Surgical guidance system with ar-based surgical incision leveler

Abstract

The present invention relates to a surgical guidance system equipped with an AR-based surgical level. The system may include: a medical image acquisition device for acquiring a three-dimensional image of a patient; an image reconstruction unit that extracts an image of a lesion from the three-dimensional image of the patient and generates a reconstruction image in which the incision or cutting range and depth of the lesion are indicated in the image of the lesion; a plurality of correction markers fixed to the patient and attached at a plurality of positions spaced apart from the patient's lesion; and a surgical level implemented as an AR device that displays the reconstruction image by reflecting the position change during surgery calculated through the correction markers.

Description

Technology Field

[0001] The present invention relates to a surgical guidance system equipped with an AR-based surgical leveler for performing surgery by projecting an accurate line onto the incision or cutting site of a patient's affected area in the operating room based on medical images of the affected area prior to surgery. Background Technology

[0002] When a surgical plan is established using imaging devices, it is difficult to execute the surgery exactly according to that plan in the actual operating room. For example, in the case of an osteotomy, if the plan is to perform the osteotomy less than 5 cm below the knee joint, it is necessary to make an incision in the skin, measure 5 cm from the exposed knee using a ruler, and proceed with the surgery accordingly. However, depending on the position and angle of the ruler, significant discrepancies may arise from the actual procedure.

[0003] In particular, the method of marking surgical perforation points using writing tools and relying on manual work in medical manuals requires medical staff to rely on 2D images from a C-armed fluoroscopy device, especially when perforation is required. Consequently, it fails to provide any important information regarding whether surgical instruments should enter the actual surgical site inside the patient's skin perpendicularly or at an angle. This results in the medical staff having to proceed with surgery relying on their surgical experience or intuition.

[0004] Furthermore, since surgical outcomes in the operating room inevitably depend heavily on the surgical experience of the medical staff performing the operation and their ability to medically interpret imaging information of the affected area, there is a problem in that inexperienced medical staff require a considerable period of continuous preparatory training to perform the surgery accurately, which consequently leads to an inevitable increase in human and material costs for training.

[0005] In modern medicine, it has become standard practice to establish a surgical plan by collecting various medical imaging data of the relevant area prior to operation. While marking incision or cutting lines using a conventional surgical pen is possible on the skin or superficial layers, it is a procedure that cannot be applied to internal organs or bone.

[0006] In particular, performing surgery on areas such as bone requires precise incisions or cuttings. For instance, if the lengths of the cut bones differ during artificial joint surgery, it can lead to severe postoperative complications; therefore, precise surgical techniques such as incisions and cuttings are necessary to prevent this.

[0007] Accordingly, there is a need for technology to plan surgery based on the patient's 3D images and to perform precise surgery by projecting accurate lines onto the incision or cutting site of the patient's affected area in the operating room. Prior art literature

[65535] Korean Published Patent Application No. 10-2021-0104715 (August 25, 2021) The problem to be solved

[0008] The objective of the present invention is to enable the incision line or cutting line of a surgical site to be projected onto an object through a surgical level implemented as an AR device, so as to align it with the affected area and display it on a display. means of solving the problem

[0009] The present invention relates to a surgical guidance system equipped with an AR-based surgical level. The system may include: a medical image acquisition device for acquiring a three-dimensional image of a patient; an image reconstruction unit that extracts an image of a lesion from the three-dimensional image of the patient and generates a reconstruction image in which the incision or cutting range and depth of the lesion are indicated in the image of the lesion; a plurality of correction markers fixed to the patient and attached at a plurality of positions spaced apart from the patient's lesion; and a surgical level implemented as an AR device that displays the reconstruction image by reflecting the position change during surgery calculated through the correction markers.

[0010] According to an embodiment of the present invention, the surgical leveler may include: a camera for recognizing the correction marker; a correction unit that performs three-dimensional mapping based on the position of the correction marker to calculate the shape and position of the patient's body and the relative spatial position of the affected area; a mapping unit that maps the reconstructed image generated by the image reconstruction unit to the affected area to generate a virtual 3D model; and a display unit that displays the virtual 3D model to a user.

[0011] According to an embodiment of the present invention, the correction marker is formed as a QR code, and the QR code may store patient recognition information including pre-stored patient information, the attachment location of the correction marker, and the reconstruction image number to be matched.

[0012] According to an embodiment of the present invention, the correction marker further includes a surgical tool recognition marker attached to a surgical tool, and the correction unit of the surgical level performs three-dimensional mapping based on the position of the surgical tool recognition marker to calculate the shape and position of the surgical tool and the relative spatial position of the surgical tool, and the mapping unit of the surgical level can map the shape and position of the surgical tool within the virtual 3D model.

[0013] According to an embodiment of the present invention, the QR code of the surgical tool recognition marker may store surgical tool recognition information including the type of surgical tool, a surgical tool location information guide, a surgical tool shape, and a surgical tool change guide information.

[0014] According to an embodiment of the present invention, the correction marker is formed as a tattoo sticker so that it is easy to attach and detach from the patient, and the patient recognition information generated after acquiring a three-dimensional image of the patient in the medical image acquisition device can be input into the correction marker. Effects of the invention

[0015] According to the present invention, an incision line or cutting line of the surgical site can be displayed on an AR device worn by a doctor in the operating room by reflecting a surgical plan established based on patient image data acquired prior to surgery.

[0016] In addition, regarding the patient's internal organs, by using an AR device to mark the incision or cutting site and indicating the accurate cutting plane or line, possible side effects after surgery can be prevented as much as possible.

[0017] In addition, correction markers in the form of tattoo stickers and surgical tool recognition markers can be easily attached to the body and easily recognized by AR devices. Brief explanation of the drawing

[0018] FIG. 1 is a block diagram illustrating the configuration of a surgical guidance system equipped with an AR-based surgical leveler according to the present invention. FIG. 2 is a drawing illustrating the application of a surgical guidance system equipped with an AR-based surgical level according to the present invention to the knee portion of a patient. Figure 3 is a drawing showing the application of a correction marker to the knee area of ​​Figure 1. Figures 4 (a) and 4 (b) illustrate a QR mark in the form of a tattoo sticker attached to a patient's body as a correction marker. Figure 5 is a drawing illustrating a QR mark in the form of a tattoo sticker attached to a surgical instrument as a surgical instrument recognition marker. FIG. 6 is a drawing illustrating the automatic display of a cutting plane by recognizing a correction mark with an AR-based surgical level according to the present invention. Specific details for implementing the invention

[0019] Hereinafter, specific details for implementing the present invention will be described with reference to the attached drawings. Furthermore, in describing the present invention, detailed descriptions of related known functions are omitted if they are deemed obvious to a person skilled in the art and could unnecessarily obscure the essence of the invention.

[0021] FIG. 1 is a block diagram illustrating the configuration of a surgical guidance system equipped with an AR-based surgical level according to the present invention. FIG. 2 is a diagram illustrating the application of a surgical guidance system equipped with an AR-based surgical level according to the present invention to the knee portion of a patient. FIG. 3 is a diagram illustrating the application of a correction marker to the knee portion of FIG. 1.

[0022] Referring to FIGS. 1 to 3, a surgical guidance system equipped with an AR-based surgical level according to the present invention includes a medical image acquisition device (10), an image reconstruction unit (20), a correction marker (30), and a surgical level (40).

[0023] The medical image acquisition device (10) is a medical imaging device, such as a CT or MRI, for acquiring a three-dimensional image of a patient. An image of the patient's affected area is acquired through three-dimensional reconstruction based on the image obtained from the medical image acquisition device (10). That is, a three-dimensional model is reconstructed based on the two-dimensional cross-sectional shape obtained from the medical image acquisition device (10). The two-dimensional cross-sectional shape is connected in three dimensions and layers are formed to visualize the anatomical structure of the patient.

[0024] By confirming the detailed structure of the affected area through the above 3D model, medical staff can generate additional information for establishing a surgical plan. This information includes the selection of surgical tools, determination of the incision plane, and incision and cutting margins.

[0025] The image reconstruction unit (20) first extracts an image of the affected area from the three-dimensional image of the patient. Then, it generates a reconstruction image in which the range and depth of the incision or cutting of the affected area are indicated in the image of the affected area. For example, as in the knee surgery example shown in FIG. 2, the surgical saw blade can be guided to move along the blue guideline (l) in the reconstruction image. This image provides visual guidance to the medical staff during surgery and can visually represent the movement path or target location of the surgical tool.

[0026] Figures 4 (a) and 4 (b) illustrate a QR mark in the form of a tattoo sticker attached to a patient's body as a correction marker.

[0027] Referring to FIGS. 4(a) and 4(b), the correction marker (30) is fixed to the patient's body and attached to multiple locations spaced apart from the patient's affected area. The correction marker (30) may be formed as a QR code. The QR code may store patient identification information including pre-stored patient information, the attachment location of the correction marker, and a reconstructed image number to be matched. The patient information refers to the patient's identity, medical records, specific details, etc. The attachment location information refers to a specific location where the correction marker (30) is attached. The reconstructed image number refers to information about a 3D model related to the correction marker (30).

[0028] Figure 5 is a drawing illustrating a QR mark in the form of a tattoo sticker attached to a surgical instrument as a surgical instrument recognition marker.

[0029] Referring to FIG. 5, the correction marker (30) includes a surgical tool recognition marker (31) attached to the surgical tool (g) in addition to the patient's body. This marker may also be formed as a QR code. The QR code of the surgical tool recognition marker (31) may store surgical tool recognition information including the type of surgical tool, a surgical tool location information guide, a surgical tool shape, and a surgical tool change guide information. The surgical tool change guide information refers to recommending a suitable surgical tool according to the progress of the surgery.

[0030] For example, during surgery, a correction marker (30) is attached to the patient's skin, etc., while the patient is under anesthesia in the operating room. The correction marker (30) is intended to accurately track the relative position during three-dimensional mapping of the image, and is positioned as far as possible from the affected area (e.g., nipple, pelvis, ear, ankle bone, etc.) so as to respond to position adjustments or changes during surgery.

[0031] The correction marker (30) is formed as a tattoo sticker, making it easy to attach and detach from the patient. The correction marker (30) is designed in the form of a tattoo sticker, providing comfort while attached to the skin, and can be easily removed as needed. After acquiring a three-dimensional image of the patient from the medical image acquisition device (10), the corresponding patient identification information is entered into the QR code of the correction marker (30). Through this, medical staff can effectively utilize not only information related to the patient's identity but also additional information necessary for correction and guidance during surgery.

[0032] FIG. 6 is a drawing illustrating the automatic display of a cutting plane by recognizing a correction mark with an AR-based surgical level according to the present invention.

[0033] Including FIG. 6, the surgical level (40) is implemented as an AR device and displays the reconstructed image by reflecting the position change during surgery calculated through the correction marker (30). That is, the surgical level (40) projects virtual information onto the real environment so that medical staff can visually confirm the accurate surgical position and direction during surgery.

[0034] The surgical level (40) recognizes the correction marker (30) and performs position / space correction, after which the surgery is performed. At this time, the surgical level (40) can display the incision line, incision surface, cutting surface, etc., during the surgery. In addition, to facilitate the surgery, notes such as surgical tools required for the surgery can be displayed on the surgical level (40) in advance.

[0035] The surgical leveler (40) may include a camera (41), a correction unit (42), a mapping unit (43), and a display unit (44). The camera (41) can photograph and recognize a correction marker (30) attached to the patient's body. The camera (41) may be, for example, an RGB camera. Through this, changes in the patient's position and posture can be detected in real time.

[0036] The correction unit (42) performs three-dimensional mapping based on the position of the correction marker (30). This is used to accurately calculate the shape and position of the patient's body and the relative spatial position of the affected area. Additionally, the correction unit (42) can perform three-dimensional mapping based on the position of the surgical tool recognition marker (31) to calculate the shape and position of the surgical tool and the relative spatial position of the surgical tool.

[0037] The mapping unit (43) creates a virtual 3D model by mapping the reconstructed image generated by the image reconstruction unit (20) to the affected area. This is used to virtually visualize the patient's actual anatomical structure. The display unit (44) displays the generated virtual 3D model to the user, allowing medical staff to check the actual patient's internal structure in real time. Additionally, the mapping unit (43) can map the shape and position of surgical tools within the virtual 3D model.

[0039] The scope of protection in this field is not limited to the description and expression of the embodiments explicitly described above. Furthermore, it is added once again that the scope of protection of the present invention cannot be limited by obvious changes or substitutions in the technical field to which the present invention belongs.

Claims

Claim 1 A medical image acquisition device for acquiring a three-dimensional image of a patient; an image reconstruction unit that extracts an image of a lesion from the three-dimensional image of the patient and generates a reconstructed image in which the incision or cutting range and depth of the lesion are indicated in the image of the lesion; and a plurality of correction markers fixed to the patient and attached at multiple locations spaced apart from the patient's lesion to correspond to position adjustment or change during surgery. A surgical guidance system equipped with an AR-based surgical level, comprising a surgical level that is implemented as an AR device, performs 3D mapping based on the position of the correction marker to calculate the shape and position of the patient's body and the relative spatial position of the affected area, maps the reconstructed image generated by the image reconstruction unit to the affected area to create a virtual 3D model, and displays the virtual 3D model by reflecting the position change during surgery calculated through the correction marker, wherein each correction marker is formed as a tattoo sticker that is easy to attach and detach to the patient and consists of a QR code, wherein patient recognition information generated after acquiring a 3D image of the patient from the medical image acquisition device is stored in the QR code, and the patient recognition information includes patient information, the attachment position of each correction marker, and the number of the reconstructed image to be matched. Claim 2 A surgical guidance system equipped with an AR-based surgical leveler according to claim 1, wherein the surgical leveler comprises: a camera for recognizing the correction marker; a correction unit that performs 3D mapping based on the position of the correction marker to calculate the shape and position of the patient's body and the relative spatial position of the affected area; a mapping unit that maps the reconstructed image generated by the image reconstruction unit to the affected area to generate a virtual 3D model; and a display unit that displays the virtual 3D model to a user. Claim 3 A surgical guidance system equipped with an AR-based surgical leveler, characterized in that, in claim 1, the patient information included in the patient recognition information includes the patient's identity, medical records, and specific details. Claim 4 A surgical guidance system equipped with an AR-based surgical level, wherein, in paragraph 2, the correction marker further includes a surgical tool recognition marker attached to a surgical tool in addition to the patient's body, the correction unit of the surgical level performs three-dimensional mapping based on the position of the surgical tool recognition marker to calculate the shape and position of the surgical tool and the relative spatial position of the surgical tool, and the mapping unit of the surgical level maps the shape and position of the surgical tool within the virtual 3D model. Claim 5 A surgical guidance system equipped with an AR-based surgical leveler, characterized in that, in paragraph 4, the QR code of the surgical tool recognition marker stores surgical tool recognition information including the type of surgical tool, a surgical tool location information guide, a surgical tool shape, and a surgical tool change guide information. Claim 6 delete

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