KR102168462B1 - Surgical navigation device, navigation surgery system and method using the device - Google Patents

Abstract

In the surgical navigation device according to the present invention, a base frame portion having a rail surface formed along the length direction of the surgical table, an ultrasound diagnostic device generating an ultrasound image are fastened, and the ultrasound diagnostic device moves linearly along the length direction and curves in the width direction. In order to move, an arc-shaped ultrasonic diagnostic device frame part mounted on the rail surface in the width direction and a guide port for guiding the bone surgery endoscope are fastened, and the guide port moves linearly along the length direction and moves a curve in the width direction of the surgery table. In order to do so, it may include an arc-shaped bone surgery endoscope guide frame mounted on the rail surface in the width direction.

Description

Surgical navigation device, navigation surgery system and method using the same {SURGICAL NAVIGATION DEVICE, NAVIGATION SURGERY SYSTEM AND METHOD USING THE DEVICE}

The present invention relates to a surgical navigation device, a navigation system and method using the same, and more particularly, to a surgical navigation device used for treatment in bone, and a navigation system and method using the same.

Bone tumors, such as bone cysts, are tumors that occur in the bones, and treatment methods for bone diseases for these lesions during conventional orthopedic surgery include curettage at the lesion site and cleaning. It is common to carry out the treatment procedures of irrigation and bone cement insertion.

In such conventional bone surgery, the surgical instruments of orthopedic surgery must inevitably enter the bone, and since the surgical instruments cannot be visually identified, separate markers such as optical and electromagnetic position trackers are attached to position the surgical instruments. Is estimated.

However, in the conventional technique of estimating the position of a surgical tool by attaching a marker, different types of surgical tools are complicatedly attached to a narrow space due to the nature of the bone surgery environment. Accordingly, interference between surgical instruments and blocking of sensors There has been a limitation in that the position of the surgical tool cannot be accurately measured in some cases due to problems such as luggage.

Korean Patent Registration No. 10-1154100 Korean Patent Publication No. 10-2016-0078363

An aspect of the present invention provides a surgical navigation device for diagnosing a region where a bone disease has occurred and guiding a surgical tool for treatment into a predetermined position inside the diagnosed bone, and a navigation system and method using the same.

The technical problem of the present invention is not limited to the technical problem mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A surgical navigation device according to an embodiment of the present invention is mounted on a surgical table, a base frame portion having a rail surface along a length direction of the surgical table, an ultrasonic diagnostic device for generating an ultrasonic image, and the ultrasonic diagnostic device An arc-shaped ultrasound diagnostic frame part and a bone surgical endoscope mounted on the rail surface in the width direction so as to move linearly along the longitudinal direction and curved in the width direction of the surgical table, inside the bone located on the surgical table A guide port for guiding to is fastened, and an arc-shaped bone surgery endoscope guide mounted on the rail surface in the width direction so that the guide port moves linearly along the length direction and curves in the width direction of the surgery table. It includes a frame part.

The ultrasound diagnostic device frame unit is mounted with the rail surface in the width direction, and is guided by an arc-shaped ultrasound diagnostic device guide rail linearly sliding in the longitudinal direction along the rail surface, and guided by the ultrasound diagnostic device guide rail to determine the width direction. It may include a moving bracket that slides along a curve, and a fastening part for an ultrasound diagnosis device installed on one side of the moving bracket to be fastened to the ultrasound diagnosis device, and moving vertically upward or downward with respect to a moving direction of the moving bracket.

The bone surgery endoscope guide frame portion is mounted with the rail surface in the width direction, the guide port guide rail having an arc shape linearly sliding in the longitudinal direction along the rail surface, and guided by the guide port guide rail to the width It may include a moving bracket that curves along a direction and a guide port fastening part installed on one side of the moving bracket and fastened to the guide port, and moving vertically upward or downward with respect to the moving direction of the moving bracket.

The base frame unit may be selectively coupled to one of the ultrasound diagnosis frame unit or the bone surgery endoscope guide frame unit.

The ultrasound diagnostic device frame unit and the bone surgery endoscope guide frame unit may change their positions and may be interchangeable.

The base frame portion may be coupled to a lower portion of the rail surface, and formed in the width direction to have at least one fixing pin fixedly coupled to the bone located on the surgical table.

The base frame part may have a lower end coupled to a rail formed on the surgery table and move along the rail, and the rail surface may be supported from the rail by a support member to be positioned above the surgery table.

In addition, the navigation surgery system according to the present invention is installed on a surgical table, and an ultrasound diagnostic device for photographing an ultrasound image or a guide port for guiding a bone surgical endoscope into a bone located on the surgical table is selectively mounted. A frame module controller that controls the operation of the navigation device, the surgical navigation device, and collects measurement values for position information and posture information of the ultrasound diagnostic device or the guide port selectively mounted on the surgical navigation device, and the ultrasound Generates a 3D diagnostic image for the bone area where the lesion has occurred based on the ultrasound image captured by the diagnostic device, and displays the entry position and the real-time position of the guide port together so that the guide port is guided to a preset entry position It includes a surgical navigation console.

The surgical navigation device is mounted on the surgical table, a base frame portion having a rail surface along the length direction of the surgical table, and the ultrasound diagnostic device are fastened, and the ultrasound diagnostic device linearly moves along the length direction. In order to move a curve in the width direction of the surgery table, an arc-shaped ultrasonic diagnostic device frame part and the guide port mounted on the rail surface in the width direction are fastened, and the guide port moves linearly along the length direction, while the surgery table It may include an arc-shaped bone surgery endoscope guide frame portion mounted on the rail surface in the width direction so as to move curvedly in the width direction of the.

The ultrasound diagnostic device frame part and the bone surgery endoscope guide frame part are mounted with the rail surface in the width direction, and are guided by an arc-shaped guide rail linearly sliding in the longitudinal direction along the rail surface, and the guide rail. A moving bracket curved along the width direction and a fastening part installed on one side of the moving bracket to fasten the ultrasonic diagnostic device or the guide port, and moving vertically upward or downward with respect to the moving direction of the moving bracket. I can.

The ultrasound diagnostic device frame unit and the bone surgery endoscope guide frame unit may change their positions and may be interchangeable.

The surgical navigation console combines a plurality of ultrasound images captured by the ultrasound diagnostic device to reconstruct 3D image information, and analyzes the difference in shape or density of the exoskeleton using the reconstructed 3D image information to The lesion area can be detected.

The surgical navigation console may generate the 3D diagnostic image by matching 3D image information reconstructed by itself for the same bone region and an image generated by another device.

The surgical navigation device may generate a sensing value for posture information and location information of the ultrasound diagnostic device or the guide port that is fixedly coupled to the bone located on the surgical table and selectively mounted.

The surgical navigation console sets the top of the bone fixedly coupled with the surgical navigation device as a reference position, and converts the sensing value into a relative position with respect to the reference position, and the ultrasound diagnosis device or the guide port in real time You can measure your position.

In addition, a navigation surgery method using a navigation surgery system including a surgical navigation device, a frame module controller, and a surgical navigation console according to the present invention, wherein the surgical navigation console is an ultrasonic wave selectively mounted on the surgical navigation device. Generating a 3D diagnostic image for the bone area where the lesion has occurred based on the ultrasound image measured by the diagnostic device, the surgical navigation console, based on the diagnostic image, the planned position for entering the bone surgery endoscope Receiving an input and displaying the planned position and an actual position of a guide port for guiding the bone surgery endoscope on the diagnostic image.

Generating the 3D diagnostic image includes combining a plurality of ultrasound images captured by the ultrasound diagnostic device to reconstruct 3D image information, and analyzing the difference in shape or density of the exoskeleton using the reconstructed 3D image information. Thus, it may be characterized by detecting the lesion area inside the bone.

Generating the 3D diagnostic image may be characterized by generating the 3D diagnostic image by matching 3D image information independently reconstructed for the same bone region and an image generated by another device. .

Displaying the actual position on the diagnostic image includes setting the top of the bone fixedly coupled to the surgical navigation device as a reference position, and converting the sensing value to a relative position with respect to the reference position, and the ultrasound diagnostic device or It may be characterized in that measuring the real-time position of the guide port.

According to one aspect of the present invention described above, it is possible to reliably detect the real-time position of the bone surgery tool even without attaching a marker to the bone surgery tool, diagnose the area where the bone disease has occurred, and perform treatment inside the diagnosed bone. Since the surgical tool for surgery can be guided to a predetermined position, a specialized surgical environment for bone surgery can be provided.

1 is a view showing a schematic configuration of a navigation surgery system according to the present invention.
2 is a conceptual diagram illustrating a schematic function of each component constituting the navigation surgery system of FIG. 1.
3 to 8 are diagrams showing a detailed configuration of the surgical navigation device of FIG. 1.
9 and 10 are diagrams illustrating specific functions of the frame module controller of FIG. 1.
11 is a block diagram showing a detailed configuration of the surgical navigation console of FIG. 1.
12 is a flowchart illustrating a schematic flow of a navigation surgery method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION The detailed description of the present invention to be described later refers to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It is to be understood that the various embodiments of the present invention are different from each other, but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in relation to one embodiment. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

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

1 and 2 are views showing a schematic configuration of a navigation surgery system according to an embodiment of the present invention.

The navigation surgery system 1 according to the present invention uses an ultrasound diagnostic device that generates an ultrasound diagnostic image to diagnose and diagnose a portion of a bone where a bone tumor, such as a bone cyst, has occurred. The insertion position of the bone surgical endoscope for treating the damaged area is planned in advance, and at least one guide port that guides the bone surgical endoscope may be inserted into a predetermined position.

Specifically, the navigation surgery system 1 according to an embodiment of the present invention includes a surgical navigation device 100, a frame module controller 200, and a surgical navigation console 300.

The surgical navigation device 100 is equipped with an ultrasound diagnostic device and a guide port that guides the insertion position of the bone surgery endoscope, and controls the multi-degree of freedom movement of the installed surgical tools (ultrasound diagnostic device, bone surgery endoscope), which is necessary for bone surgery. Information can be collected.

Specifically, the surgical navigation device 100 may be provided with a frame to which an ultrasonic diagnostic device is attached. The surgical navigation device 100 may move a frame equipped with an ultrasound diagnostic device to generate an ultrasound image of a bone region. The surgical navigation device 100 may measure position and posture information of an ultrasonic diagnostic device using a sensor provided in the frame.

In addition, the surgical navigation device 100 may be provided with a frame to which a guide port into which a bone surgical endoscope is inserted is attached. The surgical navigation device 100 may move a frame equipped with a guide port to position the guide port at a predetermined surgical site. The surgical navigation device 100 may measure the position and posture information of the guide port using a sensor provided in the frame.

The frame module controller 200 may be connected to the surgical navigation device 100 by wire or wirelessly to control the operation of the surgical navigation device 100. For example, the frame module controller 200 controls an ultrasound image to be acquired while moving an ultrasound diagnostic device according to a user's manipulation, or to move a frame equipped with a guide port to insert a guide port into a region where a bone disease has occurred. can do.

The frame module controller 200 may collect data generated while the surgical navigation device 100 is controlled. Specifically, the frame module controller 200 may receive an ultrasound image generated by an ultrasound diagnostic device. In addition, the frame module controller 200 may collect sensing values for the position, angle, distance, posture, etc. of the ultrasonic diagnostic device or the guide port measured by the frame on which the ultrasonic diagnostic device is mounted and the frame on which the guide port is mounted. The frame module controller 200 may transmit data including the collected ultrasound images and sensing values to the surgical navigation console 300.

The surgical navigation console 300 may generate information necessary for bone surgery using data received from the frame module controller 200. Specifically, the surgical navigation console 300 may generate diagnostic information on a region where a bone disease has occurred. The surgical navigation console 300 may pre-set the insertion position and the entry plan of the bone surgery endoscope based on the diagnosis information. The surgical navigation console 300 may display information about a distance and posture between a preset insertion position and a current position of the guide port in real time.

Hereinafter, a detailed configuration, function, and operation method of each of the components constituting the navigation surgery system 1 according to the present invention will be described in detail.

3 is a view showing a detailed configuration of the surgical navigation device 100 according to the present invention.

Specifically, the surgical navigation device 100 according to an embodiment of the present invention includes a base frame unit 110, an ultrasound diagnostic device frame unit 120, and a bone surgery endoscope guide frame unit 130.

The base frame unit 110 is mounted on the surgical table, and is a member that guides the ultrasound diagnostic device frame unit 120 and the bone surgery endoscope guide frame unit 130 to move on the surgical table. In this regard, it will be described with reference to FIG. 4.

4 is a view showing an example of the base frame unit 110 coupled to the surgical table.

The base frame unit 110 may be coupled to the surgical table 20. That is, the lower end of the base frame unit 110 is coupled to the rail 21 formed on the surgery table 20, and can move along the rail 21 in the longitudinal direction of the surgery table 20.

A rail surface 111 may be formed on the upper end of the base frame part 110. The rail surface 111 may be supported from the rail 21 by the support member 112 and may be positioned above the surgical table 20. The rail surface 111 may be disposed to have a length direction parallel to the length direction of the surgical table 20.

The rail surface 111 may be attached to and detached from either the ultrasound diagnosis apparatus frame unit 120 or the bone surgery endoscope guide frame unit 130. That is, the ultrasound diagnosis frame unit 120 and the bone surgery endoscope guide frame unit 130 may move along the rail surface 111 when fastened with the base frame unit 110, which is the ultrasound diagnosis frame unit 120 and the bone It means that the surgical endoscope guide frame unit 130 can be slid along the length direction of the surgical table 20.

The fixing pin 113 may be coupled to the lower portion of the rail surface 111. At least one fixing pin 113 may be provided, and may be formed in the width direction of the surgical table 20 to be fixedly coupled to the bone located on the surgical table 20. That is, the base frame unit 110 may be fixed to the patient's bone by the fixing pin 113, and accordingly, the surgical navigation device 100 according to the present invention is the position of the bone into which the fixing pin 113 is inserted. By setting to an absolute position, different positions of the bones can be expressed relative to the absolute position.

The ultrasound diagnosis frame unit 120 is detachable from the rail surface 111 of the base frame unit 110 and is combined with the ultrasound diagnosis unit so that the ultrasound diagnosis unit moves along the rail surface 111 to obtain an ultrasound image. In this regard, it will be described with reference to FIGS. 5 and 6 together.

5 and 6 are diagrams illustrating an example of an ultrasound diagnostic device frame unit 120 coupled to the base frame unit 110.

The ultrasound diagnostic device frame unit 120 according to an embodiment of the present invention may include an ultrasound diagnostic device guide rail 121, a moving bracket 122, and an ultrasound diagnostic device fastening part 123.

The ultrasonic diagnostic device guide rail 121 is an arc-shaped member that is mounted on the rail surface 111 of the base frame unit 110 and slides along the rail surface 111 in the longitudinal direction of the surgical table 20. In this case, the ultrasound diagnosis guide rail 121 may be coupled to the rail surface 111 so as to be formed in a direction perpendicular to the length direction of the surgical table 20, that is, along the width direction of the surgical table 20. Accordingly, when the ultrasound diagnosis device guide rail 121 is mounted on the rail surface 111, it may be arranged in an arc shape with the center of the bone coupled to the fixing pin 113 as the central point P.

The moving bracket 122 is a member that is coupled to the ultrasound diagnosis guide rail 121 and is guided by the ultrasound diagnosis guide rail 121 and may slide along the width direction of the surgical table 20. Both sides of the guide rail 121 of the ultrasonic diagnosis device having an arc shape may protrude along the length direction to form a groove in the center, and the moving bracket 122 has an arc shape so that it can be moved along the guide rail 121 of the ultrasound diagnosis device. Can be formed. Due to this structural feature, the moving bracket 122 can move while always maintaining a constant distance from the center P of the bone.

The ultrasonic diagnostic device fastening part 123 is installed on one side of the moving bracket 122 and is a member that is fastened to the ultrasonic diagnostic device 25. When the upper surface of the surgical table 20 is the reference surface, the ultrasonic diagnostic device fastening part 123 may move in a direction perpendicular to the reference surface, that is, in the vertical direction of the surgical table 20.

That is, as shown in partial view A of FIG. 6, the ultrasound diagnosis device 25 moves linearly along the length direction of the surgical table 20 by the ultrasound diagnosis device guide rail 121 moving along the rail surface 111 can do. In addition, as shown in part B, the ultrasound diagnostic device 25 performs an arc motion along the width direction of the surgical table by the movement of the moving bracket 122 guided by the arc-shaped ultrasound diagnostic device guide rail 121. As shown in C, the part may be moved in a vertical upper or lower direction of the moving direction by the ultrasonic diagnostic device fastening part 123 in the process of moving along the longitudinal direction or the width direction.

Meanwhile, although not shown, the ultrasound diagnostic device frame unit 120 may be provided with at least one sensor for measuring a posture and a position of the ultrasound diagnostic device. The ultrasound diagnosis frame unit 120 may generate sensing values for a movement distance, a rotation angle, and a distance from a bone of the ultrasound diagnosis unit 25 using a sensor.

The bone surgery endoscope guide frame unit 130 is detachable from the rail surface 111 of the base frame unit 110 and is coupled to the guide port to allow the guide port to be inserted into the bone. In this regard, it will be described with reference to FIGS. 7 and 8 together.

7 and 8 are views illustrating an example of a bone surgery endoscopic guide frame unit 130 coupled to the base frame unit 110.

The bone surgery endoscope guide frame unit 130 according to an embodiment of the present invention may be composed of a guide port guide rail 131, a moving bracket 132, and a guide port fastening part 133.

The guide port guide rail 131 is an arc-shaped member that is mounted on the rail surface 111 of the base frame unit 110 and slides along the rail surface 111 in the longitudinal direction of the surgical table 20, and a moving bracket ( 132 is a member that is guided by the guide port guide rail 121 and moves in an arc along the width direction of the surgical table 20, and the ultrasonic diagnostic device fastening part 133 is provided on one side of the moving bracket 132 and provided at the guide port ( 35) can be moved in the vertical upper or lower direction of the movement direction.

At this time, the guide port guide rail 131, the moving bracket 132, and the guide port fastening part 133 are the ultrasonic diagnostic device guide rail 121, the moving bracket 122, and the ultrasonic diagnostic device fastening part of the ultrasonic diagnostic device frame part 120. It can be provided in a form similar to (123). That is, the guide port guide rail 131 and the ultrasound diagnosis guide rail 121, the movement bracket 122 of the ultrasound diagnosis frame unit 120 corresponding to the movement bracket 132 of the bone surgery endoscope guide frame unit 130 ) And the detailed structure and function of the ultrasound diagnosis unit fastening unit 123 corresponding to the ultrasound diagnosis unit fastening unit 133 have been described above with reference to FIGS. 5 and 6, and a repeated description will be omitted.

On the other hand, the ultrasound diagnosis frame unit 120 is characterized in that the bone surgery endoscope guide frame unit 130 is equipped with a guide port 35 for guiding the bone surgery endoscope into the bone, while the ultrasound diagnosis unit is mounted. I can.

The guide port 35 is a cylindrical member having a through hole, and may be inserted into a specific position of the bone according to the operation of the endoscope guide frame 130 for bone surgery. As will be described later, as the guide port 35 is fixedly inserted in a predetermined position, the bone surgical endoscope can always invade into the bone at a certain position.

Although not shown, the bone surgery endoscope guide frame unit 130 may be provided with at least one sensor for measuring the posture and position of the guide port 35. The bone surgery endoscope guide frame unit 130 may generate sensing values for the movement distance, rotation angle, and distance from the bone of the guide port 35 using a sensor.

In addition, unlike the ultrasound diagnosis apparatus frame unit 120 provided in a single number, the bone surgery endoscope guide frame unit 130 is provided in one or more. Specifically, the bone surgery endoscope guide frame unit 130 may be provided to correspond to the number of bone surgery endoscopes used in bone treatment.

Bone surgery endoscopy is a sofa device that removes solid tissue inside the lesion area, an endoscopic device to see the progression or treatment range of the lesion area, and cleaning and suction to remove the solid tissue destroyed after curing the lesion area. It may include at least one of a device and a drug injection device for treatment in the region from which the tissue has been removed.

For example, as shown in FIG. 8, the bone surgery endoscope guide frame unit 130 is a first bone surgery endoscope guide frame equipped with a first guide port into which a sofa device, a cleaning/suction device, and a drug injection device are inserted. It may include a second bone surgery endoscope guide frame portion equipped with a second guide port into which an endoscope device for observing a treatment process is inserted. However, the number of the bone surgery endoscopic guide frame unit 130 is not limited to the above-described embodiment, and may be provided as one or two or more depending on the configuration of the bone surgery endoscopic device, the lesion site, and the like.

9 and 10 are diagrams illustrating specific functions of the frame module controller 200.

First, as shown in FIG. 9, the frame module controller 200 may receive a sensing value measured by a sensor provided in the ultrasonic diagnostic device frame unit 120 and an ultrasonic image measured by the ultrasonic diagnostic device 25. have.

Here, the sensing value is the lengthwise movement distance of the ultrasound diagnosis device 25, the rotation angle with respect to the width direction, and from the bone when the ultrasound diagnosis apparatus 25 moves the surgical table 20 by the ultrasound diagnosis apparatus frame unit 120. May contain a measure of the depth of In other words, the frame module controller 200 may measure a sensing value for a multi-degree of freedom motion of the ultrasound diagnostic device 25. The frame module controller 200 may convert the digitized data and transmit it to the surgical navigation console 300, and may transmit the ultrasound image measured by the ultrasound diagnosis device 25 together.

Thereafter, as shown in FIG. 10, the frame module controller 200 may receive a sensing value measured by a sensor provided in the bone surgery endoscope guide frame unit 120.

Specifically, the frame module controller 200 may measure a sensing value for a multi-degree of freedom motion of the guide port 35 mounted on the bone surgery endoscope guide frame unit 120. At this time, when a plurality of guide ports 35 are required to be inserted and thus a plurality of bone surgery endoscope guide frames 120 are provided, the frame module controller 200 is mounted on each bone surgery endoscope guide frame part 120 The sensing value of the guide port 35 may be classified and received. The frame module controller 200 processes and transmits such a sensing value, thereby providing information on a location in which the guide port 35 is currently located in the soft tissue to the surgical navigation console 300.

11 is a block diagram showing a detailed configuration of the surgical navigation console 300.

Specifically, the surgical navigation console 300 includes a diagnosis unit 310, a position setting unit 320, and a guide unit 330.

The diagnosis unit 310 may generate diagnosis information on a region where a bone disease has occurred. In this case, the surgical navigation console 300 may reconstruct a 3D image information by combining a plurality of 2D ultrasound images obtained by measuring a cross section of the received bone. The surgical navigation console 300 analyzes the difference in shape and density of the exoskeleton using the reconstructed 3D image information, and through this, it is possible to determine an area in which a bone tumor such as a bone cyst has occurred in the bone.

The position setting unit 320 may pre-set an insertion position of a bone surgery endoscope to be inserted into a region where a bone disease has occurred. Specifically, the surgical navigation console 300 is an MRI (Magnetic Resonance Imaging) image or CT (Computed) image generated by another device based on the reconstructed 3D image information and the location information of the ultrasound diagnosis device 25 for a partial image. Tomography) image and registration processing can be performed. Accordingly, the user may plan the entry position of the bone surgery endoscope based on the matched information provided by the position setting unit 320.

The guide unit 330 may display an actual position of the bone surgery endoscope with respect to the entry position of the bone surgery endoscope set in advance as image information. The guide unit 330 may display an entry position (hereinafter, a plan position) of a bone surgery endoscope input from a user on a matched image received from the position setting unit 320.

In this case, the guide unit 330 may also display the current position (hereinafter, the actual position) of the bone surgery endoscope based on a sensing value for the guide port 35 received from the frame module controller 200. As described above, since a specific position of the bone is set to an absolute position by the fixing pin 113, the guide unit 330 converts the planned position and the actual position into a relative position to the absolute position to be reliably displayed. I can. The guide unit 330 may also display information about a three-axis error posture and a separation distance between the planned position and the actual position.

12 is a flowchart illustrating a schematic flow of a navigation surgery method according to an embodiment of the present invention.

A series of processes of the navigation surgery method described below may be performed by the navigation surgery system 1 described above.

The surgical navigation console 300 may generate diagnostic information on a bone portion where a lesion has occurred (710).

In this case, the surgical navigation device 100 is in a state in which the ultrasound diagnostic device frame unit 120 is mounted on the base frame unit 110. The ultrasound diagnosis device 25 moves along the length direction of the surgical table 20 according to the coupling structure of the base frame unit 110 and the ultrasound diagnosis unit guide rail 121, and the ultrasound diagnosis unit guide rail 121 and the bracket 122 According to the coupling structure of the surgical table 20, an ultrasound image photographed from various angles of the bone portion may be generated by circular motion in the width direction of the surgical table 20. The frame module controller 200 may collect sensing values according to the motion of the ultrasound diagnosis device 25 with multiple degrees of freedom, and transmit them to the surgical navigation console 300.

The surgical navigation console 300 may reconstruct 3D image information using a plurality of cross-sectional images measured by the ultrasound diagnostic device 25. The surgical navigation console 300 may analyze reconstructed 3D image information to detect a lesion (area) and generate diagnostic information including the detected area.

The surgical navigation console 300 may preset the entry position of the bone surgery endoscope based on the generated diagnostic information (730).

The surgical navigation console 300 may match the reconstructed 3D image with an MRI or CT image received from another device. In this process, the surgical navigation console 300 may generate precise navigation information by reflecting the position/position information of the ultrasound diagnosis device 25 and the absolute position set by the fixing pin 113 together. The surgical navigation console 300 may store the planned position of the bone surgery endoscope set by the user.

Thereafter, the surgical navigation console 300 may display the planned position and the actual position on the matched image (750).

At this time, the surgical navigation device 100 is in a state in which the bone surgery endoscope guide frame unit 120 is mounted on the base frame unit 110, and the frame module controller 200 is mounted on the bone surgery endoscope guide frame unit 120 The sensing values for the multi-degree of freedom posture and position of the guide port 35 may be transmitted to the surgical navigation console 300.

The surgical navigation console 300 may guide the user to position the guide port 35 at the planned position by displaying the actual position at the planned position together on the matched image.

When it is confirmed that the guide port 35 is located at the same position as the planned position, the guide port fastening part 133 is lowered so that the guide port 35 is inserted into the planned position, and the bone surgical endoscope is inserted into the guide port 35 ) To enter the inside of the bone and perform the operation necessary for treatment. The surgical navigation console 300 may display the position of each bone surgical endoscope on a matched image during a bone treatment process and output it as image information.

Although the above has been described with reference to embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the following claims. I will be able to.

1: navigation surgery system
100: surgical navigation device
110: base frame part
120: ultrasonic diagnostic device frame portion
130: bone surgery endoscope guide frame portion
200: frame module controller
300: surgical navigation console
310: diagnostic unit
320: position setting unit
330: guide part
25: ultrasound diagnostic device
35: guide port

Claims (19)

A base frame portion mounted on the surgical table and having a rail surface formed along the length direction of the surgical table;
An ultrasonic diagnostic device for generating an ultrasound image is fastened, and an arc-shaped ultrasonic diagnostic device frame mounted on the rail surface in the width direction so that the ultrasonic diagnostic device linearly moves along the length direction and curves in the width direction of the surgical table. part; And
A guide port for guiding the bone surgical endoscope to the inside of the bone located on the surgical table is fastened, and the guide port moves linearly along the length direction and curves in the width direction of the surgery table, in the width direction. It includes an arc-shaped bone surgery endoscope guide frame portion mounted on the rail surface,
The base frame portion is coupled to a lower portion of the rail surface, and is formed in the width direction to form at least one fixing pin fixedly coupled to the bone located on the surgical table,
The ultrasound diagnostic device frame unit includes at least one sensor for measuring position information and posture information of the ultrasound diagnostic device for converting the position of the bone coupled to the fixing pin into a relative position with respect to a reference position,
The bone surgery endoscope guide frame unit includes at least one sensor for measuring position information and posture information of the guide port for converting to a position relative to the reference position, which is the position of the bone coupled to the fixing pin, for surgery Navigation device.
The method of claim 1,
The ultrasound diagnostic device frame unit,
An arc-shaped ultrasonic diagnostic guide rail mounted with the rail surface in the width direction and linearly slid along the rail surface in the longitudinal direction;
A moving bracket that is guided by the ultrasound diagnostic device guide rail and slides curvedly along the width direction; And
Surgical navigation device comprising an ultrasonic diagnostic device fastening part installed on one side of the moving bracket and fastened to the ultrasound diagnostic device, and moving vertically upward or downward with respect to the moving direction of the moving bracket.
The method of claim 1,
The bone surgery endoscopic guide frame part,
An arc-shaped guide port guide rail mounted with the rail surface in the width direction and linearly sliding in the longitudinal direction along the rail surface;
A moving bracket that is guided by the guide port guide rail and slides curvedly along the width direction; And
Surgical navigation device comprising a guide port fastening part installed on one side of the moving bracket and fastened to the guide port, and moving vertically upward or downward with respect to the moving direction of the moving bracket.
The method of claim 1,
The base frame portion is selectively coupled to any one of the ultrasound diagnostic device frame portion or the bone surgery endoscope guide frame portion, the surgical navigation device.
The method of claim 1,
The ultrasound diagnostic device frame portion and the bone surgery endoscope guide frame portion,
A navigation device for surgery that can change the location of each other and is interchangeable.
delete The method of claim 1,
The base frame portion, the lower end is coupled to the rail formed on the surgical table and moves along the rail,
The rail surface is supported from the rail by a support member and is located on the top of the surgical table, a surgical navigation device.
A surgical navigation device installed on a surgical table and selectively equipped with an ultrasound diagnostic device for photographing an ultrasound image or a guide port for guiding a bone surgical endoscope into a bone located on the surgical table;
A frame module controller that controls an operation of the surgical navigation device and collects measurement values for position information and posture information of the ultrasound diagnostic device or the guide port selectively mounted on the surgical navigation device; And
Based on the ultrasound image captured by the ultrasound diagnostic device, a 3D diagnosis image is generated for the bone area where the lesion has occurred, and the entry position and the real-time position of the guide port are determined so that the guide port is guided to a preset entry position. Includes a surgical navigation console that displays together,
The surgical navigation device,
A base frame portion mounted on the surgical table and having a rail surface formed along the length direction of the surgical table;
An ultrasonic diagnostic device for generating an ultrasound image is fastened, and an arc-shaped ultrasonic diagnostic device frame mounted on the rail surface in the width direction so that the ultrasonic diagnostic device linearly moves along the length direction and curves in the width direction of the surgical table. part; And
A guide port for guiding the bone surgical endoscope to the inside of the bone located on the surgical table is fastened, and the guide port moves linearly along the length direction and curves in the width direction of the surgery table, in the width direction. It includes an arc-shaped bone surgery endoscope guide frame portion mounted on the rail surface,
The base frame portion is coupled to a lower portion of the rail surface, and is formed in the width direction to form at least one fixing pin fixedly coupled to the bone located on the surgical table,
The ultrasound diagnostic device frame unit includes at least one sensor for measuring position information and posture information of the ultrasound diagnostic device,
The bone surgery endoscope guide frame unit includes at least one sensor for measuring position information and posture information of the guide port,
The surgical navigation device,
Generating a sensing value for position information and posture information of the ultrasound diagnosis device or the guide port measured by at least one sensor of the ultrasound diagnosis frame unit and the bone surgery endoscope guide frame unit,
The surgical navigation console,
Setting the position of the bone coupled to the fixing pin of the surgical navigation device as a reference position, converting the sensing value to a position relative to the reference position, and measuring the real-time position of the ultrasound diagnostic device or the guide port, Navigation surgery system.
delete The method of claim 8,
The ultrasound diagnostic device frame portion and the bone surgery endoscope guide frame portion,
An arc-shaped guide rail mounted with the rail surface in the width direction and linearly sliding in the longitudinal direction along the rail surface;
A moving bracket that is guided by the guide rail and slides curvedly along the width direction; And
It is installed on one side of the moving bracket, the ultrasound diagnosis device or the guide port is fastened, and comprising a fastening part that moves vertically upward or downward with respect to the moving direction of the moving bracket.
The method of claim 8,
The ultrasound diagnostic device frame portion and the bone surgery endoscope guide frame portion,
A navigational surgery system that can change the location of each other and is interchangeable.
The method of claim 8,
The surgical navigation console,
Reconstructing a plurality of ultrasound images captured by the ultrasound diagnostic device into 3D image information, and analyzing a difference in shape or density of the exoskeleton using the reconstructed 3D image information to detect a lesion area inside the bone, Navigation surgery system.
The method of claim 12,
The surgical navigation console,
A navigation surgery system for generating the 3D diagnostic image by matching 3D image information reconstructed by itself on the same bone region and an image generated by another device.
delete delete In the navigation surgery method using a navigation surgery system comprising a surgical navigation device, a frame module controller and a surgical navigation console,
Generating, by the surgical navigation console, a 3D diagnosis image of a bone portion where a lesion has occurred based on an ultrasound image measured by an ultrasound diagnostic device selectively mounted on the surgical navigation device;
Receiving, by the surgical navigation console, a plan position for entering a bone surgery endoscope based on the diagnostic image; And
And displaying the planned position and the actual position of the guide port for guiding the bone surgery endoscope on the diagnostic image,
The surgical navigation device,
A base frame portion mounted on the surgical table and having a rail surface formed along the length direction of the surgical table;
An ultrasonic diagnostic device for generating an ultrasound image is fastened, and an arc-shaped ultrasonic diagnostic device frame mounted on the rail surface in the width direction so that the ultrasonic diagnostic device linearly moves along the length direction and curves in the width direction of the surgical table. part; And
A guide port for guiding the bone surgical endoscope to the inside of the bone located on the surgical table is fastened, and the guide port moves linearly along the length direction and curves in the width direction of the surgery table, in the width direction. It includes an arc-shaped bone surgery endoscope guide frame portion mounted on the rail surface,
The base frame portion is coupled to a lower portion of the rail surface, and is formed in the width direction to form at least one fixing pin fixedly coupled to the bone located on the surgical table,
The ultrasound diagnostic device frame unit includes at least one sensor for measuring position information and posture information of the ultrasound diagnostic device,
The bone surgery endoscope guide frame unit includes at least one sensor for measuring position information and posture information of the guide port,
The surgical navigation device,
Generating a sensing value for position information and posture information of the ultrasound diagnosis device or the guide port measured by at least one sensor of the ultrasound diagnosis frame unit and the bone surgery endoscope guide frame unit,
Displaying the actual location on the diagnostic image,
Setting a position of a bone coupled to the fixing pin of the surgical navigation device as a reference position; And
And measuring the real-time position of the ultrasound diagnostic device or the guide port by converting the sensing value into a position relative to the reference position.
The method of claim 16,
Generating the 3D diagnostic image,
Reconstructing a plurality of ultrasound images captured by the ultrasound diagnostic device into 3D image information, and analyzing a difference in shape or density of the exoskeleton using the reconstructed 3D image information to detect a lesion area inside the bone. Characterized in, navigation surgery method.
The method of claim 17,
Generating the 3D diagnostic image,
A navigation surgery method, characterized in that the 3D diagnostic image is generated by matching 3D image information reconstructed by itself for the same bone region and an image generated by another device.
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