JP2015100437A - Navigation system for surgical operation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system for a surgical operation that allows cost to be reduced while enabling a surgical operation to be performed safely and accurately.SOLUTION: A navigation system for a surgical operation 1 includes: a coordinate transmitter 2 that includes a motion sensor 22 for detecting coordinate information on a tip 21a of a handpiece 21, and transmission means 23 for transmitting the coordinate information; a coordinate receiver 3 that includes receiving means 31 for receiving the transmitted coordinate information, calculation means 32 for calculating position information to target coordinates on the basis of the received coordinate information, and calculating guide information for guiding the tip 21a to the target coordinates on the basis of the position information, and notification means 33 for notifying an operator of the calculated guide information; and an original point reset switch 4 that resets the received coordinate information. The notification means 33 includes an extended real image display device 331 for displaying an extended real image based on the guide information before the operator's eyes.

Description

  The present invention relates to a surgical navigation system.

  Recently, surgical navigation systems have attracted attention as one of computer-assisted surgery. The navigation system for surgical operation, like the navigation system of a car, coordinates the position information of the actual operative field and reflects it on the image taken before the operation to perform intra-operative position confirmation in real time. is there. A conventional surgical navigation system includes an optical sensor (see, for example, Non-Patent Document 1).

  However, the conventional surgical navigation system equipped with an optical sensor guides the surgeon with a monitor placed at a position away from the affected area, and thus the surgeon's line of sight movement is large and there is a problem in safety. . In addition, the operator's limb often hides the marker attached to the affected area from the optical sensor, and there is a problem in accuracy. Such a problem is remarkable in a surgical operation with a narrow surgical field such as a dental implant implantation operation. In addition, the conventional surgical navigation system has a problem that the cost is high because the apparatus is relatively large.

On the other hand, Patent Document 1 describes a surgical navigation system using a retinal projection type head mounted display device in order to reduce an operator's line-of-sight movement.
However, the surgical navigation system described in Patent Document 1 has a problem that the system may not follow the movement of the eyeball of the operator, and the cost is high.

JP 2010-259497 A

“StealthStation”, [online], Nippon Medtronic Co., Ltd., [searched on November 14, 2013], Internet <URL: http://wwwp.medtronic.com/country/japan/hcp/public/spine-navigation/ navigation / ＞

  An object of the present invention is to provide a surgical navigation system that can perform a surgical operation safely and accurately and can be reduced in cost.

As a result of intensive studies to solve the above-mentioned problems, the present inventors have found a solution means having the following constitution and have completed the present invention.
(1) a coordinate transmitter having a handpiece, a motion sensor attached to the handpiece and detecting coordinate information of the tip of the handpiece, and coordinate information transmitting means for transmitting the detected coordinate information; Coordinate information receiving means for receiving the transmitted coordinate information; calculating position information up to the target coordinates based on the received coordinate information; and the handpiece to the target coordinates based on the calculated position information A coordinate receiver having calculation means for calculating guide information for guiding the tip, and notification means for notifying the surgeon of the calculated guide information, and resets the received coordinate information based on the coordinate origin. An augmented reality image table, wherein the notification means displays an augmented reality image based on the guidance information in front of the surgeon's eyes. Having a device, the surgical navigation system.
(2) The surgical navigation system according to (1), wherein the notification unit further includes a sound generation device that generates a sound based on the guidance information.
(3) The surgical navigation system according to (1) or (2), which is for dental implant implantation.
(4) The calculation means calculates a position information up to the target coordinate based on the procedure data stored in the procedure database together with the received coordinate information, and having a procedure database for dental implant implantation surgery. The surgical navigation system according to (3) above.
(5) The surgical navigation system according to any one of (1) to (4), which is used in combination with another surgical navigation system including an optical sensor.

  According to the present invention, a surgical operation can be performed safely and accurately, and the cost of the system can be reduced because the system configuration is relatively simple. Further, the present invention is suitable for a surgical operation with a narrow surgical field such as a dental implant implantation operation.

It is a schematic explanatory drawing which shows the surgical navigation system which concerns on one Embodiment of this invention. It is a block diagram which shows the coordinate transmitter with which the surgical navigation system of FIG. 1 is provided. It is a block diagram which shows the coordinate receiver with which the surgical navigation system of FIG. 1 is provided. It is a flowchart which shows operation | movement of the surgical navigation system of FIG.

  Hereinafter, a surgical navigation system according to an embodiment of the present invention (hereinafter also referred to as a “navigation system”) will be described with reference to FIGS. This will be described in detail.

  As shown in FIG. 1, the navigation system 1 of the present embodiment includes a coordinate transmitter 2, a coordinate receiver 3, and an origin reset switch 4. According to such a configuration, since it is relatively simpler than the conventional navigation system, the cost can be reduced. Hereinafter, each component of the navigation system 1 of this embodiment is demonstrated in order.

(Coordinate transmitter)
The coordinate transmitter 2 of the present embodiment includes a handpiece 21, a motion sensor 22, and coordinate information transmission means 23.

  The handpiece 21 means an instrument that is held by the surgeon's hand, and the handpiece tip 21a, which is the tip of the handpiece 21, directly touches the affected part 102 located in the oral cavity 101 of the patient 100. Shall. Examples of the handpiece 21 of the present embodiment include a drill, a device such as a driver for drilling a jawbone, an alignment confirmation device, and the like.

  The coordinate transmitter 2 of the present embodiment further includes an implanter 24. The implanter 24 is a device that controls the function of the handpiece 21. As a specific example, when the handpiece 21 is a drill, the implanter 24 controls the rotation speed and the like. The implanter 24 of this embodiment is connected to the handpiece 21 via a cable 241.

  On the other hand, the motion sensor 22 of the present embodiment has a size that can be attached to the handpiece 21, and is attached to the handpiece rear end 21b. The attachment position of the motion sensor 22 is not limited to the handpiece rear end 21b as long as the function of the handpiece 21 is not hindered, and may be, for example, the outer peripheral portion or the inside of the handpiece 21.

  The motion sensor 22 is a sensor that detects the position and direction of the handpiece tip 21a, that is, coordinate information. The motion sensor 22 of this embodiment has an acceleration sensor and a gyro sensor. The acceleration sensor is a sensor that detects the acceleration of the handpiece 21, and the gyro sensor is a sensor that detects the inclination of the handpiece 21. In the present embodiment, the coordinate information of the handpiece tip 21a detected by the motion sensor 22 is three-dimensional.

  The coordinate information transmission means 23 is means for transmitting the coordinate information of the handpiece tip 21a detected by the motion sensor 22. The coordinate information transmission means 23 of this embodiment has a coordinate information transmission antenna.

  In the coordinate transmitter 2 of the present embodiment having the above-described configuration, as shown in FIG. 2, the coordinate information of the handpiece tip 21a detected by the motion sensor 22 is converted into the integration circuit 2A, AC / DC 2B, and modulation circuit 2C. Then, the filter 2D and the amplifier 2E are flowed in this order, and the coordinate information transmitting means 23 performs wireless transmission. According to such a configuration, the coordinate information of the handpiece tip 21a can be transmitted from a position away from the affected area 102. As a result, it is possible to solve the problem of the navigation system provided with the conventional optical sensor by hiding the marker attached to the affected part 102 by the surgeon's limb from the optical sensor, and an accurate implant implantation operation is possible. Become.

  Note that the transmission of coordinate information by the coordinate transmitter 2 may be wired transmission instead of the wireless transmission described above. In addition, each circuit is supplied with a voltage obtained by converting a current from a battery (not shown).

(Coordinate receiver)
As shown in FIG. 1, the coordinate receiver 3 according to the present embodiment includes coordinate information reception means 31, calculation means 32, and notification means 33.

  The coordinate information receiving unit 31 is a unit that receives the coordinate information of the handpiece tip 21a transmitted by the coordinate transmitter 2 described above. The coordinate information receiving means 31 of this embodiment has a coordinate information receiving antenna.

  The calculating means 32 is means for calculating position information up to the target coordinates based on the received coordinate information, and calculating guidance information for guiding the handpiece tip 21a to the target coordinates based on the calculated position information. .

  Here, the target coordinates mean the coordinates of the affected part 102 located in the oral cavity 101 of the patient 100. That is, in the dental implant implantation operation of the present embodiment, first, image data in the oral cavity 101 of the patient 100 using an image diagnostic apparatus such as computed tomography (CT), nuclear magnetic resonance imaging (MRI) or the like before the operation. Get. Next, an implant plan is created based on the image data, and the coordinates of the affected area 102 are specified. Then, the specified coordinates of the affected area 102 are input as target coordinates to the calculation means 32 before the operation. According to such a configuration, since the received coordinate information can be compared with the target coordinate, the above-described position information and guidance information can be calculated based on the received coordinate information.

  The calculation means 32 of this embodiment is a computer that employs a calculation method that calculates the position information and the guidance information described above based on received coordinate information.

  The notification means 33 is means for notifying the surgeon of the guidance information calculated by the calculation means 32 described above. The notification means 33 of the present embodiment includes an AR image display device 331 that displays an augmented reality (hereinafter, sometimes referred to as “AR”) image based on guidance information in front of the surgeon's eyes. According to such a configuration, it is not necessary to follow the movement of the eyeball of the surgeon unlike the navigation system using the conventional retinal projection type head mounted display device, and based on the guidance information displayed in front of the surgeon's eyes. The handpiece tip 21a can be guided to the target coordinates while visually confirming the AR image in real time, and the implant implantation operation can be performed safely and accurately.

  In the present embodiment, the AR image based on the guidance information is calculated by the calculation means 32 and transmitted by the AR image transmission means 34 included in the coordinate receiver 3. More specifically, the AR image calculated by the calculation unit 32 is wirelessly transmitted by the AR image transmission antenna included in the AR image transmission unit 34. Note that the AR image transmission by the AR image transmission unit 34 may be wired transmission instead of wireless transmission.

  The AR image display device 331 of the present embodiment that displays the transmitted AR image in front of the surgeon's eyes is a so-called AR system compatible head mounted display, and includes an AR image receiving means 331a, an AR image display display 331b, and a headband 331c. Have.

  The AR image receiving unit 331a is a unit that receives the transmitted AR image. The AR image receiving means 331a of this embodiment has an AR image receiving antenna. According to such a configuration, the AR image transmitted by the AR image transmission unit 34 can be wirelessly received. Note that AR image reception by the AR image receiving unit 331a may be wired reception instead of wireless reception.

  The AR image receiving unit 331a of the present embodiment further includes a battery and a voltage supply unit. Examples of the battery include a secondary battery. The voltage supply means is means for converting the current from the battery into voltage and supplying the voltage to the AR image receiving means 331a and the AR image display display 331b.

  The AR image display display 331b is a display that displays the received AR image. The AR image display 331b of the present embodiment is a plate-like display that is connected to the AR image receiving unit 331a and configured to display an AR image in front of the surgeon's eyes.

  In addition, the AR image display 331b of the present embodiment has light transmittance. According to such a configuration, the surgeon can view both the AR image and the surgical field via the AR image display display 331b. Examples of the material constituting the AR image display 331b include, but are not limited to, plastic and glass.

  The AR image display 331b of the present embodiment is configured in a substantially rectangular shape having a length corresponding to both eyes of the surgeon. According to such a configuration, it is possible to perform an implant implantation operation while protecting both eyes of the operator. Note that the AR image display 331b is not limited to the substantially rectangular configuration described above, and may be configured to have a shape corresponding to at least one eye of the operator.

  The headband 331c is a band-shaped member, and both ends thereof are connected to the AR image receiving means 331a, and are configured to be attached to the operator's head. According to such a configuration, the AR image display device 331 can be held on the surgeon's head by mounting the headband 331c on the surgeon's head. Examples of the material constituting the headband 331c include, but are not limited to, rubber, plastic, cloth, and the like.

  On the other hand, the notification means 33 of this embodiment further includes a sounding device 332 that generates a sound based on the guidance information. According to such a configuration, since the handpiece tip 21a can be guided to the target coordinates in real time even by sound, it is possible to suppress the movement of the operator's line of sight and to perform the implant implantation operation more safely. It becomes.

  The sound generation device 332 of the present embodiment is a speaker. The sounding device 332 is not limited to a speaker, and other sounding devices such as a buzzer can be employed.

  In addition, the notification unit 33 of the present embodiment further includes a monitor 333 that displays information based on the guidance information. According to such a configuration, since the guidance information described above can be confirmed in real time by the monitor 333 in addition to the AR image display device 331, a more accurate implant implantation operation can be performed.

  The monitor 333 of this embodiment is provided in the above-described computer. Note that the monitor 333 is not limited to the one provided in the computer, and may be provided in another device such as a projector or an LED.

  In the coordinate receiver 3 of the present embodiment having the above-described configuration, as shown in FIG. 3, the coordinate information received by the coordinate information receiving means 31 flows in the order of the amplifier 3A, the filter 3B, and the demodulation circuit 3C, and the calculation means 32 Thus, the position information and the guidance information are calculated in this order, and the calculated guidance information is notified to the operator by the notification means 33. Each circuit is supplied with a voltage obtained by voltage-converting a current from a battery (not shown) as in the coordinate transmitter 2 described above.

(Origin reset switch)
The origin reset switch 4 is a member that resets received coordinate information based on the coordinate origin. The coordinate origin means a point serving as a reference for coordinates of the navigation system 1 set in advance. That is, the navigation system 1 of the present embodiment has a predetermined coordinate origin set in advance and a coordinate system based on the coordinate origin. In the present embodiment, the coordinate origin and the coordinate system of the navigation system 1 are the coordinate origin (A) and the coordinate system (A), respectively.

  On the other hand, a coordinate origin (B) and a coordinate system (B) different from the coordinate origin (A) and the coordinate system (A) of the navigation system 1 exist in the oral cavity 101 of the patient 100. The coordinate origin (B) and coordinate system (B) existing in the oral cavity 101 of the patient 100 are specified based on the image data in the oral cavity 101 of the patient 100 obtained when creating the above-described implant plan. be able to.

  Then, the set coordinate origin (A) of the navigation system 1 and the coordinate origin (B) in the oral cavity 101 of the patient 100 are input to the calculation means 32 before the operation, and the coordinate origins (A) and (B) are matched. Take. Thereby, the coordinate information of the detected handpiece tip 21a and the coordinate system (B) in the oral cavity 101 can be unified.

  The coordinate origin (A) of this embodiment is at least three points because it is set from the three-dimensional space in the X-axis direction, the Y-axis direction, and the Z-axis direction that are orthogonal to each other. Further, the origin reset switch 4 of the present embodiment is connected to the coordinate information receiving means 31 described above via a cable 41 as shown in FIG. The origin reset switch 4 is preferably arranged at a position where the operator can easily press it.

  When the origin reset switch 4 of the present embodiment having the above-described configuration is pressed, the following effects are obtained. For example, when the patient 100 moves greatly, the coordinate origin (A) of the navigation system 1 changes, and the coordinate system (A) of the navigation system 1 also changes accordingly. As a result, the error of the received coordinate information becomes large.

  When the origin reset switch 4 is pressed in such a case, the signal is sent to the computing means 32 via the coordinate information receiving means 31. Then, in the calculation means 32, the received coordinate information having a large error is reset based on the coordinate origin (A).

  That is, the received coordinate information includes the changed coordinate origin (A). When the origin reset switch 4 is pressed, the calculation means 32 returns the changed coordinate origin (A) included in the received coordinate information to the original coordinate origin (A). As a result, the coordinate information of the detected handpiece tip 21a and the coordinate system (B) in the oral cavity 101 can be unified again, and the accuracy of the coordinate information received after resetting can be improved. It becomes. At the time of resetting, the above-described AR image display device 331 and monitor 333 may confirm that the coordinate information has been reset.

Next, the operation of the navigation system 1 of the present embodiment described above will be described.
As shown in FIG. 4, first, in step S <b> 1, the target coordinates described above are input to the calculation means 32. In the present embodiment, the input of the target coordinates is performed via a keyboard of a computer that is the computing means 32.

  Next, in step S2, the coordinate origin (A) of the navigation system 1 described above is set. The set coordinate origin (A) is input to the calculation means 32 to be matched with the coordinate origin (B) in the oral cavity 101 of the patient 100, and the detected coordinate information of the handpiece tip 21a and Unify with coordinate system (B).

  Next, in step S3, the coordinate information of the handpiece tip 21a described above is detected, and in step S4, the detected coordinate information is compared with the target coordinates, and whether or not the positional information of both coincides. Calculation is performed by the calculation means 32.

  If both pieces of position information match, the notification means 33 displays and notifies the surgeon that both pieces of position information match in step S5. At this time, a predetermined sound may be emitted as the handpiece tip 21a approaches the target coordinates.

  On the other hand, if the position information of both does not match, the process returns to before step S3 described above, and steps S3 and S4 are repeated until the position information of both matches. At this time, a predetermined alarm sound may be generated to inform that the positional information of the two does not match.

  As mentioned above, although preferred embodiment which concerns on this invention was illustrated, this invention is not limited to embodiment mentioned above, It cannot be overemphasized that it can be made arbitrary, unless it deviates from the summary of this invention.

  For example, in the above-described embodiment, the calculation means 32 has a procedure database for dental implant implantation surgery, and obtains position information up to the target coordinates based on the procedure data stored in the procedure database together with the received coordinate information. You may make it calculate. According to such a configuration, since the received coordinate information can be compared with the procedure data, the accuracy of the position information up to the calculated target coordinates can be improved. It should be noted that the procedure database for dental implant implantation is a database that stores a lot of procedure data in dental implant implantation and can be searched and extracted by the calculation means 32. . The procedure data includes data by a specific operator.

  In the above embodiment, the navigation system 1 is used for dental implant implantation. Instead, the navigation system 1 is used for other surgical operations such as neurosurgery, orthopedic surgery, otolaryngology, and the like. Can be applied.

  In the above-described embodiment, the AR image display device 331 is configured by an AR system compatible head mounted display. However, the configuration of the AR image display device 331 can display an AR image based on the guidance information in front of the surgeon's eyes. As long as it is not limited to the above-described configuration, other configurations such as AR system-compatible glasses can be employed.

  In addition, the navigation system 1 of the above-described embodiment can be used in combination with another surgical navigation system including an optical sensor as described in Non-Patent Document 1, for example. According to such a configuration, even when the operator's limbs hide the marker attached to the affected part 102 from the optical sensor, the handpiece tip 21a is guided to the target coordinates by the coordinate information transmitted from the coordinate transmitter 2. can do.

DESCRIPTION OF SYMBOLS 1 Surgical navigation system 2 Coordinate transmitter 21 Handpiece 22 Motion sensor 23 Coordinate information transmission means 21a Handpiece front end 21b Handpiece rear end 24 Implanter 241 Cable 2A Integration circuit 2B AC / DC
2C modulation circuit 2D filter 2E amplifier 3 coordinate receiver 31 coordinate information receiving means 32 computing means 33 notification means 331 augmented reality (AR) image display device 331a augmented reality (AR) image receiving means 331b augmented reality (AR) image display display 331c Headband 332 Sound generating device 333 Monitor 34 Augmented reality (AR) image transmission means 3A Amplifier 3B Filter 3C Demodulator 4 Origin reset switch 41 Cable 100 Patient 101 Oral cavity 102 Affected part

Claims (5)

With handpieces,
A motion sensor that is attached to the handpiece and detects coordinate information of the tip of the handpiece;
A coordinate information transmission means for transmitting the detected coordinate information, and a coordinate transmitter,
Coordinate information receiving means for receiving the transmitted coordinate information;
Calculation means for calculating position information up to the target coordinates based on the received coordinate information, and calculating guidance information for guiding the handpiece tip to the target coordinates based on the calculated position information;
A notification means for notifying the surgeon of the calculated guidance information, a coordinate receiver,
An origin reset switch that resets the received coordinate information based on the coordinate origin,
A surgical navigation system, wherein the notification means includes an augmented reality image display device that displays an augmented reality image based on the guidance information in front of the surgeon's eyes.   The surgical navigation system according to claim 1, wherein the notification unit further includes a sound generation device that generates a sound based on the guidance information.   The surgical navigation system according to claim 1 or 2, wherein the surgical navigation system is for dental implant implantation.   The calculation means has a procedure database for dental implant implantation and calculates position information up to the target coordinate based on procedure data stored in the procedure database together with the received coordinate information. 4. The surgical navigation system according to 3.   The surgical navigation system according to any one of claims 1 to 4, which is used in combination with another surgical navigation system including an optical sensor.

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