Incision simulation device, incision simulation method, and program

Abstract

To provide an incision simulation device, an incision simulation method and a program which can specify the inside of a resection area obtained with continuous incision.SOLUTION: An incision simulation device comprises a processor. The processor acquires a first incision line to a three-dimensional organ image being a three-dimensional image showing an organ, acquires a first depth cut into the first incision line, calculates a first resection area on the basis of the first incision line and the first depth, acquires a second incision line to the three-dimensional organ image, acquires a second depth cut into the second incision line, calculates a second resection area on the basis of the first resection area, the second incision line and the second depth, and specifies a first area included in the first resection area and second resection area in the three-dimensional organ image.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The technology of the present disclosure relates to an incision simulation device, an incision simulation method, and a program. [Background technology]

[0002] Patent document 1 discloses a surgical support device that includes an image generation means for generating an image showing an organ for which a resection area has been identified from a three-dimensional image of the organ in a manner that allows the vascular areas in the organ to be visible, a depth input receiving means for receiving input specifying the cutting depth, and a cutting plane setting means for setting the cutting plane to the portion of the boundary surface between the resection area in the organ and the non-resection area, which is the area other than the resection area, within a specified cutting depth range along the boundary surface from the outer edge inward, and wherein the image generation means generates an image from the three-dimensional image that shows the organ in a manner that allows only the partial vascular areas in the organ that are present within the area near the cutting plane to be visible.

[0003] Patent document 2 discloses a method for volume rendering digital medical images, comprising the steps of: providing a digital medical image volume, the image comprising a plurality of intensities on a three-dimensional grid of points; providing a projection surface, the projection surface comprising a two-dimensional lattice of points; projecting a rendering ray onto the projection surface from a viewpoint through the image volume; advancing sampling points along the ray through the image volume; creating an incision region within the image volume; determining whether the sampling point is within the incision region; if the sampling point is within the incision region, using a first transfer function on sample values ​​interpolated from a first volume; if the sampling point is outside the incision region, using a second transfer function on sample values ​​interpolated from a second volume; and accumulating outputs of the transfer functions.

[0004] Patent document 3 discloses a method for providing surgical support through medical images of the patient displayed on a display, characterized in that an image simulating the open state of the cut surface made by the surgical instrument is created from three-dimensional image data of the patient and displayed. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-018619 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-222629 [Patent Document 3] Japanese Patent Application Laid-Open No. 2008-167793 Summary of the Invention

[0006] One embodiment of the technique of the present disclosure provides an incision simulation device, an incision simulation method, and a program that can identify the inside of an excision area obtained by continuous incision. [Means for solving the problem]

[0007] A first aspect of the technology of the present disclosure is an incision simulation device that includes a processor, which acquires a first incision line for a three-dimensional organ image that is a three-dimensional image showing an organ, acquires a first depth to cut along the first incision line, calculates a first resection area based on the first incision line and the first depth, acquires a second incision line for the three-dimensional organ image, acquires a second depth to cut along the second incision line, calculates a second resection area based on the first resection area, the second incision line, and the second depth, and identifies a first area of ​​the three-dimensional organ image that is included in the first resection area and the second resection area.

[0008] A second aspect of the technology of the present disclosure is an incision simulation method that includes obtaining a first incision line for a three-dimensional organ image that is a three-dimensional image showing an organ, obtaining a first depth to cut along the first incision line, calculating a first resection area based on the first incision line and the first depth, obtaining a second incision line for the three-dimensional organ image, obtaining a second depth to cut along the second incision line, calculating a second resection area based on the first resection area, the second incision line, and the second depth, and identifying a first area of ​​the three-dimensional organ image that is included in the first resection area and the second resection area.

[0009] A third aspect of the technology of the present disclosure is a program that causes a computer to execute processing including obtaining a first incision line for a three-dimensional organ image, which is a three-dimensional image showing an organ, obtaining a first depth to cut for the first incision line, calculating a first resection area based on the first incision line and the first depth, obtaining a second incision line for the three-dimensional organ image, obtaining a second depth to cut for the second incision line, calculating a second resection area based on the first resection area, the second incision line, and the second depth, and identifying a first area of ​​the three-dimensional organ image that is included in the first resection area and the second resection area. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a conceptual diagram showing a schematic configuration of a medical service support device. [Figure 2] FIG. 2 is a block diagram showing an example of a hardware configuration of an electrical system of the medical service support device. [Figure 3] FIG. 10 is a conceptual diagram illustrating an example of processing content of an extraction unit. [Figure 4] FIG. 2 is a conceptual diagram illustrating an example of processing content of a rendering unit. [Figure 5] FIG. 10 is a conceptual diagram showing an example of how rendering is performed on a three-dimensional organ image. [Figure 6] FIG. 10 is a conceptual diagram showing an example of how a first incision line is set. [Figure 7] FIG. 10 is a conceptual diagram showing an example of how a first depth is set. [Figure 8] 10 is a conceptual diagram showing an example of processing contents of an incision parameter acquisition unit, a first excision region calculation unit, and a region specification unit. FIG. [Figure 9] FIG. 10 is a conceptual diagram showing an example of how a second incision line is set. [Figure 10] FIG. 10 is a conceptual diagram showing an example of how a second depth is set. [Figure 11] 10 is a conceptual diagram showing an example of processing details of an incision parameter acquisition unit, a second excision region calculation unit, and a region specification unit. FIG. [Figure 12] FIG. 10 is a screen diagram showing an example of a manner in which a rendering image in which a target region is hidden is displayed on a display. [Figure 13] FIG. 10 is a screen diagram showing an example of a manner in which a rendering image showing the vascular system and the like is displayed on a display. [Figure 14] 10 is a flowchart showing an example of the flow of an incision simulation process. [Figure 15] 10 is a flowchart showing an example of the flow of an incision simulation process. [Figure 16] FIG. 10 is a screen diagram showing an example of a manner in which a rendering image showing the vascular system and the like is displayed on a display. [Figure 17] FIG. 10 is a screen diagram showing an example of a manner in which a rendering image showing the vascular system and the like is displayed on a display. [Figure 18] 1 is a conceptual diagram showing a schematic configuration of a medical service support system. DETAILED DESCRIPTION OF THE INVENTION

[0011] An example of an embodiment of an incision simulation device, an incision simulation method, and a program according to the technology of the present disclosure will be described with reference to the accompanying drawings.

[0012] 1, a medical service support device 10 includes an image processing device 12, a reception device 14, and a display 16, and is used by a user 18. Here, examples of the user 18 include doctors and technicians.

[0013] A reception device 14 is connected to the image processing device 12. The reception device 14 receives instructions from a user 18. The reception device 14 includes a keyboard 20, a mouse 22, and the like. In the example shown in FIG. 1, the reception device 14 includes the keyboard 20 and the mouse 22. However, this is merely an example, and the reception device 14 may include only either the keyboard 20 or the mouse 22. Furthermore, instead of the keyboard 20 and / or the mouse 22, at least one of a proximity input device that receives proximity input, a voice input device that receives voice input, and a gesture input device that receives gesture input may be applied. At least one of these may be used as the reception device 14. The proximity input device is, for example, a touch panel or a tablet. Furthermore, the connection between the reception device 14 and the image processing device 12 may be wired or wireless.

[0014] A display 16 is connected to the image processing device 12. Examples of the display 16 include an EL (Electro-Luminescence) display and a liquid crystal display. The display 16 displays various information (for example, images and characters) under the control of the image processing device 12.

[0015] As an example, as shown in FIG. 2, a medical service support device 10 includes an image processing device 12, a reception device 14, a display 16, a communication I / F (Interface) 30, an external I / F 32, and a bus .

[0016] The image processing device 12 is an example of an "incision simulation device" and a "computer" according to the techniques of the present disclosure, and includes a processor 24, a storage 26, and a RAM (Random Access Memory) 28. The processor 24, the storage 26, the RAM 28, the communication I / F 30, and the external I / F 32 are connected to a bus 34.

[0017] A memory is connected to the processor 24. The memory includes a storage 26 and a RAM 28. The processor 24 has, for example, a central processing unit (CPU) and a graphics processing unit (GPU). The GPU operates under the control of the CPU and is responsible for executing image-related processing. The image-related processing includes, for example, an incision simulation process described below.

[0018] The storage 26 is a non-volatile storage device that stores various programs, various parameters, etc. Examples of the storage 26 include flash memory (for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) and / or an SSD (Solid State Drive)) and / or an HDD (Hard Disk Drive).

[0019] The RAM 28 is a memory that temporarily stores information and is used as a work memory by the processor 24. The RAM 28 may be, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM).

[0020] The communication I / F 30 is connected to a network (not shown). The network may be, for example, at least one of a local area network (LAN) and a wide area network (WAN). An external device (not shown) is connected to the network, and the communication I / F 30 controls the exchange of information with the external communication device via the network. The external communication device may include, for example, at least one of a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, a personal computer, and a smart device. For example, the communication I / F 30 transmits information in response to a request from the processor 24 to the external communication device via the network. The communication I / F 30 also receives information transmitted from the external communication device and outputs the received information to the processor 24 via the bus 34.

[0021] The external I / F 32 controls the exchange of various information with an external device (not shown) located outside the medical service support device 10. The external device may be, for example, at least one of a smart device, a personal computer, a server, a USB (Universal Serial Bus) memory, a memory card, a printer, etc. An example of the external I / F 32 is a USB interface. The external device is directly or indirectly connected to the USB interface.

[0022] Incidentally, before surgery to remove malignant tumors such as lung cancer and / or liver cancer from organs, the safety of the surgery is increased by determining and planning the resection area before the surgery using multiple two-dimensional slice images obtained by imaging the patient using modalities such as a CT device and / or an MRI device.

[0023] However, in reality, surgery is sometimes performed by making continuous incisions rather than immediately incising from a planned incision line to the target resection area. Continuous incisions refer to a technique in which a primary incision is made from a certain incision line, and then an incision is made from a newly determined next incision line in the area after the incision. In actual surgery, continuous incisions are often made to finally resect the target resection area. Simulation of such continuous incisions has not been taken into consideration until now, and there has been room for improvement in incision simulation.

[0024] Therefore, in this embodiment, in order to be able to simulate continuous incisions, an incision simulation process is performed by the processor 24 as shown in FIG. 2 as an example. An incision simulation process program 36 is stored in the storage 26. The processor 24 reads the incision simulation process program 36 from the storage 26 and executes the read incision simulation process program 36 on the RAM 28 to perform the incision simulation process. The incision simulation process is realized by the processor 24 operating as an extraction unit 24A, a rendering unit 24B, a control unit 24C, an incision parameter acquisition unit 24D, a first resection region calculation unit 24E, a second resection region calculation unit 24F, and a region identification unit 24G. The incision simulation process program 36 is an example of a "program" according to the technology of the present disclosure.

[0025] As an example, as shown in FIG. 3 , a three-dimensional image 38 is stored in the storage 26. The three-dimensional image 38 is an image obtained by stacking multiple two-dimensional slice images 40 obtained by imaging a patient using a modality and dividing the images into voxels V. An example of a modality is a CT apparatus. The CT apparatus is merely one example; other examples of modalities include an MRI apparatus or an ultrasound diagnostic apparatus. In the example shown in FIG. 3 , the two-dimensional slice image 40 is a two-dimensional slice image of a transverse plane, but is not limited thereto and may also be a two-dimensional slice image of a coronal plane or a two-dimensional slice image of a sagittal plane. The position of each of all voxels V defining the three-dimensional image is identified by three-dimensional coordinates. Each voxel V is assigned a grayscale value, such as a CT value.

[0026] The extraction unit 24A acquires a 3D image 38 from the storage 26 and extracts a 3D organ image 42 from the acquired 3D image 38. The 3D organ image 42 is a 3D image showing an organ. For example, the 3D image 38 includes multiple 3D organ images 42, and each 3D organ image 42 is assigned a unique identifier. The 3D organ image 42 is extracted from the 3D image 38 in accordance with an instruction received by the reception device 14. For example, the extraction unit 24A extracts a 3D organ image 42 corresponding to the identifier received by the reception device 14 from the 3D image 38. In the example shown in FIG. 3, an image showing a liver is illustrated as an example of the 3D organ image 42. A unique identifier for each organ is assigned to each voxel V in the 3D image 38, and the identifier for each organ may include opacity and color information of red (R), green (G), and blue (B). By doing this, each voxel V is assigned data such as opacity according to the corresponding organ, and color information of red (R), green (G) and blue (B) in addition to black and white shading value information (hereinafter referred to as "voxel data").

[0027] Here, an image of the liver is shown as an example of the 3D organ image 42, but this is merely an example and images of other organs, such as the heart and / or lungs, may also be used. Furthermore, the method of extracting the 3D organ image 42 using a unique identifier is merely an example. Alternatively, the extraction unit 24A may extract a 3D organ image 42 specified by the user 18 in some way via the reception device 14, or the extraction unit 24A may extract the 3D organ image 42 using image recognition processing such as AI (artificial intelligence) and / or pattern matching. Furthermore, the 3D organ image 42 is not limited to an image of a single organ. For example, an image may be an image in which multiple organs, such as the liver, adjacent blood vessels, bile ducts, and gallbladder, are extracted in addition to the liver.

[0028] 4, the rendering unit 24B performs ray casting to render a three-dimensional organ image 42 onto a projection surface 44 corresponding to the screen of the display 16. A rendering image 46 is projected onto the projection surface 44.

[0029] The projection surface 44 is a virtual plane defined, for example, with a resolution equivalent to the screen resolution of the display 16. Ray casting is performed by the rendering unit 24B, whereby virtual rays 50 are projected onto the projection surface 44 from each viewpoint 48 corresponding to each pixel (i.e., pixel) of the projection surface 44, passing through the 3D organ image 42. The position of each viewpoint 48 relative to the 3D organ image 42 is changed, for example, according to an instruction received by the reception device 14, and thereby rendering images 46 obtained by observing the 3D organ image 42 from various directions are projected onto the projection surface 44. The rendering images 46 projected onto the projection surface 44 may be displayed on the display 16 or stored in a predetermined storage device (e.g., the storage 26, etc.).

[0030] 5, while a ray 50 passes through a 3D organ image 42, it accumulates data (hereinafter also referred to as "accumulated data") obtained by accumulating voxel data obtained at sampling points (for example, points defined at one-voxel intervals) up to a designated voxel, i.e., a voxel V at a designated position, onto a projection plane 44. As a result, the accumulated data is assigned as a pixel value to each pixel on the projection plane 44. The rendering unit 24B generates a rendering image 46 according to the accumulated data assigned to each pixel.

[0031] 6, the control unit 24C performs display control in accordance with the instructions received by the reception device 14, thereby causing the display 16 to display a screen 56. The control unit 24C also performs various settings in accordance with the instructions received by the reception device 14.

[0032] The screen 56 displays the rendered image 46 generated by the rendering unit 24B. The screen 56 includes a guidance message display area 56A. A guidance message 56A1 is displayed in the guidance message display area 56A. The guidance message 56A1 is a message that guides the user 18 to set a first incision line 60 for the three-dimensional organ image 42 via the rendered image 46. In the example shown in FIG. 6, the message "Please set the first incision line" is displayed as an example of the guidance message 56A1.

[0033] A pointer 58 is displayed on the screen 56. The user 18 forms a first incision line 60 on the rendered image 46 by operating the pointer 58 via the reception device 14 (here, as an example, the mouse 22). In the example shown in FIG. 6, a straight line is shown as an example of the first incision line 60 formed on the rendered image 46 by operating the pointer 58. The first incision line 60 formed on the rendered image 46 is confirmed in accordance with the instruction received by the reception device 14.

[0034] When the setting of the first incision line 60 is completed, the control unit 24C switches the screen displayed on the display 16 from screen 56 to screen 62, as shown in FIG. 7 as an example. The rendered image 46 depicting the first incision line 60 is displayed on screen 62. The screen 62 also includes a depth setting box 62A. The depth setting box 62A has a guidance message 62A1, an input box 62A2, and an enter key 62A3.

[0035] The guidance message 62A1 is a message that guides the user 18 to set a first incision depth 64 (see FIG. 8) for the 3D organ image 42. Hereinafter, for ease of explanation, the first incision depth 64 for the 3D organ image 42 will be simply referred to as the "first depth 64." In the example shown in FIG. 7, the message "Please set the incision depth" is displayed. Here, the first depth 64 is the depth at a specified position on the first incision line 60, for example, the depth at the middle of the first incision line 60. The middle of the first incision line 60 is, for example, the area including the midpoint of the first incision line 60 when the length of the first incision line 60 is divided into thirds. In particular, the first depth 64 is the depth at the midpoint of the first incision line 60.

[0036] The input box 62A2 is a box into which the first depth 64 is input. For example, the first depth 64 is input as a numerical value in millimeters into the input box 62A2. The user 18 inputs the first depth 64 into the input box 62A2 via the reception device 14 (here, as an example, the keyboard 20).

[0037] The enter key 62A3 is a soft key that is pressed to confirm the first depth 64 input in the input box 62A2. When the first depth 64 is input in the input box 62A2, the user 18 presses the enter key 62A3 via the reception device 14 (here, as an example, the mouse 22). This confirms the first depth 64 input in the input box 62A2.

[0038] When the setting of the first depth 64 is completed, as shown in Fig. 8 as an example, the incision parameter acquisition unit 24D acquires the first incision line 60 and the first depth 64 received by the reception device 14. Hereinafter, for convenience of explanation, when there is no need to distinguish between the first incision line 60 and the first depth 64, they will also be referred to as "incision parameters" without being assigned reference numerals.

[0039] 8, the first resection area calculation unit 24E acquires a first incision line 60 and a first depth 64 from the incision parameter acquisition unit 24D. The first resection area calculation unit 24E calculates a first resection area 65 based on the first incision line 60 and the first depth 64.

[0040] Specifically, the first resection area calculation unit 24E calculates the depth of each position on the first incision line 60 based on the first depth 64. At this time, the depth of each position on the first incision line 60 becomes shallower from the first depth 64 toward the end of the first incision line 60 at each position on the first incision line 60. In the example shown in FIG. 8, the change in depth at each position on the first incision line 60 is nonlinear. That is, the depth changes in a curved line when viewed in the normal direction of the plane defined by the first incision line 60 and the first depth 64. The nonlinear change is merely an example. For example, the change in depth at each position on the first incision line 60 may be linear. That is, the depth may change linearly when viewed in the normal direction of the plane defined by the first incision line 60 and the first depth 64. The depth of each position on the first incision line 60 is calculated, for example, by the first resection area calculation unit 24E using a first incision line depth calculation formula (not shown). The first incision line depth calculation formula is a calculation formula in which parameters specifying the geometric characteristics of the first incision line 60 (e.g., the length of the first incision line 60) and the first depth 64 are independent variables, and the depth of each position of the first incision line 60 is a dependent variable.

[0041] The first resection region calculation unit 24E calculates a first resection region 65 based on the first incision line 60, the first depth 64, and the depth of each position of the first incision line 60. The first resection region 65 is calculated, for example, by the first resection region calculation unit 24E using a first resection region calculation formula (not shown). The first resection region calculation formula is a calculation formula in which parameters specifying the geometric characteristics of the first incision line 60 (e.g., the length of the first incision line 60), the first depth 64, and the depth of each position of the first incision line 60 are independent variables, and the first resection region 65 is a dependent variable. Calculating the first resection region 65 refers to, for example, calculating parameters specifying the geometric characteristics of the second resection region 75 (e.g., three-dimensional coordinates specifying the outer edge of the second resection region 75 in the three-dimensional organ image 42).

[0042] Furthermore, the first resection area calculation unit 24E calculates a first incision width 67, which is the incision width at each position on the first incision line 60, based on the depth at each position on the first incision line 60. The first incision width 67 narrows from the position of the first depth 64 toward the end of the first incision line 60 at each position on the first incision line 60. In the example shown in FIG. 8, the first incision width 67 at each position on the first incision line 60 varies nonlinearly. That is, when the first incision area 65 is viewed in a plane, the width varies in a curved line. The nonlinear variation is merely an example. For example, the first incision width 67 may vary linearly. That is, when the first incision area 65 is viewed in a plane, the width may vary linearly. The first incision width 67 is calculated, for example, by the first resection area calculation unit 24E using a first incision width formula (not shown). The first incision width calculation formula is a calculation formula in which parameters specifying the geometric characteristics of the first incision line 60 (e.g., the length of the first incision line 60) and the depth of each position of the first incision line 60 are independent variables, and the first incision width 67 is a dependent variable.

[0043] The first resection area calculation unit 24E calculates the first resection area 65 based on the first incision line 60, the first depth 64, and the first incision width 67. The first resection area calculation unit 24E adds the first incision width 67 as an independent variable in the first resection area calculation formula described above to calculate the first resection area 65, which is a dependent variable.

[0044] Furthermore, the first resection region calculation unit 24E calculates the depth of each position of the first incision width 67 based on the depth of each position of the first incision line 60. The depth of each position of the first incision width 67 becomes shallower from the position on the first incision line 60 toward the end of the first incision width 67. In the example shown in FIG. 8, the change in depth of each position of the first incision width 67 is nonlinear. That is, the depth changes in a curved line when viewed in the normal direction of a plane perpendicular to the first incision line 60. The nonlinear change is merely an example. For example, the change in depth of each position of the first incision width 67 may be linear. That is, the depth may change in a curved line when viewed in the normal direction of a plane perpendicular to the first incision line 60. The depth of each position of the first incision width 67 is calculated, for example, from a first incision width depth calculation formula (not shown). The first incision width depth calculation formula is a calculation formula in which the first incision width 67 and the depth at the intersection of the first incision width 67 and the first incision line 60 for which the depth is to be calculated are independent variables, and the depth at each position of the first incision width 67 is a dependent variable.

[0045] The first resection area calculation unit 24E calculates the first resection area 65 based on the depth at each position of the first incision line 60, the first depth 64, and the first incision width 67. The first resection area calculation unit 24E adds the depth at each position of the first incision width 67 as an independent variable in the first resection area calculation formula described above, and calculates the first resection area 65 as a dependent variable.

[0046] The region specifying unit 24G specifies the first resection region 65 from the 3D organ image 42 using the calculation result by the first resection region calculating unit 24E. Specifying the first resection region 65 means, for example, determining three-dimensional coordinates that specify the position of the first resection region 65 in the 3D organ image 42. The three-dimensional coordinates that specify the position of the first resection region 65 in the 3D organ image 42 are determined by calculation according to an arithmetic expression that uses, for example, the first incision line 60, the first depth 64, the first incision width 67, the depth of each position of the first incision line 60, the depth of each position of the first incision width 67, and the first resection region 65 as independent variables, and the three-dimensional coordinates that specify the position of the outer edge of the first resection region 65 in the 3D organ image 42 as dependent variables. 9, the rendering unit 24B performs rendering on the inside of the first resection region 65 (for example, the incision surface (i.e., the exposed area) of the first resection region 65). As a result, a rendering image 46B1, which is a rendering image showing the incision surface of the first resection region 65, is generated in a region 46B of the rendering image 46 that corresponds to the outer edge of the first resection region 65.

[0047] As an example, as shown in FIG. 9, the control unit 24C performs display control to cause the display 16 to display a rendering image 46 including a rendering image 46B1. The control unit 24C switches the displayed screen from screen 62 (see FIG. 7) to screen 66. The rendering image 46B1 generated by the rendering unit 24B is displayed on screen 66. The screen 66 also includes a guidance message display area 66A. A guidance message 66A1 is displayed in the guidance message display area 66A. The guidance message 66A1 is a message that guides the user 18 to set a second incision line 70 for the three-dimensional organ image 42 via the rendering image 46. In the example shown in FIG. 9, a message saying "Please set a second incision line" is displayed as an example of the guidance message 66A1.

[0048] A pointer 58 is displayed on the screen 66. The user 18 forms a second incision line 70 on the rendered image 46 by operating the pointer 58 via the reception device 14 (here, as an example, the mouse 22). In the example shown in FIG. 9, a straight line is shown as an example of the second incision line 70 formed on the rendered image 46 by operating the pointer 58. The second incision line 70 formed on the rendered image 46 is confirmed in accordance with the instruction received by the reception device 14.

[0049] When the setting of the second incision line 70 is completed, the control unit 24C switches the screen displayed on the display 16 from screen 66 to screen 68, as shown in FIG. 10 as an example. Screen 68 displays the rendering image 46 on which the second incision line 70 is drawn. Screen 68 also includes a depth setting box 68A. Depth setting box 68A has a guidance message 68A1, an input box 68A2, and an enter key 68A3.

[0050] The guidance message 68A1 is a message that guides the user 18 to set a second incision depth 74 (hereinafter also simply referred to as "second depth 74") for the 3D organ image 42. In the example shown in FIG. 10, the message reads, "Please set the incision depth." Here, the second depth 74 is a depth starting from the surface after the first resection region 65 has been resected at a specified position on the second incision line 70. The second depth 74 is, for example, the depth at the middle of the second incision line 70. The middle of the second incision line 70 is, for example, a region that includes the midpoint of the second incision line 70 when the length of the second incision line 70 is divided into thirds. In particular, the second depth 74 is the depth at the midpoint of the second incision line 70.

[0051] The input box 68A2 is a box into which the second depth 74 is input. For example, the second depth 74 is input as a numerical value in millimeters into the input box 68A2. The user 18 inputs the second depth 74 into the input box 68A2 via the reception device 14 (here, as an example, the keyboard 20).

[0052] The enter key 68A3 is a soft key that is pressed to confirm the second depth 74 input in the input box 68A2. When the second depth 74 is input in the input box 68A2, the user 18 presses the enter key 68A3 via the reception device 14 (here, as an example, the mouse 22). This confirms the second depth 74 input in the input box 68A2.

[0053] When the setting of the second depth 74 is completed, as shown in Fig. 11 as an example, the incision parameter acquisition unit 24D acquires the second incision line 70 and the second depth 74 received by the reception device 14. Hereinafter, for convenience of explanation, when there is no need to distinguish between the second incision line 70 and the second depth 74, they will also be referred to as "incision parameters" without being assigned reference numerals.

[0054] 11 , the second resection area calculation unit 24F acquires the second incision line 70 and the second depth 74 from the incision parameter acquisition unit 24D. The second resection area calculation unit 24F also acquires the first resection area 65 calculated by the first resection area calculation unit 24E. The second resection area calculation unit 24F calculates the second resection area 75 based on the first resection area 65, the second incision line 70, and the second depth 74.

[0055] Incidentally, when a continuous incision simulation is performed, a second resection area 75 is identified for the three-dimensional organ image 42 after the first resection area 65 has been identified. However, a space (i.e., a depression) corresponding to the first resection area 65 is generated in the three-dimensional organ image 42 from which the first resection area 65 has been removed. Therefore, in the continuous incision simulation, performing an operation to identify the second resection area 75 including changes in the surface shape such as depressions may result in high calculation costs.

[0056] Therefore, in this embodiment, the processor 24 performs processing shown in FIG. 11 as an example. The second resection area calculation unit 24F calculates a third depth 77 based on the depth of the first resection area 65 and the second depth 74. The depth of the first resection area 65 is the distance β from the surface of the organ shown in the 3D organ image 42 before the first resection area 65 is resected to the surface of the organ shown in the 3D organ image 42 after the first resection area 65 is resected. As described above, the second depth 74 is a depth γ starting from the surface after the first resection area 65 is resected at a specified position on the second incision line 70. The third depth 77 is, for example, the sum of the depth of the first resection area 65 and the second depth 74 (i.e., β + γ). The second resection area calculation unit 24F calculates the second resection area 75 based on the second incision line 70 and the third depth 77.

[0057] Specifically, the second resection area calculation unit 24F calculates the depth at each position of the second incision line 70 based on the third depth 77. At this time, the depth at each position of the second incision line 70 becomes shallower from the third depth 77 toward the end of the second incision line 70 at each position on the second incision line 70. In the example shown in FIG. 11, the change in depth at each position of the second incision line 70 is nonlinear. That is, the depth changes in a curved line when viewed in the normal direction of the plane defined by the second incision line 70 and the third depth 77. A nonlinear change is merely an example. For example, the change in depth at each position of the second incision line 70 may be linear. That is, the depth may change linearly when viewed in the normal direction of the plane defined by the second incision line 70 and the third depth 77. The depth at each position of the second incision line 70 is calculated, for example, by the second resection area calculation unit 24F using a second incision line depth calculation formula (not shown). The second incision line depth calculation formula is a calculation formula in which a parameter specifying the geometric characteristics of the second incision line 70 (for example, the length of the second incision line 70) and the third depth 77 are used as independent variables, and the depth of each position of the second incision line 70 is used as a dependent variable. The second incision line depth calculation formula may also be the same as the first incision line depth calculation formula. Specifically, a parameter specifying the geometric characteristics of the second incision line 70 may be input as an independent variable of the parameter specifying the geometric characteristics of the first incision line 60, and the third depth 77 may be input as an independent variable of the first depth 64, and the depth of each position of the second incision line 70 may be output as a dependent variable instead of the depth of each position of the first incision line 60.

[0058] The second resection region calculation unit 24F calculates a second resection region 75 based on the second incision line 70, the third depth 77, and the depth of each position of the second incision line 70. The second resection region 75 is calculated, for example, by the second resection region calculation unit 24F using a second resection region calculation formula (not shown). The second resection region calculation formula is a formula in which parameters specifying the geometric characteristics of the second incision line 70 (e.g., the length of the second incision line 70), the third depth 77, and the depth of each position of the second incision line 70 are used as independent variables, and the second resection region 75 is used as a dependent variable. Here, calculating the second resection region 75 refers to, for example, calculating parameters specifying the geometric characteristics of the second resection region 75 (e.g., three-dimensional coordinates specifying the outer edge of the second resection region 75 in the three-dimensional organ image 42). The second resection region calculation formula may be the same as the first resection region calculation formula. Specifically, a parameter specifying the geometric characteristics of the second incision line 70 may be input as an independent variable of the parameter specifying the geometric characteristics of the first incision line 60, the third depth 77 may be input as an independent variable of the first depth 64, the depth of each position of the second incision line 70 may be input as an independent variable of the depth of each position of the first incision line 60, and the second incision area 75 may be output as a dependent variable instead of the first incision area 65.

[0059] Furthermore, the second resection area calculation unit 24F calculates a second incision width 79, which is the incision width at each position on the second incision line 70, based on the depth at each position on the second incision line 70. The second incision width 79 narrows from the third depth 77 toward the end of the second incision line 70 at each position on the second incision line 70. In the example shown in FIG. 11, the second incision width 79 at each position on the second incision line 70 varies nonlinearly. That is, when the second incision area 75 is viewed in a plane, the width varies in a curved line. The nonlinear variation is merely an example. For example, the second incision width 79 may vary linearly. That is, when the second incision area 75 is viewed in a plane, the width may vary linearly. The second incision width 79 is calculated, for example, by the second resection area calculation unit 24F using a second incision width formula (not shown). The second incision width calculation formula is a calculation formula in which a parameter specifying the geometric characteristics of the second incision line 70 (for example, the length of the second incision line 70) and the depth of each position of the second incision line 70 are used as independent variables, and the second incision width 79 is used as a dependent variable. The second incision width calculation formula may also be the same as the first incision width calculation formula. Specifically, a parameter specifying the geometric characteristics of the second incision line 70 may be input as an independent variable of the parameter specifying the geometric characteristics of the first incision line 60, and the depth of each position of the second incision line 70 may be input as an independent variable of the depth of each position of the first incision line 60, and the second incision width 79 may be output as a dependent variable instead of the first incision width 67.

[0060] The second resection area calculation unit 24F calculates the second resection area 75 based on parameters specifying the geometric characteristics of the second incision line 70 (e.g., the length of the second incision line 70), the third depth 77, and the second incision width 79. The second resection area calculation unit 24F adds the second incision width 79 as an independent variable to the second resection area calculation formula described above, and calculates the second resection area 75 as a dependent variable. The second resection area calculation formula may also be the same as the first resection area calculation formula. Specifically, the second incision width 79 may be input as an independent variable of the first incision width 67, and the second resection area 75 may be output as a dependent variable instead of the first resection area 65.

[0061] Furthermore, the second resection region calculation unit 24F calculates the depth of each position of the second incision width 79 based on the depth of each position of the second incision line 70. The depth of each position of the second incision width 79 becomes shallower from a position on the second incision line 70 toward the end of the second incision width 79. In the example shown in FIG. 11, the change in depth of each position of the second incision width 79 is nonlinear. That is, the depth changes in a curved line when viewed in the normal direction of a plane perpendicular to the second incision line 70. The nonlinear change is merely an example. For example, the change in depth of each position of the second incision width 79 may be linear. That is, the depth may change in a straight line when viewed in the normal direction of a plane perpendicular to the second incision line 70. The depth of each position of the second incision width 79 is calculated, for example, from a second incision width depth calculation formula (not shown). The second incision width / depth calculation formula is a calculation formula in which the second incision width 79 and the depth of the second incision line 70 at the intersection with the second incision width 79 for which the depth is to be calculated are independent variables, and the depth at each position of the second incision width 79 is a dependent variable. The second incision width / depth calculation formula may also be the same calculation formula as the first incision width / depth calculation formula. Specifically, the second incision width 79 may be input as an independent variable of the first incision width 67, and the depth of the second incision line 70 at the intersection with the second incision width 79 for which the depth is to be calculated may be input as an independent variable of the depth at the intersection with the first incision width 67 and the first incision line 60 for which the depth is to be calculated, and the depth at each position of the second incision width 79 may be output as a dependent variable instead of the depth at each position of the first incision width 67.

[0062] The second resection region calculation unit 24F calculates the second resection region 75 based on parameters specifying the geometric characteristics of the second incision line 70 (e.g., the length of the second incision line 70), the third depth 77, and the depth of each position of the second incision width 79. The second resection region calculation unit 24F adds the depth of each position of the second incision width 79 as an independent variable to the second resection region calculation formula described above, and calculates parameters specifying the geometric characteristics of the second resection region 75 as a dependent variable (e.g., three-dimensional coordinates specifying the outer edge of the second resection region 75 in the three-dimensional organ image 42). The second resection region calculation formula may be the same as the first resection region calculation formula. Specifically, the depth of each position of the second incision width 79 may be input as an independent variable for the depth of each position of the first incision width 67, and the second resection region 75 may be output as a dependent variable instead of the first resection region 65.

[0063] The region specifying unit 24G specifies the second resection region 75 from the 3D organ image 42 using the calculation result by the second resection region calculating unit 24F. Specifying the second resection region 75 means, for example, determining three-dimensional coordinates that specify the position of the second resection region 75 in the 3D organ image 42. The three-dimensional coordinates that specify the position of the second resection region 75 in the 3D organ image 42 are determined by calculation according to an arithmetic expression that uses, for example, the second incision line 70, the third depth 84, the second incision width 79, the depth of each position of the second incision line 70, the depth of each position of the second incision width 79, and the second resection region 75 as independent variables, and the three-dimensional coordinates that specify the position of the outer edge of the second resection region 75 in the 3D organ image 42 as dependent variables.

[0064] Once the second resection region 75 has been identified by the region identification unit 24G, the region identification unit 24G identifies a target region 80 that is included in the first resection region 65 and the second resection region 75. Identifying the target region 80 refers to identifying the three-dimensional coordinates of multiple voxels that make up the target region 80. The target region 80 is a region that makes up part or all of the combined region of the first resection region 65 and the second resection region 75. The target region 80 is an example of a "first region" according to the technology of the present disclosure.

[0065] 11 shows an example in which the first resection area 65 is entirely included in the second resection area 75, and the target area 80 is the same area as the second resection area 75. The target area 80 may be identified based on the result of the range specified by the user 18 within the second resection area 75 being accepted via the acceptance device 14, or may be identified according to predetermined conditions (for example, a range predetermined depending on the type of organ).

[0066] The rendering unit 24B generates a rendering image 46 in which the target region 80 is hidden. As an example, as shown in FIG. 12, the rendering unit 24B acquires the target region 80 identified by the region identification unit 24G. The rendering unit 24B performs rendering on the inside of the target region 80 (for example, if the target region 80 is the same as the second resection region 75, the rendering unit 24B performs rendering on the incision surface (i.e., the exposed region) of the second resection region 75). As a result, a rendering image 46B2 showing a surface in contact with the outer edge of the target region 80 is generated in a region 46B corresponding to the outer edge of the target region 80 in the rendering image 46. For example, if the target region 80 is the same as the second resection region 75, the rendering image 46B2 is a rendering image showing the incision surface of the second resection region 75.

[0067] Control unit 24C performs display control to display rendering image 46 including rendering image 46B2 on display 16. As an example, as shown in FIG. 12, rendering image 46 including rendering image 46B2 is displayed on screen 82.

[0068] Furthermore, the region identifying unit 24G identifies regions that represent the vascular system, lymphatic system, nervous system, and / or lesion site (e.g., tumor) within the target region 80 in the 3D organ image 42. Identifying the vascular system, lymphatic system, nervous system, and / or lesion site refers to identifying the three-dimensional coordinates of multiple voxels that make up the region identified as the vascular system, lymphatic system, nervous system, and / or lesion site. The region identifying unit 24G identifies the vascular system, lymphatic system, nervous system, and / or lesion site by performing image recognition processing on the target region 80 in the 3D organ image 42. The image recognition processing is not particularly limited, and examples include a method in which the extracting unit 24A extracts regions that represent the vascular system, lymphatic system, nervous system, and / or lesion site using image recognition processing such as AI (artificial intelligence) and / or pattern matching.

[0069] The rendering unit 24B generates a rendering image 46 in a state where the target region 80 is hidden and the vascular system, lymphatic system, nervous system, and / or lesion site included in the target region 80 are displayed. In this case, the target region 80 is an area excluding at least one of the area representing the vascular system, the area representing the lymphatic system, the area representing the nervous system, and the area representing the lesion site. As an example, as shown in FIG. 13 , the rendering unit 24B performs rendering within the target region 80 based on the area representing the vascular system, lymphatic system, nervous system, and / or lesion site identified by the area identification unit 24G. As a result, a rendering image 46C1 is generated within a region 46C corresponding to the target region 80 in the rendering image 46. The rendering image 46C1 is generated in a state where the target region 80 is hidden and the areas representing the vascular system, lymphatic system, nervous system, and / or lesion site are displayed.

[0070] Control unit 24C performs display control to display rendering image 46 including rendering image 46C1 on display 16. As an example, as shown in FIG. 13, rendering image 46 including rendering image 46C1 is displayed on screen 82.

[0071] Next, the operation of the medical service support device 10 will be described with reference to FIGS.

[0072] 14 and 15 show an example of the flow of the incision simulation process performed by the processor 24. The flow of the incision simulation process shown in Fig. 14 and 15 is an example of the "incision simulation method" according to the technique of the present disclosure.

[0073] 14, first, in step ST10, the extraction unit 24A acquires the three-dimensional image 38 from the storage 26 (see FIG. 3). After the processing of step ST10 is executed, the incision simulation processing proceeds to step ST12.

[0074] In step ST12, the extraction unit 24A extracts a three-dimensional organ image 42 from the three-dimensional image 38 acquired in step ST10 (see FIG. 3). After the processing of step ST12 is executed, the incision simulation processing proceeds to step ST14.

[0075] In step ST14, the rendering unit 24B generates a rendering image 46 by performing rendering on the 3D organ image 42 extracted in step ST12 (see FIGS. 4 and 5). After the processing of step ST14 is executed, the incision simulation processing proceeds to step ST16.

[0076] In step ST16, the control unit 24C displays the rendering image 46 generated in step ST14 on the display 16 (see FIGS. 6 and 7). After the processing of step ST16 is executed, the incision simulation processing proceeds to step ST18.

[0077] In step ST18, the incision parameter acquisition unit 24D acquires the incision parameters (i.e., the first incision line 60 and the first depth 64) accepted by the acceptance device 14 (see FIG. 8). After the processing of step ST18 is executed, the incision simulation processing proceeds to step ST20.

[0078] In step ST20, the first resection area calculation unit 24E calculates the first resection area 65 based on the incision parameters acquired in step ST18 (see FIG. 8). After the process of step ST20 is executed, the incision simulation process proceeds to step ST22.

[0079] In step ST22, the region specifying unit 24G specifies the first resection region 65 from the 3D organ image 42 extracted in step ST12 using the first resection region 65 calculated in step ST20 (see FIG. 8). After the processing of step ST22 is executed, the incision simulation processing proceeds to step ST24.

[0080] In step ST24, the rendering unit 24B generates a first resection area rendering image 46B1 by performing rendering on the first resection area 65 identified in step ST22. After the processing of step ST24 is executed, the incision simulation processing proceeds to step ST26.

[0081] In step ST26, the control unit 24C causes the rendering image 46 including the first resection area rendering image 46B1 generated in step ST24 to be displayed on the display 16. After the processing of step ST26 is executed, the incision simulation processing proceeds to step ST28 in the flow of the incision simulation processing shown in FIG. 15 as an example.

[0082] 15, in step ST28, the incision parameter acquisition unit 24D acquires the incision parameters (i.e., the second incision line 70 and the second depth 74) accepted by the acceptance device 14 (see FIG. 11). After the processing of step ST28 is executed, the incision simulation processing proceeds to step ST30.

[0083] In step ST30, the second resection area calculation unit 24F calculates the second resection area 75 based on the incision parameters acquired in step ST28 (see FIG. 11). After the process of step ST30 is executed, the incision simulation process proceeds to step ST32.

[0084] In step ST32, the region specifying unit 24G specifies the second resection region 75 from the 3D organ image 42 extracted in step ST12 using the second resection region 75 calculated in step ST32 (see FIG. 11). After the processing of step ST32 is executed, the incision simulation processing proceeds to step ST34.

[0085] In step ST34, the region specifying unit 24G specifies a target region 80 included in the first resection region specified in step ST22 and the second resection region 75 specified in step ST32. After the processing of step ST34 is executed, the incision simulation processing proceeds to step ST36.

[0086] In step ST36, the rendering unit 24B generates a rendering image 46B2 by rendering the 3D organ image 42 excluding the target region 80, based on the target region 80 identified in step ST34. After the processing of step ST36 is executed, the incision simulation processing proceeds to step ST38.

[0087] In step ST38, the control unit 24C causes the rendering image 46, including the rendering image 46B2 generated in step ST36, to be displayed on the display 16. After the processing of step ST38 is executed, the incision simulation processing proceeds to step ST40.

[0088] In step ST40, the region specifying unit 24G specifies a region including the vascular system, lymphatic system, nervous system, and / or lesion site included in the target region 80 specified in step ST34. After the processing of step ST40 is executed, the incision simulation processing proceeds to step ST42.

[0089] In step ST42, the rendering unit 24B generates a rendering image 46C1 by performing rendering on the region including the vascular system, lymphatic system, nervous system, and / or lesion site identified in step ST40. After the processing of step ST42 is executed, the incision simulation processing proceeds to step ST44.

[0090] In step ST44, control unit 24C causes rendering image 46, including rendering image 46C1 generated in step ST42, to be displayed on display 16. After the processing of step ST42 is executed, the incision simulation processing proceeds to step ST46.

[0091] In step ST46, the control unit 24C determines whether or not a condition for terminating the incision simulation process (hereinafter referred to as the "termination condition") has been satisfied. One example of the termination condition is that an instruction to terminate the incision simulation process has been accepted by the acceptance device 14. In step ST46, if the termination condition has not been satisfied, the determination is negative, and the incision simulation process proceeds to step ST18. In step ST46, if the termination condition has been satisfied, the determination is positive, and the incision simulation process ends.

[0092] As described above, in the medical service support device 10, the first resection area 65 is calculated, and the second resection area 75 is calculated based on the first resection area 65. Therefore, according to this configuration, it is possible to identify the inside of the resection area obtained by successive incisions.

[0093] Furthermore, in the medical service support device 10, the second resection area 75 is calculated based on a third depth 77, which is a depth based on the depth of the first resection area 65 at a specified position on the second incision line 70 and the second depth 74. Therefore, with this configuration, the second resection area 75 is calculated more simply than when the second resection area 75 is calculated without using the third depth 77. That is, the second resection area 75 is calculated based on the depth of the first resection area 65 at a specified position and the second depth 74, regardless of the shape of the first resection area 65. Therefore, the calculation cost for calculating the second resection area 75 is reduced compared to when the second resection area 75 is calculated taking into account the space remaining after the first resection area 65 is resected.

[0094] Furthermore, in the medical business support device 10, the third depth 77 is the sum of the depth of the first resection area 65 and the second depth 74, so the second resection area 75 can be calculated more easily than when the third depth 77 is defined as something other than the sum of the second depth 74 and the depth of the first resection area 65.

[0095] Furthermore, in the medical service support device 10, the depth of each position of the second incision line 70 is calculated based on the third depth 77, and the second resection area 75 is calculated based on the depth of each position of the second incision line 70. Therefore, according to this configuration, the second resection area 75 is calculated more simply than when the second resection area 75 is calculated without using the third depth 77.

[0096] Furthermore, in the medical service support device 10, the depth of each position on the second incision line 70 becomes shallower from the designated position on the second incision line 70 toward the end of the second incision line 70. Therefore, according to this configuration, the second resection area 75 can be calculated with higher accuracy than when the depth of each position on the second incision line 70 is constant.

[0097] Furthermore, in the medical service support device 10, a second incision width 79 at each position of the second incision line 70 is calculated based on the depth of each position of the second incision line 70, and the second resection area 75 is calculated based on the second incision width 79. Therefore, according to this configuration, the second resection area 75 is calculated more simply than when the second incision width 79 is not used to calculate the second resection area 75.

[0098] Furthermore, in the medical service support device 10, the second incision width 79 at each position on the second incision line 70 narrows from the specified position on the second incision line 70 toward the end of the second incision line 70. Therefore, with this configuration, the second resection area 75 can be calculated with higher accuracy than when the second incision width 79 at each position on the second incision line 70 is constant.

[0099] Furthermore, in the medical service support device 10, the depth of each position of the second incision width becomes shallower from the position on the second incision line 70 toward the end of the second incision width 79, and the second resection area 75 is calculated based on the depth of each position of the second incision width 79. Therefore, with this configuration, the second resection area 75 is calculated with higher accuracy compared to when the depth of each position of the second incision width 79 is constant.

[0100] Furthermore, in the medical service support device 10, the specified position on the second incision line 70 is the middle part of the second incision line 70. Therefore, according to this configuration, the second incision area 75 can be calculated more easily than when the third depth 77 is a depth determined based on the depth of the first incision area 65 and the second depth 74 at a position other than the middle part of the second incision line 70.

[0101] Furthermore, in the medical service support device 10, the specified position on the second incision line 70 is the midpoint of the second incision line 70. Therefore, according to this configuration, the second incision area 75 can be calculated more easily than when the third depth 77 is a depth determined based on the depth of the first incision area 65 and the second depth 74 at a position other than the midpoint of the second incision line 70.

[0102] Furthermore, in the medical service support device 10, the depth of each position of the first incision line 60 is calculated based on the first depth 64, and the first resection area 65 is calculated based on the depth of each position of the first incision line 60. Therefore, according to this configuration, the first resection area 65 is calculated more simply than when the first resection area 65 is calculated without using the depth of each position of the first incision line 60. Furthermore, since the method for calculating the depth of each position of the first incision line 60 is the same as that for the second incision line 70, calculation costs are reduced compared to when different calculation methods are used for the first incision line 60 and the second incision line 70.

[0103] Furthermore, in the medical service support device 10, the depth at each position on the first incision line 60 becomes shallower from the position of the first depth 64 toward the end of the first incision line 60. Therefore, with this configuration, the first resection area 65 can be calculated with higher accuracy compared to when the depth at each position on the first incision line 60 is constant. Furthermore, because the way in which the depth at each position on the first incision line 60 changes is the same as that of the second incision line 70, calculation costs are reduced compared to when the way in which the depth changes differs between the first incision line 60 and the second incision line 70.

[0104] Furthermore, in the medical service support device 10, a first incision width 67 at each position on the first incision line 60 is calculated based on the depth of each position on the first incision line 60, and a first resection area 65 is calculated based on the first incision width 67. Therefore, according to this configuration, the first resection area 65 is calculated more simply than when the first incision area 65 is calculated without using the first incision width 67. Furthermore, since the method for calculating the first incision width 67 is the same as that for the second incision width 79, calculation costs are reduced compared to when different calculation methods are used for the first incision width 67 and the second incision width 79.

[0105] Furthermore, in the medical service support device 10, the first incision width 67 at each position on the first incision line 60 narrows from the position of the first depth 64 toward the end of the first incision line 60 at each position on the first incision line 60. Therefore, with this configuration, the first resection area 65 is calculated with higher accuracy compared to when the first incision width 67 at each position on the first incision line 60 is constant. Furthermore, because the way the first incision width 67 changes is the same as the second incision width 79, calculation costs are reduced compared to when the first incision width 67 and the second incision width 79 change in different ways.

[0106] Furthermore, in the medical service support device 10, the depth at each position of the first incision width 67 becomes shallower from the position on the first incision line 60 toward the end of the first incision width 67, and the first resection area 65 is calculated based on the depth at each position of the first incision width 67. Therefore, with this configuration, the first resection area 65 is calculated with higher accuracy compared to when the depth at each position of the first incision width 67 is constant. Furthermore, because the way the depth at each position of the first incision width 67 changes is the same as in the case of the second incision width 79, calculation costs are reduced compared to when the way the depth changes is different between the first incision width 67 and the second incision width 79.

[0107] Furthermore, in the medical service support device 10, the position of the first depth 64 of the first incision line 60 is the middle part of the first incision line 60. Therefore, according to this configuration, the first resection area 65 can be calculated more easily than when the first depth 64 is a depth defined at a position other than the middle part of the first incision line 60.

[0108] Furthermore, in the medical service support device 10, the position of the first depth 64 of the first incision line 60 is the midpoint of the first incision line 60. Therefore, according to this configuration, the first resection area 65 can be calculated more easily than when the first depth 64 is a depth defined at a position other than the midpoint of the first incision line 60.

[0109] Furthermore, in the medical service support device 10, the target region 80 is a region excluding at least one of the region showing the vascular system, the region showing the lymphatic system, the region showing the nervous system, and the region showing the lesion site. Therefore, with this configuration, in the region after continuous incision, the user 18 can visually recognize at least one of the region showing the vascular system, the region showing the lymphatic system, the region showing the nervous system, and the region showing the lesion site.

[0110] In the above embodiment, an example of a continuous incision simulation process is described in which the first incision area 65 is calculated based on the first incision line 60 and the first depth 64, and the second incision area 75 is calculated based on the second incision line 70 and the third depth 77. However, the technology of the present disclosure is not limited to this. For example, continuous incision simulation process may be performed when three or more incisions are made.

[0111] 11, the first resection region 65 is included in the second resection region 75. However, the technology of the present disclosure is not limited to this, as long as there is an overlapping portion between the first resection region 65 and the second resection region 75 when viewed in the depth direction. For example, when the first resection region 65 and the second resection region 75 are viewed in the depth direction, the regions of the first resection region 65 and the second resection region 75 may be shifted from each other.

[0112] Furthermore, in the above embodiment, an example was described in which the depth at each position of the first incision line 60 and the second incision line 70 (hereinafter simply referred to as "incision lines"), the change in the first incision width 67 and the second incision width 79 (hereinafter simply referred to as "incision width"), the depth at each position of the incision width, or the first excision region 65 and the second excision region 75 (hereinafter simply referred to as "excision region") was calculated using an arithmetic formula based on the incision parameters received via the reception device 14, but the technology of the present disclosure is not limited to this. For example, various tables may be used in which the incision parameters are used as input values ​​and the depth at each position of the incision line, the change in the incision width, the depth at each position of the incision width, or the excision region is used as output values.

[0113] In the above embodiment, an example was given in which the depth at each position of the incision line, the incision width, and the depth at each position of the incision width change monotonically, but the technology of the present disclosure is not limited to this. For example, the depth at each position of the incision line, the incision width, and / or the depth at each position of the incision width may be constant in a certain region and change monotonically from the end of the constant value region.

[0114] Furthermore, in the above embodiment, an example in which incision parameters are received via the receiving device 14 has been described, but the technology of the present disclosure is not limited thereto. For example, the incision parameters may be determined according to various conditions (e.g., the type of organ), and may be values ​​that satisfy the conditions set for the incision target. Furthermore, the various arithmetic expressions used to calculate the resection area based on the depth at each position of the incision line, the incision width, and the depth at each position of the incision width in the above embodiment may have different arithmetic expressions depending on the various conditions, and may be selected based on the various conditions. For example, a different arithmetic expression may be used for each type of organ, and an arithmetic expression corresponding to the target organ in the 3D organ image 42 may be selected. Furthermore, in the above embodiment, an example in which input of the incision line and incision depth is received via the receiving device 14 as incision parameters has been described, but the technology of the present disclosure is not limited thereto. For example, the device may have a plurality of relational expressions between incision lines and incision depths according to various conditions (e.g., type of organ), and may accept input of only one of the incision line or incision depth, and calculate the other value using the relational expression between the incision line and incision depth according to the conditions satisfied by the 3D image 38 or the 3D organ image 42. For example, the device may hold a plurality of relational expressions between incision lines and incision depths for each organ, accept input of only the incision line via the reception device 14, and calculate the incision depth using the relational expression between the incision line and incision depth corresponding to the target organ in the 3D organ image 42.

[0115] Furthermore, in the above embodiment, an example was described in which the first excision area 65 is calculated based on the depth of each position of the first incision line 60, the first incision width 67, and the depth of each position of the first incision width 67 in addition to the first incision line 60 and the first depth 64, but the technology of the present disclosure is not limited to this. For example, when calculating the first excision area 65, any one of the depth of each position of the first incision line 60, the first incision width 67, and the depth of each position of the first incision width 67 may be used, or a combination of two of them may be used. Furthermore, the first excision area 65 may be calculated only from the first incision line 60 and the first depth 64.

[0116] In the above embodiment, the second resection area 75 is calculated based on the depth of each position of the second incision line 70, the second incision width 79, and the depth of each position of the second incision width 79 in addition to the second incision line 70 and the third depth 77. However, the technology of the present disclosure is not limited to this. For example, when calculating the second resection area 75, any one of the depth of each position of the second incision line 70, the second incision width 79, and the depth of each position of the second incision width 79 may be used, or a combination of two of them may be used. Alternatively, the second resection area 75 may be calculated based only on the second incision line 70 and the third depth 77.

[0117] Furthermore, in the above embodiment, an example was given in which the target region 80 is the same as the second resection region 75, but the technology of the present disclosure is not limited to this. The target region 80 may be included in the first resection region 65 and the second resection region 75, and may be a part of the first resection region 65 and / or the second resection region 75.

[0118] Furthermore, in the above embodiment, an example was described in which an area representing the vascular system, lymphatic system, nervous system, and / or lesion site within the target region 80 is displayed in the area 46C of the rendering image 46, but the technology of the present disclosure is not limited to this. As an example, as shown in FIG. 16 , only a rendering image 46C1 representing the vascular system, lymphatic system, nervous system, and / or lesion site may be displayed on the screen 82. As an example, as shown in FIG. 17 , a rendering image 46C2 representing organ tissue (i.e., tissue other than the vascular system, etc., included in the target region 80) may be displayed on the screen 82 in addition to the vascular system, lymphatic system, nervous system, and / or lesion site.

[0119] In the above embodiment, an exemplary embodiment has been described in which the rendering image 46 shown in FIG. 12 is hidden, and another exemplary embodiment has been described in which the rendering image 46 shown in FIG. 13 displays an area indicating the vascular system, lymphatic system, nervous system, and / or lesion site. However, the technology of the present disclosure is not limited to this. For example, only one of the rendering image 46 shown in FIG. 12 in which the target region 80 is hidden and the rendering image 46 shown in FIG. 13 in which the area indicating the vascular system, lymphatic system, nervous system, and / or lesion site is displayed may be displayed, or the two rendering images 46 may be switchable. Furthermore, for example, a configuration may be adopted in which only the rendering image 46 in which the target region 80 is hidden is displayed, without performing processing to display the rendering image 46 in which the area indicating the vascular system, lymphatic system, nervous system, and / or lesion site is displayed.

[0120] Furthermore, for example, the display may be able to switch between the rendering images 46 shown in Fig. 12, 13, 16, or 17. The control unit 24C performs display control on the display 16 based on an instruction received via the reception device 14, thereby switching between the screens 82 showing the rendering images 46 shown in Fig. 12, 13, 16, or 17.

[0121] Furthermore, in the above embodiment, an example was given in which the incision simulation processing is performed by the processor 24 of the image processing device 12 included in the medical work support device 10, but the technology of the present disclosure is not limited to this, and the device that performs the incision simulation processing may be provided outside the medical work support device 10.

[0122] In this case, a medical service support system 100 may be used as shown in FIG. 18 . The medical service support system 100 includes an information processing device 101 and an external communication device 102. The information processing device 101 is a device in which the incision simulation processing program 36 has been removed from the storage 26 of the image processing device 12 included in the medical service support device 10 described in the above embodiment. The external communication device 102 is, for example, a server. The server is realized by, for example, a mainframe. While a mainframe is illustrated here, this is merely an example, and the server may be realized by cloud computing or network computing such as fog computing, edge computing, or grid computing. While a server is illustrated here as an example of the external communication device 102, this is merely an example, and at least one personal computer or the like may be used as the external communication device 102 instead of a server.

[0123] The external communication device 102 includes a processor 104, a storage 106, a RAM 108, and a communication I / F 110, and the processor 104, the storage 106, the RAM 108, and the communication I / F 110 are connected to each other via a bus 112. The communication I / F 110 is connected to the information processing device 101 via a network 114. The network 114 is, for example, the Internet. Note that the network 114 is not limited to the Internet, and may be a WAN and / or a LAN such as an intranet.

[0124] The storage 106 stores an incision simulation processing program 36. The processor 104 executes the incision simulation processing program 36 on the RAM 108. The processor 104 performs the above-described incision simulation processing in accordance with the incision simulation processing program 36 executed on the RAM 108.

[0125] The information processing device 101 transmits a request signal requesting the execution of an incision simulation process to the external communication device 102. The communication I / F 110 of the external communication device 102 receives the request signal via the network 114. The processor 104 performs the incision simulation process in accordance with the incision simulation processing program 36, and transmits the processing result to the information processing device 101 via the communication I / F 110. The information processing device 101 receives the processing result (e.g., the processing result by the area specifying unit 24G) transmitted from the external communication device 102 via the communication I / F 30 (see FIG. 2), and outputs the received processing result to various devices such as the display 16.

[0126] In the example shown in FIG. 18, the external communication device 102 is an example of the "incision simulation device" according to the technology of the present disclosure, and the processor 104 is an example of the "processor" according to the technology of the present disclosure.

[0127] The incision simulation process may be distributed and performed by a plurality of devices including the information processing device 101 and the external communication device 102. In the above embodiment, the three-dimensional image 38 is stored in the storage 26 of the medical service support device 10, but it may be stored in the storage 106 of the external communication device 102 and acquired from the external communication device 102 via a network when the incision simulation process is performed.

[0128] Furthermore, in the above embodiment, an example was given in which the processor 24 is realized by a CPU and a GPU, but the technology of the present disclosure is not limited to this, and the processor 24 may be a processor realized by at least one CPU, at least one GPU, at least one GPGPU (General-purpose computing on graphics processing units), and / or at least one TPU (Tensor processing unit).

[0129] Furthermore, in the above embodiment, an example has been described in which the incision simulation processing program 36 is stored in the storage 26, but the technology of the present disclosure is not limited to this. For example, the incision simulation processing program 36 may be stored in a storage medium (not shown) such as an SSD or a USB memory. The storage medium is a portable, non-transitory storage medium. The incision simulation processing program 36 stored in the storage medium is installed in the image processing device 12 of the medical service support device 10. The processor 24 executes the incision simulation processing in accordance with the incision simulation processing program 36.

[0130] The incision simulation processing program 36 may also be stored in a storage device such as another computer or server device connected to the medical service support device 10 via a network (not shown), and the incision simulation processing program 36 may be downloaded in response to a request from the medical service support device 10 and installed in the image processing device 12. In other words, the program described in this embodiment (i.e., the program product) may be provided on a recording medium or may be distributed from an external computer.

[0131] It is not necessary to store the entire incision simulation processing program 36 in the storage 26 or in a storage device of another computer or server device connected to the medical service support device 10, but rather a part of the incision simulation processing program 36 may be stored therein. Note that the storage medium, the storage device of another computer or server device connected to the medical service support device 10, and other external storage (for example, a database) are regarded as memories that are directly or indirectly connected to and used by the processor 24.

[0132] In the above embodiment, the image processing device 12 is exemplified as a computer, but the technology of the present disclosure is not limited to this, and instead of a computer, a device including an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), and / or a PLD (Programmable Logic Device) may be applied. Also, instead of a computer, a combination of a hardware configuration and a software configuration may be used.

[0133] The hardware resources for executing the incision simulation process described in the above embodiments can be various processors, as listed below. Examples of processors include a CPU, which is a general-purpose processor that functions as a hardware resource for executing the incision simulation process by executing software, i.e., a program. Examples of processors include dedicated electrical circuits, such as FPGAs, PLDs, or ASICs, which are processors with a circuit configuration designed specifically for executing specific processes. Each processor has built-in or connected memory, and each processor uses the memory to execute the incision simulation process.

[0134] The hardware resource for executing the incision simulation process may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, the hardware resource for executing the incision simulation process may be a single processor.

[0135] As an example of configuring the system with one processor, first, one processor is configured by combining one or more CPUs and software, and this processor functions as a hardware resource that executes the incision simulation process. Second, there is a form in which a processor is used that realizes the functions of the entire system, including multiple hardware resources that execute the incision simulation process, on a single IC (Integrated Circuit) chip, as typified by SoC (System-on-a-chip). In this way, the incision simulation process is realized using one or more of the above-mentioned various processors as hardware resources.

[0136] Furthermore, the hardware structure of these various processors can be, more specifically, an electric circuit that combines circuit elements such as semiconductor elements. The above-described incision simulation process is merely an example. Therefore, it goes without saying that unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged, without departing from the spirit of the invention.

[0137] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0138] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" is also applied when three or more things are expressed connected by "and / or."

[0139] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0140] 10 Medical business support equipment 12 Image processing device 14 Reception device 16 Display 18 users 20 keyboards 22 Mouse 24, 104 processors 24A Extraction part 24B Rendering Department 24C Control Unit 24D incision parameter acquisition unit 24E 1st resection area calculation section 24F 2nd resection area calculation section 24G area identification part 26,106 Storage 28,108 RAM 30, 110 communication I / F 32 External I / F Buses 34 and 112 36 Incision simulation processing program 38 3D images 40 2D slice images 42 3D organ images 44 Projection plane 46, 46B1, 46B2, 46C1, 46C2 rendering images 46B, 46C area 48 viewpoints 50 rays 56, 62, 66, 68, 82 screens 56A, 66A Information message display area 56A1, 62A1, 66A1, 68A1 Information message 58 Pointer 60 First incision line 62A2, 68A2 input box 62A3, 68A3 Confirmation key 62A, 68A setting box 64 First Depth 65 1st resection area 67 1st incision width 70 Second incision line 74 Second Depth 75 Second resection area 77 Third Depth 79 2nd incision width 80 Target Areas 100 Medical Business Support System 101 Information processing equipment 102 External communication device 114 Network V Voxel

Claims

1. a processor; The processor: obtaining a first incision line for a three-dimensional organ image, the three-dimensional organ image being a three-dimensional image showing the organ; acquiring a first depth to be incised relative to the first incision line, the first depth being at a specified position on the first incision line; Calculating a depth at each position of the first incision line based on the first depth; Calculating a first incision width at each position of the first incision line based on a depth at each position of the first incision line; Calculating a first excision area based on the first incision line, a depth at each position of the first incision line, and a first incision width at each position of the first incision line; obtaining a second incision line for the three-dimensional organ image; acquiring a second depth to be incised relative to the second incision line, the second depth being at a specified position on the second incision line; calculating a second excision area based on the first excision area, the second incision line, and the second depth; Identifying a first region included in the first resection region and the second resection region in the three-dimensional organ image. Incision simulation device.

2. the processor calculates the second excision area based on the third depth and the second incision line; The third depth is a depth based on the depth of the first excision region at a specified position on the second incision line and the second depth. The incision simulation device according to claim 1 .

3. The third depth is the sum of the depth of the first excision region and the second depth. The incision simulation device according to claim 2 .

4. The processor: Calculating the depth of each position of the second incision line based on the third depth; Calculating the second excision area based on the depth of each position of the second incision line. The incision simulation device according to claim 2 or 3.

5. The depth of each position on the second incision line becomes shallower from the specified position toward the end of the second incision line at each position on the second incision line. The incision simulation device according to claim 4.

6. The processor: Calculating a second incision width at each position of the second incision line based on the depth at each position of the second incision line; Calculating the second excision area based on the second incision width. The incision simulation device according to claim 4 or 5.

7. The second incision width at each position on the second incision line narrows from the specified position toward the end of the second incision line at each position on the second incision line. The incision simulation device according to claim 6.

8. a depth of each position of the second incision width becoming shallower from a position on the second incision line toward an end of the second incision width; The processor calculates the second excision area based on the depth of each position of the second incision width. The incision simulation device according to claim 6 or 7.

9. The specified position on the second incision line is a middle portion of the second incision line. The incision simulation device according to any one of claims 2 to 8.

10. The specified position on the second incision line is the midpoint of the second incision line. The incision simulation device according to claim 9.

11. The depth of each position on the first incision line becomes shallower from the first depth position toward the end of the first incision line at each position on the first incision line. The incision simulation device according to any one of claims 1 to 10.

12. The first incision width at each position on the first incision line narrows from the first depth position toward the end of the first incision line at each position on the first incision line. The incision simulation device according to any one of claims 1 to 11.

13. a depth of each position of the first incision width becoming shallower from a position on the first incision line toward an end of the first incision width; The processor calculates the first excision area based on the depth of each position of the first incision width. The incision simulation device according to any one of claims 1 to 12.

14. The first depth position of the first incision line is a middle portion of the first incision line. The incision simulation device according to any one of claims 1 to 13.

15. The position of the first depth of the first incision line is the midpoint of the first incision line. The incision simulation device according to claim 14.

16. The first region is a region excluding at least one of a region representing the vascular system, a region representing the lymphatic system, a region representing the nervous system, and a region representing a lesion site. The incision simulation device according to any one of claims 1 to 15.

17. obtaining a first incision line for a three-dimensional organ image, the three-dimensional organ image being a three-dimensional image showing the organ; obtaining a first depth to incise the first incision line at a specified position on the first incision line; calculating a depth of each position of the first incision line based on the first depth; Calculating a first incision width at each position of the first incision line based on a depth at each position of the first incision line; Calculating a first excision area based on the first incision line, a depth at each position of the first incision line, and a first incision width at each position of the first incision line; obtaining a second incision line for the three-dimensional organ image; obtaining a second depth to incise relative to the second incision line at a specified position on the second incision line; calculating a second excision area based on the first excision area, the second incision line, and the second depth; and Identifying a first region included in the first resection region and the second resection region in the three-dimensional organ image. An incision simulation method comprising:

18. On the computer, obtaining a first incision line for a three-dimensional organ image, the three-dimensional organ image being a three-dimensional image showing the organ; obtaining a first depth to incise the first incision line at a specified position on the first incision line; calculating a depth of each position of the first incision line based on the first depth; Calculating a first incision width at each position of the first incision line based on a depth at each position of the first incision line; Calculating a first excision area based on the first incision line, a depth at each position of the first incision line, and a first incision width at each position of the first incision line; obtaining a second incision line for the three-dimensional organ image; obtaining a second depth to incise relative to the second incision line at a specified position on the second incision line; calculating a second excision area based on the first excision area, the second incision line, and the second depth; and Identifying a first region included in the first resection region and the second resection region in the three-dimensional organ image. A program that executes processing including

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