KR20230068473A - Insertion guidance system for locking screw and locking screw guidance method using the same, and a computer-readable storage medium - Google Patents

Abstract

The present invention is a locking screw insertion guidance system for guiding the insertion position of a locking screw during orthopedic implant surgery using a C-arm, a radioscopic imaging device that checks a patient's condition and generates image information to support a surgical plan. (C-arm fluoroscopy, hereinafter C-arm); A position estimating device that generates target information for inserting the locking screw from image information received from the C-arm based on artificial intelligence, and a three-dimensional device that receives target information from the position estimating device and guides the insertion of the locking screw into the body. It is possible to provide a locking screw insertion guide system including a positioner.

Description

Insertion guidance system for locking screw and locking screw guidance method using the same, and a computer-readable storage medium on which a computer program for providing the same is recorded

The present invention relates to a locking screw insertion guide system, a guide method using the same, and a computer-readable medium on which a computer program for providing the same is recorded. It relates to a locking screw insertion guidance system for guiding a locking screw to be accurately positioned and inserted into an insertion position, an induction method using the same, and a computer-readable medium on which a computer program for providing the same is recorded.

In general, prosthetic implants have been used for the treatment of orthopedic injuries and diseases.

Bone wounds can be regenerated, but orthopedic injuries take a considerable amount of time to heal, during which bones cannot support physiologic loads. It is well known that adjacent bony portions can be stabilized by implants between them and/or implants positioned along the bony portions.

It is known that various orthopedic implant devices are designed to provide structural support to a patient's spine and other bones or joints.

As such, the implant may be rigid to prevent motion between the bone parts, or flexible to allow minimally limited motion between the bone parts while providing a stabilizing effect.

Also, pins, screws, and meshes are frequently used in devices that replace mechanical functions of damaged bone during bone healing and regeneration.

On the other hand, it is important to ensure that the implants, pins, screws, meshes, etc. as described above are accurately positioned and fixed at the surgical site in order to ensure good results for damaged bones.

Accordingly, there is a need for a device for guiding implants, pins, screws, meshes, etc., to be accurately positioned at a position to be inserted.

Prior art includes Republic of Korea Patent Publication No. 10-2019-0007693 "Navigation device and method for fracture correction".

In order to solve the above problems, the present invention relates to a locking screw insertion guide system, a guide method using the same, and a computer-readable medium on which a computer program for providing the same is recorded, and provides a stereotaxic position during orthopedic implant surgery. Provides a locking screw insertion guide system that fixes the affected area and guides the locking screw to be accurately positioned and inserted at the locking screw insertion position, an induction method using the same, and a computer-readable medium on which a computer program for providing the same is recorded want to do

In order to solve the above problems, in the locking screw insertion guide system for guiding the insertion position of the locking screw during orthopedic implant surgery using a C-arm, image information is used to check the patient's condition and support the surgical plan. A radiographic imaging device that generates (C-arm fluoroscopy, hereinafter C-arm); A position estimating device that generates target information for inserting the locking screw from image information received from the C-arm based on artificial intelligence, and a three-dimensional device that receives target information from the position estimating device and guides the insertion of the locking screw into the body. It may include a positioning machine.

In addition, the stereotaxic unit is formed in a ring shape to be mounted on the affected area, one side is formed to be opened and closed, and a pair of body parts facing each other; a ruler formed to connect the pair of body parts to guide the insertion position in a horizontal direction; an adjuster disposed between the pair of body parts, fastened while passing through the ruler in the front-back direction at both ends, and adjusting the horizontal and vertical directions with respect to the insertion position; It is formed to enable shooting through the C-arm, and is formed on the marker and the adjuster located on the inner side of the lower side of the body and coupled to the body, and is provided to grasp the insertion position of the locking screw and transmits sensor information. It may include a sensor unit that generates.

In addition, the marker may include a plurality of bearing balls arranged in a matrix to be formed in a rectangular shape so as to be able to enter and exit the bottom surface of the body, and to correct and generate spatial position information of the marker from the image information. there is.

In addition, the position estimating device learns screw information including the position and shape of the screw hole on the C-arm image collected in advance, and is provided to indicate the condition in which the lock screw is inserted into the screw hole. a screw hole information detection unit that detects the screw hole information matching the screw information with respect to hole information; a screw hole information analyzer configured to apply the screw hole information to a screw hole into which the locking screw is to be inserted and generate screw hole spatial information about the location and direction of the screw hole; Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient through the analysis of the camera information wealth; Based on the spatial position information of the marker, a matching unit that generates the target information based on the screw hole spatial information and the camera analysis information by applying a CNN model and receives sensor information from the sensor unit to obtain the target information and It may include a determination unit for generating determination information by determining whether the insertion positions of the locking screws coincide.

In addition, the adjuster may include an adjuster frame formed in an arc shape and including a through hole through which the ruler passes; a direction control unit formed along the longitudinal direction of the adjuster frame; A display unit formed on an outer surface of one end of the adjuster frame to display coordinate values of the insertion position and a fine adjustment unit formed on a side surface of one end of the adjuster frame to finely adjust the coordinate values of the adjuster may be included. .

In addition, the direction adjusting unit, doedoe formed along the longitudinal direction of the adjuster frame, through the guide hole formed in the vertical direction; It may include a movable groove formed on the front and rear surfaces of the guide hole in an inward direction, respectively, and a movable member inserted into the movable groove and moved along the guide hole to adjust a position in a vertical direction.

In addition, the movable member may include a movable plate formed in a rectangular plate shape having a curvature so as to be movable along the movable groove; It may include an angle adjustment member formed in a ball shape at the center of the moving plate and adjusting an angle according to the insertion position, and an insertion hole formed through the center of the angle adjustment member to insert the locking screw into the insertion position. there is.

The sensor unit may include an angle sensor, a distance sensor, and a depth sensor to generate sensor information including angle information, distance information, and depth information about the insertion position of the locking screw.

In addition, the display unit may include a display for receiving target information from the location estimating device and displaying a coordinate value for an insertion position, and a notification unit for receiving determination information from the location estimating device and providing a notification through light emission. .

In addition, the notification unit, a horizontal notification unit for displaying when the target information and the horizontal position of the insertion hole according to the insertion position coincide; It may include a vertical notification unit that displays when the target information and the vertical position of the insertion hole according to the insertion position match, and an angle notification unit that displays when the target information and the angle of the insertion hole match.

In addition, a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) for generating image information to check a patient's condition and support a surgical plan; Based on artificial intelligence, a position estimation device that generates target information for inserting the locking screw from the image information received from the C-arm, and a stereoscopic device that receives target information from the position estimation device and guides the insertion of the locking screw into the body. In the locking screw insertion guidance system that includes the crisis, the locking screw insertion guidance method uses image information through C-arm fluoroscopy (hereinafter referred to as C-arm) to confirm the patient's condition and support surgical planning. generating image information; A target information generation step of generating target information to insert the locking screw from image information received from the C-arm based on artificial intelligence, and receiving target information from the position estimation device to guide insertion of the locking screw into the body Guide steps may be included.

In addition, the target information generation step is provided to learn screw information including the position and shape of the screw hole on the C-arm image collected in advance, and to indicate the condition in which the lock screw is inserted into the screw hole A screw hole information detection step of detecting the screw hole information matching the screw hole information with respect to the screw hole information; a screw hole information analysis step of applying the screw hole information to a screw hole into which the locking screw is to be inserted to generate screw hole spatial information about the location and direction of the screw hole; Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient through the analysis of the camera information step; A matching step of generating the target information based on the screw hole spatial information and the camera analysis information by applying a CNN model based on the spatial position information of the marker, and receiving sensor information from the sensor unit to obtain the target information and the target information. A determination step of generating determination information by determining whether the insertion positions of the locking screws coincide may be included.

In addition, according to an embodiment of the present invention, it is possible to provide a computer-readable recording medium on which a computer program for performing a method for inducing insertion of a locking screw is recorded.

The locking screw insertion guidance system according to an embodiment of the present invention, the induction method using the same, and the computer-readable medium on which the computer program for providing the same is recorded to fix the affected area and to accurately position the locking screw at the insertion position. By guiding, there is an effect that can operate more safely and accurately.

In addition, since the locking screw insertion guidance system according to the present invention can accurately and quickly position the locking screw, the setting time of the adjuster for the insertion position can be shortened, ultimately reducing the operation time.

1 is a block diagram of a locking screw insertion guide system according to an embodiment of the present invention;
Figure 2 is a block diagram showing the configuration of the location estimation device of Figure 1;
Figure 3 is a perspective view showing the appearance of the stereotaxic device of Figure 1;
4 is a perspective view showing a state in which an insertion tool fastened with a locking screw is inserted into an insertion hole of the stereotaxic device of FIG. 1;
Figure 5 is a perspective view showing a body portion of the stereotaxic unit of Figure 1;
Figures 6 (a), (b) is a perspective view showing a state in which the opening and closing portion of Figure 5 is opened and closed.
Figures 7 (a), (b) is an exemplary view showing how the fixing unit of Figure 5 operates.
8 (a) to (c) are perspective views showing rulers having different lengths of the stereotaxic device of FIG. 1;
Figures 9 (a), (b) is a perspective view showing a state in which the moving member of the regulator of the stereotaxic positioner of Figure 1 moves.
10 is a perspective view showing a marker of the stereotaxic apparatus of FIG. 1;
Figure 11 (a), (b) is a perspective view showing a state in which the marker is installed and separated on the body of Figure 5, respectively.
Figures 12 (a) to (e) are exemplary views showing the fastening sequence of the stereotaxic unit of Figure 1.
13 is an exemplary view showing a state in which the stereotaxic device of FIG. 1 is applied to a leg;
14 is a flowchart of a method for inducing insertion of a locking screw according to an embodiment of the present invention.

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

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

Like reference numbers used throughout this specification indicate like elements.

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

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, it should not be interpreted in an ideal or excessively formal meaning. don't

In addition, in the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted.

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 14 attached.

The locking screw insertion guidance system according to an embodiment of the present invention is a system for fixing an affected area and guiding a locking screw (S) to be inserted into the body to be accurately positioned at the insertion position during orthopedic implant surgery using a C-arm.

Here, orthopedic implant is a term referring to various artificial devices used to replace joints of the body, such as the pelvis, knee, shoulder, elbow, and spine, and the insertion position is a preferred position in which the locking screw (S) is inserted into the body at the affected part. can refer to

In the present invention, the affected part is limited to the leg, but is not limited thereto and can be applied to all surgical areas requiring orthopedic implant surgery.

In the present invention, for convenience, the material to be inserted into the body using the stereotaxic device 3 is limited to the locking screw (S), but not only the locking screw (S), but also for fixing implants such as pins or fixing damaged bones It may include all materials used for, but is not limited thereto.

Prior to the description of the present invention, referring to FIG. 3, in the direction of the stereotaxic device 3 shown in the drawing, the X-axis direction is referred to as the front, the Y-axis direction as the side surface, and the Z-axis direction as the top surface. do.

1 to 13, a locking screw insertion guidance system according to an embodiment of the present invention includes a radioscopic imaging device (C-arm fluoroscopy, hereinafter C-arm) 1, a localization device 2, and a stereotaxic device. (3) may be included.

First, the C-arm (1) is a mobile radioscopic imaging device that photographs the affected area to check the condition of the bone and establishes a surgical plan such as osteotomy and alteration correction. It can generate image information, which is a radioscopic image. there is. Such C-arm(1) can check the condition of the patient through image information and support the surgical plan.

The position estimating device 2 may generate target information into which the locking screw S is to be inserted using image information received from the C-arm 1 based on artificial intelligence.

More specifically, the position estimation device 2 includes a screw hole information detection unit 21, a screw hole information analysis unit 22, a camera information analysis unit 23, a matching unit 24, and a determination unit to generate target information. (25) may be included.

First, the screw hole information detection unit 21 is prepared to indicate the conditions for the locking screw S to be inserted into the screw hole based on the screw information including the position and shape of the screw hole on the previously collected C-arm image. It is possible to detect screw hole information matching the screw hole information with respect to the screw hole information.

At this time, the screw information may mean that an image of a region to which a screw hole belongs is extracted as data from a C-arm image based on artificial intelligence Mask R-CNN.

For example, the screw hole information detection unit 21 may replace the screw information with 4096*4096 pixels based on Mask R-CNN when the screw information is represented by 1024*1024 pixels.

The screw hole information analysis unit 22 applies the screw hole information detected through the screw hole information detection unit 21 to the screw hole into which the locking screw S is to be inserted, and the screw hole space for the location and direction of the screw hole. information can be generated.

At this time, the screw hole information analysis unit 22 may analyze the insertion position and direction of the screw hole by utilizing an algorithm.

More specifically, the screw hole information analysis unit 22 may set an extension line of a minor axis of each screw hole for a plurality of screw information, that is, a screw hole detected in an elliptical shape. Thereafter, the screw hole information analysis unit 22 may calculate a vector value appearing perpendicular to the screw hole by connecting the intersection and the focal point of the plurality of extension lines. At this time, a vector value appearing perpendicular to the screw hole may appear as a positional difference between the focal point and the intersection point.

In addition, the screw hole information analysis unit 22 may calculate the normal vector of the plane according to the center point of the focal point and the plurality of detected screw holes, and use the normal vector and the vector value perpendicular to the screw hole to calculate the screw hole. A vector value connecting the center points of can be calculated.

Accordingly, the screw hole information analysis unit 22 may determine the direction of the screw hole by calculating the angle of each screw hole from the triangle generated by the vector value connecting the focal point and the center point of the screw hole.

In addition, the screw hole information analysis unit 22 may determine the position of the screw hole by calculating the distance from the focal point to each screw hole using a known trigonometric function or a known triangular characteristic.

Accordingly, the screw hole information analysis unit 22 may generate screw hole spatial information about the position and direction of the screw hole through the algorithm described above.

The camera information analysis unit 23 generates camera information by photographing the equipment at different positions and angles, and analyzes the camera information to obtain camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient. can be calculated

More specifically, the camera information analysis unit 23 may set the camera calibration equipment to various focal lengths, place it at various angles and distances for each focal length, and take 100 to 200 shots to secure camera information, which is data. Thereafter, the camera information analyzer 23 may analyze the camera information to derive camera analysis information including information about the principal point of the lens, the focal length, the asymmetry coefficient, and the distortion coefficient.

The matching unit 24 receives image information including the marker 33, generates spatial position information based on the marker 33, and applies a CNN model to the generated spatial position information to obtain screw hole spatial information and focus. The target information may be generated based on the distance information.

Here, the marker 33 is a configuration of the stereotaxic device 3, and a detailed description will be given along with the description of the stereotaxic device 3 below.

First, the matching unit 24 may detect the marker 33 from image information including the marker 33 . Then, based on the marker 33, virtual spatial location information for the marker 33 may be generated, which may be 3D modeled guide information. At this time, the position and direction of the marker 33 based on the stereotaxic device 3 may be set and corrected so that accurate spatial position information may be derived.

Accordingly, the matching unit 24 may generate target information into which the locking screw should be inserted by analyzing the spatial location information of the screw hole and the focal length information based on the spatial location information.

Finally, the determination unit 25 may generate determination information by receiving sensor information from the sensor unit and determining whether the target information coincides with the insertion position of the locking screw.

Here, the sensor unit is a configuration of the stereotaxic device 3, and includes an angle sensor, a distance sensor, and a depth sensor to generate sensor information including angle information, distance information, and depth information about the insertion position of the lock screw S. can do.

A more detailed description of the determination unit 25 will be made together with the description of the stereotaxic device 3 below.

3 and 4, the stereotaxic unit 3 of the locking screw insertion guide system includes a marker, a body 30, a ruler 31, an adjuster 32, a marker 33, and a sensor unit, including a leg ( In a state in which L) is fixed to the stereotaxic device 3, the locking screw S can be accurately inserted into the insertion position.

First, referring to FIGS. 5 to 7, the body part 30 fixes the ruler 31 and the adjuster 32 with the leg L located therein, and the leg L can be located inside. It can be formed in a ring shape so that In addition, the body portion 30, doedoe consists of a pair positioned facing each other as shown in Figure 5, it may be formed symmetrically. At this time, the body portion 30 refers to the body portion 30 located on the rear side as the first body portion 30a and the body portion 30 located on the front side as the second body portion 30b for convenience of description. want to do

The body portion 30 may include a frame portion 300, an opening/closing portion 310, a support portion 320, a fixing portion 330, and a coupling portion 340.

The frame portion 300 may be formed in a ring shape having a predetermined width so that the leg L may be positioned therein. At this time, the frame portion 300 is most preferably formed in a circular ring shape, but is not limited thereto and may be formed in various shapes such as a square or a hexagon.

The opening/closing part 310 may be formed such that one side of the frame part 300 is opened and closed so that the leg (L) can be easily drawn in or out of the body part 30 .

Referring to FIG. 6, the opening/closing unit 310 opens and closes one side of the frame unit 300 around a hinge 3000 formed on the other side of the frame unit 300, and includes an opening/closing member 3100 and an opening/closing groove 3101 can do.

The opening/closing member 3100 is formed at one end of the frame unit 300 that rotates by the hinge 3000, as shown in (a) of FIG. 6, and may be formed in a protruding protrusion shape.

The opening/closing groove 3101 is a portion fastened to the opening/closing member 3100 and is formed in a groove shape so that the opening/closing member 3100 is inserted into the opening/closing groove 3101 to be fastened.

At this time, the opening/closing member 3100 and the opening/closing groove 3101 are formed of magnets to increase fixing force compared to when they are fastened, and can be easily dismantled. In addition, the opening/closing member 3100 and the opening/closing groove 3101 are not limited to the above-described shapes, and may be formed in various shapes capable of fastening and disassembling each other.

The support part 320 may be formed on the bottom surface of the frame part 300 to stably support the ring-shaped frame part 300 on the floor. More specifically, the support part 320 is formed by extending both ends of the frame part 300 to the bottom surface as shown in FIG. 5 and is formed flat on the bottom surface to support the frame part 300 . At this time, the support part 320 is not limited to the above-described shape, and may be formed in various shapes stably supported on the bottom surface to stably support the frame part 300 .

In addition, the support part 320 may be formed with a support groove 3200 into which a marker 33 to be described later may be inserted.

The support groove 3200 is a groove formed on the bottom surface of both sides of the support part 320, and may be formed on the front or rear surface. More specifically, the support groove 3200 may be formed on both bottom surfaces of the front surface in the case of the first body portion 30a, and may be formed on both bottom surfaces of the rear surface in the case of the second body portion 30b.

The fixing part 330 is formed on the upper and lower sides of the inside of the frame part 300 to fix the leg L located inside the body part 30, and may be formed so that air pressure or hydraulic pressure enters and exits. More specifically, the fixing part 330 expands by introducing air pressure or hydraulic pressure as shown in FIG. can be made Accordingly, the fixing part 330 can prevent the leg (L) from moving by being in close contact with the upper and lower sides of the leg (L) located inside the body portion (30).

The coupling portion 340 is formed on both sides of the frame portion 300 so that the ruler 31 is inserted and coupled thereto, has a predetermined length, and may be formed to surround both sides of the frame portion 300, and the coupling groove 3400 ) may be included.

The coupling groove 3400 may be formed on the front or rear side of the coupling portion 340 . More specifically, in the case of the coupling part 340 formed in the first body portion 30a, a coupling groove 3400 is formed on the front side, and in the case of the coupling portion 340 formed in the second body portion 30b, it is coupled to the rear side. A groove 3400 may be formed. Accordingly, in the first body portion 30a and the second body portion 30b, the coupling grooves 3400 are positioned to face each other so that the rear and front ends of the ruler 31 are respectively connected to the first body portion 30a and the first body portion 30a. It can be inserted into the coupling groove 3400 formed in the second body portion 30b to be coupled.

At this time, the coupling part 340 may further include a separation protrusion (not shown) and a separation button 3401 inserted into the coupling groove 3400 to easily separate the coupled ruler 31 .

The separation protrusion (not shown) is a protrusion formed on the lower surface of the coupling groove 3400 to protrude upward, and may be formed in various ways according to the shape of the ruler 31, but is not limited thereto.

The separation button 3401 is formed on the outer surface of the coupling part 340, and as the separation button 3401 operates, the separation protrusion (not shown) moves upward so that the ruler 31 can be separated.

A detailed description thereof will be described along with a description of the ruler 31 below.

8 (a) to (c) are perspective views illustrating rulers having different lengths of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention.

Referring to FIG. 8, the ruler 31 is formed so that the first body part 30a and the second body part 30b are connected to adjust the horizontal direction with respect to the insertion position, and the rulers 31 having different lengths from each other ) may be provided in plurality. Thus, the ruler 31 has the advantage of being fastened to the coupling part 340 by selecting the ruler 31 having a length suitable for the surgical site.

This ruler 31 is formed in a bar shape having a length, and may include a display groove 310 and a bent portion 320.

The display groove 310 is a groove formed along the longitudinal direction of the ruler 31 formed in , and may be formed in a part where the adjuster 32 can move in the horizontal direction, but is not limited thereto. Accordingly, the display groove 310 allows the adjuster 32 to move more accurately by fixing it so that it does not shake when moving in the horizontal direction. This will be described in detail along with the description of the adjuster 32 below.

In addition, the ruler 31 may form a bent portion 320 in which lower corners of both ends are bent inward in the longitudinal direction. At this time, the bent portion 320 is a portion in which the above-described separation protrusion (not shown) pushes upward as the separation button 3401 is pressed.

More specifically, the separation protrusion (not shown) is located in the hollow portion formed by the bent portion 320 before the separation button 3401 is pressed, and when the separation button 3401 is pressed, the separation protrusion (not shown) By pushing the curved portion 320 upward, the ruler 31 may be separated from the coupling groove 3400 .

In addition, the ruler 31 may display graduation marks on the upper portion of the outer surface along the longitudinal direction so that the user can accurately adjust the position of the adjuster 32 in the horizontal direction.

In addition, the ruler 31 may be marked with arrows at both ends of the outer surface to indicate the direction in which it is inserted into the coupling groove 3400. Accordingly, the ruler 31 may allow the user to quickly and accurately insert the ruler 31 into the coupling groove 3400 .

9(a) and (b) are perspective views illustrating the movement of the moving member of the adjuster of the stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention.

Referring to Figure 9, the adjuster 32 adjusts the horizontal and vertical directions with respect to the insertion position, and is disposed between the first body portion 30a and the second body portion 30b, and moves forward and backward at both ends. The ruler 31 may be fastened while penetrating.

The adjuster 32 may include an adjuster frame 320, a direction control unit 321, a display unit 322, and a fine adjustment unit 323.

The adjuster frame 320 may include an arc-shaped through hole 3200 through which the ruler 31 passes. At this time, the through hole 3200 is a hole formed to pass through both ends of the adjuster frame 320 in the forward and backward directions, and may have a length equal to the height of the ruler 31 so that the ruler 31 can pass therethrough.

At this time, the adjuster frame 320 may have a fixing protrusion (not shown) formed to protrude from an outer surface of the through hole 3200 . A fixing protrusion (not shown) may be formed at a position corresponding to the display groove 310 to be inserted into the display groove 310 of the ruler 31 .

Accordingly, the fixing protrusion (not shown) moves along the display groove 310 as the adjuster frame 320 moves, thereby fixing the adjuster 32 so that it does not shake when moving in the horizontal direction, and allowing the adjuster 32 to move more accurately. there is.

The direction control unit 321 is formed along the longitudinal direction of the adjuster frame 320 to adjust the position in the vertical direction with respect to the insertion position, and the guide hole 3210, the moving groove 3211 and the moving member 3212 are can include

The guide holes 3210 are spaced apart from both ends of the adjuster frame 320 by a predetermined interval and formed along the longitudinal direction, and may be formed to pass through in the vertical direction.

The movable groove 3211 may be formed on the front and rear surfaces of the guide hole 3210 in an inward direction, respectively. At this time, it is most preferable that the movable groove 3211 is formed in a 'c' shape in cross section, but is not limited thereto. In addition, the movable groove 3211 may be continuously formed with rails (not shown) formed in various shapes such as triangles and squares on the inner surface, and a triangular shape is most preferable, but is not limited thereto.

The movable member 3212 adjusts the position in the vertical direction according to the insertion position, and can move along the guide hole 3210 while the front and rear ends are inserted into the movable grooves 3211, respectively.

The moving member 3212 may include a moving plate 32120, an angle adjusting member 32121, and an insertion hole 32122.

The moving plate 32120 may be formed in the shape of a rectangular plate having a curvature to match the shape of the adjuster frame 320 so as to move along the guide hole 3210 . At this time, the front and rear ends of the moving plate 32120 may be inserted into the movable groove 3211, and may move along the guide hole 3210 while being inserted into the movable groove 3211.

In this case, when rails (not shown) are formed on the moving grooves 3211 of the moving plate 32120, rail protrusions (not shown) may be formed on the front and rear surfaces to correspond to the shape of the rails (not shown). Accordingly, the moving plate 32120 moves along the guide hole 3210 in a state in which the rail protrusions (not shown) are engaged with the rails (not shown), so that the positioning in the vertical direction can be more precisely adjusted.

The angle adjusting member 32121 may be formed in a circular shape and positioned at the center of the moving plate 32120. More specifically, the angle adjusting member 32121 may be rotatably operated in a state inserted into the moving plate 32120.

The insertion hole 32122 may be formed through the angle adjustment member 32121 so that the locking screw S can be inserted into the insertion position. At this time, it is most preferable that the insertion hole 32122 is formed through the center of the angle adjusting member 32121, but is not limited thereto.

As this insertion hole 32122 is formed through the center of the angle adjustment member 32121, it not only enables angle adjustment for the insertion position, but also fixes the locking screw S so that it does not shake when inserted into the body. It has an effect.

As such, referring to FIG. 9 , the movable member 3212 may determine a vertical position while moving along the guide hole 3210 . Thereafter, the movable member 3212 has the advantage of being able to adjust the insertion angle with respect to the insertion position by rotating the angle adjustment member 32121 in a desired direction with the locking screw S inserted into the insertion hole 32122.

The display unit 322 is formed on the outer surface of one end of the adjuster frame 320 to display location information of the insertion position, and may include a display 3220 and a notification unit 3221.

The display 3220 may receive target information from the position estimating device 2 and display coordinate values for the insertion position. At this time, the target information may include information about the horizontal direction, vertical direction, and angle, but is not limited thereto and may include all information about the insertion position.

The notification unit 3221 receives determination information from the position estimation device 2 and provides a notification through light emission, and may include a horizontal notification unit 3221a, a vertical notification unit 3221b, and an angle notification unit 3221c. there is.

More specifically, the notification unit 3221 may provide a notification by light emission when the determination information matches the horizontal, vertical, and angle according to the target information and the insertion position, but is not limited thereto, and emits light even in the opposite case. By providing a notification, it is possible to more easily guide the insertion position to match the target information.

The horizontal notification unit 3221a may light up and display the horizontal position of the insertion hole 32122 according to the target information and the insertion position based on the determination information.

The vertical notification unit 3221b may light up and display when the vertical position of the insertion hole 32122 matches the target information and the insertion position based on the determination information.

The angle notification unit 3221c may emit light when the angle of the insertion hole 32122 matches the target information and the insertion position based on the determination information.

At this time, it is most preferable that the notification unit 3221 distinguishes the horizontal notification unit 3221a, the vertical notification unit 3221b, and the angle notification unit 3221c by emitting different colors, but is not limited thereto.

In addition, the notification unit 3221 may provide notification through various methods such as sound and vibration, in addition to emitting light.

The fine adjustment unit 323 is formed on the side surface of one end of the adjuster frame 320 to finely adjust the coordinate values of the adjuster 32, and is formed in a disk shape, but the outer circumferential surface can be formed in a continuously curved shape. there is. Accordingly, the fine adjustment unit 323 has the advantage of finely adjusting the movement of the adjuster 32 by rotating the outer circumferential surface in the left and right directions to more accurately adjust the coordinate values.

FIG. 10 is a perspective view showing a marker of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention, and FIG. 11 is a perspective view showing the marker separated from the body of FIG. 5 .

10 and 11, the marker 33 is photographed through the C-arm 1 and recognized by image information, and the target information is derived by matching the position estimation device 2 and the stereotaxic device 3. can be used in doing

These markers 33 may be applied to all markers commonly used in the same technical field, but are not limited thereto.

More specifically, the marker 33 is to derive spatial position information by setting and correcting the position and direction based on the stereotaxic device 3, and is located in the inner direction of the lower side of the body part 30 to the body part ( 30) can be combined. At this time, when the marker 33 is not in use, it is placed in a state of being inserted into the support groove 3200, and after all components of the stereotaxic positioner 3 are fastened, it can be pulled out from the support groove 3200 and used.

Accordingly, the marker 33 is formed to be inserted into the support groove 3200 of the support part 320 in a rectangular shape to enable entry and exit, and a plurality of bearing balls arranged to correct and generate spatial positional information of the marker from image information. (330).

More specifically, the marker 33 may derive spatial location information by allowing the C-arm 1 to recognize the bearing ball 330 . At this time, the bearing ball 330 may be formed of a metal material so that it can be recognized by the C-arm, and it is most preferable that the bearing ball 330 is formed and arranged to a standard to minimize deformation in the C-arm image. , but not limited thereto.

Accordingly, the marker 33 utilizes characteristics such as the distance between spheres and the size of spheres through the standardized arrangement of the bearing balls 330 to create a conversion matrix that defines the conversion relationship between the coordinate values and the analysis value of the C-arm image. can make it do.

Accordingly, the position and direction of the marker 33 can be set and corrected based on the stereotaxic device 3 to be converted into spatial position information, which is an accurate spatial position information coordinate value.

At this time, deriving coordinate values for the insertion position from the C-arm image may be implemented through a processor, memory, and software for performing an image processing process commonly used in the field.

12(a) to (e) are exemplary diagrams illustrating a sequence of fastening of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention, and FIG. 13 is an example of orthopedic implant surgery according to an embodiment of the present invention. It is an example diagram showing how the dragon stereotaxic device is applied to the leg.

Referring to FIG. 12 , a sequence of fastening of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention will be described. At this time, FIG. 12 shows the fastening sequence of the stereotaxic device 3 in a state in which the leg L is excluded, and for convenience of explanation, it will be described assuming that the leg L exists.

First, in (a) of FIG. 12 , in a state in which the first body portion 30a is first disposed, one side of the frame portion 300 is opened through the opening and closing portion 310, a leg is inserted, and then the frame portion 300 is closed. So that it becomes the same state as FIG. 12 (a).

After that, as shown in (b) of FIG. 12 , the rear ends of the rulers 31 may be inserted into the coupling grooves 3400 formed on the front surfaces of both sides of the first body portion 30a to be fastened. Next, as shown in (c) of FIG. 12, the adjuster 32 is fastened to the ruler 31, and the ruler 31 can be fastened by passing through the through hole 3200 of the adjuster 32. Finally, as shown in (d) of FIG. 12 , the front ends of the rulers 31 may be inserted into the coupling grooves 3400 formed on the rear surfaces of both sides of the second body portion 30b to be fastened. At this time, before the second body part 30b is fastened to the ruler 31, one side of the frame part 300 is opened through the opening and closing part 310, a leg is inserted, and then the frame part 300 is closed and then the ruler (31) so that it can be concluded. Then, as shown in (e) of FIG. 12, the marker 33 is withdrawn from the support groove 3200 to determine the insertion position, and then the adjuster 32 is moved horizontally and vertically so that the insertion hole 32122 is formed at the insertion position. adjust to match

When the insertion hole 32122 coincides with the insertion position, as shown in FIG. 13, the insertion tool T into which the locking screw S is inserted is inserted into the insertion hole 32122 so that the locking screw S is inserted into the body. can

Accordingly, the stereotaxic device 3 guides the locking screw S to be accurately positioned at the insertion position, and has an effect of enabling safer and more accurate surgery to be inserted at the corresponding position.

A method for inducing the insertion of the locking screw will be described in detail below.

14 is a flowchart sequentially illustrating a method for inducing insertion of a locking screw according to an embodiment of the present invention.

A radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) for generating image information to check a patient's condition and support a surgical plan according to an embodiment for realizing another object of the present invention described above; A position estimating device that generates target information for inserting the locking screw from image information received from the C-arm based on artificial intelligence, and a three-dimensional device that receives target information from the position estimating device and guides the insertion of the locking screw into the body. In the locking screw insertion guidance system including a positioning device, the locking screw insertion guidance method according to an embodiment of the present invention may include image information generation step (S10), target information generation step (S20), and guide step (S30). there is.

In the image information generating step (S10), image information may be generated through a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) to confirm a patient's condition and support a surgical plan.

In the target information generating step (S20), target information into which the locking screw is to be inserted may be generated from image information received from the C-arm based on artificial intelligence.

More specifically, the target information generation step (S20) may include a screw information learning step, a focus information learning step, a matching step, and a judgment step.

In the screw information learning step, based on the screw information including the location and shape of the screw hole on the C-arm image collected in advance, the upper and lower center point coordinate information of the screw hole can be derived and learned.

In the focus information learning step, a plurality of different focal lengths may be set using camera calibration equipment, and focal length information generated by arranging at different angles and distances for each focal length may be learned.

In the matching step, image information including markers is received, markers are detected, spatial position information is generated based on the markers, and target information is generated based on the midpoint coordinate information and focal length information by applying a CNN model. can

In the determining step, sensor information may be received from the sensor unit to determine whether the target information and the insertion position of the locking screw match.

Finally, in the guide step (S30), the stereotaxic device 3 may receive target information and determination information from the position estimation device 2 to guide insertion of the locking screw S into the body.

The method for inducing insertion of a locking screw according to an embodiment of the present invention described above may be implemented in the form of a recording medium including instructions executable by a computer, such as a program module executed by a computer. Such recording media includes computer readable media, which can be any available media that can be accessed by a computer, and includes both volatile and nonvolatile media, removable and non-removable media. Computer readable media also includes computer storage media, both volatile and nonvolatile, implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. , including both removable and non-removable media.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also included in the scope of the present invention. that fall within the scope of the right.

1: C-arm (radioscopic imaging device)
2: position estimation device
21: screw hole information detection unit
22: screw hole information analysis unit
23: camera information analysis unit
24: matching part
25: judgment unit
3: stereotaxic
30: body part
30a: first body
30b: second body
300: frame part
3000: hinge
310: opening and closing part
3100: opening and closing member
3101: opening and closing groove
320: support
3200: support groove
330: fixing part
340: coupling part
3400: coupling groove
3401: Separation button
31: Ruler
310: display groove
320: bend
32: regulator
320: adjuster frame
3200: through hole
321: direction control unit
3210: guide hole
3211: moving home
3212: moving member
32120: moving plate
32121: angle adjusting member
32122: insertion hole
322: display unit
3220: display
3221: notification unit
3221a: horizontal notification unit
3221b: vertical notification unit
3221c: angle notification unit
323: fine adjustment unit
33: marker
330: bearing ball
T: Insert Tool
S: lock screw
L: leg

Claims (13)

In the locking screw insertion guide system for guiding the insertion position of the locking screw during orthopedic implant surgery using a C-arm,
A radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that generates image information to check a patient's condition and support a surgical plan;
A position estimation device for generating target information into which the locking screw is to be inserted from the image information received from the C-arm based on artificial intelligence; and
A locking screw insertion guidance system comprising a stereotaxic device for receiving target information from the position estimating device and guiding insertion of the locking screw into the body.
According to claim 1,
The stereotaxic atmosphere,
Doedoe formed in the shape of a ring to be mounted on the affected area, one side is formed to be opened and closed, a pair of body parts facing each other;
a ruler formed to connect the pair of body parts to guide the insertion position in a horizontal direction;
an adjuster disposed between the pair of body parts, fastened while passing through the ruler in the front-back direction at both ends, and adjusting the horizontal and vertical directions with respect to the insertion position;
A marker formed to enable shooting through the C-arm, located in the inner direction of the lower side of the body and coupled to the body; and
A locking screw insertion guidance system comprising a sensor unit formed in the adjuster and configured to detect an insertion position of the locking screw and generate sensor information.
According to claim 2,
The marker is
A locking screw insertion guide system including a plurality of bearing balls arranged in a matrix to correct and generate spatial positional information of the marker from the image information and formed to be able to enter and exit the bottom surface of the body in a rectangular shape.
According to claim 3,
The location estimation device,
Learning screw information including the position and shape of screw holes on the C-arm image collected in advance, and providing screw hole information to indicate the condition in which the locking screw is inserted into the screw hole, to the screw information a screw hole information detection unit that detects the matched screw hole information;
a screw hole information analyzer configured to apply the screw hole information to a screw hole into which the locking screw is to be inserted and generate screw hole spatial information about the location and direction of the screw hole;
Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient through the analysis of the camera information wealth;
A matching unit generating the target information based on the spatial information of the screw hole and the camera analysis information by applying a CNN model based on the spatial location information of the marker; and
and a determination unit configured to generate determination information by receiving sensor information from the sensor unit and determining whether the target information coincides with the insertion position of the lock screw.
According to claim 2,
The regulator,
an adjuster frame formed in an arc shape and including a through hole through which the ruler passes;
a direction control unit formed along the longitudinal direction of the adjuster frame;
A display unit formed on an outer surface of one end of the adjuster frame to display the coordinate value of the insertion position; and
A locking screw insertion guide system including a fine adjustment unit formed on a side surface of one end of the adjuster frame to finely adjust the coordinate values of the adjuster.
According to claim 5,
The direction control unit,
guide holes formed along the longitudinal direction of the adjuster frame and penetrating in the vertical direction;
Moving grooves formed inward on the front and rear surfaces of the guide hole, respectively, and
A locking screw insertion guide system including a moving member inserted into the moving groove and moving along the guide hole to adjust a vertical position.
According to claim 6,
The moving member,
a moving plate formed in the shape of a rectangular plate having a curvature so as to move along the moving groove;
An angle adjusting member formed in a ball shape at the center of the moving plate and adjusting an angle according to the insertion position; and
A locking screw insertion guide system including an insertion hole formed through the center of the angle adjusting member so that the locking screw can be inserted into the insertion position.
According to claim 2,
The sensor unit,
A locking screw insertion guidance system comprising an angle sensor, a distance sensor, and a depth sensor, characterized in that for generating sensor information including angle information, distance information, and depth information about the insertion position of the locking screw.
According to claim 5,
the display unit,
A display for receiving target information from the position estimating device and displaying coordinate values for an insertion position; and
A locking screw insertion guide system including a notification unit receiving determination information from the position estimating device and providing a notification through light emission.
According to claim 9,
The notification unit,
a horizontal notification unit displaying when the horizontal position of the insertion hole matches the target information and the insertion position;
A vertical notification unit that displays when the vertical position of the insertion hole matches the target information and the insertion position; and
A locking screw insertion guide system including an angle notification unit that displays when the target information and the angle of the insertion hole match.
A radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that generates image information to check a patient's condition and support a surgical plan; Based on artificial intelligence, a position estimation device that generates target information for inserting the locking screw from the image information received from the C-arm, and a stereoscopic device that receives target information from the position estimation device and guides the insertion of the locking screw into the body. In the locking screw insertion guidance system including the crisis, the locking screw insertion guidance method,
An image information generation step of generating image information through a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) to confirm a patient's condition and support a surgical plan;
A target information generation step of generating target information into which the locking screw is to be inserted from image information received from the C-arm based on artificial intelligence; and
and a guide step of receiving target information from the position estimating device and guiding insertion of the locking screw into the body.
According to claim 11,
The target information generation step,
Learning screw information including the position and shape of screw holes on the C-arm image collected in advance, and providing screw hole information to indicate the condition in which the locking screw is inserted into the screw hole, to the screw information a screw hole information detection step of detecting the matched screw hole information;
a screw hole information analysis step of applying the screw hole information to a screw hole into which the locking screw is to be inserted to generate screw hole spatial information about the location and direction of the screw hole;
Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient through the analysis of the camera information step;
A matching step of generating the target information based on the spatial information of the screw hole and the camera analysis information by applying a CNN model based on the spatial position information of the marker; and
and a determination step of generating determination information by receiving sensor information from the sensor unit and determining whether the target information coincides with the insertion position of the lock screw.
A computer-readable recording medium on which a computer program for performing the method for inducing insertion of a locking screw according to any one of claims 11 or 12 is recorded.

Images