Electronic apparatus and operating method for performing bone reduction using mixed reality debvice

Abstract

An electronic device for performing bone alignment using an MR device is disclosed. An electronic device according to one embodiment of the present invention may include a storage unit and a processor that receives first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device, converts the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information, transmits the information to a fracture reduction device in which the first bone fragment and the second bone fragment are combined, and controls the fracture reduction device.

Description

Technology Field

[0001] The present invention relates to an electronic device for performing bone alignment and a method of operating the same, and more specifically, to an electronic device for performing bone alignment using an MR device and a method of operating the same. Background Technology

[0002] The use of robots is expanding in the fields of medicine and surgery. In particular, robots are frequently utilized in orthopedic surgery, such as in cases where fractured bones are repaired. To perform surgery using a robot, it is necessary to know the current location of the fractured bone and the position where the bone needs to be moved to repair it, and this information must be efficiently provided to the surgeon.

[0003] Minimally invasive fracture reduction surgery is a procedure that minimizes incisions on the patient. In such surgery, real-time X-ray imaging equipment, such as a C-ARM, is used to correct misaligned bones and fix the fracture fragments in place by inserting intramedullary pins.

[0004] As an example of the technology forming the background of the present invention, Korean published patent No. 10-2020-0131670 (November 24, 2020) discloses a method of generating an updated coordinate system using the difference between the state of a robot according to a control command and the actual state of the robot, and using this for the control of the robot. The problem to be solved

[0005] For example, in the case of the femur, which is located on the medial side of the leg, there was a difficulty in aligning it when it fractured, as multiple specialized personnel had to perform the surgery manually for a long time using their physical strength and intuition.

[0006] The present invention was devised to solve the aforementioned problems, and the present invention aims to ensure that the fracture reduction surgery process proceeds accurately and efficiently by controlling the position, direction, rotation, etc. of a fractured bone fragment using an MR device. means of solving the problem

[0007] A method of operation of an electronic device for performing bone alignment using a Mixed Reality (MR) device according to various embodiments of the present invention may include the process of receiving first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device, and the process of converting the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information, transmitting it to a fracture reduction device in which the first bone fragment and the second bone fragment are combined, and controlling the fracture reduction device.

[0008] An electronic device for performing bone alignment using an MR device according to various embodiments of the present invention may include a storage unit and a processor that receives first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device, converts the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information, transmits the information to a fracture reduction device in which the first bone fragment and the second bone fragment are combined, and controls the fracture reduction device. Effects of the invention

[0009] According to various embodiments of the present invention, by controlling the position, direction, rotation, etc. of a fractured bone fragment using an MR device, the fracture reduction surgery process can be performed accurately and efficiently. Brief explanation of the drawing

[0010] FIG. 1 is a drawing of a bone alignment system according to one embodiment of the present invention. FIG. 2 illustrates bone alignment control of an MR device according to one embodiment of the present invention. FIG. 3 illustrates a plurality of bone fragments according to one embodiment of the present invention. FIG. 4 is a block diagram of an electronic device according to one embodiment of the present invention. FIG. 5 illustrates a bone fragment and a fracture reduction device according to one embodiment of the present invention. FIG. 6 illustrates a process for obtaining third positional relationship information according to an embodiment of the present invention. FIGS. 7 and FIGS. 8 are flowcharts of a bone alignment procedure according to one embodiment of the present invention. FIG. 9 is a detailed block diagram of an electronic device according to one embodiment of the present invention. FIG. 10 is a flowchart of a method for performing bone alignment according to one embodiment of the present invention. Specific details for implementing the invention

[0011] The operating principles of preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. Furthermore, in describing embodiments of the invention, detailed descriptions of related known functions or configurations will be omitted if it is determined that such detailed descriptions could obscure the essence of the present disclosure. Additionally, the terms used below are defined considering their functions in the present invention, and these may vary depending on the intentions or conventions of the user or operator. Therefore, the definitions of the terms used should be interpreted based on the content throughout this specification and the corresponding functions.

[0012] FIG. 1 is a drawing of a bone alignment system according to one embodiment of the present invention.

[0013] A bone alignment system (or fracture reduction system) (1) can be defined as a system used in surgery to align fragments of a fractured bone when a human bone is fractured. Referring to FIG. 1, the bone alignment system (1) may include a fracture reduction device (100), an MR device (20), and a navigation device (300).

[0014] A fracture reduction device (100) is a device for aligning fractured bone fragments, particularly those of a long bone. For example, the fracture reduction device (100) may include a first frame for fixing a distal bone fragment, a second frame for fixing a proximal bone fragment, a fixing member for fixing the bone fragments to the frame, and a variable leg connecting the first frame and the second frame, which changes the relative position of the first frame and the second frame by changing its length, thereby allowing a force for correction to be applied to the bone.

[0015] Additionally, the fracture reduction device (100) is provided with a driving unit so that it can control the process of aligning the fractured bone fragments by controlling the length of the variable leg and adjusting the positions of the first frame and the second frame.

[0016] For example, the fracture reduction device (100) may be implemented as described in the device disclosed in the external fixation device and external fixation system of Korean registered patent 10-1780225 (publication date September 21, 2017).

[0017] The MR (Mixed Reality) device (20) is a device that is one step more advanced than a VR (Virtual Reality) device or an AR (Augmented Reality) device. It can be seen as a form in which interaction with reality is more enhanced than that of an AR device. However, in various embodiments of the present invention, the MR device can be interpreted as a VR device, an AR device, or an XR (eXtended Reality) device, and it is of course possible to apply it to devices used in similar conceptual technologies that will be developed in the future.

[0018] The MR device (200) can control the position and direction of objects regarding the bone fragments described above based on information and control signals received from the navigation device (300). In addition, it can transmit control inputs received from the user to the navigation device (300).

[0019] Examples of MR devices (200) include Microsoft’s HoloLens, HTC’s Vive, and Oculus’s Rift.

[0020] The navigation device (300) is a device that controls the fracture reduction device (100) to perform bone alignment. According to various embodiments of the present invention, the navigation device (300) can repeatedly perform the process of receiving control from a user (e.g., a doctor) from the MR device (200), transmitting it to the fracture reduction device (100), and obtaining information regarding the real-time location and direction of actual bone fragments and feeding it back to the MR device (200).

[0021] According to one embodiment of the present invention described above, by controlling the position, direction, rotation, etc. of a fractured bone fragment using an MR device, the fracture reduction surgery process can be performed accurately and efficiently.

[0022] Hereinafter, with reference to the drawings, various embodiments of the bone alignment process of the bone alignment system will be described in detail, centering on the navigation device (300).

[0023] FIG. 2 illustrates bone alignment control of an MR device according to one embodiment of the present invention.

[0024] Referring to FIG. 2, the user can control bone alignment while wearing an MR device (200'). The user can perform control inputs for a plurality of bone fragment objects (11, 12) that are displayed three-dimensionally in a space (210) displayed through the MR device (200').

[0025] For example, the user can select the first bone plate object (11) with the left hand and the second bone plate object (12) with the right hand. Here, the selection input may be a touch, or an event of grasping the bone plate as shown in FIG. 2, and the type of event is not limited thereto.

[0026] For example, depending on user input, at least one of the plurality of bone fragment objects (11, 12) may perform linear movement or rotational movement based on a specific axis. In this case, the MR device (200') may transmit the movement status of the plurality of bone fragment objects (11, 12) to the navigation device (300). Additionally, the MR device (200') may receive information on the bone fragments whose actual position and direction have been changed and reflect this in real time in the position and direction status of the plurality of bone fragment objects (11, 12).

[0027] For example, referring to FIG. 3, a plurality of bone fragment objects (11, 12) and actual bone fragments may have feature points defined by spatial coordinates X, Y, and Z axes, and their current (or real-time) position and orientation may be determined by the movement and rotation of these feature points. For example, if an upper bone fragment is defined, a lower bone fragment in a fractured state and a lower bone fragment in a normal state may be defined. In this case, the movement of the lower bone fragment in a fractured state may be tracked according to the movement of the feature points defined at the same location as the lower bone fragment in a fractured state and the lower bone fragment in a normal state.

[0028] FIG. 4 is a block diagram of an electronic device according to one embodiment of the present invention.

[0029] Below, the configuration of a navigation device (300') is described as an example of the electronic device (300') of FIG. 4.

[0030] The navigation device (300') may include a storage unit (310) and a processor (320).

[0031] The storage unit (310) may include a volatile or non-volatile recording medium.

[0032] The storage unit (310) is connected to one or more processors and can store codes that cause the processor (320) to control the display unit when executed by the processor (320). Additionally, the storage unit (310) can store a payment information library, a hardware control information library, an internal display unit control information library, an external display touch control library, etc.

[0033] Here, the storage unit (310) may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. The storage unit (310) may include internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, non-volatile memory such as OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, flash drives such as SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, or memory stick, or storage devices such as HDD.

[0034] The processor (320) can control the overall operation of the navigation device (300').

[0035] The processor (320) can control the entire process of bone alignment.

[0036] For example, the processor (320) may receive first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device (200). Here, the first positional relationship information may include at least one of position, rotation, and direction information between the first bone fragment object and the second bone fragment object. For example, the position information may be spatial coordinate information, the rotation information may be angle information rotated around the major axis of the bone, and the direction information may be direction or angle information of the major axis of the bone.

[0037] The processor (320) can convert the received first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information. Additionally, the processor (320) can transmit the second positional relationship information to the fracture reduction device (100) in which the first bone fragment and the second bone fragment are combined, thereby controlling the fracture reduction device (100).

[0038] Here, the predefined mapping information represents a mapping relationship between first positional relationship information and second positional relationship information, and may include, for example, a transformation expression between first positional relationship information in virtual space and second positional relationship information in real space. The transformation expression may include, for example, at least one transformation characteristic value defined as a scalar value. Here, the transformation characteristic value may include a coordinate change value, an angle change value, etc.

[0039] In the example described above, one of the first bone fragment and the second bone fragment may be a proximal fragment close to the patient's body, and the other of the first bone fragment and the second bone fragment may be a distal fragment far from the patient's body. In this case, the first bone fragment may be attached to the first frame of the fracture reduction device (100), and the second bone fragment may be attached to the second frame of the fracture reduction device (100). The relative positions of the first bone fragment and the second bone fragment may be controlled according to the position change between the first frame and the second frame.

[0040] Additionally, the processor (320) can model the first bone fragment and the second bone fragment. For example, the processor (320) can model the first bone fragment and the second bone fragment based on images obtained through special line imaging of the first bone fragment and the second bone fragment. Through the modeling process described above, the processor (320) can generate a virtual bone fragment image that mimics the shape of the actual bone fragment. The special line imaging is a concept that encompasses all imaging techniques capable of looking into the bone under the skin, such as X-ray, CT, as well as ultrasound.

[0041] In this case, the processor (320) can transmit positional relationship information between the modeled first bone fragment and second bone fragment and modeling information between the first bone fragment and second bone fragment to the MR device (200).

[0042] The MR device (200) can display a first bone fragment object and a second bone fragment object on a virtual space (or internal display) based on the received positional relationship information and the modeling information.

[0043] The MR device (200) can generate or acquire first positional relationship information between a first bone fragment object and a second bone fragment object, and the first positional relationship information can be changed according to an input in which a user changes at least one of the position, direction, and rotation while gripping at least one of the first bone fragment object and the second bone fragment object.

[0044] Meanwhile, as an example, the processor (320) can convert the third positional relationship information between the first bone fragment and the second bone fragment in the actual space, which reflects the positional movement through a control operation, into the fourth positional relationship information between the first bone fragment object and the second bone fragment object and transmit it to the MR device (200).

[0045] Here, the first position relationship information and the fourth position relationship information are spatial coordinate information on the MR device (200), and the second position relationship information and the third position relationship information may be spatial coordinates in actual space.

[0046] In addition, the third positional relationship information can be obtained based on the relationship information between the first bone fragment and the first frame, the relationship information between the second bone fragment and the second frame, and the relationship information between the first frame and the second frame. Hereinafter, the third positional relationship information will be described in detail with reference to FIGS. 5 and 6.

[0047] FIG. 5 illustrates a bone fragment and a fracture reduction device according to one embodiment of the present invention.

[0048] Referring to FIG. 5, for example, the first bone piece may be fixed to the first frame by at least one fixing member. The second bone piece may be fixed to the second frame by at least one fixing member. Additionally, the first frame and the second frame may be connected to the second frame by a plurality of struts.

[0049] For example, the relative positions of the first frame and the second frame can be changed through length control for each of the plurality of struts, and accordingly, the relative positions of the first bone piece and the second bone piece can be controlled.

[0050] FIG. 6 illustrates a process for obtaining third positional relationship information according to an embodiment of the present invention.

[0051] The processor (320) can obtain third positional relationship information based on image information of the fracture reduction device (100) and bone fragments.

[0052] For example, the processor (320) can obtain positional relationship information T1 between a first frame and a first bone fragment, positional relationship information T2 between a second frame and a second bone fragment, and positional relationship information T3 between a first frame and a second frame. The above T1, T2, and T3 may be stored in the storage unit (310) or updated depending on the situation. For example, T1, T2, and T3 may be defined as transformation matrices. Here, T3 may be obtained based on the inverse kinematic.

[0053] According to one embodiment of the present invention described above, the relationship between the first bone fragment and the second bone fragment can be determined by the product of T1, T2, and T3.

[0054] FIGS. 7 and FIGS. 8 are flowcharts of a bone alignment procedure according to one embodiment of the present invention.

[0055] Referring to FIGS. 7 and 8, the fracture reduction device (100) can obtain initial length values ​​of a plurality of struts (701). For example, the fracture reduction device (100) can determine changed length values ​​of a plurality of struts by reflecting the change in length of a plurality of struts obtained after obtaining the initial length values ​​of a plurality of struts. Through the change in length of a plurality of struts, the fracture reduction device (100) can change the position of the bone fragments.

[0056] The navigation device (300) can obtain information on the modeling of bone fragments and the positional relationship between bone fragments (702). Specifically, the navigation device (300) can perform modeling of bone fragments using image information obtained through imaging such as X-ray, CT, etc. Here, the positional relationship between bone fragments may be a transformation matrix between the positions of the bone fragments.

[0057] The navigation device (300) can convert positional relationship information between bone fragments into positional relationship information between bone fragment objects (703). In this case, the navigation device (300) can store mapping information between positional relationship information between bone fragments and positional relationship information between bone fragment objects. The navigation device (300) can transmit modeling information of multiple bone fragments and positional relationship information between bone fragment objects to the MR device (200). Here, the navigation device (300) transmits modeling information for multiple bone fragments and positional relationship information between bone fragments to the MR device (200), and the positional relationship information between bone fragments may be converted into positional relationships between bone fragment objects using the predefined mapping information in the MR device (200).

[0058] The MR device (200) can render a plurality of bone fragment objects based on the received bone fragment modeling information (705). Additionally, the MR device (200) can obtain user input and change the position, direction, rotation, etc. of at least one of the plurality of bone fragment objects and display it. In this case, the MR device (200) can obtain positional relationship information between the changed bone fragment objects (706) and transmit the positional relationship information between the bone fragment objects to the navigation device (300) (707).

[0059] For example, the MR device (200) may receive an input (selection) to fix one of a plurality of bone fragment objects in a virtual space. In this case, the MR device (200) may fix the selected bone fragment object (e.g., a first object) in the virtual space and receive only an input for another bone fragment object (e.g., a second object) to perform alignment of the bone fragment objects. In this case, the MR device (200) may display information regarding the angle between the center axis of the operable bone fragment object (unfixed bone fragment object) and the center axis of the fixed bone fragment object, information regarding the angle of rotation of the center axis of the operable bone fragment object relative to the center axis of the fixed bone fragment object, and information regarding the distance between the bone fragment objects.

[0060] For example, when a long bone is fractured, the bone fragments come into contact and are positioned within the muscle while interlocked due to muscle contraction. In this state, if one of the bone fragments is moved along a single straight path so that the ends of the fragments align, collisions between the fragments may occur along the path of movement.

[0061] To prevent such collisions, the MR device (200) can set a movement path from the fracture cross-section of the first bone fragment object to the fracture cross-section of the second object. Here, the movement path may include a path in which the first object and the second object move away in the direction of the long axis of the first object or the long axis of the second object, and a path in which the first object and the second object move closer together again in the direction of the long axis of the first object or the long axis of the second object. In this way, by first positioning the bone fragments, which are arranged to overlap and contract in an alternating manner by muscles in a fractured state, toward the safe area (the direction moving away in the long axis direction) and then moving them toward the alignment path, collisions between the bone fragments can be prevented on the movement path.

[0062] The navigation device (300) can convert positional relationship information between bone fragment objects into positional relationship information between bone fragments (708). In this case, the navigation device (300) can transmit the positional relationship information between bone fragments and control information to the fracture reduction device (100). Here, the fracture reduction device (100) may also directly receive the positional relationship information between bone fragment objects and convert it into positional relationship information between bone fragments.

[0063] The fracture reduction device (100) can change the position of the bone fragments based on positional relationship information between the bone fragments and control information (710). Optionally, the fracture reduction device (100) may also feed back length information of multiple struts to the navigation device (300).

[0064] The navigation device (300) can obtain positional relationship information between the bone fragments that have been altered based on image information of the fracture reduction device (100) and the bone fragments obtained through an image capturing device (711). In this case, at least one marker sensed by the image capturing device may be placed in at least one frame of the fracture reduction device (100). The navigation device (300) can obtain positional information of the frames of the fracture reduction device (100) or positional information of the bone fragments by tracking the movement of the marker.

[0065] The navigation device (712) can convert positional relationship information between the changed bone fragments into positional relationship information between bone fragment objects. In this case, the navigation device (712) can transmit the positional relationship information between the bone fragment objects to the MR device (200). Of course, the above-described conversion may also be performed in the MR device (200).

[0066] The MR device (200) can change the position between bone fragment objects, etc., based on the positional relationship information between bone fragment objects (714).

[0067] According to one embodiment of the present invention described above, by controlling the position, direction, rotation, etc. of a fractured bone fragment using an MR device, the fracture reduction surgery process can be performed accurately and efficiently.

[0068] FIG. 9 is a detailed block diagram of an electronic device according to one embodiment of the present invention.

[0069] Referring to FIG. 9, the electronic device (900) includes a communication unit (910), a storage unit (920), and a processor (930). Here, the electronic device (900) may be understood as not only the navigation device (900) described above, but also as an MR device (900) and a fracture reduction device (100).

[0070] The communication unit (810) performs communication. The communication unit (910) can communicate with external electronic devices through various communication methods such as BT (Bluetooth), WI-FI (Wireless Fidelity), ZigBee, IR (Infrared), NFC (Near Field Communication), etc.

[0071] The storage unit (920) can store an O / S (Operating System) software module for operating the electronic device (900), data for configuring various UI screens provided in the display area, etc.

[0072] In addition, the storage unit (920) is readable and writable.

[0073] For example, the storage unit (920) can store a mapping relationship between bone fragment position relationship information and bone fragment object position relationship information. Additionally, the storage unit (920) can store modeling information including shape, form, surface information, etc., for the bone fragment.

[0074] The processor (930) controls the overall operation of the electronic device (900) using various programs stored in the storage unit (920).

[0075] Specifically, the processor (930) includes RAM (933), ROM (932), main CPU (933), graphics processing unit (934), first to n interfaces (935-1 to 935-n) and a bus (936).

[0076] Here, RAM (931), ROM (932), main CPU (933), graphics processing unit (934), first to n interfaces (935-1 to 935-n), etc. can be connected to each other via a bus (936).

[0077] The first to n interfaces (935-1 to 935-n) are connected to the various components described above. One of the interfaces may be a network interface connected to an external device through a network.

[0078] The ROM (932) stores a set of instructions for booting the system, etc. When a turn-on command is input and power is supplied, the main CPU (933) copies the O / S stored in the storage unit (920) to the RAM (931) according to the instructions stored in the ROM (932), and executes the O / S to boot the system.

[0079] When booting is complete, the main CPU (933) copies various stored application programs to RAM (931) and executes the application programs copied to RAM (931) to perform various operations.

[0080] The main CPU (933) accesses the storage unit (920) and performs booting using the O / S stored in the storage unit (930). Then, the main CPU (933) performs various operations using various programs, content, data, etc. stored in the storage unit (920).

[0081] The graphics processing unit (934) uses the calculation unit and the rendering unit to generate a screen containing various objects such as icons, images, and text.

[0082] FIG. 10 is a flowchart of a method for performing bone alignment according to one embodiment of the present invention.

[0083] Referring to FIG. 10, the operation method of an electronic device that performs bone alignment using an MR device may include a process of receiving first positional relationship information between a first bone fragment object and another second bone fragment object from an MR device (S1010), and a process of converting the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information and transmitting it to a fracture reduction device in which the first bone fragment and the second bone fragment are combined to control the fracture reduction device (S1020).

[0084] For example, the method of operation of the electronic device described above may further include the process of modeling the first bone fragment and the second bone fragment based on an image obtained through special line imaging of the first bone fragment and the second bone fragment, and the process of transmitting positional relationship information between the modeled first bone fragment and the second bone fragment and modeling information between the first bone fragment and the second bone fragment to an MR device.

[0085] In addition, the method of operating the electronic device described above may further include the process of converting third positional relationship information between the first bone fragment and the second bone fragment in the actual space in which control is reflected into fourth positional relationship information between the first bone fragment object and the second bone fragment object and transmitting it to an MR device.

[0086] According to one embodiment of the present invention described above, the first position relationship information and the fourth position relationship information are spatial coordinate information on an MR device, and the second position relationship information and the third position relationship information may be spatial coordinates in actual space.

[0087] According to one embodiment of the present invention described above, the first bone fragment is coupled to the first frame of the fracture reduction mechanism, and the second bone fragment is coupled to the second frame of the fracture reduction mechanism so that the position can be controlled.

[0088] According to one embodiment of the present invention described above, the third positional relationship information can be obtained based on relationship information between the first bone fragment and the first frame, relationship information between the second bone fragment and the second frame, and relationship information between the first frame and the second frame.

[0089] According to one embodiment of the present invention described above, one of the first bone fragment and the second bone fragment may be a proximal fragment close to the patient's body, and the other of the first bone fragment and the second bone fragment may be a distal fragment far from the patient's body.

[0090] According to one embodiment of the present invention described above, the first positional relationship information may be changed according to an input in which at least one of the position, direction, and rotation is changed while the user is gripping at least one of the first bone fragment object and the second bone fragment object.

[0091] Meanwhile, the method of operation of an electronic device for performing bone alignment according to various embodiments of the present invention described above may be provided to each server or device to be executed by a processor in a state where it is implemented as computer-executable program code and stored on various non-transitory computer-readable media.

[0092] For example, a method of operation of an electronic device that performs bone alignment using an MR device may be provided with a non-transitory computer-readable medium storing a program that performs the process of receiving first positional relationship information between a first bone fragment object and another second bone fragment object from an MR device, and converting the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in real space based on predefined mapping information, transmitting it to a fracture reduction device in which the first bone fragment and the second bone fragment are combined, and controlling the fracture reduction device.

[0093] A non-transient readable medium refers to a medium that stores data semi-permanently and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, cache, or memory. Specifically, the various applications or programs described above may be stored and provided on non-transient readable media such as CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0094] Although embodiments of the present invention have been illustrated and described above, those skilled in the art will understand that various modifications in form and details may be made without departing from the spirit and scope of the embodiments as defined by the appended claims and equivalents. Explanation of the symbols

[0095] Bone alignment system: 1 Fracture reduction device: 100 MR Device: 200, 200' Navigation device: 300, 300' Storage: 310, 920 Processors: 320, 930

Claims

Claim 1 A method of operation for an electronic device that performs bone alignment using an MR (Mixed Reality) device, comprising: receiving first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device; converting the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information, which is a conversion formula between the first positional relationship information in virtual space and the second positional relationship information in actual space, and controlling the relative position between a first frame of a fracture reduction device to which the first bone fragment is attached and a second frame of the fracture reduction device to which the second bone fragment is attached, which is connected to the first frame by a strut, thereby controlling the relative position between the first bone fragment and the second bone fragment; and, based on the product of positional relationship information between the first bone fragment and the first frame, positional relationship information between the second bone fragment and the second frame, and positional relationship information between the first frame and the second frame connected to the first frame by the strut, the first in actual space to which the control is reflected A method of operating an electronic device comprising: a process of acquiring third positional relationship information between a bone fragment and a second bone fragment; and a process of converting the third positional relationship information into spatial coordinate information on the MR device and transmitting it to the MR device. Claim 2 A method of operation of an electronic device according to claim 1, further comprising: a process of modeling the first bone fragment and the second bone fragment based on an image obtained through special line imaging of the first bone fragment and the second bone fragment; and a process of transmitting positional relationship information between the modeled first bone fragment and the second bone fragment and modeling information between the first bone fragment and the second bone fragment to the MR device. Claim 3 A method of operation of an electronic device, further comprising: a process of converting third positional relationship information between a first bone fragment and a second bone fragment in the actual space reflecting the control into fourth positional relationship information between the first bone fragment object and the second bone fragment object and transmitting it to the MR device in claim 1. Claim 4 A method of operation of an electronic device according to paragraph 3, wherein the first position relationship information and the fourth position relationship information are spatial coordinate information on the MR device, and the second position relationship information and the third position relationship information are spatial coordinates within the actual space. Claim 5 delete Claim 6 delete Claim 7 A method of operation of an electronic device according to claim 1, wherein one of the first bone fragment and the second bone fragment is a proximal fragment close to the patient's body, and the other of the first bone fragment and the second bone fragment is a distal fragment far from the patient's body. Claim 8 A method of operation of an electronic device according to claim 1, wherein the first positional relationship information is changed according to an input in which at least one of the position, direction, and rotation is changed while a user is gripping at least one of the first bone fragment object and the second bone fragment object. Claim 9 An electronic device for performing bone alignment using an MR (Mixed Reality) device, comprising: a storage unit; and receives first positional relationship information between a first bone fragment object and another second bone fragment object from the MR device, and converts the first positional relationship information into second positional relationship information between the first bone fragment and the second bone fragment in actual space based on predefined mapping information which is a conversion formula between the first positional relationship information in virtual space and the second positional relationship information in actual space, thereby controlling the relative position between the first frame of the fracture reduction device to which the first bone fragment is attached and the second frame of the fracture reduction device to which the second bone fragment is attached, which is connected to the first frame by a strut, thereby controlling the relative position of the first bone fragment and the second bone fragment, and based on the product of the positional relationship information between the first bone fragment and the first frame, the positional relationship information between the second bone fragment and the second frame, and the positional relationship information between the first frame and the second frame connected to the first frame by the strut, obtains third positional relationship information between the first bone fragment and the second bone fragment in actual space reflecting the control, and the third positional relationship information is An electronic device comprising a processor that converts spatial coordinate information on an MR device and transmits it to the MR device. Claim 10 An electronic device according to claim 9, wherein the processor further performs the process of modeling the first bone fragment and the second bone fragment based on an image obtained through special line imaging of the first bone fragment and the second bone fragment, and the process of transmitting positional relationship information between the modeled first bone fragment and the second bone fragment and modeling information between the first bone fragment and the second bone fragment to the MR device. Claim 11 An electronic device according to claim 9, wherein the processor further performs the process of converting third positional relationship information between the first bone fragment and the second bone fragment in the actual space reflecting the control into fourth positional relationship information between the first bone fragment object and the second bone fragment object and transmitting it to the MR device. Claim 12 An electronic device according to claim 11, wherein the first position relationship information and the fourth position relationship information are spatial coordinate information on the MR device, and the second position relationship information and the third position relationship information are spatial coordinates within the actual space. Claim 13 delete Claim 14 delete Claim 15 An electronic device according to claim 9, wherein one of the first bone fragment and the second bone fragment is a proximal fragment close to the patient's body, and the other of the first bone fragment and the second bone fragment is a distal fragment far from the patient's body. Claim 16 An electronic device according to claim 9, wherein the first positional relationship information is changed according to an input in which at least one of the position, direction, and rotation is changed while a user is gripping at least one of the first bone fragment object and the second bone fragment object.

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