KR20190017714A - Customized surgery guide apparatus, method and program for creating customized surgery guide - Google Patents

Abstract

The present invention relates to a customized surgical guide device, a customized surgical guide generating method, and a program thereof. According to an embodiment of the present invention, the customized surgical guide generating method includes: a step (S100) in which a computer obtains body surface data and treatment area data from medical image data; a first shape data generating step (S300) in which the first shape data is generated based on the body surface data, wherein the first shape data corresponds to the shape of the cover of a body part; a target point setting step (S500) in which at least one target point is set, wherein the target point is a point corresponding to the inside or surface of a treatment target area; a step (S700) in which each first point is set on a body surface where a medical instrument is accessible to the target point; a step (S900) in which the length of a guide tube is set based on a distance from the first point to the target point; and a step (S1100) in which final shape data combining at least one guide tube with the first shape data is generated by applying the length of the guide tube to the first point. The present invention displays an area to be removed three-dimensionally and enables the area to be confirmed visually and accurately during an operation.

Description

TECHNICAL FIELD [0001] The present invention relates to a surgical guide and a method for generating a surgical guide.

The present invention relates to a customized surgical guide, and a customized surgical guide generating method and a generating program. More particularly, the present invention relates to a customized surgical guide for enabling a surgical operation in accordance with a state of a patient's treatment area at the time of operation of a specific patient, Method and program.

At the time of surgery, the medical staff will judge the area to perform surgery based on the medical image. There is a disadvantage in that it is necessary to largely depend on the surgeon's eyesight and experience, so that the removal region to be removed may not be completely removed, and the region of the accurate removal region may not be recognized, .

In addition, a method of marking the removal area on the surface of the skin before starting the surgery is also used. However, when the markers displayed on the surface of the skin start to be operated and the body part is excised, it is difficult to match with the inside, so that the accuracy of determining the scope of operation within the body part is lowered. In order to mark a certain point inside the body, the part is removed by inserting an ultrasonic or mammography guide H-wire, but this also has a disadvantage that it is difficult to accurately display, and there is a problem that the pain and the procedure time have. Occasionally, part of the H-wire is cut or lost during surgery and remains in the body.

The present invention relates to a method and apparatus for three-dimensionally displaying a removal region in a body part to be operated for surgery, a body part is cut, and a personalized surgical operation is performed so that the removal area (i.e., Guide, and a customized surgical guide generation method and program.

The invention is also based on a treatment plan that allows a medical tool to reach a plurality of target points within a body part, wherein the treatment area is treated with a minimal treatment outcome with minimal treatment performance, A surgical guide generation method, and a creation program.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems which are not mentioned can be clearly understood by those skilled in the art from the following description.

A customized surgical guide according to an embodiment of the present invention includes at least one guide tube into which a medical tool can be inserted; And a body part cover, coupled to the at least one guide tube, having a hole through which the medical tool inserted through the guide tube passes in the direction of the body part, the body part cover covering a surface of a specific body part, Is configured to correspond to a surface of a body part of a patient so as to position the guide tube such that the medical tool reaches a target point in the body part, the guide tube having a larger diameter than the medical tool, Wherein the tool is formed with a length that limits the depth of insertion of the tool into the body to a set depth from the first point to the target point, the first point being a point on the surface of the body part, And the target point may be a point located on the surface or inside of the treatment target region, Rimankeum a spaced-apart points.

Further, when the medical instrument is a syringe having a specific needle length, the guide tube is formed to reach the syringe needle to the target point, and the target point is a specific point on the surface of the treatment target area in the body part, Dyeing pill may be produced in the body by providing a dye while withdrawing the syringe from the target point along the guide tube.

Further, in the case where the medical instrument is a tool for performing treatment by setting a specific range to a treatment range from a specific point into which the medical tool is inserted, the target point forms at least one treatment range covering the treatment target area, And the guide tube may be formed in a direction from the first point toward the target point on the first point of the body part cover with the number of the target points.

The body part cover is formed along the body surface obtained based on the medical image data, and the guide tube has a distance from a first point on the body surface on the medical image data to a target point to which the medical instrument should reach, Lt; / RTI > may be set based on the length.

It may also be formed of a deformable material, inserted through the laparoscope, into the body, and then placed on the surface of the body part.

In addition, when the body part including the treatment target area is a part whose shape changes according to the posture, the body part cover may cover the body part and fix the body part in a specific shape.

In addition, the guide tube may be an end fitting of the medical instrument to the target point, and may be fitted with the medical instrument.

According to another embodiment of the present invention, there is provided a method of generating a customized surgical guide, comprising: obtaining a body surface data and treatment area data from medical image data; A first shape data generation step of generating the first shape data based on the body surface data, wherein the first shape data is data corresponding to a shape of a body part cover; A target point setting step of setting at least one target point, the target point being a point corresponding to an inside or a surface of a region to be treated; Setting each first point on the body surface accessible to the medical tool with the target point; Setting a guide tube length based on a distance from the first point to the target point; And generating the final shape data by combining at least one guide tube with the first shape data by applying the guide tube length to the first point.

In addition, when the medical instrument is a syringe having a specific needle length, the target point is a specific point on the surface of the region to be treated in the body, and the guide tube is configured to guide the syringe after the syringe needle reaches the target point It may be to assist in creating dyed pillars in the body by providing dyes during withdrawal.

The target point may be a specific point within the region to be treated, and the target point setting step may be a step of setting the target point to be treated, One or more target points may be set to form one or more treatment areas covering the area.

Further, the first shape data generation step may include: obtaining overall shape data of the body part; And generating a body part cover shape covering a specific body part based on the whole shape data, wherein the body part cover covers the body part and fixes the body part in a specific shape.

And calculating a change in position of the region to be treated at the time of changing from the first posture to the second posture when the first posture in which the medical image data is captured is different from the second posture at the time of surgery , The target point setting step, the first point setting step, and the guide tube length setting step are performed based on the changed treatment target area position.

The first point setting step may set the first point to provide the path of the medical instrument that can reach the target point without passing through the treatment target area.

In the case where the medical instrument is curved with a specific curvature, the first point setting step extracts a first point capable of reaching the target point when the inside of the body moves with the curvature, The data generating step may generate the curvature of the guide tube equal to the curvature of the medical instrument.

The customized surgical guide generation program according to another embodiment of the present invention is combined with a computer which is hardware, executes the aforementioned customized surgical guide generation method, and is stored in the medium.

According to the present invention as described above, the following various effects are obtained.

First, by using a customized surgical guide that assists in patient-customized surgery, optimal surgery can be performed for the patient. For example, if surgical lesions (e.g., tumors) within a lesion are to be removed, one or more dyed pillars may be created within the body region using a patient-specific surgical guide, . This allows clinicians to remove and remove minimal tissue through two- or three-dimensional marking through dyed columns.

Secondly, the depth of the target point is calculated based on the medical image data to generate the guide tube, so that the medical staff can perform the operation without paying attention to the depth of insertion of the medical tool (for example, a syringe). That is, when the medical instrument is inserted into the guide tube of the right-hand operation guide to the end, the operation reaches the target point, so that the operation can be easily performed.

Third, the body part cover can be made to correspond to the body shape so that the guide tube can be disposed at a point where it can reach the target point precisely when the medical instrument is inserted. This makes it possible to prevent the treatment from being performed on the wrong target site or erroneously performing marking in the body part.

Fourth, even if there is a difference between the posture in which the medical image data is acquired and the posture of surgery, a customized surgical guide can be provided so that the medical instrument can be accurately reached at the target position.

1 is a perspective view of a customized surgical guide according to an embodiment of the present invention.
2 is an exemplary illustration of a customized surgical guide attached to a body part in accordance with an embodiment of the present invention.
FIG. 3 is an exemplary view of forming a dyed column from a target point on the surface of a region to be treated through a guide tube according to an embodiment of the present invention. FIG.
4 is a flowchart of a method for generating a customized surgical guide according to an embodiment of the present invention.
FIG. 5 is a flowchart of a method for generating a customized surgical guide, further comprising calculating a positional change of a region to be treated in a second posture using the first posture-based medical image data, according to an embodiment of the present invention. to be.
6 is a flow diagram of a method for generating a customized surgical guide, further comprising the step of requesting injection based on final shape data, in accordance with an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a process of creating a body part cover shape covering an entire body part according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises " and / or " comprising " used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

The term " computer " as used herein includes various devices capable of performing arithmetic processing to visually present results to a user. For example, the computer may be a smart phone, a tablet PC, a cellular phone, a personal communication service phone (PCS phone), a synchronous / asynchronous A mobile terminal of IMT-2000 (International Mobile Telecommunication-2000), a Palm Personal Computer (PC), a personal digital assistant (PDA), and the like. The computer may also be a medical device that acquires or observes an angiographic image.

Herein, the term 'medical image data' refers to a medical image data obtained by acquiring image data obtained through a medical image imaging apparatus (for example, a computed tomography (CT) apparatus, a magnetic resonance imaging (MRI) it means.

As used herein, the term " area to be treated " means an area to be treated in a specific body part. For example, in the case of breast cancer patients, the 'treated area' corresponds to the tumor area within the breast, which is the body part. The 'treatment target area' may coincide with the target area, and may be set to be larger than the actual target area in consideration of the error range.

As used herein, the term "medical instrument" refers to a tool used for surgery, treatment, or examination and the like, which is inserted or invaded into the body. For example, a "medical instrument" may be a syringe with a needle of a certain length. Also, for example, a " medical instrument " may be a device that is inserted into a particular body part and applies electrical stimulation to a specific area.

Herein, the 'target point' is the point reached by the medical instrument inserted through the customized surgical guide. That is, the 'target point' means a point at the maximum depth reached by the movement of the guide pipe. The ' target point ' may be a point located on the surface or inside of the region to be treated, or may be a point separated by a certain distance from the region to be treated.

As used herein, the term " first point " refers to a point on the surface of the body part where the medical instrument is inserted to reach the target point. That is, the 'first point' means a point on the surface of the body part on which the guide tube is disposed when the customized surgical guide is placed on the body part.

Hereinafter, a customized surgical guide, a customized surgical guide generating method, and a program according to exemplary embodiments of the present invention will be described in detail.

Figure 1 is an exemplary view of a customized surgical guide 10 according to one embodiment of the present invention.

Referring to FIG. 1, a customized surgical guide 10 according to one embodiment of the present invention includes a guide tube 100 and a body part cover 200.

The guide tube 100 is a tube into which a medical instrument can be inserted. The guide tube 100 has a larger diameter than a portion of the medical instrument that is inserted into the body. Since a part of the medical tool is inserted into the body, it is dangerous to attach foreign matter while being in contact with the wall surface of the guide pipe 100. Therefore, a part of the medical tool is formed to have a large diameter to be inserted without being in contact with the wall surface of the guide tube 100. For example, when the medical instrument is a syringe having an injection needle, the guide tube 100 is formed to have a larger diameter than the injection needle and supports the injection tube to be inserted at an accurate angle in accordance with the body of the syringe. The tube 100 is formed with a length that limits the depth at which the medical instrument can be inserted into the body from a first point to a set depth from the target point 40. For example, when the medical instrument is a syringe with a needle, the guide tube 100 is inserted into the guide tube 100 so that the needle can enter the body only at a certain depth, (Not shown). For example, when the length of the injection needle is A and the length of the guide tube 100 is B, the injection needle is inserted into the body as much as the length corresponding to 'A-B' I will enter. Thus, the customized surgical guide 10 sets the depth at which the medical instrument is inserted into the body by the guide tube 100.

The length of the guide tube 100 is set based on the distance from the first point on the body surface on the medical image data to the target point 40 that the medical instrument should reach. In one embodiment, when a customized surgical guide 10 is injected by a 3D printer, the computer analyzes the CT image or MRI image to determine the distance from a particular first point on the surface of the body part to a particular target point 40 . Thereafter, the length of the guide tube 100 is calculated by subtracting the calculated distance from the length of the medical instrument used at the time of surgery (for example, the length of the syringe needle). Thus, the length of the guide tube 100 of the customized surgical guide 10 that matches the region 20 to be treated of the patient can be set.

The customized surgical guide 10 according to one embodiment of the present invention has a number of guide tubes 100 corresponding to the number of target points 40 in the body. Since each guide tube 100 is generated in a distance and a direction for reaching the target point 40 at the first point, the guide tube 100 is provided in the number corresponding to the number of the target points 40.

1, one or more guide tubes 100 are coupled to the body part cover 200. As shown in FIG. That is, the body part cover 200 has a hole for passing the medical instrument inserted through the guide tube 100 in the direction of the body part. In this way, the medical instrument inserted through the guide tube 100 is invaded or inserted into the body part along the extension of the guide tube 100.

The body part cover 200 is a cover that covers the surface of a specific body part. Specifically, the body part cover 200 is formed to correspond to the surface of the body part of the patient. In one embodiment, the body part cover 200 is created based on body surface data obtained based on the medical image data. For example, when the body part cover 200 is injected with a 3D printer and the breast of a breast cancer patient is used as a body part, the breast surface of the patient at the time of MRI image or CT image photographing, based on the MRI image or CT image, The shape data of the body part cover 200 matching the shape of the body part cover 200 is generated. When the medical instrument is inserted into the guide tube 100 of the customized surgical guide 10 based on the medical image data so that the body part cover 200 fits on the surface of the body part, To reach the in-site target point 40 exactly. That is, the body part cover 200 sets the guide tube 100 to be positioned at the first point set in the treatment planning process based on the medical image data.

Further, in another embodiment, the customized surgical guide 10 includes a reference point 300 for precise positioning when applied to a patient, as in Fig. The reference point 300 corresponds to a specific position of a body part, and a customized surgical guide 10 is disposed at an accurate position set at the time of surgery planning or modeling. For example, when the body part is the breast, the customized surgical guide 10 forms a hole having the same size as the nipple at the position corresponding to the nipple, and the nipple is used as the reference point 300, Set the correct mounting position.

According to another embodiment, in the case where the body part including the treatment target area 20 is a part whose shape changes according to the posture, It covers the body part and fixes it in a specific shape. For example, in the case of the breast, the shape may change according to the patient's posture. Therefore, when the target point 40 is set based on the medical image data and the breasts are the same shape, the medical tool can reach the target point 40 through the tailored surgical guide 10 exactly. Accordingly, the body part cover 200 can be manufactured in such a manner as to cover the whole of the body part, and the body part can be deformed and retained in the form of medical image data. For example, if the body part is a breast, the body part cover 200 may be manufactured in the same shape as a brassiere, and may be operated after being worn on a patient during breast cancer surgery.

The customized surgical guide 10 according to one embodiment of the present invention is implemented in various forms according to the use purpose and can be used in various ways. In one embodiment, when the medical instrument is a syringe with a particular needle length, the guide tube 100 is configured to reach the syringe needle up to the target point 40, And becomes a specific point on the surface of the treatment target area 20. [ That is, the customized surgical guide 10 is formed such that a specific point on the surface of the treatment area 20 (i.e., the interface between the treatment area 20 and the steady area) is the target point 40. The plurality of target points 40 can be displayed as a point on the plane corresponding to the boundary of the region to be treated 20 or a plurality of points on the three-dimensional space of the region 20 to be treated, which is a three- .

Specifically, as shown in FIG. 3, a syringe filled with a dyeing agent is fully inserted into the customized surgical guide 10 to reach the target point 40, and the syringe is removed to dye the inside of the body part by discharging a little dye. Thereby, the dyed column 30 is formed from the target point 40 in the body part to the first point on the surface of the body part.

It is possible to grasp the correct removal region (i.e., the treatment target region 20) by generating the plurality of dyeing columns 30 through the respective guide pipes 100 of the customized surgical guide 10. Even if the medical staff cuts the lesion, the target point 40 is continuously present in the dyed column 30, so that a point corresponding to the boundary of the treatment target area 20 can be confirmed in the surgical procedure.

Further, in another embodiment, when the medical instrument is a tool for performing treatment by setting a specific range to a treatment range from a specific point into which the medical tool is inserted, the target point 40 may be a tool (S) 20 that form one or more of the treatment zones. That is, the target point 40 reached by the medical instrument through the guide tube 100 becomes a specific point inside the treatment target area 20, and the medical tool is placed in the treatment range set around the target point 40 Electricity, and so on.

At this time, the guide tube 100 is arranged on the first point of the body part cover 200 in the number of the target points 40 in a direction from the first point toward the target point 40 . If the treatment target area 20 is larger than the treatment target area 20, the customized surgical guide 10 overlaps the treatment target area generated around the target point 40 of each guide tube 100, The guide tube 100 is provided with a predetermined number of guide tubes 100 that can be used. Accordingly, the medical staff can perform the operation simply by inserting the medical tool into the guide tube 100 guiding the target point 40 to be set according to the patient operation plan.

Further, in another embodiment, the customized surgical guide 10 is formed of a deformable material, inserted into the body through the laparoscope, and placed on the surface of the body part. The customized surgical guide 10 can be placed on the surface of the internal organ which is not exposed to the outside. To this end, the customized surgical guide 10 is made of a deformable material and is folded or wrapped to provide a specific body part within the body through the laparoscope.

Further, in another embodiment, the guide tube 100 may be fitted with the medical instrument when the distal end of the medical instrument reaches the target point 40. [ By doing so, the medical staff can recognize that the medical instrument has reached the target point 40. For example, the guide tube 100 may be formed with a first diameter that allows only the injection needle to enter, and is formed at a distal end of the guide tube 100 with a second diameter corresponding to the tip of the syringe, 2 diameter and can no longer enter the guide tube 100 of the first diameter, the clinician recognizes that the target point 40 has been reached. In addition, in the case of a medical tool that must provide stimulation (e.g., electrical stimulation) over a specific period of time by the target point 40, the fitting of the guide tube 100 will cause the medical tool to reach the target point 40 To be fixed in one state.

4 is a flowchart of a method of generating a customized surgical guide 10 according to an embodiment of the present invention.

Referring to FIG. 4, a method of generating a customized surgical guide 10 according to another embodiment of the present invention includes: (S100) a computer acquiring body surface data and treatment area data from medical image data; A first shape data generation step (S300) of generating the first shape data based on the body surface data, wherein the first shape data is data corresponding to the shape of the body part cover (200); Establishing at least one target point (40), the target point (40) being a point corresponding to an interior or a surface of the area to be treated (20); Establishing (S700) each first point on the body surface accessible to the medical tool with the target point (40); Setting the length of the guide tube (100) based on the distance from the first point to the target point (S900); And generating the final shape data by combining one or more guide pipes 100 with the first shape data by applying the length of the guide pipe 100 to the first point S1100. Hereinafter, a detailed description of each step will be described.

The computer acquires body surface data and treatment area data from the medical image data (S100). That is, the computer acquires the medical image data (e.g., MR image of the patient) of a specific patient, and the body surface data for forming the body part cover 200 from the medical image data and the body surface data corresponding to the treatment object area 20 To obtain the treatment area data. Specifically, when the region to be treated 20 is a tumor, the computer extracts the tumor region from the medical image data.

The computer generates the first shape data based on the body surface data (S300; first shape data generation step). The first shape data is data corresponding to the shape of the body part cover 200. That is, the computer performs 3D modeling in a shape corresponding to the surface of the affected part of the patient. Thus, a customized surgical guide 10 having a body part cover 200 fitted to the body part of the patient can be manufactured.

Further, the computer sets a reference point 300 at a point on the first shape data corresponding to a specific point on the body surface data. For example, if the body part to be treated (i.e., the affected part) is the breast, the computer forms a nipple hole 300 based on the nipple location on the body surface data, It should be used as a reference when setting the placement position on the site surface.

In another embodiment, as shown in FIG. 7, the first shape data generation step (S300) includes: obtaining (S310) overall shape data of the body part; And creating a shape of the body part cover 200 covering a specific body part based on the whole shape data (S320). In the case of a body part whose shape changes according to the posture (for example, a breast), it is necessary to fix the body part as a whole at the time of acquiring the medical image data, Operation is possible. Accordingly, the computer obtains the entire shape of the body part from the medical image data, and then models the body part cover 200 in a shape covering the entire body part.

For example, an MR imaging of the breast of a breast cancer patient is performed lean, whereas a breast cancer tumor removal surgery is performed by lying down. Because the shape of the breast changes due to the difference in posture during MR imaging and during surgery, the position of the tumor in the breast also changes. In order to accurately mark the tumor area inside the body by dyeing, it is necessary to fix and maintain the breast shape at the time of the medical image data shooting at the time of surgery. Accordingly, the computer modeling is performed to cover the entire breast, and the breast is placed in the body part cover 200 when the breast is injected for surgery, thereby maintaining the breast shape at the time of MR imaging.

The computer sets one or more target points 40 (S500; target point setting step). The target point 40 corresponds to the inside or the surface of the region 20 to be treated. Specifically, the computer models the treatment area 20 (i.e., removal area) in consideration of the error range based on the calculated target area (for example, tumor area). The computer then extracts one or more points within the treated area 20 or surface to the target point 40.

In one embodiment, if the medical instrument is a syringe with a particular needle length, the target point 40 is set to a specific point on the surface of the area 20 to be treated. That is, the target point 40 becomes a point at the interface including the tissue (i.e., tumor tissue) to be removed through surgical operation.

Further, in another embodiment, the target point 40 may be a specific point in the treatment area 20 when the medical tool is a tool for performing a treatment with a specific range from a point of a specific depth into which the medical tool is inserted, , And the target point setting step S500 sets one or more target points 40 to form one or more treatment areas covering the treatment target area 20. [ That is, the computer extracts a plurality of treatment ranges using a specific medical instrument that can cover the treatment target area 20, extracts a plurality of target points 40 to which a medical tool for forming each treatment range should be placed, do.

A computer sets each first point on the body surface accessible to the medical tool to the target point (S700; first point setting step). For example, if the area to be treated 20 is a tumor area, the computer determines the location (i.e., three-dimensional location) on the surface of the body part where the needle can be injected into the interface of the tumor area.

In addition, when the target point 40 is set at the interface between the treatment target area 20 (i.e., the removal area) and the normal tissue area, the computer does not reach the target area 40 And establishes a first point that provides a path of the medical instrument, if possible. For example, if the region to be treated 20 is a tumor region, when a medical tool (e.g., a syringe needle) is inserted to reach the target site 40 from the skin surface and passes through the tumor region, Cancer cells can be transferred to other parts of the body. Thus, the computer extracts a first point that allows the medical instrument to be inserted into the target point 40 without penetrating the region to be treated 20. [ To this end, in the case of a point located deep within the body of the area to be treated 20, a first point at which the medical instrument is accessible through the lateral direction is set.

The computer also sets the placement angle of the guide tube 100 according to the position of the first point set relative to the target point 40. [ For example, when the medical instrument is in a linear shape, the guide tube 100 is formed in the direction of the extension of the straight line connecting the target point 40 and the first point. As a result, the medical staff inserts the medical tool into the target point 40 only by inserting the medical tool along the guide tube 100.

The computer sets the length of the guide tube 100 based on the distance from the first point to the target point 40 (S900: length setting step of the guide tube 100). The computer forms the guide tube 100 with a length that limits the depth at which the medical tool can be inserted into the body from a first point to a set depth that is from the first point to the target point. For example, when the medical instrument is a syringe with a needle, the guide tube 100 is inserted into the guide tube 100 so that the needle can enter the body only at a certain depth, (Not shown). That is, when the length of the injection needle is A and the length of the guide tube 100 is B, the injection needle is inserted into the body as much as the length corresponding to 'A-B' as the syringe is hooked on the guide tube 100 . Thus, the computer calculates the difference between the length of the medical tool and the calculated value of the distance (i.e., the difference between the length of the medical tool and the distance between the target point 40 and the first point) based on the distance between the target point 40 and the first point The length of the guide tube 100 is set.

The computer generates final shape data by combining at least one guide tube 100 with the first shape data by applying the length of the guide tube 100 to the first point S1100 (final shape data generation step). That is, the computer generates final shape data in which the shape data of one or more guide tubes 100 is combined with a specific point at a specific length and angle in the body part cover 200 shape data. That is, the computer models the lengths of the guide tube 100 columns so that they can reach the cancer interface precisely in the depth direction when the needles are inserted.

The guide tube 100 of the customized surgical guide 10 formed through this process plays various roles. In one embodiment, if the medical instrument is a syringe with a particular needle length, the guide tube 100 may be provided with dyeing agent by withdrawing the syringe after the needle reaches the target point 40, And serves to assist in producing the column 30. Further, in another embodiment, the guide tube 100 accurately reaches the medical instrument at the target point 40 where the treatment should be performed on the surgical plan, thereby enhancing the surgical accuracy.

5, when the first posture in which the medical image data is photographed is different from the second posture at the time of surgery, the treatment target at the time of changing from the first posture to the second posture, (S200) of calculating a change in position of the region (20). When the medical image data is photographed in the posture for performing the surgery, a customized surgical guide 10 modeling may be performed based on the medical image data, but there may be a case where the posture for photographing the medical image is different from the posture for the surgery. At this time, in order to create a customized surgical guide 10 that conforms to the second posture, which is the posture at the time of surgery, a customized surgery guide 10, the computer calculates the positional change of the treatment target area 20 when the user's body part is changed from the first posture to the second posture.

For example, among the body parts, the breast changes shape flexibly depending on the posture. When MR images are taken, the MR image is taken (i.e., the MR image is photographed in the first posture), and the operation is performed immediately after the operation (i.e., the operation is performed in the second posture) The breast shape changes. As the breast shape changes, the position of the tumor tissue in the breast also changes in the three-dimensional space. Therefore, the computer recognizes the breast shape in the second posture based on the size of the breast, the shape in the first posture, and the like, and determines the position of the breast in the breast shape (i.e., ).

In the case of modeling the customized surgical guide 10 conforming to the second posture after capturing the medical image in the first posture, the target point setting step S500, the first point setting step S700, The length setting step S900 of the guide pipe 100 is performed based on the changed position of the treatment target area 20. [

According to another embodiment, the first shape data generation step (S300) may calculate the shape of the body part in the second posture based on the medical image data obtained in the first posture, (I.e., the first shape data) of the body part cover 200 by using the model data.

Further, in another embodiment of the present invention, when the medical instrument is curved with a specific curvature, the computer generates the guide tube 100 with the same curvature as the medical instrument. There may be cases where it is difficult to reach the target point 40 in the body as a linear medical instrument, and a curved medical instrument may be used at this time. In order to insert a curved medical tool having a specific curvature into the body through the customized surgical guide 10, the guide tube 100 must be made with the same curvature as the medical tool so that it can be inserted smoothly. So that the medical instrument can reach the medical instrument 40.

In addition, in order to model the guide tube 100 for inserting a curved medical tool, the first point setting step 700 may include a step of setting the first point, which is capable of reaching the target point 40 when moving inside the body with the curvature, The first point is extracted. That is, the computer extracts a first point at which the target point 40 can reach the target point 40 when the target point 40 is moved at a specific curvature instead of the first point at which it can reach the straight line.

In addition, the final shape data generation step S1100 generates the curvature of the guide tube 100 equal to the curvature of the medical instrument. The length of the guide tube 100 is calculated by subtracting the distance that the medical tool must move from the medical instrument to the curved line within the body.

As shown in FIG. 6, another embodiment of the present invention further includes a step S1200 of requesting injection of final shape data. That is, the computer requests injection of the modeled final shape data into a three-dimensional injection apparatus (i.e., a 3D printer).

The above-described method of generating the customized surgical guide 10 according to the embodiment of the present invention may be implemented as a program (or an application) to be executed in combination with a computer as a hardware and stored in a medium.

The above-described program may be stored in a computer-readable medium such as C, C ++, JAVA, machine language, or the like that can be read by the processor (CPU) of the computer through the device interface of the computer, And may include a code encoded in a computer language of the computer. Such code may include a functional code related to a function or the like that defines necessary functions for executing the above methods, and includes a control code related to an execution procedure necessary for the processor of the computer to execute the functions in a predetermined procedure can do. Further, such code may further include memory reference related code as to whether the additional information or media needed to cause the processor of the computer to execute the functions should be referred to at any location (address) of the internal or external memory of the computer have. Also, when the processor of the computer needs to communicate with any other computer or server that is remote to execute the functions, the code may be communicated to any other computer or server remotely using the communication module of the computer A communication-related code for determining whether to communicate, what information or media should be transmitted or received during communication, and the like.

The medium to be stored is not a medium for storing data for a short time such as a register, a cache, a memory, etc., but means a medium that semi-permanently stores data and is capable of being read by a device. Specifically, examples of the medium to be stored include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, but are not limited thereto. That is, the program may be stored in various recording media on various servers to which the computer can access, or on various recording media on the user's computer. In addition, the medium may be distributed to a network-connected computer system so that computer-readable codes may be stored in a distributed manner.

According to the present invention as described above, the following various effects are obtained.

First, using the customized surgical guide 10 that assists in patient-customized surgery, optimal surgery can be performed for the patient. For example, if surgical lesions (e.g., tumors) within a lesion are to be removed, one or more dyed pillars 30 are created within the body region using the patient-specific surgical guide 10, There is an effect that can be confirmed visually. Through this, the medical staff can remove the minimal tissue through two-dimensional or three-dimensional marking through the dye column 30 and treat it.

Second, since the depth of the target point 40 is calculated based on the medical image data to generate the guide tube 100, the medical staff can perform the surgery without paying any attention to the depth of insertion of the medical instrument (for example, a syringe) can do. That is, when the medical instrument is inserted into the guide tube 100 of the right-handed surgical guide until the end, the target point 40 is reached, so that the operation can be easily performed.

Third, the body part cover 200 may be made to correspond to the body shape so that the guide tube 100 can be disposed at a position where the guide tube 100 can accurately reach the target point 40 when the medical instrument is inserted. Thereby, it is possible to prevent the treatment from being performed on the wrong target point 40 or erroneously performing marking in the body part.

Fourth, it is possible to provide a customized surgical guide 10 that can accurately reach the medical instrument at the target position even if there is a difference between the posture in which the medical image data is acquired and the posture of operation.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

10: Customized surgical guide 20: Treatment area
30: Dye column 40: Target point
100: guide tube 200: body part cover
300: Reference point, nipple hole

Claims (15)

At least one guide tube into which a medical tool can be inserted; And
And a body part cover coupled to the at least one guide tube and having a hole through which the medical instrument inserted through the guide tube passes in the direction of the body part and which covers the surface of the specific body part,
Wherein the body part cover is formed to correspond to a surface of a body part of a patient so as to position the guide tube so that the medical tool reaches a target point in the body part,
Wherein the guide tube has a larger diameter than the medical instrument and is formed to have a length that limits the depth at which the medical instrument can be inserted into the body from a first point to a setting depth that is from the first point to the target point,
Wherein the first point is a point on the surface of the body part, at which the guide tube is located,
Wherein the target point is a point located on or within the surface of the area to be treated or a point spaced a certain distance from the area to be treated. The method according to claim 1,
If the medical instrument is a syringe with a particular needle length,
Wherein the guide tube is formed to reach the syringe needle to the target point,
The target point is a specific point on the surface of the area to be treated in the body part,
Wherein the syringe is withdrawn from the target site along the guide tube to provide a dye, thereby creating a dyed column in the body. The method according to claim 1,
When the medical instrument is a tool for performing treatment by setting a specific range to a treatment range from a specific point at which the medical tool is inserted,
Wherein the target point is at least one specific point located within the area to be treated which forms at least one treatment area covering the area to be treated,
Wherein the guide tube is formed in a direction from the first point toward the target point on the first point of the body part cover in the number of the target points. The method according to claim 1,
Wherein the body part cover is formed along the body surface obtained based on the medical image data,
Wherein the guide tube is set in length based on a distance from a first point on a body surface on the medical image data to a target point that the medical instrument should reach. The method according to claim 1,
A personalized surgical guide that is formed from a deformable material, inserted through the laparoscope, into the body, and then placed on the surface of the body part. The method according to claim 1,
When the body part including the treatment target area is a part whose shape changes according to the posture,
The body part cover
Wherein said body portion is covered and fixed in a specific shape. The method according to claim 1,
The guide pipe
When the distal end of the medical instrument reaches the target point,
Wherein the medical tool is interfitted with the medical tool. A method for creating a customized surgical guide comprising a guide tube into which a medical tool is inserted and a body part cover in contact with the body surface,
The computer acquiring body surface data and treatment area data from the medical image data;
A first shape data generation step of generating first shape data based on the body surface data, wherein the first shape data is data corresponding to a shape of a body part cover;
A target point setting step of setting at least one target point, the target point being a point corresponding to an inside or a surface of a region to be treated;
Setting each first point on the body surface accessible to the medical tool with the target point;
Setting a guide tube length based on a distance from the first point to the target point; And
And applying the guide tube length to the first point to create final shape data combining one or more guide tubes with the first shape data. 9. The method of claim 8,
If the medical instrument is a syringe with a particular needle length,
The target point is a specific point on the surface of the area to be treated in the body,
Wherein the guide tube assists in producing dyeing pills in the body by providing a dye while withdrawing the syringe after the syringe needle reaches the target point. 9. The method of claim 8,
When the medical instrument is a tool for performing treatment by setting a specific range to a treatment range from a point of a specific depth into which the medical tool is inserted,
The target point is a specific point within the region to be treated,
Wherein the target point setting step comprises:
And setting one or more target points to form one or more treatment areas covering the area to be treated. 9. The method of claim 8,
Wherein the first shape data generation step comprises:
Obtaining overall shape data of the body part; And
And generating a body part cover shape covering a specific body part based on the whole shape data,
Wherein the body part cover covers the body part and fixes it in a specific shape. 9. The method of claim 8,
When the first posture in which the medical image data is captured is different from the second posture in the operation,
And calculating a positional change of the region to be treated at the time of changing from the first posture to the second posture,
The target point setting step, the first point setting step, and the guide tube length setting step may include:
Wherein the step of performing the operation is performed based on the changed position of the region to be treated. 10. The method of claim 9,
Wherein the first point setting step comprises:
And sets the first point to provide a path of the medical instrument that can reach the target point without passing through the area to be treated. 9. The method of claim 8,
When the medical instrument is a curved shape with a specific curvature,
Wherein the first point setting step comprises:
And extracting a first point which can reach the target point when the inside of the body is moved by the curvature,
The final shape data generation step includes:
Wherein the curvature of the guide tube is made equal to the curvature of the medical instrument. 14. A customized surgical guide generation program stored in a medium for performing the method of any one of claims 8 to 14, in combination with a computer which is hardware.

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