KR20230062312A - Device and method for aligning the reference position of the shape restoration device - Google Patents

Abstract

The present invention relates to an apparatus and a method for aligning a reference position capable of improving accuracy and reducing an error of a shape restoring device using an ultrasonic probe to confirm a shape of an object to be photographed in three dimensions without a risk of radiation exposure. The method for aligning a reference position of a shape restoring device according to an embodiment of the present invention comprises: an aligning apparatus preparing step of mounting a position reference pin in the shape restoring device, and mounting a position adjusting jig in a water tank including an ultrasonic propagation medium; a reference position aligning step of positioning an image obtaining phantom in the water tank by moving the position adjusting jig after fixing the image obtaining phantom to a phantom fixing member of the position adjusting jig, and allowing a temporary reference plane or a center line of the image obtaining phantom to correspond to a position reference pin; and a reference position aligning confirming step of moving an ultrasonic probe of the shape restoring device to photograph the image obtaining phantom, displaying a marker on an ultrasonic image, confirming an aligning state depending on movement of the ultrasonic probe based on the displayed marker, and modifying the aligning state of the shape restoring device when aligning modification is necessary.

Description

Device and method for aligning the reference position of the shape restoration device {Device and method for aligning the reference position of the shape restoration device}

The present invention relates to a device for aligning a reference position of a shape restoration device and a method for aligning, and more particularly, to a standard for a shape restoration device using an ultrasonic probe capable of confirming the shape of an object to be imaged in three dimensions without the risk of radiation exposure. It relates to a position alignment device and alignment method.

Simple imaging, based on the fact that internal structures of the human body can be seen when X-rays pass through the human body, has contributed to the field of diagnosis and treatment as the only technique capable of obtaining images of the inside of the human body in the field of radiology for about 50 years. Simple imaging is literally imaging the human body using X-rays without using a contrast agent or instrument, and a front-and-back picture or a side or diagonal shot is taken as needed. Commonly referred to as simple chest x-rays, such as chest x-rays and bone x-rays, simple x-rays x-rays, simple x-rays x-rays, simple skeletal x-rays, simple sinus x-rays x-rays, simple neck soft tissue x-rays, and mammograms.

However, during X-ray imaging, patients and medical staff may be exposed to radiation even if they wear radiation shielding clothing, and when imaging using X-rays during surgery or procedure, there is a problem in that exposure cannot be avoided.

Accordingly, the present applicant disclosed Korean Patent Registration No. 10-2247072 'shape restoration device and shape restoration method using an ultrasonic probe'.

The Korean Patent Registration No. 10-2247072 discloses a main body installed with rails for guiding movement in one direction; An arc-shaped rotation guide having one end connected to the main body to move along the rail, the other end orthogonal to one direction, and extending along the trajectory of a circle whose circumference is in contact with the main body; a probe unit that moves along the rotation guide, changes its location along an arbitrary extension line connected to a central point of the rotation guide at one point of the rotation guide, and takes an ultrasound scan of an image of a subject to be photographed; a posture orientation measuring unit that coordinates the movement of the probe unit based on a centripetal point; A position sensor that coordinates a point where the rotation guide and the main body are connected in one direction; And when the image is captured by the probe unit, a coordinate calculation command is transmitted to the posture and direction measurement unit and the position sensor, and the image acquired by the probe unit and coordinated information from the position and direction measurement unit and the position sensor are matched to determine the shape of the object to be photographed. It is configured to include a; control unit for restoring, and it is possible to restore the shape of the subject T to be photographed while preventing radiation exposure.

On the other hand, the conventional shape restoration device, including Korean Patent No. 10-2247072, constructs an ultrasound 3D image using 2D images continuously acquired in bone endoscopic surgery, etc., and registers the ultrasound 3D image and the acquired magnetic resonance image. The location of the lesion can be displayed using , and the location and direction of approach can be presented. At this time, conventional shape restoration devices do not verify the location of the ultrasound 3D image and the actual object, resulting in some errors.

The present invention is proposed to improve the accuracy of an ultrasound 3D image obtained using a shape restoration device and minimize errors in accordance with the above-described problems, and to reconstruct the obtained ultrasound 3D image and accurately match the body position on the operating table. To this end, an object of the present invention is to provide a device for aligning a reference position of a shape restoring device and a method for initially checking alignment of the shape restoring device.

A reference position aligning device for a shape restoring device according to an embodiment of the present invention for solving the above problems includes a position reference pin mounted on the shape restoring device to form a position reference point of the shape restoring device; A positioning jig mounted in a water tank containing an ultrasonic propagation medium, forming a phantom fixing member, and forming a plurality of degrees of freedom (DOF) capable of adjusting the movement and rotation of the phantom fixing member, and the positioning jig It is mounted on the phantom fixing member of the phantom fixing member, and through the movement and rotation of the phantom fixing member, an arbitrary reference plane or center line in the water tank is aligned to coincide with the position reference pin, and an image captured by the ultrasonic probe of the shape restoration device is acquired. It can be configured to include a phantom.

Here, the position reference pin is. It is provided at the end of a detachable pin mounting jig to the shape restoring device, and is mounted on the shape restoring device through the attachment of the pin mounting jig, and the pin mounting jig is the center point of the rotation guide of the shape restoring device It is provided to form a length, so that the location reference pin can be located at the center point of the rotation guide of the shape restoration device.

In addition, the positioning jig has three degrees of freedom of movement capable of moving forward/rearward, moving in opposite directions, and moving in up/down directions from the installed position, and the phantom fixing member is the positioning jig It is possible to form five degrees of freedom (5 DOF) consisting of two rotational degrees of freedom that rotate on the basis of the X-axis, which is the forward/backward direction, and rotate on the basis of the Z-axis, which is the up/down direction.

Also, the image acquisition phantom may be a cylindrical bone model or a wire.

Meanwhile, a method for aligning a reference position of a shape restoring device according to an embodiment of the present invention includes an aligning device preparation step of mounting a reference position pin to the shape restoring device and mounting a position adjusting jig in a water tank containing an ultrasonic propagation medium; After fixing the image acquisition phantom to the phantom fixing member of the positioning jig, move the positioning jig to position the image acquisition phantom so that it is positioned in the water tank, and any reference plane or center line of the image acquisition phantom is connected to the position reference pin. Reference position aligning step of aligning the shape restoration device to match, and while moving the ultrasonic probe of the shape restoration device to capture the image acquisition phantom, markers are displayed on the ultrasonic image, and an alignment state according to the movement of the ultrasonic probes is checked based on the displayed markers, , a reference position alignment confirmation step of correcting the alignment state of the shape restoring device when alignment correction is required.

Here, the position reference pin may be formed to be located at the center point of the rotation guide of the shape restoring device.

In addition, the positioning jig has three degrees of freedom of movement capable of moving forward/rearward, moving in opposite directions, and moving in up/down directions from the installed position, and the phantom fixing member is the positioning jig The position of the image acquisition phantom can be adjusted with 5 degrees of freedom (5 DOF) consisting of two rotational degrees of freedom that rotate on the basis of the X axis, which is the forward/backward direction, and rotate on the Z axis, which is the up/down direction. .

The device and method for aligning the reference position of the shape restoration device according to an embodiment of the present invention are designed to improve the stability of medical staff during surgery by excluding radiation exposure in the process of checking the shape of a bone during orthopedic surgery such as fracture and bone tumor surgery. The effect of the shape restoration device can be doubled.

In addition, in the apparatus and method for aligning the reference position of the shape restoration apparatus according to an embodiment of the present invention, the position and position of the ultrasonic probe and the fixing module are grasped in real time through a plurality of variables, and a subject to be photographed is photographed based on this. By acquiring the image, it is possible to double the effect of the shape restoration device that can collect 3D shapes in real time and easily set a path for inserting medical devices during surgery.

In addition, the reference position aligning device and aligning method of the shape restoration device according to an embodiment of the present invention can help provide excellent medical services regardless of clinical experience of medical staff.

In addition, the reference position alignment device and alignment method of the shape restoration device according to an embodiment of the present invention are not limited to the above-mentioned effects according to the embodiment of the present invention, and all effects predictable from the specification and drawings can include more.

1 is an exemplary view of a shape restoration device to which a reference position aligning device and an aligning method of the present invention are applied.
FIG. 2 is an enlarged detailed view of the shape restoration device of FIG. 1 .
FIG. 3 is a side view of the shape restoration device of FIG. 1 .
4 is a front view of the shape restoration device of FIG. 1;
5 is a perspective view of a device for aligning a reference position of a shape restoring device according to an embodiment of the present invention.
6 is an enlarged view after removing the surgical table of the shape restoration device and the water tank of the reference position aligning device of the shape restoration device in the drawing of FIG. 5 .
FIG. 7 is a detailed view of a position adjustment jig, which is one component of the reference position aligning device of the shape restoring device of FIG. 6 .
8 is a view illustrating use of a reference position aligning device of a shape restoring device according to an embodiment of the present invention.
9 is a flowchart of a method for aligning a reference position of a shape restoration apparatus according to an embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to specific embodiments, and various transformations may be applied and various embodiments may be applied. In addition, the content described below should be understood to include all conversions, equivalents, or substitutes included in the spirit and scope of the present invention.

In the following description, terms such as first and second are terms used to describe various components, and are not limited in meaning per se, and are used only for the purpose of distinguishing one component from another.

Like reference numbers used throughout this specification indicate like elements.

Singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "include", "include" or "have" described below are intended to designate that features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist. should be construed, and understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, a reference position aligning device and an aligning method of a shape restoring device according to an embodiment of the present invention will be described in detail with reference to the attached reference.

The present invention relates to a device for aligning a reference position of a shape restoration device and a method for aligning a reference position of a shape restoration device for improving the accuracy of an ultrasonic 3D image obtained from a shape restoration device and minimizing an error. After first being described, the reference position aligning device and aligning method of the shape restoring device according to the present invention will be described.

1 is an exemplary view of a shape restoring device to which a reference position aligning device and an alignment method of the present invention are applied, FIG. 2 is an enlarged detailed view of the shape restoring device of FIG. 1, and FIG. 3 is a shape restoring device of FIG. 1 , and FIG. 4 is a front view of the shape restoration device of FIG. 1 .

1 to 4, the shape restoration device 1 includes a main body 10, a rotation guide 20, a probe unit 30, a posture and direction measuring unit (not shown), a position sensor (not shown), and It may include a control unit (not shown), and may further include a display unit (not shown) and an input unit (not shown).

The main body 10 may be provided with a first rail 11 for guiding movement in one direction, and one direction may be set in a longitudinal direction and a horizontal direction of the surgical table 5. At this time, the first rail 11 may induce movement of the rotation guide 20 by forming a length along one direction of the main body 10 . In addition, a position sensor may be connected to one end of the main body 10, and the main body 10 may be provided longer than the operating table 5 so that the rotation guide 20 may move over the entire area of the operating table 5.

One end of the rotation guide 20 may be connected to the main body 10 so as to move along the first rail 11, and the other end of the rotation guide 20 is orthogonal to one direction, and the circumference is a circle in contact with the main body 10. It may be an arc shape extending along the shape of the trajectory of. The rotation guide 20 may move in one direction through the first rail 11 of the main body 10 in order to photograph a subject (not shown) accommodated in the surgery table 5 . At this time, the rotation guide 20 may be formed to move in one direction along the first rail 11 through the moving body 21 by providing a moving body 21 at the lower end, and the moving body 21 is the first rail ( 11) and the second rail 22 may be formed in a direction orthogonal. The rotation guide 20 is formed to move along the second rail 22 and may be configured to move the first rail 11 in one direction and the second rail 22 orthogonal to the one direction.

Meanwhile, a position where the rotation guide 20 stops may be sensed through a position sensor. In addition, a third rail 23 is formed along the circumferential direction of the rotation guide 20 to guide the movement of the probe unit 30 . At this time, the third rail 23 of the rotation guide 20 has a variable length, that is, it is formed to be able to expand and contract along the circumferential direction, so that the movement range of the rotation guide 20 can be expanded or reduced.

The probe unit 30 may move along the rotation guide 20 . The position of the probe unit 30 is changed along an arbitrary extension line connected to the central point of the rotation guide 20 at one point of the rotation guide 20 so that an image of a subject to be imaged can be captured by ultrasound. After stopping at one point of the rotation guide 20, the probe unit 30 may move in a direction away from the center point along an arbitrary extension line. The movement of the probe unit 30 moving along the extension line can be measured and coordinated through a position sensor.

The probe unit 30 may include an ultrasonic probe 31 , a fixing module 32 and a ball joint 33 . The ultrasound probe 31 may capture an image of a subject to be photographed. In detail, the ultrasound probe 31 may be provided in the form of an ultrasound imaging device for capturing images. As such, the ultrasonic probe 31 is a component for restoring the shape of a subject to be photographed while preventing radiation exposure in the present invention. The ultrasound probe 31 may move while being coupled to the rotation guide 20, and may capture a subject at a fixed location. When an object to be photographed is photographed by the ultrasound probe 31, information such as the position, angle, posture, etc. of the ultrasound probe 31 may be sensed through a position sensor and a posture direction measuring unit.

Meanwhile, the position of the ultrasonic probe 31 may be changed along an arbitrary extension line connected to the center point of the rotation guide 20, and at this time, it may move from the rotation guide 20 through the fixing module 32.

The fixing module 32 may connect the ultrasonic probe 31 to the rotation guide 20 . The fixing module 32 may move closer or farther along the centripetal direction in a state in which the ultrasonic probe 31 is connected to the rotation guide 20 . That is, the first movement in which the rotation guide 20 moves along the first rail 11 of the main body 10 through the moving body 21 as shown in FIGS. 3 and 4 and the rotation guide 20 Through the second motion of moving along the second rail 22 of the movable body 21 forming a length in a direction orthogonal to the first rail 11 and the third rail 23 of the rotation guide 20 The third motion in which the probe unit 30 moves and the fourth motion in which the ultrasonic probe 31 and the fixing module 32 move along an arbitrary extension line connected to the center point in a state fixed to the rotation guide 20 can be distinguished. can The position of the ultrasonic probe 31 changed through the first to fourth motions may be coordinated through a reference set in the position sensor.

The ball joint 33 may mediate and connect between the fixing module 32 , the ultrasonic probe 31 , and the fixing module 32 . The ball joint 33 may guide the 3-axis rotational motion of the ultrasonic probe 31 based on the center point. In this way, imaging conditions of the ultrasound probe 31 may be finely adjusted. In detail, the ball joint 33 captures an object to be photographed while the ultrasonic probe 31 is fixed, and then adjusts the photographing posture of the ultrasonic probe 31 in three axes as shown in FIG. 3 in order to scan the periphery of the photographed area. direction can be rotated.

In addition, the ball joint 33 may be locked to limit the movement of the ultrasound probe 31 when photographing a subject in a state in which the ultrasound probe 31 is fixed. At this time, locking means a state in which rotation of the ball joint 33 itself is limited, and through this, the 3-axis rotational motion of the ultrasonic probe 31 can be limited.

Meanwhile, the movement of the ultrasonic probe 31 finely adjusted through the ball joint 33 may be defined as a fifth movement. The photographing conditions of the ultrasonic probe 31 finely adjusted through the ball joint 33 can be measured and stored through the attitude measuring unit.

The posture direction measurement unit (not shown) may coordinate the movement of the probe unit 30 based on the centripetal point. The posture and orientation measuring unit may measure and coordinate the posture and position of the ultrasonic probe 31 finely adjusted through the fifth motion generated by the motion of the ball joint 33 . The attitude and direction measuring unit may include at least two Attitude Heading Reference Systems (AHRS) that are compatible with each other and measure the attitude and orientation of the probe unit 30 .

A position sensor (not shown) may coordinate a point where the rotation guide 20 and the main body 10 are connected based on one direction. The position sensor may coordinate a point where the rotation guide 20 stops. The position sensor may coordinate the position of the probe unit 30 moving along the rotation guide 20 . The position sensor may coordinate the position of the ultrasonic probe 31 moving along an arbitrary line connected to the center point of the rotation guide 20 through the fixing module 32 . That is, the position sensor may coordinate the position of the ultrasonic probe 31 moving by the first to fourth motions.

The control unit (not shown) may transmit a coordinate calculation command to the position and direction measuring unit and the position sensor when the probe unit 30 captures an image. The control unit may restore the shape of the object to be photographed by matching the image acquired by the probe unit 30 with information coordinated by the attitude and direction measurement unit and the position sensor. The control unit may control the ball joint 33 to be photographed by the ultrasonic probe 31 in a locked state under different conditions. That is, the control unit can compare information obtained by scanning the periphery of a plurality of imaging areas captured through the ultrasonic probe 31 at different imaging angles by locking/rotating the ball joint 33, and the matching information is identified. Then, the shape of the object to be photographed can be synthesized.

The display unit (not shown) may output the shape of the object to be photographed restored by the controller in the form of a 3D image. The shape of an object to be photographed may be checked in real time through an image output from the display unit. In addition, it is possible to track changes in the shape of a subject to be photographed by accumulating and storing images output from the display unit.

An input unit (not shown) may input information on a subject to be photographed. The input unit may input the size, volume, size, etc. of a subject to be photographed accommodated in the surgery table 5 . Photography settings of the rotation guide 20 and the probe unit 30 may be flexibly changed based on information input through the input unit.

Meanwhile, the shape restoration device 1 may output in real time through the display unit not only the image restored by the control unit but also the image taken through the probe unit 30 . That is, by outputting an image captured in real time, it is possible to easily check the path of a medical device that invades a target to be photographed.

The present invention is a device and method for aligning the reference position of the shape restoration device 1 as described above, and provides reconstruction of an ultrasound 3D image obtained through alignment of the shape restoration device 1 and accurate position matching of a body position on an operating table. By doing so, the accuracy of the 3D image can be improved and errors can be minimized. That is, the present invention is used to determine the mechanical correlation between the arbitrarily arranged surgical table 5 and the guide body 10. This will be described with reference to FIGS. 5 to 8 .

5 is a perspective view of a reference position alignment device of a shape restoration device according to an embodiment of the present invention, and FIG. 6 is a view of FIG. FIG. 7 is a detailed view of a position adjustment jig, which is a component of the reference position alignment device of the shape restoration device of FIG. 6, and FIG. 8 is a reference position alignment of the shape restoration device according to an embodiment of the present invention. It is an example of using the device.

First, referring to FIGS. 5 to 8 , the reference position aligning device 100 of the shape restoration device 1 according to an embodiment of the present invention includes a positioning reference pin 110, a positioning jig 120, and image acquisition. It may be configured to include the phantom 130 .

The position reference pin 110 may be mounted on the shape restoring device 1 . At this time, the position reference pin 110 is provided at the end of the pin mounting jig 115 detachable from the shape restoring device 1, and can be mounted on the shape restoring device 1 through the pin mounting jig 115. The pin mounting jig 115 may be mounted on the rotation guide 20 of the shape restoring device 1 to form a length toward the center point of the rotation guide 20, so that the position reference pin 110 protrudes from the end thereof. can be formed At this time, preferably, the length of the pin mounting jig 115 from one end mounted on the rotation guide 20 to the other end where the position reference pin 110 is formed forms a length to the center point, so that the position reference pin 110 The rotation guide 20 may be positioned at the center point.

The position adjustment jig 120 may be mounted in the water tank 105 containing the ultrasonic propagation medium. Here, the ultrasound propagation medium may be water or medical ultrasound gel, but is not necessarily limited thereto, and any medium having characteristics capable of transmitting ultrasound generated from the ultrasound probe 31 may be used.

Also, the position adjusting jig 120 may form a phantom fixing member 128 . At this time, the position adjusting jig 120 may form a plurality of degrees of freedom (DOF) capable of adjusting the movement and rotation of the phantom fixing member 128 . In detail, the position adjustment jig 120 forms a first degree of freedom, which is movement in forward/rearward directions from the installed position, a second degree of freedom, which is movement in both directions, and a third degree of freedom, which is movement in up/down directions. can do. That is, it forms three parts of the degree of freedom of movement. In addition, the positioning jig 120 rotates the phantom fixing member 128 based on the X-axis direction, which is the forward/backward direction of the positioning jig 120, and rotates based on the Z-axis direction, which is the up/down direction. can be configured. That is, it forms the degree of freedom of rotation of the two parts. Through this, it is configured to form a total of 5 degrees of freedom (5 DOF), and position adjustment of the image acquisition phantom to be described later can be executed in more detail.

To this end, the positioning jig 120 has a mounting piece 121 for attaching the positioning jig 120 to the water tank 105 containing the ultrasonic propagation medium, and is provided on the top of the mounting piece 121 and has lengths in both directions. A lateral moving rail 122 forming a, a front and rear moving rail 123 provided at the upper end of the lateral moving rail 122 and forming a length in the forward/rear direction orthogonal to the lateral moving rail 122, a front and rear moving rail 123 ) It may include an up and down moving rail 124 provided at the front and forming a length in the vertical direction, and between the side moving rail 122 and the front and rear moving rail 123 are bound to each rail 122 and 123 to each rail A first movable member 125 is provided that mediates the connection between the 122 and 123 but can move along the respective rails 122 and 123, and between the front and rear movable rails 123 and the upper and lower movable rails 124, each rail A second movable member 126 may be provided that is coupled to the rails 123 and 124 and mediates the connection between the rails 123 and 124 but can move along the rails 123 and 124 .

In addition, a rotation module 127 capable of rotating in the Z-axis direction is provided at the lower end of the vertical movement rail 124, and a rotation module 127 is provided in front of the rotation module 127 for fixing the image acquisition phantom 130 to be described later. The phantom fixing member 128 may be provided to rotate based on the X-axis direction. As will be described later, since the image acquisition phantom 130 may be a long cylindrical bone model (shown in the drawing) or a wire (not shown), in order to stably fix both ends of the image acquisition phantom 130, the front and rear The movable rail 123, the up and down movable rail 124, the first movable member 125, the second movable member 126, the rotation module 127, and the phantom fixing member 128 respectively move the side movable rail 122. It can be provided on both sides as a standard.

The image acquisition phantom 130 may be mounted on the phantom fixing member 128 of the positioning jig 120 and move and rotate along with the movement and rotation of the phantom fixing member 128 . At this time, according to the movement and rotation of the phantom fixing member 128, any reference plane or center line within the water tank 105 may be aligned to coincide with the position reference pin 110, and after alignment, the position adjustment jig 120 It may be configured to be photographed by the ultrasonic probe 31 of the shape restoration device 1 in a fixed state.

At this time, the image acquisition phantom 130 may be a cylindrical bone model (shown in the drawing) or a wire (not shown) as described above, and the ultrasound image displayed in real time on the display unit of the shape restoration device 1 A marker for reference can be displayed, and the alignment state of the shape restoration device 1 can be checked and corrected by moving and rotating the ultrasound probe 31 based on the displayed marker. When imaging with the probe 31, an ultrasound 3D image can be more accurate and errors can be minimized.

Hereinafter, a method for aligning the reference position of the shape restoration apparatus using the above-described reference position aligning apparatus of the shape restoration apparatus will be described with reference to FIG. 9 .

9 is a flowchart of a method for aligning a reference position of a shape restoration apparatus according to an embodiment of the present invention.

Referring to FIG. 9 , the method for aligning the reference position of the shape restoring device according to an embodiment of the present invention includes preparing the aligning device (S10), aligning the reference position (S20), and checking the alignment of the reference position (S30). can be configured.

Specifically, the aligning device preparation step (S10) is a shape restoring device for mounting the positioning reference pin 110 on the shape restoring device 1 and mounting the positioning jig 120 on the water tank 105 containing the ultrasonic propagation medium. This is the step of preparing the devices for alignment in (1).

In the reference position alignment step (S20), the image acquisition phantom 130 is fixed to the phantom fixing member 128 of the positioning jig 120, and then the image acquisition phantom 130 moves through the 5 degrees of freedom of the positioning jig 120. This step is to position the image acquisition phantom 130 so as to be positioned in the water tank, and align the reference plane or center line of the image acquisition phantom 130 to coincide with the positioning reference pin 110 .

In the reference position alignment checking step (S30), a marker is displayed on the ultrasound image of the display unit while the ultrasound probe 31 of the shape restoration device 1 is moved to capture the image acquisition phantom 130, and ultrasound is based on the displayed marker. This is a step of correcting the alignment of the shape restoring device 1 when the alignment needs to be corrected while checking the alignment according to the movement of the probe 31 .

When the ultrasound probe 31 is properly aligned through the reference position alignment confirmation step (S30), an accurate ultrasound 3D image with minimal error can be produced even when the body is photographed, and the matching between images is also made accurately, so that the patient can receive excellent results from medical staff. You may be able to receive medical care.

Here, the positioning reference pin 110 is located at the center of the rotation guide 20 of the shape restoring device 1, making it easier to check the alignment of the shape restoring device 1, and the positioning jig 120 has 5 degrees of freedom Through this, it is easy to adjust the position of the image acquisition phantom 130, so that the process of aligning the reference position of the shape restoration device 1 can be performed in detail and easily.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can implement them in other specific forms without changing the technical spirit or essential features of the present invention. you will be able to understand Therefore, the embodiments described above are illustrative in all respects and are not restrictive.

1: Shape Restoration Device
5: operating table
10: body
11: first rail
20 : Rotation guide
21: mobile body
22: second rail
23: third rail
30: probe part
31: ultrasonic probe
32: fixed module
33: ball joint
100: reference position alignment device
105: water tank
110: position reference pin
115: pin mounting jig
120: position adjustment jig
121: mounting piece
122: side moving rail
123: front and rear moving rails
124: up and down moving rail
125: first moving member
126: second moving member
127: rotation module
128: phantom fixing member
130: image acquisition phantom

Claims (7)

a position reference pin mounted on the shape restoring device to form a positional reference point of the shape restoring device;
A positioning jig mounted in a water tank containing an ultrasonic propagation medium and forming a phantom fixing member, forming a plurality of degrees of freedom (DOF) capable of adjusting the movement and rotation of the phantom fixing member, and
It is mounted on the phantom fixing member of the positioning jig, and through the movement and rotation of the phantom fixing member, an arbitrary reference plane or center line in the water tank is aligned to coincide with the position reference pin, and is aligned by the ultrasonic probe of the shape restoring device. An apparatus for aligning a reference position of a shape restoration apparatus including a phantom for acquiring an image to be photographed.
According to claim 1,
The location reference pin.
It is provided at the end of the pin mounting jig detachable from the shape restoring device, and is mounted on the shape restoring device through the attachment of the pin mounting jig,
The pin mounting jig,
When mounted on the shape restoring device, it is provided to form a length as a center point of the rotation guide of the shape restoring device,
The reference position aligning device of the shape restoring device, characterized in that the position reference pin is located at the center point of the rotation guide of the shape restoring device.
According to claim 1,
The position adjustment jig,
Three degrees of freedom of movement capable of moving in the forward/rearward direction, in both directions, and in the up/down direction from the installed position;
The phantom fixing member forms 5 degrees of freedom (5 DOF) consisting of two rotational degrees of freedom in which the phantom fixing member rotates on the basis of the X-axis, which is the forward/backward direction of the positioning jig, and rotates on the basis of the Z-axis, which is the up/down direction. Reference position aligning device of the shape restoration device, characterized in that for doing.
According to claim 1,
The image acquisition phantom,
Reference position aligning device of the shape restoration device, characterized in that the cylindrical bone model or wire.
An alignment device preparation step of mounting a positioning reference pin on the shape restoration device and mounting the positioning jig on a water tank containing an ultrasonic propagation medium;
After fixing the image acquisition phantom to the phantom fixing member of the positioning jig, move the positioning jig to position the image acquisition phantom so that it is positioned in the water tank, and any reference plane or center line of the image acquisition phantom is connected to the position reference pin. Reference position aligning step of aligning to match, and
While the ultrasonic probe of the shape restoration device is moved to capture the image acquisition phantom, a marker is displayed on the ultrasonic image, and an alignment state according to the movement of the ultrasonic probe is checked based on the displayed marker, and when alignment correction is required, the shape A method for aligning a reference position of a shape restoration device, comprising a step of checking alignment of a reference position to correct an alignment state of the restoration device.
According to claim 5,
The position reference pin,
The method of aligning the reference position of the shape restoration device, characterized in that formed to be located at the center point of the rotation guide of the shape restoration device.
According to claim 5,
The position adjustment jig,
Three degrees of freedom of movement capable of moving in the forward/rearward direction, in both directions, and in the up/down direction from the installed position;
The phantom fixing member rotates on the basis of the X-axis, which is the forward/backward direction of the positioning jig, and rotates on the basis of the Z-axis, which is the up/down direction. A method for aligning the reference position of a shape restoration device, characterized in that the position of the image acquisition phantom can be adjusted.

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