KR101650620B1 - Laser guidance devices and method for surgery, recording medium for performing the method - Google Patents

Abstract

The laser surgery induction device comprises: a photographing section for photographing a human body; A display unit providing a photographed human body as a two-dimensional image and providing a user interface through which a user can display and change operational information graphically on the image; And a laser unit for mapping the image on which the surgical information is displayed with the human body and displaying the surgical information on the human body with a laser. Accordingly, the surgical information can be reflected to the image in real time, and efficient and precise surgery can be induced.

Description

TECHNICAL FIELD [0001] The present invention relates to a laser surgery induction apparatus and method, and a recording medium for performing the same. [0002]

The present invention relates to a laser surgery induction apparatus and method, and a recording medium for performing the same, and more particularly, to a laser surgery induction apparatus and method based on a radiographic image, and a recording medium for performing the same.

It is difficult to carry out the surgery according to the plan at the actual operation site when the operation plan is made using the imaging device. In a simple example, if osteotomy is planned for less than 5cm below the knee joint, it is necessary to use 5cm of the knee in the actual knee revealed by incision of the skin. However, there are many differences from the plan according to the position and angle of the person.

Particularly, because of the need to rely on the 2D image of a C-armed fluoroscopy, medical personnel need to be aware of the fact that surgical instruments are used in practice And there is no significant information on whether the patient should enter the vertical or sloping side of the inner skin of the patient. Therefore, it is necessary to perform surgery depending on the medical staff's surgical experience or feeling.

In addition, since the operation result in the operating room depends only on the surgical experience of the surgeon or the medical interpretation ability of the lesion image information, There is a problem that the expenditure of human and material expenses required for education is inevitably increased.

Accordingly, guidance is required to accurately carry out planned surgery.

Conventionally, an image of a patient is acquired using a facility such as a CT (Computed Tomography) and an MR (magnetic resonance) device, and a marker is installed in a certain place such as a leg of a patient in an operation room (The marker is an auxiliary tool for adjusting the coordinates), and the images taken through the MRI in the operating room must be matched (coordinate-matched) using the corresponding markers.

Therefore, since the procedure of displaying the marker on the human body of the patient and the process of matching the marker with the image are performed, there is a problem that the operation process is complicated and the real-time guidance can not be provided. In addition, there is a risk of adversely affecting surgical operations requiring high accuracy because the registration of markers and images is not precise.

KR 10-1152177 B1 KR 10-1193017 B1

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an efficient laser surgery induction device using a radioscopic image in real time.

It is another object of the present invention to provide an efficient surgical induction method using a radioscopic image in real time.

It is still another object of the present invention to provide a recording medium on which a computer program for performing the surgical induction method is recorded.

According to an aspect of the present invention, there is provided an apparatus for inducing laser surgery comprising: a photographing unit for photographing a human body; A display unit for providing a photographed human body as a two-dimensional image and providing a user interface through which a user can display and change operational information graphically on the image; And a laser unit for mapping the image on which the operation information is displayed with the human body and displaying the operation information on the human body with a laser.

In an embodiment of the present invention, the operation information that the user can display on the image may be at least one of an osteotomy line, a pin insertion position, an insertion angle, and a puncture path.

In the embodiment of the present invention, the laser part can display the osteotomy line with the laser beam to the human body.

In the embodiment of the present invention, the laser unit may display the insertion position of the fixing pin in the human body as an intersection point of two laser beams.

In the embodiment of the present invention, the laser unit may display the insertion angle of the fixing pin with a laser beam which is bent from the intersection.

In an embodiment of the present invention, the laser section can display the puncture path and the direction with the laser beam on the human body.

In an embodiment of the present invention, the photographing portion is a radiographic imaging device, and the image may be a radiographic image.

In an embodiment of the present invention, the display unit may include: a panel for displaying the photographed human body as an image; And an interface unit for providing a user interface for enabling the touch input of the user to the panel and for sensing a touch input of the user.

In an embodiment of the present invention, the laser unit may include: a mapping unit for mapping an image displaying the operation information with the human body; A laser generator for directly displaying the operation information on the human body using a laser; And a controller for controlling driving of the laser generator to display the mapped surgical information on the human body.

In an embodiment of the present invention, the laser generator may include a pan tilt head that supports a pan function and a tilt function.

According to another aspect of the present invention, there is provided a method of inducing surgery using a laser, comprising the steps of: photographing a human body; Providing a photographed human body as a two-dimensional image; Displaying surgical information graphically displayed on the image by a user together with the image; Mapping an image displaying the operation information to the human body; And displaying the mapped surgical information on the human body with a laser.

In an embodiment of the present invention, the surgical information, which is graphically displayed on the image by the user, may be at least one of an osteotomy line, a pin insertion position, an insertion angle, and a puncture path.

In an embodiment of the present invention, the step of displaying the surgical information with a laser on the human body may include the step of displaying the osteotomy line with the laser beam on the human body.

In the embodiment of the present invention, the step of displaying the surgical information with the laser on the human body may include the step of marking the insertion position of the fixing pin with the intersection of two laser beams on the human body.

In the embodiment of the present invention, the step of displaying the surgical information with a laser on the human body may further include the step of displaying the inserting angle of the fixing pin with a laser beam which is bent from the intersection point.

In an embodiment of the present invention, the step of displaying the surgical information with a laser on the human body may include the step of displaying the puncture path and the direction with the laser beam on the human body.

In an embodiment of the invention, the image may be a radiographic image.

In the embodiment of the present invention, the step of displaying the surgical information graphically displayed on the image by the user together with the image may include the steps of: providing a user interface enabling a user to input a touch; And sensing a touch input of a user through the user interface.

In an embodiment of the present invention, the step of displaying the surgical information on the human body with a laser includes the steps of: mapping an image displaying the surgical information with the human body; And displaying the mapped surgical information on the human body with a laser.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program for performing a surgical induction method using the laser.

According to the present invention, a physician can display and change an operation plan in real time using an intuitive user interface environment using a two-dimensional radiographic image, and the plan is displayed on a patient's body as a laser do. Therefore, it is not necessary for the physician to directly mark the patient's body during surgery with a writing instrument, a marker, etc., so that a prompt and efficient operation can be induced.

In addition, since various surgical information such as osteotomized bone, puncture path, insertion position of pin and insertion angle are displayed, precise surgery can be induced. Therefore, it is possible to perform an accurate surgical operation according to the planned surgical plan, thereby reducing the possibility of surgical errors and medical accidents.

1 is a block diagram of a laser surgery induction apparatus according to an embodiment of the present invention.
2 is a block diagram of the display unit of FIG.
FIGS. 3 and 4 are views showing examples in which a user inputs operation information to the display unit of FIG. 1. FIG.
5 is a block diagram of the laser unit of FIG.
FIGS. 6 and 7 are views showing examples in which the laser surgery apparatus of FIG. 1 is used.
FIG. 8 is an enlarged view of the insertion position and insertion angle of the laser part fixing pin in FIG. 7; FIG.
FIG. 9 is a flowchart illustrating a laser induction method according to an exemplary embodiment of the present invention. Referring to FIG.

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. For example, certain features, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention in connection with an embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

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

1 is a block diagram of a laser surgery induction apparatus according to an embodiment of the present invention. 2 is a block diagram of the display unit of FIG.

Referring to FIG. 1, the laser surgery induction device 10 (hereinafter, referred to as a device) according to the present embodiment includes fractures for treating fractures, aplasia, degenerative arthritis, pelvic deformity, angular deformity, osteonecrosis of the femoral head, It helps the physician to precisely and easily collect the saliva by stabbing the saliva to the body to collect body fluids or cellular tissues for surgical operations such as amniocentesis surgery for beauty, or for examination and treatment.

To this end, the apparatus 10 includes a photographing unit 100, a display unit 300, and a laser unit 500. The apparatus 10 of the present invention may be implemented with software (application) for conducting surgical induction, and the configuration of the imaging section 100 and the like may be implemented by a software Lt; / RTI >

The device 10 may be installed in a hospital and an operating room where surgery is performed, and may be located near the operating table where the patient is located.

In addition, the configuration of the photographing unit 100 and the like included in the device 10 may be formed of one terminal or may be formed as a separate module and connected to a wired / wireless network. As another example, the device 10 may form part of a robotic system or robotic arm that performs surgical induction. For example, the X-ray image intensifier (C-arm) may be a laser-generating device.

The device 10 may be mobile or stationary. The device 10 may take the form of a device, an apparatus, a terminal, a machine, a server, or an engine, and may be referred to by other terms .

The photographing unit 100 scans a human body and photographs a surgical site. The photographing unit 100 may be, for example, a radiographic imaging apparatus, and the image taken by the photographing unit 100 may be a two-dimensional radiographic image. The photographing unit 100 is movable and can photograph a human body while moving. Alternatively, when the photographing unit 100 is fixed, the bed on which the patient is located may be photographed while moving.

However, the present invention is not limited to this, and the photographing unit 100 can be achieved in various manners without limitation, such as using a plurality of cameras or using a single camera paired with an external sensor such as a range finder. The cameras used can be of various combinations of different sizes, color / grayscale, visible light / IR or UV. The camera may also include a device for capturing a still image, or may include a device capable of real-time imaging (e.g., a webcam capable of continuously streaming real-time or video information), or a video recording function A camcorder), a capture function, and the like.

The human body photographing method of the photographing unit 100 may be a whole body photographing method or a partial photographing method of a human body designated by the user. Such a photographing method is predetermined or can be set by the user. For example, in the case of a fracture of the leg, a partial imaging method of photographing only the leg bone of the human body can be used.

The photographing unit (100) transmits the photographed image to the display unit (300).

The display unit 300 provides a user interface (UI) that provides a photographed human body as a two-dimensional image and allows a user to graphically display and change operation information directly on the image.

2, the display unit 300 may include a panel 310 for displaying the photographed human body as an image and a user interface for allowing a user to perform touch input to the panel 310, And an interface 330 for sensing a touch input of a user.

The display unit 300 may include a touch screen function or a separate touch pad device for processing user input. Alternatively, the terminal 10 may include an input unit (not shown) such as a keypad formed separately from the display unit 300 and receiving a user input.

The display unit 300 may include a liquid crystal display (LCD) panel, a plasma display panel (PDP), an organic light-emitting diode (OLED) display panel, . It may also be a mobile display device such as a mobile pad or a smart phone.

In one embodiment, a user interface enabling user input may be provided on the display portion 300 including a touch screen function. Accordingly, the user can input the operation plan directly on the image displayed on the display unit 300 using a hand or an electronic pen.

FIGS. 3 and 4 are views showing examples in which a user inputs operation information to the display unit of FIG. 1. FIG.

3, in an embodiment of the present invention, the user (doctor) displays the osteotomy line 40 directly on the image 20 of the leg bone displayed on the display unit 300 using the pen 42 . In addition, the user can modify the osteotomy line directly displayed on the image 20 or modify the osteotomy line.

Osteochondral line refers to a planned line when treating a fracture or cutting a bone for amniocentesis surgery. Conventionally, the physician has difficulty in displaying the osteotomy line directly on the human body without observing the bone inside the skin of the patient, and it is difficult to display the osteotomy line on the bone revealed by incision of the skin.

In the present invention, it is possible to directly reflect the intention to perform surgery directly on the image 20 displaying the bone while directly confirming the shape and state of the bone in the two-dimensional radiographic image. In addition, since the surgical information can be easily displayed and changed through the intuitive interface environment, it is possible to reflect the surgical information in real time during the operation procedure for coping with the chin.

Referring to FIG. 4, in another embodiment of the present invention, the user (doctor) displays the osteotomy line 41 directly on the image 21 of the jaw bone displayed on the display unit 300 with a finger. In addition, the user can modify the osteotomy line directly displayed on the image 21 or modify the osteotomy line.

In another embodiment, the surgical information that the user can directly input includes all the information that can be reflected in the surgical plan, such as the insertion pin insertion position, insertion path, and puncture path, as well as the osteotomy line.

The display unit 300 transmits to the laser unit 500 an image displaying operation information inputted by a user through the user interface. The laser unit 500 directly displays the operation information on the human body by matching the image displaying the operation information with the human body. The surgical information may be represented by a laser.

5 is a block diagram of the laser unit of FIG.

Referring to FIG. 5, the laser unit 500 includes a mapping unit 510, a laser generation unit 530, and a control unit 550.

The mapping unit 510 maps an image displaying the operation information to the human body. In the present invention, since the image is a radiographic image through the bone of the human body, it is possible to accurately map surgical information by matching the image with the bone. Therefore, it is not necessary to display the patient manually with a writing instrument or a marker, so that the operation can be easily guided in real time.

The controller 550 controls the operation of the laser generator 530 to display the mapped surgical information on the human body, and the laser generator 530 directs the surgical information to the human body as a laser Display.

The laser generation unit 530 may include a pan tilt head that supports a pan function and a tilt function to move the laser beam up, down, left, and right. The laser generator 530 may output a laser beam in the form of a line, and one or more laser beams may be output.

FIGS. 6 and 7 are views showing examples in which the laser surgery apparatus of FIG. 1 is used. FIG. 8 is an enlarged view of the insertion position and insertion angle of the laser part fixing pin in FIG. 7; FIG.

Referring to FIG. 6, there is shown an example in which the device 10 is configured as a C-arm 30 and placed in an operating room. The C-arm 30 may include an x-ray device for capturing a radiographic image and a laser generator 530 for outputting a laser beam.

The laser beam 560 output from the laser generation unit 530 directly displays the omnidium line displayed on the image by the user on the human body. The laser generating unit 530 may display the osteotomy line with the line laser beam on the human body.

7 and 8, the laser beams 561 and 562 output from the laser generating units 531 and 532 directly display the insertion position and insertion angle of the fixing pin displayed on the image by the user on the human body .

In this case, the intersection point 44 of the laser beams 561 and 562 is located at a position where the laser beam 561 is incident on the fixing pin 43 Indicates the insertion position.

Also, the insertion angle of the fixing pin 43 is indicated by a laser beam which is bent at the intersection. In this case, the doctor adjusts the angle of the fixing pin 43 after inserting the fixing pin 43 into the intersection 44, and adjusts the angle at which the laser beam and the fixing pin 43 coincide with the insertion angle It can be recognized.

Conventionally, a doctor must manually display a surgical plan on a human body with a writing tool or mark a marker on a human body of a patient, so that accuracy and complexity are required. The present invention allows a doctor to display a surgical plan directly on the image using a two-dimensional radiographic image, and displays the operation plan directly on the human body, so that the operation can be precisely guided in real time.

FIG. 9 is a flowchart illustrating a laser induction method according to an exemplary embodiment of the present invention. Referring to FIG.

The method of inducing surgery using the laser according to the present embodiment can be carried out in substantially the same configuration as the device 10 of FIG. Therefore, the same constituent elements as those of the apparatus 10 of FIG. 1 are denoted by the same reference numerals, and repeated description is omitted. Alternatively, the surgical induction method using the laser according to the present embodiment can be executed by the surgical induction software (application) using the laser.

Referring to FIG. 9, a human body including a surgical site is first photographed (step S10), and the photographed human body is provided as a two-dimensional image (step S30). For example, it may be taken by a radiographic imaging device to provide a two-dimensional radiographic image. At this time, the entire body of the patient can be photographed, or only a part necessary for the operation can be photographed.

And displays the operation information graphically displayed on the image by the user together with the image (step S50). The user can perform a graphic operation such as displaying, changing and deleting information that can be reflected in the surgical plan such as bones, osteotomes, fixation pin insertion position, insertion path, puncture path and the like displayed on the image using the user interface. At this time, the user can directly touch the operation plan with the electronic pen, the finger, or the like.

When the user displays the operation information on the image, the operation image is mapped with the human body (step S70). Since the image is a radiographic image through the bone of the human body, it is possible to accurately map the surgical information by matching the image with the bone.

The mapped surgical information is directly displayed on the human body by a laser (step S90). Therefore, it is possible to easily recognize the osteotomy line, which is the operation plan, without needing to display the patient's body directly with a handwriting tool or a marker, and it is possible to induce precise surgery.

Such laser induced surgical procedures may be implemented in an application or may be implemented in the form of program instructions that may be executed through various computer components and recorded on a computer readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination.

The program instructions recorded on the computer-readable recording medium may be ones that are specially designed and configured for the present invention and are known and available to those skilled in the art of computer software.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules for performing the processing according to the present invention, and vice versa.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims. You will understand.

The surgical guiding device using the laser according to the present invention can be used for surgical operation such as fracture for treating fracture, arthrosis, degenerative arthritis, pelvic deformity, angular deformity, avascular necrosis of the femoral head, And a medical device such as a puncture needle for sticking a saliva to a human body in order to collect body fluid or cellular tissue for treatment and the like.

10: Laser surgery induction device 100:
300: display unit 310: panel
330: interface part 500: laser part
510: mapping unit 530, 531, 532:
550: control unit 30: C-arm
560, 561, 562: laser beam 20, 21: image
40, 41: osteotomy line 42: pen
43: fixing pin 44: intersection point

Claims (20)

A photographing unit including a single camera paired with an external sensor including a distance measuring unit to photograph a human body through the single camera;
A display providing a user interface capable of displaying and changing graphical surgical information, which is at least one of an osteotomizing line, a fixing pin inserting position, an insertion angle, and a puncture path, on the image by providing the photographed human body as a two- part; And
Wherein the operation information is displayed on the human body in the form of a line by mapping an image in which the operation information is displayed to the human body so that the insertion position of the fixation pin is indicated by the intersection of two laser beams in the human body, And a laser unit for displaying an insertion angle of the fixing pin with a laser beam bent from the intersection,
Wherein the C-arm comprising the imaging part and the laser part is positioned so as to surround a part of the human body of the patient.
delete The method according to claim 1,
Wherein the laser unit displays the omnidium line with the laser beam on the human body.
delete delete The method according to claim 1,
Wherein the laser unit displays the puncture path and the direction of the laser beam on the human body.
The method according to claim 1,
Wherein the photographing unit is a radiographic imaging apparatus and the image is a radiographic image.
The display device according to claim 1,
A panel for displaying the photographed human body as an image; And
And an interface unit for providing a user interface enabling the touch input of the user to the panel and detecting a touch input of the user.
The laser apparatus according to claim 1,
A mapping unit for mapping an image displaying the operation information to the human body;
A laser generator for directly displaying the operation information on the human body using a laser; And
And a controller for controlling the driving of the laser generator to display the mapped surgical information on the human body.
10. The method of claim 9,
Wherein the laser generating unit includes a pan tilt head that supports a pan function and a tilt function.
Photographing a human body through a single camera paired with an external sensor including a distance measuring instrument;
Providing a photographed human body as a two-dimensional image;
Wherein the operation information is at least one of an osteotomy line, a fixation pin insertion position, an insertion angle, and a puncture path that is input through a user interface and is displayed graphically on the image, together with the image, And displaying an insertion angle of the fixing pin with a laser beam bent from the intersection point;
Mapping an image displaying the operation information to the human body; And
And displaying the mapped surgical information on the human body in the form of a plurality of laser beams in a line form.
delete The method of claim 11, wherein the step of displaying the surgical information on the human body with a laser comprises:
And displaying the osteotomy line with the laser beam on the human body.
delete delete The method of claim 11, wherein the step of displaying the surgical information on the human body with a laser comprises:
And displaying the puncture path and the direction with the laser beam on the human body.
12. The method of claim 11,
Wherein the image is a radiographic image.
12. The method of claim 11, wherein displaying the surgical information graphically displayed on the image by the user,
Providing a user interface enabling a user's touch input;
And sensing a touch input of a user through the user interface.
The method of claim 11, wherein the step of displaying the surgical information on the human body with a laser comprises:
Mapping an image displaying the operation information to the human body; And
And displaying the mapped surgical information on the human body with a laser.
A computer-readable recording medium having recorded thereon a computer program for performing a method of driving a surgical induction device using a laser according to any one of claims 11, 13, 16, 19,

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