KR101362252B1 - Patient-specific registration guide and method using the same - Google Patents

Patient-specific registration guide and method using the same Download PDF

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Publication number
KR101362252B1
KR101362252B1 KR1020120070026A KR20120070026A KR101362252B1 KR 101362252 B1 KR101362252 B1 KR 101362252B1 KR 1020120070026 A KR1020120070026 A KR 1020120070026A KR 20120070026 A KR20120070026 A KR 20120070026A KR 101362252 B1 KR101362252 B1 KR 101362252B1
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South Korea
Prior art keywords
marker
coordinates
registration guide
bone
patient
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KR1020120070026A
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Korean (ko)
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KR20140002968A (en
Inventor
김강일
이건우
장태호
김영준
Original Assignee
서울대학교산학협력단
한국과학기술연구원
경희대학교 산학협력단
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Priority to KR1020120070026A priority Critical patent/KR101362252B1/en
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Abstract

The present invention relates to a patient-specific registration guide system and a method thereof, and more particularly, by manufacturing a registration guide having a marker according to the shape of the patient's bone, and attaching to the corresponding site of the bone to be cut, The present invention relates to a patient-specific registration guide system and a method for quickly performing a process of matching a coordinate of a bone and a coordinate of a surgical robot. Patient-specific registration guide system according to an embodiment of the present invention, the surgical robot; An imaging device for acquiring data about a three-dimensional shape of the bone to be operated; And a guide manufacturing apparatus for manufacturing a registration guide having a marker according to the three-dimensional shape of the bone obtained by the imaging apparatus, wherein the coordinates of the bone to which the marker of the guide obtained when the registration guide is manufactured are attached and the marker is provided. The relationship information of the coordinates of is previously input to the surgical robot, by deriving through the measurement the relationship information of the coordinates of the surgical robot and the coordinates of the marker, the surgical robot is the coordinate of the surgical robot and the marker Match the coordinates.

Description

PATIENT-SPECIFIC REGISTRATION GUIDE AND METHOD USING THE SAME}

The present invention relates to a patient-specific registration guide system and a method thereof, and more particularly, by manufacturing a registration guide having a marker according to the shape of the patient's bone, and attaching to the corresponding site of the bone to be cut, The present invention relates to a patient-specific registration guide system and a method for quickly performing a process of matching a coordinate of a bone and a coordinate of a surgical robot.

If knee cartilage or bone is difficult to recover to normal condition due to inflammation and injury, artificial knee arthroplasty is a procedure that replaces it with artificial joint and cuts both ends of femur and tibia and inserts artificial joint.

The conventional knee arthroplasty method has low precision because it cuts the bone of the patient depending on the experience and the feeling of the operator. In order to compensate for this, cutting methods using robots and cutting methods using optical infrared marker tracking are widely used. These methods are used to measure relative positions and postures between a cutting target bone and a cutting device in order to increase cutting accuracy and precision. The matching process is performed.

However, the registration process is not an essential process for achieving the original purpose of the procedure, such as cutting the actual bone and inserting an artificial joint, but is an ancillary process to assist the operation, but inevitably to secure the accuracy of the procedure. The process takes about 15 to 20 minutes.

The registration is performed by pointing the probe to the 40 anatomical features of the femur and tibia, and many errors occur, resulting in an incorrect registration result or failure of the registration itself.

During the registration process, the knee joint of the patient is exposed in a dissected state, which greatly increases the risk of secondary infection and causes unnecessary bleeding continuously. Moreover, in the case of cutting using optical infrared marker tracking, there is also a risk of fracture at a later site because one or two bars with infrared markers attached to the patient's femur and tibia should be inserted directly.

Therefore, there is a need for a new matching method that can reduce the error of matching and reduce the time required.

United States Patent Application Publication 2011/0071533 (Biomet Manufacturing Corporation) 2011. 3. 24. United States Patent Application Publication No. 2011/0106093 (Zimmer Inc.) May 5, 2011

An object of the present invention is to recognize the relationship information between the bone of the patient and the registration guide in advance through the marker of the registration guide, patient-specific registration guide system that can quickly induce the registration between the coordinates of the bone and the surgical robot and To provide a way.

Patient-specific registration guide system according to an embodiment of the present invention for achieving the above object, a surgical robot; An imaging device for acquiring data about a three-dimensional shape of the bone to be operated; And a guide manufacturing apparatus for manufacturing a registration guide having a marker according to the three-dimensional shape of the bone obtained by the imaging apparatus, wherein the coordinates of the bone to which the marker of the guide obtained when the registration guide is manufactured are attached and the marker is provided. The relationship information of the coordinates of is previously input to the surgical robot, by deriving through the measurement the relationship information of the coordinates of the surgical robot and the coordinates of the marker, the surgical robot is the coordinate of the surgical robot and the marker Match the coordinates.

The registration guide may include a base body, one or more extensions extending from the base body to closely contact the bone, and one or more markers attached to the base body or the extension.

The marker may have a shape that protrudes or recesses from the surface of the base body or extension.

The ends of the markers may be concave in the shape of hemispheres or may be concave in shape corresponding to the tip shape of the probe of the measuring device.

The marker may be configured to penetrate a portion of the basic body or extension. The marker may be an optical marker for optical tracking.

Three or more markers may be arranged to measure three-dimensional coordinates of the registration guide position.

The markers may be arranged in line or irregularly.

The registration guide may further include a mechanical axis guide indicating the mechanical axis of the bone.

The patient-specific registration guide system may further include a measuring device for measuring whether the registration guide is correctly attached to a target position of the bone through a probe for measuring the position of the marker.

The guide manufacturing apparatus may be configured as a rapid prototyping apparatus.

According to an embodiment of the present invention, a method of using a patient-specific registration guide may include obtaining data about a three-dimensional shape of a bone to be operated by an imaging device; Manufacturing a registration guide having a marker according to the three-dimensional shape of the bone obtained by the imaging apparatus; Pre-inputting relationship information between the coordinates of the bone to which the marker of the registration guide is attached and the coordinates of the marker to the surgical robot; Attaching the registration guide to the bone to be operated on; Deriving relationship information between coordinates of the surgical robot and coordinates of the marker through measurement; And matching the coordinates of the surgical robot and the coordinates of the bone in the surgical robot based on the relationship information between the coordinates of the bone and the coordinates of the marker and the relationship information between the coordinates of the surgical robot and the coordinates of the marker. It includes a step.

The method of using the patient-specific registration guide may further include determining whether the registration guide is correctly attached to a target position of the bone by repeatedly measuring the position of the marker of the registration guide.

The patient-specific registration guide system and method thereof of the present invention produce the registration guide according to the actual bone shape of the patient, and thus have an effect of improving the accuracy of registration.

In addition, the patient-specific registration guide system and method of the present invention can know in advance the relationship information between the patient's bone and the registration guide, the time and effort required in the process of matching the coordinates of the bone and the coordinates of the surgical robot There is an effect that can significantly reduce the.

1 is a view for explaining the operation of the patient-specific registration guide system according to an embodiment of the present invention.
2 is a view showing a state in which the registration guide is attached to the bone according to an embodiment of the present invention.
3 is a rear perspective view of the registration guide shown in FIG. 2.
4 is a diagram illustrating a configuration of a registration guide according to another embodiment of the present invention.
5 to 7 are views showing the configuration of the registration guide according to another embodiment of the present invention.
8 to 10 are views showing the configuration of the registration guide according to another embodiment of the present invention.
11 is a view for explaining the validation (validation) of the registration guide of the present invention attached to the bone of the patient.
12 to 14 are views for explaining the process of confirming the marker position of the registration guide of the present invention through a measuring device.
15 is a flow chart for a method of using a patient-specific registration guide in accordance with an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the patient-specific registration guide system and method according to a preferred embodiment of the present invention.

1 is a view for explaining the operation of the patient-specific registration guide system according to an embodiment of the present invention.

Referring to FIG. 1, the patient-specific registration guide system of the present invention matches the coordinates of the bone 100 with the coordinates of the bone 100 for the registration of the coordinates of the surgical robot 300. The relationship information between the markers 210 of the guide and the relationship between the coordinates of the surgical robot 300 by measurement and the markers 210 of the registration guide are obtained, and the coordinates of the bone 100 are obtained from the relationship information. Registration of the surgical robot 300 coordinates is performed.

The relationship information between the coordinates of the bone 100 and the marker 210 of the registration guide is information that can be obtained in advance while manufacturing the registration guide, and the relationship between the surgical robot 300 coordinates and the marker 210 of the registration guide. Since the information is information that can be obtained quickly by measurement, matching of the coordinates of the bone 100 and the coordinates of the surgical robot 300 can be performed quickly according to the present invention.

In order to manufacture the registration guide, data about a three-dimensional shape of the bone 100 to be operated on is previously acquired through an imaging device (not shown). The imaging device, for example, provides a radiographic image (X-ray), computed tomography (CT) image or magnetic resonance image (MRI), and from the CT or MRI image of the patient's femur and tibia Next, the guide manufacturing apparatus (not shown) manufactures the registration guide having the marker 210 according to the three-dimensional image of the bone obtained by the imaging apparatus. The guide manufacturing apparatus may be, for example, a rapid prototyping apparatus.

Subsequently, a registration guide manufactured by the guide manufacturing apparatus is attached to the bone 100 to be operated on, and as described above, the relationship information between the coordinates of the bone 100 and the marker 210 of the registration guide and measurement By obtaining relationship information between the surgical robot 300 coordinates and the marker 210 of the registration guide, registration of the coordinates of the bone 100 and the surgical robot 300 coordinates is performed from the relationship information. When the matching is performed, information about the relative position and posture between the surgical target bone 100 and the surgical robot is calculated.

2 is a view showing a state in which the registration guide is attached to the bone according to an embodiment of the present invention, Figure 3 is a rear perspective view of the registration guide shown in FIG.

2 and 3, the registration guide 200 includes a base body 220, one or more extension portions 230 extending from the base body 220 to be in close contact with the bone 100, and the base body. 220 or one or more markers 210 attached to the extension 230.

As shown in FIG. 2, the base body 220 may be configured to have an open center, and eight extension parts 230 may be formed. However, the shape and number of the base body 220 and the extension 230 may be variously modified in consideration of the shape of the bone 100, ease of manufacture, and the like.

In addition, the marker 210 protrudes from the surface of the base body 220, for example, while protruding in a cylindrical shape, the end 212 may be concave in the shape of a hemisphere. The basic body 220, the extension 230, and the marker 210 may be integrally manufactured.

The shape of the marker 210 is not limited to that shown in FIG. 2, and may be modified in various forms, as described below.

In addition, three or more markers 210 may be arranged to measure the three-dimensional coordinates of the registration guide 200 position, and may be arranged in a line or irregularly.

4 is a diagram illustrating a configuration of a registration guide according to another embodiment of the present invention.

Referring to FIG. 4, the registration guide 200 further includes a dynamic shaft guide 240 in addition to the basic body 220, the extension 230, and the marker 210. Since the mechanical axis guide 240 represents the mechanical axis of the bone 100 to be operated, a criterion for checking whether the registration guide 200 is attached to the correct position of the bone 100 during surgery by the surgical robot is determined. do.

5 to 7 are views showing the configuration of the registration guide according to another embodiment of the present invention.

Referring to FIG. 5, the extension part 530 of the registration guide 500 does not cover the entire area of the distal end of the bone (femur) 100, but covers only a partial area. The marker 510 protrudes from the surface of the base body 520, and the end of the marker 510 has a concave shape inwardly.

Referring to FIG. 6, a mating guide 600 is shown having a plurality of extensions 630 extending from the base body 620 coupled to the bone 100. Unlike the above-described embodiments, the marker 610 of FIG. 6 has a shape recessed inward from the surface of the base body 610. The end shape of the marker 610 concave inward may be a shape corresponding to the tip shape of the probe of the measuring device described later.

Referring to FIG. 7, the mating guide 700 has a plurality of extensions 730 extending from the base body 720 coupled to the bone 100, similar to the mating guide 600 of FIG. 6. In addition, the marker 710 of FIG. 7 is configured to penetrate a portion of the basic body 720 or the extension 730.

8 to 10 are views showing the configuration of the registration guide according to another embodiment of the present invention.

8 through 10, the mating guides 300, 400, and 800 include basic bodies 320, 420, and 820, extensions 330, 430, and 830, and optical markers 310, 410, and 810. . The optical markers 310, 410, and 810 emit light by themselves, and by measuring the relationship information between the light emitting positions of the optical markers 310, 410, and 810 and the surgical robot coordinates through optical tracking, Matching between coordinates and surgical robot coordinates can be performed. The optical marker 810 of FIG. 10 is configured to be attached to the surface of the base body 820.

11 is a view for explaining the validation (validation) of the registration guide of the present invention attached to the bone of the patient.

Referring to FIG. 11, position verification is performed using a normal vector of a plane generated by the selected markers 210.

First, in the manufacture of the registration guide 200, a planar normal vector including the markers 210 indicated by numbers 9 to 14 of FIG. 11 is designed to coincide with the mechanical axis of the bone 100.

Next, after attaching the registration guide 200 to the bone 100, three markers 210, which are not placed in a straight line, among the markers 210 indicated by Nos. 9 to 14, are selected and 3 Comparing the normal vector of the plane by the two markers 210 and the mechanical axis of the bone 100, the position error of the registration guide 200 can be confirmed.

12 to 14 are views for explaining the process of confirming the marker position of the registration guide of the present invention through a measuring device.

Referring to FIG. 12, the distal end 212 of the marker 210 of the registration guide 200 is concave in a hemispherical shape, and the tip 910 of the probe of the measuring device is in close contact with the distal end 212 of the marker 210. Thus, a plurality of measurements for the marker 210 position are possible only by simple movement of the probe. Therefore, the present invention can repeatedly measure the position of the marker 210 of the registration guide 200 in a short time, it is possible to improve the reliability of registration between the coordinates of the bone 100 and the surgical robot coordinates.

The end 212 of the marker 210 of FIG. 13 has a concave shape in a shape corresponding to the shape of the tip 910 of the probe, and the end 212 of the marker 210 of FIG. 14 has a tip ( While having a shape corresponding to the shape of the 910, the tip 910 of the probe has a concave shape so as to reach the bone.

15 is a flow chart for a method of using a patient-specific registration guide in accordance with an embodiment of the present invention.

Referring to FIG. 15, first, data about a three-dimensional shape of a surgical target bone 100 is obtained through an imaging apparatus (S910). Subsequently, the guide manufacturing apparatus manufactures the registration guide 200 having the marker 210 according to the three-dimensional shape of the bone obtained by the imaging apparatus (S920).

Subsequently, relationship information between the coordinates of the bone 100 to which the marker 210 of the registration guide 200 is attached and the coordinates of the marker 210 is previously input to the surgical robot (S930).

Next, after attaching the registration guide 200 to the surgical target bone (S940), the relationship information between the coordinates of the surgical robot and the coordinates of the marker 210 is derived through the measurement (S950).

Subsequently, based on the relationship information between the coordinates of the bone 100 and the coordinates of the marker 210, and the relationship information between the coordinates of the surgical robot and the coordinates of the marker 210, Match the coordinates of the surgical robot and the coordinates of the bone (S960).

The method may further include determining whether the registration guide 200 is correctly attached to a target location of the bone 100 by repeatedly measuring the position of the marker 210 of the registration guide 200. have.

The system and method according to the present invention, all orthopedic surgery in which artificial joints are used, such as artificial hip arthroplasty, artificial elbow arthroplasty, artificial ankle arthroplasty Of course, it can be used in almost any type of surgery involving bone.

In Figures 2 to 11, but shown mainly in the form of the registration guide attached to the femur, the registration guide of the present invention can be applied to tibia as well as the femur, can be applied simultaneously to the femur and tibia, all other orthopedic It can be applied to any bone with respect to bone registration in surgery.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Of course.

100: bone
200, 300, 400, 500, 600, 700, 800: registration guide
210, 510, 610, 710: marker
212: terminal
220, 320, 420, 520, 620, 720, 820: basic body
230, 330, 430, 530, 630, 730, 830: extension
240: dynamic axis guide
310, 410, 810: optical marker
300: surgical robot
910: tip of the probe

Claims (13)

  1. Surgical robots;
    An imaging device for acquiring data about a three-dimensional shape of the bone to be operated; And
    And a guide manufacturing apparatus for manufacturing a registration guide having a marker according to the three-dimensional shape of the bone obtained by the imaging apparatus, wherein the coordinates of the bone to which the marker of the guide obtained when the registration guide is manufactured are attached and The relationship information of the coordinates is input to the surgical robot in advance, and by deriving the relationship information between the coordinates of the surgical robot and the coordinates of the marker through measurement, the surgical robot coordinates the coordinates of the surgical robot and the marker. Patient-specific registration guide system, characterized in that the matching.
  2. 2. The registration guide of claim 1, wherein the registration guide includes a base body, at least one extension extending from the base body to adhere to the bone, and at least one marker attached to the base body or the extension. Patient-specific registration guide system.
  3. 3. The patient-specific registration guide system of claim 2 wherein the marker has a shape that protrudes or recesses from the surface of the base body or extension.
  4. 4. The patient-specific registration guide system of claim 3, wherein the distal end of the marker is in a hemispherical shape or a concave shape corresponding to the tip shape of the probe of the measuring device.
  5. 3. The patient-specific registration guide system of claim 2 wherein the marker is configured to penetrate a portion of the base body or extension.
  6. 3. The patient-specific registration guide system of claim 2, wherein the marker is an optical marker for optical tracking.
  7. 3. The patient-specific registration guide system of claim 2, wherein at least three markers are arranged to measure three-dimensional coordinates of the registration guide position.
  8. 3. The patient-specific registration guide system of claim 2, wherein the markers are arranged in line or irregularly.
  9. 3. The patient-specific registration guide system of claim 2, wherein the registration guide further comprises a mechanical axis guide indicative of the mechanical axis of the bone.
  10. The patient-specific registration guide system of claim 1, further comprising a measuring device for measuring whether the registration guide is correctly attached to a target position of the bone by means of a probe measuring the position of the marker. .
  11. The patient-specific registration guide system of claim 1, wherein the guide manufacturing device is a rapid prototyping device.
  12. Acquiring data about a three-dimensional shape of the bone to be operated through an imaging device;
    Manufacturing a registration guide having a marker according to the three-dimensional shape of the bone obtained by the imaging apparatus;
    Pre-inputting relationship information between the coordinates of the bone to which the marker of the registration guide is attached and the coordinates of the marker to the surgical robot;
    Deriving relationship information between coordinates of the surgical robot and coordinates of the marker through measurement; And
    Matching the coordinates of the surgical robot and the coordinates of the bone in the surgical robot based on the relationship information between the coordinates of the bone and the coordinates of the marker and the relationship information between the coordinates of the surgical robot and the coordinates of the marker. And using a patient-specific registration guide.
  13. delete
KR1020120070026A 2012-06-28 2012-06-28 Patient-specific registration guide and method using the same KR101362252B1 (en)

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KR101655940B1 (en) 2015-02-06 2016-09-08 경희대학교 산학협력단 Apparatus for generating guide for surgery design information and method of the same
KR101868120B1 (en) * 2016-12-01 2018-06-18 재단법인 아산사회복지재단 Augmented Reality Angle Measuring Apparatus for Non-radiographic Correction Osteotomy Surgery

Citations (4)

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Publication number Priority date Publication date Assignee Title
WO1997009929A1 (en) 1995-09-11 1997-03-20 Integrated Surgical Systems, Inc. Method and system for positioning surgical robot
KR20030082942A (en) * 2001-02-27 2003-10-23 스미스 앤드 네퓨, 인크. Total knee arthroplasty systems and processes
WO2003092522A2 (en) 2002-04-30 2003-11-13 Orthosoft Inc. Determining femoral cuts in knee surgery
JP2005253970A (en) 2004-03-08 2005-09-22 Zimmer Technology Inc Orthopedic guide with navigation, surgical operation system, method for performing orthopedic surgery procedure and method for performing orthopedic surgery

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997009929A1 (en) 1995-09-11 1997-03-20 Integrated Surgical Systems, Inc. Method and system for positioning surgical robot
KR20030082942A (en) * 2001-02-27 2003-10-23 스미스 앤드 네퓨, 인크. Total knee arthroplasty systems and processes
WO2003092522A2 (en) 2002-04-30 2003-11-13 Orthosoft Inc. Determining femoral cuts in knee surgery
JP2005253970A (en) 2004-03-08 2005-09-22 Zimmer Technology Inc Orthopedic guide with navigation, surgical operation system, method for performing orthopedic surgery procedure and method for performing orthopedic surgery

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