KR20180116090A - Medical navigation system and the method thereof - Google Patents

Abstract

The present invention relates to a medical optical navigation technique using 3D scanning. The present invention provides a technique capable of performing an operation without attaching a patient tracker to a measurement target part and removing processes such as data matching and re-matching. A medical navigation method includes the steps of: performing 3D scanning on a measurement target; matching 3D scan data with image capturing data of the measurement target; and providing the coordinates of the measurement target and monitoring image information according to the coordinates of a tool device.

Description

[0001] MEDICAL NAVIGATION SYSTEM AND THE METHOD THEREOF [0002]

The present invention relates to a medical navigation system and a method thereof, and more particularly to a medical optical navigation technology using three-dimensional scanning.

The surgical navigation system uses the tracker attached to the patient and the surgical tool to determine the current position of the surgical tool and to use a computerized tomography (CT) and magnetic resonance imaging MRI) and the like, and displays the position of the surgical tool on the internal image of the human body reproduced on the monitor.

Using such a surgical navigation system, it is possible to intuitively grasp the position of a surgical tool which is occluded by skin or other organs.

The conventional surgical navigation system displays the coordinates of the patient tracker on the surgical site of the measurement subject based on the CT photograph data of the measurement subject (patient) before the operation, and displays the coordinates of the patient tractor and the body It tracks the coordinates of the tool tracker inserted inside and provides image information.

However, since the existing technique specifies the coordinates of the patient tracker on the surgical site of the measurement object, there is a problem that when the movement of the measurement object occurs during the operation, the coordinates of the CT photograph data and the patient tracker must be re-matched.

In addition, existing techniques have a disadvantage in that the coordinates of the patient tracker must be fixed to the surgical site of the measurement target by using bands or tapes, and when the patient tracker is moved away from the surgical site of the measurement object, There was a limit.

Furthermore, in recent years, interest in 3D scanning devices has been increasing.

The 3D scanning device is an optical device that acquires 3D shape and color information of an object and is used in a wide range of fields such as commercial, architectural, medical, industrial, academic, and cultural fields. The 3D scanning device can be realized by various methods such as laser triangulation, structured light projection, TOF (Time Of Flight), and stores the three-dimensional shape information of the obtained object in a three-dimensional file format that can be used in a computer.

3D scanning technology acquires the shape information of an object and stores it as a computer model. The demand for 3D scanning technology is increasing in fields such as running of a robot, defect inspection of components, reverse engineering, HCI (Human Computer Interaction) .

Accordingly, the present invention proposes a medical navigation technology for augmented reality using 3D scanning technology.

Korean Registered Patent No. 101049507 (registered on July 8, 2011), "Image guided surgery system and control method thereof" Korean Registered Patent No. 101471040 (Registered on December 03, 2014), "Ultrasonic Image Assist System for Navigation of Medical Devices"

It is an object of the present invention to provide a surgical optical navigation system using three-dimensional (3D) scanning instead of a patient tracker attached to a measurement site.

It is also an object of the present invention to provide a technique that can perform surgery without attaching a patient tracker to a measurement site, and does not require processes such as matching and reconciling of data.

It is also an object of the present invention to provide a technique for reflecting minute movement of an object to be measured, improving the accuracy of operation, and shortening the operation time.

It is also an object of the present invention to provide a technique that is applicable to electromagnetic, optical, and hybrid navigation technologies and enables precise positioning of surgical instruments during surgery using an endoscope or a microscope.

A medical navigation method according to an embodiment of the present invention includes three-dimensional (3D) scanning of an object to be measured, registration of scanned three-dimensional scan data and imaging data of the object to be measured, and tracking And providing the monitoring image information according to the coordinates of the measurement object with respect to the measurement target site and the coordinates of the tool device inserted in the measurement target.

The three-dimensional scanning step may acquire the three-dimensional scan data for the measurement object using a three-dimensional scanner (3D Scanner) for acquiring three-dimensional shape and color information.

The step of matching the data may include the step of matching the data of at least one of axially, sagittal and coronal images of the measurement object photographed using CT (computed tomography) The photographed data and the three-dimensional scan data can be matched.

The matching of the data may include extracting surface coordinate points of the measurement object from the imaging data, applying an ICP (Iterative Closest Point) algorithm to the extracted surface point coordinates, Can be matched.

The step of providing the monitoring image information may provide the coordinates of the measurement object obtained from the matching data or the three-dimensional scan data as the monitoring image information.

The providing of the monitoring image information may include providing the monitoring image information including the coordinates of the tool device inserted into the measurement object in the monitoring image information indicating the coordinates of the measurement object.

The step of providing the monitoring image information may map the coordinates of the measurement object and the coordinates of the tool by applying a coordinate system mapping algorithm and provide the monitoring image information for the mapped coordinates.

The coordinates of the tool may be traced from a tracking device that detects a certain area included in the tool.

A medical navigation system according to an embodiment of the present invention includes a three-dimensional scanner for scanning a measurement object three-dimensionally (3D), a three-dimensional scanner for scanning the three- A coordinate mapping unit for mapping the coordinates of the measurement object to the measurement target part tracked based on the matching data and the coordinates of the tool device inserted in the measurement target, and a monitoring unit for monitoring the matched data and the mapped coordinates And an image providing unit for providing image information.

Wherein the data matching unit compares the image pickup data with at least one of axial, sagittal, and coronal images of the measurement object photographed using CT (Computed Tomography) , The three-dimensional scan data can be matched.

The data matching unit extracts the surface point coordinates of the measurement object from the image pickup data and applies an ICP (Iterative Closest Point) algorithm to the extracted surface point coordinates to match the image pickup data and the 3D scan data .

The coordinates of the tool may be traced from a tracking device that detects a certain area included in the tool.

The coordinate mapping unit may map the coordinates of the measurement target between the three-dimensional scanner and the tracking device and the coordinates of the tool by applying a coordinate system mapping algorithm.

The medical navigation system according to an embodiment of the present invention may further include a controller for controlling operations of at least one of the 3D scanner, the tracking device, and the tool.

According to the embodiment of the present invention, it is possible to perform a surgery without attaching a patient tracker to a measurement target site, and to provide a technique in which processes such as matching and reconciling data are unnecessary.

Also, according to the embodiment of the present invention, it is possible to reflect the minute movement of the measurement object, improve the accuracy of the operation, and shorten the operation time.

Further, according to the embodiment of the present invention, the present invention can be applied to electromagnetic, optical, and hybrid navigation technologies.

In addition, according to the embodiment of the present invention, it is possible to increase the substitution and export of the import by developing cheap domestic medical device compared with the overseas medical device on the market, and it is possible to guarantee the safety of the patient in terms of the therapeutic effect or the after- .

1 shows a flowchart of a medical navigation method according to an embodiment of the present invention.
2 is a block diagram illustrating a detailed configuration of a medical navigation system according to an embodiment of the present invention.
FIGS. 3A and 3B illustrate application examples of a medical navigation system according to an embodiment of the present invention.
4 is a diagram illustrating an example of data matching according to an embodiment of the present invention.
5 is a view illustrating a display example of a monitor according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. In addition, the same reference numerals shown in the drawings denote the same members.

Also, terminologies used herein are terms used to properly represent preferred embodiments of the present invention, which may vary depending on the viewer, the intention of the operator, or the custom in the field to which the present invention belongs. Therefore, the definitions of these terms should be based on the contents throughout this specification.

The present invention relates to a navigation system required for otorhinolaryngology surgery in the medical field, and unlike an existing navigation system in which a matching between a procedure tool (hereinafter referred to as a "tool tool") and a patient (hereinafter referred to as a " We propose new matching and system technology that combines scanning technology.

However, although the embodiments of the face portion of the subject to be measured are described below, it is a matter of course that the medical navigation system and method of the present invention are applicable to various medical fields as well as otolaryngology.

The system and method according to embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5. FIG.

FIG. 1 is a flow chart of a medical navigation method according to an embodiment of the present invention, and FIG. 2 is a block diagram of a detailed configuration of a medical navigation system according to an embodiment of the present invention.

The medical navigation system 200 according to the embodiment of the present invention matches the scanned 3D scan data with the image capturing data and provides the monitoring image information by mapping the coordinates of the measurement object with the coordinates of the tool device.

The medical navigation system 200 according to an embodiment of the present invention includes a 3D scanner 210, a data matching unit 220, a coordinate mapping unit 230, and an image providing unit 240. In addition, the medical navigation system 200 according to the embodiment of the present invention includes a three-dimensional scanner 210, a tracking device, and a tool rigid body (a tool having a tool-rigid body or an electromagnetic tracker attached thereto) And may further include a control unit 250 for controlling operations.

At this time, the three-dimensional scanner 210, the data matching unit 220, the coordinate mapping unit 230, and the image providing unit 240 may be configured to perform the steps 110 to 130 of FIG.

In step 110, the three-dimensional scanner 210 scans the measurement object three-dimensionally (3D).

In the embodiment of the disclosed invention, the object to be measured means the patient or the object to be diagnosed, and the object to be measured may refer to a specific part of the patient's body for surgery or surgery. For example, the region to be measured may be a specific region of the brain, face, teeth, spine, joint, breast, or chest.

In step 110, the three-dimensional scanner 210 may scan the three-dimensional scan data including the three-dimensional shape and color information of the measurement object.

For example, the three-dimensional scanner 210 generates a three-dimensional model of an object to be measured. The three-dimensional scanner 210 irradiates a light source with an object to be measured, converts the incident light into an electrical image signal after being reflected by the irradiated light, And combines a plurality of images according to a video signal to generate three-dimensional scan data of a three-dimensional image. That is, the three-dimensional scanner 210 can scan the three-dimensional scan data of the three-dimensional model including the three-dimensional shape of the specific part of the measurement target or the whole body and the color information of the three-dimensional shape. However, the model, the shape, and the operation method of the 3D scanner 210 are not limited and may be a scanner that generates a real-time three-dimensional model of a measurement target.

According to the embodiment, the three-dimensional scanner 210 according to the present invention mainly produces scanning of the head and the neck, generates a real-time 3D scanning result based on an optical lens and a geometry design, and performs a SIMD (Single Instruction Multiple Data) And a GPU (Graphics Processing Unit) based image processing and coordinate calculation.

In step 120, the data matching unit 220 aligns the scanned three-dimensional scan data with the image pickup data for the measurement object.

At this time, the image capturing data may be data obtained by photographing a measurement target region to be operated or performed using a video apparatus. For example, the imaging device scans an object to be measured to acquire image data therein, and an X-ray or a magnetic resonance phenomenon can be used for this purpose. As a more specific example, the imaging device may be any one of tomosynthesis, computed tomography (CT), and positron emission tomography (X-ray) using X-rays, and Magnetic Resonance Imaging Or the like. In addition, the video device may be a device that performs a combination of two or more of the shooting modes.

As another example, the imaging apparatus reconstructs the 3D volume using the image data of the object to be measured, and re-projects the 3D volume of the object to be measured in at least one of the x-axis direction, the y-axis direction, and the z- and extracting preset feature information from at least one re-projection image.

In step 120 according to an exemplary embodiment of the present invention, the data matching unit 220 may calculate the axial, sagittal, and coronal directions of a measurement target using CT (Computed Tomography) The image capturing data and at least one of the three-dimensional scan data can be matched.

More specifically, in step 120, based on the image capturing data and the three-dimensional scan data obtained from the CT, the data matching unit 220 sets the position and size of the measurement target part included in the image capture data and the three- The surface coordinates of the object to be measured are extracted by using a separate division algorithm or an ICP (Iterative Closest Point) algorithm is applied to the extracted surface point coordinates, To match the data. At this time, the data matching unit 220 sets the image pickup data acquired from the CT as reference data, sets the three-dimensional scan data acquired from the three-dimensional scanner 210 as new data, applies the ICP algorithm, The algorithm can calculate and match the exact position by calculating the pair according to the point-to-point scan mapping between the imaging data and the three-dimensional scan data. Accordingly, the medical navigation system 200 according to the embodiment of the present invention can correct the extracted skin coordinates in order to minimize the influence of errors that may arise from the skin thickness on the measurement target site during the CT scan.

In step 130, the coordinate mapping unit 230 obtains coordinates of a measurement object to be tracked based on the matching data, coordinates of a tool rigid body (a tool with a tool rigid body or an electromagnetic tracker) And the video data providing unit 240 provides the monitoring data for the matched data and the mapped coordinates.

For example, the coordinate of the measurement object indicates the position of the measurement target site for surgery or operation, and is based on being tracked from the 3D scanner 210, and is tracked from the registration data of the imaging data and the 3D scan data . In addition, the coordinates of the tool may indicate the position of a surgical instrument (or a tool) for performing a surgery or a procedure, and may be tracked from a tracking device that detects a certain area (marker) . Here, the tool device (or the surgical instrument) is a medical instrument used for surgery or operation on the measurement target site of any one of brain, face, tooth, spine, joint, breast and chest. And may refer to a plurality of mechanisms.

In addition, the tracking device may include a sensor for detecting positional information of a certain area included in the tool by using a magnetic field, and may track the movement path by grasping the position information of the tool.

In step 130 according to an embodiment of the present invention, the coordinate mapping unit 230 can map the coordinates of the measurement object and the coordinates of the tool by applying a coordinate system mapping algorithm. At this time, the mapping between the coordinates of the measurement object and the coordinates of the tool device can be performed before or during the operation, and the coordinates of the mapped measurement object and the coordinates of the tool device can be fixed without being changed during surgery or procedure. At this time, since the coordinate system mapping algorithm is an algorithm generally used in the existing technology for error correction, a detailed description will be omitted.

In addition, in step 130, the image providing unit 240 may provide, as monitoring image information, the coordinates of the measurement target tracked from the 3D scanner 210 or tracked from the registration data of the imaging data and the 3D scan data, It is also possible to provide the monitoring image information indicating the coordinates of the object including the coordinates of the tool device inserted in the measurement target.

For example, in step 130, the control unit 250 according to the embodiment of the present invention may control the monitor image information corresponding to the measurement target site to be monitored to be displayed through the monitor. Further, the control unit 250 may display images, waveforms, and numerical values based on the screen mode and the measurement target site so as to more clearly monitor the state of the measurement target site. Dimensional image information, three-dimensional image information, coordinate information, identification information of the measurement target, and information of the measurement target region on each of the displayed images. In addition, the control unit 250 may control to provide at least one of a sound, a vibration, and a color change when a predetermined operation or procedure is out of a stable range.

FIGS. 3A and 3B illustrate application examples of a medical navigation system according to an embodiment of the present invention.

3A and 3B, a medical navigation system 300 according to an embodiment of the present invention includes a three-dimensional scanner 310 for three-dimensionally scanning an object to be measured 10, A tracking device 330 for tracking coordinates, a monitor 340,

The three-dimensional scanner 310 in the medical navigation system 300 according to the embodiment of the present invention performs three-dimensional scanning (a) of the measurement target 10 to scan the measurement target 10, Track the coordinates of the measurement object representing the position.

The medical person can confirm the coordinates of the measurement object from the monitor 240 and proceed with the operation (b) using the tool device 330. At this time, the monitor 240 can provide not only the coordinates of the measurement object but also the coordinates of the tool device indicating the position of the tool device inside the measurement target 10. [

The tracking device 320 of the medical navigation system 300 according to the embodiment of the present invention can track the coordinates of the measurement object through the three-dimensional scanner 310, , marker) to track the tool's coordinates (d). At this time, the tracking device 320 may include a sensor for detecting positional information of a certain area included in the tool device 330 using a magnetic field.

4 is a diagram illustrating an example of data matching according to an embodiment of the present invention.

Referring to FIG. 4, the medical navigation system according to the embodiment of the present invention matches three-dimensional scan data of a measurement object scanned using a three-dimensional scanner and imaging data of a measurement object.

At this time, the image capturing data may be data obtained by photographing a measurement target region to be operated or performed using a video apparatus. For example, the imaging device scans an object to be measured to acquire image data therein, and an X-ray or a magnetic resonance phenomenon can be used for this purpose. As a more specific example, the imaging device may be any one of tomosynthesis, computed tomography (CT), and positron emission tomography (X-ray) using X-rays, and Magnetic Resonance Imaging Or the like. In addition, the video apparatus may be a device that performs a combination of two or more of the photographic modes.

However, the medical navigation system according to the embodiment of the present invention uses imaging data photographed through CT.

4, a medical navigation system according to an embodiment of the present invention may include at least one of an axial, a sagittal, and a coronal plane of a measurement target using CT before surgery (or surgery) (Or CT scan data) for any one or more of them. At this time, the image pickup data is based on two-dimensional data, but two-dimensional data may be implemented as three-dimensional data in some embodiments.

That is, in the medical navigation system according to the embodiment of the present invention, pre-operative, imaging data (or CT scan data) is set as reference data, and three-dimensional (3D) scanned Scan data can be set as new data.

After that, the medical navigation system according to the embodiment of the present invention displays the image capturing data and the three-dimensional scan data in such a manner that the position and size of the measurement target site (e.g., face) are the same as shown in FIG. 4 , The image pickup data is classified into HU (Hounsfield Unit) of CT, or the surface point coordinates of the measurement object are extracted by using a separate segmentation algorithm. Hereinafter, the medical navigation system according to the embodiment of the present invention applies the ICP (Iterative Closest Point) algorithm to the extracted surface point coordinates to match the data. That is, the medical navigation system according to the embodiment of the present invention can correct an error between data that may occur at the time of CT photographing using the ICP algorithm.

5 is a view illustrating a display example of a monitor according to an embodiment of the present invention.

Referring to FIG. 5, a monitor according to an embodiment of the present invention divides a screen into a plurality of screens, and displays two-dimensional image information, three-dimensional image information, coordinate information, identification information of a measurement target, Information of at least one of the monitoring image information. At this time, each divided screen can display monitoring image information for different measurement target parts.

In addition, the monitor according to the embodiment of the present invention can display the coordinates of the measurement object and the coordinates of the tool device in real time, and provide different positions and paths to the coordinates of the tool device.

In addition, the monitor according to the embodiment of the present invention can receive selection inputs of a user (or an administrator, a health care provider, etc.), convert and display the monitoring image information based on the received selection input, , Waveforms, and colors.

In addition, the monitor according to an embodiment of the present invention may provide at least one warning signal of sound, vibration, and color change when it is out of the stable range in a predetermined operation or procedure.

That is, in addition to the data shown in FIG. 5, the monitor according to the embodiment of the present invention can display more various data based on the pathological condition of the measurement object, and the positions, It does not.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, 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 array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, 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. For example, 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. The program instructions to be recorded on the medium may be those specially designed and configured 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 CDROMs and DVDs, magnetic optical media such as floppy disks, magnetooptical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of 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.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

10: Measurement subject (patient)
200, 300: Medical navigation system
310: 3D Scanner
320: Tracking device
330: Tool device
340: Monitor

Claims (14)

Scanning the measurement object three-dimensionally (3D);
Matching the scanned three-dimensional scan data with the image pickup data for the measurement object; And
Providing coordinate information of a measurement object with respect to a measurement target part tracked based on the matching data and monitoring video information according to coordinates of a tool device inserted in the measurement target;
Gt; a < / RTI > medical navigation method. The method according to claim 1,
Wherein the step of three-dimensionally scanning
And acquiring the three-dimensional scan data for the measurement target using a three-dimensional scanner (3D Scanner) for acquiring three-dimensional shape and color information. The method according to claim 1,
The step of matching the data
The imaging data for at least one of an axial, a sagittal, and a coronal of the measurement object photographed using CT (computed tomography) A medical navigation method for matching scan data. The method of claim 3,
The step of matching the data
Extracting the surface point coordinates of the measurement object from the image pickup data, and applying the ICP (Iterative Closest Point) algorithm to the extracted surface point coordinates to match the image pickup data and the 3D scan data. Medical navigation method. The method according to claim 1,
The step of providing the monitoring image information
And providing coordinates of the measurement object obtained from the matching data or the 3D scan data as the monitoring image information. 6. The method of claim 5,
The step of providing the monitoring image information
And providing the monitoring image information including the coordinates of the measurement target, as the monitoring image information, including coordinates of the tool device inserted in the measurement target. The method according to claim 6,
The step of providing the monitoring image information
And maps the coordinate of the measurement object and the coordinate of the tool device using a coordinate system mapping algorithm and provides the monitored coordinate information to the mapped coordinates. The method according to claim 1,
The coordinates of the tool device are
And a tracking device (Tracking Device) for detecting a predetermined area included in the tool device. A three-dimensional scanner for three-dimensionally (3D) scanning an object to be measured;
A data matching unit for matching the three-dimensional scan data scanned from the three-dimensional scanner with the image pickup data for the measurement object;
A coordinate mapping unit for mapping coordinates of the measurement object with respect to the measurement target part tracked based on the matching data and coordinates of the tool device inserted in the measurement target; And
And an image providing unit for providing the monitoring image information on the matched data and the mapped coordinates,
And a medical navigation system. 10. The method of claim 9,
The data matching unit
The imaging data for at least one of an axial, a sagittal, and a coronal of the measurement object photographed using CT (computed tomography) A medical navigation system that matches scan data. 11. The method of claim 10,
The data matching unit
Extracting the surface point coordinates of the measurement object from the image pickup data, and applying the ICP (Iterative Closest Point) algorithm to the extracted surface point coordinates to match the image pickup data and the 3D scan data. Medical navigation system. 10. The method of claim 9,
The coordinates of the tool device are
And a tracking device (Tracking Device) for detecting a predetermined area included in the tool device. 13. The method of claim 12,
The coordinate mapping unit
Maps the coordinates of the measurement target between the three-dimensional scanner and the tracking device and the coordinates of the tool by applying a coordinate system mapping algorithm. 10. The method of claim 9,
A controller for controlling the operation of at least one of the three-dimensional scanner, the tracking device,
Further comprising: a medical navigation system.

Images