Apparatus and method for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient

Abstract

The present invention relates to a device and method for determining the insertion position of a trocar in a three-dimensional virtual pneumoperitoneum model of a patient. According to the present invention, by determining the placement position of a trocar in a pneumoperitoneum model of a patient for the same surgical simulation as in the actual surgery, the conditions inside the body and the position of the surgical tools, the distance to the organs, the angle, etc. can be predicted in a more accurate manner through the same camera (Endscope) as in the actual surgery of the patient.

Description

Technical Field

[0001] This invention relates to an apparatus and method for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient. Background Technology

[0002] Recently, it has become possible to perform surgery in hospitals without immediately performing the surgery. Instead, a 3D simulation (stereoscopic image) of the patient's condition can be created before the actual surgery, and then a virtual surgery can be performed under the same conditions as the actual surgery.

[0003] For this type of virtual surgical simulation, a precise diagnosis can be established in advance. Therefore, the plan can be developed without relying on the specialist's intuition, and even very small errors can be reduced.

[0004] However, this type of virtual surgical simulation suffers from a lack of realism. Furthermore, in the case of actual surgery, medical personnel cannot perform virtual surgical simulations under the same conditions as real surgeries.

[0005] In particular, when performing minimally invasive surgeries (e.g., robotic surgery or laparoscopic surgery), if the camera's shooting direction and the entry point of the surgical instruments differ between the actual surgery and the virtual simulation, the images confirmed by the medical staff during the simulation will differ from those seen during the actual surgery, and the use of tools will also differ. Therefore, it may not be possible to achieve the same training effect as performing actual surgery.

[0006] Therefore, the structures within the abdominal cavity will vary depending on the position of the camera used to confirm the structures within the abdominal cavity. During virtual simulation surgery, it is necessary to set the position of the cannula to be the same as during actual surgery so that the camera and surgical instruments can enter the virtual undulating model in the same way as during actual surgery, which uses a pneumoperitoneum (injecting gas into the patient's body to inflate the patient's abdomen to facilitate surgery). Summary of the Invention

[0007] Technical issues

[0008] In order to solve the problems described above, the object of the present invention is to determine the placement of the cannula in a pneumoperitoneum model of a patient used for surgical simulation identical to that of an actual surgery.

[0009] Furthermore, the purpose of this invention is to provide a surgical simulation environment based on the virtual pneumoperitoneum model that predicts the actual pneumoperitoneum state of the patient, in which the cannula is arranged in the same manner as in actual surgery, so that the surgical simulation can serve as a good practice for actual surgery.

[0010] The technical problems to be solved by the present invention are not limited to those mentioned above. Those skilled in the art will be able to clearly understand other technical problems not mentioned from the following description.

[0011] Technical solution

[0012] The method according to the present invention, performed by means of a device, for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient to solve the above-mentioned technical problems, may include the following steps: displaying a user interface (UI) for setting the trocar insertion position on the virtual pneumoperitoneum model for use in surgical simulation; displaying the virtual pneumoperitoneum model on the UI; determining, through the UI, the insertion position of a reference trocar to be inserted at a position separated from the navel of the virtual pneumoperitoneum model by a predetermined distance as the insertion position of the camera (endoscope); through the UI... Based on the determined insertion position of the reference cannula, at least one cannula insertion position is determined on the surface of the virtual pneumoperitoneum model; on the surface of the virtual pneumoperitoneum model, distance information between the insertion position of the reference cannula and the determined insertion position of the at least one cannula is calculated and stored; and during actual surgery on the patient, the stored distance information is provided in real time on the UI, wherein the distance information includes the lateral distance and vertical distance between the insertion position of the reference cannula and the insertion position of the at least one cannula, as well as the diagonal distance relative to the lateral distance and vertical distance.

[0013] The UI may include: a main screen area that displays the virtual pneumoperitoneum model in a planar view; and a preview screen area that displays an internal image of the virtual pneumoperitoneum model taken by the camera inserted through the reference cannula.

[0014] Furthermore, the insertion position of the at least one cannula can be adjusted on the main screen area via the UI.

[0015] Furthermore, the preview area can be captured by the camera, showing the state of the tool inserted into the at least one cannula entering the virtual pneumoperitoneum model and displayed in real time.

[0016] In addition, the main screen area can display the stored distance information and information about the tool inserted through the at least one cannula.

[0017] In addition, the preview screen area can display the port numbers of the reference cannula and the at least one cannula, and show whether the tool collides with the internal organs when it enters the virtual pneumoperitoneum model at the positions of the reference cannula and the at least one cannula.

[0018] Furthermore, in the step of determining the insertion position of the at least one trocar, the differences in the horizontal, vertical, and diagonal directions from a first location corresponding to the insertion position of the reference trocar to a second location corresponding to the insertion position of the at least one trocar can be calculated, and a predetermined unit of light ray is emitted in the horizontal, vertical, and diagonal directions. The three-dimensional position of the light ray reaching the surface of the virtual pneumoperitoneum model is stored, and the insertion position of the at least one trocar is determined by adding the distances of the stored three-dimensional positions.

[0019] Furthermore, in the step of determining the insertion position of the at least one trocar, the insertion position of the at least one trocar can be changed based on the changed position of the second location if the position of the second location changes.

[0020] Furthermore, according to the present invention, an apparatus for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient to solve the above-mentioned technical problems may include: an acquisition unit for acquiring the virtual pneumoperitoneum model for surgical simulation; and a display unit for displaying a user interface (UI) for setting the insertion position of the trocar on the virtual pneumoperitoneum model. Interface); and processor, displaying the virtual pneumoperitoneum model on the UI, determining, through the UI, the insertion position of the reference cannula for the camera (endoscope) to be inserted at a predetermined distance from the navel of the virtual pneumoperitoneum model, determining, through the UI, at least one cannula insertion position on the surface of the virtual pneumoperitoneum model based on the determined insertion position of the reference cannula, calculating and storing distance information between the insertion position of the reference cannula and the determined insertion position of the at least one cannula on the surface of the virtual pneumoperitoneum model, and providing the stored distance information in real time on the UI during actual surgery on the patient, wherein the distance information includes the lateral distance and vertical distance between the insertion position of the reference cannula and the insertion position of the at least one cannula, as well as the diagonal distance relative to the lateral distance and vertical distance.

[0021] In addition, other methods, other apparatuses, other systems for implementing the present invention, as well as computer-readable recording media that record computer programs for performing the methods, may be provided.

[0022] Other specific aspects of the invention are included in the detailed description and accompanying drawings.

[0023] Beneficial effects

[0024] According to the present invention as described above, the present invention has the following effects: by determining the placement position of the trocar in a pneumoperitoneum model of a patient used for surgical simulation identical to that used in actual surgery, the internal condition of the body, the position of surgical instruments, the distance to organs, angles, etc., can be predicted with high accuracy using the same camera (endscope) as the actual surgery of the patient.

[0025] The effects of the present invention are not limited to those mentioned above, and those skilled in the art can clearly understand other effects not mentioned below through the description below. Attached Figure Description

[0026] Figure 1 This is a diagram illustrating an apparatus for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient according to the present invention.

[0027] Figure 2 This is an example diagram illustrating a user interface (UI) for setting the cannula insertion position on a virtual pneumoperitoneum model used in surgical simulation according to the present invention.

[0028] Figure 3a , Figure 3b This is an example diagram illustrating the determination of the insertion position of the reference cannula according to the present invention.

[0029] Figure 4 This is an example diagram illustrating the determination of the insertion position of at least one cannula according to the present invention.

[0030] Figure 5a , Figure 5b This is an example diagram illustrating the determination of the insertion positions of the first and second cannula needles according to the present invention.

[0031] Figure 6 This is an example diagram illustrating the determination of the insertion positions of the reference cannula and the first, second, third, and fourth cannulas according to the present invention.

[0032] Figure 7 This is a flowchart illustrating the process of determining the insertion position of the trocar on a three-dimensional virtual pneumoperitoneum model of a patient according to the present invention. Detailed Implementation

[0033] The advantages, features, and methods for implementing the invention will be readily understood by referring to the embodiments described in detail below with reference to the accompanying drawings. However, the invention is not limited to the embodiments disclosed below, which can be implemented in various different forms. These embodiments are provided merely to complete the disclosure of the invention and to fully inform those skilled in the art of the scope of the invention, which is defined only by the scope of the claims.

[0034] The terminology used in this specification is for illustrative purposes and is not intended to limit the invention. Unless specifically mentioned herein, the singular forms include the plural forms. The terms "comprises" and / or "comprising" as used in this specification do not exclude the presence or addition of more than one other constituent element besides those mentioned. Throughout the specification, the same reference numerals refer to the same constituent element, and "and / or" includes each of the mentioned constituent elements and all combinations thereof. Although "first," "second," etc., are used to describe multiple constituent elements, these constituent elements are obviously not limited by these terms. These terms are only used to distinguish one constituent element from other constituent elements. Therefore, the first constituent element mentioned below can obviously be a second constituent element within the technical concept of this invention.

[0035] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in the sense that would be commonly understood by one of ordinary skill in the art to which this invention pertains. Furthermore, terms defined in commonly used dictionaries should not be interpreted ideally or excessively unless otherwise explicitly and specifically defined.

[0036] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0037] Figure 1 This is a diagram illustrating an apparatus 10 for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient according to the present invention.

[0038] Figure 2 This is an example diagram illustrating a user interface (UI) for setting the cannula insertion position on a virtual pneumoperitoneum model used in surgical simulation according to the present invention.

[0039] Figure 3a , Figure 3b This is an example diagram illustrating the determination of the insertion position of the reference cannula according to the present invention.

[0040] Figure 4 This is an example diagram illustrating the determination of the insertion position of at least one cannula according to the present invention.

[0041] Figure 5a , Figure 5b This is an example diagram illustrating the determination of the insertion positions of the first and second cannula needles according to the present invention.

[0042] Figure 6 This is an example diagram illustrating the determination of the insertion positions of the reference cannula and the first, second, third, and fourth cannulas according to the present invention.

[0043] The following is for reference Figures 1 to 6 The apparatus 10 according to the invention for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient will be described.

[0044] Specifically, in the case of performing minimally invasive surgery (e.g., laparoscopic surgery or robotic surgery), a camera that enters the body through a trocar can be used to identify parts of the body, and surgical instruments that enter through one or more trocars in other locations can be used to perform the surgery.

[0045] In order to ensure space for the surgical instruments to move inside the body, a predetermined gas (e.g., carbon dioxide) can be injected into the body during minimally invasive surgery (e.g., the space between the abdominal walls during abdominal surgery).

[0046] Medical professionals want to perform surgical simulations before the actual surgery to ensure they can handle various variables that may occur during the actual surgery. As a countermeasure, virtual surgical simulations can be provided in the same virtual surgical environment as the actual surgery.

[0047] Minimally invasive surgery is performed by confirming the procedure using a camera (i.e., an endoscope) inserted inside the body. Therefore, if medical personnel practice using images displayed in completely different positions or orientations during virtual simulations before performing the actual surgery, the images provided to them during the actual surgery will be completely different and will not achieve the same effect as the practice.

[0048] In particular, even if a virtual body model of pneumoperitoneum is modeled in the same way as the patient's physical condition during actual surgery, if the camera or surgical instruments are brought in from different positions or directions, completely different images will be seen and the practice will be conducted using tools placed in different positions, thus failing to achieve the desired practice effect.

[0049] Therefore, device 10 needs to set the position of the cannula so that the camera and surgical instruments can enter the virtual pneumoperitoneum model in the same way as in actual surgery.

[0050] This device 10 determines the placement of the cannula in a pneumoperitoneum model of a patient used for surgical simulation identical to that used in actual surgery. Thus, by using the same camera (endscope) as the patient in actual surgery, it can accurately predict the condition inside the body and the position of surgical instruments, distances to organs, angles, etc.

[0051] The device 10 may include a variety of devices capable of performing computational processing and providing results to the user.

[0052] That is, device 10 can be in the form of a computer. More specifically, the computer can include all kinds of devices capable of performing computational processing and providing results to the user.

[0053] For example, a computer can be not only a desktop PC or a notebook computer, but also a smartphone, a tablet PC, a cellular phone, a personal communication service phone (PCS phone), a mobile terminal of the International Mobile Telecommunication-2000 (IMT-2000) system, a palmtop PC, a personal digital assistant (PDA), etc. Furthermore, when a head-mounted display (HMD) device includes computing functionality, the HMD device can be a computer.

[0054] In addition, a computer can be a server that receives requests from clients and performs information processing.

[0055] Furthermore, the device 10 may include an acquisition unit 110, a memory 120, a display unit 130, and a processor 140. The device 10 may include a comparison unit... Figure 1 The constituent elements shown are fewer or more constituent elements.

[0056] The acquisition unit 110 may include one or more modules capable of wireless communication between the device 10 and an external device (not shown), between the device 10 and an external server (not shown), or between the device 10 and a communication network (not shown).

[0057] The acquisition unit 110 may include one or more modules that connect the device 10 to one or more networks.

[0058] This acquisition unit 110 can acquire the virtual pneumoperitoneum model for surgical simulation from the external server (not shown) or the memory 120.

[0059] The external device (not shown) may be a medical imaging device that captures medical image data (hereinafter, abdominal 3D image data). The medical image data may include all medical images capable of representing the patient's body in a three-dimensional model.

[0060] In addition, medical image data may include at least one of computed tomography (CT) images, magnetic resonance imaging (MRI) images, and positron emission tomography (PET) images.

[0061] In addition, the external server (not shown) may be a server that stores virtual pneumoperitoneum models for each of the multiple patients, medical images of each patient, etc. The medical data for each patient may include data regarding at least one of the patient's age, sex, height, weight, body mass index, and whether they have given birth.

[0062] Furthermore, the communication network (not shown) can transmit and receive various types of information between device 10, external devices (not shown), and external servers (not shown). The communication network can utilize various forms of communication networks, such as wireless LAN (WLAN), Wi-Fi, Wibro, WiMAX, High Speed ​​Downlink Packet Access (HSDPA), or wired communication methods such as Ethernet, xDSL (Asymmetric Digital Subscriber Line (ADSL), VDSL), Hybrid Fiber Coax (HFC), Fiber to the Curb (FTTC), and Fiber to the Home (FTTH).

[0063] Furthermore, the communication network is not limited to the communication methods mentioned above, and may also include other known or future forms of communication methods.

[0064] The memory 120 can store data supporting various functions of the device 10. The memory 120 can store multiple application programs (or applications) driven by the device 10, data for the operation of the device 10, and instructions. At least some of these applications may exist for the basic functions of the device 10. Additionally, the application programs can be stored in the memory 120 and set on the device 10, and driven by the processor 140 to execute the operation (or function) of the device 10.

[0065] Furthermore, the memory 120 may include multiple processes for determining the insertion position of the trocar on a three-dimensional virtual pneumoperitoneum model of the patient according to the present invention. These multiple processes will be described later when the operation of the processor 140 is explained.

[0066] This memory 120 can store virtual pneumoperitoneum models for multiple patients. These virtual pneumoperitoneum models can be generated and stored by the processor 140, or they can be obtained and stored from an external server (not shown).

[0067] The display unit 130 can be configured as an interlayer with the touch sensor or integrated into it to form a touch screen. This touch screen can provide an input interface between the device 10 and the user.

[0068] This display unit 130 can display a user interface for setting the cannula insertion position on a virtual pneumoperitoneum model.

[0069] In addition to operations related to the application, processor 140 can typically control the overall operation of device 10. By processing signals, data, information, etc., input or output by the aforementioned components, or driving applications stored in memory 120, processor 140 can provide or process appropriate information or functions to the user.

[0070] In addition, the processor 140 can control the reference Figure 1 At least a portion of the aforementioned components are used to drive an application stored in memory 120. Furthermore, processor 140 can combine and operate at least two or more of the components included in device 10 to drive the application.

[0071] The processor 140 can display a user interface (UI) for setting the cannula insertion position on the virtual pneumoperitoneum model used in surgical simulation.

[0072] The processor 140 can display a UI for setting the cannula insertion position on the virtual pneumoperitoneum model via the display unit 130 based on the first process of multiple processes.

[0073] Furthermore, the processor 140 can display the virtual pneumoperitoneum model on the UI. Specifically, the processor 140 can display the virtual pneumoperitoneum model on the UI based on a second process within a plurality of processes.

[0074] Reference Figure 2 This UI can include a main screen area 201 and a preview screen area 202.

[0075] Specifically, the main screen area 201 can be the area that displays the virtual pneumoperitoneum model in a planar view. That is, the main screen area 201 can be a view of the surface of the pneumoperitoneum model viewed from above.

[0076] At least one cannula can be adjusted in position on the surface of the virtual pneumoperitoneum model via the UI on the main screen area 201.

[0077] In addition, the main screen area 201 can display stored distance information between the insertion position of the reference cannula and the insertion position of at least one cannula whose insertion position has been determined, as well as information about the tool inserted through the at least one cannula.

[0078] The distance information may include the lateral and vertical distances (10cm and 4cm) between the insertion position of the reference cannula and the insertion position of the at least one cannula, as well as the diagonal distance (11cm) relative to the lateral and vertical distances.

[0079] Preview area 202 may be an area that displays an internal image of the virtual pneumoperitoneum model taken by the camera inserted via the reference cannula.

[0080] In addition, the preview screen area 202 can capture and display in real time the state of the tool inserted into the at least one cannula entering the virtual pneumoperitoneum model through the camera.

[0081] In addition, the preview area 202 can display the reference cannula and the port number of the at least one cannula.

[0082] The port numbers can be displayed to provide an interface identical to that of the robotic surgery console. Specifically, during robotic surgery, the cannulas connected to the robotic arm can be numbered and displayed as port numbers. In this case, the port numbers can be numbered from the leftmost position in the surgeon's field of vision, starting with number 1.

[0083] Furthermore, the preview screen area 202 can display whether the tool collides with internal organs when it enters the virtual pneumoperitoneum model at the position of the reference cannula and the at least one cannula.

[0084] The processor 140 can simultaneously output a main screen area 201 on the UI, which is a view of the surface of the pneumoperitoneum model from above, and a preview screen area 202, which is a view observed through an inserted camera (endoscope).

[0085] Therefore, the processor 140 can synchronize and output the position of the cannula on the abdominal surface in the main screen area 201 and the position in the preview screen area 202 observed by the inserted camera (endoscope), while providing appropriate position settings.

[0086] Furthermore, the processor 140 can blink and display information about whether a collision occurred when the tool was inserted at the insertion site of the cannula. This collision information may indicate whether the surgical tool at the cannula insertion site reached an organ.

[0087] Thus, the processor 140 can determine whether the organ can be reached when the cannula is inserted at the insertion position and a tool (surgical tool) is placed, and provide this information to the user.

[0088] The processor 140 can determine, via the UI, the position at a predetermined distance from the navel of the virtual pneumoperitoneum model as the insertion position for the reference cannula to be inserted into the camera (endoscope).

[0089] The processor 140 can determine the insertion position of the reference cannula needle to be inserted into the camera (endoscope) based on the UI in a third process among multiple processes.

[0090] Reference Figure 3a , Figure 3b The processor 140 can determine the insertion position of the reference cannula 301 to be inserted into the camera as about 1 cm below the navel through the UI.

[0091] Furthermore, the processor 140 can visually confirm the position and distance between the heart and the navel while inserting the camera through the reference cannula 301.

[0092] Among them, reference Figure 3a The distance between the chest and the navel on the surface is 18.5cm. (Refer to...) Figure 3bAfter the camera is inserted into the reference cannula 301, the distance between the inserted camera and the insertion position below the navel is 10cm on the surface, the distance between the camera and the heart is 18.5cm on the surface, and the distance between the heart and the insertion position below the navel is 26cm on the surface.

[0093] The processor 140 can determine at least one insertion position of a trocar on the surface of the virtual pneumoperitoneum model based on the determined insertion position of the reference trocar through the UI.

[0094] The processor 140 can determine the insertion position of the at least one cannula via the UI based on the fourth process of a plurality of processes.

[0095] Reference Figure 4 Specifically, the processor 140 can select a second location 402 corresponding to the insertion location of the at least one cannula from a first location 401 corresponding to the insertion location of the reference cannula.

[0096] Then, the processor 140 can calculate the differences in the horizontal, vertical, and diagonal directions from the first location 401 to the second location 402. These differences in the horizontal, vertical, and diagonal directions can be the distances in the horizontal, vertical, and diagonal directions on the surface of the three-dimensional virtual pneumoperitoneum model.

[0097] Then, the processor 140 can emit a predetermined unit of light rays in the horizontal (X direction), vertical (Y direction), and diagonal directions.

[0098] The processor 140 can generate a list of collision points for the light rays in the horizontal (X direction), vertical (Y direction), and diagonal directions.

[0099] Then, the processor 140 can store the three-dimensional position of the ray when it reaches the surface of the virtual pneumoperitoneum model. Specifically, the processor 140 can determine and store the three-dimensional position of the ray based on the list of collision points.

[0100] Then, the processor 140 can determine the insertion position of the at least one trocar by adding the distances of the stored three-dimensional positions.

[0101] The processor 140 can change the insertion position of the at least one cannula based on the changed position of the second location if the location of the second location changes.

[0102] As an example, refer to Figure 5aThe processor 140 can calculate the differences in the horizontal, vertical, and diagonal directions from the first location 501 corresponding to the insertion position of the reference cannula to the second location 502 corresponding to the insertion position of the first cannula on the left, and can radiate a predetermined unit of light in each direction.

[0103] The differences in the horizontal, vertical, and diagonal directions (horizontal (16.0cm), vertical (8.1cm), and diagonal (17.4cm)) can be displayed on the UI in real time.

[0104] The difference in the horizontal, vertical, and diagonal directions displayed in real time on the UI can achieve the same effect as a doctor pressing on the patient's abdomen during actual surgery to confirm the location.

[0105] Furthermore, the processor 140 can store the three-dimensional position of the light reaching the surface of the virtual pneumoperitoneum model, and can determine the insertion position of the first cannula by adding the distances of the stored three-dimensional positions.

[0106] As another example, see Figure 5b The processor 140 can calculate the differences in the horizontal, vertical and diagonal directions (horizontal (14.4cm), vertical (8.7cm) and diagonal (16.3cm)) from the first location 501 corresponding to the insertion position of the reference cannula to the third location 503 corresponding to the insertion position of the second cannula located on the right), and can radiate a predetermined unit of light in each direction.

[0107] The differences in the horizontal, vertical, and diagonal directions can be displayed on the UI in real time.

[0108] Furthermore, the processor 140 can store the three-dimensional position of the light reaching the surface of the virtual pneumoperitoneum model, and can determine the insertion position of the second cannula by adding the distances of the stored three-dimensional positions.

[0109] As yet another example, see Figure 6 The processor 140 can determine the insertion positions of the first and second left cannula needles, and the third and fourth right cannula needles based on the reference cannula needles.

[0110] The first, second, and fourth cannula needles can be robotic cannula needles, and the third cannula needle can be a laparoscopic cannula needle. The robotic cannula needle can be a cannula needle used in robotic surgery, and the laparoscopic cannula needle can be a cannula needle used in laparoscopic surgery.

[0111] Specifically, the processor 140 can calculate the differences in the horizontal, vertical, and diagonal directions from a first location 601 corresponding to the insertion position of the reference cannula among the first to fourth cannula needles to a second location 602 corresponding to the insertion position of the first cannula needle located on the left, and can emit a predetermined unit of light in each direction.

[0112] Furthermore, the processor 140 can store the three-dimensional positions of the light rays reaching the surface of the virtual pneumoperitoneum model, and can determine the insertion position of the first cannula by adding the distances of the stored three-dimensional positions. The first cannula may be a robotic cannula.

[0113] The processor 140 can calculate and store distance information between the insertion position of the reference cannula and the insertion position of the determined at least one cannula on the surface of the virtual pneumoperitoneum model.

[0114] The processor 140 can calculate and store the distance information between the reference cannula and the at least one cannula based on the fifth process in a plurality of processes.

[0115] This distance information may include the lateral and vertical distances between the insertion position of the reference cannula and the insertion position of the at least one cannula, as well as the diagonal distance relative to the lateral and vertical distances.

[0116] During the actual surgery performed on the patient, the processor 140 can provide the stored distance information in real time on the UI.

[0117] The processor 140 can provide the stored distance information to the UI in real time based on the sixth process among multiple processes.

[0118] Therefore, during actual surgery, experts can insert the cannula into the corresponding position based on the predetermined insertion location on the UI, instead of using pressure on the patient's abdomen to locate the cannula.

[0119] Figure 7 This is a flowchart illustrating the process of determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient according to the present invention. The operation of the processor 140 can be performed within the device 10.

[0120] The processor 140 can display a user interface (UI) for setting the cannula insertion position on the virtual pneumoperitoneum model (S701).

[0121] The processor 140 can display the virtual pneumoperitoneum model on the UI (S702).

[0122] More specifically, the processor 140 can display a UI for setting the cannula insertion position on the virtual pneumoperitoneum model used in surgical simulations of individual patients.

[0123] The UI may include: a main screen area that displays the virtual pneumoperitoneum model in a planar view; and a preview screen area that displays an internal image of the virtual pneumoperitoneum model taken by the camera inserted through the reference cannula.

[0124] Specifically, the preview area can be captured by the camera and displayed in real time as the tool inserted into the at least one cannula enters the interior of the virtual pneumoperitoneum model.

[0125] In addition, the preview area can display the port numbers of the reference cannula and the at least one cannula, and show whether the tool collides with the internal organs when it enters the virtual pneumoperitoneum model at the positions of the reference cannula and the at least one cannula.

[0126] In addition, the main screen area can display the stored distance information and information about the tool inserted through the at least one cannula.

[0127] The distance information may include the lateral distance, the vertical distance, and the diagonal distance relative to the lateral and vertical distances between the insertion position of the reference cannula and the insertion position of the at least one cannula.

[0128] In addition, the insertion position of the at least one cannula can be adjusted on the main screen area via the UI.

[0129] The processor 140 can determine the insertion position of the reference cannula needle to be inserted into the camera (endoscope) via the UI (S703).

[0130] More specifically, the processor 140 can determine, via the UI, the insertion position of the reference cannula needle to be inserted into the camera from a position separated from the navel of the virtual pneumoperitoneum model by a predetermined distance.

[0131] The processor 140 can determine the insertion position of at least one cannula via the UI (S704).

[0132] More specifically, the processor 140 can determine at least one insertion position of a trocar on the surface of the virtual pneumoperitoneum model based on the determined insertion position of the reference trocar through the UI.

[0133] Specifically, the processor 140 can calculate the differences in the lateral, vertical, and diagonal directions from a first location corresponding to the insertion position of the reference cannula to a second location corresponding to the insertion position of the at least one cannula.

[0134] Furthermore, the processor 140 can radiate a predetermined unit of light rays in the horizontal, vertical, and diagonal directions, and store the three-dimensional position of the light rays reaching the surface of the virtual pneumoperitoneum model.

[0135] Therefore, the processor 140 can determine the insertion position of the at least one trocar by adding the distances of the stored three-dimensional positions.

[0136] Wherein, if the position of the second location changes, the processor 140 can change the insertion position of the at least one cannula based on the changed position of the second location.

[0137] The processor 140 can calculate and store distance information between the insertion position of the reference cannula and the insertion position of the determined at least one cannula (S705).

[0138] More specifically, the processor 140 can calculate and store distance information between the insertion position of the reference cannula and the insertion position of the determined at least one cannula on the surface of the virtual pneumoperitoneum model.

[0139] During the actual surgery on the patient, the processor 140 can provide the stored distance information in real time on the UI (S706).

[0140] Figure 7 The document describes the sequential execution of steps (S701) to (S706), but this is merely an illustrative description of the technical concept of this embodiment. Those skilled in the art to which this embodiment pertains can modify and execute the embodiments without departing from the essential characteristics of this embodiment. Figure 7 The sequential or parallel execution steps (S701) to (S706) described herein can be applied through various modifications and variations, therefore Figure 7 Not limited to time series order.

[0141] The method of the present invention described above can be implemented as a program (or application) executed in conjunction with a computer as hardware and stored in a medium. The computer can be the device 10 described above.

[0142] The program may include code encoded in computer languages ​​such as C, C++, C#, JAVA, and machine language, which is read by the computer's processor (CPU) through the computer's device interface, so that the computer can read the program and execute the method implemented by the program. This code may include functional code related to functions that define the functionality required to perform the method, and may include control code related to program execution to cause the computer's processor to execute the function according to a predetermined program. Furthermore, this code may further include additional information about the computer's processor requiring the function to perform, or memory reference code related to the location (address number) of the medium to be referenced in the computer's internal or external memory. Moreover, if the computer's processor needs to communicate with another computer or server located remotely to perform the function, the code may utilize the computer's communication module to further include communication-related code regarding how to communicate with the other computer or server located remotely, and what kind of information or medium needs to be sent and received during communication.

[0143] The steps of the methods or algorithms described in relation to embodiments of the present invention can be implemented directly in hardware, or by software modules executed in hardware, or by a combination thereof. The software modules can reside in random access memory (RAM), read-only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or any form of computer-readable recording medium known in the art to which this invention pertains.

[0144] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, those skilled in the art will understand that the invention can be implemented in other specific forms without altering the technical concept or essential features of the invention. Therefore, the embodiments described above should be understood as exemplary in all respects, and not limiting.

Claims

1. A method for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient by means of a device, comprising the following steps: Displays a user interface for setting the cannula insertion position on the virtual pneumoperitoneum model used in surgical simulation; The virtual pneumoperitoneum model is displayed on the user interface; The user interface determines the insertion position of the reference cannula needle to be inserted into the camera from a position that is a predetermined distance away from the navel of the virtual pneumoperitoneum model. Through the user interface, based on the determined insertion position of the reference cannula, at least one cannula insertion position is determined on the surface of the virtual pneumoperitoneum model. On the surface of the virtual pneumoperitoneum model, the distance information between the insertion position of the reference cannula and the determined insertion position of at least one cannula is calculated and stored. as well as The stored distance information is provided in real time on the user interface. The distance information includes the lateral and vertical distances between the insertion position of the reference cannula and the insertion position of at least one cannula, as well as the diagonal distance relative to the lateral and vertical distances. In the step of determining the insertion position of the at least one trocar, Calculate the differences in the lateral, vertical, and diagonal directions from a first location corresponding to the insertion position of the reference cannula to a second location corresponding to the insertion position of the at least one cannula. Radiate a predetermined unit of light rays in the horizontal, vertical, and diagonal directions. Generate a list of collision points for light rays radiating in the horizontal, vertical, and diagonal directions, respectively. Based on the list of collision points, the three-dimensional position of the light ray reaching the surface of the virtual pneumoperitoneum model is determined and stored. The insertion position of the at least one trocar is determined based on the stored three-dimensional position.

2. The method as described in claim 1, wherein, The user interface includes: The main screen area displays the virtual pneumoperitoneum model in a planar view; and The preview area displays an internal image of the virtual pneumoperitoneum model taken by the camera inserted through the reference cannula.

3. The method as described in claim 2, wherein, The insertion position of at least one cannula can be adjusted on the main screen area via the user interface.

4. The method of claim 2, wherein, The preview area is captured by the camera, showing the state of the tool inserted into the at least one cannula entering the virtual pneumoperitoneum model and displayed in real time.

5. The method of claim 2, wherein, The main screen area displays the stored distance information and information about the tool inserted through the at least one cannula. The preview area displays the port numbers of the reference cannula and the at least one cannula, and shows whether the tool collides with internal organs when it enters the virtual pneumoperitoneum model at the positions of the reference cannula and the at least one cannula.

6. The method of claim 1, wherein, In the step of determining the insertion position of the at least one trocar, If the location of the second location changes, the insertion position of the at least one cannula is changed based on the changed location of the second location.

7. A computer-readable recording medium storing a computer program for use in conjunction with a computer as hardware to perform the method for determining the insertion position of a trocar according to claim 1.

8. An apparatus for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient, comprising: The acquisition unit acquires the virtual pneumoperitoneum model used for surgical simulation; The display unit shows a user interface for setting the insertion position of the cannula on the virtual pneumoperitoneum model; as well as The processor displays the virtual pneumoperitoneum model on the user interface. Using the user interface, it determines a position at a predetermined distance from the navel of the virtual pneumoperitoneum model as the insertion position for a reference cannula to be inserted into. Based on the determined insertion position of the reference cannula, it determines at least one insertion position for a cannula on the surface of the virtual pneumoperitoneum model. On the surface of the virtual pneumoperitoneum model, it calculates and stores distance information between the insertion positions of the reference cannula and the determined insertion positions of the at least one cannula, and provides this stored distance information to the user interface in real time. The distance information includes the lateral and vertical distances between the insertion position of the reference cannula and the insertion position of at least one cannula, as well as the diagonal distance relative to the lateral and vertical distances. When determining the insertion position of the at least one trocar, the processor calculates the differences in the horizontal, vertical, and diagonal directions from a first location corresponding to the insertion position of the reference trocar to a second location corresponding to the insertion position of the at least one trocar, and emits a predetermined unit of light rays in the horizontal, vertical, and diagonal directions, generating a list of collision points for the light rays emitted in each of the horizontal, vertical, and diagonal directions. Based on the list of collision points, the processor determines and stores the three-dimensional position of the light rays reaching the surface of the virtual pneumoperitoneum model, and determines the insertion position of the at least one trocar based on the stored three-dimensional position.

9. The apparatus of claim 8, wherein, The user interface includes: The main screen area displays the virtual pneumoperitoneum model in a planar view; and The preview area displays an internal image of the virtual pneumoperitoneum model taken by the camera inserted through the reference cannula.

10. The apparatus of claim 9, wherein, The insertion position of at least one cannula can be adjusted on the main screen area via the user interface.

11. The apparatus of claim 9, wherein, The preview area is captured by the camera, showing the state of the tool inserted into the at least one cannula entering the virtual pneumoperitoneum model and displayed in real time.

12. The apparatus of claim 9, wherein, The main screen area displays the stored distance information and information about the tool inserted through the at least one cannula. The preview area displays the port numbers of the reference cannula and the at least one cannula, and shows whether the tool collides with internal organs when it enters the virtual pneumoperitoneum model at the positions of the reference cannula and the at least one cannula.

13. The apparatus of claim 8, wherein, When determining the insertion position of the at least one cannula, the processor changes the insertion position of the at least one cannula based on the changed position of the second location if the position of the second location changes.

Images