WO2021054659A2 - Device and method for surgical navigation - Google Patents

Abstract

The present invention relates to a device and a method for surgical navigation. A device for surgical navigation according to the present invention comprises: an object matching unit for matching a first image including an object marker attached to a surgical object and a second image regarding the surgical object before surgery, thereby deriving a correlation regarding positions and postures between the object marker attached to the surgical object and the surgical object; a reference position storage unit for configuring and storing a reference position regarding at least one reference point of the surgical object on the basis of the correlation between the object marker and the surgical object derived by the object matching unit; a position calculation unit for receiving information regarding the position and posture of the object marker and calculating the position of the reference point of the surgical object on the basis of the derived correlation; and a marker deformation determination unit for determining that, when the position of the reference point calculated by the position calculation unit has deviated from the reference position, the object marker has deformed. Accordingly, whether the object marker has deformed can be easily detected in real time.

Description

Surgical navigation device and method thereof

The present invention relates to a surgical navigation device and a method thereof, and more particularly, to a surgical navigation device and a method for detecting whether a marker attached to a surgical object is deformed.

With the recent development of medical technology, navigation surgery using robots and computer systems is being actively introduced, and such surgery is also applied in the field of artificial joint surgery.

In the case of the knee joint, if pain or behavioral disorders due to trauma, various infections, or diseases come, treatment is performed using orthopedic surgery to replace all or part of the joint. Of these, about 10 to 30% of patients have an inner knee joint. Because of the wear and tear of the knee joint, partial replacement surgery is performed.

Among the robots used in orthopedic joint surgery, there is a robot that automatically performs the entire surgical process, and these surgical robots automatically cut bones without human intervention along a pre-planned path.

When performing knee joint surgery using a conventional orthopedic surgical robot, the surgical path is determined in advance, an optical marker is mounted on the object to be operated, and the position and posture of the optical marker are tracked with an optical sensor, The operation is performed by monitoring the position of the robot.

On the other hand, a marker mounted on an object to be operated is often deformed during surgery due to external force or the like. When the marker is deformed as described above, a problem occurs in estimating the position and posture of the object to be operated on. In order to solve this problem, conventionally, an additional marker or instrument was attached to an object to be operated to determine whether it was deformed.

However, in such a conventional technique, since markers or instruments need to be further attached to an operation object, such as a bone, etc., a burden of damage to the patient's bones is caused.

The present invention has been proposed to solve the above problems, and is to provide a surgical navigation device and method capable of easily detecting whether a marker attached to a surgical object is deformed during surgery.

In addition, the present invention has been proposed to solve the above problems, and is to provide a surgical navigation device and a method that can be easily recovered when the marker is deformed.

A surgical navigation device for achieving the above object includes a first image including an object marker attached to an object to be operated on and a second image on the object to be operated before surgery to match the object marker attached to the object to be operated and the operation. An object matching unit for deriving a correlation with respect to the position and posture between the objects; A reference position storage unit for setting and storing a reference position with respect to at least one reference point of the surgical subject; A position calculating unit that receives the position and posture information of the target marker from a tracker and calculates the position of the reference point of the operation subject based on the derived correlation; And a marker deformation determination unit determining that the target marker is deformed when the position of the reference point calculated by the position calculating unit deviates from the reference position.

A surgical navigation device for achieving the above object includes a first image including an object marker attached to an object to be operated on and a second image on the object to be operated before surgery to match the object marker attached to the object to be operated and the operation. An object matching unit for deriving a correlation with respect to the position and posture between the objects; A reference position storage unit that calculates and stores a reference position relationship with respect to a changeable position of the target marker using at least one reference point of the object to be operated as a reference position; And a marker deformation determination unit that receives position and posture information of the object marker from a tracker, and determines that the object marker is deformed when the position and posture of the object marker deviates from the reference position relationship.

In addition, based on an image including a robot marker attached to a surgical robot, a correlation regarding the position and posture between the robot marker and the surgical object, and a correlation regarding the position and posture between the robot marker and the reference point are derived. A robot matching unit; And deriving a correlation with respect to the position and posture of the object marker before and after the deformation of the object marker based on a change in the correlation between the object marker and the robot marker before and after the deformation of the object marker, and the correlation before and after the deformation of the object marker. It further includes a recovery unit for resetting the correlation between the object marker and the operation object based on.

The surgical navigation method for achieving the above object includes a first image including an object marker attached to an object to be operated on with a second image about the object to be operated before surgery, and the object marker attached to the object to be operated and the operation Deriving a correlation with respect to the position and posture between the objects; Setting and storing a reference position with respect to at least one reference point of the surgical subject; Receiving position and posture information of the object marker from a tracker, and calculating a position of the reference point of the operation object based on the derived correlation; And determining that the object marker is deformed when the calculated position of the reference point deviates from the reference position.

As described above, according to the present invention, it is possible to easily detect whether a marker is deformed in real time by setting a reference position with respect to a reference point on an object to be operated and tracking the position of the reference point during surgery.

In addition, according to the present invention, when an object marker is deformed, it can be easily recovered using a robot marker.

1 schematically shows a surgical navigation system according to an embodiment of the present invention.

2 is a control block diagram of a surgical navigation device according to an embodiment of the present invention

3 is a view for explaining the operation of the control unit of the surgical navigation device according to an embodiment of the present invention.

4 is for explaining the operation of the marker deformation determination unit according to an embodiment of the present invention.

5 is a block diagram of a control unit of a surgical navigation device according to an embodiment of the present invention.

6 is for explaining the operation of the robot matching unit according to an embodiment of the present invention.

7 is for explaining the operation of the recovery unit according to an embodiment of the present invention.

8 is a flowchart illustrating a method of determining whether an object marker is deformed by the surgical navigation device according to an embodiment of the present invention.

9 is a flowchart illustrating a method of determining whether an object marker is deformed by a surgical navigation device according to another embodiment of the present invention.

10 is a flowchart illustrating a method of determining whether an object marker is deformed by a surgical navigation device and a recovery method according to another embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. However, in the following description and the accompanying drawings, detailed descriptions of known functions or configurations that may obscure the subject matter of the present invention will be omitted. In addition, it should be noted that the same components are denoted by the same reference numerals as much as possible throughout the drawings.

The terms or words used in the present specification and claims described below should not be construed as being limited to their usual or dictionary meanings, and the inventors are appropriate as the concept of terms for describing their own invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention on the basis of the principle that it can be defined. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention. It should be understood that there may be equivalents and variations.

Hereinafter, a surgical navigation device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

1 schematically shows a surgical navigation system according to an embodiment of the present invention. Referring to FIG. 1, the surgical navigation system according to an embodiment of the present invention includes an object marker 10 and 20 attached to a surgical object 1 and 2, a surgical robot 30, a tracker 40, and a surgical navigation system. Including the device 100.

The object to be operated (1, 2) refers to an object of surgery, and in the embodiment of the present invention, the object to be operated is a knee joint of the femur (1) (Femur) and the tibia (2) (Tibia), and the object marker 10, 20) will be described as an example that is attached to each of the femur (1) and tibia (2).

The surgical robot 30 is for joint surgery and includes a robot base and an arm, and a cutting tool may be positioned on an end effector of the arm. A robot marker 31 is attached to the base of the surgical robot 30.

Optical markers may be used for the object markers 10 and 20 and the robot marker 31, and three or four bar types in different directions based on the center point are formed, and at the ends of the bars, respectively. A highly reflective ball marker may be formed.

The tracker 40 is for tracking the position and posture of the robot marker 31 attached to the surgical robot 30 and the object markers 10 and 20 attached to the surgical objects 1 and 2, and are coordinated in three-dimensional space. The position and posture of the image marker is sensed and transmitted to the surgical navigation device 100 to be described later. In the embodiment of the present invention, the tracker 40 will be described as an example that is implemented as an optical tracking system (OTS).

The surgical navigation device 100 performs registration of the surgical objects 1 and 2 and the registration of the surgical robot 30, and receives a signal input from the tracker 40 to determine whether the object markers 10 and 20 are deformed. For determination, as shown in FIG. 1, it may be implemented including a computer or a microprocessor and a display. In FIG. 1, the surgical navigation device 100 is shown to be separated from the surgical robot 30 and implemented as a separate device, but in some cases, the computer or microprocessor of the surgical navigation device is installed in the surgical robot 30, The display of the surgical navigation device 100 may be connected to the tracker 40 and installed together. In this case, the surgical robot 30 is connected to the tracker 40 to receive the location/position information of the markers, processes it, and provides it to the display.

2 is a control block diagram of the surgical navigation device 100 according to an embodiment of the present invention. Referring to FIG. 2, a surgical navigation device 100 according to an embodiment of the present invention includes a signal receiving unit 110, a user input unit 120, a display unit 130, a memory unit 140, and a control unit 150. Includes.

The signal receiving unit 110 is for receiving a signal from the outside, for example, an HDMI (High Definition Multimedia Interface) connector 11, a D-sub connector, or an Internet network for connection with an external device. It may include a communication module for connecting to other wired/wireless networks. The signal receiving unit 110 may include a wired/wireless communication module for interworking with the tracker 40 and the surgical robot 30.

The user input unit 120 is for receiving a command from the user and transmitting it to the control unit 150 to be described later, and may include at least one of various user input means such as a keyboard, a mouse, and a button.

The display unit 130 is for displaying an image on a screen, such as a liquid crystal display (LCD) panel, a light emitting diode (LED) panel, an organic light emitting diode (OLED) panel, etc. It can be implemented as

The memory unit 140 may store various OSs, middleware, platforms, and various applications of the surgical navigation device 100, and store program codes, signal-processed image signals, audio signals, and data. The memory unit 140 stores an operation target image, such as a patient CT image, of the operation object 1 and 2 acquired before the operation. The memory unit 140 may be implemented as a read only memory (ROM), an erasable programmable read-only memory (EPROM), a random access memory (RAM), or the like.

The control unit 150 is in charge of overall control of the surgical navigation device 100 by a user command or an internal program input through the user input unit 120. The control unit 150 may be implemented by including a computer program code for signal processing and control and a microprocessor executing the computer program. The control unit 150 performs image matching and position tracking using position/position information received from the tracker 40 through the signal receiving unit 110, and detects whether the object markers 10 and 20 are deformed. Also, the controller 150 performs recovery when the object markers 10 and 20 are deformed.

Referring to FIG. 2, the control unit 150 includes an object matching unit 151, a reference position storage unit 153, and a marker deformation determining unit 155.

The object matching unit 151 includes a first image (optical image) including the object markers 10 and 20 obtained from the tracker 40 and a second image of the patient's surgical objects 1 and 2 taken before surgery. (E.g., 3D CT image) is matched to derive a correlation with respect to the position/position between the bone markers 10 and 20 (bone markers) attached to the surgery subjects 1 and 2 and the surgery subjects 1 and 2 . After attaching the object markers 10 and 20 to the surgical objects 1 and 2, the surgical objects 1 and 2 are in contact with and scratched by a plurality of points of the surgical objects 1 and 2 using a probe. And the position/position of the object markers 10 and 20 is recognized. The object matching unit 151 receives an optical image about the position/position indicated by the probe through the tracker 40, and performs matching with 3D data of a patient, for example, a CT image previously stored in the memory unit 140, It is possible to derive a correlation regarding the position/position between the markers 10 and 20 and the surgical objects 1 and 2. The object matching unit 151 may be implemented including a software algorithm for image matching.

In the present specification, the'surgical object' is also used in a broad sense of an object to be operated such as the femur (1) and the tibia (2). It is also used as an agreement to indicate a specific location or surgical site.

3 is a view for explaining the operation of the control unit 150 according to an embodiment of the present invention. Referring to FIG. 3, the object to be operated is a knee joint of the femur 1 and the tibia 2, and the object markers 10 and 20 are attached to the femur 1 and the tibia 2.

In FIG. 3, FMC (Femur Marker Coordinate) refers to the coordinate system of the femur marker 10 based on the position and posture of the femur marker 10, and HC (Hip Coordinate) is the hip joint center of the femur (1). Joint Center, HJC) refers to a coordinate system based on the position and posture. The object registration unit 151 is based on a correlation between the position/position of the femur marker 10 and the position/position of the hip joint center point (HJC) of the femur 1 through image registration, for example, based on the femur marker 10 ^{As a result, a transformation matrix (F} T _H ) can be derived as a coordinate transformation relationship between coordinate systems based on the hip joint center (HJC) of the femur 1 with respect to one coordinate system. Accordingly, the control unit 150 obtains the position and posture information of the femur marker 10 from the tracker 40, and converts the obtained position and posture information of the femur 1 into a transformation matrix derived from the object matching unit 151 It is possible to derive the position and posture of the center (HJC) of the hip joint of the femur (1) by multiplying it by ( ^F T _{H ).}

In FIG. 3, Tibia Marker Coordinate (TMC) refers to a coordinate system based on the position and posture of the tibia marker 20, and AC (Ankle Coordinate) refers to the ankle joint center (AJC) of the tibia 2. It refers to a coordinate system based on position and posture. In the same way, the object registration unit 151 is correlated with the position/position of the ankle joint center AJC with respect to the tibia marker 20 attached to the tibia 2 through image registration, for example, the tibia marker 20 ^{) The transformation matrix (T} T _A ), which is the coordinate transformation relationship between the coordinate systems based on the ankle joint center (AJC) of the tibia 2 with respect to the coordinate system, is derived. Accordingly, the control unit 150 obtains the position and posture information about the tibia marker 20 from the tracker 40, and converts the position and posture information of the tibia marker 20 derived from the operation object matching unit 151 The position and posture of the ankle joint center (AJC) of the tibia 2 can be derived by multiplying the matrix ( ^T T _{A ).}

In addition to the center of the hip joint of the femur 1 and the center of the ankle joint of the tibia 2, the object matching unit 151 may derive a correlation with respect to the position/position of a plurality of points such as an implant origin. Accordingly, if the location/position of the object markers 10 and 20 is tracked by the tracker 40, the positions and postures of a plurality of points of the surgical objects 1 and 2 can be derived.

When the registration of the surgical objects 1 and 2 is completed, the surgical robot 30 is moved close to the surgical objects 1 and 2 to prepare for surgery. At this time, the surgical objects 1 and 2 are fixed. For example, in FIG. 3, the hip joint center and the ankle joint center are fixed to prevent physical movement, and the hip joint center and the ankle joint center are fixed. The femur (1) and tibia (2) may be in a moving or fixed state.

The reference position storage unit 153 is based on the correlation between the object markers 10 and 20 derived from the object matching unit 151 and the surgical objects 1 and 2, Set and save the reference position for the reference point. The reference location storage unit 153 may be implemented by a memory or a register.

Here, the reference point refers to a point used as a reference for movement in the surgical objects 1 and 2, and may be set differently according to the type of the surgical objects 1 and 2 or the type of surgery. In this embodiment, in the femur (1), the hip joint center is set as a reference point, and the position and posture of the corresponding point after fixing the surgical objects (1, 2) are stored as a reference position, and in the tibia (2), the ankle joint center is referenced. Set as a point and store the position and posture of the point as a reference position. Here, the reference position of the reference point of the surgical object 1 and 2 stored in the reference position storage unit 153 means a position and posture based on the coordinate system of the tracker 40.

The position calculating unit 154 receives the position and posture information of the object markers 10 and 20 from the tracker 40, and based on the correlation derived from the object matching unit 151, the Calculate the position of the reference point. The location calculation unit 154 may be implemented by including a software algorithm for location calculation.

3, the position calculation unit 154 calculates the position of the hip joint center by tracking the position and posture of the femur marker 10, and tracks the position and posture of the tibia marker 20 to track the position and posture of the ankle joint. Calculate the location. The position calculation unit 154 continuously calculates the position of the reference point at a certain period during the operation. At this time, the position calculation unit 154 calculates the position and posture of the reference point based on the coordinate system of the tracker.

The marker deformation determination unit 155 is for determining whether a marker is deformed, and may be implemented including a software algorithm. When the position of the reference point calculated from the position calculation unit 154 deviates from the previously stored reference position, the marker deformation determination unit 155 determines that the object markers 10 and 20 are deformed, and when the position of the reference point calculated by the position calculation unit 154 is the same as the previously stored reference position, It is judged as normal. 3, the femur 1 is rotatable with the hip joint center as a reference point, and the tibia 2 is rotatable with the ankle joint center as the reference point. Thus, the femur marker 10 may be located on the spherical surface of A1, and the tibia marker 20 may be located on the spherical surface of A2. Since the correlation of the position and posture between the object markers 10 and 20 and the object does not change, even if the object markers 10 and 20 move during surgery, the position of the reference point, e.g., the hip joint center and the ankle joint center, will be It should be the same as the standard position of. The marker deformation determination unit 155 determines whether the position of the reference point calculated from the position calculation unit 154 is the same as the reference position stored in the reference position storage unit 153, and if the same is determined as normal, and is not the same. If not, it is determined that the marker has been deformed.

4 is for explaining the operation of the marker deformation determination unit 155 according to an embodiment of the present invention, and illustrates a case in which the object markers 10 and 20 are deformed due to an external force or the like during surgery. In the femur (1), it is assumed that the femur marker (10) is rotated. The position calculation unit 154 acquires the position and posture information of the femur marker 10 from the tracker 40, and uses the coordinate correlation ( ^F T _H ) calculated by the object registration unit 151 to be used for the operation object 1 The reference point of ,2), for example, the position of the hip joint center is calculated. The femur marker 10 rotates to the right from the origin position based on the existing FMC coordinate system to move to the posture of the FMC' coordinate system, and accordingly, the hip joint center is moved from the existing HJC position to the HJC' position. The marker deformation determination unit 155 determines whether the HJC position, which is the position of the reference point previously stored in the reference position storage unit 153, and the HJC′ position, which is the position of the currently tracked reference point, are the same. As shown in FIG. 4, since the reference position HJC of the reference point and the current position HJC' are different, the marker deformation determination unit 155 may determine that the marker is deformed due to an external force or the like.

In the tibia 2, it is assumed that the tibia marker 20 is translated in the vertical direction. The position calculation unit 154 acquires the position and posture information of the tibia marker 20 from the tracker 40, and uses the coordinate correlation ^T T _A calculated by the object registration unit 151 to be used for the operation object 1 , 2), for example, the position of the center of the ankle joint is calculated. The tibia marker 20 moves in parallel downward from the origin of the existing TMC coordinate system and moves to the origin of the TMC' coordinate system, and accordingly, the ankle joint center is moved from the existing AJC position to the AJC' position. The marker deformation determination unit 155 determines whether the AJC, which is the position of the reference point previously stored in the reference position storage unit 153, and the AJC′, which is the position of the currently tracked reference point, are the same. As shown in FIG. 4, since the reference position AJC and the current position AJC' of the reference point are different, the marker deformation determination unit 155 may determine that the marker is deformed due to an external force or the like.

The surgical navigation device according to an embodiment of the present invention may further include a GUI generator 156. When a marker deformation is detected, the GUI generator 156 generates a message informing it and transmits the message to be displayed on the display unit 130. The GUI generator may include a graphic processing module, for example, a graphic card, which processes data and generates an image. The user can know that the marker has been deformed through the message displayed on the screen.

Hereinafter, a recovery method when a marker deformation occurs in a surgical navigation device according to another embodiment of the present invention will be described with reference to FIGS. 5 to 7. Descriptions overlapping with the above-described embodiments will be omitted as necessary. 5 is a block diagram of the control unit 150 of the surgical navigation device according to an embodiment of the present invention. As shown in Figure 5, the surgical navigation device according to the present embodiment may further include a robot matching unit 152b as the matching unit 152 and further include a recovery unit 157 as compared to the above-described embodiment. have.

The robot matching unit 152b is configured to determine the correlation with respect to the position and posture between the robot marker 31 and the surgical objects 1 and 2, and the correlation with respect to the position and posture between the robot marker 31 and the reference point. To derive. The robot matching unit may be implemented including a software algorithm for position matching.

In the robot matching part 152b, first, the robot matching part 152b attaches the robot marker 31 to the arm and the robot base of the robot, and moves the robot arm to determine the position and posture of the robot marker 31 by using the tracker 40. By tracking through, a correlation between the position/position of the robot base and the position/position of the robot marker 31 is derived to perform robot registration. When the preparation for surgery is complete, the surgical robot 30 is placed as an operable area, and the robot marker 31 and the object markers 10 and 20 installed on the base of the surgical robot 30 through the tracker 40, and the surgical object ( The relationship between the position and posture between 1 and 2) is derived. Here, the robot matching unit 152b is matched based on the coordinate system of the surgical robot 30 or the coordinate system of the robot marker 31 and the objects 1 and 2, the object markers 10 and 20, and the robot marker 31 ) Can derive the correlation regarding the position and posture. 6 is for explaining the operation of the robot matching unit 152b according to an embodiment of the present invention. Referring to FIG. 6, RM (Robot Marker) means the position/position of the robot marker 31, and RMC (Robot Marker Coordinate) is a coordinate system based on the position of the robot marker 31, and the robot marker 31 It is the standard of the position and posture of the person. The robot matching unit 152b is based on the position and posture information of the markers acquired from the tracker 40, and the correlations ( ^R T _F , ^{R) between the robot marker 31 and the object markers 10 and 20 on the position and posture.} T _T ) is derived. ^{At this time, the robot matching unit 152b is based on the correlation (F} T _H , ^T T _A ) with respect to the position and posture between the object markers 10 and 20 calculated by the object matching unit 151 and the reference point. It is possible to derive ^{correlations (R} T _H , ^R T _A ) regarding the position and posture between (31) and the surgical subject (1, 2).

For example, the correlation with respect to the position and posture between the robot marker 31 and the reference position (HJC) at the center of the hip joint is ^R T _H = ^R T _F x ^F T _H , and the reference between the robot marker 31 and the ankle joint center The relationship between the positions (AJC) and the position and posture can be derived as ^R T _A = ^R T _T x ^T T _A. Here, ^R T _F is the transformation matrix of the femur marker 10 to the robot marker 31 ^{, R} T _T is the transformation matrix of the tibia marker 20 to the robot marker 31 ^{, and R} T _{H is the robot marker 31} ), ^R T _A denotes a transformation matrix at the center of the ankle joint for the robot marker 31.

^{The correlation (R} T _H , ^R T _A ) about the position and posture between the robot marker 31 calculated by the robot matching unit 152b and the reference position of the reference point of the surgical object 1 and 2 is a reference position storage unit It is stored in 153. ^{In addition, correlations (R} T _F , ^R T _T ) about the position and posture between the robot marker 31 and the object markers 10 and 20 calculated by the robot matching unit 152b are also used for the reference position storage unit ( 153). On the other hand, the reference position storage unit 153 stores the reference position of the reference point of the surgical object (1, 2), but the reference point based on one of the robot marker 31 or the coordinate system of the base of the surgical robot 30 It is possible to store more location and posture information. For recovery, position and posture information of a reference point based on a fixed third position that does not move is required. Since the tracker 30 may be moved during surgery, in the present embodiment, the position and posture information of the reference point for recovery is not moved and is a coordinate system based on the surgical robot 30, that is, the surgical robot 30 ), the position and posture information of the reference position based on the coordinate system of the base or the coordinate system of the robot marker 31 are stored and used for recovery. In addition, in the present embodiment, the marker deformation determination unit 155 calculates the position of the reference point based on the coordinate system of the base of the robot marker 31 or the surgical robot 30, and the value stored in the reference position storage unit 153 By comparison, it is possible to determine whether or not the marker is deformed. In another example, the marker deformation determination unit 155 calculates the position of the reference point based on the coordinate system of the tracker 40 and stores a value stored in the reference position storage unit 153 (e.g., a reference position based on the tracker coordinate system) and By comparison, it is also possible to determine whether or not the marker is deformed.

The recovery unit 157 is positioned before and after deformation of the object markers 10 and 20 based on a change in the correlation between the object markers 10 and 20 and the robot marker 31 before and after deformation of the object markers 10 and 20 And a correlation with respect to the posture, and reestablish the correlation between the object markers 10 and 20 and the surgical objects 1 and 2 based on the correlation before and after the deformation of the object markers 10 and 20. The recovery unit 167 may be implemented including a software algorithm for calculating a location.

7 is for explaining the operation of the recovery unit 157 according to an embodiment of the present invention. Referring to FIG. 7, in the same manner as in FIG. 4, the femur marker 10 rotates in the femur 1, and the tibia marker 20 is translated in the vertical direction in the tibia 2 It is assumed that it has occurred. Marker deformation determination unit 155 is the position of the reference point calculated by the position calculation unit 154, for example, the hip joint center position (HJC') and the ankle joint center position (AJC') is the reference position, such as HJC and AJC It is determined whether it is the same as or not, and it is determined that deformation has occurred in both the femur marker 10 and the tibia marker 20. When the marker deformation determination unit 155 detects that the marker is deformed, the recovery unit 157 correlates the position and posture between the object markers 10 and 20 and the surgical objects 1 and 2 based on the changed marker. Reset the relationship.

The correlation between the object markers 10 and 20 after the deformation of the femur marker 10 and the robot marker 31 can be calculated from the position/position acquired through the tracker 40, and in FIG. 7, the femur marker 10 It is represented by ^{the transformation matrix (R} T _F' ) of the tibia marker 20 with respect to the robot marker 31 after the deformation of As described above, the reference position storage unit 153 stores the transformation matrix of the femur marker 10 with respect to the robot marker 31 before the marker deformation occurs.

The recovery unit 157 uses the transformation matrix of the femur marker 10 with respect to the robot marker 31 before and after the deformation of the femur marker 10 occurs, and the femur marker 10 before and after the deformation of the femur marker 10 occurs. The correlation of the change in position and posture of the patient can be derived as follows.

[Equation 1]

^F T _F' = inv( ^R T _F )x ^R T _{F'… … … … …} (One)

= inv( ^R T _H x inv( ^F T _H ))x ^R T _{F'… … … … …} (2)

(Where, ^F T _{F 'is} the transformation matrix, ^R T _F on the change of position and attitude of the deformation before and after the femoral marker 10 of the femoral marker _10, the robot after the deformation of the femoral marker 10, the marker The transformation matrix of the femur marker 10 with respect to (31), ^R T _F is the transformation matrix of the femur marker 10 with respect to the robot marker 31 before the deformation of the femur marker 10 occurs, ^R T _H is the femur marker ( The transformation matrix of the hip joint center (reference position) with respect to the robot marker 31 before deformation of 10), ^F T _H is the hip joint center (reference position) with respect to the femur marker 10 before the deformation of the femur marker 10 occurs. ), and inv means an inverse function.) At this time, when the ^R T _F value is stored in the reference data storage unit 153, (1) When an equation is used and the ^{values of R} T _{H and} ^F T _H ^{are stored in the reference data storage unit 153, the value of F} T _F'may be calculated using the equation (2).

^{The recovery unit 157 is a femur marker after deformation of the femur marker 10 based on the correlation (F} T _F′ ) with respect to the change in the position and posture of the femur marker 10 before and after the deformation of the femur marker 10 occurs. It can be reset by deriving the correlation between (10) and the hip joint center (HJC).

[Equation 2]

_{^{F 'T H = inv (F}} T F') x F T H

(Where, ^{F 'is} T _H denotes the transformation matrix of the hip joint center (HJC) according to a modified femoral marker 10 after the femoral marker 10)

In the same way, the recovery unit 157 uses the transformation matrix of the tibia marker 20 with respect to the robot marker 31 before and after the deformation of the tibia marker 20 occurs, and the tibia before and after the deformation of the tibia marker 20 occurs. The correlation of the change in the position and posture of the marker 20 can be derived as follows.

[Equation 3]

^T T _T' = inv( ^R T _T )x ^R T _{T'… … … … … … … … …} (3)

= inv( ^R T _A x inv( ^T T _A ))x ^R T _{T'… … … … … … … … … … …} (4)

(Where, ^T T _{T 'is} converted according to the change of position and attitude of the deformation before and after the tibia marker 20 of the tibia marker 20 matrix, ^R T _T' is the robot after the deformation of the tibia marker 20 marker The transformation matrix of the tibia marker 20 with respect to (31), ^R T _T is the transformation matrix of the tibia marker 20 with respect to the robot marker 31 before the deformation of the tibia marker 20 occurs, and ^R T _A is the tibia marker ( The transformation matrix of the center of the angle joint (reference position) with respect to the robot marker 31 before deformation of 20), ^T T _A is the center of the angle joint with respect to the tibia marker 20 before the deformation of the tibia marker 20 occurs (reference position ) Means a transformation matrix of ).) At this time, when the ^R T _T value is stored in the reference data storage unit 153, (3) When an equation is used and the ^R T _{A and} ^T T _A ^{values are stored in the reference data storage unit 153, the T} T _T'value may be calculated using the equation (4).

^{The recovery unit 157 is a tibial marker after deformation of the tibia marker 20 based on a correlation (T} T _T′ ) with respect to a change in the position and posture of the tibia marker 20 before and after deformation of the tibia marker 20 occurs. It can be reset by deriving the correlation between (20) and the center of the ankle joint (AJC).

[Equation 4]

_{^{T 'T A = inv (T}} T T') x T T A

(Here, ^{T 'T} _A denotes a transformation matrix of the ankle joint center (AJC) according to a modified tibial marker 20 after the tibia marker 20)

The correlation between the object markers 10 and 20 reset by the recovery unit 157 and the surgical objects 1 and 2 is stored in the object matching unit 152a and the robot matching unit 152b, and the position calculating unit 154 ) May track the position and posture of the surgical objects 1 and 2 based on the correlation between the newly set object markers 10 and 20 and the surgical objects 1 and 2.

If the robot marker 31 is deformed due to an external force or the like, it is preferable to separately provide a restoration marker for confirming the robot marker 31.

In the above-described embodiment, by storing the reference position of the reference point on the object markers 10 and 20, tracking the position of the object markers 10 and 20 during surgery, and checking whether or not the reference point has changed therefrom, the object marker 10 , 20) was determined, but according to another embodiment of the present invention, a reference position relationship with respect to the convertible position of the object markers 10 and 20 as the reference position of the reference point is calculated, and the reference position storage unit You can also save it to (153).

The marker deformation determination unit 155 acquires the position and posture information of the object markers 10 and 20 from the tracker 40, and stores the position and posture information of the object markers 10 and 20 in the reference position storage unit 153. It is possible to determine whether the marker is deformed by determining whether the reference position relationship is satisfied. Referring to FIG. 3, the object markers 10 and 20 may be positioned only on the sphere surfaces of A1 and A2 based on the reference position of the reference point. For example, the spherical surfaces of A1 and A2 may be the reference positional relationship.

In the above-described embodiment, the position and posture of the reference point is calculated from the position and posture information of the object markers 10 and 20, whereas in the present embodiment, the position and posture information of the object markers 10 and 20 determine the reference position relationship. The difference is that you make sure you are satisfied.

8 is a flowchart illustrating a method of determining whether object markers 10 and 20 are deformed by the surgical navigation device according to an embodiment of the present invention. A description redundantly with the above-described embodiment will be omitted. Referring to FIG. 8, in the surgical navigation method according to an embodiment of the present invention, the tracker 40 is first performed by recognizing the positions of the target markers 10 and 20 and the targets 1 and 2 using a probe. The first image of the marker acquired by) and the second image of the surgical objects 1 and 2 acquired before the surgery are matched (S10). Through such a matching process, a correlation between the object markers 10 and 20 and the surgical objects 1 and 2 is derived (S11).

In this case, a reference position with respect to a reference point, which is a reference of the movement of the object, is set among the plurality of points of the surgical object 1 and 2, and the corresponding position value is stored (S12). In the present embodiment, it will be described that the surgical objects 1 and 2 include the femur 1 and the tibia 2, and the reference point includes the hip joint center and the ankle joint center. In addition, the reference position of the reference point is stored as a position value based on the coordinate system of the tracker 40.

The position and posture of the target markers 10 and 20 are acquired through the tracker 40 during surgery (S13), and the target markers 10 and 20 calculated in the above-described registration process and the targets 1 and 2 are referenced. The position and posture of the reference point is derived by using the correlation between the position and posture of the point (S14). The correlation between the object markers 10 and 20 attached to the surgical objects 1 and 2 and the reference point is not changed by the movement of the tracker 40 or the movement of the surgical objects 1 and 2.

The marker deformation determination unit 155 determines whether the position of the reference point is the same as the reference position stored in the reference position storage unit 153 (S15). If there is a discrepancy, it is determined that the object markers 10 and 20 are deformed (S16), and if they do match, it is determined that the object markers 10 and 20 are in a normal state (S17).

9 is a flowchart illustrating a method of determining whether object markers 10 and 20 are deformed by the surgical navigation device according to another embodiment of the present invention. A description redundantly with the above-described embodiment will be omitted.

Referring to FIG. 9, in a surgical navigation method according to another embodiment of the present invention, a tracker 40 is first performed through a process of recognizing the positions of the target markers 10 and 20 and the surgical targets 1 and 2 using a probe. The first image of the marker acquired by) and the second image of the surgical objects 1 and 2 acquired before the surgery are matched (S20). Through such a matching process, a correlation between the object markers 10 and 20 and the surgical objects 1 and 2 is derived (S21).

At this time, the reference position relationship with respect to the changeable position of the object markers 10 and 20 is calculated based on the position of the reference point, which is the reference point of the movement of the object, among the plurality of points of the surgical object 1 and 2 It is stored in the location storage unit 153 (S22). Referring to FIG. 3, the spherical surfaces of A1 and A2 may be the reference positional relationship.

The position and posture of the target markers 10 and 20 are acquired through the tracker 40 during surgery (S23), and the position and posture of the target markers 10 and 20 are stored in the reference position storage unit 153. It is determined whether or not (S24). If the position and posture of the object markers 10 and 20 are out of the reference positional relationship, it is determined as the deformation of the object markers 10 and 20 (S25), and if the reference positional relationship is satisfied, the object marker 10, 20) is determined to be in a normal state (S26).

10 is a flowchart illustrating a method of determining whether object markers 10 and 20 are deformed and recovering by a surgical navigation device according to another embodiment of the present invention.

Referring to FIG. 10, in a surgical navigation method according to an embodiment of the present invention, a tracker 40 is provided through a process of recognizing the positions of the target markers 10 and 20 and the surgical targets 1 and 2 using a probe. The first image of the marker acquired by the method and the second image of the surgical objects 1 and 2 acquired before the surgery are matched (S30). On the other hand, the correlation of the position and posture between the robot and the robot marker 31 is derived through the registration of the robot. In addition, the robot is moved to the operable area and placed, and the surgical objects 1 and 2 are fixed. The correlation between the position and posture between the robot marker 31 and the object and the position and posture between the robot marker 31 and the surgical objects 1 and 2 are derived through the tracker 40 (S31).

At this time, a reference position with respect to a reference point, which is a reference point for movement of the object, is set among the plurality of points of the surgical object 1 and 2, and the corresponding position value is stored (S32). Here, the reference position with respect to the reference point includes position and posture information based on at least one of the coordinate system of the tracker 40, the coordinate system of the robot marker 31, and the coordinate system of the base of the surgical robot 30. In this embodiment, the reference position of the reference point based on the coordinate system of the robot marker 31 or the surgical robot 30 may be used for recovery, and the determination of whether the object marker is deformed is the coordinate system of the tracker 40, the robot marker. It may be based on any one of the coordinate system of (31) and the coordinate system of the surgical robot (30). ^{In addition, correlations (R} T _H , ^R T _A ) regarding the position and posture between the robot marker 31 calculated by the robot matching unit 152b and the reference position of the reference point, and the robot marker 31 and the object marker ( ^{The correlations (R} T _F , ^R T _T ) regarding the position and posture between 10 and 20) are stored in the reference position storage unit 153 at the time of recovery, and are used at the time of recovery.

During surgery, the position and posture of the object markers 10 and 20 are acquired through the tracker 40 (S33), and the reference points of the object markers 10 and 20 calculated in the above-described process and the operation objects 1 and 2 The position and posture of the reference point is calculated using the correlation between the position and posture of (S34).

The marker deformation determination unit 155 determines whether the position of the reference point is the same as the reference position stored in the reference position storage unit 153 (S35). If there is a discrepancy, it is determined that the object markers 10 and 20 are deformed (S36), and recovery is performed by the recovery unit 157. Meanwhile, when the position of the reference point is the same as the reference position, it is determined that the object markers 10 and 20 are in a normal state (S39).

The recovery unit 157 uses the robot marker 31 to determine the correlation with respect to the position and posture between the object markers 10 and 20 and the surgical objects 1 and 2 based on the changed object markers 10 and 20. Reset. The recovery unit 157 determines the position and posture of the object markers 10 and 20 based on a change in the correlation between the object markers 10 and 20 and the robot marker 31 before and after deformation of the object markers 10 and 20 occurs. Derive a correlation for the change of (S37), and based on this, the object markers 10 and 20 after the deformation of the object markers 10 and 20 and the surgical object 1 and 2, for example, the surgical object 1 and 2 It can be reset by deriving the correlation between the reference points of (S38).

The correlation between the object markers 10 and 20 reset by the recovery unit 157 and the surgical objects 1 and 2 is stored in the object matching unit 152a and the robot matching unit 152b, and the position calculating unit 154 ) May track the position and posture of the surgical objects 1 and 2 based on the correlation between the newly set object markers 10 and 20 and the surgical objects 1 and 2.

Claims (10)

1. In the surgical navigation device,

   An object that derives a correlation with respect to the position and posture between the object marker attached to the surgical object and the surgical object by matching a first image including an object marker attached to an object to be operated on and a second image on the object to be operated before surgery Mating part;

   A reference position storage unit for setting and storing a reference position with respect to at least one reference point of the surgical subject;

   A position calculating unit that receives the position and posture information of the target marker from a tracker and calculates the position of the reference point of the operation subject based on the derived correlation; And

   And a marker deformation determination unit configured to determine as a deformation of the target marker when the position of the reference point calculated from the position calculation unit deviates from the reference position.
2. In the surgical navigation device,

   An object that derives a correlation with respect to the position and posture between the object marker attached to the surgical object and the surgical object by matching a first image including an object marker attached to an object to be operated on and a second image on the object to be operated before surgery Mating part;

   A reference position storage unit that calculates and stores a reference position relationship with respect to a changeable position of the target marker using at least one reference point of the object to be operated as a reference position;

   A surgical navigation apparatus comprising: a marker deformation determination unit configured to receive position and posture information of the target marker from a tracker, and determine as a deformation of the target marker when the position and posture of the target marker deviates from the reference position relationship. .
3. The method according to claim 1 or 2,

   A robot that derives a correlation regarding the position and posture between the robot marker and the surgical object, and a correlation regarding the position and posture between the robot marker and the reference point based on an image including a robot marker attached to a surgical robot Mating part; And

   Based on a change in the correlation between the object marker and the robot marker before and after the object marker is deformed, a correlation with respect to the position and posture before and after the deformation of the object marker is derived, and the correlation before and after the object marker is deformed. A surgical navigation device, further comprising a recovery unit configured to reset a correlation between the object marker and the surgical object based on the object marker.
4. The method of claim 3,

   The operation subject includes at least one of a femur and a tibia;

   The reference point is a surgical navigation device comprising at least one of a hip joint center and an ankle joint center.
5. The method of claim 4,

   The reference position of the at least one reference point of the object to be operated is a position based on at least one of a coordinate system of the tracker, a coordinate system of the surgical robot, and a coordinate system of the robot marker.
6. In the surgical navigation method,

   Matching a first image including an object marker attached to an object to be operated on with a second image relating to the object to be operated before surgery to derive a correlation regarding the position and posture between the object marker attached to the object to be operated and the object to be operated ;

   Setting and storing a reference position with respect to at least one reference point of the surgical subject;

   Receiving position and posture information of the object marker from a tracker, and calculating a position of the reference point of the operation object based on the derived correlation; And

   And determining that the target marker is deformed when the calculated position of the reference point deviates from the reference position.
7. In the surgical navigation method,

   Matching the first image including the object marker attached to the surgical object and the second image about the pre-operative surgical object;

   Deriving a correlation with respect to a position and posture between an object marker attached to the surgical object and the surgical object;

   Calculating and storing a reference position relationship with respect to a changeable position of the object marker using at least one reference point as a reference position;

   Receiving position and posture information of the object marker from a tracker; And

   And determining that the target marker is deformed when the position and posture of the target marker deviate from the reference position relationship.
8. The method according to claim 6 or 7,

   Deriving a correlation with respect to the position and posture between the robot marker and the surgical object, and a correlation with respect to the position and posture between the robot marker and the point, based on an image including a robot marker attached to a surgical robot;

   Deriving a correlation with respect to the position and posture of the object marker before and after the deformation of the object marker based on a change in the correlation with respect to the position and posture between the object marker and the robot marker before and after the object marker is deformed; And

   And reestablishing a correlation with respect to a position and a posture between the object marker and the point based on a correlation before and after the deformation of the object marker.
9. The method according to claim 6 or 7,

   When the object marker is deformed, generating and outputting a warning message.
10. The method according to claim 6 or 7,

    The operation subject includes at least one of a femur and a tibia;

    The reference point includes at least one of a hip joint center and an ankle joint center;

    The reference position of the reference point is a position based on at least one of a coordinate system of the tracker, a coordinate system of the surgical robot, and a coordinate system of the robot marker.

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