KR20100098055A - Image guided surgery system and the control method of the same - Google Patents

Abstract

PURPOSE: An image guided surgery system and a controlling method thereof are provided to secure the stability of a surgery by correcting a surgery map in real time through direct navigation. CONSTITUTION: An image guided surgery system includes a 3D image output system, a surgery tool(200), and a guide robot. The 3D image output system changes a 2D medical image of a patient, collected from an image device, into a 3D organ model. A surgical instrument comprises an endoscope(210) and a marker(220). A guide robot comprises a surgery map based on the 3D organ model. The guide robot corrects the surgery map based on the position information provided from the marker.

Description

Image Guided Surgery System and Control Method thereof {IMAGE GUIDED SURGERY SYSTEM AND THE CONTROL METHOD OF THE SAME}

The present invention relates to an image guided surgical system and a control method for improving the accuracy of surgery by tracking the position of the surgical tool in the operating room in real time.

An image guided surgical system (surgical navigation system) reproduces the inside of a patient's body on a monitor through information collected by computed tomography (CT), magnetic resonance imaging (MRI), etc. Say the system.

The image guided surgery system provides information for treatment planning, surgery planning and procedure by modeling the inside of the patient's body in three dimensions, detailing the location, shape, implant insertion location, etc. It allows you to check.

Computed tomography (CT) is a computed tomography (CT) scanner that projects X-rays or ultrasounds at various angles to the human body and reconstructs them into a computer to process the internal sections of the body into images. It is widely used.

Computed tomography uses X-rays, but is different from the usual radiographs obtained by direct exposure to film. Computed tomography scans thin X-rays around a section of the human body and measures the amount of X-rays that decrease as they pass through the human body. Since the density of organs such as the internal liver and kidneys of the human body is slightly different, the degree of absorption is different depending on the direction the X-ray is projected.

Computed tomography determines the density of internal organs by analyzing the degree of transmission of X-rays through a computer, and reconstructs the detailed cross-section of the internal image. In other words, X-rays transmitted from various angles of the body are measured by a computer, and reconstructed absorption values for the cross-sections are displayed as images.

Magnetic resonance imaging apparatus is a high-tech medical system that can obtain an arbitrary tomographic image of a living body using a magnetic field generated by magnetic force. The principle of magnetic resonance imaging is as follows. The atomic nucleus is usually in rotational motion, but once it is placed in a strong magnetic field, precession occurs. The speed of this precession is closely related to the strength of the magnetic field, so the higher the magnetic field, the faster it is. When a high frequency is applied to the magnetized nuclear nucleus, it becomes a high energy state, and when the high frequency is cut off again, it returns to its original state. At this time, the emitted energy emits the same high frequency wave. In this way, magnetic resonance imaging is a method in which high-frequency radiated nuclei are collected by a sensitive antenna and computerized. In other words, magnetic resonance imaging is a technique of measuring a magnetic property of a material constituting the human body and reconstructing and imaging it through a computer.

Magnetic resonance imaging is not ionized radiation like X-rays, so it is harmless to the human body, capable of 3D projection, and has better contrast and resolution than computed tomography (CT). Unlike CT, which can only take a cross-section, the coronal and sagittal planes can be taken, and the examiner can select an image of a necessary angle. Due to these advantages, it is widely used, but the inspection fee is expensive and the shooting time is long. In addition, since the test space is narrow and enters alone, there is a disadvantage that can not take severe patients or patients with severe phobia. Magnetic resonance imaging is mainly used in patients with the nervous system such as the central nervous system, head and neck, spine and spinal cord, but its scope of use is wide.

As described above, the image guided surgery system realizes three-dimensional image information by superimposing and visualizing medical images collected by computed tomography and magnetic resonance imaging. Since the image information is made a few days before the operation, the patient's state There was a problem that the physical changes according to the changes and the progress of the surgery cannot be reflected in the image information.

That is, the patient's condition deteriorates or improves over time, or changes in body organs occur according to the patient's breathing state or movement. The collected image information is provided before the patient's condition changes. Precise surgery is impossible.

An object of the present invention is to provide an image guided surgical system and a control method for providing 3D image information of an actual model in real time.

Another object of the present invention is to provide an image guided surgery system and a control method for correcting an error in a surgical path by comparing information of an actual model provided in real time with previously provided 3D image information.

Technical problems to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

According to a feature of the present invention for achieving the above object, the present invention comprises a three-dimensional image output system for receiving a two-dimensional medical image of the patient collected from the imaging equipment and converts it into a three-dimensional organ model; A surgical instrument having a marker for providing endoscope and position information; Comprising a surgical map based on the three-dimensional organ model, and receives the position information of the marker to correct the surgical map, and comprises a guide robot for guiding the surgical instrument to proceed along the corrected surgical map .

According to another aspect of the present invention for achieving the above object, the present invention comprises an imaging device for collecting a medical image from a patient; A 3D image output system for receiving the medical image and converting the medical image into a 3D organ model; A surgery planning system provided with the three-dimensional organ model to create a surgical map for the affected part; A surgical instrument having a marker for providing endoscope and position information; A tracking device that tracks the position of the marker to track the movement path of the surgical instrument; It comprises a guide robot for guiding the operation of the surgical instrument by correcting the surgical map according to the movement path of the surgical instrument.

The tracking device is provided with a sensor for identifying the position information of the marker using a magnetic field.

The guide robot compares the surgical map and the spatial coordinates of the marker and corrects the moving direction of the surgical instrument to correspond to the error when an error occurs.

The three-dimensional image output system, and a database for storing a medical image of the imaging device; It is configured to include a 3D playback unit for receiving a medical image from the database and performing a standardization work and converting into a 3D organ model.

The imaging equipment is any one of a computed tomography apparatus, a magnetic resonance imaging apparatus, or an X-ray apparatus.

According to another aspect of the present invention for achieving the object as described above, the present invention is provided with a two-dimensional medical image of the patient collected from the imaging equipment and comprises a three-dimensional image output system constituting a three-dimensional organ model and surgical map and; ; An surgical instrument equipped with an endoscope; Direct navigation for searching the position information of the organ of the patient in real time; Comprising the three-dimensional organ model and the state information of the organ is configured to include a guide robot for correcting the surgical map and to guide the progress of the surgical instrument based on the corrected surgical map.

According to another aspect of the present invention for achieving the above object, the present invention is a three-dimensional image output system for processing the image taken by the imaging equipment to convert to a three-dimensional long-term model; A surgery planning system provided with the three-dimensional organ model to create a surgical map for the affected part; Direct navigation to search for three-dimensional long-term location information by taking a bi-directional image of the patient during surgery; And a guide robot for correcting the surgical map by mapping the long-term location information provided from the direct navigation to the surgical map, and guiding the surgical instrument based on the corrected surgical map.

The direct navigation is provided with a C-arm that can orbitally rotate about at least two different axes.

The three-dimensional image output system, and a database for storing a medical image of the imaging device; It is configured to include a 3D playback unit for receiving a medical image from the database and performing a standardization work and converting into a 3D organ model.

The imaging equipment is any one of a computed tomography apparatus, a magnetic resonance imaging apparatus, or an X-ray apparatus.

According to another aspect of the present invention for achieving the above object, the present invention comprises the steps of forming a surgical map from the organ model; Predicting a moving direction of the surgical instrument by tracking a movement path of the surgical instrument; Calculating an error by comparing a movement path of the surgical instrument with a surgical map; Compensating the direction of operation of the surgical instrument by reflecting the error.

The tracking device using a magnetic field further comprises the step of identifying the position information of the marker mounted on the surgical instrument.

The forming of the surgical map may include: collecting a two-dimensional medical image of an organ; And converting the 2D medical image into a 3D organ model.

According to another aspect of the present invention for achieving the above object, the present invention comprises the steps of constructing a three-dimensional organ model through a two-dimensional medical image; Forming a surgical map based on the three-dimensional organ model; Exploring the movement path and the surgical position of the surgical instrument; And correcting the surgical map through information of the internal organs received through direct navigation and endoscope.

The direction of progress of the surgical tool further includes the step of being guided by the corrected surgical map.

The present invention has the effect that it is possible to grasp the state of the organ in real time using a magnetic-based tracking device in real time, and to correct the direction of operation of the surgical tool by calculating the error with the surgical map made before the operation, it is possible to perform precise surgery .

In addition, since the present invention can correct the surgical map in real time using direct navigation, it is possible to clearly know the long-term state of the patient and the progress of the surgery, thereby ensuring the stability of the surgery.

Hereinafter, a preferred embodiment of an image guided surgery system according to the present invention having the configuration as described above will be described in detail with reference to the accompanying drawings.

Figure 1 is a side view showing the imaging equipment constituting a preferred embodiment of the image guided surgery system according to the present invention.

As shown in FIG. 1, an image guided surgical system includes an imaging device 1, a tracking device 100, and a surgical tool 200.

The imaging device 1 transmits data of the organ of the patient to a computer. The imaging apparatus 1 refers to an X-ray apparatus, a computed tomography apparatus (CT), a magnetic resonance imaging apparatus (MRI), etc., for photographing an organ of a patient.

Computed tomography is a device that uses a CT scanner to project X-rays or ultrasounds at various angles to the human body and reconstructs them into a computer to process the inside of the human body as an image. In addition, the magnetic resonance imaging apparatus is an advanced medical system capable of obtaining an arbitrary tomographic image of a living body using a magnetic field generated by magnetic force. Such imaging equipment is a system showing a cross section of a surgical site of a patient.

2 is a block diagram showing a three-dimensional image output system constituting an embodiment of the present invention.

As shown in FIG. 2, the 3D image output system 10 performs a standardized operation on a 2D medical image provided by a CT and a magnetic resonance imaging apparatus (MRI) to perform a 3D image. It is a system that outputs information. That is, the 3D image output system 10 receives a 2D medical image of a patient collected from the imaging device 1 and converts the 3D organ model into a 3D organ model. The 3D image output system 10 provides a 3D organ model to a surgery planning system (not shown). The surgery planning system serves to create a surgical map for the affected part of the patient based on the three-dimensional organ model.

The 3D image output system 10 includes a database 11, a 3D playback unit 12, an image generator 13, a graphic playback unit 14, and a controller 15.

The database 11 serves to store the image and simulation data provided from the imaging device (1). The simulation data in the database 11 may be composed of matrix combinations in matrix form.

The 3D playback unit 12 receives a plurality of 2D medical images from the database 11 and performs standardization, and then converts the 3D medical images into 3D medical images and outputs them to the image generator 13.

The image generator 13 receives the 3D medical image from the 3D playback unit 12 and simultaneously receives the simulation data from the database 11 and sends the simulated 3D medical image to the graphic accelerator 14. It plays a role in printing. In this case, the image generator 13 reads the 2D medical image and the simulation data stored in the database 11 and converts the 3D medical image with the shaded value into a combination of polygons.

In addition, the graphic accelerator 14 receives a 3D medical image simulated from the image generator 13 and accelerates and outputs the same through a monitor.

When the changed data is input from the image generator 13, the controller 15 stores the data in the database 11.

Referring to the image output method of the three-dimensional image output system 10, the medical image provided from the imaging device 10 is stored in the database 11 as a two-dimensional image. The 3D playback unit 12 converts the two-dimensional image provided from the database 11 into an image of a standardized format.

In this state, the image generator 13 converts the two-dimensional image into a three-dimensional medical image by using a polygon technique using hybrid CGI technology to convert the simulation data and the standardized image input from the database 11. Let's do it.

At this time, the image generator 13 collects each of the two-dimensional pieces of a certain thickness of a specific part of the patient and stacks the two-dimensional images. The graphic accelerator 14 provides a 3D medical image to a user through a monitor.

3 is a perspective view showing a tracking device constituting an embodiment of the present invention.

As shown in FIG. 3, the tracking device 100 has been developed to assist a physician in performing a surgical operation. The tracking device 100 includes a computer 108 in which software for navigation navigation is embedded, a memory 110, a processor 112, a sensor (or camera) 114 capable of detecting markers, and a foot pedal. 118, a keyboard 122, and a monitor 122 having a display screen 123 for displaying surgical navigation information. The sensor 114 detects the position information of the marker 220 to be described below by using a magnetic field to track the movement path of the surgical instrument 200.

In the tracking device 100, the sensor 114 is connected to a data processing device, which records the spatial points of the markers and sets the reference coordinates for the portion to which the marker is attached. For reference additional markers may be attached to the tracking device programmed with the surgical instruments and points of the acting portions of the surgical instruments on the marker.

The surgical instruments pass a specific target point of the organs, and the tracking device 100 records the points of the target points to identify the target point in the reference coordinate system of the organs.

The monitor 122 displays information about the reference coordinate system and the target point for use in guiding the physician during surgery, such as exploring the points of other surgical instruments with respect to a particular point in the reference coordinate system.

4 and 5 are explanatory views showing a surgical tool constituting an embodiment of the present invention.

As shown in Figure 4, the surgical instrument 200 for surgery of the patient is provided with an endoscope 210 and a marker 220.

The endoscope 210 is a medical device made to directly see the internal organs or body cavities, the marker 220 is the tracking device 100 in the position information of the surgical instrument 200 It is a configuration to provide.

The doctor may view the inside of the organ during surgery through the endoscope 210, and the marker 220 provides a computer with a movement path of the surgical instrument 200. As such, when the movement path of the surgical instrument 200 is provided, the movement path and the direction of movement of the surgical instrument 200 can be predicted compared to the surgical map.

That is, when the position of the surgical instrument 200 is changed according to the already made surgical map and the change state of the organ of the patient, a guide robot (not shown) for guiding the movement of the surgical instrument 200 is operated with the marker 220 and the surgery. The error is calculated by comparing the spatial coordinates of the map, and the surgical map is corrected based on the error. When the surgical map is corrected as described above, the guide robot corrects the moving direction of the surgical instrument 200 by reflecting the corrected surgical map.

As shown in Figure 5, the surgical instrument 200 is moved according to the already made surgical map. The marker 220 provides the computer with the position and movement path of the surgical instrument 200 in real time, and the computer calculates an error by comparing the position of the surgical instrument 200 with a surgical map. Then, the error is corrected to create a new surgical map. The guide robot guides the moving direction of the surgical instrument 200 according to the corrected surgical map.

That is, the planned path p of the surgical map made before the operation by the imaging device 10 may be changed at the time of the operation. When the position of the organ changes according to the change of the patient's breathing and state, the tracking device 100 searches for the state of the organ in real time and corrects the surgical map. The guide robot guides the surgical instrument 200 to the correction path (a) of the corrected surgical map to prevent damage to the organs.

9 is a flow chart showing a process of correcting the progress direction of the surgical instrument in an embodiment of the present invention.

The image guided surgical system receives a 2D medical image from an imaging device, changes it into a 3D organ model, and forms a surgical map using the same (S100). The position information of the marker 220 mounted on the instrument 200 is determined. (S110) When the position of the marker 220 is determined in real time, the movement path of the surgical instrument 200 is traced to the surgical instrument 200. It predicts the direction of travel. (S120)

At this time, by comparing the movement path and the surgical map of the surgical instrument 200 is calculated an error (S130), by correcting the surgical map to reflect such an error and the guide robot is the surgical instrument 200 by the corrected surgical map The direction of travel is corrected.

Next, another embodiment of an image guided surgical system according to the present invention will be described in detail with reference to the accompanying drawings.

In another embodiment of the present invention, a direct navigation 300 is used instead of the tracking device 100, and description thereof will be omitted for the same components as those shown in FIGS. 1 to 5.

6 is a perspective view showing a direct navigation constituting another embodiment of the present invention.

As shown in FIG. 6, the direct navigation 300 comprises a movable support structure 314, a carrier 318 and a curved positioning arm 322 (hereinafter 'C-arm'). The movable support structure 314 has a wheel 316, which enables movement of the direct navigation 300. The direct navigation 300 is a device for searching a 3D image of an object in real time. That is, the direct navigation 300 models the 3D organ model of the patient in real time and provides the same to the user.

The C-arm 322 is semi-circular, with an imaging receiver 326 at the first end 325 and an imaging source 330 at the second end 327. The imaging source 330 may be an x-ray source. The drive train 334 is mounted to the carrier 318. The wedge-shaped clutch handle 335 is a spring loaded to extend from the covered drive train 334 and remain in the engaged position. The C-arm 322 is movably mounted to the carrier 318.

The operator may roll the direct navigation 300 to position the C-arm 322 so that the patient is positioned between the imaging source 330 and the imaging receiver 326 and then take an image of the patient. The C-arm 322 can be rotated about at least two different axes for orbital rotation, so that the C-arm 322 can be positioned in several different directions around the patient to capture an image in a desired direction.

7 and 8 are explanatory views showing a surgical tool constituting another embodiment of the present invention.

As shown in FIG. 7, the direct navigation 300 searches for the location information of the organ and the surgical instrument 200 of the patient in real time. In addition, the guide robot receives the state information of the organ from the direct navigation 300, corrects the surgical map when an error occurs, and guides the progress direction of the surgical instrument 200 based on the corrected surgical map. .

As shown in FIG. 8, the planned path p of the surgical map made before the surgery by the imaging device 10 may be changed at the time of surgery. That is, when the location of the organ changes in accordance with the change of the patient's breathing and state, the direct navigation 300 searches for the state of the organ in real time to correct the surgical map. The guide robot guides the surgical instrument 200 to the correction path (a) of the corrected surgical map to prevent damage to the organs.

10 is a flow chart showing a process of correcting the progress direction of the surgical instrument in the embodiment of the present invention and another embodiment.

The three-dimensional image output system 10 configures a two-dimensional medical image collected by the imaging device 1 as a three-dimensional organ model before the operation (S200) and the surgery planning system using the three-dimensional organ model In operation S210, the direct navigation 300 searches for a movement path and a surgical position of the surgical tool 200, and a guide robot directs the direct navigation 300 and the endoscope 210. The surgical map is corrected through the information of the inside of the organ, which has been entered through the control panel. (S230) The surgical tool 200 is guided by the surgical map whose direction is corrected.

As described above, the image guided surgical system uses the 3D image information (CT or MRI) of the patient obtained before surgery to track the 3D position of the surgical site and the surgical tool in the operating room in real time, and then displays the surgical tools and the computer image. By aligning and reconstructing the position of artificial joints, it is possible to perform surgery while checking the position of invisible lesions and the relative position of surgical instruments on the screen.

However, when a standard or a surgical instrument is modified due to various unexpected causes, a method for correcting the standard information is needed. In particular, this calibration process is essential when using a new type of surgical instrument that the navigation system does not have. As described above, the calibration procedure of the surgical tool refers to a procedure and a method of acquiring the standard information of the surgical tool used in the navigation system or correcting the acquired standard information.

The scope of the present invention is not limited to the embodiments described above, but is defined by the claims, and various changes and modifications can be made by those skilled in the art within the scope of the claims. It is self-evident.

1 is a side view showing the imaging equipment constituting a preferred embodiment of an image guided surgery system according to the present invention.

Figure 2 is a block diagram showing a three-dimensional image output system constituting an embodiment of the present invention.

3 is a perspective view showing a tracking device constituting an embodiment of the present invention.

4 and 5 is an explanatory view showing a surgical tool constituting an embodiment of the present invention.

6 is a perspective view showing a direct navigation constituting another embodiment of the present invention.

Figure 7 and Figure 8 is an explanatory view showing a surgical tool constituting another embodiment of the present invention.

9 and 10 are flow charts showing the process of correcting the progress direction of the surgical instrument in the embodiment of the present invention and another embodiment, respectively.

Explanation of symbols on the main parts of the drawings

1: Imager 10: 3D image output system

100: tracking device 200: surgical instruments

210: endoscope 220: marker

300: direct navigation

Claims (16)

A 3D image output system for receiving a 2D medical image of a patient collected from an imaging device and converting the image into a 3D organ model; A surgical instrument having a marker for providing endoscope and position information; Comprising a surgical map based on the three-dimensional organ model, receiving the position information of the marker to correct the surgical map, comprising a guide robot for guiding the surgical instrument to proceed along the corrected surgical map Imaging-guided Surgery System. Imaging equipment for collecting medical images from the patient; A 3D image output system for receiving the medical image and converting the medical image into a 3D organ model; A surgery planning system provided with the three-dimensional organ model to create a surgical map for the affected part; A surgical instrument having a marker for providing endoscope and position information; A tracking device that tracks the position of the marker to track the movement path of the surgical instrument; And a guide robot for guiding the operation of the surgical instrument by correcting the surgical map according to the movement path of the surgical instrument. The method of claim 2, The tracking device is an image guided surgical system, characterized in that the sensor for identifying the location information of the marker using a magnetic field. The method according to claim 1 or 2, The guide robot compares the surgical map and the spatial coordinates of the marker, if an error occurs, the image guided surgery system, characterized in that for correcting the direction of the surgical instrument to correspond to the error. The method according to claim 1 or 2, The 3D image output system, A database storing a medical image of the imaging device; And a 3D reproducing unit configured to receive a medical image from the database, perform a standardization operation, and convert the medical image into a 3D organ model. The method according to claim 1 or 2, The imaging device is an image guided surgical system, characterized in that any one of a computer tomography apparatus, magnetic resonance imaging apparatus or X-ray apparatus. A three-dimensional image output system for receiving a two-dimensional medical image of a patient collected from an imaging device and constructing a three-dimensional organ model and a surgical map; An surgical instrument equipped with an endoscope; Direct navigation for searching the position information of the organ of the patient in real time; And a guide robot for compensating the surgical map by comparing the three-dimensional organ model and state information of the organ, and guiding the direction of the surgical instrument based on the corrected surgical map. A three-dimensional image output system for processing the image captured by the imaging equipment and converting the image into a three-dimensional organ model; A surgery planning system provided with the three-dimensional organ model to create a surgical map for the affected part; Direct navigation to search for three-dimensional long-term location information by taking a bi-directional image of the patient during surgery; And a guide robot for correcting the surgical map by mapping the long-term position information provided from the direct navigation to the surgical map, and guiding a surgical instrument based on the corrected surgical map. 9. The method according to claim 7 or 8, And said direct navigation is provided with a C-arm capable of orbital rotation about at least two different axes. 9. The method according to claim 7 or 8, The 3D image output system, A database storing a medical image of the imaging device; And a 3D reproducing unit configured to receive a medical image from the database, perform a standardization operation, and convert the medical image into a 3D organ model. 9. The method according to claim 7 or 8, The imaging device is an image guided surgical system, characterized in that any one of a computer tomography apparatus, magnetic resonance imaging apparatus or X-ray apparatus. Forming a surgical map from an organ model; Predicting a moving direction of the surgical instrument by tracking a movement path of the surgical instrument; Calculating an error by comparing a movement path of the surgical instrument with a surgical map; Correcting the direction of progress of the surgical instrument by reflecting the error control method of an image guided surgical system. 13. The method of claim 12, The control method of the image guided surgical system further comprises the step of identifying the position information of the marker mounted to the surgical instrument by the tracking device using a magnetic field. The method of claim 13, Forming the surgical map, Collecting a two-dimensional medical image of an organ; And converting the 2D medical image into a 3D organ model. Constructing a 3D organ model through a 2D medical image; Forming a surgical map based on the three-dimensional organ model; Exploring the movement path and the surgical position of the surgical instrument; A method of controlling an image guided surgical system comprising the step of correcting a surgical map based on internal organs entered through direct navigation and endoscopy. The method of claim 15, The direction of operation of the surgical instrument further comprises the step of being guided by the corrected surgical guidance control method of the image guided surgical system.

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