Neuro navigation system and method thereof

Abstract

A neuro navigation system and a method thereof are disclosed. The present invention comprises: a focused ultrasound device including at least one of an imaging transducer configured to transmit and receive an imaging ultrasound signal for imaging of a brain of a patient, and a therapeutic transducer capable of transmitting a focused ultrasound signal and receiving a returning reflection signal; and a neuro navigation device electrically connected to the focused ultrasound device and configured to register a skull ultrasound image acquired through the imaging transducer or the therapeutic transducer with a medical image acquired in advance.

Description

Neuro-navigation system and method

[0001] The present invention relates to ultrasonic technology, and more specifically to neuro-navigation technology.

[0002] Neuro-navigation technology helps doctors accurately identify the structure and location of the brain during brain surgery. Much like GPS, this technology enhances surgical accuracy through real-time imaging of the brain and enables the protection of critical areas during operation.

[0003] The main principle is to display a 3D image of the patient's brain based on MRI, CT, or brainwaves in real time during surgery, and to perform the surgery by accurately tracking the location of surgical tools or the brain. Through this, the surgeon can identify the location of the brain in real time during surgery and accurately access the target area.

[0004] Neuro-navigation technology is particularly useful in brain tumor removal, treatment of cerebral hemorrhage, and surgeries that stimulate brain function, offering various advantages such as reduced surgery time, improved accuracy, and faster patient recovery.

[0005] Meanwhile, devices for treating brain diseases using focused ultrasound utilize guides such as MR or CT images to accurately irradiate the focused ultrasound onto the treatment area of ​​the brain. In this case, alignment between the focused ultrasound focus and the treatment area in the MR or CT image is required.

[0006] Generally, for image alignment, methods using an optical camera for a motion sensor and a fiducial marker attached to the patient's head, or a method using an optical camera and a marker probe to scan the patient's head are used.

[0007] According to one embodiment, a neuro-navigation system and method are proposed that can acquire a three-dimensional surface image of the skull that can confirm the shape of the skull without using an optical camera or marker probe, and utilize this for alignment with an MR image or a CT image.

[0008] A neuro navigation system according to one embodiment includes an imaging transducer that transmits and receives an imaging ultrasound signal for imaging a patient's brain, a focused ultrasound device comprising at least one of a therapeutic transducer capable of transmitting a focused ultrasound signal and receiving a reflected signal, and a neuro navigation device electrically connected to the focused ultrasound device to align a skull ultrasound image acquired through the imaging transducer or the therapeutic transducer with a medical image acquired in advance.

[0009] The medical image may be an image of the brain taken using any one of a magnetic resonance (MR) image, a computed tomography (CT) image, a positron emission tomography (PET) image, and a positron emission computed tomography (PET-CT) image, which is taken through a magnetic resonance imager (MRI), computed tomography (CT), positron emission tomography (PET), and positron emission computed tomography (PET-CT).

[0010] The imaging transducer moves in three-dimensional space, and the neuro-navigation device acquires a three-dimensional surface image of the skull that can verify the shape of the skull through the movement of the imaging transducer, and can align the acquired three-dimensional surface image of the skull with a medical image.

[0011] A therapeutic transducer sequentially applies a transmission signal to multiple focused ultrasound transmission and reception channels, and a neuro-navigation device measures distance information based on the time delay between the transmission signal and the reflected signal returning for each focused ultrasound transmission and reception channel, converts each measured distance information into a 3D coordinate system, places each skull coordinate point in 3D space, generates a 3D surface image of the skull composed of all obtained coordinate values ​​to verify the shape of the skull, and can align the generated 3D surface image of the skull with a medical image.

[0012] A neuro navigation device may include a medical image acquisition unit that acquires a medical image of a patient's brain taken prior to the procedure, an ultrasound image acquisition unit that acquires a skull ultrasound image generated based on an ultrasound signal received from the brain, an image matching unit that aligns the skull ultrasound image and the medical image by confirming the positional relationship between the skull ultrasound image and the medical image and performing a coordinate calibration process, and a navigation unit that guides the focus to a target point using the matched image.

[0013] A neuro-navigation method using a neuro-navigation system may include the steps of acquiring a medical image of a patient's brain in advance, acquiring a three-dimensional surface image of the skull that can confirm the shape of the skull through movement of an imaging transducer in three-dimensional space, aligning the acquired three-dimensional surface image of the skull with the medical image, and guiding the focus to a target point using the aligned image.

[0014] A neuro-navigation method using a neuro-navigation system comprises the steps of acquiring a medical image of a patient's brain in advance, sequentially applying a transmission signal to a plurality of focused ultrasound transmission and reception channels, measuring distance information based on the time delay between the transmission signal and the reflected signal returning for each focused ultrasound transmission and reception channel, converting each measured distance information into a three-dimensional coordinate system and placing each skull coordinate point in a three-dimensional space, generating a three-dimensional surface image of the skull composed of all obtained coordinate values ​​to verify the shape of the skull, aligning the generated three-dimensional surface image of the skull with the medical image, and guiding the focus to a target point using the aligned image.

[0015] The present invention can acquire a 3D surface image of the skull that can confirm the shape of the skull through an ultrasound transducer without using an IR camera or a marker probe, and can utilize it for alignment with medical images.

[0016] For example, the present invention enables accurate treatment of the brain by aligning a previously captured medical image with a three-dimensional surface image of the skull obtained through the movement of an imaging transducer or a three-dimensional surface image of the skull obtained through the transmission and reception channels of a therapeutic transducer, and then using the aligned image to support imaging and treatment.

[0017] The present invention is patient-friendly and enables miniaturization and low-cost application, making it applicable to general treatment. For example, it can be usefully utilized in small and medium-sized hospitals. In particular, since the ultrasound imaging device utilizes medical images such as previously captured MR images or CT images, it is not necessary to acquire medical images through real-time MR imaging, thereby enabling miniaturization and low-cost application.

[0018] FIG. 1 is a diagram illustrating the configuration of a neuro-navigation system according to an embodiment of the present invention.

[0019] FIG. 2 is a drawing illustrating the detailed configuration of the neuro-navigation device of FIG. 1 according to an embodiment of the present invention.

[0020] FIG. 3 is a drawing showing the movement of an imaging transducer according to a first embodiment of the present invention (a) and a skull ultrasound image (b) obtained through the movement of the imaging transducer.

[0021] FIGS. 4 and 5 are drawings illustrating an example of skull ultrasound imaging and medical image registration according to a second embodiment of the present invention.

[0022] FIG. 6 is a diagram illustrating the flow of a neuro-navigation method according to a first embodiment of the present invention.

[0023] FIG. 7 is a diagram illustrating the flow of a neuro-navigation method according to a second embodiment of the present invention.

[0024] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is created only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0025] In describing the embodiments of the present invention, if it is determined that a detailed description of known functions or configurations may unnecessarily obscure the essence of the invention, such detailed description will be omitted. Furthermore, the terms described below are terms created to reflect the functions in the embodiments of the present invention, and these may vary depending on the intentions or conventions of the user or operator. Therefore, their creation should be based on the content throughout this specification.

[0026] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. However, the embodiments of the present invention exemplified below may be modified in various different forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art to which this invention pertains.

[0027] FIG. 1 is a diagram illustrating the configuration of a neuro-navigation system according to one embodiment of the present invention.

[0028] A neuro navigation system (1) according to one embodiment includes a focused ultrasound device (12) and a neuro navigation device (14).

[0029] The focused ultrasound device (12) is a device for the non-invasive treatment of brain diseases using focused ultrasound (FUS) based on ultrasound image guidance. The focused ultrasound device (12) transmits ultrasound signals for imaging and focusing of the patient's brain. The focused ultrasound device (12) may include at least one of an imaging transducer (121) that transmits and receives an imaging ultrasound signal for imaging the patient's brain, and a treatment transducer (122) capable of transmitting the focused ultrasound signal and receiving the reflected signal returning.

[0030] An imaging transducer (121) transmits and receives imaging ultrasound signals to image the patient's brain. A therapeutic transducer (122) transmits focused ultrasound signals to a lesion in the brain for the purpose of treating brain diseases. An imaging transducer (121) transmits and receives imaging ultrasound signals to generate an image of the patient's brain. A therapeutic transducer (122) transmits focused ultrasound signals to a lesion in the brain for the purpose of treating brain diseases. The imaging ultrasound signal and the focused ultrasound signal may differ in energy intensity, etc. For example, compared to the imaging ultrasound signal used to generate an image, the focused ultrasound signal uses a higher frequency and has very concentrated energy, and can treat or destroy tissue.

[0031] The imaging transducer (121) may be a phased array imaging transcranial transducer. The transcranial transducer ensures that an ultrasound transducer, which generates ultrasound to transmit ultrasound to the transcranial region of the brain, is in close contact with and supported by the human skull. The human skull can be formed in various sizes and shapes depending on race, age, and gender, and the location of the affected area, i.e., the brain, to which the ultrasound must be transmitted can also vary. Therefore, the focused ultrasound device (12) can ensure that the imaging transducer (121) is in close contact and supported consistently according to the shape and size of the patient's skull and the location of the brain to which the ultrasound must be transmitted.

[0032] The therapeutic transducer (122) can perform ultrasound focusing on a lesion in the patient's brain. At this time, the therapeutic transducer (122) can perform both transmission (Tx) and reception (Rx), or only transmission (Tx).

[0033] The therapeutic transducer (122) includes a plurality of sub-arrays, and each sub-array includes an acoustic emission surface and a plurality of transducer elements. The plurality of transducer elements can remove lesions in the patient's brain by emitting acoustic energy from each acoustic emission surface.

[0034] The therapeutic transducer (122) is configured to emit a focused ultrasound signal for patient treatment. The therapeutic transducer (122) may have a focused ultrasound radiating surface. The therapeutic transducer (122) generates a focused ultrasound signal and focuses it on a treatment area of ​​the brain. The therapeutic transducer (122) may be an array structure composed of multiple units, and multiple therapeutic transducers constituting the array may be arranged in a random manner.

[0035] The neuro navigation device (14) is electrically connected to the focused ultrasound device (12) to align the skull ultrasound image obtained through the imaging transducer (121) or the therapeutic transducer (122) with the previously obtained medical image.

[0036] The neuro navigation device (14) can acquire a three-dimensional surface image of the skull that can confirm the shape of the skull through an ultrasound transducer without using an IR camera or a marker probe, and can use this for alignment with medical images. For example, the neuro navigation device (14) can align a previously captured medical image with a three-dimensional surface image of the skull acquired through the movement of an imaging transducer (121) or a three-dimensional surface image of the skull acquired through the transmission and reception channel of a therapeutic transducer (122), and then use the aligned image to support imaging and treatment.

[0037] FIG. 2 is a drawing illustrating the detailed configuration of the neuro-navigation device of FIG. 1 according to an embodiment of the present invention.

[0038] Referring to FIGS. 1 and 2, the neuro navigation device (1) includes a medical image acquisition unit (141), an ultrasound image acquisition unit (142), an image matching unit (143), and a navigation unit (144).

[0039] The medical image acquisition unit (141) acquires a medical image of the patient's brain taken prior to the procedure. At this time, the medical image may be an image of the brain taken using any one of the following: a magnetic resonance image (MR), a computed tomography (CT), a positron emission tomography (PET), and a positron emission computed tomography (PET-CT). The aforementioned medical image is a patient image taken within a preset period, and since there is no significant change in the data when it falls within the preset period, it can be utilized as valid data. Additionally, since there is no need to take medical images in real time, costs are reduced and the neuro-navigation system (1) can be miniaturized.

[0040] The ultrasound image acquisition unit (142) acquires a skull ultrasound image generated based on an ultrasound signal received from the brain. An embodiment for acquiring a skull ultrasound image will be described later with reference to FIGS. 3 to 5.

[0041] The image registration unit (143) registers the treatment area of ​​the medical image with the skull ultrasound image to generate a registered image. The image registration unit (143) can register the skull ultrasound image and the medical image by verifying the positional relationship between the skull ultrasound image and the medical image and performing a calibration process for the coordinates.

[0042] The navigation unit (144) uses the aligned image to guide the focus to the target point. This enables the therapeutic transducer (122) to transmit a focused ultrasound signal to the target point of the brain.

[0043] FIG. 3 is a diagram showing the movement of an imaging transducer according to the first embodiment of the present invention (a) and a skull ultrasound image (b) obtained through the movement of the imaging transducer.

[0044] Referring to FIGS. 1 and FIGS. 3, the imaging transducer (121) can move in three-dimensional space. The movement may include rotational motions including pitching, rolling, and yawing, as well as left-right movement, forward-backward movement, and up-down movement that move parallel to each axis.

[0045] For the movement of the imaging transducer (121), the focused ultrasound device (12) may include a driving unit (not shown) for controlling the position of the imaging transducer (121). The driving unit may be a robot arm. For example, the focused ultrasound device (12) may rotate the imaging transducer (121) around a reference axis (300) to generate a three-dimensional surface image (310) of the skull that can confirm the shape of the skull. The imaging transducer (121) transmits an ultrasound signal while rotating at a certain angle. This rotation may be a 360-degree rotation, or the rotation angle may be adjusted in small increments.

[0046] When images of the skull are captured from various angles while moving the imaging transducer (121), the way the ultrasound signal passes through or reflects off different parts of the skull changes depending on the angle of movement, so a three-dimensional surface image of the skull (310) can be generated by combining the data obtained from various angles. This three-dimensional surface image of the skull (310) is used to visually confirm the shape of the skull. The neuro-navigation device (14) can acquire the three-dimensional surface image of the skull (310) generated through the movement of the imaging transducer (121) and align the acquired three-dimensional surface image of the skull (310) with a medical image.

[0047] FIGS. 4 and 5 are drawings illustrating an example of skull ultrasound imaging and medical image registration according to a second embodiment of the present invention.

[0048] More specifically, FIG. 4 is a diagram illustrating an example of operation with a focused ultrasound transmission channel and a focused ultrasound transmission and reception channel according to one embodiment of the present invention.

[0049] Referring to FIGS. 1 and FIGS. 4, a focused ultrasound transmission channel (FUS Tx channel) (410) serves to transmit a focused ultrasound signal through a therapeutic transducer (122) for therapeutic purposes. By using multiple focused ultrasound transmission channels (410), an ultrasound beam can be focused to concentrate energy at a specific depth or location. This allows the ultrasound signal to be transmitted to deep tissues and energy to be concentrated at an accurate location.

[0050] The focused ultrasound transmission and reception channel (420) transmits a focused ultrasound signal to the patient's skull and receives the signal reflected back from the skull. When the ultrasound signal transmitted through the focused ultrasound transmission and reception channel (420) is reflected from the tissue of the skull and returns to the focused ultrasound transmission and reception channel (420), it can be analyzed to generate an ultrasound image of the skull.

[0051] The focused ultrasound transmission channel (410) can strongly transmit a focused ultrasound signal, and the focused ultrasound transmission and reception channel (420) can finely detect the reflected signal to generate an accurate skull ultrasound image.

[0052] FIG. 5 is a diagram illustrating an example (a) of sequentially transmitting focused ultrasound transmission signals to a patient's skull according to an embodiment of the present invention, waveforms (b) of the transmission signal and reflected signal for each focused ultrasound transmission and reception channel, and an example (c) of generating a skull ultrasound image in which skull coordinate points are each displayed in a three-dimensional space based on distance information.

[0053] Referring to FIGS. 1, 4 and 5, the therapeutic transducer (122) sequentially applies a focused ultrasound transmission signal to a focused ultrasound transmission / reception channel (420), transmits a transmission signal for each focused ultrasound transmission / reception channel (420), and receives a reflected signal returning from the patient's skull (a).

[0054] Next, the neuro-navigation device (14) measures distance information based on the time delay between the transmitted signal (510) and the returning reflected signal (520) for each focused ultrasound transmission and reception channel (b). The focused ultrasound transmission and reception channel (420) of the therapeutic transducer (122) receives this reflected signal (520) and measures the time it takes for the reflected signal (520) to return. By measuring the time it takes for the reflected signal to return after transmission and knowing the speed of the ultrasound, the distance to the skull can be calculated. In this manner, transmission and reception are repeatedly performed for each channel at different locations of the focused ultrasound transmission and reception channel (420), and the time delay of the reflected signal is measured to measure distance information at various points on the skull. The distance information at each measurement point corresponds to the distance to a specific point on the surface of the skull.

[0055] Next, the neuro-navigation device (14) converts each measured distance information into a three-dimensional coordinate system and places each skull coordinate point (530) in a three-dimensional space (540) (c). The neuro-navigation device (14) can convert each measured distance information into a three-dimensional coordinate system. Each skull coordinate point (530) is placed in a three-dimensional space (540) by combining distance information measured from various angles and the position of the therapeutic transducer (122). For example, the neuro-navigation device (14) can calculate the (x, y, z) coordinates of each measurement point based on distance information obtained from a 2D plane. The path of the focused ultrasound signal is traced through the measured distance and position to find the accurate location. This process is performed through multi-view distance measurements. Distance information from each focused ultrasound transmission / reception channel (420) is combined to form an accurate three-dimensional surface image.

[0056] Next, the neuro navigation device (14) forms a three-dimensional surface image of the skull that can be used to verify the shape of the skull by being composed of all the coordinate values ​​obtained in this way. This three-dimensional surface image of the skull reconstructs the surface of the skull based on each coordinate, thereby showing the patient's skull structure in three dimensions. This three-dimensional surface image of the skull is visualized in medical image software, through which the shape, thickness, and abnormal parts of the skull can be identified.

[0057] Next, the neuro navigation device (14) aligns the generated three-dimensional surface image of the skull with the medical image.

[0058] FIG. 6 is a diagram illustrating the flow of a neuro-navigation method according to a first embodiment of the present invention.

[0059] Referring to FIGS. 1 and FIGS. 6, the neuro navigation device (14) acquires a medical image of the patient's brain in advance (S610).

[0060] Next, the neuro navigation device (14) acquires a three-dimensional surface image of the skull that can confirm the shape of the skull through the movement of the imaging transducer (S620).

[0061] Next, the neuro navigation device (14) aligns the acquired three-dimensional surface image of the skull with the medical image (S630).

[0062] Next, the neuro navigation device (14) uses the matched image to guide the focus to the target point (S640).

[0063] FIG. 7 is a diagram illustrating the flow of a neuro-navigation method according to a second embodiment of the present invention.

[0064] Referring to FIGS. 1 and FIGS. 7, the neuro navigation device (14) acquires a medical image of the patient's brain in advance (S710).

[0065] Next, the neuro navigation device (14) sequentially applies a transmission signal to a plurality of focused ultrasound transmission and reception channels (S720).

[0066] Next, the neuro navigation device (14) measures distance information based on the time delay between the transmitted signal and the reflected signal returning for each focused ultrasound transmission and reception channel (S730).

[0067] Next, the neuro navigation device (14) converts each measured distance information into a three-dimensional coordinate system and places each skull coordinate point in three-dimensional space (S740).

[0068] Next, the neuro navigation device (14) generates a three-dimensional surface image of the skull that can be identified by all the obtained coordinate values ​​(S750).

[0069] Next, the neuro navigation device (14) aligns the generated three-dimensional surface image of the skull with the medical image (S760).

[0070] Next, the neuro navigation device (14) uses the matched image to guide the focus to the target point (S770).

[0071] The present invention has been described above with reference to its embodiments. Those skilled in the art will understand that the present invention may be implemented in modified forms without departing from the essential characteristics of the invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the invention is defined by the claims, not by the foregoing description, and all variations within the scope of the claims should be interpreted as being included in the invention.

Claims

1. A focused ultrasound device comprising at least one of an imaging transducer capable of transmitting and receiving an imaging ultrasound signal for imaging a patient's brain, and a therapeutic transducer capable of transmitting a focused ultrasound signal and receiving a reflected signal returning therefrom; A neuro-navigation device electrically connected to the above-mentioned focused ultrasound device, which aligns a skull ultrasound image acquired through the imaging transducer or therapeutic transducer with a previously acquired medical image; A neuro-navigation system characterized by including 2. In Paragraph 1, A neuro navigation system characterized in that the medical image above is an image of the brain taken through any one of a magnetic resonance (MR) image, a computed tomography (CT) image, a positron emission tomography (PET) image, and a positron emission computed tomography (PET-CT) image, which is taken through a magnetic resonance imager (MRI), a computed tomography (CT), a positron emission tomography (PET), and a positron emission computed tomography (PET-CT).

3. In Paragraph 1, The imaging transducer moves in three-dimensional space, and The neuro navigation device A neuro navigation system characterized by acquiring a three-dimensional surface image of the skull that can verify the shape of the skull through the movement of an imaging transducer, and aligning the acquired three-dimensional surface image of the skull with a medical image.

4. In claim 1, the therapeutic transducer Transmission signals are sequentially applied to multiple focused ultrasound transmission and reception channels, and The neuro navigation device For each focused ultrasound transmission and reception channel, distance information is measured based on the time delay between the transmitted signal and the returning reflected signal, and Converts the measured angular distance information into a 3D coordinate system, places each skull coordinate point in 3D space, and It generates a 3D surface image of the skull composed of all obtained coordinate values, which allows verification of the skull's shape, and A neuro-navigation system characterized by aligning a generated 3D surface image of the skull with a medical image.

5. In claim 1, the neuro-navigation device A medical image acquisition unit that acquires medical images of the patient's brain taken prior to the procedure; Ultrasound image acquisition unit for acquiring a skull ultrasound image generated based on an ultrasound signal received from the brain; An image registration unit that confirms the positional relationship between the skull ultrasound image and the medical image and aligns the skull ultrasound image and the medical image by performing a calibration process for the coordinates; and A navigation unit that guides the focus to a target point using a matched image; A neuro-navigation system characterized by including 6. In a neuro-navigation method using a neuro-navigation system, A step of acquiring medical images of the patient's brain in advance; A step of acquiring a 3D surface image of the skull that can confirm the shape of the skull through the movement of an imaging transducer in 3D space; A step of aligning the acquired three-dimensional surface image of the skull with a medical image; and A step of guiding the focus to a target point using a matched image; A neuro-navigation method characterized by including 7. In a neuro-navigation method using a neuro-navigation system, A step of acquiring medical images of the patient's brain in advance; A step of sequentially applying a transmission signal to a plurality of focused ultrasound transmission and reception channels; A step of measuring distance information based on the time delay between the transmitted signal and the returning reflected signal for each focused ultrasound transmission and reception channel; A step of converting each measured distance information into a three-dimensional coordinate system and placing each skull coordinate point in three-dimensional space; A step of generating a 3D surface image of the skull composed of all obtained coordinate values ​​to verify the shape of the skull; A step of aligning the generated 3D surface image of the skull with a medical image; and A step of guiding the focus to a target point using a matched image; A neuro-navigation method characterized by including

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