display unit, display unit display tumor resection result.
8. a kind of VR surgical simulation methods based on human organ 3D models as claimed in claim 6, it is characterised in that described
Step S4 also include it is following step by step：
S44, generation operation risk assessment report.
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