KR20100091866A - Bone marker apparatus for navigation surgery and navigation method using the same - Google Patents

Abstract

PURPOSE: A bone marker apparatus for a navigation surgery and a navigation method using the same are provided to simply register a surgery site through minimum incision. CONSTITUTION: A pin unit(10) is comprised of a body(18) and a head(14). A cannula probe member(40) comprises an opening in one side and has a hollow shape. The pin member is inserted into the cannula probe member. The pin member is inserted into a bone of a surgical site to fix the bone. The cannula probe member is contacted with the surface of the bone. A reference point for a navigation surgery is registered.

Description

Bone Marker Apparatus for Navigation Surgery And Navigation Method Using The Same}

The present invention relates to a surgical aid, and more particularly, to a bone marker device for navigation surgery that can be inserted into the bone in a percutaneous method to display the reference point of the computer navigation surgery and a navigation method using the same.

Navigation surgery refers to a professional surgical system that inputs the surgical site of a patient to a computer using infrared, computer navigation equipment, and a camera, and uses the image on the monitor to perform more accurate and precise procedures. By using navigation surgery, it is possible to avoid the normal part and precisely remove the lesion, and to insert the internal fixation accurately in the surgical part, which has been mainly used for brain diseases, spinal surgery, and artificial joint surgery. This surgical method allows the operator to operate with objective confidence and has the advantage of improving the accuracy and reproducibility of the surgical results.

The introduction of computer navigation in the field of orthopedic surgery is a long time ago. It has been used primarily for accurate excision of bones and for precise insertion of artificial joints or surgical fixation materials into anatomical locations. In addition, computer-assisted assistance is essential to save joints and growth plates and precisely remove bone cancer from life-threatening bone cancer without contaminating tumor cells.

In particular, the osteotomy using navigation attaches sensors to bones and inputs anatomical data to a computer through infrared, and pre-measures the leg axis and joint surface of the patient in three-dimensional images to inform the "optimal value" for each patient. The patient's data input to the computer is used to predict the bone thickness, location, and the angle and interval of the osteotomy in advance. If the conventional surgery is dependent on the doctor's experience, navigation surgery is a computer-assisted verification process that is as accurate. In other words, navigation surgery acts as a supervisor for the surgical plan.

In order to operate under computer navigation, first, 3-point registration, which is the basis of the navigation system, is required. In other words, this process is complicated and difficult, but it is the most important thing, and there are two ways to register three points, such as images sent to a bone and a navigation device.

One method involves obtaining an image after inserting an implantable marker into the bone, and the other method using anatomical or prominent portions of the patient's bone during surgery without using a bone marker. There is an image-matched registration method that finds and registers anatomical points in an image. Recently, the method of surface registration has reduced the error of such image-matched registration.

In order to reduce the registration time (registration time) while increasing the accuracy of the above two methods, the buried marker is advantageous in order to be able to easily re-register and eliminate the need for extensive soft tissue incision for registration.

Conventional investment markers are metallic interferences, and magnetic resonance imaging (MRI) imaging is difficult, so CT scans must be sent to the navigation device.In artificial joint surgery and internal fixation surgery, only CT is used for navigation surgery. Mainly. However, in the case of malignant bone tumor resection surgery, MRI images that can more clearly know the boundaries of the tumors are often referred to as the CT and MRI combined images. In addition, CT imaging is essential to view the correct bone surface even when registering image match. In addition, a large incision and opening window are needed to find the actual anatomical positions registered in the image during surgery. MRI imaging is needed. In this case, there is a problem that a large amount of error and time are consumed when integrating CT and MRI images.

In addition, when the conventional marker is used, it is buried deep in the skin or muscles, and thus, a large incision and an open window are required to find the display portion during surgery, which may greatly damage the patient's body.

The present invention has been made in view of the above, it is not only observed in CT and X-ray imaging, but there is no interference in MRI imaging, so it is easy to indicate the location using any device, and minimal incision during computer navigation surgery. It is an object of the present invention to provide a navigation apparatus using the same marker device for navigation surgery that can easily register a surgical point through the bay. Another object of the present invention is to provide a bone marker device for navigation surgery and a navigation method using the same, which can observe a change in position of a surgical site without using a navigation pointer.

The present marker device for navigation surgery according to the present invention provided to achieve the above object is a pin member consisting of a body portion and a head portion formed with a predetermined space therein; And a hollow cannula probe member having an opening formed at one side thereof to allow the pin member to be inserted therein, wherein the pin member is inserted into and fixed to a bone of a surgical site, and then computed tomography (CT) or magnetic Acquiring a resonance imaging (MRI) image, and moves the cannula probe member so that the pin member can be inserted into the inside to push until it touches the surface of the bone to register the reference point of the navigation surgery.

The fin member may be made of a non-metallic material such as carbon, polyether ether ketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastic, or a metal alloy.

The thickness of the pin member is preferably 1.0mm to 3.0mm, more preferably 1.2mm to 1.5mm.

The contrast medium may be inserted into the predetermined space of the pin member.

The contrast agent is preferably a positive contrast agent such as barium sulfate or iodine, which absorbs X-rays well, or a negative contrast agent such as air or carbon dioxide, which penetrates X-rays well.

In the predetermined space of the pin member, it is preferable that a fat, cholesterol, a liquid, a contrast agent, etc., which can be observed during MRI imaging are inserted.

Here, the head portion is formed with a screw thread so that the pin member can be easily inserted and fixed to the bone of the surgical site.

The thickness of the cannula probe member is preferably 1.5mm to 4.0mm, more preferably 1.5mm to 3.0mm.

The present marker device for navigation surgery of another form according to the present invention comprises a head portion provided in a pin shape; A body part connected to one side of the head part and having a hollow space in an axial direction at an inner central part thereof; And a probe part provided in a groove shape at one end or side of the body part to directly register the navigation pointer, wherein the thickness of the body part is greater than the thickness of the head part. After being embedded in the bone of the surgical site to the boundary with the body portion, using the probe portion of the body portion located at a predetermined distance from the surface of the bone is characterized in that for registering a reference point for direct navigation surgery.

Here, the torso may have a constant length, and may register a reference point for navigation surgery by correcting a distance from a center point where the surface of the bone meets the main marker device to the probe unit provided in the torso.

Here, the present marker device may be a non-metallic material or a metal alloy material such as carbon, polyether ether ketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastics, or the like.

The head portion is formed with a screw thread so that the main marker device can be easily inserted into and fixed to the bone of the surgical site.

Preferably, the hollow space can be provided with a contrast agent.

The contrast agent may be a positive contrast agent such as barium sulfate or iodine that absorbs X-rays well, or a negative contrast agent such as air or carbon dioxide that transmits X-rays well.

In the hollow space, fat, cholesterol, liquid, contrast medium, etc., which can be observed during MRI imaging, may be inserted.

The thickness of the head portion is preferably 1.0mm to 3.0mm, more preferably 1.2mm to 1.5mm.

It is preferable that the thickness of the said trunk | drum is 1.5 mm-4.0 mm, More preferably, it is 1.5 mm-3.0 mm.

In addition, the navigation method using the bone marker device as described above comprises the steps of inserting and fixing the bone marker device on the bone of the surgical site; Photographing the main marker device using CT or MRI; Transmitting the captured image to the navigation computer; Storing and registering a position where the marker device is inserted into a bone of a surgical part in the transmitted image; And sensing the moving path of the present marker device in real time and transmitting the same to the navigation computer.

Another type of bone marker device for navigation surgery provided to achieve the object of the present invention is a predetermined space is formed on the inside, the outside of the main marker body portion is formed with a plurality of openings; And a main marker portion inserted into and fixed to a specific opening among the openings of the main marker body portion, wherein the main marker portion can be inserted by selecting a position of the opening for registration of a reference point of a surgical point.

The main marker portion is a fastening portion inserted into the opening of the main marker body portion; A body part connected to the fastening part and formed to protrude outward when the fastening part is inserted into the opening of the main marker body part; And a marker portion provided at the end of the body portion to register a surgical point and having a predetermined space formed therein.

The present marker device is preferably a non-metallic material or a metal alloy material such as carbon, polyether ether ketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastics, or the like.

The contrast agent is accommodated in a predetermined space inside the marker part, and the contrast agent is a positive contrast agent such as barium sulfate or iodine that absorbs X-rays well, or a negative contrast agent such as air or carbon dioxide that transmits X-rays well, or can be observed during MRI imaging. Fat, cholesterol, liquids and contrast agents are preferably inserted.

The marker portion is preferably coated with any one material of aluminum, gold, silver, copper, metal alloy, glass.

The marker part may be low coated to increase infrared reflectance.

In the navigation method using the present marker device, comprising the steps of inserting and securing the marker present in the device at the surgical site of a patient's bone; Registering the position at which the bone marker device is inserted into a bone of a surgical site; And sensing the moving path of the present marker device in real time and transmitting the same to the navigation computer.

In addition, the registration step is the step of photographing the main marker device using a CT or MRI; Transmitting the captured image to the navigation computer; And storing the position where the marker device is inserted into the bone of the surgical site in the transmitted image.

Here, the registration step may include the step of reflecting the infrared rays emitted from the marker portion of the present marker device from a separate position measuring device; And storing, by the position measuring device, the reflected infrared light and storing the position of the marker part, wherein the position measuring device receives the infrared light reflected from the marker part in real time to measure the position of the marker part. It is desirable to.

According to the present marker device for navigation surgery and the navigation method using the same as described above, the CT, MRI can be selected and photographed at will, and registration and surgery can be performed under a single image of the taken CT or MRI. When registering a surgical point for navigation surgery, a pin member is placed under the local anesthesia and the CT or MRI is taken. During surgery, the marker can be inserted into the bone without any minimal incision or incision. It can be registered within a short time and can be easily re-registered if it is necessary to re-register due to an error such as a computer. In addition, it is possible to observe the change in the position of the surgical point in real time through the transmission and reception of infrared rays without using the navigation pointer.

The above objects, features and other advantages of the present invention will become more apparent by describing the preferred embodiments of the present invention in detail with reference to the accompanying drawings. Hereinafter, the present marker device for navigation surgery according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Navigation surgery is generally described in two steps. First, input the image information to the computer through CT or magnetic resonance imaging (MRI) at the surgical site of the patient, and then use the sensor and probe (sensor sensor) attached to the patient's body for the current operation position or lesion. In the step of displaying a 3D image within the minimum error range.

Before transmitting and inputting an image to a dual computer, a reference position is displayed on a specific portion of the bone, and then CT or MRI imaging is performed. As the bone position marker, the present marker device of the present invention is used.

1 is a cross-sectional view of a detachable bone marker device for navigation surgery according to an embodiment of the present invention, Figure 2 is a cross-sectional view of a detachable bone marker device for navigation surgery according to another embodiment of the present invention.

3 is a cross-sectional view of the integrated bone marker device for navigation surgery according to an embodiment of the present invention, Figure 4 is a cross-sectional view of the integrated bone marker device for navigation surgery according to another embodiment of the present invention.

1 and 2, the detachable bone marker device for navigation surgery according to the present invention is a pin member 10, the pin member 10 can be inserted into the bone of the surgical site can be inserted into the catch It consists of a cannula probe member 40.

The pin member 10 is a generally used pin-shaped tool, which is connected to the body portion 18 and the body portion 18 in which a predetermined space 16 is formed so as to inject a specific material into the inside of the actual surgical site. It is composed of a head portion 14 is sharply formed to be inserted into the bone.

The cannula probe member 40 is provided as a tool for registration of a surgical site into which a specific tool can be inserted, and in the present invention, the pin member 10 is provided in a hollow shape having an opening formed at one side thereof so that the pin member 10 can be inserted therein.

Although the pin member 10 and the cannula probe member 40 are generally cylindrical, the pin member 10 is inserted into the cannula probe member 40 so that the cannula probe member 40 is a bone of the surgical site. If it is possible to register, the shape of the pin member 10 and the cannula probe member 40 is not limited. Its cross section may be polygonal or elliptical.

 The head portion 14 of the pin member 10 may be a simple sharp cone shape, or may have a shape in which the thread 15 is formed in the cone shape. If the thread 15 is formed in the head portion 14 may be more firmly fixed when inserted into the bone of the surgical site.

After the pin member 10 is inserted into the bone of the surgical site and fixed, the CT or MRI is photographed and transmitted to the navigation system. Then, the pin member 10 and the surface of the bone meet in the image as a reference point to complete the preparation for surgery. do. During the actual operation, the cannula probe member 40 is moved so that the pin member 10 can be inserted into the inner side and pushes the bone member until it touches the bone. In this case, before the cannula probe member 40 is used. Navigated, that is, the cannula probe member 40 is fixed so that it can be used as a location pointer in the navigation device.

Here, "registration" refers to a function of displaying the bone of the surgical site so that the surgical site can be easily observed by an external observation device such as a camera during navigation surgery.

The pin member 10 may be made of a non-metallic material such as carbon, polyether therketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastic, or a metal alloy material.

In order to be able to use in MRI, there should be no magnetism, because the magnetism causes distortion in the image.

Non-metallic materials such as carbon, polyether therketone (PEEK), ceramic, zirconium, and biodegradable plastics can be observed or invisible without interference during MRI imaging. Invisible or slightly impermeable may be invisible or slightly observed during CT imaging.

Pin members 10 of these materials have a hard property that can be driven or directly driven to the bone using a tool. As the pin member 10, other materials having magnetic strength that can be observed without interference on the MRI or unobserved or observed on a CT scan and smoothly inserted into a bone can be used.

When the CT member is not observed in the pin member 10, the contrast medium 20 is injected into the predetermined space 16 so that the pin member 10 can be observed even in the radiographic image. When the X-ray examination is performed by injecting the contrast agent 20, which is a substance different in X-ray transmittance, into an organ or tissue that does not appear as bright as it is, the imaging is well performed and diagnosis is possible. In particular, the pin member 10 used in the MRI without the interference of the image (artifact) is not observed in radiologic examination (radiologic examination) it is necessary to contain a separate contrast agent to be displayed on the X-ray examination.

That is, carbon or PEEK is observed in MRI without MRI interference, but not in CT or X-ray imaging, and the hollow is provided inside the pin member 10 so that the contrast agent 20 is inserted in CT and X-ray imaging. Can be observed.

As the contrast agent 20, a positive contrast agent such as barium sulfate or iodine that absorbs X-rays well, or a negative contrast agent such as carbon dioxide or air that transmits well to X-rays can be used.

If the pin member 10 itself is observed in CT, it is preferable to use a fat, cholesterol, liquid and contrast agents, which are materials that can be easily seen in MRI, as an internal provision material.

In the present marker device according to the present embodiment, the pin member 10 preferably has a thickness of about 1.0 mm to 3.0 mm, more preferably 1.2 mm to 1.5 mm. The thickness of the cannula probe member 40 into which the pin member 10 can be inserted has a slightly larger diameter so that the pin member 10 can be penetrated. The thickness of the cannula probe member 40 is preferably 1.5 mm to 4.0 mm, more preferably 1.5 mm to 3.0 mm. The thickness of the pin member 10 and the cannula probe member 40 is not determined, but can be changed according to the user's needs.

3 and 4, the integrated body marker device for navigation surgery according to the present invention is connected to one side of the head portion 120, the head portion 120 directly inserted into the bone of the surgical site and the hollow body The unit 130 is composed.

The head portion 120 is sharply formed to be inserted into the bone of the surgical site, the thread 116 may be formed on the outer circumferential surface of the head portion 120 and the insertion of the main marker device by the thread 116 and Fixing can be easy. This is because the fastening force of the bone and the thread 116 can be increased by the thread 116 in the diagonal direction.

Here, there is a difference in thickness between the connection portion of the head portion 120 and the body portion 130 so that only the head portion 120 is inserted into the actual bone so that the length of the body portion 130 outside the bone is constant.

The thickness of the body portion 130 is greater than the thickness of the head portion 120, so that the head portion 120 is completely embedded in the bone of the surgical site, the body portion 130 is located at a certain distance from the surface of the bone Using the probes 150 and 150 ′, a reference point for navigation surgery may be registered.

Here, "registration" refers to a function of displaying the bone of the surgical site so that the surgical site can be easily observed by an external observation device such as a camera during navigation surgery.

The present marker device according to the present invention may be made of a non-metallic material such as carbon, polyetherether ketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastics, or a metal alloy. .

In order to be able to use in MRI, there should be no magnetism, because the magnetism causes distortion in the image. The material is observed without interference during MRI, but has a rigid property that can be directly or directly embedded in the bone using a radiopaque or weak permeability. As a material of the present marker device, other materials having a high intensity of radiation transmission may be used.

Here, the thickness of the head 120 is preferably 1.0mm to 3.0mm, more preferably 1.2mm to 1.5mm, the thickness of the body portion 130 is preferably 1.5mm to 4.0mm More preferably, it is 1.5 mm-3.0 mm. The thickness of the present marker device is not determined, but may be changed according to a user's needs.

The contrast agent 125 may be injected into the hollow space 135 of the present marker device. When the X-ray examination, imaging or fluoroscopy by injecting the contrast agent 125, which is a substance different from the X-ray transmittance, into an organ or tissue that does not appear as shadowed as it is, the rendering is well performed, and diagnosis is possible. In particular, the body portion 130 and the head portion 120, which are used in the MRI without the interference of the image (artifact) is not observed in the radiologic examination (radiologic examination) to be displayed on the X-ray separate contrast agent (125) ) Is required.

As the contrast agent 125, a positive contrast agent such as barium sulfate or iodine which absorbs X-rays well, or a negative contrast agent such as air or carbon dioxide that transmits X-rays well can be used. When the present marker device itself is observed on a CT scan, preferred materials include fats, cholesterol, liquids, and contrast agents, which can be easily seen in MRI.

3 to 4 of the integral marker device shown in Figure 3 is a probe portion provided in the body portion 130 of the marker device while being exposed outside the skin without a separate action when inserting the device into the bone of the surgical site A reference point may be registered by contacting a navigation pointer at 150 and 150 '. It is provided with a probe (150, 150 ') on one side of the side or the end of the body portion 130, the probe portion 150, 150 at the center of the point where the surface of the bone meets the registration point in the image By correcting the distance to '), the surgical site can be easily registered.

That is, the head portion 120 is embedded in the bone, the thickness of the head portion 120 is slightly thicker than the body portion 130 is not embedded in the bone body always has a constant length from the surface of the bone to one end outside the skin Place and correct the distance to the probes 150, 150 'in the body 130, it is possible to clearly set the registration point without using a separate cannula probe member. In this case, the term 'correction' refers to the surface of the bone, which is a reference registration site, even if the navigation pointer is placed on the probes 150 and 150 'outside the navigation skin by adding or subtracting the corresponding lengths (A, A', B, and B '). This means that the central part of the place where the device and the device meet is registered. The position of the probe parts 150 and 150 'may be determined according to the user's convenience. That is, the installation position can be determined so that the user can easily observe.

In addition, the method of confirming the position of the registration point in the operating room may be a variety of methods in addition to measuring the head of the pin member with a digitizer (signal processing means for detecting the position and input to the computer). For example, in addition to the head of the pin member, the middle portion may be digitized. Alternatively, the digitizer tip is not pointed or spherical, but a hole through which a pin member can pass is inserted, and a pin may be inserted into the hole to slide the digitizer.

5 is a view showing a state in which the present marker device of the present invention is actually used.

The CT or MRI image of the portion displayed by the present marker device according to the present invention is obtained and transmitted to a navigation computer, and the operation is performed under full navigation after finding and registering the marker device as an image reference point from the transferred image. . The sensor member 70 may be further provided at one end of the cannula probe member 40 in order to observe the change of the registration point during the procedure.

Referring to Figure 5, the reference base tracker (C) of the upper portion of the surgical site is a reference device, the reference point of the three sites separated by a certain distance from the navigation image and the bone of the patient The same position will be registered, and how far the surgical site is from this reference base tracker (C) can be checked and the operation can be performed using the navigation. Here, the three points correspond to an anatomical prominent point, which may be three pin members that can be inserted into the bone, or about three or more pin members and about three points as a reference. The device on the right represents the navigation probe member (D) so that the position of the actual surgical site can be checked and observed.

In actual use of the present marker device according to the present invention, a pin member inserted into the bone and exposed outside the skin is simply installed under local anesthesia, and then CT or MRI photographed, and then the image is transmitted to the navigation computer. After the pin member insertion part is displayed on the image, the cannula probe member is inserted into the pin member insertion part by transcutaneous method without a minimal incision or incision, thereby completing the preparation for navigation surgery.

6 illustrates a bone marker device for navigation surgery according to another embodiment of the present invention, and FIG. 7 illustrates a configuration of the bone marker unit of FIG. 6. Looking at the bone marker device according to Figure 6, a predetermined space is formed on the inside and a plurality of openings 235 is formed on the outside of the main marker body portion 230 and the opening 235 of the main marker body portion 230 And a main marker portion 240 that can be inserted into and fixed to the opening 235 in position. Here, the main marker body portion 230 is formed at one side of the insertion portion 220 which can be inserted into the bone, and the insertion portion 220 is formed to be sharply formed or threaded to be easily inserted into the solid bone.

The main marker part 240 is connected to the fastening part 242, which is inserted into the opening 235 of the main marker body part 230 and the fastening part 242, and the fastening part 242 is the main marker body. Body portion 244 is formed to protrude outward when inserted into the opening 235 of the portion 230, and a marker portion 246 is provided at the end of the body portion 244 to register the surgical point do. Here, when the main marker portion 240 is inserted into the opening 235, the angle between the body portion 244 and the main marker body portion 230 may be adjusted by adjusting the shape of the opening 235. By adjusting the position of 246, it is possible to adjust the registration position of the surgical site according to the change of the surgical site. In addition, the main marker 240 may adjust the registration position of the surgical point by selecting and inserting a specific opening 235.

Here, the main marker unit consisting of the main marker unit 230 and the main marker unit 240 is carbon (carbon), polyether ether ketone (PEEK, polyethere therketone), ceramic (ceramic), zirconium (biodegradable plastic) Select either non-metallic material or metal alloy material.

In order to be able to use in MRI, there should be no magnetism, because the magnetism causes distortion in the image. The material is observed without interference during MRI, but has a rigid property that can be directly or directly embedded in the bone using a radiopaque or weak permeability. As a material of the present marker device, other materials having a high intensity of radiation transmission may be used.

Referring to FIG. 7, the marker part 246 is composed of a spherical outer casing 248 and a coating part 247 formed to be covered with a specific thickness on the outside of the outer casing 248.

Contrast agent 249 may be inserted into a predetermined space inside the outer casing 248. A positive contrast agent such as barium sulfate or iodine that absorbs X-rays or negative contrast agent such as air or carbon dioxide that transmits X-rays well Can be used. In addition, fats, cholesterol, liquids and contrast agents, etc., which can be observed during MRI imaging, may be inserted.

In particular, the present marker device used in the MRI without the image artifacts is required to contain a separate contrast agent in order not to be observed during radiologic examination and to be displayed on the X-ray examination. That is, carbon or PEEK is observed in MRI without MRI interference, but not in CT or X-ray imaging. Therefore, the contrast agent 249 must be inserted into the interior of the marker unit 246 to be observed in CT and X-ray imaging. have.

The marker part 246 of the main marker part 240 is connected through the body part 244 and the connection part 243 which are separately provided. The connection part 243 may be screwed or pinned, and a plurality of openings 245 may be formed at an outer side of the body part 244 so that the main marker part provided separately may be inserted into the side. This makes it possible to observe various ranges when observing the surgical site.

According to the bone marker device described in FIG. 6, instead of attempting to register each of the three bone marker devices in different portions of the bone of the surgical site, one bone marker body 230 is inserted, After inserting and fixing three or more main marker parts 240 outside the skin of the marker body part 230 in a specific opening 235, the whole image together with the bone is imaged to obtain a navigation image. In this case, a separate groove may be formed in the middle portion of the marker unit 246 to contact the navigation pointer to register its location. In the case of using the apparatus, three or more navigation registration points may be obtained using only one main marker body 230.

The navigation method using the above process includes inserting and fixing the bone marker device on the bone of the surgical site (S110), photographing the bone marker device using CT and MRI (S120), and the captured image to the navigation computer. Transmitting (S130), storing and registering a position where the marker device is inserted into the bone of the surgical site in the transmitted image (S140), sensing the movement path of the marker device in real time and transmitting it to the navigation computer (S150).

In practice, a doctor who operates and treats a patient registers a surgical site and then proceeds to surgery by monitoring a navigation computer. The navigation method as described above tracks the surgical site in real time by contacting the navigation pointer with respect to a surgical tool such as the bone marker device and transmits it to the navigation computer, so that the doctor can proceed with the operation with the help of the image during the surgery. . In particular, the direction and location of the important parts of the human body, such as nerves and spine, the shape of the affected part, such as by checking the real-time image before and during the operation enables safe and accurate surgery.

That is, the present marker device described above used a CT or MRI to register the surgical site for navigation surgery, and used the navigation pointer to observe the change of the surgical point after registration.

Hereinafter, a method of observing registration and positional change of a surgical site to be operated more simply and conveniently for navigation operation will be described. In brief description of the method, the position of the marker apparatus is determined by transmitting and receiving infrared rays. To this end, the coating part 247 provided on the outer side of the marker part 246 of FIGS. 6 and 7 facilitates infrared rays such as aluminum, gold, silver, platinum, copper, metal alloy, and glass (including Low E glass). Coating using reflective material. Here, the low E coating means a coating using a glass coated with a special metal film having a high infrared reflectance, for example, silver, inside the glass.

As the metal alloy, titanium, stainless steel, nichrome, or the like can be used. In addition, various metal alloys whose component ratios are adjusted to have high reflectance of infrared rays may be used.

8 is a view showing a state of observing the surgical site using the present marker device of the present invention. Referring to FIG. 8, the marker unit 246 is coated with a metal, etc., and the main marker device is inserted into the bone of the surgical site, and then the position measuring device 250 of the separately prepared International GPS System (IGS) is provided. Including an infrared transceiver 255 on one side and transmitting infrared rays from the infrared transceiver 255, the transceiver 255 detects the infrared rays reflected from the marker unit 246 of the present marker device on the IGS (International GPS System) Allows you to record your location. Since the position of the marker unit 246 can be sensed through continuous transmission and reception of infrared rays, the movement path of the marker unit 246 can be easily sensed when the patient moves. The detected position of the marker unit 246 can be monitored through the display device 265 separately provided in the navigation computer.

8F shows the transmission and reception paths of infrared rays. The number and position of the infrared transceiver 255 can be adjusted according to the user's needs, and of course, other radio waves other than infrared rays can be used.

In this case, in order to observe the change in the position of the surgical site, the navigation pointer 241 may be connected to directly locate the location in real time.

Looking at the navigation method using the bone marker device shown in Figure 9, the step of inserting and fixing the bone marker device to the bone of the surgical site of the patient (S210), the position of the bone marker device is inserted into the bone of the surgical site registration And a step (S240) of sensing the moving path of the present marker device in real time and transmitting the same to the navigation computer, and the registering step includes the marker unit 246 of the present marker device from a separate position measuring device 250. Reflecting the emitted infrared rays (S220), and the position measuring device 250 receives the reflected infrared rays and stores the position of the marker unit 246 (S230), the position measuring device 250 The infrared rays reflected from the marker unit 246 may be received in real time to measure the position of the marker unit 246.

By using the present marker device according to the present invention described above, it is possible to avoid a wide range of soft tissue exfoliation that exposes the bone by cutting to the portion that is not necessary when registering the reference point in the bone, and can be registered in a short time, such as a computer If you need to re-register due to an error, you can easily re-register. In addition, registration and surgery can be performed under a single image necessary for surgery without CT or MRI image fusion. In the case of using the present marker device according to the present invention will help in the future navigation guided surgery of the basic and orthopedic region of the image guide robot surgery.

While preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described specific embodiments. That is, those skilled in the art to which the present invention pertains can make many changes and modifications to the present invention without departing from the spirit and scope of the appended claims, and all such appropriate changes and modifications are possible. Equivalents should be considered to be within the scope of the present invention.

1 is a cross-sectional view of a detachable bone marker device for navigation surgery according to an embodiment of the present invention;

2 is a cross-sectional view of a detachable bone marker device for navigation surgery according to another embodiment of the present invention;

3 is a cross-sectional view of the integrated main marker device for navigation surgery according to an embodiment of the present invention;

4 is a cross-sectional view of an integrated bone marker device for navigation surgery according to another embodiment of the present invention;

5 is a view showing a state in which the present marker device of the present invention is actually used,

6 is a block diagram of the present marker device for navigation surgery according to another embodiment of the present invention,

7 is a configuration diagram of the main marker of FIG. 6;

8 is a view showing a state of observing the surgical site using the present marker device of the present invention, and

9 is a navigation method using the present marker device of the present invention.

<Description of the symbols for the main parts of the drawings>

10: pin member 14, 120: head portion

15, 116: thread 16: predetermined space

18, 130: trunk 20, 125: contrast medium

40: cannula probe member 70: sensor member

135: hollow space 150, 150 ': probe

220: insertion portion 230: bone marker body portion

235: opening 240: bone marker

241: navigation pointer 242: fastening portion

243: connection portion 244: body portion

245: opening 246: marker portion

247: coating portion 248: outer casing

249: contrast agent 250: position measuring device

255: infrared transceiver 260: navigation computer

265: display device

C: Reference base tracker D: Probe member F: Infrared transmission / reception path

Claims (23)

A pin member comprising a body portion and a head portion having a predetermined space formed therein; And, And a hollow cannula probe member having an opening formed at one side thereof so that the pin member can be inserted therein. After the pin member is inserted into and fixed to the bone of the surgical site, a CT or magnetic resonance imaging (MRI) image is obtained, and the cannula probe member is moved to allow the pin member to be inserted inward. The main marker device for navigation surgery, characterized in that to register the reference point of the navigation surgery by pushing until it touches the surface of the bone. The method of claim 1, The pin member is a non-metallic material such as carbon, polyether therketone (PEEK), ceramic (ceramic), zirconium (zirconium), biodegradable plastics, or a metal alloy material for navigation surgery, characterized in that Bone marker device. The method of claim 1, Bone marker device for navigation surgery, characterized in that the contrast medium is inserted into the predetermined space of the pin member. The method of claim 3, wherein The contrast agent is a bone marker device for navigation surgery, characterized in that the positive contrast agent such as barium sulfate or iodine that absorbs X-rays or negative contrast agent such as air or carbon dioxide that penetrates X-rays well. The method of claim 1, In the predetermined space of the pin member, the bone marker device for navigation surgery, characterized in that the insertion of fat, cholesterol, liquid and contrast agent that can be observed during MRI imaging. The method of claim 1, The head portion is formed with a screw thread for the bone marker for navigation surgery, characterized in that the pin member can be easily inserted into the bone of the surgical site. A head portion provided in a pin shape; A body part connected to one side of the head part and having a hollow space in an axial direction at an inner central part thereof; And, And a probe provided in a groove shape at one end or side of the body to register the navigation pointer directly. The thickness of the body portion is greater than the thickness of the head portion, the head portion is embedded in the bone of the surgical site to the boundary with the body portion, and then directly using the probe portion of the body portion located at a certain distance from the surface of the bone The bone marker device for navigation surgery, characterized in that for registering a reference point for navigation surgery. The method of claim 7, wherein The body portion has a constant length, navigation is characterized in that to register a reference point for navigation surgery by correcting the distance from the center point of the bone surface and the bone marker device to the probe portion provided in the body portion Bonn marker device for surgery. The method of claim 7, wherein The marker apparatus is navigation surgery, characterized in that the non-metallic material or metal alloy material, such as carbon, polyetherether ketone (PEEK, polyetherether ketone), ceramic (ceramic), zirconium, biodegradable plastics Marker device for the. The method of claim 7, wherein Screw head is formed in the head portion, the bone marker device for navigation surgery, characterized in that the bone marker is easily inserted and fixed to the bone of the surgical site. The method of claim 7, wherein The navigator, characterized in that the contrast medium is inserted into the hollow space The method of claim 11, The contrast agent is a bone marker device for navigation surgery, characterized in that the positive contrast agent such as barium sulfate or iodine that absorbs X-rays or negative contrast agent such as air or carbon dioxide that penetrates X-rays well. The method of claim 7, wherein In the hollow space, the bone marker device for navigation surgery, characterized in that the insertion of fat, cholesterol, liquid, and contrast agents that can be observed during MRI imaging. A main marker body portion in which a predetermined space is formed, and in which a plurality of openings are formed; And, And a bone marker portion inserted into and fixed to a specific opening among the openings of the bone marker body portion, wherein the bone marker portion is inserted by selecting a position of the opening for registration of a reference point of the operation point. Marker device. The method of claim 14, wherein the main marker portion A fastening part inserted into an opening of the main marker body part; A body part connected to the fastening part and formed to protrude outward when the fastening part is inserted into the opening of the main marker body part; And, The marker unit is provided at the end of the body portion to register the operation point and the marker portion formed inside the predetermined space; bone marker for navigation surgery comprising a. The method of claim 14, The marker device is a navigation operation, characterized in that the non-metallic material or metal alloy material, such as carbon, polyether ether ketone (PEEK), ceramic (ceramic), zirconium, biodegradable plastics, etc. Marker device for the. The method of claim 15, Bone marker device for navigation surgery, characterized in that the contrast medium is accommodated in a predetermined space inside the marker portion. The method of claim 17, The contrast agent is a positive contrast agent such as barium sulfate or iodine that absorbs X-rays or a negative contrast agent such as air or carbon dioxide that penetrates X-rays well, or fats, cholesterol, liquids and contrast agents that can be observed during MRI imaging are inserted. Bonn marker device for navigation surgery, characterized in that. The method of claim 15, The marker unit is a bone marker device for navigation surgery, characterized in that the coating of any one of aluminum, gold, silver, copper, metal alloy, glass. The method of claim 19, The marker unit is a bone marker device for navigation surgery, characterized in that the low-coating (Low E Coating) to increase the infrared reflectance. In the navigation method using the present marker device according to claim 14 , Inserting and fixing the bone marker device to a bone of a surgical part of a patient; Registering the position at which the bone marker device is inserted into a bone of a surgical site; And, And sensing the movement path of the present marker device in real time and transmitting the same to a navigation computer. The method of claim 21, wherein the registration step Photographing the main marker device using CT or MRI; Transmitting the captured image to the navigation computer; And, And storing the position at which the bone marker device is inserted into the bone of the surgical region in the transmitted image. The method of claim 21, wherein the registration step Reflecting the infrared rays emitted from the marker unit of the main marker device from a separate position measuring device; And, And receiving, by the position measuring apparatus, the reflected infrared rays and storing the position of the marker portion, wherein the position measuring apparatus measures the position of the marker portion by receiving the infrared rays reflected from the marker portion in real time. A navigation method characterized by the above-mentioned.

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