KR102676159B1 - Insertion guidance system for locking screw and locking screw guidance method using the same, and a computer-readable storage medium - Google Patents

Abstract

The present invention is a locking screw insertion guidance system that guides the insertion position of the locking screw during orthopedic implant surgery using a C-arm, and a radioscopic imaging device that generates image information to confirm the patient's condition and support surgical planning. (C-arm fluoroscopy, hereinafter referred to as C-arm); A position estimation device that generates target information for insertion of the locking screw from image information received from the C-arm based on artificial intelligence, and a stereoscopic device that receives target information from the position estimation device to guide insertion of the locking screw into the body. A locking screw insertion guidance system including a stereotaxic device may be provided.

Description

A computer-readable medium on which a locking screw insertion guidance system, a guidance method using the same, and a computer program for providing the same are recorded {Insertion guidance system for locking screw and locking screw guidance method using the same, and a computer-readable storage medium}

The present invention relates to a locking screw insertion guidance system, a guidance method using the same, and a computer-readable medium on which a computer program for providing the same is recorded. During orthopedic implant surgery, the affected area is fixed using a stereotaxic device and the locking screw is used. It relates to a locking screw insertion guidance system that guides the locking screw so that it can be accurately positioned and inserted into the insertion position, a guidance method using the same, and a computer-readable medium on which a computer program for providing the same is recorded.

In general, prosthetic implants have been used to treat orthopedic injuries and diseases.

Bone injuries can regenerate, but orthopedic injuries take considerable time to heal, during which time the bone is unable to support physiological loads. It is well known that adjacent bony portions can be stabilized by implants between them and/or by implants positioned along the bony portions.

It is known that various orthopedic implant devices are designed to provide structural support to a patient's spine and other bones or joints.

As such, the implant can be rigid to prevent movement between the bone parts, or flexible to allow at least limited movement between the bone parts while providing a stabilizing effect.

Additionally, pins, screws, and mesh are frequently used in devices that replace the mechanical functions of damaged bone during bone healing and regeneration.

Meanwhile, it is important to ensure that the above-mentioned implants, pins, screws, mesh, etc. are accurately positioned and fixed in the surgical position to ensure good results for damaged bones.

Accordingly, there is a need for a device that guides implants, pins, screws, mesh, etc. to be accurately positioned where they should be inserted.

Prior art includes Korean Patent Publication No. 10-2019-0007693, “Navigation device and method for fracture correction.”

In order to solve the above problems, the present invention relates to a locking screw insertion guidance system, a guidance method using the same, and a computer-readable medium on which a computer program for providing the same is recorded, and provides a stereotaxic position during orthopedic implant surgery. Provides a locking screw insertion guidance system that fixes the affected area and guides the locking screw to be accurately positioned and inserted at the locking screw insertion position, a guidance method using the same, and a computer-readable medium on which a computer program for providing the same is recorded. I want to.

In order to solve the above problems, a locking screw insertion guidance system that guides the insertion position of the locking screw during orthopedic implant surgery using a C-arm provides image information to check the patient's condition and support surgical planning. A radiographic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that produces A position estimation device that generates target information for insertion of the locking screw from image information received from the C-arm based on artificial intelligence, and a stereoscopic device that receives target information from the position estimation device to guide insertion of the locking screw into the body. It may include a political crisis.

In addition, the stereotaxic device is formed in a ring shape to be mounted on the affected area, one side is formed to be open and closed, and includes a pair of body parts located facing each other; a ruler formed to connect the pair of body parts and guide the insertion position in a horizontal direction; an adjuster disposed between the pair of body parts, fastened to both ends with the ruler penetrating in the forward and backward directions, and adjusting the horizontal and vertical directions with respect to the insertion position; It is formed to enable imaging through a C-arm, is located on the inner side of the lower side of the body, is formed on a marker coupled to the body, and the adjuster, and is provided to determine the insertion position of the locking screw to provide sensor information. It may include a sensor unit that generates.

In addition, the marker is formed in a rectangular shape to enable entry and exit from the bottom surface of the body, and may include a plurality of bearing balls arranged in a matrix to correct and generate spatial position information of the marker from the image information. there is.

In addition, the position estimation device learns screw information including the position and shape of the screw hole on the C-arm image collected in advance, and is provided to indicate the conditions under which the locking screw is inserted into the screw hole. a screw hole information detection unit that detects the screw hole information matching the screw information with respect to hole information; a screw hole information analysis unit that generates screw hole space information about the position and direction of the screw hole by applying the screw hole information to the screw hole into which the locking screw is to be inserted; Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on lens principal point, focal length, asymmetry coefficient, and distortion coefficient through camera information analysis. wealth; Based on the spatial location information of the marker, a CNN model is applied to receive sensor information from the matching unit and the sensor unit to generate the target information based on the screw hole spatial information and the camera analysis information, and generate the target information and It may include a determination unit that determines whether the insertion positions of the locking screws match and generates decision information.

In addition, the regulator may include a regulator frame formed in an arc shape and including a through hole through which the ruler passes. A direction control unit formed along the longitudinal direction of the regulator frame; It may include a display unit formed on the outer surface of one end of the regulator frame to display the coordinate value of the insertion position and a fine adjustment unit formed on the side of one end of the regulator frame to finely adjust the coordinate value of the regulator. .

In addition, the direction control unit includes a guide hole formed along the longitudinal direction of the regulator frame and penetrating in the vertical direction; It may include a moving groove formed in the inner direction on the front and rear surfaces of the guide hole, respectively, and a moving member that is inserted into the moving groove and moves along the guide hole to adjust the vertical position.

In addition, the moving member includes: a moving plate formed in the shape of a square plate with a curvature so that it can move along the moving groove; It may include an angle adjustment member formed in a ball shape at the center of the moving plate to adjust the angle according to the insertion position, and an insertion hole formed through the center of the angle adjustment member to allow the locking screw to be inserted into the insertion position. there is.

In addition, the sensor unit includes an angle sensor, a distance sensor, and a depth sensor, and generates sensor information including angle information, distance information, and depth information about the insertion position of the locking screw.

In addition, the display unit may include a display that receives target information from the position estimation device and displays coordinate values for the insertion position, and a notification unit that receives judgment information from the position estimation device and provides a notification through light emission. .

In addition, the notification unit may include: a horizontal notification unit that displays when the target information and the horizontal position of the insertion hole according to the insertion position match; It may include a vertical notification unit that displays when the target information and the vertical position of the insertion hole according to the insertion position match, and an angle notification unit that displays when the angle of the target information and the insertion hole matches.

In addition, a radiographic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that generates image information to confirm the patient's condition and support surgical planning; A position estimation device that generates target information to insert the locking screw from the image information received from the C-arm based on artificial intelligence, and a three-dimensional tablet that receives target information from the position estimation device and guides the insertion of the locking screw into the body. In the locking screw insertion guidance system that includes crisis, the locking screw insertion guidance method provides image information through a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm), which confirms the patient's condition and supports surgical planning. A step of generating image information; A target information generation step of generating target information to insert the locking screw from image information received from the C-arm based on artificial intelligence, and receiving target information from the position estimation device to guide insertion of the locking screw into the body. A guide step may be included.

In addition, the target information generation step is provided to learn screw information including the position and shape of the screw hole on the previously collected C-arm image and to indicate the conditions under which the locking screw is inserted into the screw hole. A screw hole information detection step of detecting the screw hole information matching the screw information with respect to the screw hole information; A screw hole information analysis step of generating screw hole space information about the position and direction of the screw hole by applying the screw hole information to the screw hole into which the locking screw is to be inserted; Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on lens principal point, focal length, asymmetry coefficient, and distortion coefficient through camera information analysis. step; Based on the spatial location information of the marker, a matching step of applying a CNN model to generate the target information based on the screw hole spatial information and the camera analysis information, and receiving sensor information from the sensor unit to create the target information and the It may include a decision step of generating decision information by determining whether the insertion positions of the locking screws match.

In addition, according to an embodiment of the present invention, a computer-readable recording medium on which a computer program for performing a method for guiding insertion of a locking screw is recorded can be provided.

The locking screw insertion guidance system according to the embodiment of the present invention as described above, the guidance method using the same, and the computer-readable medium on which the computer program for providing the same are recorded are used to fix the affected part and ensure that the locking screw is accurately positioned at the insertion position. Guided surgery has the effect of enabling safer and more accurate surgery.

In addition, the locking screw insertion guidance system according to the present invention can position the locking screw precisely and quickly, which has the effect of shortening the setting time of the adjuster for the insertion position and ultimately shortening the surgery time.

1 is a block diagram of a locking screw insertion guidance system according to an embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of the position estimation device of FIG. 1.
Figure 3 is a perspective view showing the stereotaxic device of Figure 1.
Figure 4 is a perspective view showing an insertion tool with a locking screw fastened into the insertion hole of the stereotaxic device of Figure 1.
Figure 5 is a perspective view showing the body of the stereotaxic device of Figure 1.
Figures 6 (a) and (b) are perspective views showing the opening and closing part of Figure 5 being opened and closed.
Figures 7 (a) and (b) are exemplary diagrams showing the operation of the fixing unit of Figure 5.
Figures 8 (a) to (c) are perspective views showing rulers having different lengths of the stereotaxic device of Figure 1.
Figures 9 (a) and (b) are perspective views showing the moving member of the adjuster of the stereotaxic device of Figure 1 moving.
Figure 10 is a perspective view showing a marker of the stereotaxic group of Figure 1.
Figures 11 (a) and (b) are perspective views showing the marker installed and separated from the body of Figure 5, respectively.
Figures 12 (a) to (e) are exemplary diagrams showing the fastening sequence of the stereotaxic group of Figure 1.
Figure 13 is an example diagram showing the stereotaxic device of Figure 1 applied to a leg.
Figure 14 is a flow chart of a method for guiding insertion of a locking screw according to an embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to specific embodiments, and various changes may be made and various embodiments may be possible. In addition, the content described below should be understood to include all conversions, equivalents, and substitutes included in the spirit and technical scope of the present invention.

In the following description, the terms first, second, etc. are terms used to describe various components, and their meaning is not limited, and is used only for the purpose of distinguishing one component from other components.

Like reference numerals used throughout this specification refer to like elements.

As used herein, singular expressions include plural expressions, unless the context clearly dictates otherwise. In addition, terms such as “comprise,” “provide,” or “have” used below are intended to designate the presence of features, numbers, steps, operations, components, parts, or a combination thereof described in the specification. It should be construed and understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and should not be interpreted in an idealized or overly formal sense unless explicitly defined in the present application. No.

In addition, when describing with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted. In describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

Hereinafter, an embodiment of the present invention will be described in detail with reference to Figures 1 to 14 attached.

The locking screw insertion guidance system according to an embodiment of the present invention is a system that fixes the affected area and guides the locking screw (S) inserted into the body to be accurately positioned at the insertion position during orthopedic implant surgery using a C-arm.

Here, orthopedic implants are a term referring to various artificial devices used to replace joints of the body such as the pelvis, knees, shoulders, elbows, and spine, and the insertion location refers to the preferred location where the locking screw (S) is inserted into the body into the affected area. can refer to.

In the present invention, the description is limited to the affected area, but it is not limited to this and can be applied to all surgical areas requiring orthopedic implant surgery.

In the present invention, for convenience, the material inserted into the body using the stereotaxic device 3 is limited to the locking screw (S). However, in addition to the locking screw (S), it is used to fix implants such as pins or fix damaged bones. It may include, but is not limited to, all materials used for this purpose.

Before explaining the present invention, referring to FIG. 3, the direction of the stereotaxic device 3 shown in the drawing will be described by referring to the X-axis direction as the front, the Y-axis direction as the side, and the Z-axis direction as the top. do.

1 to 13, the locking screw insertion guidance system according to an embodiment of the present invention includes a radioscopic imaging device (C-arm fluoroscopy, hereinafter C-arm) (1), a position estimation device (2), and a stereotaxic device. (3) may be included.

First, the C-arm (1) is a mobile radioscopic imaging device that takes pictures of the affected area to check the condition of the bone and establish a surgical plan such as osteotomy or correction. It can generate image information that is a radioscopic image. there is. The C-arm(1) can check the patient's condition through image information and support surgical planning.

The position estimation device 2 can generate target information into which the locking screw (S) will be inserted using image information received from the C-arm (1) based on artificial intelligence.

More specifically, the position estimation device 2 includes a screw hole information detection unit 21, a screw hole information analysis unit 22, a camera information analysis unit 23, a matching unit 24, and a determination unit to generate target information. (25) may be included.

First, the screw hole information detection unit 21 is provided to indicate the conditions under which the locking screw (S) is inserted into the screw hole based on screw information including the position and shape of the screw hole on the C-arm image collected in advance. Screw hole information that matches the screw hole information can be detected.

At this time, the screw information may mean that the image of the area where the screw hole belongs is extracted as data from the C-arm image based on artificial intelligence Mask R-CNN.

For example, when the screw information detector 21 displays screw information as 1024*1024 pixels, it can be replaced with screw information as 4096*4096 pixels based on Mask R-CNN.

The screw hole information analysis unit 22 applies the screw hole information detected through the screw hole information detection unit 21 to the screw hole into which the locking screw (S) should be inserted, and uses the screw hole space for the position and direction of the screw hole. Information can be generated.

At this time, the screw hole information analysis unit 22 can analyze the insertion position and direction of the screw hole using an algorithm.

More specifically, the screw hole information analysis unit 22 can set an extension line of the minor axis of each screw hole for a plurality of screw information, that is, screw holes, detected in an elliptical shape. Thereafter, the screw hole information analysis unit 22 may calculate a vector value appearing perpendicular to the screw hole by connecting the intersection point and focus of the plurality of extension lines. At this time, the vector value appearing perpendicular to the screw hole may appear as the difference in position between the focus and the intersection point.

In addition, the screw hole information analysis unit 22 can calculate the normal vector of the plane according to the focus and the center point of the plurality of detected screw holes, and uses the vector value and normal vector appearing perpendicular to the screw hole to The vector value connecting the center points of can be calculated.

Accordingly, the screw hole information analysis unit 22 can determine the direction of the screw hole by calculating the angle of each screw hole side from the triangle created by the vector value connecting the focus and the center point of the screw hole.

Additionally, the screw hole information analysis unit 22 can determine the position of the screw hole by calculating the distance from the focus to each screw hole using a known trigonometric function or known triangle characteristics.

Accordingly, the screw hole information analysis unit 22 can generate screw hole spatial information about the position and direction of the screw hole through the above algorithm.

The camera information analysis unit 23 generates camera information by shooting equipment at different positions and angles, and analyzes camera information to generate camera analysis information including information on the lens main point, focal length, asymmetry coefficient, and distortion coefficient. It can be calculated.

More specifically, the camera information analysis unit 23 can secure camera information as data by setting the camera calibration equipment to various focal lengths, arranging them at various angles and distances for each focal length, and taking 100 to 200 shots at a time. Thereafter, the camera information analysis unit 23 may analyze the camera information and derive camera analysis information including information on the lens principal point, focal length, asymmetry coefficient, and distortion coefficient.

The matching unit 24 receives image information including the marker 33, generates spatial position information based on the marker 33, and applies a CNN model to the generated spatial position information to provide screw hole spatial information and focus. The target information can be generated based on distance information.

Here, the marker 33 is a component of the stereotaxic group 3, and a detailed description will be given below along with the description of the stereotaxic group 3.

First, the matching unit 24 can detect the marker 33 from image information including the marker 33. Afterwards, virtual spatial location information for the marker 33 may be generated based on the marker 33, and this may be 3D modeled guide information. At this time, the position and direction of the marker 33 can be set and corrected based on the stereotaxic device 3 to derive accurate spatial position information.

Accordingly, the matching unit 24 can generate target information into which the locking screw should be inserted by analyzing the screw hole spatial information and focal distance information based on the spatial position information.

Finally, the determination unit 25 may receive sensor information from the sensor unit, determine whether the target information and the insertion position of the lock screw match, and generate determination information.

Here, the sensor unit is composed of a stereotaxic device (3) and includes an angle sensor, a distance sensor, and a depth sensor, and generates sensor information including angle information, distance information, and depth information about the insertion position of the locking screw (S). can do.

A more detailed description of the determination unit 25 will be provided below along with the explanation of the stereotaxic device 3.

Referring to Figures 3 and 4, the stereotaxic device 3 of the locking screw insertion guidance system includes a marker, a body portion 30, a ruler 31, an adjuster 32, a marker 33, and a sensor portion, and a leg ( With L) fixed to the stereotaxic device (3), the locking screw (S) can be accurately inserted into the insertion position.

First, referring to FIGS. 5 to 7, the body portion 30 fixes the ruler 31 and the adjuster 32 with the leg L positioned inside, so the leg L can be positioned inside. It may be formed in a ring shape. In addition, the body portion 30 is composed of a pair facing each other as shown in FIG. 5, but may be formed symmetrically. At this time, for convenience of explanation, the body portion 30 is described by referring to the body portion 30 located at the rear as the first body portion 30a and the body portion 30 located at the front as the second body portion 30b. I want to.

The body portion 30 may include a frame portion 300, an opening and closing portion 310, a support portion 320, a fixing portion 330, and a coupling portion 340.

The frame portion 300 may have a predetermined width and be formed in a ring shape so that the legs L can be positioned therein. At this time, the frame portion 300 is most preferably formed in a circular ring shape, but is not limited to this and may be formed in various shapes such as square or hexagon.

The opening and closing portion 310 may be formed to open and close one side of the frame portion 300 so that the leg L can be easily inserted or extracted into the body portion 30.

Referring to FIG. 6, the opening and closing unit 310 opens and closes one side of the frame unit 300 around the hinge 3000 formed on the other side of the frame unit 300, and includes an opening and closing member 3100 and an opening and closing groove 3101. can do.

The opening and closing member 3100 is formed at one end of the frame portion 300 that rotates by the hinge 3000, as shown in (a) of FIG. 6, and may be formed in the form of a protruding protrusion.

The opening and closing groove 3101 is a part that is fastened to the opening and closing member 3100 and is formed in a groove shape so that the opening and closing member 3100 can be inserted into and fastened to the opening and closing groove 3101.

At this time, the opening and closing member 3100 and the opening and closing groove 3101 are formed with magnets, which increases the fixation force compared to when fastened and allows easy disassembly. In addition, the opening and closing member 3100 and the opening and closing groove 3101 are not limited to the above-described shapes, and may be formed in various shapes that can be fastened to and disassembled from each other.

The support portion 320 may be formed on the bottom surface of the frame portion 300 to stably support the ring-shaped frame portion 300 on the floor. More specifically, the support portion 320 is formed with both ends of the frame portion 300 extending toward the bottom surface as shown in FIG. 5 and is formed flat on the bottom surface to support the frame portion 300. At this time, the support part 320 is not limited to the above-described form, but can be formed in various shapes that are stably supported on the floor to stably support the frame part 300.

Additionally, the support portion 320 may be formed with a support groove 3200 into which a marker 33, which will be described below, can be inserted.

The support groove 3200 is a groove formed on the bottom surface of both sides of the support portion 320, and may be formed on the front or back side. More specifically, the support grooves 3200 may be formed on both bottom surfaces of the front in the case of the first body 30a, and may be formed on both bottom surfaces of the rear in the case of the second body 30b.

The fixing part 330 is formed on the upper and lower sides of the frame part 300 to fix the leg L located inside the body part 30, and can be formed to allow air or hydraulic pressure to enter and exit. More specifically, when the leg L is located inside the body 30 in the state shown in (a) of FIG. 7, the fixing part 330 is expanded by introducing air pressure or hydraulic pressure as shown in (b) of FIG. 7. It can be done as much as possible. Accordingly, the fixing part 330 can prevent the leg L from moving by being in close contact with the upper and lower sides of the leg L located inside the body 30.

The coupling portion 340 is formed on both sides of the frame portion 300 to allow the ruler 31 to be inserted and coupled. It has a predetermined length and may be formed to surround both sides of the frame portion 300, and the coupling groove 3400 ) may include.

The coupling groove 3400 may be formed on the front or back of the coupling portion 340. More specifically, in the case of the coupling portion 340 formed in the first body portion 30a, a coupling groove 3400 is formed on the front side, and in the case of the coupling portion 340 formed in the second body portion 30b, a coupling groove 3400 is formed in the rear surface. A groove 3400 may be formed. Accordingly, the coupling grooves 3400 in the first body portion 30a and the second body portion 30b are positioned to face each other, so that the rear and front ends of the ruler 31 are aligned with the first body portion 30a and the second body portion 30b, respectively. It can be inserted into and coupled to the coupling groove 3400 formed in the second body portion 30b.

At this time, the coupling portion 340 may further include a separation protrusion (not shown) and a separation button 3401 that are inserted into the coupling groove 3400 and allow the coupled ruler 31 to be easily separated.

The separation protrusion (not shown) is a protrusion formed to protrude upward from the bottom of the coupling groove 3400, and may be formed in various ways depending on the shape of the ruler 31, but is not limited thereto.

The separation button 3401 is formed on the outer surface of the coupling portion 340, and as the separation button 3401 operates, the separation protrusion (not shown) moves upward to separate the ruler 31.

A detailed description of this will be provided below along with a description of the ruler 31.

Figures 8 (a) to (c) are perspective views showing rulers having different lengths of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention.

Referring to Figure 8, the ruler 31 is formed so that the first body portion 30a and the second body portion 30b are connected to adjust the horizontal direction with respect to the insertion position, and the rulers 31 have different lengths. ) may be provided in multiple numbers. Accordingly, the ruler 31 has the advantage of being able to select a ruler 31 of a length appropriate for the surgical site and fasten it to the coupling portion 340.

This ruler 31 is formed in the shape of a long bar and may include a display groove 310 and a bent portion 320.

The display groove 310 is a groove formed along the longitudinal direction of the ruler 31 formed in , and may be formed in a portion where the adjuster 32 can move in the horizontal direction, but is not limited thereto. Accordingly, the display groove 310 fixes the adjuster 32 so that it does not shake as it moves in the horizontal direction, allowing it to move more accurately. This will be explained in detail below along with the description of the regulator 32.

Additionally, the ruler 31 may form a curved portion 320 in which the lower edges of both ends are bent inward in the longitudinal direction. At this time, the bent portion 320 is a portion where the separation protrusion (not shown) described above is pushed upward as the separation button 3401 is pressed.

More specifically, the separation protrusion (not shown) is located in the hollow portion formed by the curved portion 320 before the separation button 3401 is pressed, and when the separation button 3401 is pressed, the separation protrusion (not shown) is The ruler 31 can be separated from the coupling groove 3400 by pushing the bent portion 320 upward.

Additionally, the ruler 31 can mark the upper portion of the outer surface along the longitudinal direction to enable the user to accurately adjust the position of the adjuster 32 in the horizontal direction.

Additionally, the ruler 31 may be marked with arrows on both ends of the outer surface to indicate the direction in which it is inserted into the coupling groove 3400. Accordingly, the ruler 31 can enable the user to quickly and accurately insert the ruler 31 into the coupling groove 3400.

Figures 9 (a) and (b) are perspective views showing the movement of the moving member of the adjuster of the stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention.

Referring to FIG. 9, the adjuster 32 adjusts the horizontal and vertical directions with respect to the insertion position, and is disposed between the first body 30a and the second body 30b, and is located at both ends in the forward and backward directions. The ruler 31 may be fastened while penetrating.

This adjuster 32 may include an adjuster frame 320, a direction control unit 321, a display unit 322, and a fine adjustment unit 323.

The regulator frame 320 is formed in an arc shape and may include a through hole 3200 through which the ruler 31 passes. At this time, the through hole 3200 is a hole formed through both ends of the adjuster frame 320 in the front-to-back direction, and may be formed to have a length equal to the height of the ruler 31 so that the ruler 31 can pass through it.

At this time, the regulator frame 320 may have a fixing protrusion (not shown) formed to protrude from the outer surface of the through hole 3200. The fixing protrusion (not shown) may be formed at a position corresponding to the display groove 310 to be inserted into the display groove 310 of the ruler 31.

Accordingly, the fixing protrusion (not shown) moves along the display groove 310 as the adjuster frame 320 moves, thereby fixing the adjuster 32 so that it does not shake as it moves in the horizontal direction and allowing it to move more accurately. there is.

The direction control unit 321 is formed along the longitudinal direction of the regulator frame 320 to adjust the position in the vertical direction with respect to the insertion position, and includes a guide hole 3210, a moving groove 3211, and a moving member 3212. It can be included.

The guide holes 3210 are formed along the longitudinal direction at regular intervals from both ends of the regulator frame 320, and may be formed to penetrate in the vertical direction.

The moving groove 3211 may be formed in the inner direction on the front and rear surfaces of the guide hole 3210, respectively. At this time, the moving groove 3211 is most preferably formed in a 'ㄷ' shaped cross section, but is not limited to this. In addition, the moving groove 3211 may have continuous rails (not shown) formed in various shapes such as triangles and squares on the inner surface, and is most preferably in a triangular shape, but is not limited thereto.

The moving member 3212 adjusts its vertical position according to the insertion position, and can move along the guide hole 3210 with its front and rear ends inserted into the moving grooves 3211, respectively.

This moving member 3212 may include a moving plate 32120, an angle adjusting member 32121, and an insertion hole 32122.

The moving plate 32120 may be formed in the shape of a square plate with a curvature formed to match the shape of the adjuster frame 320 so that it can move along the guide hole 3210. At this time, the front and rear ends of the moving plate 32120 can be inserted into the moving groove 3211, and the moving plate 32120 can be moved along the guide hole 3210 while being inserted into the moving groove 3211.

At this time, when a rail (not shown) is formed in the moving groove 3211 of the moving plate 32120, rail protrusions (not shown) may be formed on the front and rear sides to correspond to the shape of the rail (not shown). Accordingly, the moving plate 32120 moves along the guide hole 3210 with the rail protrusion (not shown) engaged with the rail (not shown), thereby enabling more precise vertical position adjustment.

The angle adjustment member 32121 may be formed in the shape of a sphere and positioned at the center of the moving plate 32120. More specifically, the angle adjustment member 32121 can rotate while inserted into the moving plate 32120.

The insertion hole 32122 may be formed to penetrate the angle adjustment member 32121 so that the locking screw (S) can be inserted into the insertion position. At this time, the insertion hole 32122 is most preferably formed through the center of the angle adjustment member 32121, but is not limited to this.

As this insertion hole (32122) is formed through the center of the angle adjustment member (32121), it not only enables angle adjustment of the insertion position, but also secures the locking screw (S) so that it does not shake when inserted into the body. It is also effective.

In this way, referring to FIG. 9, the moving member 3212 can determine its vertical position while moving along the guide hole 3210. Thereafter, the moving member 3212 has the advantage of being able to adjust the insertion angle with respect to the insertion position by rotating the angle adjustment member 32121 in a desired direction with the locking screw (S) inserted into the insertion hole 32122.

The display unit 322 is formed on the outer surface of one end of the adjuster frame 320 to display location information of the insertion position, and may include a display 3220 and a notification unit 3221.

The display 3220 can receive target information from the position estimation device 2 and display coordinates for the insertion position. At this time, the target information may include information about the horizontal direction, vertical direction, and angle, but is not limited to this and may include all information about the insertion position.

The notification unit 3221 receives determination information from the position estimation device 2 and provides notification through light emission, and may include a horizontal notification unit 3221a, a vertical notification unit 3221b, and an angle notification unit 3221c. there is.

More specifically, the notification unit 3221 can provide a notification by emitting light when the judgment information matches the target information and the horizontal, vertical, and angle according to the insertion position, but is not limited to this, and emits light even in the opposite case. By providing a notification, you can more easily guide the insertion location to match the target information.

The horizontal notification unit 3221a can emit light and display when the horizontal position of the insertion hole 32122 according to the target information and the insertion position matches the target information based on the judgment information.

The vertical notification unit 3221b can emit light and display when the vertical position of the insertion hole 32122 according to the target information and the insertion position matches the target information based on the judgment information.

The angle notification unit 3221c can emit light and display when the angle of the insertion hole 32122 according to the target information and the insertion position matches the target information based on the judgment information.

At this time, it is most desirable for the notification unit 3221 to distinguish the horizontal notification unit 3221a, the vertical notification unit 3221b, and the angle notification unit 3221c by emitting different colors, but it is not limited to this.

Additionally, the notification unit 3221 can provide notifications through various methods such as sound and vibration in addition to emitting light.

The fine adjustment unit 323 is formed on the side of one end of the regulator frame 320 to finely adjust the coordinate value of the regulator 32. It is formed in the shape of a disk, but the outer peripheral surface can be formed in a continuously curved shape. there is. Accordingly, the fine adjustment unit 323 has the advantage of being able to finely adjust the movement of the adjuster 32 by rotating the outer peripheral surface in the left and right directions, thereby adjusting the coordinate values more accurately.

Figure 10 is a perspective view showing a marker of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention, and Figure 11 is a perspective view showing the marker separated from the body of Figure 5.

Referring to Figures 10 and 11, the marker 33 is recognized by image information by being photographed through the C-arm (1), and target information is derived by matching the position estimation device (2) and the stereotaxic device (3). It can be used to do so.

These markers 33 can be applied to any marker commonly used in the same technical field, but are not limited thereto.

More specifically, the marker 33 is used to derive spatial position information by setting and correcting the position and direction based on the stereotaxic device 3, and is located in the inner direction of the lower side of the body portion 30. 30) can be combined. At this time, when the marker 33 is not used, it is positioned inserted into the support groove 3200, and after all components of the stereotaxic device 3 are fastened, it can be pulled out from the support groove 3200 and used.

Accordingly, the marker 33 is formed in a rectangular shape to be inserted into the support groove 3200 of the support portion 320 to enable entry and exit, and includes a plurality of bearing balls arranged to correct and generate spatial position information of the marker from image information. It may include (330).

More specifically, the marker 33 can derive spatial location information by allowing the C-arm 1 to recognize the bearing ball 330. At this time, the bearing ball 330 can be formed of a metal material so that it can be recognized by the C-arm, and it is most preferable that it is a steel ball formed and arranged to a certain standard to minimize deformation in the C-arm image. , but is not limited to this.

Accordingly, the marker 33 uses characteristics such as distance between spheres and sphere size through the standardized arrangement of the bearing balls 330 to create a transformation matrix that defines the transformation relationship between the analysis value of the C-arm image and the coordinate value. It can be done.

Accordingly, the marker 33 can set and correct its position and direction based on the stereotaxic device 3 and convert it into spatial location information, which is an accurate spatial location information coordinate value.

At this time, deriving the coordinate value for the insertion position from the C-arm image can be implemented through a processor, memory, and software for performing an image processing process commonly used in the relevant field.

Figures 12 (a) to (e) are exemplary diagrams showing the fastening sequence of a stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention, and Figure 13 is an example of orthopedic implant surgery according to an embodiment of the present invention. This is an example diagram showing how a stereotaxic device is applied to a leg.

Referring to FIG. 12, the fastening sequence of the stereotaxic device for orthopedic implant surgery according to an embodiment of the present invention can be explained. At this time, Figure 12 shows the fastening sequence of the stereotaxic device 3 with the leg L excluded, and for convenience of explanation, it will be explained assuming that the leg L is present.

First, in (a) of Figure 12, the first body portion 30a is placed first, one side of the frame portion 300 is opened through the opening and closing portion 310, the legs are inserted, and the frame portion 300 is closed. Thus, the state is as shown in (a) of FIG. 12.

Thereafter, as shown in (b) of FIG. 12, the rear ends of each ruler 31 may be inserted and fastened into the coupling grooves 3400 formed on the front surfaces of both sides of the first body portion 30a. Next, the adjuster 32 is fastened to the ruler 31 as shown in (c) of FIG. 12, and can be fastened by positioning the ruler 31 through the through hole 3200 of the adjuster 32. Finally, as shown in (d) of FIG. 12, the front ends of the rulers 31 may be inserted and fastened into the coupling grooves 3400 formed on the rear surfaces of both sides of the second body portion 30b. At this time, before the second body part 30b is fastened to the ruler 31, one side of the frame part 300 is opened through the opening and closing part 310, the legs are inserted, and the frame part 300 is closed, and then the ruler is used. (31) so that it can be concluded. Afterwards, the marker 33 is pulled out from the support groove 3200 as shown in (e) of FIG. 12 to determine the insertion position, and then the adjuster 32 is moved horizontally and vertically to create an insertion hole 32122 at the insertion position. Adjust to match.

When the insertion hole (32122) matches the insertion position, the insertion tool (T) into which the locking screw (S) is inserted is inserted into the insertion hole (32122) as shown in Figure 13 to allow the locking screw (S) to be inserted into the body. You can.

Accordingly, the stereotaxic device 3 guides the locking screw S to be accurately positioned at the insertion position and allows it to be inserted at that position, which has the effect of enabling safer and more accurate surgery.

This method of inducing insertion of the locking screw will be described in detail below.

Figure 14 is a flow chart sequentially showing a method for guiding insertion of a locking screw according to an embodiment of the present invention.

In order to realize another object of the present invention described above, a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that generates image information to confirm the patient's condition and support a surgical plan according to an embodiment; A position estimation device that generates target information for insertion of the locking screw from image information received from the C-arm based on artificial intelligence, and a stereoscopic device that receives target information from the position estimation device to guide insertion of the locking screw into the body. In a locking screw insertion guidance system including a stereotaxic device, the locking screw insertion guidance method according to an embodiment of the present invention may include an image information generation step (S10), a target information generation step (S20), and a guide step (S30). there is.

In the image information generation step (S10), image information can be generated through a radioscopic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that confirms the patient's condition and supports surgical planning.

The target information generation step (S20) can generate target information into which the locking screw will be inserted from image information received from the C-arm based on artificial intelligence.

More specifically, the target information generation step (S20) may include a screw information learning step, a focus information learning step, a matching step, and a judgment step.

The screw information learning step can be learned by deriving the upper and lower midpoint coordinate information of the screw hole based on screw information including the position and shape of the screw hole on the C-arm image collected in advance.

In the focus information learning step, the camera can be set to a number of different focal lengths using camera calibration equipment, and the generated focal length information can be learned by placing the camera at different angles and distances for each focal length.

The matching step receives image information containing a marker, detects the marker, generates spatial location information based on the marker, and applies a CNN model to generate the target information based on the midpoint coordinate information and focal length information. You can.

In the determination step, sensor information may be received from the sensor unit to determine whether the target information matches the insertion position of the locking screw.

Lastly, the guide step (S30) allows the stereotaxic device (3) to receive target information and judgment information from the position estimation device (2) to guide the insertion of the locking screw (S) into the body.

The locking screw insertion guidance method according to the embodiment of the present invention described above can also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by a computer. Such recording media includes computer-readable media, which can be any available media that can be accessed by a computer and includes both volatile and non-volatile media, removable and non-removable media. Computer-readable media also includes computer storage media, both volatile and non-volatile implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. , includes both removable and non-removable media.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of rights.

1: C-arm (radioscopic imaging device)
2: Location estimation device
21: Screw hole information detection unit
22: Screw hole information analysis unit
23: Camera information analysis unit
24: matching part
25: Judgment unit
3: stereotaxic group
30: body part
30a: first body portion
30b: second body portion
300: frame part
3000: Hinge
310: opening and closing part
3100: Opening and closing member
3101: Opening/closing groove
320: support part
3200: Support groove
330: fixing part
340: coupling part
3400: Combination groove
3401: Separation button
31: ruler
310: Marking groove
320: bend part
32: regulator
320: regulator frame
3200: Through hole
321: Direction control unit
3210: Guide hole
3211: mobile home
3212: Moving member
32120: Moving plate
32121: Angle adjustment member
32122: Insertion hole
322: display unit
3220: Display
3221: Notification unit
3221a: Horizontal notification unit
3221b: Vertical notification unit
3221c: Angle notification unit
323: Fine adjustment unit
33: marker
330: Bearing ball
T: Insert tool
S: locking screw
L: Legs

Claims (13)

In the locking screw insertion guidance system that guides the insertion position of the locking screw during orthopedic implant surgery using a C-arm,
A radiographic imaging device (C-arm fluoroscopy, hereinafter referred to as C-arm) that generates image information to confirm the patient's condition and support surgical planning;
A position estimation device that generates target information for inserting the locking screw from image information received from the C-arm based on artificial intelligence; and
a stereotaxic device that receives target information from the position estimation device and guides insertion of the locking screw into the body;
Including,
The stereotaxic phase is,
A pair of body parts formed in a ring shape to be mounted on the affected area, one side of which is opened and closed, and located facing each other;
A ruler formed to connect the pair of body parts and guide the insertion position in a horizontal direction;
an adjuster disposed between the pair of body parts, fastened to both ends with the ruler penetrating in the forward and backward directions, and adjusting the horizontal and vertical directions with respect to the insertion position;
a marker formed to enable imaging through the C-arm, positioned in an inner direction of the lower side of the body and coupled to the body; and
a sensor unit formed on the adjuster and provided to determine the insertion position of the locking screw to generate sensor information;
A locking screw insertion guidance system including.
delete According to paragraph 1,
The marker is,
A locking screw insertion guidance system that is formed in a rectangular shape to enable entry and exit from the bottom surface of the body and includes a bearing ball for correcting and generating spatial position information of the marker from the image information.
According to paragraph 3,
The location estimation device,
Screw information including the location and shape of the screw hole is learned from the previously collected C-arm image, and the screw hole information is provided to indicate the conditions under which the locking screw is inserted into the screw hole. a screw hole information detection unit that detects the matching screw hole information;
a screw hole information analysis unit that generates screw hole space information about the position and direction of the screw hole by applying the screw hole information to the screw hole into which the locking screw is to be inserted;
Camera information analysis that generates camera information by shooting camera calibration equipment at different positions and angles, and calculates camera analysis information including information on lens principal point, focal length, asymmetry coefficient, and distortion coefficient through camera information analysis. wealth;
Based on the spatial location information of the marker, a matching unit that applies a CNN model to generate the target information based on the screw hole spatial information and the camera analysis information;
A locking screw insertion guidance system comprising a determination unit that receives sensor information from the sensor unit, determines whether the target information matches the insertion position of the locking screw, and generates decision information.
According to paragraph 1,
The regulator is,
a regulator frame formed in an arc shape and including a through hole through which the ruler passes;
A direction control unit formed along the longitudinal direction of the regulator frame;
A display unit formed on the outer surface of one end of the adjuster frame to display the coordinate value of the insertion position, and
A locking screw insertion guidance system comprising a fine adjustment unit formed on a side of one end of the adjuster frame and capable of finely adjusting the coordinate value of the adjuster.
According to clause 5,
The direction control unit,
a guide hole formed along the longitudinal direction of the regulator frame and penetrating in the vertical direction;
Moving grooves formed in the inner direction on the front and rear surfaces of the guide hole, respectively, and
A locking screw insertion guidance system including a moving member that is inserted into the moving groove and moves along the guide hole to adjust the vertical position.
According to clause 6,
The moving member is,
A moving plate formed in the shape of a square plate with a curvature so that it can move along the moving groove;
An angle adjustment member formed in a ball shape at the center of the moving plate to adjust the angle according to the insertion position, and
A locking screw insertion guidance system comprising an insertion hole formed through the center of the angle adjustment member to allow insertion of the locking screw into the insertion position.
According to paragraph 1,
The sensor unit,
A locking screw insertion guidance system that includes an angle sensor, a distance sensor, and a depth sensor, and generates sensor information including angle information, distance information, and depth information about the insertion position of the locking screw.
In clause 7,
The display unit,
A display that receives target information from the position estimation device and displays coordinate values for the insertion position, and
A lock screw insertion guidance system including a notification unit that receives judgment information from the position estimation device and provides notification through light emission.
According to clause 9,
The notification unit,
a horizontal notification unit that displays when the target information and the horizontal position of the insertion hole according to the insertion position match;
A vertical notification unit that displays when the target information and the vertical position of the insertion hole according to the insertion position match, and
A lock screw insertion guidance system including an angle notification unit that displays when the target information and the angle of the insertion hole match.
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