KR102737170B1 - Device and method for aligning the reference position of the shape restoration device - Google Patents

Abstract

The present invention relates to a reference position alignment device and alignment method for improving the accuracy and reducing errors of a shape restoration device using an ultrasonic probe that can three-dimensionally confirm the shape of a subject to be photographed without the risk of radiation exposure.
A method for aligning a reference position of a shape restoration device according to an embodiment of the present invention may include an alignment device preparation step of mounting a reference pin on the shape restoration device and mounting a position adjustment jig on a tank containing an ultrasonic wave transmission medium; a reference position alignment step of fixing an image acquisition phantom to a phantom fixing member of the position adjustment jig, and then moving the position adjustment jig to position the image acquisition phantom so that it is located within the tank, and aligning an arbitrary reference plane or center line of the image acquisition phantom to coincide with the reference pin; and a reference position alignment confirmation step of moving an ultrasonic probe of the shape restoration device to photograph the image acquisition phantom, while displaying a marker on an ultrasonic image and checking an alignment state according to a movement of the ultrasonic probe based on the displayed marker, and correcting the alignment state of the shape restoration device if alignment correction is necessary.

Description

{Device and method for aligning the reference position of the shape restoration device}

The present invention relates to a reference position alignment device and alignment method of a shape restoration device, and more specifically, to a reference position alignment device and alignment method of a shape restoration device using an ultrasonic probe capable of confirming the shape of a subject to be photographed in three dimensions without the risk of radiation exposure.

Simple radiography, based on the idea that internal structures of the human body can be seen when X-rays are passed through the body, has been the only technique in the field of radiology to obtain images of the inside of the human body for about 50 years, contributing to diagnosis and treatment. As the name suggests, simple radiography means taking pictures of the human body using X-rays without using contrast agents or instruments, and includes front and rear photos, and side or diagonal photos as needed. Commonly referred to are simple chest radiography, such as chest radiography and bone radiography, simple abdominal radiography, simple skeletal radiography, simple paranasal sinus radiography, simple neck soft tissue radiography, mammography, etc.

However, there was a problem that patients and medical staff could be exposed to radiation even if they wore radiation shielding suits when taking X-rays, and that exposure could not be avoided when taking X-rays during surgery or a procedure.

Accordingly, the applicant disclosed Korean Patent No. 10-2247072, 'Shape restoration device and shape restoration method using an ultrasonic probe'.

The above Korean Patent No. 10-2247072 comprises: a main body having a rail installed to guide movement in one direction; a rotation guide in the shape of an arc, one end of which is connected to the main body to move along the rail, the other end of which is orthogonal to the one direction, and which extends along the trajectory of a circle whose circumference is in contact with the main body; a probe unit that moves along the rotation guide and changes its position along an arbitrary extension line connected from a point of the rotation guide to the center point of the rotation guide to take an ultrasonic image of a subject to be photographed; a posture and orientation measurement unit that coordinates the movement of the probe unit with respect to the center point; a position sensor that coordinates a point where the rotation guide and the main body are connected with respect to one direction; and a control unit that transmits a coordinate calculation command to the posture and orientation measurement unit and the position sensor when the probe unit takes an image, and restores the shape of the subject to be photographed by corresponding the image acquired from the probe unit and the coordinate information from the posture and orientation measurement unit and the position sensor; so that the shape of the subject to be photographed (T) can be restored while preventing radiation exposure.

Meanwhile, conventional shape restoration devices, including Korean Patent No. 10-2247072, use 2D images continuously acquired during bone endoscopic surgery, etc. to construct an ultrasound 3D image, and use the alignment of the ultrasound 3D image and the acquired magnetic resonance image to indicate the location of the lesion and suggest the access location and direction. However, conventional shape restoration devices tend to have some errors because there is no verification of the ultrasound 3D image and the location of the actual object.

The present invention is proposed to improve the accuracy and minimize errors of an ultrasonic 3D image acquired using a shape restoration device according to the above-described problems, and to provide a reference position alignment device and alignment method of a shape restoration device capable of initially confirming the alignment of the shape restoration device for reconstruction of an acquired ultrasonic 3D image and accurate positional alignment of a body position on an operating table.

In order to solve the above problem, according to an embodiment of the present invention, a reference position alignment device of a shape restoration device may be configured to include a position reference pin that is mounted on the shape restoration device and forms a position reference point of the shape restoration device; a position adjustment jig that is mounted on a tank containing an ultrasonic wave transmission medium and forms a phantom fixing member, and forms a plurality of degrees of freedom (DOF) that can control movement and rotation of the phantom fixing member; and a phantom that is mounted on the phantom fixing member of the position adjustment jig and is aligned so that an arbitrary reference plane or center line within the tank coincides with the position reference pin through movement and rotation of the phantom fixing member, and an image acquisition phantom that is photographed by an ultrasonic probe of the shape restoration device.

Here, the position reference pin is provided at an end of a pin mounting jig that is detachable from the shape restoration device, and is mounted on the shape restoration device through mounting of the pin mounting jig, wherein the pin mounting jig is provided so as to form a length at the center of the rotation guide of the shape restoration device when mounted on the shape restoration device, so that the position reference pin can be positioned at the center of the rotation guide of the shape restoration device.

In addition, the position adjustment jig can form five degrees of freedom (5 DOF) composed of three degrees of freedom of movement, which enable movement in the forward/backward direction, movement in both directions, and movement in the up/down direction from the installed position, and two degrees of freedom of rotation, which enable the phantom fixing member to rotate around the X-axis, which is the forward/backward direction of the position adjustment jig, and around the Z-axis, which is the up/down direction.

Additionally, the image acquisition phantom may be a cylindrical bone model or a wire.

Meanwhile, a method for aligning a reference position of a shape restoration device according to an embodiment of the present invention may include an alignment device preparation step of mounting a reference pin on the shape restoration device and mounting a position adjustment jig on a tank containing an ultrasonic wave transmission medium; a reference position alignment step of fixing an image acquisition phantom to a phantom fixing member of the position adjustment jig, and then moving the position adjustment jig to position the image acquisition phantom so that it is located within the tank, and aligning an arbitrary reference plane or center line of the image acquisition phantom to coincide with the reference pin; and a reference position alignment confirmation step of moving an ultrasonic probe of the shape restoration device to photograph the image acquisition phantom, while displaying a marker on an ultrasonic image and checking an alignment state according to the movement of the ultrasonic probe based on the displayed marker, and correcting the alignment state of the shape restoration device if alignment correction is necessary.

Here, the position reference pin can be formed to be located at the center point of the rotation guide of the shape restoration device.

In addition, the position adjustment jig can adjust the position of the image acquisition phantom with five degrees of freedom (5 DOF), which are composed of three degrees of freedom for movement in the forward/backward direction, movement in both directions, and movement in the up/down direction from the installed position, and two degrees of freedom for rotation in which the phantom fixing member rotates around the X-axis, which is the forward/backward direction of the position adjustment jig, and around the Z-axis, which is the up/down direction.

The reference position alignment device and alignment method of the shape restoration device according to an embodiment of the present invention can double the effect of the shape restoration device that improves the stability of medical staff during surgery by excluding radiation exposure during the process of confirming the shape of a bone during orthopedic surgery such as fracture and bone tumor surgery.

In addition, the reference position alignment device and alignment method of the shape restoration device according to an embodiment of the present invention can double the effect of the shape restoration device by identifying the posture and position of the ultrasonic probe and the fixed module in real time through a plurality of variables, and photographing the subject to be photographed based on the posture and position, thereby obtaining an image, thereby collecting a three-dimensional shape in real time and easily setting a path for inserting a medical device during surgery.

In addition, the reference position alignment device and alignment method of the shape restoration device according to an embodiment of the present invention can help provide excellent medical services regardless of the clinical experience of medical staff.

In addition, the reference position alignment device and alignment method of the shape restoration device according to the embodiment of the present invention are not limited to the effects described in the embodiment of the present invention mentioned above, and may further include all effects predictable from the specification and drawings.

Figure 1 is an exemplary diagram of a shape restoration device to which the reference position alignment device and alignment method of the present invention are applied.
Figure 2 is an enlarged detailed view of the shape restoration device of Figure 1.
Fig. 3 is a side view of the shape restoration device of Fig. 1.
Fig. 4 is a front view of the shape restoration device of Fig. 1.
FIG. 5 is a perspective view of a reference position alignment device of a shape restoration device according to an embodiment of the present invention.
Figure 6 is an enlarged view of the drawing of Figure 5 after removing the surgical table of the shape restoration device and the water tank of the reference position alignment device of the shape restoration device.
Fig. 7 is a detailed drawing of a position adjustment jig, which is one component of the reference position alignment device of the shape restoration device of Fig. 6.
Figure 8 is an example of the use of a reference position alignment device of a shape restoration device according to an embodiment of the present invention.
Figure 9 is a flow chart of a reference position alignment method of a shape restoration device according to an embodiment of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations can be made and various embodiments can be made. In addition, it should be understood that the contents described below include all transformations, equivalents, or substitutes included in the spirit and technical scope of the present invention.

In the following description, the terms first, second, etc. are used to describe various components, and are not limited in meaning by themselves, but are used only for the purpose of distinguishing one component from another.

Like reference numbers used throughout this specification represent like components.

The singular expressions used in the present invention include plural expressions unless the context clearly indicates otherwise. In addition, the terms "comprises," "includes," or "has" described below should be interpreted to specify that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and should be understood to not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, a reference position alignment device and alignment method of a shape restoration device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

The present invention relates to a reference position alignment device and alignment method of a shape restoration device for improving the accuracy of an ultrasonic 3D image obtained from a shape restoration device and minimizing errors. To facilitate understanding, the configuration and operation of the shape restoration device will first be described, and then the reference position alignment device and alignment method of the shape restoration device of the present invention will be described.

FIG. 1 is an exemplary diagram of a shape restoration device to which a reference position alignment device and alignment method of the present invention are applied, FIG. 2 is an enlarged detailed diagram of the shape restoration device of FIG. 1, FIG. 3 is a side view of the shape restoration device of FIG. 1, and FIG. 4 is a front view of the shape restoration device of FIG. 1.

Referring to FIGS. 1 to 4, the shape restoration device (1) includes a main body (10), a rotation guide (20), a probe unit (30), a posture and orientation measurement unit (not shown), a position sensor (not shown), and a control unit (not shown), and may further include a display unit (not shown) and an input unit (not shown).

The main body (10) may be provided with a first rail (11) that guides movement in one direction, and one direction may be set in a direction horizontal to the longitudinal direction of the surgical table (5). At this time, the first rail (11) may form a length along one direction of the main body (10) to induce movement of the rotation guide (20). In addition, a position sensor may be connected to one end of the main body (10), and the main body (10) may be provided longer than the surgical table (5) so that the rotation guide (20) may move over the entire area of the surgical table (5).

The rotation guide (20) can be connected to the main body (10) so that one end moves along the first rail (11), and the rotation guide (20) can have an arc shape that is extended along the trajectory of a circle whose other end is orthogonal to one direction and whose circumference is in contact with the main body (10). The rotation guide (20) can move along one direction through the first rail (11) of the main body (10) to photograph a subject to be photographed (not shown) accommodated on the surgical table (5). At this time, the rotation guide (20) can be formed so that it moves along the first rail (11) in one direction by providing a moving body (21) at the bottom, and the moving body (21) can form a second rail (22) in a direction orthogonal to the first rail (11). The rotation guide (20) is formed to move along the second rail (22) and can be configured to move along the first rail (11) in one direction and the second rail (22) orthogonal to the one direction.

Meanwhile, the position at which the rotation guide (20) has stopped can be sensed by a position sensor. In addition, a third rail (23) is formed along the circumferential direction on the rotation guide (20), so as to guide the movement of the probe part (30). At this time, the third rail (23) of the rotation guide (20) is formed so as to have a variable length, that is, to be able to expand and contract along the circumferential direction, so as to expand or contract the movement range of the rotation guide (20).

The probe unit (30) can move along the rotation guide (20). The probe unit (30) can change its position along an arbitrary extension line connected to the center point of the rotation guide (20) at one point of the rotation guide (20) to take an ultrasonic image of the subject to be photographed. The probe unit (30) can stop at one point of the rotation guide (20) and then move along an arbitrary extension line toward the center point or away from the center point. The movement of the probe unit (30) moving along the extension line can be measured and coordinated by a position sensor.

The probe unit (30) may be configured to include an ultrasonic probe (31), a fixed module (32), and a ball joint (33). The ultrasonic probe (31) can capture an image of a subject to be photographed. Specifically, the ultrasonic probe (31) may be provided in the form of an ultrasonic imaging device for capturing an image. In this way, the ultrasonic probe (31) is a component for restoring the shape of a subject to be photographed while preventing radiation exposure in the present invention. The ultrasonic probe (31) is coupled to a rotation guide (20) and can move, and can capture an object to be photographed at a fixed position. When capturing an object to be photographed with the ultrasonic probe (31), information such as the position, angle, and posture of the ultrasonic probe (31) can be detected through a position sensor and a posture and direction measurement unit.

Meanwhile, the ultrasonic probe (31) can change its position along an arbitrary extension line connected to the center point of the rotation guide (20), and at this time, it can move from the rotation guide (20) through the fixed module (32).

The fixed module (32) can connect the ultrasonic probe (31) to the rotation guide (20). The fixed module (32) can move closer or further away along the direction of the center point while connecting the ultrasonic probe (31) to the rotation guide (20). That is, a first movement in which the rotation guide (20) moves along the first rail (11) of the main body (10) through the moving body (21) as shown in FIGS. 3 and 4, a second movement in which the rotation guide (20) moves along the second rail (22) of the moving body (21) forming a length in a direction orthogonal to the first rail (11), a third movement in which the probe part (30) moves through the third rail (23) of the rotation guide (20), and a fourth movement in which the ultrasonic probe (31) and the fixed module (32) move along an arbitrary extension line connected to the center point while being fixed to the rotation guide (20) can be distinguished. The position of the ultrasonic probe (31) changed through the first to fourth movements can be coordinated through a reference preset for the position sensor.

The ball joint (33) can be connected between the fixed module (32), the ultrasonic probe (31), and the fixed module (32). The ball joint (33) can guide the three-axis rotational movement of the ultrasonic probe (31) based on the center point. In this way, the shooting conditions of the ultrasonic probe (31) can be finely adjusted. Specifically, the ball joint (33) can rotate the shooting posture of the ultrasonic probe (31) in the three-axis direction as shown in Fig. 3 in order to scan the periphery of the shooting area after shooting the subject to be shot while the ultrasonic probe (31) is fixed.

In addition, the ball joint (33) can be locked to limit the movement of the ultrasonic probe (31) when photographing a subject while the ultrasonic probe (31) is fixed. At this time, locking means a state in which the rotation of the ball joint (33) itself is limited, and through this, the three-axis rotational movement of the ultrasonic probe (31) can be limited.

Meanwhile, the movement of the ultrasonic probe (31) finely adjusted through the ball joint (33) can be defined as the fifth movement. The shooting conditions of the ultrasonic probe (31) finely adjusted through the ball joint (33) can be measured and stored through the posture and orientation measurement unit.

The attitude direction measuring unit (not shown) can coordinate the movement of the probe unit (30) with respect to the center of gravity. The attitude direction measuring unit can measure and coordinate the attitude and position of the ultrasonic probe (31) that is finely adjusted through the fifth movement caused by the movement of the ball joint (33). The attitude direction measuring unit can include at least two AHRS (Attitude Heading Reference Systems) that are mutually compatible and measure the attitude and orientation of the probe unit (30).

The position sensor (not shown) can coordinate a point where the rotation guide (20) and the main body (10) are connected based on one direction. The position sensor can coordinate a point where the rotation guide (20) is stopped. The position sensor can coordinate a position of a probe part (30) moving along the rotation guide (20). The position sensor can coordinate a position of an ultrasonic probe (31) moving along an arbitrary line connected to the center point of the rotation guide (20) through a fixed module (32). That is, the position sensor can coordinate a position of an ultrasonic probe (31) moving by the first to fourth movements.

The control unit (not shown) can transmit a coordinate calculation command to the attitude/direction measurement unit and the position sensor when capturing an image from the probe unit (30). The control unit can restore the shape of the subject to be captured by matching the image acquired from the probe unit (30) with the coordinate information from the attitude/direction measurement unit and the position sensor. The control unit can control the ball joint (33) to capture multiple capture areas by the ultrasonic probe (31) while being locked under different conditions. That is, the control unit can compare information obtained by scanning the periphery of multiple capture areas captured by the ultrasonic probe (31) at different capture angles by locking/rotating the ball joint (33), and if matching information is confirmed among them, the shape of the subject to be captured can be synthesized.

The display unit (not shown) can output the shape of the subject to be photographed restored by the control unit in the form of a three-dimensional image. The shape of the subject to be photographed can be confirmed in real time through the image output from the display unit. In addition, the image output from the display unit can be accumulated and stored to track changes in the shape of the subject to be photographed.

The input unit (not shown) can input information on the subject to be photographed. The input unit can input the size, volume, size, etc. of the subject to be photographed accommodated on the surgical table (5). Based on the information input through the input unit, the shooting settings of the rotation guide (20) and the probe unit (30) can be flexibly changed.

Meanwhile, the shape restoration device (1) can output in real time through the display unit not only the image restored by the control unit but also the image captured by the probe unit (30). That is, by outputting the image captured in real time, the path of the medical device invasive to the subject of the photograph can be easily confirmed.

The present invention is a reference position alignment device and alignment method of the shape restoration device (1) as described above, which enables reconstruction of an ultrasonic 3D image obtained through alignment of the shape restoration device (1) and accurate positional alignment of a body position on an operating table, thereby improving the accuracy of the 3D image and minimizing errors. That is, the present invention is used to determine the mechanical correlation between an arbitrarily arranged operating table (5) and a guide main body (10). This will be described with reference to FIGS. 5 to 8.

FIG. 5 is a perspective view of a reference position alignment device of a shape restoration device according to an embodiment of the present invention, FIG. 6 is an enlarged view of the surgical table of the shape restoration device and the tank of the reference position alignment device of the shape restoration device after removing them from the drawing of FIG. 5, FIG. 7 is a detailed view of a position adjustment jig which is a component of the reference position alignment device of the shape restoration device of FIG. 6, and FIG. 8 is a usage example diagram of the reference position alignment device of the shape restoration device according to an embodiment of the present invention.

First, referring to FIGS. 5 to 8, the reference position alignment device (100) of the shape restoration device (1) according to an embodiment of the present invention may be configured to include a position reference pin (110), a position adjustment jig (120), and an image acquisition phantom (130).

The position reference pin (110) can be mounted on the shape restoration device (1). At this time, the position reference pin (110) is provided at an end of a pin mounting jig (115) that can be detachably mounted on the shape restoration device (1), and can be mounted on the shape restoration device (1) through the pin mounting jig (115). The pin mounting jig (115) can be mounted on the rotation guide (20) of the shape restoration device (1) to form a length toward the center point of the rotation guide (20), and the position reference pin (110) can be formed to protrude at the end thereof. At this time, preferably, the length of the pin mounting jig (115) from one end mounted on the rotation guide (20) to the other end where the position reference pin (110) is formed can form a length up to the center point so that the position reference pin (110) can be positioned at the center point of the rotation guide (20).

The position adjustment jig (120) can be mounted in a tank (105) containing an ultrasonic wave propagation medium. Here, the ultrasonic wave propagation medium may be water or a gel for medical ultrasound, but is not necessarily limited thereto, and any medium that has the property of transmitting ultrasonic waves generated from an ultrasonic probe (31) can be used.

In addition, the position adjustment jig (120) can form a phantom fixing member (128). At this time, the position adjustment jig (120) can form a plurality of degrees of freedom (DOF) that can control the movement and rotation of the phantom fixing member (128). Specifically, the position adjustment jig (120) can form a first degree of freedom that is movement in the forward/backward direction from the installed position, a second degree of freedom that is movement in both directions, and a third degree of freedom that is movement in the up/down direction. That is, it forms three degrees of freedom of movement. In addition, the position adjustment jig (120) can be configured so that the phantom fixing member (128) rotates based on the X-axis direction, which is the forward/backward direction of the position adjustment jig (120), and rotates based on the Z-axis direction, which is the up/down direction. That is, it forms two degrees of freedom of rotation. Through this, the position adjustment of the image acquisition phantom, which will be described later, can be performed more finely, as it is configured to form a total of five degrees of freedom (5 DOF).

To this end, the position adjustment jig (120) may include a mounting member (121) for mounting the position adjustment jig (120) in a tank (105) containing an ultrasonic wave transmission medium, a lateral moving rail (122) provided on the upper end of the mounting member (121) to form a length in both directions, a forward/rearward moving rail (123) provided on the upper end of the lateral moving rail (122) to form a length in the forward/rearward direction orthogonal to the lateral moving rail (122), and an up/down moving rail (124) provided in front of the forward/rear moving rail (123) to form a length in the vertical direction, and between the lateral moving rail (122) and the forward/rear moving rail (123), a first moving member (125) that is connected to each rail (122, 123) to mediate a connection between each rail (122, 123) and can move along each rail (122, 123) is provided. A second moving member (126) that is connected to each rail (123, 124) and mediates the connection between each rail (123, 124) and can move along each rail (123, 124) may be provided between the forward and backward moving rail (123) and the upward and downward moving rail (124).

In addition, a rotation module (127) that can rotate around the Z-axis direction is provided at the bottom of the up-and-down movement rail (124), and a phantom fixing member (128) for fixing an image acquisition phantom (130) to be described later may be provided in front of the rotation module (127) so as to rotate around the X-axis direction. As will be described later, the image acquisition phantom (130) may be a long cylindrical bone model (illustrated in the drawing) or a wire (not shown), and therefore, in order to stably fix both ends of the image acquisition phantom (130), a front-and-back movement rail (123), an up-and-down movement rail (124), a first movement member (125), a second movement member (126), a rotation module (127), and a phantom fixing member (128) may be provided on both sides of the lateral movement rail (122), respectively.

The image acquisition phantom (130) is mounted on the phantom fixing member (128) of the position adjustment jig (120) and can move and rotate along with the movement and rotation of the phantom fixing member (128). At this time, an arbitrary reference plane or center line within the tank (105) can be aligned to coincide with the position reference pin (110) along with the movement and rotation of the phantom fixing member (128), and after alignment, it can be configured to be photographed by the ultrasonic probe (31) of the shape restoration device (1) while being fixed to the position adjustment jig (120).

At this time, the image acquisition phantom (130) may be a cylindrical bone model (as shown in the drawing) or a wire (not shown) as described above, and a marker for reference may be displayed on the ultrasound image displayed in real time on the display unit of the shape restoration device (1), and the alignment state of the shape restoration device (1) may be checked and corrected by moving and rotating the ultrasound probe (31) based on the displayed marker, and if the bodies are photographed with the ultrasound probe (31) in a properly aligned state, the ultrasound 3D image may be more accurate and errors may be minimized.

Hereinafter, a method for aligning the reference position of a shape restoration device using the reference position alignment device of the shape restoration device described above will be described with reference to FIG. 9.

Figure 9 is a flow chart of a reference position alignment method of a shape restoration device according to an embodiment of the present invention.

Referring to FIG. 9, a method for aligning a reference position of a shape restoration device according to an embodiment of the present invention may be configured to include an alignment device preparation step (S10), a reference position alignment step (S20), and a reference position alignment confirmation step (S30).

Specifically, the alignment device preparation step (S10) is a step of preparing devices for alignment of the shape restoration device (1), which includes mounting a position reference pin (110) on the shape restoration device (1) and mounting a position adjustment jig (120) on a tank (105) containing an ultrasonic wave transmission medium.

The reference position alignment step (S20) is a step in which the image acquisition phantom (130) is fixed to the phantom fixing member (128) of the position adjustment jig (120), and then the image acquisition phantom (130) is positioned within the tank while moving through the five degrees of freedom of the position adjustment jig (120), and an arbitrary reference plane or center line of the image acquisition phantom (130) is aligned with the position reference pin (110).

The standard position alignment confirmation step (S30) is a step in which the ultrasonic probe (31) of the shape restoration device (1) is moved to capture an image acquisition phantom (130), a marker is displayed on the ultrasonic image of the display unit, and the alignment status according to the movement of the ultrasonic probe (31) is confirmed based on the displayed marker, and if alignment correction is necessary, the alignment status of the shape restoration device (1) is corrected.

If the ultrasound probe (31) is properly aligned through the standard position alignment confirmation step (S30), an accurate ultrasound 3D image with minimal error can be obtained when photographing the body, and the alignment between images can also be accurately achieved, allowing the patient to receive excellent medical services from medical staff.

Here, the position reference pin (110) is positioned at the center of the rotation guide (20) of the shape restoration device (1), making it easier to check the alignment of the shape restoration device (1), and the position adjustment jig (120) allows easy position adjustment of the image acquisition phantom (130) through five degrees of freedom, so that the reference position alignment process of the shape restoration device (1) can be performed in detail and easily.

Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features of the present invention. Therefore, the embodiments described above are exemplary in all respects and are not limiting.

1: Shape restoration device
5: Operating table
10 : Body
11: 1st rail
20: Rotation Guide
21 : Mobile
22: 2nd rail
23: Third Rail
30 : Probe section
31 : Ultrasonic probe
32 : Fixed module
33 : Ball joint
100 : Reference Position Alignment Device
105 : Tank
110 : Position reference pin
115 : Pin mounting jig
120 : Position adjustment jig
121: Mounting
122: Lateral movement rail
123: Forward and backward movement rail
124: Up and down moving rail
125: 1st moving part
126: Second moving part
127 : Rotation module
128: Phantom fixation absence
130 : Image Acquisition Phantom

Claims (7)

A positioning reference pin mounted on a shape restoration device to form a positioning reference point of the shape restoration device;
A positioning jig mounted in a tank containing an ultrasonic wave transmission medium and forming a phantom fixing member, and forming a plurality of degrees of freedom (DOF) capable of controlling movement and rotation of the phantom fixing member; and
An image acquisition phantom is included, which is mounted on a phantom fixing member of the position adjustment jig and is aligned so that any reference plane or center line within the tank coincides with the positioning reference pin through movement and rotation of the phantom fixing member.
The above location reference pins are.
A pin mounting jig end that can be detached from the shape restoration device is provided, and is mounted on the shape restoration device through mounting of the pin mounting jig.
The above pin mounting jig is,
When mounted on the shape restoration device, it is mounted on the rotation guide of the shape restoration device and is arranged to form a length with the center of the rotation guide.
It is characterized in that the above position reference pin is positioned at the center of the rotation guide of the shape restoration device,
The above position adjustment jig is,
Three degrees of freedom of movement, including forward/backward movement from the installed position, bilateral movement, and up/down movement,
A reference position alignment device of a shape restoration device, characterized in that the phantom fixing member forms five degrees of freedom (5 DOF) by being composed of two parts that rotate around the X-axis, which is the forward/backward direction of the position adjustment jig, and around the Z-axis, which is the up/down direction, to adjust the position of the image acquisition phantom.
delete delete In paragraph 1,
The above image acquisition phantom is,
A reference position alignment device for a shape restoration device characterized by being a cylindrical bone model or wire.
An alignment device preparation step of mounting a positioning reference pin on a shape restoration device and mounting a positioning adjustment jig on a tank containing an ultrasonic transmission medium;
A reference position alignment step is included, in which the image acquisition phantom is fixed to the phantom fixing member of the position adjustment jig, the position adjustment jig is moved to position the image acquisition phantom so that it is located within the tank, and an arbitrary reference plane or center line of the image acquisition phantom is aligned with the position reference pin.
The above location reference pins are.
A pin mounting jig end that can be detached from the shape restoration device is provided, and is mounted on the shape restoration device through mounting of the pin mounting jig.
The above pin mounting jig is,
When mounted on the shape restoration device, it is mounted on the rotation guide of the shape restoration device and is arranged to form a length with the center point of the rotation guide.
It is characterized in that the above position reference pin is positioned at the center of the rotation guide of the shape restoration device,
The above position adjustment jig is,
Three degrees of freedom of movement, including forward/backward movement from the installed position, bilateral movement, and up/down movement,
A method for aligning a reference position of a shape restoration device, characterized in that the phantom fixing member forms five degrees of freedom (5 DOF) by forming two parts that rotate around the X-axis, which is the forward/backward direction of the position adjustment jig, and around the Z-axis, which is the up/down direction, to adjust the position of the image acquisition phantom. delete delete