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 an apparatus and method for determining a trocar insertion position on a 3D virtual pneumoperitoneum model of a patient. According to the present invention, by determining a trocar placement position on a pneumoperitoneum model of a patient used in the same surgical simulation as in an actual surgical operation, it is possible to accurately predict the state of the inside of the body through the same camera (Endoscope) as in the actual surgical operation of the patient, the position of surgical instruments, the distance to organs, the angle, etc.

Description

Technical Field

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

Background Art

[0002] In recent years, when performing surgery in a hospital, instead of performing the surgery immediately, after 3D simulation (stereoscopic video) of the patient's condition before surgery, a virtual surgery can be performed under the same conditions as the actual surgery.

[0003] In such a virtual simulation surgery, a precise diagnosis can be made in advance. Therefore, instead of relying on the intuition of a specialist, a plan can be made through the virtual simulation surgery, and the error can be reduced to a very small level.

[0004] However, such a virtual simulation surgery has the problem of reduced realism. In addition, in the case of a surgical operation, there is a problem that the medical team cannot perform a virtual simulation surgery under the same conditions as the actual surgery.

[0005] In particular, when performing minimally invasive surgery (for example, robotic surgery or laparoscopic surgery), if the imaging direction of the camera and the entry point of the surgical instrument are different during the actual surgery and the virtual simulation surgery, the image seen by the medical team during the simulation process is different from the image seen during the actual surgery, and there is a risk that the same training effect as the actual surgery cannot be obtained due to the different use of the instruments.

[0006] Therefore, since the intra-abdominal structure can vary depending on the position of the camera for viewing the intra-abdominal structure, it is necessary to set the position of the trocar to be the same as that during the actual surgery so that the camera and the surgical instrument enter the same virtual pneumoperitoneum model in which a pneumoperitoneum state (a state in which the patient's abdomen is inflated by injecting gas into the patient's body to facilitate surgery) is applied during the virtual simulation surgery as during the actual surgery.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The present invention has been made in view of the above circumstances, and an object thereof is to determine the placement position of a trocar in a pneumoperitoneum model of a patient to be used for a surgical simulation identical to an actual surgery.

[0008] Another object of the present invention is to provide a surgical simulation environment in which trocars are placed in the same manner as in an actual surgery based on the virtual pneumoperitoneum model in which the actual pneumoperitoneum state of the patient is predicted, so that the surgical simulation can serve as an excellent rehearsal for an actual surgery.

[0009] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by a person skilled in the art from the following description.

Means for Solving the Problems

[0010] In a method for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient, which is performed by the device according to the present invention for solving the above-described problems, the steps include: displaying a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model used in the surgical simulation; displaying the virtual pneumoperitoneum model on the UI; determining, through the UI, the insertion position of a reference trocar into which an endoscope is inserted at a position separated from the umbilicus of the virtual pneumoperitoneum model by a preset distance; determining, through the UI, at least one trocar insertion position on the surface of the virtual pneumoperitoneum model based on the determined insertion position of the reference trocar; calculating and storing distance information between the insertion position of the reference trocar and the determined at least one trocar insertion position on the surface of the virtual pneumoperitoneum model; and providing the stored distance information on the UI in real time when actually performing surgery on the patient. The distance information may include the horizontal and vertical distances between the insertion position of the reference trocar and the insertion position of the at least one trocar, as well as the diagonal distance with respect to the horizontal and vertical distances.

[0011] Here, the UI may include a main screen area where the virtual pneumoperitoneum model is displayed in a planar view and a preview screen area where an internal image of the virtual pneumoperitoneum model taken through the camera inserted through the reference trocar is displayed.

[0012] Also, the insertion position of the at least one trocar can be adjusted on the main screen area through the UI.

[0013] Furthermore, the preview screen area can display, in real time through the camera, the state of an instrument inserted into the at least one trocar entering the inside of the virtual pneumoperitoneum model.

[0014] In addition, the main screen area can display the stored distance information and information on the instrument inserted through the at least one trocar.

[0015] Furthermore, in the preview screen area, the port numbers of the reference trocar and the at least one trocar are displayed, and when the corresponding instrument enters the inside of the virtual pneumoperitoneum model at the positions of the reference trocar and the at least one trocar, it can display whether or not there is a collision with the internal organs.

[0016] Also, in the at least one trocar insertion position determination step, the difference values in the horizontal, vertical, and diagonal directions from the first point corresponding to the insertion position of the reference trocar to the second point corresponding to the insertion position of the at least one trocar are calculated, light rays (Rays) of units already set in the horizontal, vertical, and diagonal directions are emitted, the three-dimensional positions where the light rays (Rays) reach the surface of the virtual pneumoperitoneum model are stored, and the distances of the stored three-dimensional positions are totaled to determine the insertion position of the at least one trocar.

[0017] Furthermore, in the at least one trocar insertion position determination step, when the position of the second point is changed, the insertion position of the at least one trocar can be changed based on the position of the changed second point.

[0018] In addition, in 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 for solving the above-described problems, an acquisition unit that acquires the virtual pneumoperitoneum model used for surgical simulation, a display unit that displays a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model, the virtual pneumoperitoneum model is displayed on the UI, and the insertion position of a reference trocar into which a camera (endcope) is inserted is determined through the UI as a position separated by a distance already set from the umbilicus of the virtual pneumoperitoneum model, and at least one trocar insertion position is determined on the surface of the virtual pneumoperitoneum model with reference to the determined insertion position of the reference trocar through the UI, distance information between the insertion position of the reference trocar and the determined at least one trocar insertion position is calculated and stored on the surface of the virtual pneumoperitoneum model, and when actually operating on the patient, a processor that provides the stored distance information in real time on the UI is included, and the distance information may include horizontal and vertical distances between the insertion position of the reference trocar and the insertion position of the at least one trocar, and diagonal distances with respect to the horizontal and vertical distances.

[0019] In addition, other methods for implementing the present invention, other apparatuses, other systems, and a computer-readable recording medium recording a computer program for executing the method may be further provided.

[0020] Other specific matters of the present invention are included in the detailed description and the drawings.

Advantages of the Invention

[0021] According to the present invention as described above, the present invention has the effect of accurately predicting the state inside the body, the position of surgical instruments, the distance to organs, the angle, etc. through the same camera (Endscope) as in the actual surgery of the patient by determining the placement position of the trocar on the pneumoperitoneum model of the patient used for the same surgical simulation as during the actual surgery.

[0022] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

Brief Description of Drawings

[0023]

Figure 1

Figure 2

Figure 3a

Figure 3b

Figure 4

Figure 5a

Figure 5b

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0024] The advantages, features, and the methods for achieving them of the present invention will become clear by referring to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be realized in various different forms. However, this embodiment is provided to make the disclosure of the present invention complete and to enable those of ordinary skill in the art to which the present invention pertains to fully understand the scope of the present invention, and the present invention is only defined by the scope of the claims.

[0025] The terms used in this specification are for the purpose of explaining the embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless otherwise specifically stated. The "comprises" and / or "comprising" used in the specification do not exclude the presence or addition of one or more other components in addition to the recited components. Throughout the specification, the same reference numerals indicate the same components, and "and / or" includes each of the recited components and all combinations of one or more of them. For example, even though "first", "second", etc. are used to describe various components, these components are of course not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it goes without saying that the first component referred to below can also be the second component within the technical concept of the present invention.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used in this specification are used as meanings commonly understood by those of ordinary skill in the art to which the present invention pertains. Also, terms defined in commonly used dictionaries are not ideally or excessively interpreted unless specifically defined otherwise.

[0027] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0028] FIG. 1 is a diagram for explaining 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.

[0029] FIG. 2 is an exemplary diagram showing a UI for setting the insertion position of a trocar on a virtual pneumoperitoneum model used for surgical simulation according to the present invention.

[0030] FIGS. 3A and 3B are exemplary diagrams for explaining determining the insertion position of a reference trocar according to the present invention.

[0031] FIG. 4 is an exemplary diagram for explaining determining the insertion position of at least one trocar according to the present invention.

[0032] FIGS. 5A and 5B are exemplary diagrams for explaining determining the insertion positions of a first trocar and a second trocar according to the present invention.

[0033] FIG. 6 is an exemplary diagram for explaining determining the insertion positions of a reference trocar and first to fourth trocars according to the present invention.

[0034] Hereinafter, with reference to FIGS. 1 to 6, 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 will be described.

[0035] Specifically, when performing minimally invasive surgery (for example, laparoscopic surgery or robotic surgery), while a part of the inside of the body is confirmed by a camera that has entered the inside of the body through a trocar penetrating the body, surgery can be performed with a surgical instrument that has entered through one or more trocars inserted at other positions.

[0036] At this time, in order to secure a space for the surgical instrument to move inside the body, during minimally invasive surgery, a gas (for example, carbon dioxide) already set inside the body (for example, the space between the abdominal walls when performing abdominal surgery) can be injected.

[0037] Medical staff desire to simulate the surgery in advance before the actual surgery to ensure countermeasures against various variables that may occur during the actual surgery. As a countermeasure for this, virtual surgery simulations can be provided within the same virtual surgery environment as the actual surgery.

[0038] Minimally invasive surgery involves performing the surgery while only confirming with a camera (i.e., endoscope) inserted into the body. So, if medical staff practice with images displayed in completely different positions or directions during virtual simulation and then perform the actual surgery, the images provided during the actual surgery will be completely different from those during practice, and thus no practice effect can be obtained.

[0039] In particular, even if a virtual body model with pneumoperitoneum identical to the patient's body state during body surgery is modeled, if the camera enters at different positions or directions and the surgical instruments enter at different positions or directions, practice will be carried out with instruments placed at different positions while seeing completely different images, and thus no practice effect can be obtained.

[0040] Therefore, it is necessary for the device 10 to set the position of the trocar so that the camera and the surgical instruments enter the virtual pneumoperitoneum model in the same way as during the actual surgery.

[0041] By determining the placement position of the trocar in the pneumoperitoneum model of the patient used for the same surgery simulation as during the actual surgery, such a device 10 can accurately predict the state inside the body, the position of the surgical instruments, the distance to the organs, the angle, etc. through the same camera (Endscope) as in the actual surgery of the patient.

[0042] Here, the device 10 can include all various devices that can perform arithmetic processing and provide results to the user.

[0043] That is, the device 10 can be in the form of a computer. More specifically, the computer can include all various devices that can perform arithmetic processing and provide results to the user.

[0044] For example, the computer may be not only a desktop PC or a notebook PC, but also a smart phone, a tablet PC, a cellular phone, a PCS phone (Personal Communication Service phone), a synchronous / asynchronous IMT-2000 (International Mobile Telecommunication-2000) mobile terminal, a palm PC (Palm Personal Computer), a PDA (Personal Digital Assistant), etc. Also, when a head mounted display (HMD) device includes a computing function, the HMD device can be a computer.

[0045] Also, the computer can be a server that receives requests from clients and performs information processing.

[0046] And the device 10 can include an acquisition unit 110, a memory 120, a display unit 130, and a processor 140. Here, the device 10 can include fewer or more components than the components shown in FIG. 1.

[0047] The acquisition unit 110 can include one or more modules that enable 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).

[0048] Here, the acquisition unit 110 can include one or more modules that connect the device 10 to one or more networks.

[0049] Such an acquisition unit 110 can acquire the virtual pneumoperitoneum model used in the surgical simulation from the external server (not shown) or the memory 120.

[0050] Here, the external device (not shown) can be a medical imaging device that captures medical imaging data (hereinafter, abdominal 3D imaging data). Here, the medical imaging data can include all medical images that can realize the patient's body as a three-dimensional model.

[0051] In addition, the medical imaging data can include at least one of computed tomography (CT) images, magnetic resonance imaging (MRI), and positron emission tomography (PET) images.

[0052] Furthermore, the external server (not shown) can be a server that stores patient-specific virtual pneumoperitoneum models, patient-specific medical data, etc. for a plurality of patients. Here, the patient-specific medical data can include data for at least one of the patient's age, gender, height, weight, body mass index, and presence or absence of childbirth.

[0053] Furthermore, the communication network (not shown) can transmit and receive various information among the device 10, the external device (not shown), and the external server (not shown). The communication network can use various forms of communication networks. For example, wireless communication methods such as WLAN (Wireless LAN), Wi-Fi (registered trademark), Wibro, WiMAX (registered trademark), HSDPA (High Speed Downlink Packet Access), or wired communication methods such as Ethernet (registered trademark), xDSL (ADSL, VDSL), HFC (Hybrid Fiber Coax), FTTC (Fiber to The Curb), FTTH (Fiber To The Home) can be used.

[0054] On the other hand, the communication network is not limited to the communication methods presented above, and can include all forms of communication methods that are widely known or will be developed in the future in addition to the communication methods described above.

[0055] The memory 120 can store data that supports various functions of the device 10. The memory 120 can store a number of application programs (application program or application) driven by the device 10, data for the operation of the device 10, and instruction words. At least some of such application programs may exist for the basic functions of the device 10. On the other hand, the application program can be stored in the memory 120, installed on the device 10, and driven by the processor 140 to perform the operation (or function) of the device 10.

[0056] Also, the memory 120 can include a plurality of processes for determining the insertion position of the trocar on the three-dimensional virtual pneumoperitoneum model of the patient according to the present invention. Here, the plurality of processes will be described later when explaining the operations for the processor 140.

[0057] Such a memory 120 can store a plurality of virtual pneumoperitoneum models for different patients. Here, the virtual pneumoperitoneum model can be generated and stored through the processor 140, or acquired from an external server (not shown) and stored.

[0058] The display unit 130 can implement a touch screen by forming a layer structure with the touch sensor or being integrally formed. Such a touch screen can provide an input interface between the device 10 and the user.

[0059] Such a display unit 130 can display a user interface for setting the insertion position of the trocar on the virtual pneumoperitoneum model.

[0060] In addition to the operations related to the application program, the processor 140 can generally control the overall operation of the device 10. The processor 140 can process signals, data, information, etc. input or output through the above-described components, or provide or process appropriate information or functions to the user by driving the application program stored in the memory 120.

[0061] Also, the processor 140 can control at least a part of the components shown in FIG. 1 to drive the application program stored in the memory 120. Further, the processor 140 can operate at least two or more of the components included in the device 10 in combination with each other for driving the application program.

[0062] The processor 140 can display a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model used in the surgical simulation.

[0063] Here, the processor 140 can display, through the display unit 130, a UI for setting the insertion position of the trocar on the virtual pneumoperitoneum model based on a first process among a plurality of processes.

[0064] And the processor 140 can display the virtual pneumoperitoneum model on the UI. Here, the processor 140 can display the virtual pneumoperitoneum model on the UI based on a second process among a plurality of processes.

[0065] Referring to FIG. 2, such a UI can include a main screen area 201 and a preview screen area 202.

[0066] Specifically, the main screen area 201 can be an area where the virtual pneumoperitoneum model is displayed in a planar view. That is, the main screen area 201 can be a screen that views the surface of the pneumoperitoneum model from above.

[0067] Here, at least one trocar can adjust the insertion position on the surface of the virtual pneumoperitoneum model on the main screen area 201 through the UI.

[0068] In addition, the main screen area 201 can display the stored distance information between the insertion position of the reference trocar and the insertion position of at least one trocar whose insertion position has been determined, and the information of the instrument inserted through the at least one trocar.

[0069] Here, the distance information can include the horizontal and vertical distances (10 cm, 4 cm) between the insertion position of the reference trocar and the insertion position of the at least one trocar, and the diagonal distance (11 cm) with respect to the horizontal and vertical distances.

[0070] The preview screen area 202 can be an area where the internal video of the virtual pneumoperitoneum model taken through the camera inserted through the reference trocar is displayed.

[0071] In addition, the preview screen area 202 can display in real time the state of the instrument inserted into the at least one trocar entering the inside of the virtual pneumoperitoneum model, taken through the camera.

[0072] Furthermore, the preview screen area 202 can display the port numbers of the reference trocar and the at least one trocar.

[0073] Here, the port number can be displayed to provide the same interface as the robotic surgery console. That is, in robotic surgery, the trocars connected to the robotic arm can be numbered and displayed as port numbers. At this time, the port numbers can be numbered starting from 1 from the far left in the field of view seen by the surgeon.

[0074] And when the corresponding instrument enters the virtual pneumoperitoneum model at the positions of the reference trocar and the at least one trocar, the preview screen area 202 can display whether or not there is a collision with the internal organs.

[0075] Here, the processor 140 can simultaneously output the main screen area 201 that views the surface of the pneumoperitoneum model from above on the UI and the preview screen area 202 that can be viewed through the inserted camera (endoscope).

[0076] Thereby, the processor 140 can be provided to set an appropriate position while synchronizing and outputting the position on the abdominal surface of the trocar in the main screen area 201 and the position in the preview screen area 202 that can be viewed through the inserted camera (endoscope).

[0077] Also, when an instrument is inserted at the insertion position of the trocar, the processor 140 can display information regarding whether a collision occurs by blinking. Here, the information regarding whether a collision occurs can be whether the surgical instrument has reached the organ at the insertion position of the trocar.

[0078] Thereby, when the trocar is inserted at the insertion position of the trocar and an instrument (surgical instrument) is inserted, the processor 140 can confirm whether it can reach the organ and provide it to the user.

[0079] The processor 140 can determine, through the UI, the insertion position of the reference trocar where the camera (endoscope) is inserted at a position that is already set and at a distance away from the umbilicus of the virtual pneumoperitoneum model.

[0080] Here, the processor 140 can determine, through the UI, the insertion position of the reference trocar where the camera (endoscope) is inserted based on the third process among a plurality of processes.

[0081] Referring to FIGS. 3a and 3b, the processor 140 can determine the insertion position of the reference trocar 301 through which the camera is inserted through the UI to be near 1 cm below the umbilicus.

[0082] Then, the processor 140 can insert the camera through the reference trocar 301 while visually confirming the position and distance of the umbilicus and the umbilicus.

[0083] Here, referring to FIG. 3a, the surface distance between the position of the umbilicus and the umbilicus is 18.5 cm. Referring to FIG. 3b, after the camera is inserted into the reference trocar 301, the surface distance between the inserted camera and the insertion position below the umbilicus where the camera is inserted is 10 cm, and the surface distance between the camera and the umbilicus is 18.5 cm. It is considered that the surface distance between the umbilicus and the insertion position below the umbilicus where the camera is inserted is 26 cm.

[0084] The processor 140 can determine the insertion position of at least one trocar on the surface of the virtual pneumoperitoneum model based on the determined insertion position of the reference trocar through the UI.

[0085] Here, the processor 140 can determine the insertion position of the at least one trocar through the UI based on the fourth process among a plurality of processes.

[0086] Referring to FIG. 4, specifically, the processor 140 can select a second point 402 corresponding to the insertion position of the at least one trocar from a first point 401 corresponding to the insertion position of the reference trocar.

[0087] Next, the processor 140 can calculate the difference values in the horizontal, vertical, and diagonal directions from the first point 401 to the second point 402. Here, the difference values 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.

[0088] Next, the processor 140 can emit rays of the already set units in the horizontal (X direction), vertical (Y direction), and diagonal directions.

[0089] Here, the processor 140 can generate a list of collision points of the rays in the horizontal (X direction), vertical (Y direction), and diagonal directions respectively.

[0090] Next, the processor 140 can store the three-dimensional positions where the rays reach the surface of the virtual pneumoperitoneum model. Specifically, the processor 140 can determine and store the three-dimensional positions where the rays reach based on the list of collision points.

[0091] Next, the processor 140 can sum up the distances of the stored three-dimensional positions to determine the insertion positions of the at least one trocar.

[0092] Here, when the position of the second point is changed, the processor 140 can also change the insertion positions of the at least one trocar based on the changed position of the second point.

[0093] As an example, referring to FIG. 5a, the processor 140 calculates the difference values in the horizontal, vertical, and diagonal directions from the first point 501 corresponding to the insertion position of the reference trocar to the second point 502 corresponding to the insertion position of the first trocar located on the left side, and can emit rays of the already set units in each direction.

[0094] Here, the difference values in the horizontal, vertical, and diagonal directions (horizontal (16.0 cm), vertical (8.1 cm), and diagonal (17.4 cm)) can be displayed in real time on the UI.

[0095] The difference values in the horizontal, vertical, and diagonal directions displayed in real time on the UI can have the same effect as when a doctor presses on the patient's abdomen to confirm the position during an actual operation.

[0096] Then, the processor 140 can store the three-dimensional position where the light beam reaches the surface of the virtual pneumoperitoneum model, and determine the insertion position of the first trocar by summing up the distances of the stored three-dimensional positions.

[0097] As another example, referring to FIG. 5b, the processor 140 can calculate the difference values in the horizontal, vertical, and diagonal directions (horizontal (14.4 cm), vertical (8.7 cm), and diagonal (16.3 cm)) from the first point 501 corresponding to the insertion position of the reference trocar to the third point 503 corresponding to the insertion position of the second trocar located on the right side, and emit light beams of units already set in each direction.

[0098] Here, the difference values in the horizontal, vertical, and diagonal directions can be displayed in real time on the UI.

[0099] Then, the processor 140 can store the three-dimensional position where the light beam reaches the surface of the virtual pneumoperitoneum model, and determine the insertion position of the second trocar by summing up the distances of the stored three-dimensional positions.

[0100] As yet another example, referring to FIG. 6, the processor 140 can determine the insertion positions of the first trocar and the second trocar on the left side and the third trocar and the fourth trocar on the right side with respect to the reference trocar.

[0101] Here, the first trocar, the second trocar, and the fourth trocar can be robotic trocars, and the third trocar can be a laparoscopic trocar. Such robotic trocars are trocars for robotic surgery, and the laparoscopic trocar can be a trocar for laparoscopic surgery.

[0102] Specifically, the processor 140 can calculate the difference values in the horizontal, vertical, and diagonal directions from the first point 601 corresponding to the insertion position of the reference trocar among the first trocar to the fourth trocar to the second point 602 corresponding to the insertion position of the first trocar located on the left side, and emit light beams of units already set in each direction.

[0103] Then, the processor 140 can store the three-dimensional position where the light beam reaches the surface of the virtual pneumoperitoneum model, and sum up the distances of the stored three-dimensional positions to determine the insertion position of the first trocar. Here, the first trocar can be a robotic trocar.

[0104] The processor 140 can calculate and store the distance information between the insertion position of the reference trocar and the insertion position of the at least one determined trocar on the surface of the virtual pneumoperitoneum model.

[0105] Here, the processor 140 can calculate and store the distance information between the reference trocar and the at least one trocar based on the fifth process among a plurality of processes.

[0106] Such distance information can include the horizontal and vertical distances between the insertion position of the reference trocar and the insertion position of the at least one trocar, and the diagonal distance with respect to the horizontal and vertical distances.

[0107] When actually performing the operation on the patient, the processor 140 can provide the stored distance information on the UI in real time.

[0108] Here, the processor 140 can provide the stored distance information on the UI in real time based on the sixth process among a plurality of processes.

[0109] Therefore, during the actual operation, instead of taking the position of the trocar while pressing the patient's abdomen, the expert can insert the trocar at the corresponding position in the actual operation based on the preset insertion position on the UI.

[0110] FIG. 7 is a flowchart showing the process of determining the insertion position of a trocar on the three-dimensional virtual pneumoperitoneum model of a patient according to the present invention. Here, the operation of the processor 140 can be performed by the apparatus 10.

[0111] The processor 140 can display a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model (S701).

[0112] The processor 140 can display the virtual pneumoperitoneum model on the UI (S702).

[0113] More specifically, the processor 140 can display a UI for setting the insertion position of the trocar on the virtual pneumoperitoneum model used for patient-specific surgical simulation.

[0114] Here, the UI can include a main screen area where the virtual pneumoperitoneum model is displayed in a planar view and a preview screen area where an internal video of the virtual pneumoperitoneum model taken through the camera inserted through the reference trocar is displayed.

[0115] Specifically, the preview screen area can display in real time, through the camera, the state of the instrument inserted into at least one of the trocars entering the inside of the virtual pneumoperitoneum model.

[0116] Also, the preview screen area can display the port numbers of the reference trocar and the at least one trocar, and can display whether or not the corresponding instrument collides with the internal organs when entering the inside of the virtual pneumoperitoneum model at the positions of the reference trocar and the at least one trocar.

[0117] Also, the main screen area can display the stored distance information and the information of the instrument inserted through the at least one trocar.

[0118] Here, the distance information can include the horizontal and vertical distances between the insertion position of the reference trocar and the insertion position of the at least one trocar, and the diagonal distance with respect to the horizontal and vertical distances.

[0119] Further, the at least one trocar can be adjusted in the insertion position on the main screen area through the UI.

[0120] The processor 140 can determine the insertion position of the reference trocar through which the camera (endoscope) is inserted through the UI (S703).

[0121] More specifically, the processor 140 can determine, through the UI, a position separated from the umbilicus of the virtual pneumoperitoneum model by a preset distance as the insertion position of the reference trocar through which the camera is inserted.

[0122] The processor 140 can determine the insertion position of at least one trocar through the UI (S704).

[0123] More specifically, the processor 140 can determine the insertion position of at least one trocar on the surface of the virtual pneumoperitoneum model with reference to the determined insertion position of the reference trocar through the UI.

[0124] Specifically, the processor 140 can calculate the difference values in the horizontal, vertical, and diagonal directions from the first point corresponding to the insertion position of the reference trocar to the second point corresponding to the insertion position of the at least one trocar.

[0125] Then, the processor 140 can emit rays of a preset unit in the horizontal, vertical, and diagonal directions and store the three-dimensional positions where the rays reach the surface of the virtual pneumoperitoneum model.

[0126] Thereby, the processor 140 can sum up the distances of the stored three-dimensional positions to determine the insertion position of the at least one trocar.

[0127] Here, when the position of the second point is changed, the processor 140 can also change the insertion position of the at least one trocar based on the changed position of the second point.

[0128] The processor 140 can calculate and store distance information between the insertion position of the reference trocar and the insertion position of the determined at least one trocar (S705).

[0129] More specifically, the processor 140 can calculate and store distance information between the insertion position of the reference trocar and the insertion position of the determined at least one trocar on the surface of the virtual pneumoperitoneum model.

[0130] When actually operating on the patient, the processor 140 can provide the stored distance information on the UI in real time (S706).

[0131] Although FIG. 7 describes that steps S701 to S706 are sequentially executed, this is only an exemplary explanation of the technical idea of this embodiment. For those with ordinary knowledge in the technical field to which this embodiment belongs, the order described in FIG. 7 can be changed and executed without departing from the essential characteristics of this embodiment, or any one or more of steps S701 to S706 can be executed in parallel. Therefore, FIG. 7 is not limited to a chronological order.

[0132] The method according to an embodiment of the present invention described above can be realized as a program (or application) and stored in a medium for execution in combination with a computer which is hardware. Here, the computer can be the device 10 described above.

[0133] The above-described program can include code (Code) encoded in a computer language such as C, C++, JAVA (registered trademark), or machine language that is read by the processor (CPU) of the computer via the device interface of the computer in order for the computer to load the program and execute the above-described method realized as the program. Such code can include functional code related to functions that define the functions necessary to execute the above-described method, and can include control code related to the execution procedure necessary for the processor of the computer to execute the functions in accordance with a predetermined procedure. Further, such code can further include code related to memory reference regarding at which position (address) in the internal or external memory of the computer the additional information and media necessary for the processor of the computer to execute the functions should be referenced. Further, when communication with any other remote computer, server, or the like is necessary for the processor of the computer to execute the functions, the code can further include code related to communication regarding how to communicate with any other remote computer, server, or the like using the communication module of the computer and what information and media should be transmitted and received during communication.

[0134] The steps of the method or algorithm described in connection with the embodiments of the present invention can be realized directly in hardware, realized as a software module executed by the hardware, or realized by a combination thereof. The software module can always be present in a 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 well-known in the technical field to which the present invention pertains.

[0135] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, those of ordinary skill in the art to which the present invention pertains can understand that the present invention can be implemented in other specific forms without changing its technical idea and essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive.

Claims

1. In a method for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient, performed by a device, displaying a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model used for surgical simulation; displaying the virtual pneumoperitoneum model on the UI; determining, through the UI, the insertion position of a reference trocar where a camera (endoscope) is inserted at a position separated from the umbilicus of the virtual pneumoperitoneum model by a distance already set; determining, through the UI, at least one insertion position of the trocar on the surface of the virtual pneumoperitoneum model with reference to the determined insertion position of the reference trocar; calculating and storing distance information between the insertion position of the reference trocar and the determined insertion position of at least one trocar on the surface of the virtual pneumoperitoneum model; providing the stored distance information on the UI in real time when actually operating on the patient; comprising the distance information includes the horizontal and vertical distances between the insertion position of the reference trocar and the insertion position of at least one trocar, and the diagonal distance with respect to the horizontal and vertical distances; the UI includes a main screen area where the virtual pneumoperitoneum model is displayed in a plane view and a preview screen area where an internal image of the virtual pneumoperitoneum model taken through the camera inserted through the reference trocar is displayed; the at least one trocar can be adjusted in its insertion position on the main screen area through the UI; the preview screen area captures and displays in real time, through the camera, the state of an instrument inserted into the at least one trocar entering the inside of the virtual pneumoperitoneum model; the main screen area displays the stored distance information and information on the instrument inserted through the at least one trocar; the preview screen area displays the port numbers of the reference trocar and the at least one trocar, and displays whether or not there is a collision with internal organs when the corresponding instrument enters the inside of the virtual pneumoperitoneum model at the positions of the reference trocar and the at least one trocar; Synchronously output the position of the trocar on the abdominal surface in the main screen area and the position in the preview screen area displayed through the inserted camera. Blink and display information regarding whether a collision occurs when an instrument is inserted at the insertion position of the trocar. Method.

2. A computer program stored in a computer-readable recording medium for causing a computer, which is hardware, to execute the method for determining the placement position of the trocar according to Claim 1.

3. In an apparatus for determining the insertion position of a trocar on a three-dimensional virtual pneumoperitoneum model of a patient, An acquisition unit that acquires the virtual pneumoperitoneum model used for surgical simulation, A display unit that displays a UI (User Interface) for setting the insertion position of the trocar on the virtual pneumoperitoneum model, Display the virtual pneumoperitoneum model on the UI, Determine, through the UI, the insertion position of a reference trocar where a camera (endoscope) is inserted at a position separated from the umbilicus of the virtual pneumoperitoneum model by a distance that has already been set, Determine, through the UI, the insertion positions of at least one trocar on the surface of the virtual pneumoperitoneum model with reference to the determined insertion position of the reference trocar, Calculate and store distance information between the insertion position of the reference trocar and the insertion positions of the at least one determined trocar on the surface of the virtual pneumoperitoneum model, Including a processor that provides the stored distance information in real time on the UI when actually operating on the patient, The distance information includes the horizontal and vertical distances between the insertion position of the reference trocar and the insertion positions of the at least one trocar, as well as the diagonal distance with respect to the horizontal and vertical distances, The UI is Including a main screen area where the virtual pneumoperitoneum model is displayed in a planar view and a preview screen area that displays an internal image of the virtual pneumoperitoneum model captured through the camera inserted through the reference trocar, The insertion position of the at least one trocar can be adjusted on the main screen area through the UI, The preview screen area captures and displays in real time, through the camera, the state of an instrument inserted into the at least one trocar entering the inside of the virtual pneumoperitoneum model. The main screen area displays the stored distance information and information on the instrument inserted through the at least one trocar. The preview screen area displays the port numbers of the reference trocar and the at least one trocar, and displays whether the corresponding instrument collides with the internal organs when entering the inside of the virtual pneumoperitoneum model at the positions of the reference trocar and the at least one trocar. Synchronously output the position of the trocar on the abdominal surface in the main screen area and the position in the preview screen area displayed through the inserted camera. Blink and display information regarding whether a collision occurs when an instrument is inserted at the insertion position of the trocar. Device.

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