WO2015186930A1 - Apparatus for real-time interactive transmission of medical image and information and for remote support - Google Patents

Apparatus for real-time interactive transmission of medical image and information and for remote support Download PDF

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Publication number
WO2015186930A1
WO2015186930A1 PCT/KR2015/005435 KR2015005435W WO2015186930A1 WO 2015186930 A1 WO2015186930 A1 WO 2015186930A1 KR 2015005435 W KR2015005435 W KR 2015005435W WO 2015186930 A1 WO2015186930 A1 WO 2015186930A1
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Prior art keywords
medical
image
operator
advice
camera
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PCT/KR2015/005435
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French (fr)
Korean (ko)
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문영래
박상하
김종민
심성우
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조선대학교산학협력단
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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/20—ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to medical image and information real-time mutual transmission and remote support
  • medical images and information are mutually transmitted in real time between the practitioner (who performs the actual medical practice) and the medical professional (the person who remotely supports the practitioner's medical practice) so that accurate and rapid medical practice can be achieved.
  • Medical image and information real-time inter-transmission and remote support device.
  • the operator transmits the procedure image photographed while performing the procedure through unidirectional transmission, and displays it on the screen from the received equipment (computer or display device).
  • the procedure image is one-way transmission, it is impossible for the verifier to remotely confirm the advice or to transmit the advice image to the operator.
  • Patent Document 1 Japanese Patent Laid-Open No. Hei 11-197159 ) Is disclosed.
  • the general medical image transmission system is a one-way medical image transmission system, there is a disadvantage in that it cannot be supported by a medical professional located remotely in real time.
  • An object of the present invention is a general medical image transmission system
  • Another object of the present invention is to provide a remote medical professional (adviser) in real time
  • the medical image and information real-time mutual transmission and remote support device obtains and transmits a medical image photographing the subject during the medical procedure of the operator, the medical professional located remotely An operator device which displays the transmitted advice image and the advice voice in real time on a device worn by the operator or a display device that the operator can check; A repeater which transmits the medical image obtained from the operator device to a medical expert terminal located at a remote location through a network, and relays the advice image and the advice voice transmitted from the remote medical expert terminal to the operator device; And a medical expert terminal displaying the procedure image transmitted from the repeater through the network on a screen, and transmitting the advice image and the advice voice generated by a medical expert's operation to the operator device in real time through the network. It is characterized by.
  • the operator device may be implemented by at least one of medical glasses or arthroscopy or microscope for the operator to directly wear and acquire the procedure image, or to display the advice image and the advice voice transmitted from the medical professional to the operator in real time. It features.
  • the operator device may include an operation unit for the operator to select a medical support mode, an automatic tracking mode for the camera to automatically track the procedure image, or a manual tracking mode for the operator to manually set the position of the camera; A camera for obtaining a procedure image in real time; An image processor which processes the procedure image acquired by the camera; A controller for controlling the transmission of the acquired procedure image and the output of the advice image and the advice voice transmitted from a remote medical professional; A communication module for transmitting and receiving an image and an audio between the operator device and a medical professional terminal; And an image display unit displaying in real time an advice image transmitted by a medical professional located remotely under the control of the controller.
  • the communication module is characterized in that for transmitting and receiving video and audio data with the repeater in a wired or short-range wireless communication.
  • the image display unit displays the advice image of a medical professional transmitted remotely to the operator using a head-up display (HUD) method using a transparent film attached to a glass of medical glasses or a reflective lens of a device. It features.
  • HUD head-up display
  • the operator device further comprises a head motion detection unit for detecting the head movement of the operator wearing the operator device, the control unit detects the head movement direction detected by the head motion detection unit when the automatic tracking mode is selected by the operation unit Recognize and control the position of the camera to move the camera in the opposite direction of the head movement direction, wherein the head movement detection unit comprises a gyro sensor capable of detecting the position and direction.
  • the operator device further comprises a camera driving unit for moving the camera according to the camera movement control signal generated by the control unit.
  • the operator device may include a microphone for receiving an operator voice transmitted to a medical professional located remotely under the control of the controller; Earphone for transmitting the advice voice transmitted from a medical professional located in a remote in real time under the control of the controller so that the operator can check in real time; And a storage unit for storing the procedure image and the advice image, the operator's voice, and the advice voice.
  • the image display unit is implemented in the glasses glass, the camera is characterized in that installed in the center between the glasses and glass.
  • accurate and rapid medical action is achieved by mutually transmitting medical images and information in real time through two-way communication between a practitioner (a person performing actual medical practice) and a medical professional (a person who remotely supports the medical practice of the operator) in the medical field.
  • a practitioner a person performing actual medical practice
  • a medical professional a person who remotely supports the medical practice of the operator
  • the present invention has the advantage that the treatment can be performed more accurately and quickly by the remote medical professional (adviser) displays the advice image to the operator on the screen and transmits the advice voice in real time.
  • FIG. 1 is a block diagram of a medical image and information real-time mutual transmission and remote support apparatus according to an embodiment of the present invention
  • FIG. 2 is a perspective view of an embodiment when the operator device of FIG. 1 is implemented as medical glasses;
  • FIG. 3 is a block diagram of an embodiment of the operator device of FIG.
  • FIG. 1 is a block diagram of a medical image and information real-time mutual transmission and remote support apparatus according to an embodiment of the present invention.
  • the medical image and information real-time mutual transmission and remote support apparatus includes the operator device 100, the repeater 200, the network 300 and the medical professional terminal 400.
  • the operator device 100 obtains and transmits a medical image photographing a subject during medical treatment of the operator, and the apparatus or operator wearing the operator can check the advice image and the advice voice transmitted by a medical professional located remotely. It serves to display on the display device in real time.
  • the operator device 100 is at least one of medical glasses or endoscope or arthroscopy or microscope to be directly worn by the operator to obtain and transmit a procedure image or to display the advice image and the advice voice transmitted from a medical professional to the operator in real time. It is preferred to be implemented.
  • the operator device 100 when the operator device 100 is implemented as medical glasses as shown in FIG. 2, the operator directly wears medical glasses, photographs a target image, and transmits the image to a medical professional located remotely.
  • the advice image transmitted from the remotely located medical professional is displayed on the glass of the medical glasses, which is the image display unit 102.
  • the advice voice is transmitted through the earphone 103, and the medical image is bidirectionally transmitted between the operator and the medical professional in real time, and the medical support is possible in real time.
  • the operator device 100 as shown in Figure 3, the operator selects a medical support mode, the camera automatically tracks the procedure to automatically track the procedure image or the operator manually set the position of the camera manually
  • An operation unit 111 for selecting a tracking mode;
  • a camera 106 for obtaining a procedure image in real time;
  • An image processor 112 for processing the procedure image acquired by the camera 106 by a conventional image processing technique;
  • a controller 114 for controlling the transmission of the acquired procedure image and the output of the advice image and the advice voice transmitted from a remote medical professional;
  • Communication module 115 for transmitting and receiving the image and audio between the operator device 100 and the medical expert terminal 400;
  • the control unit 114 includes a video display unit 102 for displaying in real time the advice image transmitted by a medical professional located remotely.
  • the image display unit 102 is implemented on the glasses glass, the camera 106 is preferably installed in the center between the glasses and the glass.
  • the communication module 115 preferably transmits and receives video and audio data with the repeater 200 through wired or short-range wireless communication. More preferably, the communication module 115 and the repeater 200 perform communication in a short range wireless communication method such as Bluetooth or Wi-Fi.
  • the image display unit 102 uses a transparent film attached to the glass of the medical glasses or the reflective lens of the equipment to advise the operator in the head-up display (HUD) method of the advice image transmitted from a remote It is desirable to display it.
  • HUD head-up display
  • the operator device 100 preferably includes a head motion detector 116 for detecting the head movement of the operator wearing the operator device.
  • the head motion detecting unit 116 may use various sensors for detecting the position and direction of the head movement.
  • the gyro sensor is used as an embodiment.
  • the control unit 114 recognizes the head movement direction detected by the head movement detecting unit 116 when the automatic tracking mode is selected by the manipulation unit 111, and moves the camera in a direction opposite to the head movement direction. Control the position of.
  • the operator device 100 may include a camera driver 113 for moving the camera 106 according to a camera movement control signal generated by the controller 114; a medical device located remotely under the control of the controller 114; A microphone 105 for receiving an operator voice transmitted to an expert; An earphone 103 which transmits the advice voice transmitted by a medical professional located at a remote location in real time under the control of the controller 114 so that the operator can check in real time; It is preferable to further include a storage unit 117 for storing the procedure image and the advice image, the operator's voice and the advice voice.
  • the repeater 200 transmits the medical image obtained from the operator device 100 to a medical expert terminal 400 located remotely through the network 300, and transmitted from the medical expert terminal 400 located remotely. It serves to relay the advice image and the advice voice to the operator device (100).
  • the repeater 200 is preferably connected to the plurality of operator devices in a 1: N communication method.
  • the network 300 is a communication network that mutually transmits data between the repeater 200 and the medical professional terminal 400, but may be implemented in various communication networks, but it is assumed that the present invention uses the Internet.
  • the medical expert terminal 400 displays a procedure image transmitted from the repeater 200 through the network 300 on a screen, and displays the advice image and the advice voice generated by a medical expert's operation. Through it serves to transmit to the operator device 100 in real time.
  • the medical expert terminal 400 may be implemented by a general personal computer (PC) or a mobile device such as a smart phone.
  • PC personal computer
  • mobile device such as a smart phone.
  • the present invention aims to enable practitioners to perform more accurate and rapid treatment through remote expert advice and mutual exchange in real time in open surgery as well as endoscopy or arthroscopy surgery throughout the medical field.
  • the operator device 100 transmits the patient medical image to the medical professional in real time through the operator device 100, The procedure is performed while listening to the advice video and / or the advice voice transmitted from the expert in real time.
  • the operator device 100 may use medical glasses that the operator can directly wear and use, as shown in FIG. 2, or may use an endoscope, arthroscopy, and a microscope.
  • medical glasses real-time transmission of images, reception of remote real-time edited images, and voice transmission and reception are possible directly.
  • endoscopes, arthroscopy, and microscopes only additional video transmission and reception programs should be installed to communicate.
  • the remote advisor can also install a simple communication program and display it on the screen immediately or use the microphone to give advice using an existing computer. If you're using a mobile device, such as a smartphone, you can use the medical application to display it on the screen anytime, anywhere, or give advice through the microphone.
  • a mobile device such as a smartphone
  • the operator selects the medical professional through the operation unit 111 of the operator device 100.
  • the control unit 114 stores access information (telephone number for a mobile device and registered URL information for a personal computer) stored in the storage unit 117 for connection with a terminal used by the selected medical professional. Is extracted and transmitted to the communication module 115.
  • the communication module 115 connects with the repeater 200 through the antenna 104 to transmit connection information, and the repeater 200 connects with the medical expert terminal 400 through the network 300.
  • the terminal access method through the network 300 is the same as the method for accessing a terminal located remotely in general communication, and thus a detailed description thereof will be omitted.
  • the operator selects a medical image transmission mode through the operation unit 111 of the operator device 100.
  • the medical image transmission mode is an automatic tracking mode for acquiring a medical image by continuously photographing a treatment target while the camera 106 continuously tracks the treatment target, and a user photographing the treatment target while the user fixes the position of the camera 106.
  • Manual tracking mode for transmitting the acquired medical image is selected.
  • the manual tracking mode since the camera 106 is fixed, when the operator moves his head, the camera 106 also changes the photographing position.
  • the automatic tracking mode is selected, the camera 106 is moved so that the operator can continuously photograph the subject when the operator moves the head.
  • the automatic tracking mode will be described.
  • the initial camera 106 captures an image of the subject in accordance with the operator's gaze direction, and the captured image of the target subject thus obtained is subjected to a general image processing technique through the image processor 112. It is processed through and delivered to the control unit 114.
  • the controller 114 stores the captured image of the surgical subject in the storage unit 117 and simultaneously transmits the captured image to the communication module 115 to transmit the medical image to the medical expert terminal 400 remotely located.
  • a medical professional located remotely may view a medical image of the patient to be displayed through the medical professional terminal 400. This allows the medical professional to be able to see the location of the patient's procedure as if he or she is directly at the remote location.
  • Reference numeral 10 of FIG. 4 denotes an operation target of the patient
  • reference numeral 102 denotes an image of a treatment subject viewed by the operator through the glasses glass of the operator device 100
  • reference numeral 121 denotes a procedure photographed through a microscope.
  • the target image is shown
  • reference numeral 122 denotes a treatment target image photographed through arthroscopy.
  • reference numeral 400 denotes an image to be displayed on a medical professional terminal, and the left side shows an image screen when a medical professional uses a mobile device, and the right side shows an image screen displayed on a monitor when a personal computer is used. will be.
  • a medical professional When a medical professional displays an image to be treated on a screen of a mobile device or a monitor of a personal computer, the medical professional may check the image and give medical advice by video, medical advice by voice, or medical advice by using both video and voice.
  • video advice using images In the case of video advice using images,
  • Advice images are generated by directly operating the treatment target image displayed on the screen.
  • the medical professional directly manipulates a procedure target image displayed on the screen to generate an advice image to be transmitted to the operator.
  • it is also possible to generate an advice voice by assuming that an actual operator is at the time of generating an advice image and explaining a procedure.
  • the advice image and the advice voice generated in this way are received by the communication module 115 of the operator device 100 through the network 300 and the repeater 200.
  • the communication module 115 processes the received advice image and the advice voice and transmits the signal to the controller 114.
  • the controller 114 displays the transferred advice image through the image display unit 102 and transmits the advice voice to the earphone 103.
  • the image display unit 102 may be referred to as the glass portion of the medical glasses worn by the practitioner.
  • the video display method is preferably a head-up display method. Therefore, the operator can perform the procedure (or surgery) more accurately and quickly by listening to the advice image and the advice voice provided by a remotely located medical professional in real time.
  • the position to be observed by the camera 1060 is different, it may be difficult to accurately obtain the target image.
  • the healthcare professional who is located relies only on the target image that the operator transmits, so if the target image disappears or changes position during the examination of the target image, it is difficult to accurately analyze the target image, resulting in accurate generation of the advice image.
  • the camera 106 in the automatic tracking mode, even if the operator's head moves, the camera 106 continuously monitors the target image to allow photographing to be performed. .
  • the head motion detector 116 detects this when the operator moves the head using a sensor capable of detecting a position and a direction such as a gyro sensor. Then, the head motion detection value (for example, the head moving direction and the amount of head movement) is transmitted to the controller 114.
  • the head motion detection value for example, the head moving direction and the amount of head movement
  • the controller 114 controls the camera 106 to move in a direction opposite to the moved head direction when the head motion detection value is transmitted. For example, if the operator twists his head to the right and the movement amount is about 5 cm, the control operates the camera 106 to the left and controls the movement amount corresponding to the movement amount of about 5 cm. Such control values are preferably stored in a table form in the internal memory.
  • the camera driver 113 drives the motor for moving the camera 106 in a direction opposite to that of the operator.
  • the camera 106 keeps the previous gaze direction as it is, so that even if the operator moves the head during the procedure, the photographing of the subject image is continuously performed.
  • the camera is fixed so that the camera photographing direction is positioned in the same direction as the operator's head movement direction.
  • the camera may transmit an image by recognizing an object in three dimensions instead of simply transmitting an image that is visible to the operator's field of view.
  • a 3D surgical target image can be easily obtained.
  • the point of the marker pointed out by the advisor can be accurately maintained even when the field of view is constantly changing.
  • the face recognition function of existing digital cameras the principle that can be used for face recognition with a digital camera is to recognize the information of light received by the image sensor as a face by comparing the distance and shape such as human eyes, nose, mouth, etc.). It is also possible to maintain the position of the remote display point even if the field of view is constantly changed based on the recognition of the specific object by applying this as a reference.
  • the present invention is applied to a technique for transmitting and receiving medical images between the operator and a remotely located medical professional in real time through two-way communication.

Abstract

The present invention relates to an apparatus for real-time interactive transmission of a medical image and information and for remote support, which allows real-time interactive transmission of a medical image and information between a practitioner (a person who actually performs medical acts) and a medical expert (a person who remotely supports the practitioner's medical acts) in the medical industry, whereby medical acts can be performed accurately and rapidly. The apparatus comprises: a practitioner device for obtaining and transmitting a medical image of a subject during a medical procedure by the practitioner, and displaying, in real time, an advice image and an advice voice transmitted by a remotely located medical expert on a device worn by the practitioner or a display device that can be observed by the practitioner; a repeater for transmitting the medical image obtained from the practitioner device to a remotely located medical expert terminal via a network and relaying the advice image and advice voice transmitted from the remotely located medical expert terminal to the practitioner device; and a medical expert terminal for displaying, on a screen, the medical image transmitted from the repeater via a network and transmitting the advice image and advice voice generated by medical expert's manipulation to the practitioner device via the network in real time.

Description

의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치Medical image and information real-time mutual transmission and remote support device
본 발명은 의료 영상 및 정보 실시간 상호전송 및 원격 지원에 관한The present invention relates to medical image and information real-time mutual transmission and remote support
것으로, 특히 의료계에서 시술자(실제 의료행위를 하는 자)와 의료 전문가(시술자의 의료 행위를 원격에서 지원해주는 자) 간에 의료 영상 및 정보를 실시간으로 상호 전송해주어 정확하고 신속한 의료 행위가 이루어질 수 있도록 한 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치에 관한 것이다.In particular, in the medical field, medical images and information are mutually transmitted in real time between the practitioner (who performs the actual medical practice) and the medical professional (the person who remotely supports the practitioner's medical practice) so that accurate and rapid medical practice can be achieved. Medical image and information real-time inter-transmission and remote support device.
전자 및 통신 기술의 발달로 인해, 의료계에서도 이를 활용하여 다양한 의료 영상을 원격에 위치한 시스템으로 전송하거나 생방송 수술(livesurgery)에서 획득한 영상을 전송하는 것이 이용되고 있다.Due to the development of electronic and communication technology, the medical community is using it to transmit various medical images to a remotely located system or to transmit images acquired by livesurgery.
특히, 생방송 수술의 경우, 시술자가 시술을 하면서 촬영되는 시술영상을 단방향 전송을 통해 전송하고, 이를 수신한 장비(컴퓨터나 디스플레이 장치)에서 화면에 표출하여 확인할 수 있도록 한다. 이 경우 시술 영상이 단방향 전송이라 원격에서 이를 확인하는 확인자가 시술에 대한 조언을 하거나 조언 영상을 시술자에게 전송하는 것이 불가능한 단점이 있다.In particular, in the case of a live broadcast operation, the operator transmits the procedure image photographed while performing the procedure through unidirectional transmission, and displays it on the screen from the received equipment (computer or display device). In this case, since the procedure image is one-way transmission, it is impossible for the verifier to remotely confirm the advice or to transmit the advice image to the operator.
상기와 같은 의료 영상의 단방향 전송으로 인해 발생하는 단점을 개선하기 위해서, 종래에 제안된 양방향 수실 지원시스템이 하기의 <특허문헌 1> 일본 공개특허공보 특개평11-197159호(1999.7.27. 공개)에 개시되었다.In order to improve the disadvantages caused by the unidirectional transmission of the medical image as described above, the conventional bidirectional chamber support system proposed in the following Patent Document 1 Japanese Patent Laid-Open No. Hei 11-197159 ) Is disclosed.
<특허문헌 1>에 개시된 종래기술은 수술 시뮬레이션으로 얻어진 수술 계획 데이터를 수술 내비게이션에 이용하는 것에 의해, 계획대로 정확하게 수술에 대한 개입을 유도할 수 있고, 수술 내비게이션으로 얻어진 수술 평가 데이터를 수술 시뮬레이션에 이용하는 것에 의해 적절한 수술 전 계획을 세울 수 있도록 한 수술 지원시스템을 제공한다.In the prior art disclosed in <Patent Document 1>, by using the surgical planning data obtained by the surgical simulation in the surgical navigation, it is possible to induce the intervention to the operation exactly as planned, and use the surgical evaluation data obtained by the surgical navigation in the surgical simulation. Provide a surgical support system that allows for appropriate preoperative planning.
그러나 상기와 같은 일반적인 의료 영상 전송 시스템은 단방향 의료 영상 전송 방식이므로, 실시간으로 원격에 위치한 의료 전문가의 지원을 받을 수 없는 단점이 있었다.However, since the general medical image transmission system is a one-way medical image transmission system, there is a disadvantage in that it cannot be supported by a medical professional located remotely in real time.
또한, 상기와 같은 종래기술은 양방향 영상 전송은 가능하나 실시간In addition, the prior art as described above is capable of bidirectional video transmission, but in real time
으로 원격에 위치한 의료 전문가의 조언 영상을 시술자에게 제공해주지 못하므로, 시술자가 보다 정확하고 신속한 처리를 하는 데 있어서 한계가 있었다.As it does not provide the operator with the advice image of a remotely located medical professional, there was a limit to the operator to perform more accurate and faster processing.
본 발명의 목적은 상기와 같은 일반적인 의료 영상 전송 시스템 및An object of the present invention is a general medical image transmission system and
종래기술에서 발생하는 제반 문제점을 해결하기 위해서 제안된 것으로서, 의료계에서 시술자(실제 의료행위를 하는 자)와 의료 전문가(시술자의 의료 행위를 원격에서 지원해주는 자) 간에 의료 영상 및 정보를 실시간으로 상호 전송해주어 정확하고 신속한 의료 행위가 이루어질 수 있도록 한 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치를 제공하는 것이다.It is proposed to solve all the problems occurring in the prior art, and in real time, medical image and information are mutually communicated between a practitioner (who performs a real medical practice) and a medical professional (a person who remotely supports a practitioner's medical behavior) in the medical field. It is to provide a medical image and information real-time inter-transmission and remote support device to transmit and enable accurate and rapid medical action.
본 발명의 다른 목적은 실시간으로 원격지의 의료 전문가(조언자)가Another object of the present invention is to provide a remote medical professional (adviser) in real time
시술자에게 조언 영상을 화면에 표시해주고 조언 음성을 전송해주어 보다 정확하고 신속하게 시술이 이루어질 수 있도록 한 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치를 제공하는 것이다.It is to provide a medical image and information real-time mutual transmission and remote support device that displays the advice image on the screen and transmits the advice voice to the operator to perform the procedure more accurately and quickly.
상기한 바와 같은 목적을 달성하기 위하여, 본 발명에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치는 시술자의 의료 시술시 시술 대상을 촬영한 의료 영상을 획득하여 전송하고, 원격에 위치한 의료 전문가가 전송한 조언 영상 및 조언 음성을 시술자가 착용한 장치 또는 시술자가 확인할 수 있는 디스플레이장치에 실시간으로 디스플레이해주는 시술자 장치; 상기 시술자 장치로부터 획득한 의료 영상을 네트워크를 통해 원격에 위치한 의료 전문가 단말기로 전송하고, 상기 원격에 위치한 의료 전문가 단말기로부터 전송된 조언 영상 및 조언 음성을 상기 시술자 장치로 중계해주는 중계기; 및 상기 네트워크를 통해 상기 중계기로부터 전송된 시술 영상을 화면에 디스플레이하고, 의료 전문가의 조작에 의해 발생하는 조언 영상 및 조언 음성을 상기 네트워크를 통해 실시간으로 상기 시술자장치로 전송해주는 의료 전문가 단말기를 포함하는 것을 특징으로 한다.In order to achieve the object as described above, the medical image and information real-time mutual transmission and remote support device according to the present invention obtains and transmits a medical image photographing the subject during the medical procedure of the operator, the medical professional located remotely An operator device which displays the transmitted advice image and the advice voice in real time on a device worn by the operator or a display device that the operator can check; A repeater which transmits the medical image obtained from the operator device to a medical expert terminal located at a remote location through a network, and relays the advice image and the advice voice transmitted from the remote medical expert terminal to the operator device; And a medical expert terminal displaying the procedure image transmitted from the repeater through the network on a screen, and transmitting the advice image and the advice voice generated by a medical expert's operation to the operator device in real time through the network. It is characterized by.
상기에서 시술자 장치는 시술자가 직접 착용하고 시술 영상을 획득하여 전송하거나 의료 전문가로부터 전송된 조언 영상 및 조언 음성을 실시간으로 시술자에게 디스플레이해주기 위한 의료용 안경 또는 관절경 내시경 또는 현미경중 적어도 어느 하나로 구현되는 것을 특징으로 한다.The operator device may be implemented by at least one of medical glasses or arthroscopy or microscope for the operator to directly wear and acquire the procedure image, or to display the advice image and the advice voice transmitted from the medical professional to the operator in real time. It features.
상기에서 시술자 장치는 시술자가 의료 지원 모드를 선택하고, 카메라가 시술 영상을 자동으로 추적하기 위한 자동 추적 모드나 시술자가 수동으로 카메라의 위치를 설정하기 위한 수동 추적 모드를 선택하기 위한 조작부; 실시간으로 시술 영상을 획득하기 위한 카메라; 상기 카메라에서 획득한 시술 영상을 처리하는 영상 처리부; 상기 획득한 시술 영상의 전송과 원격 의료 전문가로부터 전송된 조언 영상 및 조언 음성의 출력을 제어하는 제어부; 상기 시술자 장치와 의료 전문가단말기 간의 영상 및 음성을 송수신하기 위한 통신 모듈; 상기 제어부의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 영상을 실시간으로 표시해주는 영상 표시부를 포함하는 것을 특징으로 한다.The operator device may include an operation unit for the operator to select a medical support mode, an automatic tracking mode for the camera to automatically track the procedure image, or a manual tracking mode for the operator to manually set the position of the camera; A camera for obtaining a procedure image in real time; An image processor which processes the procedure image acquired by the camera; A controller for controlling the transmission of the acquired procedure image and the output of the advice image and the advice voice transmitted from a remote medical professional; A communication module for transmitting and receiving an image and an audio between the operator device and a medical professional terminal; And an image display unit displaying in real time an advice image transmitted by a medical professional located remotely under the control of the controller.
상기에서 통신 모듈은 상기 중계기와 유선 또는 근거리 무선 통신으로 영상 및 음성 데이터를 송수신하는 것을 특징으로 한다.The communication module is characterized in that for transmitting and receiving video and audio data with the repeater in a wired or short-range wireless communication.
상기에서 영상 표시부는 의료용 안경의 유리에 부착된 투명필름이나 장비의 반사렌즈를 이용하여 원격에서 전송된 의료 전문가의 조언 영상을 헤드업디스플레이(HUD; Head-up display) 방식으로 시술자에게 디스플레이해주는 것을 특징으로 한다.In the above, the image display unit displays the advice image of a medical professional transmitted remotely to the operator using a head-up display (HUD) method using a transparent film attached to a glass of medical glasses or a reflective lens of a device. It features.
상기에서 시술자 장치는 시술자 장치를 착용한 시술자의 머리 움직임을 감지하는 머리 움직임 감지부를 더 포함하고, 상기 제어부는 상기 조작부에의해 자동 추적 모드가 선택된 경우 상기 머리 움직임 감지부에서 감지한 머리 움직임 방향을 인식하고, 상기 머리 움직임 방향의 반대 방향으로 카메라가 이동하도록 카메라의 위치를 제어하며, 상기 머리 움직임 감지부는 위치 및 방향 감지가 가능한 자이로 센서를 포함하는 것을 특징으로 한다.The operator device further comprises a head motion detection unit for detecting the head movement of the operator wearing the operator device, the control unit detects the head movement direction detected by the head motion detection unit when the automatic tracking mode is selected by the operation unit Recognize and control the position of the camera to move the camera in the opposite direction of the head movement direction, wherein the head movement detection unit comprises a gyro sensor capable of detecting the position and direction.
상기에서 시술자 장치는 상기 제어부에서 발생하는 카메라 이동 제어신호에 따라 상기 카메라를 이동시키는 카메라 구동부를 더 포함하는 것을 특징으로 한다.The operator device further comprises a camera driving unit for moving the camera according to the camera movement control signal generated by the control unit.
상기에서 시술자 장치는 상기 제어부의 제어에 따라 원격에 위치한 의료 전문가에게 전송한 시술자 음성을 입력받기 위한 마이크; 상기 제어부의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 음성을 실시간으로 시술자가 확인할 수 있도록 송출해주는 이어폰; 상기 시술 영상 및 조언 영상, 시술자의 음성 및 조언 음성을 저장하기 위한 저장부를 더 포함하는 것을 특징으로 한다.The operator device may include a microphone for receiving an operator voice transmitted to a medical professional located remotely under the control of the controller; Earphone for transmitting the advice voice transmitted from a medical professional located in a remote in real time under the control of the controller so that the operator can check in real time; And a storage unit for storing the procedure image and the advice image, the operator's voice, and the advice voice.
상기에서 시술자 장치가 의료용 안경으로 구현되는 경우, 영상 표시부는 안경 유리에 구현되고, 상기 카메라는 안경 유리와 유리 사이의 중앙에 설치되는 것을 특징으로 한다.When the operator device is implemented as medical glasses, the image display unit is implemented in the glasses glass, the camera is characterized in that installed in the center between the glasses and glass.
본 발명에 따르면 의료계에서 시술자(실제 의료행위를 하는 자)와 의료 전문가(시술자의 의료 행위를 원격에서 지원해주는 자) 간에 쌍방향 통신을통해 의료 영상 및 정보를 실시간으로 상호 전송해주어 정확하고 신속한 의료 행위가 이루어질 수 있도록 도모해주는 장점이 있다.According to the present invention, accurate and rapid medical action is achieved by mutually transmitting medical images and information in real time through two-way communication between a practitioner (a person performing actual medical practice) and a medical professional (a person who remotely supports the medical practice of the operator) in the medical field. This has the advantage of helping to be made.
또한, 본 발명에 따르면 실시간으로 원격지의 의료 전문가(조언자)가 시술자에게 조언 영상을 화면에 표시해주고 조언 음성을 전송해주어 보다 정확하고 신속하게 시술이 이루어질 수 있는 장점이 있다.In addition, according to the present invention has the advantage that the treatment can be performed more accurately and quickly by the remote medical professional (adviser) displays the advice image to the operator on the screen and transmits the advice voice in real time.
도 1은 본 발명의 바람직한 실시 예에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치의 블록 구성도,1 is a block diagram of a medical image and information real-time mutual transmission and remote support apparatus according to an embodiment of the present invention,
도 2는 도 1의 시술자 장치를 의료용 안경으로 구현한 경우의 실시 예 사시도,2 is a perspective view of an embodiment when the operator device of FIG. 1 is implemented as medical glasses;
도 3은 도 1의 시술자 장치의 실시 예 블록 구성도,3 is a block diagram of an embodiment of the operator device of FIG.
도 4는 본 발명에서 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치4 is a medical image and information real-time mutual transmission and remote support device in the present invention
의 개념을 설명하기 위한 개념도.Conceptual diagram to illustrate the concept of the idea.
이하 본 발명의 바람직한 실시 예에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치를 첨부된 도면을 참조하여 상세하게 설명한다.Hereinafter, a medical image and information real-time mutual transmission and remote support apparatus according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 바람직한 실시 예에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치의 블록 구성도이다.1 is a block diagram of a medical image and information real-time mutual transmission and remote support apparatus according to an embodiment of the present invention.
본 발명의 실시 예에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치는 시술자 장치(100), 중계기(200), 네트워크(300) 및 의료 전문가단말기(400)를 포함한다.The medical image and information real-time mutual transmission and remote support apparatus according to an embodiment of the present invention includes the operator device 100, the repeater 200, the network 300 and the medical professional terminal 400.
상기 시술자 장치(100)는 시술자의 의료 시술시 시술 대상을 촬영한 의료 영상을 획득하여 전송하고, 원격에 위치한 의료 전문가가 전송한 조언 영상 및 조언 음성을 시술자가 착용한 장치 또는 시술자가 확인할 수 있는 디스플레이장치에 실시간으로 디스플레이해주는 역할을 한다.The operator device 100 obtains and transmits a medical image photographing a subject during medical treatment of the operator, and the apparatus or operator wearing the operator can check the advice image and the advice voice transmitted by a medical professional located remotely. It serves to display on the display device in real time.
이러한 시술자 장치(100)는 시술자가 직접 착용하고 시술 영상을 획득하여 전송하거나 의료 전문가로부터 전송된 조언 영상 및 조언 음성을 실시간으로 시술자에게 디스플레이해주기 위한 의료용 안경 또는 내시경 또는 관절경 또는 현미경 중 적어도 어느 하나로 구현되는 것이 바람직하다.The operator device 100 is at least one of medical glasses or endoscope or arthroscopy or microscope to be directly worn by the operator to obtain and transmit a procedure image or to display the advice image and the advice voice transmitted from a medical professional to the operator in real time. It is preferred to be implemented.
여기서 시술자 장치(100)를 도 2와 같은 의료용 안경으로 구현할 경우, 시술자가 직접 의료용 안경을 착용하고, 시술 대상 영상을 촬영하여 원격에 위치한 의료 전문가에게 전송한다. 원격에 위치한 의료 전문가로부터 전송된 조언 영상은 영상 표시부(102)인 의료용 안경의 유리에 디스플레이된다. 아울러 조언 음성은 이어폰(103)을 통해 송출되어, 실시간으로 시술자와 의료 전문가 간에 쌍방향으로 의료 영상이 전송되고, 실시간으로 의료 지원이 가능해진다.In this case, when the operator device 100 is implemented as medical glasses as shown in FIG. 2, the operator directly wears medical glasses, photographs a target image, and transmits the image to a medical professional located remotely. The advice image transmitted from the remotely located medical professional is displayed on the glass of the medical glasses, which is the image display unit 102. In addition, the advice voice is transmitted through the earphone 103, and the medical image is bidirectionally transmitted between the operator and the medical professional in real time, and the medical support is possible in real time.
상기 시술자 장치(100)는 도 3에 도시한 바와 같이, 시술자가 의료지원 모드를 선택하고, 카메라가 시술 영상을 자동으로 추적하기 위한 자동 추적모드나 시술자가 수동으로 카메라의 위치를 설정하기 위한 수동 추적 모드를 선택하기 위한 조작부(111); 실시간으로 시술 영상을 획득하기 위한 카메라(106); 상기카메라(106)에서 획득한 시술 영상을 통상의 영상 처리 기법으로 처리하는 영상 처리부(112); 상기 획득한 시술 영상의 전송과 원격 의료 전문가로부터 전송된 조언영상 및 조언 음성의 출력을 제어하는 제어부(114); 상기 시술자 장치(100)와 의료전문가 단말기(400) 간의 영상 및 음성을 송수신하기 위한 통신 모듈(115); 상기제어부(114)의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 영상을 실시간으로 표시해주는 영상 표시부(102)를 포함한다. 시술자 장치가 의료용 안경으로 구현되는 경우, 상기 영상 표시부(102)는 안경 유리에 구현되고, 상기 카메라(106)는 안경 유리와 유리 사이의 중앙에 설치되는 것이 바람직하다.The operator device 100, as shown in Figure 3, the operator selects a medical support mode, the camera automatically tracks the procedure to automatically track the procedure image or the operator manually set the position of the camera manually An operation unit 111 for selecting a tracking mode; A camera 106 for obtaining a procedure image in real time; An image processor 112 for processing the procedure image acquired by the camera 106 by a conventional image processing technique; A controller 114 for controlling the transmission of the acquired procedure image and the output of the advice image and the advice voice transmitted from a remote medical professional; Communication module 115 for transmitting and receiving the image and audio between the operator device 100 and the medical expert terminal 400; In accordance with the control of the control unit 114 includes a video display unit 102 for displaying in real time the advice image transmitted by a medical professional located remotely. When the operator device is implemented as medical glasses, the image display unit 102 is implemented on the glasses glass, the camera 106 is preferably installed in the center between the glasses and the glass.
여기서 통신 모듈(115)은 상기 중계기(200)와 유선 또는 근거리 무선 통신으로 영상 및 음성 데이터를 송수신하는 것이 바람직하다. 통신 모듈(115)과 상기 중계기(200)는 블루투스나 와이-파이와 같은 근거리 무선 통신방식으로 통신을 수행하는 것이 더욱 바람직하다.Here, the communication module 115 preferably transmits and receives video and audio data with the repeater 200 through wired or short-range wireless communication. More preferably, the communication module 115 and the repeater 200 perform communication in a short range wireless communication method such as Bluetooth or Wi-Fi.
아울러 상기 영상 표시부(102)는 의료용 안경의 유리에 부착된 투명필름이나 장비의 반사렌즈를 이용하여 원격에서 전송된 의료 전문가의 조언 영상을 헤드업 디스플레이(HUD; Head-up display) 방식으로 시술자에게 디스플레이해주는것이 바람직하다.In addition, the image display unit 102 uses a transparent film attached to the glass of the medical glasses or the reflective lens of the equipment to advise the operator in the head-up display (HUD) method of the advice image transmitted from a remote It is desirable to display it.
또한, 상기 시술자 장치(100)는 시술자 장치를 착용한 시술자의 머리 움직임을 감지하는 머리 움직임 감지부(116)를 포함하는 것이 바람직하다. 여기서 머리 움직임 감지부(116)는 머리가 움직인 위치 및 방향을 감지하기 위한 다양한 센서를 이용할 수 있으며, 본 발명에서는 실시 예로 자이로 센서를 이용한다.In addition, the operator device 100 preferably includes a head motion detector 116 for detecting the head movement of the operator wearing the operator device. Here, the head motion detecting unit 116 may use various sensors for detecting the position and direction of the head movement. In the present invention, the gyro sensor is used as an embodiment.
상기 제어부(114)는 상기 조작부(111)에 의해 자동 추적 모드가 선택된 경우 상기 머리 움직임 감지부(116)에서 감지한 머리 움직임 방향을인식하고, 상기 머리 움직임 방향의 반대 방향으로 카메라가 이동하도록 카메라의 위치를 제어한다.The control unit 114 recognizes the head movement direction detected by the head movement detecting unit 116 when the automatic tracking mode is selected by the manipulation unit 111, and moves the camera in a direction opposite to the head movement direction. Control the position of.
또한, 상기 시술자 장치(100)는 상기 제어부(114)에서 발생하는 카메라 이동 제어신호에 따라 상기 카메라(106)를 이동시키는 카메라 구동부(113);상기 제어부(114)의 제어에 따라 원격에 위치한 의료 전문가에게 전송한 시술자 음성을 입력받기 위한 마이크(105); 상기 제어부(114)의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 음성을 실시간으로 시술자가 확인할 수 있도록 송출해 주는 이어폰(103); 상기 시술 영상 및 조언 영상, 시술자의 음성 및 조언 음성을 저장하기 위한 저장부(117)를 더 포함하는 것이 바람직하다.In addition, the operator device 100 may include a camera driver 113 for moving the camera 106 according to a camera movement control signal generated by the controller 114; a medical device located remotely under the control of the controller 114; A microphone 105 for receiving an operator voice transmitted to an expert; An earphone 103 which transmits the advice voice transmitted by a medical professional located at a remote location in real time under the control of the controller 114 so that the operator can check in real time; It is preferable to further include a storage unit 117 for storing the procedure image and the advice image, the operator's voice and the advice voice.
상기 중계기(200)는 상기 시술자 장치(100)로부터 획득한 의료 영상을 네트워크(300)를 통해 원격에 위치한 의료 전문가 단말기(400)로 전송하고, 상기 원격에 위치한 의료 전문가 단말기(400)로부터 전송된 조언 영상 및 조언 음성을 상기 시술자 장치(100)로 중계해주는 역할을 한다. 이러한 중계기(200)는 복수의 시술자 장치와 1: N 통신 방식으로 연결되는 것이 바람직하다.The repeater 200 transmits the medical image obtained from the operator device 100 to a medical expert terminal 400 located remotely through the network 300, and transmitted from the medical expert terminal 400 located remotely. It serves to relay the advice image and the advice voice to the operator device (100). The repeater 200 is preferably connected to the plurality of operator devices in a 1: N communication method.
상기 네트워크(300)는 상기 중계기(200)와 의료 전문가 단말기(400)간의 데이터를 상호 전송해주는 통신망으로서, 다양한 통신망으로 구현 가능하나 본 발명에서는 인터넷을 이용하는 것으로 가정한다.The network 300 is a communication network that mutually transmits data between the repeater 200 and the medical professional terminal 400, but may be implemented in various communication networks, but it is assumed that the present invention uses the Internet.
상기 의료 전문가 단말기(400)는 상기 네트워크(300)를 통해 상기중계기(200)로부터 전송된 시술 영상을 화면에 디스플레이하고, 의료 전문가의 조작에 의해 발생하는 조언 영상 및 조언 음성을 상기 네트워크(300)를 통해 실시간으로 상기 시술자 장치(100)로 전송해주는 역할을 한다.The medical expert terminal 400 displays a procedure image transmitted from the repeater 200 through the network 300 on a screen, and displays the advice image and the advice voice generated by a medical expert's operation. Through it serves to transmit to the operator device 100 in real time.
이러한 의료 전문가 단말기(400)는 통상의 퍼스널컴퓨터(PC)로 구현하거나, 스마트폰과 같은 모바일기기로 구현할 수 있다.The medical expert terminal 400 may be implemented by a general personal computer (PC) or a mobile device such as a smart phone.
이와 같이 구성된 본 발명의 바람직한 실시 에에 따른 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치의 구체적인 동작을 첨부한 도면 도1 내지 도4를 참조하여 상세히 설명하면 다음과 같다.The detailed operation of the medical image and information real-time mutual transmission and remote support apparatus according to the preferred embodiment of the present invention configured as described above will be described in detail with reference to FIGS. 1 to 4.
본 발명은 의료계 전 분야에 걸쳐 내시경이나 관절경 수술뿐 아니라 개방적 수술에 있어서도 실시간으로 원격지의 전문가 조언 및 상호의사 교류를 통해 시술자가 보다 정확하고 신속한 처치를 할 수 있도록 도모해주기 위한 것이다.The present invention aims to enable practitioners to perform more accurate and rapid treatment through remote expert advice and mutual exchange in real time in open surgery as well as endoscopy or arthroscopy surgery throughout the medical field.
특히, 전문 의료 인력이 부족한 상황에서 응급한 조치가 필요할 경우, 더욱 유용할 것으로 예상된다. 아울러 의료 전문가의 조언 영상을 화면에 직접표시를 해주는 상호전송 및 영상 제어를 통해 수술자나 시술자가 원거리에 있는 전문가로부터 실시간으로 음성뿐 아니라 영상을 통해 조언을 구할 수 있어, 수술이나 시술중 보다 정확하고 즉각적인 조치가 가능하다.In particular, it is expected to be more useful when emergency measures are needed in a situation where there is a shortage of professional medical personnel. In addition, through the mutual transmission and image control that displays the advice image of the medical professional directly on the screen, the operator or the operator can obtain the advice from the remote specialist in real time through the voice as well as the image, so that it is more accurate during the operation or the procedure. Immediate action is possible.
먼저, 환자를 시술(또는, 수술)하는 시술자(또는, 수술자)는 원격에 위치한 의료 전문가로부터 조언을 얻고자 하면, 시술자 장치(100)를 통해 실시간으로 환자 의료 영상을 의료 전문가에게 전송하고, 의료 전문가로부터 전송된 조언 영상 및/또는 조언 음성을 실시간으로 청취하면서, 시술을 하게 된다.First, when an operator (or an operator) performing a patient (or surgery) wants to receive advice from a remotely located medical professional, the operator device 100 transmits the patient medical image to the medical professional in real time through the operator device 100, The procedure is performed while listening to the advice video and / or the advice voice transmitted from the expert in real time.
여기서 시술자 장치(100)는 도 2에 도시한 바와 같이, 시술자가 직접 착용하고 사용할 수 있는 의료용 안경을 이용하거나, 내시경, 관절경 및 현미경을 이용할 수도 있다. 의료용 안경의 경우 영상의 실시간 전송, 원격 실시간 편집된 영상의 수신, 음성의 송수신이 직접적으로 가능하다. 내시경, 관절경 및 현미경의 경우, 영상 송수신 프로그램만 추가로 설치하여 통신을 하도록 한다. 원격의 조언자 역시 기존의 컴퓨터를 이용할 경우 간단한 통신 프로그램만을 설치하여 즉각적으로 화면에 표시하거나 마이크를 통해 조언을 해줄 수 있다. 스마트폰과 같은 모바일 기기를 사용할 경우 의료용 애플리케이션을 통해 언제 어디서든 화면에 표시하거나 마이크를 통해 조언을 해줄 수 있다. 본 발명에서는 설명의 편의를 위해시술자가 시술자 장치(100)로 도 2와 같은 의료용 안경을 사용하는 것으로 가정을 한다.Here, the operator device 100 may use medical glasses that the operator can directly wear and use, as shown in FIG. 2, or may use an endoscope, arthroscopy, and a microscope. In the case of medical glasses, real-time transmission of images, reception of remote real-time edited images, and voice transmission and reception are possible directly. In the case of endoscopes, arthroscopy, and microscopes, only additional video transmission and reception programs should be installed to communicate. The remote advisor can also install a simple communication program and display it on the screen immediately or use the microphone to give advice using an existing computer. If you're using a mobile device, such as a smartphone, you can use the medical application to display it on the screen anytime, anywhere, or give advice through the microphone. In the present invention, it is assumed that the operator uses the medical glasses as shown in FIG. 2 as the operator device 100 for the convenience of description.
의료 전문가에게 원격으로 의료를 지원받기 위해서, 시술자는 시술자 장치(100)의 조작부(111)를 통해 의료 전문가를 선택한다. 의료 전문가가 선택되면 제어부(114)는 그 선택된 의료 전문가가 휴대 또는 사용하는 단말기와 접속을 위해 저장부(117)에 저장된 접속 정보(모바일 기기일 경우 전화번호, 퍼스널컴퓨터일 경우 등록된 URL정보)를 추출하고, 이를 통신 모듈(115)로 전송한다. 통신 모듈(115)은 안테나(104)를 통해 중계기(200)와 접속하여 접속 정보를 전송해주게되고, 중계기(200)는 네트워크(300)를 통해 의료 전문가 단말기(400)와 접속한다. 여기서 네트워크(300)를 통한 단말기 접속 방식은 일반적인 통신에서 원격에 위치한 단말기를 접속하는 방법과 동일하므로, 구체적인 설명은 생략하기로 한다.In order to receive medical assistance remotely from the medical professional, the operator selects the medical professional through the operation unit 111 of the operator device 100. When the medical professional is selected, the control unit 114 stores access information (telephone number for a mobile device and registered URL information for a personal computer) stored in the storage unit 117 for connection with a terminal used by the selected medical professional. Is extracted and transmitted to the communication module 115. The communication module 115 connects with the repeater 200 through the antenna 104 to transmit connection information, and the repeater 200 connects with the medical expert terminal 400 through the network 300. In this case, the terminal access method through the network 300 is the same as the method for accessing a terminal located remotely in general communication, and thus a detailed description thereof will be omitted.
상기와 같은 과정을 통해 시술자 장치(100)와 의료 전문가 단말기(400)가 접속된 상태에서, 시술자는 시술자 장치(100)의 조작부(111)를 통해 의료영상 전송 모드를 선택한다. 여기서 의료 영상 전송 모드는 카메라(106)가 시술 대상을 지속적으로 추적하면서 시술 대상을 촬영하여 의료 영상을 획득하기 위한 자동 추적 모드와 사용자가 카메라(106)의 위치를 고정한 상태에서 시술 대상을 촬영하여 획득한 의료 영상을 전송하기 위한 수동 추적 모드를 선택한다. 수동 추적 모드를 선택한 경우, 카메라(106)가 고정된 상태이므로 시술자가 머리를 움직이게 되면 카메라(106)가 촬영 위치도 달라진다. 자동 추적 모드를 선택한 경우, 카메라(106)가 이동하게 되므로 시술자가 머리를 움직이는 경우에는 시술 대상을 지속적으로 촬영할 수 있게 된다. 본 발명에서는 자동 추적 모드에 대해서 설명하기로 한다.In the state in which the operator device 100 and the medical professional terminal 400 are connected through the above process, the operator selects a medical image transmission mode through the operation unit 111 of the operator device 100. Here, the medical image transmission mode is an automatic tracking mode for acquiring a medical image by continuously photographing a treatment target while the camera 106 continuously tracks the treatment target, and a user photographing the treatment target while the user fixes the position of the camera 106. Manual tracking mode for transmitting the acquired medical image is selected. When the manual tracking mode is selected, since the camera 106 is fixed, when the operator moves his head, the camera 106 also changes the photographing position. When the automatic tracking mode is selected, the camera 106 is moved so that the operator can continuously photograph the subject when the operator moves the head. In the present invention, the automatic tracking mode will be described.
자동 추적 모드가 선택된 상태에서, 초기 카메라(106)는 시술자의 주시 방향에 따라 시술 대상의 영상을 촬영하게 되고, 이렇게 획득되는 시술 대상의 촬영 영상은 영상 처리부(112)를 통해 일반적인 영상 처리 기법을 통해 처리되어 제어부(114)에 전달된다.In the state in which the automatic tracking mode is selected, the initial camera 106 captures an image of the subject in accordance with the operator's gaze direction, and the captured image of the target subject thus obtained is subjected to a general image processing technique through the image processor 112. It is processed through and delivered to the control unit 114.
제어부(114)는 전달되는 시술 대상자의 촬영 영상을 저장부(117)에 저장함과 동시에 통신 모듈(115)로 전달하여, 원격에 위치한 의료 전문가 단말기(400)로 해당 의료 영상이 전송되도록 한다.The controller 114 stores the captured image of the surgical subject in the storage unit 117 and simultaneously transmits the captured image to the communication module 115 to transmit the medical image to the medical expert terminal 400 remotely located.
원격에 위치한 의료 전문가는 의료 전문가 단말기(400)를 통해 디스플레이되는 시술대상 환자의 의료 영상을 보게 된다. 이로써 의료 전문가는 원격에 위치해 있으면서도 자신이 직접 환자를 시술하는 것과 같이 환자의 시술 위치를 볼 수 있게 된다.A medical professional located remotely may view a medical image of the patient to be displayed through the medical professional terminal 400. This allows the medical professional to be able to see the location of the patient's procedure as if he or she is directly at the remote location.
도 4의 참조부호 10은 환자의 시술 대상을 나타낸 것이며, 참조부호 102는 시술자 장치(100)의 안경 유리를 통해 시술자가 보고 있는 시술 대상 영상을 나타낸 것이며, 참조부호 121은 현미경을 통해 촬영되는 시술 대상 영상을 나타낸 것이며, 참조부호 122는 관절경을 통해 촬영되는 시술 대상 영상을 나타낸 것이다. Reference numeral 10 of FIG. 4 denotes an operation target of the patient, reference numeral 102 denotes an image of a treatment subject viewed by the operator through the glasses glass of the operator device 100, and reference numeral 121 denotes a procedure photographed through a microscope. The target image is shown, and reference numeral 122 denotes a treatment target image photographed through arthroscopy.
그리고 참조부호 400은 의료 전문가 단말기에서 디스플레이되는 시술 대상 영상을 나타낸 것으로서, 좌측은 의료 전문가가 모바일 기기를 이용할 경우와 영상 화면을 나타낸 것이고, 우측은 퍼스널컴퓨터를 이용할 경우 모니터에 디스플레이되는 영상 화면을 나타낸 것이다.In addition, reference numeral 400 denotes an image to be displayed on a medical professional terminal, and the left side shows an image screen when a medical professional uses a mobile device, and the right side shows an image screen displayed on a monitor when a personal computer is used. will be.
의료 전문가는 모바일 기기의 화면 또는 퍼스널컴퓨터의 모니터에 시술 대상 영상이 디스플레이되면, 이를 확인하고 영상으로 의료 조언을 하거나 음성으로 의료 조언을 하거나 영상과 음성을 동시에 이용하여 의료 조언을 하게된다. 여기서 영상을 이용한 영상 조언일 경우, 자신이 직접 시술하는 것과 같이When a medical professional displays an image to be treated on a screen of a mobile device or a monitor of a personal computer, the medical professional may check the image and give medical advice by video, medical advice by voice, or medical advice by using both video and voice. In the case of video advice using images,
화면에 디스플레이되는 시술 대상 영상을 화면상에서 직접 조작하여 조언 영상을 생성한다. 예컨대, 의료 전문가는 화면에 디스플레이되는 시술 대상 영상을 직접 조작하여 시술자에게 전송할 조언 영상을 생성한다. 아울러 조언 영상 생성시 실제 시술자가 옆에 있다고 가정을 하고 시술 방법 등을 설명하는 것으로 조언 음성의 생성도 가능하다.Advice images are generated by directly operating the treatment target image displayed on the screen. For example, the medical professional directly manipulates a procedure target image displayed on the screen to generate an advice image to be transmitted to the operator. In addition, it is also possible to generate an advice voice by assuming that an actual operator is at the time of generating an advice image and explaining a procedure.
이렇게 생성되는 조언 영상 및 조언 음성은 네트워크(300), 중계기(200)를 순차 통해 시술자 장치(100)의 통신 모듈(115)에서 수신된다. 통신 모듈(115)은 수신된 조언 영상 및 조언 음성을 신호 처리한 후 제어부(114)에 전달한다. 제어부(114)는 전달되는 조언 영상을 영상 표시부(102)를 통해 디스플레이해주고, 조언 음성은 이어폰(103)으로 송출해준다. 여기서 영상 표시부(102)는 실제 시술자가 착용한 의료용 안경의 유리 부분이라고 할 수 있다. 영상 디스플레이 방식은 헤드-업 디스플레이 방식을 이용하는 것이 바람직하다. 따라서 시술자는 실시간으로 원격에 위치한 의료 전문가가 조언해주는 조언 영상 및 조언 음성을 청취하면서, 시술(또는, 수술)을 함으로써, 시술을 보다 정확하고 신속하게 할 수 있게 되는 것이다.The advice image and the advice voice generated in this way are received by the communication module 115 of the operator device 100 through the network 300 and the repeater 200. The communication module 115 processes the received advice image and the advice voice and transmits the signal to the controller 114. The controller 114 displays the transferred advice image through the image display unit 102 and transmits the advice voice to the earphone 103. Here, the image display unit 102 may be referred to as the glass portion of the medical glasses worn by the practitioner. The video display method is preferably a head-up display method. Therefore, the operator can perform the procedure (or surgery) more accurately and quickly by listening to the advice image and the advice voice provided by a remotely located medical professional in real time.
한편, 본 발명의 다른 특징으로서 자동 추적 모드에서 의료용 안경을 착용한 시술자가 머리를 움직이게 되면, 카메라(1060가 주시해야할 위치가 달라져, 정확하게 시술 대상 영상을 획득하는 것이 어려워질 수도 있다. 실제 원격에 위치한 의료 전문가는 시술자가 전송해주는 시술 대상 영상에만 의존한다. 따라서 시술 대상 영상을 검사하는 도중에 시술 대상 영상이 사라지거나 위치가 변경되면 시술 대상 영상을 정확하게 분석하는 것이 어렵고, 이로 인해 정확하게 조언 영상을 생성하거나 조언 음성을 생성하는 것이 어려워질 수 있다. 이러한 문제점을 개선하기 위해서 본 발명에서는 자동 추적 모드일 경우, 시술자의 머리가 움직여도 카메라(106)는 지속적으로 시술 대상 영상을 주시하여 촬영이 이루어지도록 한다.On the other hand, as another feature of the present invention when the operator wearing the medical glasses in the automatic tracking mode to move the head, the position to be observed by the camera 1060 is different, it may be difficult to accurately obtain the target image. The healthcare professional who is located relies only on the target image that the operator transmits, so if the target image disappears or changes position during the examination of the target image, it is difficult to accurately analyze the target image, resulting in accurate generation of the advice image. In order to solve this problem, in the present invention, in the automatic tracking mode, even if the operator's head moves, the camera 106 continuously monitors the target image to allow photographing to be performed. .
예컨대, 머리 움직임 감지부(116)는 자이로 센서와 같이 위치와 방향 등을 감지할 수 있는 센서를 이용하여 시술자가 머리를 움직이면 이를 감지한다. 그리고 머리 움직임 감지 값(예를 들어, 머리 움직인 방향 및 머리 움직임 량)을 제어부(114)에 전달한다.For example, the head motion detector 116 detects this when the operator moves the head using a sensor capable of detecting a position and a direction such as a gyro sensor. Then, the head motion detection value (for example, the head moving direction and the amount of head movement) is transmitted to the controller 114.
제어부(114)는 머리 움직임 감지 값이 전달되면, 그 움직인 머리 방향의 반대 방향으로 카메라(106)가 이동하도록 하는 제어를 한다. 예를 들어, 시술자가 머리를 오른쪽으로 틀었고, 그 움직임 량이 5cm정도라고 가정을 하면, 제어는 카메라(106)를 왼쪽으로 동작시키고 5cm정도의 움직임 량에 대응한 이동량이 되도록 제어를 한다. 이러한 제어 값은 내무 메모리에 미리 테이블 형태로 저장해 놓고 사용하는 것이 바람직하다. 상기 카메라 제어신호에 따라 카메라 구동부(113)는 카메라(106)를 이동시키는 모터를 시술자가 움직인 방향과 반대 방향으로 구동시키게 된다. 이로써 시술 영상을 촬영하는 시술자가 머리를 움직여도 카메라(106)는 이전 주시 방향을 그대로 주시하도록 하여, 시술 도중에 시술자가 머리를 움직여도 시술 대상 영상의 촬영이 연속적으로 이루어지도록 한다.The controller 114 controls the camera 106 to move in a direction opposite to the moved head direction when the head motion detection value is transmitted. For example, if the operator twists his head to the right and the movement amount is about 5 cm, the control operates the camera 106 to the left and controls the movement amount corresponding to the movement amount of about 5 cm. Such control values are preferably stored in a table form in the internal memory. In response to the camera control signal, the camera driver 113 drives the motor for moving the camera 106 in a direction opposite to that of the operator. Thus, even if the operator who photographs the procedure image moves the head, the camera 106 keeps the previous gaze direction as it is, so that even if the operator moves the head during the procedure, the photographing of the subject image is continuously performed.
만약, 사용자가 수동 추적 모드를 선택한 경우에는 카메라가 고정되어, 시술자의 머리 움직임 방향과 동일한 방향으로 카메라 촬영 방향이 위치하도록 한다.If the user selects the manual tracking mode, the camera is fixed so that the camera photographing direction is positioned in the same direction as the operator's head movement direction.
또한, 본 발명의 다른 실시 예로서, 의료영상의 경우 단순히 수술자의 시야에 보이는 영상을 전송하는 것이 아니라 카메라가 3차원적으로 객체를 인식하여 영상을 전송하는 것도 가능하다. 여기서 카메라를 3D 카메라를 이용하면, 용이하게 3차원 시술 대상 영상을 획득할 수 있다. 이렇게 3차원 의료 영상을 이용하게 되면 시야가 지속적으로 바뀌는 상황에서도 조언자가 지적해 주는 표시점 위치가 정확하게 유지될 수 있게 된다. 이러한 방법 이외에 기존 디지털 카메라의 얼굴인식 기능(디지털카메라로 얼굴인식 할 수 있는 원리는 이미지센서에 받아들여진 빛의 정보를 사람 눈, 코, 입 등 거리와 모양을 축적한 데이터베이스와 비교해 얼굴로 인식)을 응용하여 특정개체를 인식하여 이를 기준으로 삼아 시야가 지속적으로 바뀌더라도 원격 표시점의 위치를 일정하게 유지할 수 있는 것도 가능하다.In addition, in another embodiment of the present invention, in the case of a medical image, the camera may transmit an image by recognizing an object in three dimensions instead of simply transmitting an image that is visible to the operator's field of view. In this case, when the camera is used as a 3D camera, a 3D surgical target image can be easily obtained. Using the 3D medical image, the point of the marker pointed out by the advisor can be accurately maintained even when the field of view is constantly changing. In addition to these methods, the face recognition function of existing digital cameras (the principle that can be used for face recognition with a digital camera is to recognize the information of light received by the image sensor as a face by comparing the distance and shape such as human eyes, nose, mouth, etc.). It is also possible to maintain the position of the remote display point even if the field of view is constantly changed based on the recognition of the specific object by applying this as a reference.
이상 본 발명자에 의해서 이루어진 발명을 상기 실시 예에 따라 구체적으로 설명하였지만, 본 발명은 상기 실시 예에 한정되는 것은 아니고 그 요지를 이탈하지 않는 범위에서 여러 가지로 변경 가능한 것은 물론이다.As mentioned above, although the invention made by the present inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary.
본 발명은 의료 영상을 쌍방향 통신을 통해 실시간으로 시술자와 원격에 위치한 의료 전문가 간에 송수신할 수 있도록 한 기술에 적용된다.The present invention is applied to a technique for transmitting and receiving medical images between the operator and a remotely located medical professional in real time through two-way communication.

Claims (10)

  1. 시술자의 의료 시술시 시술 대상을 촬영한 의료 영상을 획득하여 전송하고, 원격에 위치한 의료 전문가가 전송한 조언 영상 및 조언 음성을 시술자가 착용한 장치 또는 시술자가 확인할 수 있는 디스플레이장치에 실시간으로 디스플레이해주는 시술자 장치;It acquires and transmits medical images of the subjects during the medical procedure of the operator, and displays the advice images and the advice voices transmitted by the remotely located medical professionals on a device worn by the operator or a display device that can be checked by the operator. Operator device;
    상기 시술자 장치로부터 획득한 의료 영상을 네트워크를 통해 원격에 위치한The medical image obtained from the operator device is located remotely through a network
    의료 전문가 단말기로 전송하고, 상기 원격에 위치한 의료 전문가 단말기로부터 전Send to a medical professional terminal and transfer from the remotely located medical professional terminal.
    송된 조언 영상 및 조언 음성을 상기 시술자 장치로 중계해주는 중계기; 및A repeater which relays the sent advice image and advice voice to the operator device; And
    상기 네트워크를 통해 상기 중계기로부터 전송된 시술 영상을 화면에 디스플레이하고, 의료 전문가의 조작에 의해 발생하는 조언 영상 및 조언 음성을 상기 네트워크를 통해 실시간으로 상기 시술자 장치로 전송해주는 의료 전문가 단말기를포함하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치.And a medical expert terminal for displaying a procedure image transmitted from the repeater through the network on a screen, and transmitting the advice image and the advice voice generated by a medical expert's operation to the operator device in real time through the network. Features medical imaging and information real-time mutual transmission and remote support device.
  2. 청구항 1에 있어서, 상기 시술자 장치는 시술자가 직접 착용하고 시술 영상 을 획득하여 전송하거나 의료 전문가로부터 전송된 조언 영상 및 조언 음성을 실시간으로 시술자에게 출력해주기 위한 의료용 안경 또는 관절경 내시경 또는 현미경 중 적어도 어느 하나로 구현되는 것을 특징으로 하는 의료 영상 및 정보 실시간 상The method according to claim 1, wherein the operator device is at least any one of medical glasses or arthroscopy or microscope for the operator to directly wear and obtain the procedure image, or to output the advice image and the advice voice transmitted from the medical professional to the operator in real time Medical image and information real-time image, characterized in that implemented as one
    호전송 및 원격 지원 장치.Call transfer and remote support device.
  3. 청구항 1에 있어서, 상기 시술자 장치는 시술자가 의료 지원 모드를 선택하고, 카메라가 시술 영상을 자동으로 추적하기 위한 자동 추적 모드나 시술자가 수동으로 카메라의 위치를 설정하기 위한 수동 추적 모드를 선택하기 위한 조작부;The apparatus of claim 1, wherein the operator device selects a medical assistance mode, an automatic tracking mode for the camera to automatically track the procedure image, or a manual tracking mode for the operator to manually position the camera. Control panel;
    실시간으로 시술 영상을 획득하기 위한 카메라; 상기 카메라에서 획득한 시술 영상A camera for obtaining a procedure image in real time; Procedure image acquired by the camera
    을 처리하는 영상 처리부; 상기 획득한 시술 영상의 전송과 원격 의료 전문가로부An image processing unit for processing; Transmission of the acquired procedure image and from a remote medical professional
    터 전송된 조언 영상 및 조언 음성의 출력을 제어하는 제어부; 상기 시술자 장치와A controller for controlling the output of the transmitted advice image and advice voice; The operator device and
    의료 전문가 단말기 간의 영상 및 음성을 송수신하기 위한 통신 모듈; 상기 제어부Communication module for transmitting and receiving image and audio between medical professionals terminal; The controller
    의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 영상을 실시간으로 표시Real-time display of advice images from medical professionals located remotely under control
    해주는 영상 표시부를 포함하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상Medical image and information real-time image comprising an image display unit that makes
    호전송 및 원격 지원 장치.Call transfer and remote support device.
  4. 청구항 3에 있어서, 상기 통신 모듈은 상기 중계기와 유선 또는 근거리 무선통신으로 영상 및 음성 데이터를 송수신하는 것을 특징으로 하는 의료 영상 및 정The medical image and tablet of claim 3, wherein the communication module transmits and receives image and audio data through wired or short-range wireless communication with the repeater.
    보 실시간 상호전송 및 원격 지원 장치.Bo real-time intercommunication and remote support device.
  5. 청구항 3에 있어서, 상기 영상 표시부는 의료용 안경의 유리에 부착된 투명필름이나 장비의 반사렌즈를 이용하여 원격에서 전송된 의료 전문가의 조언 영상을The medical image display apparatus of claim 3, wherein the image display unit uses a transparent film attached to the glass of medical glasses or a reflective lens of a device to provide advice images of a medical professional transmitted remotely.
    헤드업 디스플레이(HUD; Head-up display) 방식으로 시술자에게 디스플레이해주는Head-up display (HUD) to display to the operator
    것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치.Medical image and information real-time mutual transmission and remote support device, characterized in that.
  6. 청구항 3에 있어서, 상기 시술자 장치는 시술자 장치를 착용한 시술자의 머리 움직임을 감지하는 머리 움직임 감지부를 더 포함하고, 상기 제어부는 상기 조작부에 의해 자동 추적 모드가 선택된 경우 상기 머리 움직임 감지부에서 감지한 머리 움직임 방향을 인식하고, 상기 머리 움직임 방향의 반대 방향으로 카메라가 이동하도록 카메라의 위치를 제어하며, 상기 머리 움직임 감지부는 위치 및 방향 감지가 가능한 자이로 센서를 포함하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치.The method according to claim 3, wherein the operator device further comprises a head motion detection unit for detecting the head movement of the operator wearing the operator device, the control unit detects the head movement detection unit when the automatic tracking mode is selected by the operation unit Recognizing a head movement direction, and controls the position of the camera to move the camera in a direction opposite to the head movement direction, the head movement detector comprises a gyro sensor capable of detecting the position and direction Real-time intertransmission and remote support device.
  7. 청구항 3에 있어서, 상기 시술자 장치는 상기 제어부에서 발생하는 카메라 이동 제어신호에 따라 상기 카메라의 촬영 위치를 이동시키는 카메라 구동부를 더 포함하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치.The apparatus of claim 3, wherein the operator device further comprises a camera driver configured to move a photographing position of the camera according to a camera movement control signal generated by the controller.
  8. 청구항 3에 있어서, 상기 시술자 장치는 상기 제어부의 제어에 따라 원격에 위치한 의료 전문가에게 전송한 시술자 음성을 입력받기 위한 마이크; 상기 제어부의 제어에 따라 원격에 위치한 의료 전문가가 전송한 조언 음성을 실시간으로 시술자가 확인할 수 있도록 송출해주는 이어폰; 상기 시술 영상 및 조언 영상, 시술자의 음성 및 조언 음성을 저장하기 위한 저장부를 더 포함하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치.The apparatus of claim 3, wherein the operator device comprises: a microphone for receiving an operator voice transmitted to a medical professional located remotely under the control of the controller; Earphone for transmitting the advice voice transmitted from a medical professional located in a remote in real time under the control of the controller so that the operator can check in real time; And a storage unit for storing the procedure image and the advice image, the operator's voice and the advice voice.
  9. 청구항 3에 있어서, 상기 시술자 장치가 의료용 안경으로 구현되는 경우, 영상 표시부는 안경 유리에 구현되고, 상기 카메라는 안경 유리와 유리 사이의 중앙에 설치되는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원장치.The medical image and information real-time mutual transmission of claim 3, wherein when the operator device is implemented as medical glasses, the image display unit is implemented in the glasses glass, and the camera is installed at the center between the glasses glass and the glass. Remote Assistance Device.
  10. 청구항 1에 있어서, 상기 의료 전문가 단말기는 스마트폰을 포함하는 모바일기기 또는 퍼스널컴퓨터로 구현되며, 의료 전문가가 직접 상기 모바일 기기 또는 퍼스널컴퓨터의 조작을 통해 발생하는 영상 및 음성을 통해 발생하는 음성을 각각 조언 영상 및 조언 음성을 생성하여 쌍방향 통신을 통해 실시간으로 상기 시술자 장치로 전송하는 것을 특징으로 하는 의료 영상 및 정보 실시간 상호전송 및 원격 지원 장치. The method of claim 1, wherein the medical professional terminal is implemented as a mobile device or a personal computer including a smart phone, the medical professional is a voice generated by the video and audio generated through the operation of the mobile device or personal computer, respectively A medical image and information real-time mutual transmission and remote support device, characterized in that for generating the advice image and the advice voice to the operator device in real time through two-way communication.
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