KR102321129B1 - Electromagnetic actuation system for treatment - Google Patents

Abstract

The present invention relates to an electromagnetic actuation system (EMA) for a procedure, and in particular, a 3D image taken by a 3D imaging device before a procedure and a 2D image acquired by a 2D image acquisition unit during the procedure are matched After matching the matched image with the coordinates of the electromagnetic driving system, when the lesion location and the catheter injection position are determined on the registered image, the scaffold (microrobot) is injected through the catheter at the catheter injection position, and then the It relates to an electromagnetic drive system for a procedure that moves a fold to a lesion location.

Description

Electromagnetic actuation system for treatment

The present invention relates to an electromagnetic actuation system (EMA) for a procedure, and in particular, matches a 3D image taken by a 3D imaging device before a procedure with a 2D image acquired by a 2D image acquisition unit during the procedure After matching the matched image with the coordinates of the electromagnetic driving system, when the lesion location and the catheter injection position are determined on the registered image, the scaffold (microrobot) is injected through the catheter at the catheter injection position, and then the It relates to an electromagnetic drive system for a procedure that moves a fold to a lesion location.

Recently, research on wireless microrobots for medical use has been actively conducted. In particular, various types of electromagnetic actuation systems for the movement and treatment of microrobots in blood vessels are being studied, unlike procedures using conventional catheters for the treatment of ischemic vascular disease.

In the domestic patent registration No. 1758805 (hereinafter referred to as prior art), the existing X-ray imaging equipment is used as it is, but a plurality of medical images are registered to generate a registered image that can check a wider area than one image. Disclosed are a medical image registration apparatus and method for reducing equipment replacement cost.

However, since the prior art uses an image obtained from an X-ray imaging device, there is a problem that it may harm patients and doctors because there is an effect of radiation exposure.

Publication of domestic patent registration No. 1758805 (Registration date: 2017, 07, 11)

Therefore, the present invention has been made in view of the above points, and an object of the present invention is to match the position of the microrobot on a virtual three-dimensional image without the influence of radiation exposure, and then move the microrobot to the lesion position by a magnetic field. An object of the present invention is to provide an electromagnetic driving system for surgery that can be operated precisely.

In order to achieve the above object, the electromagnetic driving system for surgery according to an embodiment of the present invention matches the position of a scaffold (microrobot) on a virtual three-dimensional image, and after injecting the scaffold into the spinal canal, it is applied to a magnetic field. An electromagnetic driving system for surgery by moving to a lesion location by means of a lesion, comprising: a three-dimensional image input unit configured to receive a three-dimensional image such as a computed tomographic (CT) image or a magnetic resonance imaging (MRI) image before the operation; a two-dimensional image acquisition unit configured to acquire a two-dimensional image including appearance and depth information of a patient in real time during a procedure; a first image matching unit configured to match the three-dimensional image with a two-dimensional image including the external shape and depth information of the patient; an electromagnetic drive system coordinate input unit configured to receive coordinates of the electromagnetic drive system from the electromagnetic drive system; a secondary image matching unit configured to obtain a three-dimensional matched image by matching the image matched by the first image matching unit with coordinates of the electromagnetic driving system; a registered image coordinate determiner configured to determine whether the coordinates of the three-dimensional matched image are spaced apart by more than a set coordinate when the location of the lesion on the patient's spinal canal and the location of the catheter injection are determined on the three-dimensional matched image; a magnetic field and magnetic force calculator configured to calculate a magnetic field shape and magnetic force based on the determined lesion location and catheter injection location when the coordinates of the three-dimensional matched image are not spaced apart by more than a set coordinate; a driving coil applied current calculator configured to calculate an applied current of the driving coil for generating a magnetic field based on the calculated magnetic field shape and magnetic force; a scaffold injection unit configured to inject a scaffold through the catheter into the catheter injection site; and a magnetic field generator configured to generate a magnetic field to move the implanted scaffold to the lesion location.

In the electromagnetic driving system for surgery according to the embodiment, the two-dimensional image acquisition unit may be an imaging device configured to acquire two or more charge coupled device (CCD) images and depth information in real time.

In the electromagnetic driving system for surgery according to the embodiment, internal organs and lesions may be predicted based on the image matched by the first image matching unit.

In the electromagnetic driving system for surgery according to the embodiment, the position of the microrobot may be registered on the virtual 3D image by the registration by the secondary image matching unit.

According to the electromagnetic driving system for a procedure according to embodiments of the present invention, a three-dimensional image such as a computed tomographic (CT) image or a magnetic resonance imaging (MRI) image is received before the procedure; acquiring a two-dimensional image including appearance and depth information of a patient in real time during a procedure; matching the three-dimensional image with a two-dimensional image including the external shape and depth information of the patient; receiving coordinates of the electromagnetic drive system from the electromagnetic drive system; matching the registered image with coordinates of the electromagnetic driving system to obtain a three-dimensional registered image; determining whether the coordinates of the three-dimensional matched image are spaced apart by more than set coordinates when the location of the lesion on the patient's spinal canal and the location of the catheter injection are determined on the three-dimensional matched image; If the coordinates of the three-dimensional matched image are not spaced apart more than the set coordinates, calculating the magnetic field shape and magnetic force based on the determined lesion position and catheter injection position; calculating an applied current of the driving coil for generating a magnetic field based on the calculated magnetic field shape and magnetic force; injecting a scaffold through the catheter at the catheter injection site; to generate a magnetic field to move the implanted scaffold to the lesion location; As a result, there is an excellent effect that the microrobot can be precisely operated by matching the position of the microrobot on the virtual three-dimensional image without the influence of radiation exposure and then moving the microrobot to the lesion position by the magnetic field.

1 is a view showing the operation of the patient by the electromagnetic driving system for a procedure according to an embodiment of the present invention.
2 is a control block diagram of an electromagnetic driving system for a procedure according to an embodiment of the present invention.
3A and 3B are flowcharts illustrating a treatment method using an electromagnetic driving system for treatment according to an embodiment of the present invention.

In describing the embodiments of the present invention, if it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the terms described below are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the content throughout this specification. The terminology used in the detailed description is for the purpose of describing embodiments of the present invention only, and should in no way be construed as limiting. Unless explicitly used otherwise, expressions in the singular include the meaning of the plural. In this description, expressions such as “comprising” or “comprising” are intended to indicate certain features, numbers, steps, acts, elements, some or a combination thereof, one or more other than those described. It should not be construed as excluding the presence or possibility of other features, numbers, steps, acts, elements, or any part or combination thereof.

In each device shown in the figures, the elements in some instances may each have the same reference number or different reference numbers to suggest that the represented element may be different or similar. However, elements may have different implementations and work with some or all of the devices shown or described herein. The various elements shown in the drawings may be the same or different. Which one is referred to as the first element and which is referred to as the second element is arbitrary.

In this specification, when any one component 'transmits', 'transfers' or 'provides' data or signal to another component, one component directly transmits data or signal to another component, as well as, and transmitting data or signals to the other component via at least one other component.

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

1 is a diagram illustrating a patient being treated by an electromagnetic driving system for a procedure according to an embodiment of the present invention, and FIG. 2 is a control block diagram of the electromagnetic driving system for a procedure according to an embodiment of the present invention.

As shown in FIGS. 1 and 2 , the electromagnetic driving system for surgery according to an embodiment of the present invention includes a 3D image input unit 100 , a 2D image acquisition unit 200 , and a first image matching unit 300 . ), electromagnetic driving system coordinate input unit 400, secondary image matching unit 500, matched image coordinate determining unit 600, magnetic field and magnetic force calculation unit 700, driving coil applied current calculation unit 800, scan It includes a fold injection unit 900 and a magnetic field generator 1000 .

The 3D image input unit 100 serves to receive a CT image or a 3D image such as an MRI image from 3D imaging equipment such as CT, MRI, or cone beam CT before the procedure.

The two-dimensional image acquisition unit 200 is installed in the electromagnetic driving system and serves to acquire a two-dimensional image including appearance and depth information of a patient in real time during a procedure. The two-dimensional image acquisition unit 200 is an imaging device configured to acquire two or more CCD images (which may be acquired by a CCD camera) and depth information (which may be acquired by using a laser, ultrasound, etc.) in real time am. Since the two-dimensional image acquisition unit 200 does not generate radiation, there is no need to worry about radiation exposure as in the prior art.

The first image matching unit 300 combines the 3D image input through the 3D image input unit 100 with the 2D image including the appearance and depth information of the patient acquired by the 2D image acquisition unit 200 and plays a role in matching. The internal organs and lesions of the body may be predicted based on the images matched by the first image matching unit 300 .

The electromagnetic drive system coordinate input unit 400 serves to receive coordinates of the electromagnetic drive system from the electromagnetic drive system. The position of the microrobot (drug-coated scaffold) can be known by the coordinates of the electromagnetic drive system.

The secondary image matching unit 500 matches the image matched by the first image matching unit 300 with the coordinates of the electromagnetic driving system input by the electromagnetic driving system coordinate input unit 400 to obtain a three-dimensional matched image. play a role in acquiring It can be seen that the position of the microrobot is matched on the virtual 3D image by the registration by the secondary image matching unit 500 .

The matched image coordinate determiner 600 is, when the lesion position (L) and the catheter injection position on the spinal canal of the patient are determined on the 3D matched image by the doctor, whether the coordinates of the 3D matched image are spaced apart from the preset coordinates or more plays a role in determining

The magnetic field and magnetic force calculator 700 serves to calculate the magnetic field shape and magnetic force based on the lesion position (L) and the catheter injection position determined by the doctor if the coordinates of the three-dimensional matched image are not spaced apart by more than the set coordinates.

The driving coil applied current calculation unit 800 is a driving coil 1100 included in the magnetic field generator 1000 to generate an applied current (to generate a magnetic field) based on the magnetic field shape and the magnetic force calculated by the magnetic field and magnetic force calculation unit 700 . ) to be applied to the current].

The scaffold injection unit 900 serves to inject the scaffold (S) through the catheter at the catheter injection position. The scaffold injection unit 900 may be manually operated by a physician or may be operated automatically.

The magnetic field generator 1000 serves to move the scaffold S injected into the spinal canal to the lesion position L along the spinal canal using a magnetic field generated by the current applied to the driving coil 1100 . The magnetic field generator 1000 moves along the rail (R) while moving the scaffold (S) inserted into the patient's spinal canal lying on the bed (B).

A treatment method using the electromagnetic driving system for treatment according to an embodiment of the present invention configured as described above will be described.

3A and 3B are flowcharts illustrating a treatment method using an electromagnetic driving system for treatment according to an embodiment of the present invention, where S means a step.

First, before the operation, the 3D image input unit 100 receives a 3D image from the 3D imaging device (S10).

Subsequently, a two-dimensional image including the external shape and depth information of the patient is acquired in real time by the two-dimensional image acquisition unit 200 while the operation is performed by the electromagnetic driving system (S20).

Next, the first image matching unit 300 converts the 3D image input through the 3D image input unit 100 into a 2D image including the appearance and depth information of the patient acquired by the 2D image acquisition unit 200 . It is matched with the image (S30).

Then, the electromagnetic drive system coordinate input unit 400 receives the coordinates of the electromagnetic drive system from the electromagnetic drive system (S40), and the secondary image matching unit 500 converts the image matched in step S30 to step S40. A three-dimensional matched image is obtained by matching the coordinates of the electromagnetic driving system input in (S50).

Next, when the lesion position (L) and the catheter injection position on the patient's spinal canal are determined by the doctor on the 3D registered image (S60, S70), the matched image coordinate determiner 600 sets the coordinates of the 3D registered image in advance. It is determined whether the coordinates or more are spaced apart (S80).

In the step (S80), if the coordinates of the three-dimensional registration image are not spaced apart more than the set coordinates (No), the magnetic field and magnetic force calculation unit 700 determines the magnetic field shape and magnetic force based on the determined lesion position (L) and the catheter injection position. Calculate (S90).

Next, the driving coil applied current calculator 800 calculates the applied current of the driving coil 1100 for generating a magnetic field based on the magnetic field shape and the magnetic force calculated in step S90 ( S100 ).

Next, the scaffold injection unit 900 injects the scaffold (S) through the catheter at the catheter injection position (S110).

Then, the magnetic field generator 1000 generates a magnetic field to move the implanted scaffold (S) to the lesion location, thereby completing the procedure (S120).

On the other hand, if the coordinates of the three-dimensional matched image are spaced apart from the set coordinates or more in step S80 (Yes), the process proceeds to step S20.

According to the electromagnetic driving system for a procedure according to an embodiment of the present invention, a three-dimensional image such as a computed tomographic (CT) image or a magnetic resonance imaging (MRI) image is received before a procedure; acquiring a two-dimensional image including appearance and depth information of a patient in real time during a procedure; matching the three-dimensional image with a two-dimensional image including information about the appearance and depth of the patient; receiving coordinates of the electromagnetic drive system from the electromagnetic drive system; matching the registered image with coordinates of the electromagnetic driving system to obtain a three-dimensional registered image; determining whether the coordinates of the three-dimensional matched image are spaced apart by more than set coordinates when the location of the lesion and the catheter injection location on the patient's spinal canal are determined on the three-dimensional matched image; If the coordinates of the three-dimensional matched image are not spaced apart by more than the set coordinates, calculating a magnetic field shape and magnetic force based on the determined lesion position and catheter injection position; calculating an applied current of the driving coil for generating a magnetic field based on the calculated magnetic field shape and magnetic force; injecting a scaffold through the catheter at the catheter injection site; to generate a magnetic field to move the implanted scaffold to the lesion location; By being configured, the position of the micro-robot is matched on the virtual three-dimensional image without the influence of radiation exposure, and then the micro-robot can be moved to the lesion position by a magnetic field to perform a precise operation.

In the drawings and specification, the best embodiment is disclosed, and specific terms are used, but these are used only for the purpose of describing the embodiments of the present invention, and are used to limit the meaning or limit the scope of the present invention described in the claims it didn't happen Therefore, it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

100: 3D image input unit
200: 2D image acquisition unit
300: first image matching unit
400: electromagnetic drive system coordinate input unit
500: second image matching unit
600: matched image coordinate determining unit
700: magnetic field and magnetic force calculation unit
800: driving coil applied current calculation unit
900: scaffold injection unit
1000: magnetic field generator
1100: drive coil
L: lesion location
R: rail
S: Scaffold
P: patient
B: bed

Claims (4)

An electromagnetic driving system for surgery that matches the position of a scaffold (microrobot) on a virtual three-dimensional image, injects the scaffold into the spinal canal, and moves it to the lesion location by a magnetic field,
a three-dimensional image input unit configured to receive a three-dimensional image such as a computed tomographic (CT) image or a magnetic resonance imaging (MRI) image before the procedure;
Two-dimensional imaging equipment that is configured to acquire a two-dimensional image including the appearance and depth information of the patient in real time without generating radiation during the procedure, and acquires two or more charge coupled device (CCD) images and depth information in real time image acquisition unit;
a first image matching unit configured to acquire a registered image used for predicting internal organs and lesions by matching the 3D image with a 2D image including the external shape and depth information of the patient;
an electromagnetic drive system coordinate input unit configured to receive coordinates of the electromagnetic drive system from the electromagnetic drive system;
A secondary image registration unit configured to match the image registered by the first image registration unit with the coordinates of the electromagnetic driving system to obtain a 3D registered image in which the position of the microrobot is registered on the virtual 3D image. ;
a registered image coordinate determiner configured to determine whether the coordinates of the three-dimensional matched image are spaced apart by more than a set coordinate when the position of the lesion on the patient's spinal canal and the location of the catheter injection are determined on the three-dimensional matched image;
a magnetic field and magnetic force calculator configured to calculate a magnetic field shape and magnetic force based on the determined lesion location and catheter injection location when the coordinates of the three-dimensional matched image are not spaced apart by more than a set coordinate;
a driving coil applied current calculator configured to calculate an applied current of the driving coil for generating a magnetic field based on the calculated magnetic field shape and magnetic force;
a scaffold injection unit configured to inject a scaffold through the catheter into the catheter injection site; and
A magnetic field generator configured to generate a magnetic field to move the implanted scaffold to the lesion location.
delete The method of claim 1,
An electromagnetic driving system for a procedure in which internal organs and lesions of the body are predicted based on the image matched by the first image matching unit.
The method of claim 1,
An electromagnetic driving system for a procedure in which the position of the microrobot is matched on a virtual three-dimensional image by the registration by the secondary image matching unit.

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