WO2019078486A1 - Système et procédé de guidage d'angle d'insertion d'une structure et programme informatique - Google Patents

Système et procédé de guidage d'angle d'insertion d'une structure et programme informatique Download PDF

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Publication number
WO2019078486A1
WO2019078486A1 PCT/KR2018/010362 KR2018010362W WO2019078486A1 WO 2019078486 A1 WO2019078486 A1 WO 2019078486A1 KR 2018010362 W KR2018010362 W KR 2018010362W WO 2019078486 A1 WO2019078486 A1 WO 2019078486A1
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WIPO (PCT)
Prior art keywords
bone
range
angle
insertion angle
effective
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PCT/KR2018/010362
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English (en)
Korean (ko)
Inventor
전인호
홍한표
최현석
제이. 간디몰릭
Original Assignee
울산대학교 산학협력단
재단법인 아산사회복지재단
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Publication of WO2019078486A1 publication Critical patent/WO2019078486A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4607—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of hip femoral endoprostheses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
    • A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2/4657—Measuring instruments used for implanting artificial joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4687—Mechanical guides for implantation instruments

Definitions

  • the present invention relates to a system, a method, and a computer program for guiding an insertion angle of a structure, and more particularly, to a method and computer program for guiding an insertion angle of a structure in inserting a cup-shaped structure into which a head of a first bone is inserted, To a system, method and computer program for guiding information.
  • the hip joint consists of a mandibular acetabulum and a ball-shaped femoral head that allows the free movement of the hamate and femur.
  • the cartilage is broken and the hard bones come into direct contact with each other, resulting in severe pain and difficulty in walking.
  • it is common to remove the part of the hip joint and treat it by inserting an artificial joint or a living implant.
  • the direction of the artificial joint inserted in the actual operation is judged through the physician's experience and a predetermined guideline provided by the manufacturer of the artificial joint. If the patient's motion is present, the direction of the acetabular cup can not be accurately determined There was a problem.
  • Another object of the present invention is to provide an apparatus, method, and computer program for inserting an angle of a structure capable of grasping a current insertion angle of a structure in real time and further allowing a user to grasp it more intuitively.
  • the present invention also provides an insertion angle guiding device for a structure capable of remarkably reducing post-surgery heterogeneity by calculating an effective insertion angle range of a structure inserted into a second bone based on movement range data of a first bone for each patient And a computer program.
  • a system for guiding an insertion angle of the structure when a cup-shaped structure into which a head of a first bone is inserted is inserted into a second bone according to an embodiment of the present invention, Acquiring movable range data of the first bone with respect to the second bone and calculating an effective insertion angle range of the structure based on the movable range data;
  • the insertion angle guide device of the structure may compare the real-time insertion angle of the structure with the effective insertion angle range based on the real-time angle of the handle received from the sensor, and provide the result of the comparison.
  • the insertion angle guide device of the structure may visually provide or provide in the form of sound an indication of the extent to which the real time insertion angle deviates from the effective insertion angle range.
  • the movable range data is obtained by fixing the second bone to a predetermined position when the second bone and the first bone are coupled without insertion of the structure and attaching the sensor to a body part corresponding to the first bone And can be acquired by the sensor by moving the first bone in a state where the first bone is in a state of being inserted and guided to the insertion angle guiding device of the structure.
  • the movement range data may include an angle movement range of the first bone around at least one direction on the three-dimensional space.
  • the movable range data may include respective movable ranges of the first bone with the first direction, the second direction and the third direction orthogonal to each other as axes.
  • the insertion angle guide device of the structure can calculate an angle within a predetermined angle range from a central angle of each movable range of the first bone to an angle belonging to the effective insertion angle range.
  • the movement range data includes an angle movement range of a first bone having a plurality of directions on a three-dimensional space as axes
  • the insertion angle guide device of the structure includes a plurality The effective insertion angle range for each of the movable ranges of the first bone of the first bone can be calculated.
  • a method of guiding an insertion angle of the structure when inserting a cup-shaped structure into which a head of a first bone is inserted according to an embodiment of the present invention is inserted into a second bone Obtaining movement range data of the first bone relative to the second bone; And calculating an effective insertion angle range of the structure based on the movable range data.
  • the method of guiding the insertion angle of the structure may include comparing a real-time insertion angle of the structure with the effective insertion angle range; And providing the result of the comparison.
  • the step of providing the result of the comparison may visually provide or provide in the form of sound an indication of the extent to which the real-time insertion angle deviates from the effective insertion angle range.
  • the movable range data may be obtained by moving the first bone in a state where the second bone fixed to the predetermined position and the first bone are engaged before the structure is inserted into the second bone.
  • the movement range data may include an angle movement range of the first bone around at least one direction on the three-dimensional space.
  • the movable range data may include respective movable ranges of the first bone with the first direction, the second direction and the third direction orthogonal to each other as axes.
  • the step of calculating the effective insertion angle range of the structure may calculate an angle within a predetermined angle range from a central angle of each movable range of the first bone to an angle belonging to the effective insertion angle range.
  • the movable range data comprises an angled motion range of a first bone about each of a plurality of directions on a three dimensional space and wherein calculating the effective insertion angle range of the structure comprises: The effective insertion angle range for each movable range of the plurality of first bones can be calculated.
  • an apparatus, a method, and a computer program that can precisely guide the insertion angle of a structure when inserting a cup-shaped structure into which the head of the first bone is inserted, into the second bone.
  • An insertion angle guide device for a structure capable of remarkably reducing a post-operative feeling by calculating an effective insertion angle range of a structure inserted into a second bone based on movement range data of a first bone by a patient, Can be implemented.
  • FIG. 1 is a view illustrating an insertion angle guide system of a structure according to an embodiment of the present invention.
  • FIG. 2 is a block diagram for explaining an internal configuration of a user terminal and a sensor in an embodiment of the present invention.
  • Figs. 3A to 3C are views for explaining respective movable ranges of the first bone in the three-dimensional space.
  • FIG. 4 is a view showing a valid insertion angle range calculated by a processor according to an embodiment of the present invention on a three-dimensional space.
  • FIG. 5 is a view for explaining a method of guiding insertion of a structure according to an insertion angle guiding system of a structure according to an embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating an insertion angle guide method of a structure performed by a user terminal according to an exemplary embodiment of the present invention.
  • FIG. 7 is an illustration of a screen displayed on the user terminal to an extent that the current insertion angle deviates from the effective insertion angle range according to an embodiment of the present invention.
  • a system for guiding an insertion angle of the structure when a cup-shaped structure into which a head of a first bone is inserted is inserted into a second bone according to an embodiment of the present invention, Acquiring movable range data of the first bone with respect to the second bone and calculating an effective insertion angle range of the structure based on the movable range data;
  • FIG. 1 is a view illustrating an insertion angle guide system of a structure according to an embodiment of the present invention.
  • the system of Figure 1 includes a user terminal 100 that operates as an insertion angle guide device for a structure, a handle 200 that rests on a structure 500 for insertion into a second bone 300, A sensor 210 for transmitting the current angle of the first bone 300 and a first bone 400 in which the head 410 is inserted into the structure 500 which is finally inserted into the second bone 300.
  • the structure 500 is a structure for allowing the first bone 400 to move in a state where the first bone 400 and the second bone 300 are coupled to each other.
  • the existing biotissue E.g., an artificial acetabular cup
  • the insertion angle guide system of the structure according to an embodiment of the present invention can be used to guide the insertion angle of the structure 500 to various joints constituting the human body.
  • a system according to an embodiment of the present invention can be used to guide an insertion angle of an artificial acetabular cup for connection with a femur to a hipbone.
  • the system according to an embodiment of the present invention may be used to guide an insertion angle of a structure in various joints such as a globe joint, a joint joint, a supraglass joint, an elliptical joint, an axle joint, and an eye joint in addition to the above- .
  • the user terminal 100 calculates and provides a comparison result of the current insertion angle of the structure 500 and the effective insertion angle range of the structure 500 to guide the insertion angle of the structure 500 can do.
  • the user terminal 100 may be a fixed terminal implemented as a computer device or a mobile terminal.
  • PMP Personal Digital Assistant
  • the user terminal 100 may be connected to the sensor 210 transmitting the current angle of the handle 200 through various communication methods.
  • the communication method may be any one of wireless communication methods such as Bluetooth, Zigbee, WiFi, CDMA and WIBRO.
  • the handle 200 includes a fixture configured to fit the structure 500 for insertion into the second bone 300 and having a shape suitable for fixing the structure 500 to the distal end can do.
  • the handle 200 may include a spherical fixing portion for fixing the acetabular cup.
  • the structure 500 may be coupled to be aligned with the handle 200 in a predetermined manner.
  • the structure 500 may be coupled to the handle 200 so that the line formed by the line orthogonal to the circle formed by the cut surface of the acetabolic cup and the line formed by the handle 200 are parallel to each other, .
  • this alignment scheme may be set parallel or differently as described above.
  • FIG. 2 is a block diagram for explaining an internal configuration of a user terminal 100 and a sensor 210 according to an embodiment of the present invention.
  • the user terminal 100 and the sensor 210 may include memories 111 and 211, processors 112 and 212 and communication modules 113 and 213.
  • the memories 111 and 211 may be a computer-readable recording medium and may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive.
  • a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive.
  • the memory 111 and 211 may store an operating system and at least one program code (for example, a code for an insertion guide application of a structure installed and driven in the user terminal 100). These software components may be loaded from a computer readable recording medium separate from the memories 111 and 211 using a drive mechanism.
  • a computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card.
  • Processors 112 and 212 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and I / O operations.
  • An instruction may be provided to the processor 112, 212 by the memory 111, 211 or the communication module 113, 213.
  • the processor 112, 212 may be configured to execute an instruction in accordance with a program code stored in a recording device, such as the memory 111, 211.
  • the communication modules 113 and 213 may provide a function for the user terminal 100 and the sensor 210 to communicate with each other and may provide functions for communicating with other user terminals (not shown) or other devices (not shown) .
  • the processor 212 of the sensor 210 transmits detection information sensed by the sensing unit 214 to the user terminal 100 through the communication module 213 according to the program code stored in the recording device such as the memory 211. [ .
  • the sensor 210 may include a sensing unit 214 for sensing attitude information of an object (e.g., the handle 200) to which the sensor 210 is attached in a three-dimensional space.
  • the sensing unit 214 includes a gravity sensing unit for measuring gravity, a velocity sensing unit for sensing velocity, an acceleration sensing unit for sensing acceleration, an angular velocity sensing unit for sensing angular velocity, a geomagnetism sensing unit for sensing geomagnetism And an altitude sensing unit for sensing an altitude.
  • the sensor 210 can provide attitude information on the three-dimensional space of the object to which the sensor 210 is attached to the user terminal 100 in real time based on the sensing result of the sensing unit 214 as described above.
  • the sensor 210 may provide the orientation of the object to the user terminal 100 in real time in the form of an angle from the X axis, an angle from the Y axis, and an angle from the Z axis.
  • the sensor 210 may provide the attitude information of the object to the user terminal 100 at predetermined time intervals (for example, 0.1 second). In other words, the sensor 210 can provide attitude information of the object to the user terminal 100 in real time.
  • the user terminal 100 can confirm and guide the current insertion angle of the structure 500 based on the attitude information of the object provided from the sensor 210 in real time. Details thereof will be described later.
  • the input / output interface 114 included in the user terminal 100 may be a means for interfacing with the input / output device 115.
  • the input device may comprise a device such as, for example, a keyboard or a mouse
  • the output device may comprise a device such as a display for displaying a communication session of the application.
  • the input / output interface 114 may be a means for interfacing with a device having integrated functions for input and output, such as a touch screen.
  • the user terminal 100 and the sensor 210 may include more components than the components of FIG. However, there is no need to clearly illustrate most prior art components.
  • the user terminal 100 may be implemented to include at least some of the input / output devices 115 described above, or may include other components such as a transceiver, a Global Positioning System (GPS) module, a camera, As shown in FIG.
  • GPS Global Positioning System
  • the senor 210 and the user terminal 100 may be integrally configured.
  • the user terminal 100 according to another embodiment of the present invention may include the sensor 210.
  • the user terminal 100 may be attached to the handle 200 in the same manner as the above-described sensor 210 to check and guide the current insertion angle of the structure 500.
  • the processor 112 in accordance with an embodiment of the present invention may obtain movement range data of the first bone for the second bone.
  • 'movable range of bones means a range in which the corresponding bones can be operated in a three-dimensional space.
  • the bones may be movable in a plurality of directions .
  • the range of motion of such bones can be defined as the maximum positive range of motion and the maximum negative range of motion for each direction. Detailed explanations related to this will be described later.
  • the movement range data of the first bone can be obtained by various methods.
  • the operating range data may be obtained by a user's input to the user terminal 100.
  • the operating range data can be obtained by the doctor measuring the range of motion of the first bone with respect to the second bone of the patient, and inputting the measurement result to the user terminal 100.
  • the movement range data may also be obtained by a sensor (not shown) attached to the patient's body.
  • the sensor (not shown) may be a sensor having the same structure and role as the sensor 210 attached to the handle 200.
  • the sensor (not shown) can sense the posture on the three-dimensional space of the body part to which the sensor (not shown) is attached and provide the sensed posture information to the user terminal 100.
  • the user terminal 100 can acquire the movable range data by accumulating attitude information received from a sensor (not shown). More specifically, the physician can acquire the moving range data by operating the first bone with the first bone combined with the second bone (the second bone fixed by fixing the body to the bed) fixed at a predetermined position . That is, the movement range data can be obtained by activating the remaining bones (i.e., body parts) to which the sensor is attached in a state in which the bones of one of the two bones constituting the joint to which the movable range is to be determined is fixed.
  • Such acquisition of the moving range data may be preferably obtained before the structure 500 of FIG. 1 is inserted into the second bone 300 of FIG.
  • the movement range data may be obtained in a state where the second bone 300 of FIG. 1 and the first bone 400 of FIG. 1 are combined (for example, a state before starting surgery on the patient).
  • the movement range data acquired by the processor 112 may include an angular motion range of the first bone around at least one direction on the three-dimensional space.
  • Figs. 3A to 3C are views for explaining respective movable ranges of the first bone in the three-dimensional space.
  • the insertion angle guiding system of the structure according to the embodiment of the present invention is configured such that the insertion angle of the artificial acetabular cup for coupling with the femur (first bone) to the medullary bone (second bone) As shown in FIG.
  • the movable range data under the above-mentioned premise may include the respective movable ranges of the first bones about the first direction, the second direction and the third direction orthogonal to each other as shown in Figs. 3A to 3C.
  • the movement range data may include respective movable ranges 610 and 620 of the femur (first bone) relative to the amniotic bone (second bone) having the + X direction as the rotation axis.
  • each of the movable ranges 610 and 620 has a positive angular range 610 based on a predetermined reference angle (for example, an angle at which the first bone becomes parallel to the vertebral bone) And a negative angular range 620 with respect to the reference angle.
  • the movable range data may include the respective movable ranges 630 and 640 of the femur (first bone) relative to the unshown bone (second bone) with the + Y direction as the rotational axis.
  • each of the movable ranges 630 and 640 may include a positive angular range 630 based on a predetermined reference angle and a negative angular range 640 based on a predetermined reference angle.
  • the movement range data may include respective movable ranges 650 and 660 of the femur (first bone) for the non-musculoskeletal bone (second bone) with the + Z direction as the rotation axis.
  • each of the movable ranges 650 and 660 may include a positive angular range 650 based on a predetermined reference angle and a negative angular range 660 based on a predetermined reference angle.
  • 'angle' refers to a specific angle such as 30 degrees and 45 degrees
  • 'each operating range' refers to a range of angles defined as a starting angle and an ending angle, such as 0 degrees to 40 degrees, . ≪ / RTI >
  • the processor 112 can calculate the effective insertion angle range of the structure based on the movable range data obtained by the above-described process. For example, the processor 112 may calculate an angle within a predetermined angle range from a central angle of each movable range of the first bone obtained by the above-described process to an angle belonging to the effective insertion angle range.
  • the 'effective insertion angle range' may refer to an interval of an angle defined by a start angle and an end angle, similar to the 'each movement range' described above.
  • the 'center angle' may also mean the angle of the point at which the angle between the start angle and the end angle of each operating range is divided by half.
  • the central angle may be +15 degrees.
  • the processor 112 may calculate an angle belonging to an angle within a range of +15 degrees to +5 degrees from a center angle of +15 degrees, that is, an angle between +10 degrees and +20 degrees.
  • this is an example.
  • the predetermined angle range can be determined according to the precision required by the operation. If high precision is required, for example, the predetermined angle may be determined to be 0.5 degrees, 0.1 degrees, or zero degrees. On the other hand, when relatively low precision is required, the predetermined angle may be determined to be 5 degrees, 7 degrees, or the like.
  • the central angle itself may be an effective insertion angle range.
  • the structure may be inserted at an angle coinciding with the center angle.
  • processor 112 may include a plurality The effective insertion angle range for each of the movable ranges of the plurality of first bones about the axis of the first bone can be calculated.
  • the movable range data includes the respective movable ranges of the first bones having the + X direction, the + Y direction and the + Z direction, which are orthogonal to each other as shown in Figs. 3A to 3C.
  • the processor calculates the central angle of each movable range 610, 620 of the first bone with the + X direction as the rotation axis, and calculates an angle within a predetermined angle range from the calculated central angle with an angle belonging to the effective insertion angle range Can be calculated.
  • the effective insertion angle range calculated at this time may be meaningful as the effective insertion angle when the + X direction is the rotation axis.
  • the processor can calculate the effective insertion angle range when the + Y direction is the rotation axis and the effective insertion angle range when the + Z direction is the rotation axis by a similar method.
  • the insertion guide device of the structure according to the embodiment of the present invention can calculate the effective insertion angle range of the structure in the three-dimensional space.
  • FIG 4 is a view showing a valid insertion angle range 680 calculated by the processor 112 on a three-dimensional space according to an embodiment of the present invention.
  • each movable range 670 of the first bone on the three-dimensional space is as shown.
  • Each of the movable ranges 670 may be obtained by moving the first bone (femur, not shown) attached with the sensor while the second bone (innocent bone) 300 is fixed as described above.
  • the processor 112 may calculate an angle that falls within a predetermined angular range from the central angle 690 of each movable range 670 of the first bone to an angle belonging to the effective insertion angle range 680, as described above.
  • the center angle 690 may be determined by considering all of the central angles when the plurality of directions are the movable axes.
  • the processor 112 can then compare the current insertion angle of the structure with the effective insertion angle range calculated by the above process.
  • the current insertion angle of the structure may be received from the sensor 210 attached to the handle 200 as described above.
  • the handle 200 may be used by a user such as a physician.
  • the physician may use the handle 200 with the sensor 210 attached thereto for insertion of the structure.
  • the handle 200 may also be attached to a robot for structure insertion surgery.
  • the robot can receive information about the current insertion angle from the sensor 210 attached to the handle 200 and control the robot arm or the like to which the handle 200 is attached so that the structure can be inserted at a more correct angle.
  • FIG. 5 is a view for explaining a method of guiding insertion of a structure 500 according to an insertion angle guiding system of a structure according to an embodiment of the present invention.
  • the central angle 690 and the effective insertion angle range 680 are calculated by the processor 112 by the processes described with reference to FIGS.
  • the processor 112 may compare the current insertion angle of the structure 500 with the effective insertion angle range 680. [ The processor 112 may also provide a comparison of the current insertion angle and the effective insertion angle range 680. At this time, the processor 112 may visually provide the extent to which the current insertion angle deviates from the effective insertion angle range, as shown in FIG. The processor 112 may also provide the degree to which the current insertion angle deviates from the effective insertion angle range in the form of sound.
  • the user can appropriately adjust the insertion angle of the handle 200 based on the provided information so that the structure 500 can be inserted into the second bone 300 in the correct direction.
  • FIG. 6 is a flowchart illustrating a method of guiding an insertion angle of a structure performed by a user terminal 100 used as an insertion angle guiding device of a structure according to an embodiment of the present invention.
  • a user terminal 100 used as an insertion angle guiding device of a structure according to an embodiment of the present invention.
  • the description of the contents overlapping with those described with reference to FIGS. 1 to 5 will be omitted.
  • the user terminal 100 may acquire the moving range data of the first bone with respect to the second bone.
  • the movement range data of the first bone can be obtained by various methods.
  • the operating range data may be obtained by a user's input to the user terminal 100.
  • the operating range data can be obtained by the doctor measuring the range of motion of the first bone with respect to the second bone of the patient, and inputting the measurement result to the user terminal 100.
  • the movement range data may also be obtained by a sensor (not shown) attached to the patient's body.
  • the sensor (not shown) may be a sensor having the same structure and role as the sensor 210 attached to the handle 200.
  • the sensor (not shown) senses the posture of the body part to which the sensor is attached in the three-dimensional space, and provides the sensed posture information to the user terminal 100.
  • the user terminal 100 can acquire the movable range data by accumulating attitude information received from a sensor (not shown).
  • the physician can acquire the moving range data by operating the first bone with the first bone combined with the second bone (the second bone fixed by fixing the body to the bed) fixed at a predetermined position . That is, the movement range data can be obtained by activating the remaining bones (i.e., body parts) to which the sensor is attached in a state in which the bones of one of the two bones constituting the joint to which the movable range is to be determined is fixed.
  • the remaining bones i.e., body parts
  • Such acquisition of the moving range data may be preferably obtained before the structure 500 of FIG. 1 is inserted into the second bone 300 of FIG.
  • the movement range data may be obtained in a state where the second bone 300 of FIG. 1 and the first bone 400 of FIG. 1 are combined (for example, a state before starting surgery on the patient).
  • the movement range data acquired by the user terminal 100 may include an angle movement range of the first bone around at least one direction on the three-dimensional space.
  • the movement range data may include the respective movable ranges 610 and 620 of the femur (first bone) relative to the amygdala (second bone) with the + X direction as the rotation axis.
  • each of the movable ranges 610 and 620 has a positive angular range 610 based on a predetermined reference angle (for example, an angle at which the first bone becomes parallel to the vertebral bone) And a negative angular range 620 with respect to the reference angle.
  • the movable range data may include the respective movable ranges 630 and 640 of the femur (first bone) relative to the unshown bone (second bone) with the + Y direction as the rotational axis.
  • each of the movable ranges 630 and 640 may include a positive angular range 630 based on a predetermined reference angle and a negative angular range 640 based on a predetermined reference angle.
  • the movement range data may include respective movable ranges 650 and 660 of the femur (first bone) for the non-musculoskeletal bone (second bone) with the + Z direction as the rotation axis.
  • each of the movable ranges 650 and 660 may include a positive angular range 650 based on a predetermined reference angle and a negative angular range 660 based on a predetermined reference angle.
  • 'angle' refers to a specific angle such as 30 degrees and 45 degrees
  • 'each operating range' refers to a range of angles defined as a starting angle and an ending angle, such as 0 degrees to 40 degrees, . ≪ / RTI >
  • the user terminal 100 can calculate the effective insertion angle range of the structure based on the movable range data obtained by the above-described procedure. (S62). For example, the user terminal 100 may calculate an angle that falls within a predetermined angle range from the central angle of each movable range of the first bone obtained by the above-described process, as an angle belonging to the effective insertion angle range.
  • the 'effective insertion angle range' may refer to an interval of an angle defined by a start angle and an end angle, similar to the 'each movement range' described above.
  • the 'center angle' may also mean the angle of the point at which the angle between the start angle and the end angle of each operating range is divided by half.
  • the central angle may be +15 degrees.
  • the user terminal 100 can calculate an angle belonging to an angle between +10 degrees and +20 degrees within an angle of 5 degrees or less from a center angle of +15 degrees, to an angle belonging to an effective insertion angle range.
  • the predetermined angle range can be determined according to the precision required by the operation. If high precision is required, for example, the predetermined angle may be determined to be 0.5 degrees, 0.1 degrees, or zero degrees. On the other hand, when relatively low precision is required, the predetermined angle may be determined to be 5 degrees, 7 degrees, or the like.
  • the central angle itself may be an effective insertion angle range.
  • the structure may be inserted at an angle coinciding with the center angle.
  • the user terminal 100 if the movement range data includes the first bone angular motion range, each of which is an axis of each of the plurality of directions on the three-dimensional space, the user terminal 100 according to one embodiment of the present invention, It is possible to calculate the effective insertion angle range for each movable range of the plurality of first bones having the respective axes as the axis.
  • the movable range data includes the respective movable ranges of the first bones having the + X direction, the + Y direction and the + Z direction, which are orthogonal to each other as shown in Figs. 3A to 3C.
  • the processor calculates the central angle of each movable range 610, 620 of the first bone with the + X direction as the rotation axis, and calculates an angle within a predetermined angle range from the calculated central angle with an angle belonging to the effective insertion angle range Can be calculated.
  • the effective insertion angle range calculated at this time may be meaningful as the effective insertion angle when the + X direction is the rotation axis.
  • the processor can calculate the effective insertion angle range when the + Y direction is the rotation axis and the effective insertion angle range when the + Z direction is the rotation axis by a similar method.
  • the insertion guide device of the structure according to the embodiment of the present invention can calculate the effective insertion angle range of the structure in the three-dimensional space.
  • each movable range 670 of the first bone on the three-dimensional space is as shown.
  • Each of the movable ranges 670 may be obtained by moving the first bone (femur, not shown) attached with the sensor while the second bone (innocent bone) 300 is fixed as described above.
  • the user terminal 100 may calculate an angle within a predetermined angular range from the central angle 690 of each movable range 670 of the first bone to an angle belonging to the effective insertion angle range 680 as described above .
  • the center angle 690 may be determined by considering all of the central angles when the plurality of directions are the movable axes.
  • the user terminal 100 can compare the current insertion angle of the structure with the effective insertion angle range calculated by the above-described procedure (S63). At this time, Or may be received from a sensor 210 attached to the handle 200 as well.
  • the handle 200 may be used by a user such as a physician. For example, the physician may use the handle 200 with the sensor 210 attached thereto for insertion of the structure.
  • the handle 200 may also be attached to a robot for insertion surgery.
  • the robot can receive the information about the current insertion angle from the sensor 210 attached to the handle 200, and control the robot arm or the like to which the handle is attached so that the structure can be inserted at a more correct angle.
  • the user terminal 100 may provide a comparison result between the current insertion angle and the effective insertion angle range 680. (S64) At this time, the user terminal 100 determines that the current insertion angle The degree of deviation from the angular range can be displayed and visually provided as shown in Fig. Also, the user terminal 100 may provide the extent to which the current insertion angle deviates from the effective insertion angle range in the form of sound.
  • the user can appropriately adjust the insertion angle of the handle 200 based on the provided information so that the structure 500 can be inserted into the second bone 300 in the correct direction.
  • FIG. 7 is an illustration of a screen 710 displayed on the user terminal 100 to an extent that the current insertion angle deviates from the effective insertion angle range, in accordance with an embodiment of the present invention.
  • the screen 710 may include a display 711 corresponding to the center angle, a display 712 corresponding to the current insertion angle, and a numerical value 713 indicating the degree to which the current insertion angle deviates from the central angle have.
  • the user can more easily insert the structure into the second bone at a right angle by operating the handle 200 so that the display 712 corresponding to the current insertion angle coincides with the display 711 corresponding to the center angle.
  • While the display 712 corresponding to the current insertion angle may be based on data received from the sensor 210 attached to the handle 200 as described above.
  • the user terminal 100 may provide the degree of the current insertion angle outside the effective insertion angle range in the form of sound.
  • the user terminal 100 can reproduce sound at a higher frequency as the insertion angle approaches the central angle.
  • the apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components.
  • the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions.
  • the processing device may perform one or more software applications performed on an operating system (OS) and an operating system.
  • the processing device may also access, store, manipulate, process, and generate data in response to execution of the software.
  • the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG.
  • the processing unit may comprise a plurality of processors or one processor and one controller.
  • Other processing configurations are also possible, such as a parallel processor.
  • the software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded.
  • the software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave.
  • the software may be distributed over a networked computer system and stored or executed in a distributed manner.
  • the software and data may be stored on one or more computer readable recording media.
  • the method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium.
  • the computer readable medium may include program instructions, data files, data structures, and the like, alone or in combination.
  • Program instructions to be recorded on the medium may be those specially designed and constructed for the embodiments or may be available to those skilled in the art of computer software.
  • Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.
  • program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.
  • the hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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  • Physical Education & Sports Medicine (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
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  • Geometry (AREA)
  • Prostheses (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Surgical Instruments (AREA)

Abstract

Selon un mode de réalisation de la présente invention, un système de guidage d'un angle d'insertion d'une structure en forme de coupelle, où une tête d'un premier os est insérée, lorsque la structure est insérée dans un second os, peut comprendre : un dispositif de guidage d'angle d'insertion de structure pour acquérir des données de plage mobile du premier os par rapport au second os, et pour calculer une plage d'angle d'insertion efficace de la structure sur la base des données de plage mobile; une poignée pour maintenir la structure à insérer dans le second os; et un capteur fixé à la poignée de façon à transmettre un angle en temps réel de la poignée au dispositif de guidage d'angle d'insertion de structure.
PCT/KR2018/010362 2017-10-20 2018-09-05 Système et procédé de guidage d'angle d'insertion d'une structure et programme informatique WO2019078486A1 (fr)

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KR100617490B1 (ko) * 2004-09-03 2006-09-04 한국과학기술원 인공 고관절 수술에서 골반 부착형 비구컵 방향안내장치
WO2006109022A2 (fr) * 2005-04-09 2006-10-19 Depuy International Ltd Implantation de cotyle prothetique
KR101427315B1 (ko) * 2013-06-07 2014-08-07 서울대학교 산학협력단 비구 컵의 위치결정 방법
KR20140128939A (ko) * 2011-09-29 2014-11-06 알쓰로메다, 인코포레이티드 고관절 성형술용 삽입물의 정밀 배치 시스템 및 방법
US20150088145A1 (en) * 2013-09-26 2015-03-26 Howmedica Osteonics Corp. Method for aligning an acetabular cup

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KR100617490B1 (ko) * 2004-09-03 2006-09-04 한국과학기술원 인공 고관절 수술에서 골반 부착형 비구컵 방향안내장치
WO2006109022A2 (fr) * 2005-04-09 2006-10-19 Depuy International Ltd Implantation de cotyle prothetique
KR20140128939A (ko) * 2011-09-29 2014-11-06 알쓰로메다, 인코포레이티드 고관절 성형술용 삽입물의 정밀 배치 시스템 및 방법
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