KR20160148889A

KR20160148889A - An Apparatus for Verifying a Surgical Site Automatically and a Method for Controlling a Light Automatically Using the Same

Info

Publication number: KR20160148889A
Application number: KR1020150085654A
Authority: KR
Inventors: 한희상
Original assignee: 한희상
Priority date: 2015-06-17
Filing date: 2015-06-17
Publication date: 2016-12-27
Also published as: KR101708701B1

Abstract

The present invention relates to an automatic position determination apparatus for a surgical site and an automatic lighting control method therefor, and more particularly, to an automatic position determination apparatus for a surgical site that automatically illuminates a position of a hand of a practitioner during a surgical procedure, To an automatic lighting control method. The automatic position locating apparatus of the surgical site includes a line of sight detecting unit 11 for detecting the position of the operator's pupil facing the operation position TG; A display unit (12) for displaying information transmitted from the visual line detection unit (11); A control unit (13) for determining the operation position (TG) based on the information transmitted from the display unit (12); And a lighting unit (14) whose irradiation position is controlled in accordance with a position determined in the control unit (13), and the visual line detection unit (11) detects a position of the operator's pupil And the display unit 12 selects the information of the visual line detection unit 11 based on a predetermined coordinate range.

Description

[0001] The present invention relates to a device for automatically locating a surgical site and an automatic lighting control method therefor,

The present invention relates to an automatic position determination apparatus for a surgical site and an automatic lighting control method therefor, and more particularly, to an automatic position determination apparatus for a surgical site that automatically illuminates a position of a hand of a practitioner during a surgical procedure, To an automatic lighting control method.

Different surgical tools are required depending on the surgical site in the surgical procedure, and it is necessary to appropriately illuminate the different surgical sites. However, the surgeon and others assist the surgeon, which may result in improper illumination. In addition, depending on the surgical site, different surgical tools are required and the assistant may not be appropriately advanced. This can result from the assistant being substantially unable to identify the surgical site. Therefore, there is a need for a method for precisely detecting a surgical site and for making necessary auxiliary actions on different occasions for different surgical sites.

Japanese Patent Application Laid-Open No. 10-2008-0086143 discloses an ultrasonic diagnostic apparatus comprising a first sensor installed on a body of a worker and moving according to a movement of an operator and performing any one of an ultrasonic signal transmission and an ultrasonic signal reception; And a controller for performing a function of receiving ultrasonic signals generated by the first sensor and transmitting ultrasound signals for reception of the first sensor and detecting coordinate information signals for the positions of the first sensors, 2 sensor; An illumination robot disposed at a distance from the second sensor; And a controller for receiving the coordinate information signal recognized by the second sensor and moving the illumination robot to a position of the coordinate information signal.

Patent Publication No. 10-2014-0022864 discloses a light source for a mobile platform, a light source for the mobile platform, a motor for moving the mobile platform to change the direction of the light source, and a controller coupled to the actuable motor, Wherein the light sensor senses light emitted or reflected from an optical marker attached to the surgical glove and the controller is operatively associated with a surgical light source that operates the motor based on information received from the optical sensor to move the illumination source in the direction of the glove System.

The prior art is characterized in that an operation position is confirmed from a signal transmitted from a sensor attached to a body of a practitioner or a marker attached to a surgical glove. However, such a detection means has a high probability of error and has a disadvantage that it is difficult to accurately mark the actual operation position. In addition, it is difficult to confirm whether or not it is actually in the surgical position, and it is difficult to adjust the illumination position quickly according to the change of the surgical position.

The present invention has been made to solve the problems of the prior art and has the following purpose.

Patent Document 1: Patent Publication No. 10-2008-0086143 (published by Hanyang University Industry & University Collaboration Team, September 25, 2008) Surgical illumination robot system using position tracking function, operation room having the same, and illumination robot position using position tracking function How to move Prior Art 2: Patent Publication No. 10-2014-0022864 (published by Kim Gabriel, February 25, 2014)

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus for automatically detecting a position of a surgical site and detecting an operation position by detecting a position of a pupil of a surgeon,

According to a preferred embodiment of the present invention, the automatic position locating apparatus for a surgical site includes: a line-of-sight detecting unit for detecting a position of an operator's eye toward a surgical position; A display unit for displaying information transmitted from the visual line detection unit; A control unit for determining the operation position based on the information transmitted from the display unit; And an illumination unit in which the irradiation position is controlled according to a position determined in the control unit, wherein the visual-detection unit detects a coordinate change relative to the surgical position of the position of the pupil of the operator, And selects the information of the eyesight detection unit based on the range.

According to another preferred embodiment of the present invention, the distance sensor disposed in the illumination unit and the illumination sensor for measuring the illuminance of the illumination unit are further included.

According to another preferred embodiment of the present invention, an automatic light control method includes the steps of: determining a position of a specific part of a pupil at a reference position by setting a reference position between an operation position and a pupil of the operator; Confirming the position of the specific region; Determining a surgical position by calculating a change between a position of the specific region and a reference position; Displaying the determined surgical position on a screen; Determining a distance between the surgical position and a lighting unit; Determining a focus according to the determined distance, and determining an illuminance at a focus position; And controlling the lighting unit according to the determined focus and illuminance.

The automatic position determination apparatus according to the present invention enables accurate and precise detection of an operation position while confirming a detection position. And illumination is performed at the surgical site according to the confirmation of the detection position. Thus, the surgical procedure is performed stably and efficiently. In addition, the automatic position determining apparatus according to the present invention allows the surgical position to be displayed on the screen, thereby securing the reliability of the surgical procedure.

1 is a block diagram showing an embodiment of an automatic positioning apparatus according to the present invention.
2 is a block diagram illustrating the structure of an automatic positioning apparatus according to the present invention.
FIG. 3 shows an embodiment of a position detection unit applied to an automatic positioning apparatus according to the present invention.
FIG. 4 shows an embodiment of an automatic lighting control method according to automatic position detection according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings, but the present invention is not limited thereto. In the following description, components having the same reference numerals in different drawings have similar functions, so that they will not be described repeatedly unless necessary for an understanding of the invention, and the known components will be briefly described or omitted. However, It should not be understood as being excluded from the embodiment of Fig.

1 is a block diagram showing an embodiment of an automatic positioning apparatus according to the present invention.

Referring to FIG. 1, the automatic position determining apparatus according to the present invention includes a line-of-sight detecting unit 11 for detecting a position of an operator's eye toward a surgical position TG; A display unit (12) for displaying information transmitted from the visual line detection unit (11); A control unit (13) for determining the operation position (TG) based on the information transmitted from the display unit (12); And a lighting unit (14) whose irradiation position is controlled in accordance with a position determined in the control unit (13), and the visual line detection unit (11) detects a position of the operator's pupil And the display unit 12 selects the information of the visual line detection unit 11 based on a predetermined coordinate range.

The automatic position detecting apparatus according to the present invention is characterized in that the automatic position detecting apparatus detects an operation position based on a position of a pupil of a practitioner or a change in position of an iris. The image of the operator's face or the image of the operator's hand may be used as a secondary image to detect the position of the operator's pupil or the position of the iris. An image of the patient's surgical site (SA) can also be used as an auxiliary image. However, such an auxiliary image may be an auxiliary data for determining the surgical position (TG), and the correct surgical position (TG) may be determined by the relative position or positional change of the pupil and the surgical position (TG).

The surgical position (TG) refers to a specific area where surgery is actually performed or surgery is to be performed, for example, on the abdomen or the above-described surgical site (SA). The surgical site (SA) or the surgical site (TG) may be determined depending on the surgical site.

The eye-gaze detection unit 11 may be a camera unit that is worn by a practitioner in a spectacled manner or installed separately from an operator to detect the position of a pupil of the operator. It may also be a combination of the same type of glasses worn by the practitioner and an externally mounted camera unit. The direction of the operator's face of the eye-gaze detection unit 11, the position of the operator's pupil, and the position or position change of a specific part such as the iris in the pupil of the operator. The direction of the operator's face, the position of the operator's pupil, and the position or position change of the operator's iris may be detected by the same or different detection units. For example, the direction of the operator's face is detected by the camera unit, and the position or position change of the operator's iris can be detected by the glass detection unit. And the visual-line detection unit 11 can detect the direction of the operator's gaze. And the detected sight line direction can be transmitted to the display unit 12. [

The display unit 12 can also display the related additional information while displaying the position transmitted from the visual line detection unit 11 on the screen. For example, the display unit 12 can display the area where the operation is currently being performed and the sight line of the operator, and can indicate the illumination position. The display unit 12 may display, but is not limited to, a procedure time, an illuminance, a temperature, a humidity, or a surgical procedure. The display unit 12 can be connected to the eye-gaze detection unit 11 wirelessly or in a wired manner, and can be disposed at a position where the operator can easily view the display unit 12. [ The display unit 12 may be connected to the control unit 13 so as to be capable of data communication.

The control unit 13 includes a microprocessor and is capable of controlling the overall operation of the automatic positioning device. The control unit 13 can be connected to various input means and can have various programs required for operation. The control unit 11 can be connected wirelessly or by wire to the visual line detection unit 11 and the image or other information detected by the visual line detection unit 11 can be transmitted to the control unit 13. [ The control unit 11 can determine the direction of the operator's gaze direction to determine the operation position TG by confirming the position of the specific part such as the operator's pupil or iris from the image or information transmitted from the gaze detection unit 11 . Then, the determined viewing direction can be displayed on the display unit 12. Then, the illumination position of the illumination unit 14 can be controlled according to the determined viewing direction.

The illuminating unit 14 includes an LED module for irradiating light in a predetermined direction, a rotating unit for adjusting the direction of the LED module, a lens unit for collecting the irradiated light, an illuminance sensor for detecting the illuminance of the operation position TG, A distance sensor such as an ultrasonic sensor that measures the distance between the TG and the LED module. The illumination unit 14 may include various kinds of light sources, and the light sources may be installed in the front-back direction or in a rotatable manner. When the visual direction is determined by the control unit 13, the condensing position can be determined. And light can be irradiated to the operation position (TG) by the LED module.

The automatic position determining apparatus according to the present invention can be used for confirming the progress of the operation including the illumination control, or for providing the surgical tool necessary for the surgical procedure. The control unit 13 may include a storage medium, and images for different surgical positions (TG) may be stored based on the progress time during the surgical procedure. It also allows the surgical procedure to be verified by a large number of participants in the surgery.

The automatic positioning apparatus according to the present invention can be applied in various ways, and the present invention is not limited to the embodiments shown.

2 is a block diagram illustrating the structure of an automatic positioning apparatus according to the present invention.

2, the eye-gaze detection unit 11 includes a position setting unit 221 for determining a position and a surgical position of a reference operator, a position obtaining unit 222 for obtaining image-related information of a surgical site, And a position determination unit 223 for determining the viewing direction based on the image-related information.

The position setting unit 221 can set and store one reference image for a specific part of a face, a pupil or a pupil of the operator. In addition, a plurality of surgical positions (TG) can be stored as two reference images at the surgical site. One reference image and two reference images are set and stored with a reference direction, a reference distance, and a reference position. And can transmit it to the control unit 13. A plurality of 1 or 2 reference images can be set and stored, and various parts can be 1 or 2 reference images.

The position acquiring unit 222 may include an image acquiring unit such as a camera and may acquire one contrast image and two contrast images corresponding to one reference image and two reference images. One reference image, two reference images, one reference image, and two reference images may be acquired by different image acquisition units or may be acquired by the same image acquisition unit. The position and orientation of the image acquisition unit 222 are determined and the orientation and position of the obtained one contrast image and two contrast images may be transmitted to the position determination unit 223, The position and orientation of the operator relative to the surgical position can be determined. And information on the determined relative position and direction may be transmitted to the control unit 13 together with other related information. And the control unit 13 can display this on the display 23. [

The illuminating unit 14 includes a light emitting unit such as an LED unit, a distance measuring sensor 241 such as an ultrasonic unit for measuring the distance between the operating positions from the illuminating unit 14, A direction adjusting unit 242 and a light intensity adjusting unit 243 for measuring the illuminance of the operation position. The control unit 13 can confirm the operation position based on the information transmitted from the eye sight detection unit 11. [ The distance and direction between the light emitting unit and the surgical position can be determined as the position of the light emitting unit is predetermined. Then, the control unit 13 can control the direction adjusting unit 242 according to the determined distance and direction to determine the lighting direction of the light emitting unit. Substantially the distance is not necessarily required since it can be measured by the control unit 13. The distance measurement sensor 241 may have a meaning of confirming the illumination distance, and the value measured by the distance measurement sensor 241 may be transmitted to the control unit 13. And can be compared with the calculated value.

The illuminance adjustment unit 243 is for measuring and adjusting the illuminance of the surgical position, and the appropriate illuminance can be predetermined, and the measured illuminance can be transmitted to the control unit 13. [ And can be compared with a preset value, and thus the illuminance for the surgical position can be adjusted by the illuminance adjusting unit 243. [ The illuminance adjustment unit 243 may have various structures and may have, for example, a configuration for adjusting the output of the light emitting unit, but is not limited thereto.

FIG. 3 shows an embodiment of a position detection unit applied to an automatic positioning apparatus according to the present invention.

Referring to FIG. 3, the eye-gaze detection unit may be disposed in the glass detection module 30. The glass detection module 30 may include a glass 31 in which an image sensor is disposed, a control module 32 including a microprocessor and a communication unit. The glass detection module 30 can detect the operation position and the pupil of the operator, and can detect the position of the iris, for example. And the detected information may be transmitted to the control module 32 and processed as image data. Thereafter, the processed image data can be transmitted to the display 23 or the operation control unit 21 through the communication unit. The operation control unit 21 may have a function similar to that of the control unit described above. The operation control unit 21 may be formed integrally with the control module 32 as necessary. The control module 32 and the display 23 or the operation control unit 21 may be connected by wire or wireless and an appropriate antenna 331 may be installed in the control module 32 for wireless communication. The lighting module 34 may include a lighting unit and, if desired, may include a heat dissipation structure 341 or other components associated with the lighting operation. In addition, the illumination module 34 may include a condenser lens 35 installed to be movable for collecting light. The condenser lens 35 may be a concave lens or a convex lens. A distance measurement unit 343 such as an ultrasonic sensor may be disposed in the illumination module 34 and the illumination module 34 may be rotated in a predetermined direction by the rotation adjustment unit 342. [

Direction and distance information on the iris and surgical position detected from the glass detection module 30 may be transmitted to the operation control unit 21. [ At the same time, direction and distance information can be displayed on the display 23. Depending on the direction and the distance information, the operation control unit 21 can operate the rotation adjustment unit 342 so that the operation position is illuminated. By adjusting the condenser lens 35, illumination can be performed at a required illumination level at the operation position. The distance between the illumination module 34 and the surgical position can be measured by the distance measuring unit 343 and the illuminance of the surgical position can be detected by the illuminance sensor 345. [ And can be compared with the calculated distance and the predetermined roughness, so that the position of the condenser lens 35 can be appropriately adjusted.

The automatic positioning apparatus according to the present invention can be made in various structures, and the present invention is not limited to the embodiments shown.

FIG. 4 shows an embodiment of an automatic lighting control method according to automatic position detection according to the present invention.

Referring to FIG. 4, the automatic lighting control method according to the present invention includes the steps of: (P41) determining a position of a specific part of a pupil at a reference position by setting a reference position between a surgical position and a pupil of a practitioner; Confirming the position of the specific part (P42); A step (P43) of calculating a change between a position of the specific part and a reference position to determine an operation position; Displaying the determined surgical position on the screen (P44); Determining a distance between the surgical position and the illumination unit (P45); Determining a focus according to the determined distance, and determining an illuminance at a focus position (P46); And controlling the illumination unit according to the determined focus and illumination (P47).

The automatic lighting control method according to the present invention is operated based on position and orientation detection. Position and orientation detection means to detect the position and orientation between the operator's pupil and the surgical site. In order to detect such position and direction, reference positions such as the reference images 1 and 2 described above should be set (P41). The 1, 2 reference images may be, for example, the operator's pupil, iris, or surgical position, and one or two reference images may be multiple. When the reference image is determined (P41), the position of the specific region to be compared with the reference image may be detected (P42). Position detection of a specific region refers to a 1 or 2 contrast image for detecting position and orientation changes relative to a reference image, as described above. The number of the contrast images may be plural. The position of the operator's eye and the position of the operator's eye are detected in a state in which the operation is currently being performed by the contrast image, so that the direction of the operator's gaze can be determined and the operation position can be determined accordingly (P43). And the determined position can be confirmed on the screen (P44). And the direction and distance between the surgical position and the illuminating unit can be determined (P45), and the illuminance for determining the focus and illumination level for condensing the illuminating unit accordingly can be determined (P46). The illumination can then be controlled accordingly (P47).

The illumination control according to the present invention can be performed in various ways, and the present invention is not limited to the embodiments shown.

The automatic position determination apparatus according to the present invention enables precise and accurate detection of an operation position and confirmation of a detection position. And illumination is performed at the surgical site according to the confirmation of the detection position. Thus, the surgical procedure is performed stably and efficiently. In addition, the automatic position determining apparatus according to the present invention allows the surgical position to be displayed on the screen, thereby securing the reliability of the surgical procedure.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention . The invention is not limited by these variations and modifications, but is limited only by the claims appended hereto.

11: Eye-gaze detection unit 12: Display unit
13: control unit 14: illumination unit
21: Operation control unit 23: Display
30: Glass Detection Module 31: Glass
32: Control module 34: Lighting module
35: condenser lens 221: positioning unit
222: Position acquiring unit 223: Positioning unit
241: distance measuring sensor 242: direction adjusting unit
243: Illumination adjustment unit 331: Antenna
341: heat radiating structure 342: rotation regulating unit
343: distance measuring unit 345: illuminance sensor
SA: Surgical site TG: Surgical site

Claims

A sight detection unit 11 for detecting the position of the operator's pupil facing the operation position TG;
A display unit (12) for displaying information transmitted from the visual line detection unit (11);
A control unit (13) for determining the operation position (TG) based on the information transmitted from the display unit (12); And
And a lighting unit (14) whose irradiation position is controlled in accordance with a position determined in the control unit (13)
The visual line detection unit 11 detects a coordinate change relative to the operation position TG of the operator's pupil position and the display unit 12 displays the visual line detection unit 11 on the basis of a preset coordinate range. Wherein the information on the position of the surgical site is selected.

The apparatus of claim 1, further comprising a distance sensor disposed in the illumination unit (14) and an illuminance sensor for measuring illumination of the illumination unit.

Determining a position of a specific part of the pupil at the reference position by setting a reference position between the operation position and the pupil of the operator;
Confirming the position of the specific region;
Determining a surgical position by calculating a change between a position of the specific region and a reference position;
Displaying the determined surgical position on a screen;
Determining a distance between the surgical position and a lighting unit;
Determining a focus according to the determined distance, and determining an illuminance at a focus position; And
And controlling the lighting unit according to the determined focus and illuminance.