KR20230133763A - Method, system and non-transitory computer-readable recording medium for managing needle path by using digital twin - Google Patents

Abstract

According to one aspect of the present invention, as a method for managing the path of a needle by using a digital twin, provided is a method comprising the following steps: determining a digital twin model corresponding to a body of a patient with reference to the first angle at which a probe of an ultrasound device contacts the first point of the body of the patient; and determining an angle at which a medical needle of a needle control device will enter the first or second point of the body of the patient with reference to the digital twin model.

Description

Method, system and non-transitory computer-readable recording medium for managing the path of a needle using a digital twin {METHOD, SYSTEM AND NON-TRANSITORY COMPUTER-READABLE RECORDING MEDIUM FOR MANAGING NEEDLE PATH BY USING DIGITAL TWIN}

The present invention relates to a method, system, and non-transitory computer-readable recording medium for managing the path of a needle using a digital twin.

In obstetrics and gynecology, painless delivery, surgical operations, etc., methods such as performing local anesthesia by injecting an injection into the epidural space inside the ligamenta flava are widely used.

The epidural space is a space that exists between the yellow ligament and the dural sac, and its depth is only about 2 to 8 mm, so precise work is required. For example, during the process of inserting a needle into the epidural space, if the needle does not reach the epidural space, problems may arise in administering the injection, and if the needle passes through the epidural space, nerve damage occurs due to spinal fluid leakage (e.g., damage to the dural sac). Because this occurs, it is very important to accurately position the needle in the epidural space.

However, according to the technologies introduced so far, including the prior art, medical needles have been inserted mainly depending on the doctor's senses, so there is a problem in that the results are affected by the doctor's skill level, condition, fatigue, etc. In addition, a method of inserting a medical needle using air pressure has been introduced, but this method has a problem in that its accuracy varies depending on the patient's physical condition, age, etc.

Accordingly, the present inventor(s) propose a new and advanced technology that can accurately position a medical needle at a desired target point by referring to a digital twin model corresponding to the patient's body.

Korean Patent Publication No. 10-0411200 (December 18, 2003)

The purpose of the present invention is to solve all the problems of the prior art described above.

In addition, the purpose of the present invention is to accurately position a medical needle at a desired target point (eg, epidural space) inside the patient's body by referring to a digital twin model corresponding to the patient's body.

A representative configuration of the present invention to achieve the above object is as follows.

According to one aspect of the present invention, as a method for managing the path of a needle using a digital twin, the first angle at which the probe of the ultrasound device contacts the first point of the patient's body is referred to. determining a digital twin model corresponding to the body, and determining an angle at which a medical needle of a needle control device will enter the first point or the second point of the patient's body with reference to the digital twin model. A method comprising the steps is provided.

According to another aspect of the present invention, a system for managing the path of a needle using a digital twin, wherein the first angle at which the probe of the ultrasound device contacts the first point of the patient's body is referred to. A model determination unit that determines a digital twin model corresponding to the body, and an angle at which the medical needle of the needle control device will enter at the first point or the second point of the patient's body with reference to the digital twin model. A system including an angle determination unit for determining an angle is provided.

In addition, another method for implementing the present invention, another system, and a non-transitory computer-readable recording medium for recording a computer program for executing the method are further provided.

According to the present invention, it is possible to accurately position a medical needle at a desired target point (eg, epidural space) inside the patient's body by referring to the digital twin model corresponding to the patient's body.

Figure 1 is a diagram showing a schematic configuration of an entire system for managing the path of a needle according to an embodiment of the present invention.
Figure 2 is a diagram showing in detail the internal configuration of a needle path management system according to an embodiment of the present invention.
Figure 3 is a diagram illustrating a needle control device according to an embodiment of the present invention.

The detailed description of the present invention described below refers to the accompanying drawings, which show by way of example specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different from one another but are not necessarily mutually exclusive. For example, specific shapes, structures and characteristics described herein may be implemented with changes from one embodiment to another without departing from the spirit and scope of the invention. Additionally, it should be understood that the location or arrangement of individual components within each embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description described below is not to be taken in a limiting sense, and the scope of the present invention should be taken to encompass the scope claimed by the claims and all equivalents thereof. Like reference numbers in the drawings indicate identical or similar elements throughout various aspects.

Hereinafter, several preferred embodiments of the present invention will be described in detail with reference to the attached drawings in order to enable those skilled in the art to easily practice the present invention.

Configuration of the entire system

Figure 1 is a diagram showing a schematic configuration of an entire system for managing the path of a needle according to an embodiment of the present invention.

As shown in FIG. 1, the entire system according to an embodiment of the present invention may include a communication network 100, a needle path management system 200, a needle control device 300, and an ultrasonic device 400.

First, the communication network 100 according to an embodiment of the present invention can be configured regardless of communication mode, such as wired communication or wireless communication, and can be used as a local area network (LAN) or a metropolitan area network (MAN). ), and a wide area network (WAN). Preferably, the communication network 100 referred to in this specification may be the known Internet or World Wide Web (WWW). However, the communication network 100 is not necessarily limited thereto and may include at least a portion of a known wired or wireless data communication network, a known telephone network, or a known wired or wireless television communication network.

For example, the communication network 100 is a wireless data communication network, including WiFi communication, WiFi-Direct communication, Long Term Evolution (LTE) communication, 5G communication, and Bluetooth communication (Bluetooth Low Energy (BLE). It may implement, at least in part, conventional communication methods such as (including Bluetooth Low Energy) communication, infrared communication, ultrasonic communication, etc.

Next, the needle path management system 200 according to an embodiment of the present invention can communicate with the needle control device 300 and the ultrasound device 400, which will be described later, through the communication network 100, and can communicate with the patient's A digital twin model corresponding to the patient's body is determined with reference to the first angle at which the probe (not shown) of the ultrasound device 400 contacts the first point of the body, and the digital twin model is referred to. The medical needle 310 of the needle control device 300 may perform a function of determining an angle at which the medical needle 310 will enter from the first point or the second point of the patient's body. Meanwhile, this needle path management system 200 may be a digital device equipped with a memory means and equipped with a microprocessor to have computing capabilities. For example, it may be a server system operated on the communication network 100. The configuration and function of the needle path management system 200 according to an embodiment of the present invention will be described later.

Next, the needle control device 300 according to an embodiment of the present invention is a digital device that includes a function that can communicate after connecting to the needle path management system 200, and includes a medical needle 310 and an actuator ( 320) and an operation attribute determination unit 330 (see FIG. 3). Specifically, the needle control device 300 according to an embodiment of the present invention controls the actuator 320 based on the operation properties (e.g., direction, speed, acceleration, etc.) determined by the operation attribute determination unit 330. As it operates, the medical needle 310 may perform a function of entering the inside of the patient's body.

Here, the medical needle 310 includes a sensor module (not shown) for acquiring sensing information associated with the patient's body tissue through which the needle passes, or is connected (e.g., electrically connected) to this sensor module. You can.

For example, the medical needle 310 may include a force sensor module, a torque sensor module, a pressure sensor module, a displacement sensor module, an ultrasonic sensor module, an optical sensor module (e.g., an optical sensor module for Raman spectroscopy), a temperature sensor module, It may include at least one sensor module (not shown) of an acidity sensor module, a gas pressure sensor module, an electromagnetic wave sensor module, and a chemical substance detection sensor module, and the operation of the medical needle 310 is based on the at least one sensor module. The force exerted on the medical needle 310 by the body tissue through which the end (e.g., the tip of the needle) passes (e.g., reaction force, torque, pressure, etc., specified by the elasticity or density of the body tissue) ), temperature, acidity, gas pressure, electromagnetic properties (e.g., response to ultra-high frequencies such as microwaves, millimeter waves, etc.), and body fluid properties of the body tissue through which one end of the medical needle 310 passes. (For example, lymph fluid, intestinal fluid (e.g., fluid inside the mouth, esophagus, stomach, small intestine, large intestine, etc.), intrathoracic fluid, intraperitoneal fluid, urine component, fecal component, special membrane effusion, etc. Information on chemical characteristics), blood characteristics (e.g., oxygen saturation, blood flow distribution, physicochemical characteristics such as blood sugar), etc. can be obtained.

Additionally, the medical needle 310 may include a gravity sensor (hereinafter, “G-sensor”). In this way, the G-sensor included in the medical needle 310 can be used to specify the angle of the medical needle 310, for example, a second angle to be described later. Additionally, the G-sensor included in the medical needle 310 may be used to specify the relative position or direction of movement of the medical needle 310 based on the digital twin model corresponding to the patient's body.

Meanwhile, according to an embodiment of the present invention, the configuration and function of the needle control device 300 are not limited to those described above, and the configuration and function are determined by referring to the contents disclosed in Korean Patent Publication No. 10-2363626. It is noted that changes or additions may be made (the specification of the above publication shall be regarded as incorporated into this specification in its entirety).

Next, the ultrasound device 400 according to an embodiment of the present invention is a digital device that includes a function to communicate after connecting to the needle path management system 200, and may include a probe. Specifically, the ultrasound device 400 according to an embodiment of the present invention may perform a function of acquiring an ultrasound image of the patient's body by contacting the patient's body with a probe. Here, the probe may include a G-sensor (the same as the G-sensor included in the medical needle 310 of the needle control device 300 in terms of function, but may be a separate sensor). In this way, the G-sensor included in the probe can be used to specify the angle of the probe, for example, the first angle, which will be described later.

Configuration of needle path management system

Below, we will look at the internal configuration of the needle path management system 200 and the function of each component, which performs important functions for implementing the present invention.

Figure 2 is a diagram showing in detail the internal configuration of the needle path management system 200 according to an embodiment of the present invention.

As shown in Figure 2, the needle path management system 200 according to an embodiment of the present invention includes a model determination unit 210, a simulation unit 220, an angle determination unit 230, a communication unit 240, and It may include a control unit 250. According to an embodiment of the present invention, the model determination unit 210, simulation unit 220, angle determination unit 230, communication unit 240, and control unit 250 of the needle path management system 200 include at least Some may be program modules that communicate with an external system (not shown). These program modules may be included in the needle path management system 200 in the form of an operating system, application program module, or other program module, and may be physically stored in various known storage devices. Additionally, these program modules may be stored in a remote memory device capable of communicating with the needle path management system 200. Meanwhile, such program modules include, but are not limited to, routines, subroutines, programs, objects, components, data structures, etc. that perform specific tasks or execute specific abstract data types according to the present invention.

Meanwhile, although the needle path management system 200 has been described as above, this description is illustrative, and at least some of the components or functions of the needle path management system 200 may be controlled by the needle control device 300 or ultrasonic waves as necessary. It will be apparent to those skilled in the art that it may be implemented within the device 400 or included within an external system (not shown).

First, the model determination unit 210 according to an embodiment of the present invention creates a digital twin corresponding to the patient's body by referring to the first angle at which the probe of the ultrasound device 400 contacts the first point of the patient's body. You can decide on a model. Here, the first point may refer to any point located on the skin of the patient's body. Additionally, the first angle may refer to an angle formed between the contact surface of the probe and a reference surface (eg, ground) when the probe contacts the first point of the patient's body. According to one embodiment of the present invention, this first angle may be specified based on the reference coordinate system of the probe (more specifically, the reference coordinate system of the G-sensor of the probe).

For example, the model determination unit 210 according to an embodiment of the present invention responds to the operator of the ultrasound device 400 (e.g., a medical professional) touching the probe to a first point on the patient's body. The first angle may be specified, and a digital twin model corresponding to the patient's body may be determined (or created) with reference to the specified first angle. More specifically, the model determination unit 210 according to an embodiment of the present invention provides a digital twin model corresponding to the patient's body within a predetermined range or radius from the first point based on the first angle specified above. can be determined (or created). Here, the range or radius in which the digital twin model is generated may be determined dynamically, but may be determined as a range or radius that at least includes a target point (eg, epidural space) inside the patient's body.

Meanwhile, the model determination unit 210 according to an embodiment of the present invention generates the above digital twin model based on an ultrasound image acquired from the ultrasound device 400, or uses a medical imaging device other than the ultrasound device 400 ( For example, it can be generated based on image information obtained from CT (Computer Tomography), MRI (Magnetic Resonance Imaging), etc.). For example, the model determination unit 210 according to an embodiment of the present invention may use the patient's anatomical information (e.g., Information on the location and shape of organs, tissues, skeleton, etc.) can be specified, and the anatomical information specified in this way can be modeled in three dimensions to create a digital twin model. However, the method by which the model determination unit 210 according to an embodiment of the present invention generates the digital twin model is not necessarily limited to the method mentioned above, and can be varied within the scope of achieving the purpose of the present invention. Please note that it may be subject to change.

Next, the simulation unit 220 according to an embodiment of the present invention moves the medical needle 310 of the needle control device 300 from a predetermined point on the patient's body to the target point based on the digital twin model determined as above. You can simulate a moving path.

For example, the simulation unit 220 according to an embodiment of the present invention may operate the operator of the needle control device 300 (the operator of the needle control device 300 may be the same as or different from the operator of the ultrasonic device 400). may be used) to place an actual medical needle or a virtual medical needle at a first point (or a second point located within a predetermined range from the first point) of the digital twin model; where the second point is, like the first point, on the skin of the patient's body. In response to entering the needle at a second angle (which may mean a point located in ), the path along which the medical needle moves can be simulated. Here, simulating the path along which the medical needle moves means that when the medical needle enters the patient's body along the path, the medical needle reaches the target point and whether the degree of damage to the body in the process of reaching it is below a predetermined level. This may mean simulating. The simulation unit 220 according to an embodiment of the present invention determines the results of the simulation according to the path entering the second angle from the first point (or second point) according to the above criteria (i.e., the medical needle reaches the target point). If the degree of damage to the body does not meet the predetermined level or less in the reaching process, the operator of the needle control device 300 moves the medical needle to the first point (or second point) of the digital twin model. can be entered at an angle different from the second angle (that is, the simulation can be re-performed). Meanwhile, according to one embodiment of the present invention, the actual medical needle described above refers to the medical needle 310 of the needle control device 300, and can be applied to the digital twin model that appears augmented in the real world environment during the simulation process. there is. In addition, the virtual medical needle is a virtualization of the medical needle 310 of the needle control device 300, and can be applied to the digital twin model that appears in the virtual environment (for example, displayed on the display) during the simulation process. .

Meanwhile, before performing the simulation, the simulation unit 220 according to an embodiment of the present invention uses the reference coordinate system (more specifically, the reference of the G-sensor of the medical needle) of the medical needle (actual medical needle or virtual medical needle). coordinate system) and the reference coordinate system of the probe may be synchronized (for example, the registration or relationship between the two reference coordinate systems may be specified, or converted to a predetermined reference coordinate system). The simulation unit 220 according to an embodiment of the present invention can guide the medical needle to be located at the first point of the digital twin model in a state where both coordinate systems are synchronized (for example, the end of the medical needle is When located at the first point, an alarm can be generated), and according to this guidance, when the medical needle enters the first point (or second point), the simulation can be started.

Meanwhile, according to an embodiment of the present invention, the above-described second angle is the angle between the medical needle and the reference surface (e.g., the ground) when the medical needle (actual medical needle or virtual medical needle) enters the first point of the digital twin model. ) can refer to the angle formed between the According to one embodiment of the present invention, this second angle may be specified based on the reference coordinate system of the medical needle (more specifically, the reference coordinate system of the G-sensor of the medical needle), and as described above, the reference coordinate system of the medical needle As the coordinate system and the probe's reference coordinate system are synchronized, it may be specified based on the probe's reference coordinate system or a predetermined reference coordinate system.

Next, the angle determination unit 230 according to an embodiment of the present invention refers to the digital twin model (specifically, the results of the above simulation performed based on the digital twin model) of the needle control device 300. The angle at which the medical needle 310 will enter the patient's body at a first point (or a second point) may be determined.

Specifically, the angle determination unit 230 according to an embodiment of the present invention moves the medical needle (actually When the medical needle or virtual medical needle) reaches the target point and the degree of damage to the body is simulated to be below a predetermined level in the process of reaching the target point, the above second angle is adjusted to the medical needle (medical needle) of the needle control device 300. 310) may be determined as the entry angle from the first point (or second point) of the patient's body, that is, the entry angle.

In addition, the angle determination unit 230 according to an embodiment of the present invention, when the entry angle is determined as above, the medical needle 310 of the needle control device 300 moves to the body of the patient according to the determined angle. It can be inserted at point 1 (or point 2).

For example, the angle determination unit 230 according to an embodiment of the present invention sets the medical needle 310 of the needle control device 300 to an entry angle at the first point (or second point), that is, the second angle. In response to being placed, a trigger signal may be transmitted to the needle control device 300. Here, the trigger signal is a signal that allows the medical needle 310 of the needle control device 300 to enter the inside of the patient's body (or a signal that allows the operator of the needle control device 300 to use the medical needle 310 of the needle control device 300 ( 310) may be a signal that allows entry into the patient's body. According to one embodiment of the present invention, according to this trigger signal, the medical needle 310 of the needle control device 300 is inserted (or entered) into the patient's body, and after being inserted into the patient's body, a simulation is performed. It moves to the target point along the same path as the target path.

Accordingly, according to the present invention, the medical needle 310 of the needle control device 300 can accurately reach the target point while minimizing damage to the patient's body tissues.

Meanwhile, the angle determination unit 230 according to an embodiment of the present invention refers only to the digital twin model without referring to the simulation result, so that the medical needle 310 of the needle control device 300 is moved to the first point of the patient's body. (or the second point) may determine the entry angle.

For example, the angle determination unit 230 according to an embodiment of the present invention may be used to control the medical needle 310 of the needle control device 300 even if the above-described simulation is not performed by the simulation unit 220. The angle of entry from the first point (or second point) of this patient's body is calculated using a predetermined artificial intelligence-based model (e.g., such a model is a digital twin model and the first point (or second point) is used as input data. It may be a model learned to output the entry angle according to the input case) (for example, using the prediction result of an artificial intelligence-based model). Meanwhile, the angle determination unit 230 refers to the digital twin model and a look-up table (not shown) regarding the entry angle corresponding to the first point (or second point) to determine the medical needle 310 of the needle control device 300. ) may determine the angle of entry from the first point (or second point) of the patient's body.

Next, the communication unit 240 according to an embodiment of the present invention may perform a function that enables data transmission and reception from/to the model determination unit 210, the simulation unit 220, and the angle determination unit 230. .

Lastly, the control unit 250 according to an embodiment of the present invention performs a function of controlling the flow of data between the model determination unit 210, the simulation unit 220, the angle determination unit 230, and the communication unit 240. can do. That is, the control unit 250 according to the present invention controls the data flow from/to the outside of the needle path management system 200 or the data flow between each component of the needle path management system 200, thereby controlling the model determination unit 210. ), the simulation unit 220, the angle determination unit 230, and the communication unit 240 can each be controlled to perform their own functions.

The embodiments according to the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable by those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. A hardware device can be converted into one or more software modules to perform processing according to the invention and vice versa.

In the above, the present invention has been described in terms of specific details, such as specific components, and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. Anyone with ordinary knowledge in the technical field to which the invention pertains can make various modifications and changes from this description.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the patent claims described below as well as all scopes equivalent to or equivalently changed from the scope of the claims are within the scope of the spirit of the present invention. It will be said to belong to

100: communication network
200: Needle path management system
210: model decision unit
220: Simulation unit
230: Angle determination unit
240: Department of Communications
250: control unit
300: Needle control device
400: ultrasonic device

Claims (13)

As a method for managing the needle path using a digital twin,
Determining a digital twin model corresponding to the patient's body with reference to a first angle at which a probe of an ultrasound device contacts a first point of the patient's body, and
Determining an angle at which a medical needle of a needle control device will enter the first or second point of the patient's body with reference to the digital twin model.
method. According to paragraph 1,
In response to the entry angle being determined, the medical needle is inserted according to the determined angle at the first point or the second point of the patient's body.
method. According to paragraph 1,
Before the angle determination step, further comprising simulating a path along which a medical needle of the needle control device moves from the first point or the second point of the patient's body to the target point based on the digital twin model.
method. According to paragraph 3,
In the simulation step, the reference coordinate system of the medical needle and the reference coordinate system of the probe are synchronized.
method. According to paragraph 3,
In the angle determination step, the angle at which the medical needle will enter the first point or the second point of the patient's body is determined with reference to the results of the simulation.
method. According to paragraph 1,
The medical needle and the probe include a gravity sensor.
method. A non-transitory computer-readable recording medium recording a computer program for executing the method according to claim 1. A system for managing the needle path using a digital twin,
a model determination unit that determines a digital twin model corresponding to the patient's body by referring to the first angle at which the probe of the ultrasound device contacts the first point of the patient's body; and
An angle determination unit that determines an angle at which a medical needle of the needle control device will enter the first point or the second point of the patient's body with reference to the digital twin model.
system. According to clause 8,
The angle determination unit, in response to the entry angle being determined, causes the medical needle to be inserted according to the determined angle at the first point or the second point of the patient's body.
system. According to clause 8,
Based on the digital twin model, the medical needle of the needle control device further comprises a simulation unit that simulates the path that the medical needle moves from the first or second point of the patient's body to the target point.
system. According to clause 10,
The simulation unit ensures that the reference coordinate system of the medical needle and the reference coordinate system of the probe are synchronized.
system. According to clause 10,
The angle determination unit determines an angle at which the medical needle will enter the first point or the second point of the patient's body with reference to the results of the simulation.
system. According to clause 8,
The medical needle and the probe include a gravity sensor.
system.

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