KR20190100010A - Method and apparatus for providing optimum surgical equipment - Google Patents

Abstract

Provided is a method for providing an optimized surgical tool. The method comprises steps of: acquiring a virtual body model generated in accordance with a physical condition of a surgical subject; simulating a surgical operation using a surgical tool in the virtual body model; and deriving a configuration of the surgical tool suitable for applying surgical operation performed by the surgical tool in the internal space of the surgical subject based on the simulation result.

Description

METHOD AND APPARATUS FOR PROVIDING OPTIMUM SURGICAL EQUIPMENT}

The present invention relates to a method and apparatus for providing an optimized surgical tool.

Recently, researches on applying virtual reality to the field of medical surgery simulation have been actively conducted.

Medical surgery can be classified into open surgery, laparoscopic surgery, minimally invasive surgery (MIS) including radio surgery, radio surgery, and the like. Laparoscopic surgery is surgery performed by the medical staff to see and touch the part to be treated. Minimally invasive surgery is also known as keyhole surgery. Laparoscopic surgery and robotic surgery are typical. In laparoscopic surgery, a small hole is made in a necessary part without opening the abdomen, a laparoscope with a special camera is attached, and a surgical tool is inserted into the body and observed through a video monitor. Microsurgery is performed using a laser or a special instrument. In addition, robot surgery is to perform minimally invasive surgery using a surgical robot. Furthermore, radiation surgery refers to surgical treatment with radiation or laser light outside the body.

When performing laparoscopic surgery or robotic surgery, the surgery was performed after setting a keyhole corresponding to the entry position at a general position. Surgical operation is not performed properly by entering the surgical tool into a general position without reflecting the patient's physical condition (eg, organ placement characteristics and body surface appearance), length or degree of freedom of the surgical tool. There are times when you can't. In addition, during minimally invasive surgery, since the surgical tool and the camera is inserted into the patient's body to perform the operation, the surgical tool is often not suitable for movement due to the internal structure of the body.

The problem to be solved by the present invention is to provide a method and apparatus for providing an optimized surgical tool.

The problem to be solved by the present invention is to provide a method and apparatus for providing an optimal entry position of the surgical tool.

The problem to be solved by the present invention is to provide a method and apparatus for deriving the structure of the surgical tool to perform an optimized surgical operation without the constraints of the internal space of the patient or the characteristics of the surgical tool.

The problem to be solved by the present invention is a patient of the medical staff based on the results of the surgical simulation performed after implementing a part (operation part) of the surgical tool displayed on the screen to confirm during laparoscopic surgery or robot surgery in the virtual body model It is to provide a method and apparatus for calculating the optimal entry position of the surgical tool to improve the efficiency and convenience during the actual operation of the medical staff by calculating one or more entry positions optimized for performing the operation operation on the surgical site.

Problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In accordance with an embodiment of the present invention, a method for providing an optimized surgical tool performed by a computer may include: obtaining a virtual body model generated according to a physical state of a patient to be operated, using a surgical tool within the virtual body model; Simulating an operation, and deriving a configuration of the surgical tool suitable for applying the surgical operation performed by the surgical tool in the internal space of the subject based on the simulation result.

In one embodiment of the present invention, the deriving of the configuration of the surgical tool, the step of obtaining the motion information of the surgical tool based on the simulation result, and the motion information in the internal space of the subject And deriving a configuration of the surgical tool suitable for application, wherein the configuration of the surgical tool may include an operation unit for performing a surgical operation on a surgical target site and an arm part connected to the operation unit. have.

In one embodiment of the present invention, the deriving of the configuration of the surgical tool, the step of obtaining the motion information of the operation unit based on the simulation result, and the operation of the operation subject based on the motion information of the operation unit The method may include determining an optimized type of the operation unit to apply a surgical operation to a target site.

In one embodiment of the present invention, the deriving of the configuration of the surgical tool, the step of obtaining the internal body information and body surface information of the subject, and the body based on the internal information and the body surface information And determining the structure of the cancer part, wherein the internal body information includes organ placement state information located in an internal space of the subject, and the body surface information includes body surface shape information of the subject. It may include.

In an embodiment of the present disclosure, the determining of the structure of the arm portion may include calculating an operation range of the arm portion from the internal body information and the body surface information, and an operation range of the arm portion. Deriving an arrangement relationship with the operation unit based on the, may determine the structure of the arm portion.

In an embodiment of the present disclosure, the determining of the structure of the arm part may determine at least one of the length of the arm part, the presence or absence of a joint part, and the motion information of the joint part according to an arrangement relationship with the operating part. .

In one embodiment of the present invention, the method further comprises the step of obtaining the optimum entry position on the surface of the body of the surgical target is inserted into the surgical tool, deriving the configuration of the surgical tool, the optimum entry position Considering the configuration of the surgical tool can be determined.

An apparatus according to an embodiment of the present invention includes a memory for storing one or more instructions, and a processor for executing the one or more instructions stored in the memory, wherein the processor executes the one or more instructions, thereby executing the body of the surgical subject. Obtaining a virtual body model generated according to a state, simulating a surgical operation using a surgical tool in the virtual body model, and based on the simulation result, the surgical tool in the internal space of the subject Deriving a configuration of the surgical tool suitable for applying the surgical operation performed by the.

According to an embodiment of the present invention, there is provided a method of providing an optimal entry position of a surgical tool performed by a computer, the method comprising: obtaining a virtual body model generated in accordance with a physical state of a surgical subject; Simulating using an operating part of a surgical tool to apply a surgical operation to the surgical target site, and based on the simulation result to apply the surgical operation performed by the operating unit in the internal space of the subject Calculating an optimal entry position on the body surface of the surgical subject.

In one embodiment of the present invention, the step of simulating, without considering the configuration of the arm portion of the surgical tool that the movement occurs in accordance with the operation of the operation of the operation unit, the surgical target site in the virtual body model The motion information of the operation unit may be obtained by simulating a surgery operation using the operation unit.

In one embodiment of the present invention, the step of calculating the optimum entry position, extracting the accessible range from the body surface of the surgical subject to which the motion information of the operation unit can be applied in the body space of the surgical subject And calculating the optimal entry position from the accessible range by reflecting an operation performing range of the arm portion in which movement occurs according to a surgical operation of the operation unit.

In one embodiment of the present invention, the operation range of the arm portion is a range in which the operation of the arm portion in accordance with the movement of the operation unit based on the internal body information and body surface information of the operation target, the body The internal information may include organ placement state information located in a space inside the body of the surgery subject, and the body surface information may include body surface shape information of the surgery subject.

In one embodiment of the present invention, the method may further include a step of deriving a configuration of the surgical tool suitable for performing a surgical operation by inserting the surgical tool into the optimal entry position.

An apparatus according to an embodiment of the present invention includes a memory for storing one or more instructions, and a processor for executing the one or more instructions stored in the memory, wherein the processor executes the one or more instructions, thereby executing the body of the surgical subject. Acquiring a virtual body model generated according to a state, simulating using an operation unit of a surgical tool that applies a surgical operation to a surgical target portion of the surgical subject in the virtual body model, and based on the simulation result Calculating an optimal position of entry on the surface of the body of the surgery subject to apply the surgery performed by the operating unit in the body space of the surgery subject.

In accordance with an embodiment of the present invention, a method for providing an optimized surgical tool performed by a computer may include obtaining a virtual body model generated according to a physical condition of a surgical subject, and performing an actual operation of the surgical subject within the virtual body model. Simulating a surgical operation corresponding to the operation, and deriving a surgical tool or surgical robot suitable for applying the surgical operation in the internal space of the subject based on the simulation result.

In one embodiment of the present invention, the step of deriving the surgical tool or surgical robot, based on the simulation results to analyze the operation operation included in the specific surgical robot or the type of specific surgical robot optimized for the surgical subject Determine the type of surgical instrument used.

In one embodiment of the present invention, further comprising the step of obtaining the optimum entry position on the surface of the body of the surgical target to which the surgical tool is inserted, deriving the surgical tool or surgical robot, the optimal entry The surgical tool or the surgical robot may be determined in consideration of the position.

An apparatus according to an embodiment of the present invention includes a memory for storing one or more instructions, and a processor for executing the one or more instructions stored in the memory, wherein the processor executes the one or more instructions, thereby executing the body of the surgical subject. Acquiring a virtual body model generated according to a state, simulating a surgical operation corresponding to the actual surgical operation of the surgical subject in the virtual body model, and based on the simulation result; Deriving a surgical tool or surgical robot suitable for applying the surgical operation in the space.

A computer program according to an embodiment of the present invention is combined with a computer, which is hardware, and stored in a computer-readable recording medium to perform the optimized surgical tool providing method or the optimal entry position providing method of the surgical tool.

According to the present invention, since the medical staff determines the optimal entry position of the surgical tool by reflecting the results of the surgical simulation performed without considering the entry position of the surgical tool and the long-term jamming of the cancer part of the surgical tool, the medical staff has the most comfortable operation. Make it work.

According to the present invention, by using the optimal entry position optimized for the patient's physical condition without using the general surgical tool entry position, the medical staff can perform the specific operation in the actual operation process by the long-term placement characteristics of the patient or the length of the surgical tool. Restrictions can be prevented from occurring.

According to the present invention, when performing the operation using all the surgical instruments used in the surgery using a specific number of surgical tool entry position, it is possible to determine the several surgical tool entry position optimized for all surgical instruments. In addition, it is possible to accurately set the entry position that each surgical tool should enter from a certain number of optimal entry positions. In addition, it is possible to minimize the number of entering positions according to the type of surgical instruments as well as the entry positions. Accordingly, the effect of reducing the surgical scar of the patient can be obtained.

According to the present invention, when a plurality of surgical robots or a plurality of surgical tools for performing the same action within a specific surgical robot can be used, a surgical robot or surgical tool most suitable for the patient's physical condition and the operation of the medical staff is proposed. This allows the staff to perform efficient and fast surgery.

According to the present invention, when the surgical robot performs the surgery on its own, the optimized surgery may be performed by calculating the optimal entry position of each surgical tool.

According to the present invention, since the medical staff determines the surgical tool having an optimal structure by reflecting the results of the surgical simulation performed without considering the entry position of the surgical tool and the long-term jamming of the cancer part of the surgical tool, the medical staff has his own surgical operation. Surgical instruments can be operated conveniently according to the pattern. Accordingly, the entire surgical procedure can be effectively performed, and the surgical error can be reduced.

According to the present invention, as the operation is performed using the optimized surgical tool, the medical staff can prevent the limitation of the specific surgical operation performed in the actual surgical procedure due to the long-term placement characteristics of the patient or the characteristics of the surgical tool. .

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a schematic diagram of a system capable of performing robot surgery according to an embodiment of the present invention.
2 is a flow chart schematically showing a method for providing an optimized surgical tool according to an embodiment of the present invention.
3 is a flow chart schematically showing a method for providing an optimized surgical tool according to another embodiment of the present invention.
Figure 4 is a flow chart schematically showing a method for providing an optimal entry position of a surgical tool according to an embodiment of the present invention.
5 is a view schematically showing the configuration of an apparatus 200 for performing an optimized surgical tool providing method or a method for providing an optimal entry position of a surgical tool according to an embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be embodied in various different forms, and the present embodiments only make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully inform the skilled worker of the scope of the invention, which is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and / or "comprising" does not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like elements throughout, and "and / or" includes each and all combinations of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are of course not limited by these terms. These terms are only used to distinguish one component from another. Therefore, of course, the first component mentioned below may be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms used in the present specification (including technical and scientific terms) may be used in a sense that can be commonly understood by those skilled in the art. In addition, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are specifically defined clearly.

As used herein, the term "part" or "module" refers to a hardware component such as software, FPGA, or ASIC, and the "part" or "module" plays certain roles. However, "part" or "module" is not meant to be limited to software or hardware. The “unit” or “module” may be configured to be in an addressable storage medium or may be configured to play one or more processors. Thus, as an example, a "part" or "module" may include components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, Procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. Functions provided within components and "parts" or "modules" may be combined into smaller numbers of components and "parts" or "modules" or into additional components and "parts" or "modules". Can be further separated.

As used herein, the term "computer" includes all the various devices capable of performing arithmetic processing to provide a result to a user. For example, a computer can be a desktop PC, a notebook, as well as a smartphone, a tablet PC, a cellular phone, a PCS phone (Personal Communication Service phone), synchronous / asynchronous The mobile terminal of the International Mobile Telecommunication-2000 (IMT-2000), a Palm Personal Computer (PC), a Personal Digital Assistant (PDA), and the like may also be applicable. In addition, when a head mounted display (HMD) device includes a computing function, the HMD device may be a computer. Also, the computer may correspond to a server that receives a request from a client and performs information processing.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of a system capable of performing robot surgery according to an embodiment of the present invention.

According to FIG. 1, the robotic surgical system includes a medical imaging apparatus 10, a server 100, a control unit 30 provided in an operating room, a display 32, and a surgical robot 34. According to an embodiment, the medical imaging apparatus 10 may be omitted in the robot surgery system according to the disclosed embodiment.

In one embodiment, surgical robot 34 includes imaging device 36 and surgical instrument 38.

In one embodiment, the robot surgery is performed by the user controlling the surgical robot 34 using the control unit 30. In one embodiment, the robot surgery may be automatically performed by the controller 30 without the user's control.

The server 100 is a computing device including at least one processor and a communication unit.

The controller 30 includes a computing device including at least one processor and a communication unit. In one embodiment, the control unit 30 includes hardware and software interfaces for controlling the surgical robot 34.

The imaging device 36 includes at least one image sensor. That is, the imaging device 36 includes at least one camera device and is used to photograph an object, that is, a surgical site. In one embodiment, the imaging device 36 includes at least one camera coupled with a surgical arm of the surgical robot 34.

In an embodiment, the image photographed by the photographing apparatus 36 is displayed on the display 340.

In one embodiment, surgical robot 34 includes one or more surgical tools 38 that can perform cutting, clipping, fixing, grabbing operations, and the like, of the surgical site. Surgical tool 38 is used in conjunction with the surgical arm of the surgical robot 34.

The controller 30 receives information necessary for surgery from the server 100 or generates information necessary for surgery and provides the information to the user. For example, the controller 30 displays the information necessary for surgery, generated or received, on the display 32.

For example, the user performs the robot surgery by controlling the movement of the surgical robot 34 by manipulating the control unit 30 while looking at the display 32.

The server 100 generates information necessary for robotic surgery using medical image data of an object previously photographed from the medical image photographing apparatus 10, and provides the generated information to the controller 30.

The controller 30 displays the information received from the server 100 on the display 32 to provide the user, or controls the surgical robot 34 by using the information received from the server 100.

In one embodiment, the means that can be used in the medical imaging apparatus 10 is not limited, for example, other various medical image acquisition means such as CT, X-Ray, PET, MRI may be used.

In the case of minimally invasive surgery, such as robotic surgery, laparoscopic surgery, surgery using an endoscope, surgery is performed by inserting a surgical tool and a camera into the body of the patient (ie, the patient). In this case, organs, blood vessels, and the like are disposed inside the patient's body, and since the internal space of the body is narrow, it is not easy to insert a surgical tool to perform a surgical operation. Therefore, the present invention minimizes the restriction in the surgical process due to the arrangement state of organs, blood vessels, and the like, or the length and structure of the surgical tool existing in the body of the patient, and the medical staff can perform the most comfortable surgical operation. We want to provide a way to make it work. It will be described in detail below.

2 is a flow chart schematically showing a method for providing an optimized surgical tool according to an embodiment of the present invention.

Each step shown in FIG. 2 may be performed in time series in the server 100 or the controller 30 shown in FIG. 1. Alternatively, it may be performed in a computing device provided separately from the above. Hereinafter, for the convenience of description, each step is described as being performed by a computer, but the performing agent of each step is not limited to a specific apparatus, and all or part of the steps are performed by the server 20 or the controller 30 or , May be performed in a separately provided computing device.

Referring to FIG. 2, in a method of providing an optimized surgical tool performed by a computer according to an embodiment of the present disclosure, the method may include obtaining a virtual body model generated according to a physical state of a surgery subject (S100). Simulating a surgical operation using the surgical tool within (S110), and based on the simulation results to derive a configuration of the surgical tool suitable for applying the surgical operation performed by the surgical tool in the internal space of the subject Step S120 may be included. Hereinafter, a detailed description of each step will be described.

The computer may acquire a virtual body model generated in accordance with the physical state of the surgical subject (S100).

The virtual body model may be 3D modeling data generated based on medical image data (eg, medical images photographed through CT, PET, MRI, etc.) photographing the inside of the body of the patient. For example, the model may be modeled in accordance with the body of the surgical subject, and may be corrected to the same state as the actual surgical state.

Medical staff can perform rehearsals or simulations using a virtual body model that is implemented in the same way as the physical state of the subject, and can experience the same state as during the actual surgery. In this case, the medical staff may freely perform the surgical operation in the internal space of the patient through the virtual body model. For example, virtual surgery may be performed according to a surgical operation pattern of medical personnel without limitations on the patient's internal characteristics (eg, organ placement, vascular condition, etc.) or the characteristics of surgical instruments. After performing the virtual surgery, the optimal physical surgery procedure can be derived by considering the internal characteristics of the patient and the characteristics of the surgical instruments based on the results. In addition, when performing a virtual surgery using a virtual body model, it is possible to obtain data including rehearsal or simulation behavior for the virtual body model. For example, image data obtained by performing virtual surgery (ie, rehearsal or simulation) on the virtual body model may be acquired, or data recording the surgical operation performed on the virtual body model may be obtained.

The computer may simulate a surgical operation using a surgical tool in the virtual body model (S110).

The surgical tool may be configured to include an operation part for directly performing a surgical operation on the surgical part and an arm part connected to the operating part. For example, the operation unit may be a portion capable of performing a surgical operation such as catching, cutting, moving, or suturing a target object by accessing the surgical site, and may be configured with various instruments according to the purpose of the surgical operation. . The arm part may be connected to the operation unit to operate according to the movement of the operation unit, or operate to control the movement of the operation unit.

In the case of minimally invasive surgery such as robotic surgery or laparoscopic surgery of FIG. 1, only the operation part of the surgical tool is photographed by a camera inserted into the body of the surgical target to be seen through the screen. Therefore, the operating state of the arm portion of the surgical tool is not provided through the screen.

In one embodiment, the computer may simulate the operation of the operation using only the operating portion of the surgical tool in the virtual body model. That is, the computer generates changes in the space inside the virtual body model among the components of the surgical instrument (e.g., causes physical or chemical changes in organs, blood vessels, tissues, etc. in the body or clips, gauze, saline, etc. in the space inside the virtual body model). Only the operating unit that provides an external object can be simulated by implementing it inside the virtual body model. Therefore, in this simulation, the virtual body model without considering the characteristics of the cancer part of the surgical tool, whether the cancer part affects the internal organs, the entry position on the patient's body surface, etc. By performing the virtual surgery using only the operating portion of the surgical tool within, it is possible to apply the most easy and familiar surgical operation pattern.

Here, the simulation (virtual surgery) for the virtual body model may be performed by a medical staff or may be performed by a computer itself. When performed by a medical staff, the computer receives input of the controller operation by the medical staff. In addition, when the computer performs its own simulation, the computer may perform virtual surgery on a specific patient based on the result of learning the existing surgical data.

The computer may derive a configuration of a surgical tool suitable for applying a surgical operation performed by the surgical tool in the internal space of the subject based on the simulation result (S120).

Specifically, the computer may acquire the motion information of the surgical tool based on the simulation result through the virtual body model. The motion information may be information indicating a change in the position of the surgical tool generated by performing the surgical operation, for example, a set of coordinate values indicating the position of each point of the surgical tool on the virtual body model coordinates. The computer may derive a configuration of a surgical tool suitable for applying the motion information of the surgical tool in the internal space of the subject. That is, the computer may derive the structure of the arm part and the type of the moving part optimized in applying the motion information acquired through the virtual body model to the inside of the body of the surgical subject.

In one embodiment, the computer may obtain the motion information of the operation unit by simulating the operation operation using only the operation unit of the surgical tool through the virtual body model. The computer may determine the type of the optimized operating unit to apply the surgical operation to the surgical target region of the surgical subject based on the motion information of the operating unit. For example, the computer may analyze the movement information of the operation unit to determine the movement pattern information on the surgical operation performed by the operation unit. When the surgical operation performed by the operating unit is a cutting operation, the computer may recognize that the cutting operation is performed from the movement pattern information and derive a type (type) of the operating unit suitable for cutting. In addition, even when the same operation is performed, the movement of the operation unit may appear differently depending on the type of surgery or the target region of the surgery. In this case, the computer may derive the type of the operation unit that is most suitable for the operation or the operation site by analyzing the movement pattern information of the operation unit.

In addition, the computer may acquire internal body information and body surface information of the subject, and determine the structure of the cancer part based thereon. The internal body information may include organ placement state information located in an internal space of the subject, and the body surface information may include body surface shape information of the subject.

The computer may obtain body internal information and body surface information in various ways. In one embodiment, the internal body information or body surface information may be obtained from a virtual body model generated by applying medical image data about the patient to the relief forming algorithm. The ups and downs algorithm is an algorithm that generates the three-dimensional modeling data of the steady state to the three-dimensional modeling data of the steady state.

Unlike laparoscopic surgery or robotic surgery, a patient's body is undulated by injecting gas (ie, carbon dioxide) into the body to create a space for the surgical tool to move inside the body. do. In other words, when the patient is a target of laparoscopic surgery or robotic surgery, the process of modeling in a undulating state is required for the medical staff to simulate the same virtual body model as the actual surgery. The computer obtains body surface information from the surface of the patient's body in the virtual body model formed in the undulating state by applying the relief formation algorithm, and extracts the internal organ placement information of the body to obtain the internal body information.

In one embodiment, in determining the structure of the cancer portion, the computer calculates the operating range of the cancer portion from the internal body information and body surface information of the subject, and based on the operating range of the cancer portion and the cancer portion and operation It is possible to derive the placement relationship between departments. The computer may determine at least one of the length of the arm part, the presence or absence of the joint part, and the motion information of the joint part according to the arrangement relationship with the moving part. In this case, the operation range of the cancer part refers to a range in which the operation of the cancer part is possible according to the movement of the operation part on the basis of internal body information and body surface information of the operation target.

For example, since the computer can determine the organ placement state from the internal information of the patient, it is possible to determine whether the organ is affected by the movement of the cancer part according to the movement of the operation part. Accordingly, the computer can calculate an operation performance range of the arm portion capable of performing the operation without affecting the organ. In addition, the computer may derive an arrangement relationship between the cancer part and the operation part based on the positional relationship between the internal organs of the patient or the position of the body surface within the operating range of the cancer part. That is, the computer may determine the structure of the optimized arm part based on the arrangement relationship with the operation part within the operating range of the arm part. For example, the computer can calculate an arrangement relationship such as an angle, an inclination degree, a degree of bending between the operating unit and the arm. The computer can determine whether a joint is needed for the arm portion based on this placement relationship. The joint part may be a part connecting the operating part and the arm part or connecting the arm and the arm when the arm part includes a plurality of arms. When the arm includes the joint, the computer may determine the degree of movement such as the number of joints, the degree of freedom of the joint, the rotation angle, the degree of bending, and the like.

In deriving the configuration of the surgical tool in one embodiment of the present invention, the computer can obtain the optimal entry position on the body surface of the surgical target patient is inserted, and determine the configuration of the surgical tool in consideration of the optimal entry position have. In this case, the computer may use a predetermined entry position or may obtain an optimal entry position by performing the method of FIG. 4 to be described later. In one embodiment, the computer may derive the structure of the arm portion that can be inserted without affecting the internal organs or body surface shape when the surgical tool is inserted into the optimal entry position. For example, the length of the arm part, the presence or absence of the joint part, the motion information of the joint part, and the like can be derived.

3 is a flow chart schematically showing a method for providing an optimized surgical tool according to another embodiment of the present invention.

Each step illustrated in FIG. 3 may be performed in time series in the server 100 or the controller 30 illustrated in FIG. 1. Alternatively, it may be performed in a computing device provided separately from the above. Hereinafter, for the convenience of description, each step is described as being performed by a computer, but the performing agent of each step is not limited to a specific apparatus, and all or part of the steps are performed by the server 20 or the controller 30 or , May be performed in a separately provided computing device.

Referring to FIG. 3, the method for providing an optimized surgical tool performed by a computer according to an embodiment of the present disclosure includes obtaining a virtual body model generated in accordance with a physical state of a surgical subject (S200). Simulating a surgical operation corresponding to the actual surgical operation of the operation target within the operation (S210), and deriving a surgical tool or surgical robot suitable for applying the operation in the internal space of the operation subject based on the simulation results It may include (S220). Hereinafter, a detailed description of each step will be described.

The computer may acquire a virtual body model generated in accordance with the physical condition of the surgical subject (S200). This may be performed in the same manner as step S100 of FIG. 2 described above, and thus detailed description thereof will be omitted.

The computer may simulate a surgical operation corresponding to the actual surgical motion of the surgical target in the virtual body model (S210). This may be performed in the same manner as step S110 of FIG. 2 described above, and thus detailed description thereof will be omitted.

The computer may derive a surgical tool or a surgical robot suitable for applying the surgical motion in the internal space of the subject based on the simulation result (S220).

In one embodiment, the computer may obtain the motion information of the surgical tool from the simulation result, and analyze the surgical operation from the motion information. The computer may determine the type of specific surgical robot or type of surgical tool included in the specific surgical robot based on the analyzed surgical operation.

That is, the surgical robot may have various kinds according to the type of surgery or the physical characteristics of the subject, and each company may have a different type of surgical robot. Therefore, the present invention can obtain the motion information of the surgical tool through the virtual body model to derive the type of surgical robot that is most suitable for the operation can be recommended to the medical staff. In addition, the movement characteristics of the surgical tool (that is, the operation part and the arm part) may be different for each surgical robot, and there may be a difference in the type of surgical tool possessed for each surgical robot of each company. Therefore, in the present invention, it is possible to determine a specific surgical robot that is optimal for implementing the movement of the surgical tool obtained through the virtual body model. In addition, since one surgical robot may include various surgical tools for performing the same surgical operation, the computer is optimized to implement the movement of the surgical tool obtained through the virtual body model among the various surgical tools in the specific surgical robot. Surgical instruments can be determined.

In deriving a surgical tool or a surgical robot in one embodiment of the present invention, the computer obtains an optimal entry position on the body surface of the surgical subject to which the surgical tool is inserted, and takes the surgical tool or surgical robot in consideration of the optimal entry position. You can decide. In this case, the computer may use a predetermined entry position or may obtain an optimal entry position by performing the method of FIG. 4 to be described later. In one embodiment, the computer may derive a surgical tool that can be inserted without affecting the internal organs or body surface shape or the surgical robot including the surgical tool when the surgical tool is inserted into the optimal entry position. have.

In addition, in one embodiment of the present invention, the computer may record and store the movement of the surgical tool during surgery in real time. Thus, the computer may determine at least one optimal surgical tool based on the simulation result as described above, and receive one surgical tool from the user among the determined surgical tools. In this case, the computer may re-simulate the surgery process using the surgical tool selected by the user. Through this, it is possible to derive an optimized actual surgical procedure (ie, actual surgical motion).

Figure 4 is a flow chart schematically showing a method for providing an optimal entry position of a surgical tool according to an embodiment of the present invention.

Each step illustrated in FIG. 4 may be performed in time series in the server 100 or the controller 30 illustrated in FIG. 1. Alternatively, it may be performed in a computing device provided separately from the above. Hereinafter, for the convenience of description, each step is described as being performed by a computer, but the performing agent of each step is not limited to a specific apparatus, and all or part of the steps are performed by the server 20 or the controller 30 or , May be performed in a separately provided computing device.

Referring to FIG. 4, the method for providing an optimal entry position of a surgical tool performed by a computer according to an embodiment of the present disclosure includes: obtaining a virtual body model generated in accordance with a physical state of a surgical subject (S300); Simulating by using the operating part of the surgical tool to apply a surgical operation to the operation target region of the operation target in the body model (S310), and the operation performed by the operating unit in the internal space of the operation subject based on the simulation results Computing an optimal entry position on the body surface of the subject to be able to apply the operation (S320). Hereinafter, a detailed description of each step will be described.

The computer may acquire a virtual body model generated in accordance with the physical state of the surgical subject (S300). This may be performed in the same manner as step S100 of FIG. 2 described above, and thus detailed description thereof will be omitted.

The computer may be simulated by using an operating part of a surgical tool that applies a surgical operation to a surgical target site of a surgical subject in a virtual body model (S310). This may be performed in the same manner as step S110 of FIG. 2 described above, and thus redundant description thereof will be omitted.

In one embodiment, the computer may simulate the operation operation using only the operation unit for the surgical target site in the virtual body model without considering the configuration of the arm portion in which the movement occurs according to the operation operation of the operation unit. The computer may acquire motion information of the operating unit from the simulation result. In this case, the motion information may be information indicating a change in the position of the surgical tool generated by performing the operation as described above, for example, a set of coordinate values indicating the position of each point of the surgical tool on the virtual body model coordinates. Can be.

Therefore, in this simulation, the virtual body model without considering the characteristics of the cancer part of the surgical tool, whether the cancer part affects the internal organs, the entry position on the patient's body surface, etc. By performing the virtual surgery using only the operating portion of the surgical tool within, it is possible to apply the most easy and familiar surgical operation pattern.

The computer may calculate an optimal entry position on the body surface of the surgical subject to apply the surgical operation performed by the operation unit in the internal space of the surgical subject based on the simulation result (S320).

In one embodiment, the computer may extract an accessible range on the body surface of the surgical subject to which the motion information of the operation unit may be applied in the internal space of the surgical subject. In addition, the computer may calculate an optimal entry position from the accessible range by reflecting an operation performing range of the arm portion in which movement occurs according to the surgical operation of the operating unit.

For example, the computer may extract an accessible range in which motion information of the operating unit may be applied to the entire body surface of the subject. For example, the accessible range corresponds to a case where i) the operating part of the surgical tool does not reach when performing a surgical operation, or ii) the operating part of the surgical tool reaching a specific point fails to perform a specific surgical operation. Location on the body surface except the area. As another example, the accessible range may be calculated based on the function of the surgical tool. For example, there is a grabbing function, a cutting function, a support function (terrain function) according to the type of surgical tool, and different surgical tools are used according to each function. Alternatively, one surgical instrument (eg, Harmonic ACE) may perform all functions. Therefore, the computer may extract an accessible range in which the motion information of the operation unit may be applied based on the function of the surgical tool.

In addition, the computer may derive the optimum entry position by calculating a specific area or a specific point that satisfies the operating range of the arm within the accessible range of the extracted body surface. That is, when the operation unit moves, the arm part connected to the movement also occurs. In this case, since the computer obtained the simulation result in the state of expressing only the moving part through the virtual body model, the optimal entry position should be calculated by additionally considering the motion of the arm part.

For example, the computer may be based on the patient's internal body information (i.e., internal organ placement status) and body surface information (i.e., body surface shape status) without the cancer part affecting the organ or body surface. It is possible to calculate the operating range that can operate at the maximum. The computer may reflect the range of movement within the reachable range of the body surface to determine the optimal entry position without affecting the movement of the surgical tool in the body interior space.

In addition, in one embodiment of the present invention, the computer can derive the configuration of the surgical tool suitable for performing the surgical operation by inserting the surgical tool in the optimal entry position. Since the process of deriving the optimal surgical tool has been described in detail with reference to the embodiments of FIGS. 2 and 3, the description thereof will be omitted.

On the other hand, the above-described embodiments have been described for convenience of description without considering the number of surgical instruments, but the present invention is not limited thereto, and even when performing surgery including a plurality of surgical instruments, each surgical tool may be used. The same process can be applied for.

For example, in the case of using the A tool, the B tool, or the C tool in a surgical robot or laparoscopic surgery, the computer may operate in an area that the operating part of the A tool does not reach when performing a surgical operation (ie, operation is limited by the length of the surgical tool) Body surface area where a point that cannot be reached when the additional surgical operation is performed may be excluded from the accessible range. In addition, the computer may exclude an area of the body surface that collides with body organs or tissues in the process of entering the tool A and performing a surgical operation. In addition, the computer may exclude the body surface point from the reachable range if the surgical tool does not implement the required surgical operation at a specific position after entering the surgical tool at each body surface point within the reachable range. This allows the computer to calculate the reachable range for tool A. The computer may calculate the optimum entry position of each surgical tool by individually performing an access range calculation process for each surgical tool (for example, Tool B and Tool C). In addition, as described above, the computer may separately calculate an accessible range calculation process for each function based on the function of the surgical tool, and calculate an optimal entry position to which the function of each surgical tool can be applied.

As another example, when several surgical instruments need to enter a single optimal entry position, the computer extracts an optimal entry range for each surgical instrument, and then determines the optimal entry position where a plurality of optimal entry ranges overlap. have. For example, when the tool A is changed to the tool D during the operation, the computer may calculate an overlapping area between the accessible range for the tool A and the accessible range for the D tool as the optimal entry position candidate area. . Since the position where the surgical tool can be entered is limited to a certain number (for example, 3), the computer cannot be used in the A tool because the same entry position can be used when the tool is changed from the A tool to the D tool. The position that satisfies all the accessible ranges of the D tool can be determined as the final optimal entry position.

As another example, when the same surgical tool is used multiple times in the virtual body model, all the surgical operations at one surgical tool entry position when the operating range of the surgical tool (ie, the range of motion) are wide. Since it may be difficult to perform the computer, the computer may divide the range in which the surgical tool is used (ie, the range of motion) into several groups reachable at multiple entry positions on the body surface. For example, when performing laparoscopy or robotic surgery by creating three entry positions on the body surface, the computer divides the range of motion of the surgical tool into three or fewer groups. At this time, the computer divides the range of motion based on the reachability from the plurality of reachable ranges selected by other surgical instruments. In addition, a specific surgical tool (ie, a first surgical tool) having a wide range of motion is used simultaneously with another surgical tool (ie, a second surgical tool), and another surgical tool (ie, a second surgical tool) must be entered. When the optimum entry position is determined, the computer determines the range of movement of the first surgical tool when the first surgical tool is used in conjunction with the second surgical tool. Keyholes) to set inaccessible ranges. In addition, when the first surgical tool is used continuously despite the change of other surgical tools, the computer should enter the same entry position in consideration of the user's convenience during operation and the time required for the operation and should be performed. Can be set as a group.

As another example, in calculating the entry position of one or more surgical instruments, the computer may exclude the camera entry range and the assist tool entry range from the accessible range of the patient's body surface. For example, the camera enters through the area around the navel to take a complete picture of the interior of the patient's abdomen through movement. To this end, the computer may remove the area around the navel from the initial settable range and then reduce the reachable range.

In one embodiment, the computer may perform the process of calculating one or more optimal entry positions when using a plurality of surgical instruments using the Monte Carlo Method.

According to the embodiments of the present invention as described above, since the medical staff determines the optimal entry position of the surgical tool by reflecting the results of the surgical simulation performed without considering the entry position of the surgical tool and the long-term jamming of the cancer part of the surgical tool This allows the staff to perform the most comfortable surgical operations.

In addition, according to embodiments of the present invention, by using the optimal entry position optimized for the patient's physical condition without using the general surgical tool entry position, the medical staff can actually perform the operation according to the long-term placement characteristics of the patient or the length of the surgical tool In the process, it is possible to prevent the limitation of performing a specific operation.

In addition, according to the embodiments of the present invention, when performing the operation using a certain number of surgical tool entry position of all the surgical instruments used in the surgery, it is possible to determine a number of surgical tool entry positions optimized for all surgical instruments have. In addition, it is possible to accurately set the entry position that each surgical tool should enter from a certain number of optimal entry positions.

In addition, according to embodiments of the present invention, when a plurality of surgical robots or a plurality of surgical tools for performing the same action within a specific surgical robot can be used, the surgery best suited to the patient's physical condition and the surgical operation of the medical staff By suggesting robots or surgical instruments, medical staff can perform efficient and fast surgery.

In addition, according to the embodiments of the present invention, when the surgical robot performs the surgery itself, the optimized surgery can be performed by calculating the optimal entry position of each surgical tool.

In addition, according to embodiments of the present invention, since the medical staff determines the surgical tool having an optimal structure by reflecting the results of the surgical simulation performed without considering the entry position of the surgical tool and the long-term jamming of the cancer part of the surgical tool, The medical staff can conveniently operate the surgical tool according to his surgical operation pattern. Accordingly, the entire surgical procedure can be effectively performed, and the surgical error can be reduced.

In addition, according to the embodiments of the present invention, as the operation is performed using the optimized surgical tool, the medical staff is limited in performing a specific surgical operation during the actual surgical procedure due to the long-term placement characteristics of the patient or the characteristics of the surgical tool Can be prevented.

5 is a view schematically showing the configuration of an apparatus 200 for performing an optimized surgical tool providing method or a method for providing an optimal entry position of a surgical tool according to an embodiment of the present invention.

Referring to FIG. 5, the processor 210 may include a connection passage (eg, a bus or the like) that transmits and receives signals with one or more cores (not shown) and a graphic processor (not shown) and / or other components. ) May be included.

The processor 210 according to an exemplary embodiment executes one or more instructions stored in the memory 220 to perform the optimized surgical tool providing method or the optimal entrance position providing method described with reference to FIGS. 2 to 4. do.

In one example, the processor 210 acquires a virtual body model generated in accordance with the physical state of the surgical subject by executing one or more instructions stored in the memory 220, and operates by using a surgical tool in the virtual body model. And a configuration of the surgical tool suitable for applying the surgical operation performed by the surgical tool in the internal space of the surgical subject based on the simulation result.

As another example, the processor 210 acquires a virtual body model generated in accordance with the physical state of the surgical subject by executing one or more instructions stored in the memory 220, and the actual surgical operation of the surgical subject in the virtual body model. And to simulate a surgical operation, and based on the simulation result can be derived a surgical tool or surgical robot suitable for applying the surgical operation in the internal space of the subject.

As another example, the processor 210 acquires a virtual body model generated in accordance with the physical state of the surgical subject by executing one or more instructions stored in the memory 220, and operates the surgical subject of the surgical subject in the virtual body model. The operation subject of the operation subject to simulate using the operation unit of the surgical tool for applying a surgical operation to the site, and to apply the operation operation performed by the operating unit in the internal space of the subject based on the simulation results The optimum entry position on the body surface can be calculated.

On the other hand, the processor 210 is a random access memory (RAM) and a ROM (Read-Only Memory) for temporarily and / or permanently storing signals (or data) processed in the processor 210. , Not shown) may be further included. In addition, the processor 210 may be implemented in the form of a system on chip (SoC) including at least one of a graphic processor, a RAM, and a ROM.

The memory 220 may store programs (one or more instructions) for processing and controlling the processor 210. Programs stored in the memory 220 may be divided into a plurality of modules according to their functions.

The method for providing the optimized surgical tool or the method for providing the optimal entry position of the surgical tool according to the embodiment of the present invention described above is implemented as a program (or application) to be executed in combination with a computer which is hardware and stored in a medium. Can be.

The above-described program includes C, C ++, JAVA, machine language, etc. which can be read by the computer's processor (CPU) through the computer's device interface so that the computer reads the program and executes the methods implemented as the program. Code may be coded in the computer language of. Such code may include functional code associated with a function or the like that defines the necessary functions for executing the methods, and includes control procedures related to execution procedures necessary for the computer's processor to execute the functions according to a predetermined procedure. can do. In addition, the code may further include memory reference code for additional information or media required for the computer's processor to execute the functions at which location (address address) of the computer's internal or external memory should be referenced. have. Also, if the processor of the computer needs to communicate with any other computer or server remotely in order to execute the functions, the code may be used to communicate with any other computer or server remotely using the communication module of the computer. It may further include a communication related code for whether to communicate, what information or media should be transmitted and received during communication.

The stored medium is not a medium for storing data for a short time such as a register, a cache, a memory, but semi-permanently, and means a medium that can be read by the device. Specifically, examples of the storage medium include, but are not limited to, a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. That is, the program may be stored in various recording media on various servers to which the computer can access or various recording media on the computer of the user. The media may also be distributed over network coupled computer systems so that the computer readable code is stored in a distributed fashion.

The steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, in a software module executed by hardware, or by a combination thereof. Software modules may include random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any form of computer readable recording medium well known in the art.

In the above, embodiments of the present invention have been described with reference to the accompanying drawings, but those skilled in the art to which the present invention pertains may realize the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims (19)

In the optimized surgical tool providing method performed by a computer,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating a surgical operation using a surgical tool in the virtual body model; And
And deriving a configuration of the surgical tool suitable for applying the surgical operation performed by the surgical tool in the internal space of the subject based on the simulation result. . The method of claim 1,
Deriving the configuration of the surgical tool,
Acquiring motion information of the surgical tool based on the simulation result; And
Deriving a configuration of the surgical tool suitable for applying the motion information in the body internal space of the surgical subject,
The configuration of the surgical instrument,
Method for providing an optimized surgical tool, characterized in that it comprises an operating portion for applying a surgical operation on the operation target region and the arm portion which is connected to the operating portion to operate. The method of claim 2,
Deriving the configuration of the surgical tool,
Acquiring motion information of the operation unit based on the simulation result; And
And determining an optimized type of the operating unit to apply a surgical operation to the surgical target region of the surgical subject based on the motion information of the operating unit. The method of claim 2,
Deriving the configuration of the surgical tool,
Acquiring internal body information and body surface information of the surgical subject; And
Determining a structure of the cancer part based on the internal body information and the body surface information,
The internal body information includes organ placement state information located in the body internal space of the surgery subject,
The body surface information, the optimized surgical tool providing method comprising the body surface shape information of the surgical subject. The method of claim 4, wherein
Determining the structure of the arm portion,
Calculating an operating range of the arm portion from the body internal information and the body surface information; And
And determining a structure of the arm part by deriving an arrangement relationship with the operating part based on the range of operation of the arm part. The method of claim 5,
Determining the structure of the arm portion,
And determining at least one of the length of the arm portion, the presence or absence of the joint portion, and the movement information of the joint portion according to the arrangement relationship with the operation portion. The method of claim 1,
Acquiring an optimal entry position on the body surface of the surgical subject into which the surgical tool is inserted;
Deriving the configuration of the surgical tool,
Optimized surgical tool providing method, characterized in that for determining the configuration of the surgical tool in consideration of the optimum entry position. Memory for storing one or more instructions; And
A processor for executing the one or more instructions stored in the memory,
The processor executes the one or more instructions,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating a surgical operation using a surgical tool in the virtual body model; And
And deriving a configuration of the surgical tool suitable for applying the surgical operation performed by the surgical tool in the internal space of the subject based on the simulation result. In the method of providing the optimal entry position of the surgical instrument performed by the computer,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating using an operation unit of a surgical tool that applies a surgical operation to a surgical target portion of the surgical subject in the virtual body model; And
Calculating an optimal entry position on the body surface of the surgical subject to apply the surgical operation performed by the operation unit in the internal space of the surgical subject based on the simulation result. How to provide the optimal entry position of the surgical instrument. The method of claim 9,
The simulating step,
The motion of the operation part is simulated by using the operation part for the operation target part in the virtual body model without considering the configuration of the arm portion of the surgical tool in which the motion occurs according to the operation of the operation part. Method for providing an optimal entry position of the surgical tool, characterized in that obtaining information. The method of claim 10,
The step of calculating the optimum entry position,
Extracting an accessible range from the surface of the body of the surgery subject to which motion information of the operation unit may be applied in an internal space of the body of the surgery subject; And
And calculating the optimum entry position from the accessible range by reflecting an operation performing range of the arm portion in which movement occurs in accordance with a surgical operation of the operation unit. The method of claim 11,
The operating range of the arm portion is,
It is a range in which the operation of the arm portion is possible according to the movement of the operation unit based on the internal body information and the body surface information of the subject,
The internal body information includes organ placement state information located in the body internal space of the surgery subject,
The body surface information, the method of providing an optimal position for entering the surgical tool, characterized in that it comprises the body surface shape information of the surgical subject. The method of claim 9,
And inserting the surgical tool into the optimal entry position to derive a configuration of the surgical tool suitable for performing a surgical operation. Memory for storing one or more instructions; And
A processor for executing the one or more instructions stored in the memory,
The processor executes the one or more instructions,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating using an operation unit of a surgical tool that applies a surgical operation to a surgical target portion of the surgical subject in the virtual body model; And
Calculating an optimal entry position on the body surface of the surgical subject to apply the surgical operation performed by the operating unit in the body internal space of the surgical subject based on the simulation result; Device. In the optimized surgical tool providing method performed by a computer,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating a surgical operation corresponding to an actual surgical motion of the surgical subject in the virtual body model; And
And a step of deriving a surgical tool or a surgical robot suitable for applying the surgical operation in the internal space of the subject based on the simulation result. The method of claim 15,
Deriving the surgical tool or surgical robot,
And analyzing a surgical operation based on the simulation result to determine a type of a specific surgical robot optimized for the surgical subject or a type of surgical tool included in a specific surgical robot. The method of claim 15,
Acquiring an optimal entry position on the body surface of the surgical subject into which the surgical tool is inserted;
Deriving the surgical tool or surgical robot,
Method for providing an optimized surgical tool, characterized in that for determining the surgical tool or the surgical robot in consideration of the optimum entry position. Memory for storing one or more instructions; And
A processor for executing the one or more instructions stored in the memory,
The processor executes the one or more instructions,
Acquiring a virtual body model generated according to the physical condition of the surgical subject;
Simulating a surgical operation corresponding to an actual surgical motion of the surgical subject in the virtual body model; And
And deriving a surgical tool or a surgical robot suitable for applying the surgical operation in the body space of the subject based on the simulation result. 16. A computer program stored in a computer-readable recording medium, coupled to a computer, which is hardware, to perform the method of any one of claims 1, 9, and 15.

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