Method, system, and non-transitory computer-readable recording medium for managing path of probe using digital twinning

Abstract

According to one embodiment of the present invention, provided is a method for managing the path of a probe by means of digital twinning, the method comprising: a step for determining a digital twinning model corresponding to the body of a patient with reference to a first angle at which the probe of an ultrasonic device comes into contact with a first site of the body of the patient; and a step of determining an angle at which a medical probe of a probe control device enters the first part or the second part of the body of the patient with reference to the digital twin model.

Description

Technical Field

[0001] The present invention relates to a method, a system and a non-transitory computer-readable recording medium for managing a path of a probe using a digital twin. Background Art

[0002] In painless delivery and surgical operations in obstetrics and gynecology, methods such as injecting an injection solution into the epidural space inside the ligamentum flavum for local anesthesia are widely used.

[0003] The epidural space is a space between the ligamentum flavum and the dural sac, and its depth is only about 2 to 8 mm, so precise manipulation is required. For example, during the process of inserting a probe into the epidural space, if the probe does not reach the epidural space, there will be problems with the administration of the injection solution, and if the probe passes through the epidural space, nerve damage may occur due to cerebrospinal fluid leakage (e.g., dural sac damage), so it is very important to accurately position the probe in the epidural space.

[0004] However, according to the techniques introduced so far, such as the prior art, the medical probe is inserted mainly relying on the doctor's feeling, so there is a problem that the result is affected by the doctor's proficiency, condition, fatigue, etc. In addition, a method of inserting the medical probe using air pressure has been introduced, but this method has a problem that its accuracy varies depending on the patient's physical condition, age, etc.

[0005] Therefore, the present inventors proposed a new and advanced technology capable of accurately positioning a medical probe at a desired target site with reference to a digital twin model corresponding to the patient's body.

[0006] <Prior Art Documents>

[0007] <Patent Documents>

[0008] (Patent Document 1) Korean Patent Registration No. 10-0411200 (December 18, 2003) Summary of the invention

[0009] Technical issues to be solved by the invention

[0010] The object of the present invention is to solve all the problems of the above-mentioned prior art.

[0011] Furthermore, an object of the present invention is to accurately position a medical probe at a desired target site (eg, epidural space) inside the patient's body with reference to a digital twin model corresponding to the patient's body.

[0012] Means for solving technical problems

[0013] A representative configuration of the present invention for achieving the above-mentioned object is as follows.

[0014] According to one embodiment of the present invention, a method for managing the path of a probe using a digital twin is provided, the method comprising the following steps: a step of determining a digital twin model corresponding to the patient's body with reference to a first angle at which a probe of an ultrasonic device contacts a first part of the patient's body; and a step of determining the angle at which a medical probe of a probe control device enters the first part or the second part of the patient's body with reference to the digital twin model.

[0015] According to another embodiment of the present invention, a system for managing the path of a probe using a digital twin is provided, comprising: a model determination unit, which determines a digital twin model corresponding to the patient's body with reference to a first angle at which a probe of an ultrasonic device contacts a first part of the patient's body; and an angle determination unit, which determines the angle at which a medical probe of a probe control device enters the first part or the second part of the patient's body with reference to the digital twin model.

[0016] In addition, other methods and other systems for implementing the present invention, and non-transitory computer-readable recording media having recorded thereon a computer program for executing the methods are also provided.

[0017] Effects of the Invention

[0018] According to the present invention, a medical probe can be accurately positioned at a desired target site (for example, epidural space) inside the patient's body with reference to a digital twin model corresponding to the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a diagram showing a schematic configuration of an overall system for managing probe paths according to an embodiment of the present invention.

[0020] Figure 2 This is a diagram showing in detail the internal structure of a probe path management system according to an embodiment of the present invention.

[0021] Figure 3 This is a diagram showing an example of a probe control device according to an embodiment of the present invention.

[0022] <Explanation of Symbols>

[0023] 100: Communication Network

[0024] 200: Probe Path Management System

[0025] 210: Model determination department

[0026] 220: Simulation Department

[0027] 230: Angle determination unit

[0028] 240: Ministry of Communications

[0029] 250: Control Department

[0030] 300: Probe control device

[0031] 400: Ultrasonic device DETAILED DESCRIPTION

[0032] In the detailed description of the present invention described later, reference will be made to the accompanying drawings that are shown as examples of specific embodiments that can implement the present invention. Such embodiments are described in sufficient detail so that those skilled in the art can implement the present invention. Various embodiments of the present invention are different from each other, but it should be understood that the various embodiments do not need to be mutually exclusive. For example, the specific shapes, structures and characteristics recorded in this specification can be changed from one embodiment to other embodiments without departing from the spirit and scope of the present invention. In addition, it should be understood that the position or configuration of individual constituent elements in each embodiment can also be changed without departing from the spirit and scope of the present invention. Therefore, the detailed description described later is not carried out as a limiting meaning, but should be accepted as the scope of the present invention including the scope of the claims and all scopes equivalent thereto. Similar reference symbols in the figures represent the same or similar constituent elements in various aspects.

[0033] Hereinafter, in order to enable persons having ordinary knowledge in the technical field to which the present invention belongs to easily implement the present invention, several preferred embodiments of the present invention are described in detail with reference to the accompanying drawings.

[0034] Overall system structure

[0035] Figure 1 This is a diagram showing a schematic configuration of an overall system for managing probe paths according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the overall system according to an embodiment of the present invention may include a communication network 100 , a probe path management system 200 , a probe control device 300 , and an ultrasonic device 400 .

[0037] First, the communication network 100 according to an embodiment of the present invention can be constructed regardless of the communication mode such as wired communication or wireless communication, and can be composed of various communication networks such as local area network (LAN), metropolitan area network (MAN), wide area network (WAN), etc. Preferably, the communication network 100 mentioned in the present invention can be the well-known Internet or World Wide Web (WWW). However, the communication network 100 does not have to be limited to this, and can also include a well-known wired / wireless data communication network, a well-known telephone network, or a well-known wired / wireless television communication network in at least a part thereof.

[0038] For example, as a wireless data communication network, the communication network 100 can implement existing communication methods such as wireless network (WiFi) communication, wireless network direct (WiFi-Direct) communication, long term evolution (LTE) communication, 5G communication, Bluetooth communication (including low-power Bluetooth (BLE; Blue tooth Low Energy) communication), infrared communication, and ultrasonic communication in at least a part of it.

[0039] Next, the probe path management system 200 based on an embodiment of the present invention can communicate with the probe control device 300 and the ultrasonic device 400 described later through the communication network 100, and can perform the following functions: determine the digital twin model corresponding to the patient's body with reference to the first angle at which the probe (probe) (not shown) of the ultrasonic device 400 contacts the first part of the patient's body, and determine the angle at which the medical probe (needle) 310 of the probe control device 300 enters the first part or the second part of the patient's body with reference to the digital twin model. On the other hand, such a probe path management system 200 can be a digital device having a memory unit and a microprocessor and having computing power, for example, it can be a server system operating on the communication network 100. The structure and function of the probe path management system 200 based on an embodiment of the present invention will be described later.

[0040] Next, the probe control device 300 according to one embodiment of the present invention is a digital device having a function of being able to communicate after being connected to the probe path management system 200, and may include a medical probe 310, an actuator 320, and an action attribute determination unit 330 (refer to Figure 3Specifically, the probe control device 300 according to an embodiment of the present invention can perform the following functions: as the actuator 320 moves based on the motion attributes (e.g., direction, speed, acceleration, etc.) determined by the motion attribute determination unit 330, the medical probe 310 enters the patient's body.

[0041] Here, the medical probe 310 may include a sensor module (not shown) for a user to obtain sensing information related to a body tissue of a patient through which the probe passes, or may be connected (eg, electrically connected) to such a sensor module.

[0042] For example, the medical probe 310 may include at least one sensor module (not shown) selected from the group consisting of 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, an acidity sensor module, an air pressure sensor module, an electromagnetic wave sensor module, and a chemical substance sensing sensor module. The medical probe 310 may be configured to obtain a force (e.g., a reaction force determined according to the elasticity or density of the body tissue) applied to the medical probe 310 by the body tissue through which one end portion (e.g., the end of the probe) of the medical probe 310 based on the at least one sensor module. The medical probe 310 also includes information related to the body tissue through which one end of the medical probe 310 passes, such as information on force, torque, pressure, etc.; information related to the temperature, acidity, air pressure, electromagnetic properties (for example, response to ultra-high frequency waves such as microwaves and millimeter waves); body fluid properties (for example, physical and chemical properties of lymph, intestinal fluid (for example, body fluid inside the mouth, esophagus, gastrointestinal tract, small intestine, large intestine, etc.); body fluid in the thoracic cavity, body fluid in the abdominal cavity, urine components, fecal components, special membrane exudate, etc.); and blood properties (for example, physical and chemical properties of blood oxygen saturation, blood flow distribution, and blood sugar).

[0043] Furthermore, the medical probe 310 may include a gravity sensor (hereinafter referred to as a "G-sensor"). Thus, the G-sensor included in the medical probe 310 can be used to determine the angle of the medical probe 310, such as the second angle described later. Furthermore, the G-sensor included in the medical probe 310 can also be used to determine the relative position or direction of travel of the medical probe 310 based on the digital twin model corresponding to the patient's body.

[0044] On the other hand, according to one embodiment of the present invention, the structure and function of the probe control device 300 are not limited to the structure and function described above, and its structure and function can be changed or added with reference to the contents disclosed in Korean Patent Gazette No. 10-2363626 (the specification of the said gazette should be deemed to be incorporated into this specification as a whole.).

[0045] Next, the ultrasonic device 400 according to one embodiment of the present invention is a digital device that includes a function of being able to communicate after being connected to the probe path management system 200, and may include a probe. Specifically, the ultrasonic device 400 according to one embodiment of the present invention can perform the following functions: bringing the probe into contact with the patient's body to obtain an ultrasonic image of the patient's body. Here, the probe may include a G-sensor (which may be another sensor that has the same function as the G-sensor included in the medical probe 310 of the probe control device 300.). In this way, the G-sensor included in the probe can be used to determine the angle of the probe, such as the first angle described later.

[0046] Structure of the probe path management system

[0047] Next, the internal structure of the probe path management system 200 and its constituent elements that perform important functions for realizing the present invention will be examined.

[0048] Figure 2 This is a diagram showing in detail the internal structure of the probe path management system 200 according to one embodiment of the present invention.

[0049] like Figure 2 As shown, the probe path management system 200 according to one embodiment of the present invention may include a model determination unit 210, a simulation unit 220, an angle determination unit 230, a communication unit 240 and a control unit 250. According to one embodiment of the present invention, at least a part of the model determination unit 210, the simulation unit 220, the angle determination unit 230, the communication unit 240 and the control unit 250 of the probe path management system 200 may be a program module for communicating with an external system (not shown). Such a program module may be included in the probe path management system 200 in the form of an operating system, an application module or other program modules, and may be physically stored in various known storage devices. Moreover, such a program module may also be stored in a remote storage device capable of communicating with the probe path management system 200. On the other hand, such a program module includes a routine, a subroutine, a program, an object, a component, a data structure, etc. that executes a specific business described later or executes a specific abstract data type according to the present invention, but is not limited thereto.

[0050] On the other hand, the probe path management system 200 has been described as above, but such description is illustrative, and it is obvious to those skilled in the art that at least a portion of the components or functions of the probe path management system 200 can be implemented in the probe control device 300 or the ultrasonic device 400 as needed or can be included in an external system (not shown).

[0051] First, the model determination unit 210 based on one embodiment of the present invention can determine the digital twin model corresponding to the patient's body with reference to the first angle at which the probe of the ultrasonic device 400 contacts the first part of the patient's body. Here, the first part may refer to any part located on the patient's body skin. Furthermore, the first angle may refer to the angle formed between the contact surface of the probe and the reference plane (for example, the ground) when the probe contacts the first part of the patient's body. According to one embodiment of the present invention, this first angle can be determined based on the reference coordinate system of the probe (more specifically, the reference coordinate system of the G-sensor of the probe).

[0052] For example, the model determination unit 210 based on an embodiment of the present invention can determine the first angle corresponding to the situation where the operator of the ultrasonic device 400 (for example, a medical professional) contacts the probe with the first part of the patient's body, and can determine (or generate) a digital twin model corresponding to the patient's body with reference to the determined first angle. More specifically, the model determination unit 210 based on an embodiment of the present invention can determine (or generate) a digital twin model corresponding to the patient's body within a predetermined range or a predetermined radius from the first part based on the first angle determined as described above. Here, the range or radius of the generated digital twin model can be dynamically determined, and can be determined to be a range or radius that at least includes a target part (for example, the epidural space) inside the patient's body.

[0053] On the other hand, the model determination unit 210 according to one embodiment of the present invention can generate the digital twin model as described above based on the ultrasonic image obtained from the ultrasonic device 400, or can generate the digital twin model as described above based on the image information obtained from medical imaging equipment other than the ultrasonic device 400 (for example, CT (Computer Tomography), MRI (Magnetic Resonance Imaging), etc.). For example, the model determination unit 210 according to one embodiment of the present invention can determine the patient's anatomical information (for example, information related to the position and morphology of organs, tissues, bones, etc.) based on the ultrasonic image obtained from the ultrasonic device 400 or the image information obtained from the medical imaging equipment, and three-dimensionally model the anatomical information determined in this way to generate a digital twin model. However, the way in which the model determination unit 210 according to one embodiment of the present invention generates a digital twin model is not necessarily limited to the above-mentioned way, and can be changed in various ways within the scope of achieving the purpose of the present invention.

[0054] Next, the simulation unit 220 according to an embodiment of the present invention can simulate the path of the medical probe 310 of the probe control device 300 moving from a predetermined site to a target site of the patient's body based on the digital twin model determined as described above.

[0055] For example, the simulation unit 220 according to an embodiment of the present invention can simulate the movement path of the medical probe in response to the operator of the probe control device 300 (the operator of the probe control device 300 may be the same as or different from the operator of the ultrasonic device 400) causing the actual medical probe or the virtual medical probe to enter the first part of the digital twin model (or the second part located within a predetermined range from the first part; here, the second part, like the first part, may refer to any part located on the patient's body skin) at a second angle. Here, simulating the movement path of the medical probe means simulating whether the medical probe reaches the target part when entering the patient's body along the path and whether the degree of damage to the body during the arrival process is below a predetermined level. When the result of the simulation along the path entering the first part (or the second part) at the second angle does not meet the benchmark as described above (i.e., the medical probe reaches the target part and the degree of damage to the body during the arrival process is below a predetermined level), the simulation unit 220 based on one embodiment of the present invention can enable the operator of the probe control device 300 to enter the first part (or the second part) of the digital twin model at another angle different from the second angle (i.e., the simulation can be performed again). On the other hand, according to one embodiment of the present invention, the above-mentioned actual medical probe refers to the medical probe 310 of the probe control device 300, which can be used to enhance the digital twin model that appears in the real world environment during the simulation process. Moreover, the virtual medical probe is a probe that virtualizes the medical probe 310 of the probe control device 300, which can be used to appear in the virtual environment (for example, displayed on a display) during the simulation.

[0056] On the other hand, the simulation unit 220 based on one embodiment of the present invention can synchronize the reference coordinate system (more specifically, the reference coordinate system of the G-sensor of the medical probe) of the medical probe (actual medical probe or virtual medical probe) with the reference coordinate system of the probe (for example, matching the two reference coordinate systems or determining their relationship, or converting them into a predetermined reference coordinate system) before performing the simulation. The simulation unit 220 based on one embodiment of the present invention can induce the medical probe to be positioned at the first part of the digital twin model in a state where the two coordinate systems are synchronized (for example, an alarm can be generated when the end of the medical probe is positioned at the first part). If the medical probe enters the first part (or the second part) through such induction, the simulation can be started.

[0057] On the other hand, according to one embodiment of the present invention, the second angle may refer to the angle formed between the medical probe and the reference plane (e.g., the ground) when the medical probe (actual medical probe or virtual medical probe) enters the first part of the digital twin model. According to one embodiment of the present invention, this second angle may be determined based on the reference coordinate system of the medical probe (more specifically, the reference coordinate system of the G-sensor of the medical probe), as described above, or may be determined based on the reference coordinate system of the probe or a predetermined reference coordinate system as the reference coordinate system of the medical probe is synchronized with the reference coordinate system of the probe.

[0058] Next, based on an embodiment of the present invention, the angle determination unit 230 can refer to the digital twin model (specifically, the results of the above-mentioned simulation performed based on the digital twin model) to determine the angle at which the medical probe 310 of the probe control device 300 enters the first part (or the second part) of the patient's body.

[0059] Specifically, when the path serving as the simulation object, i.e., the path entering from the first part (or the second part) at the second angle, is simulated to conform to the situation where a medical probe (an actual medical probe or a virtual medical probe) reaches the target part and the degree of damage to the body during the arrival process is below a predetermined level, the angle determination unit 230 based on an embodiment of the present invention can determine the above-mentioned second angle as the angle, i.e., the entry angle, at which the medical probe 310 of the probe control device 300 enters the first part (or the second part) of the patient's body.

[0060] Furthermore, when the entry angle is determined as described above, the angle determination unit 230 according to one embodiment of the present invention can insert the medical probe 310 of the probe control device 300 into the first part (or second part) of the patient's body at the determined angle.

[0061] For example, the angle determination unit 230 according to one embodiment of the present invention can transmit a trigger signal to the probe control device 300 in response to the medical probe 310 of the probe control device 300 being arranged at the first part (or the second part) at the entry angle, i.e., the second angle. Here, the trigger signal may be a signal that allows the medical probe 310 of the probe control device 300 to enter the patient's body (or a signal that allows the operator of the probe control device 300 to insert the medical probe 310 of the probe control device 300 into the patient's body). According to one embodiment of the present invention, the medical probe 310 of the probe control device 300 is inserted (or enters) into the patient's body according to such a trigger signal, and after being inserted into the patient's body, it is moved to the target part along the same path as the path of the simulation object.

[0062] Thus, according to the present invention, the medical probe 310 of the probe control device 300 can minimize damage to the patient's body tissue and can accurately reach the target site.

[0063] On the other hand, the angle determination unit 230 according to an embodiment of the present invention may determine the angle at which the medical probe 310 of the probe control device 300 enters the first part (or the second part) of the patient's body without referring to the simulation results but only referring to the digital twin model.

[0064] For example, even when the above-mentioned simulation is not performed by the simulation unit 220, the angle determination unit 230 according to an embodiment of the present invention can also use a predetermined artificial intelligence-based model (for example, using the prediction results of the artificial intelligence-based model) (for example, such a model can be a model learned in a manner that outputs an entry angle corresponding to the digital twin model and the first part (or the second part) when the digital twin model and the first part (or the second part) are input as input data) to determine the angle at which the medical probe 310 of the probe control device 300 enters the first part (or the second part) of the patient's body. On the other hand, the angle determination unit 230 can also refer to a lookup table (not shown) related to the entry angle corresponding to the digital twin model and the first part (or the second part) to determine the angle at which the medical probe 310 of the probe control device 300 enters the first part (or the second part) of the patient's body.

[0065] Next, the communication unit 240 according to an embodiment of the present invention can perform a function of transmitting and receiving data to / from the model determination unit 210 , the simulation unit 220 , and the angle determination unit 230 .

[0066] Finally, the control unit 250 according to one embodiment of the present invention can perform the function of controlling the data flow between the model determination unit 210, the simulation unit 220, the angle determination unit 230, and the communication unit 240. That is, the control unit 250 according to the present invention can control the data flow from / to the outside of the probe path management system 200 or the data flow between the various components of the probe path management system 200 to perform inherent functions in the model determination unit 210, the simulation unit 220, the angle determination unit 230, and the communication unit 240, respectively.

[0067] The above-described embodiments based on the present invention can be implemented in the form of program instructions that can be executed by various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., alone or in combination. The program instructions recorded in the computer-readable recording medium may be program instructions specially designed and constructed for the present invention, or program instructions known and usable by technicians in the field of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as optical magnetic floppy disks (floptical disks), and hardware devices specially constructed for storing and executing program instructions, such as ROMs, RAMs, and flash memories. Examples of program instructions may include not only machine language codes made by compilers, but also high-level language codes that can be executed by computers using interpreters, etc. Hardware devices may be changed to one or more software modules in order to perform processing based on the present invention, and vice versa.

[0068] The present invention has been described above using specific matters such as specific constituent elements and limited embodiments and drawings, but this is only provided to help a more comprehensive understanding of the present invention. The present invention is not limited to the embodiments, and anyone with general knowledge in the technical field to which the present invention belongs can make various modifications and changes based on such descriptions.

[0069] Therefore, the concept of the present invention should not be limited to the above-described embodiments, and not only the scope of the claims described below, but all scopes equivalent to or modified by equivalents thereof belong to the scope of the concept of the present invention.

Claims

1. A method for managing a probe path using a digital twin, the method comprising the following steps: A step of 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 part of the patient's body; and The step of determining an angle at which a medical probe of a probe control device enters the first part or the second part of the patient's body by referring to the digital twin model.

2. The method according to claim 1, wherein: In response to the determination of the angle of entry, the medical probe is inserted into the first site or the second site of the patient's body along the determined angle.

3. The method according to claim 1, wherein: Before the angle determination step, the method further includes simulating a path of the medical probe of the probe control device moving from the first part or the second part of the patient's body to the target part based on the digital twin model.

4. The method according to claim 3, wherein: In the simulation step, a reference coordinate system of the medical probe is synchronized with a reference coordinate system of the probe head.

5. The method according to claim 3, wherein: In the angle determination step, the angle at which the medical probe enters the first site or the second site of the patient's body is determined with reference to the simulation result.

6. The method according to claim 1, wherein: The medical probe and the probe head include a gravity sensor.

7. A non-transitory computer-readable recording medium having recorded thereon a computer program for executing the method according to claim 1.

8. A system for managing a probe path using a digital twin, comprising: a model determination unit, which determines a digital twin model corresponding to the patient's body by referring to a first angle at which a probe of an ultrasound device contacts a first part of the patient's body; and The angle determination unit determines an angle at which a medical probe of a probe control device enters the first part or the second part of the patient's body with reference to the digital twin model.

9. The system according to claim 8, wherein: In response to determining the angle of entry, the angle determination unit inserts the medical probe into the first site or the second site of the patient's body along the determined angle.

10. The system according to claim 8, further comprising: The simulation unit simulates a path of movement of the medical probe of the probe control device from the first part or the second part of the patient's body to a target part based on the digital twin model.

11. The system according to claim 10, wherein: The simulation unit synchronizes a reference coordinate system of the medical probe with a reference coordinate system of the probe head.

12. The system according to claim 10, wherein: The angle determination unit determines an angle at which the medical probe enters the first site or the second site of the patient's body, with reference to the result of the simulation.

13. The system according to claim 8, wherein: The medical probe and the probe head include a gravity sensor.

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