US-12616550-B2 - Medical three-dimensional image measuring device and medical image matching system

US12616550B2US 12616550 B2US12616550 B2US 12616550B2US-12616550-B2

Abstract

A medical three-dimensional image measuring device includes a light source configured to output light, a camera configured to generate three-dimensional image information by receiving reflected light generated by reflecting the light from an object, a housing including the camera disposed therein and forming an opening through which the reflected light enters into the housing, and a marker disposed on the housing to be capable of changing at least one of a relative location or a relative posture to the opening and including a tracking surface configured to be imaged by an external imaging device for tracking a location and a posture.

Inventors

Moon Young Jeon
Seung Yeol RYU

Assignees

KOH YOUNG TECHNOLOGY INC

Dates

Publication Date: 20260505
Application Date: 20211013
Priority Date: 20201013

Claims (16)

1 . A medical three-dimensional image measuring device comprising: a light source configured to output light; a camera configured to generate three-dimensional image information by receiving reflected light generated by reflecting the light from an object; a housing including the camera disposed therein and forming an opening through which the reflected light enters into the housing; and a marker disposed on the housing to be capable of changing at least one of a relative location or a relative posture to the opening and including a tracking surface configured to be imaged by an external imaging device for tracking a location and a posture, wherein the housing includes: a first housing to which the marker is fixed; and a second housing formed with the opening and coupled to the first housing to be capable of changing at least one of a relative location or a relative posture to the first housing.
2 . The medical three-dimensional image measuring device of claim 1 , wherein the light source is configured to output patterned light, and wherein the camera is configured to generate the three-dimensional image information by receiving the reflected light generated by reflecting the patterned light from the object.
3 . The medical three-dimensional image measuring device of claim 1 , further comprising: a sensor configured to detect displacement information according to a change in the at least one of the relative location or the relative posture of the marker to the opening; and a communication circuit configured to transmit the displacement information to an external electronic device.
4 . The medical three-dimensional image measuring device of claim 1 , wherein the marker is configured to be capable of changing the at least one of the relative location or the relative posture to the opening by performing at least one of (i) relative translational motion to the opening or (ii) relative rotational motion to the opening around a predetermined rotation axis.
5 . The medical three-dimensional image measuring device of claim 1 , wherein the second housing is configured to be capable of changing the at least one of the relative location or the relative posture of the marker to the opening by performing at least one of (i) relative translational motion to the first housing or (ii) relative rotational motion to the first housing around a predetermined rotation axis.
6 . The medical three-dimensional image measuring device of claim 1 , wherein the second housing is configured to be capable of changing the relative posture to the first housing by being disposed to be capable of rotating relative to the first housing around the predetermined rotation axis, the medical three-dimensional image measuring device further comprising: a sensor configured to detect rotation angle information according to a change in the relative posture of the second housing.
7 . The medical three-dimensional image measuring device of claim 6 , further comprising: a bearing interposed between the first housing and the second housing so that the second housing is capable of relatively rotating with respect to the first housing.
8 . The medical three-dimensional image measuring device of claim 6 , wherein the second housing is configured to be capable of changing the relative location to the first housing by being disposed to be capable of translating relative to the first housing, and wherein the sensor is configured to detect distance information about a relatively moved distance of the second housing with respect to the first housing.
9 . The medical three-dimensional image measuring device of claim 8 , further comprising: a bearing interposed between the first housing and the second housing so that the second housing is capable of translating and rotating relative to the first housing.
10 . The medical three-dimensional image measuring device of claim 6 , wherein the predetermined rotation axis extends parallel to a path of the reflected light immediately before reaching the camera.
11 . The medical three-dimensional image measuring device of claim 6 , wherein the predetermined rotation axis extends in a direction crossing a path of the reflected light immediately before reaching the camera.
12 . The medical three-dimensional image measuring device of claim 1 , wherein the second housing is configured to be capable of changing the relative location to the first housing by being disposed to be capable of translating relative to the first housing, the medical three-dimensional image measuring device further comprising: a sensor configured to detect distance information about a relatively moved distance of the second housing with respect to the first housing according to a change in the relative location of the second housing.
13 . The medical three-dimensional image measuring device of claim 12 , further comprising: a bearing interposed between the first housing and the second housing so that the second housing is capable of translating relative to the first housing.
14 . A medical image matching system comprising: a medical three-dimensional image measuring device including a light source configured to output light, a camera configured to generate three-dimensional image information by receiving reflected light generated by reflecting the light from an object, a housing including the camera disposed therein and forming an opening through which the reflected light enters into the housing, and a marker disposed on the housing to be capable of changing at least one of a relative location or a relative posture to the opening and including a tracking surface configured to be imaged by an external imaging device for tracking a location and a posture; and an external electronic device including an imaging device for forming a tracking image by imaging at least a portion of the tracking surface of the marker, the external electronic device being configured to receive the three-dimensional image information and determine the location and the posture of the marker using the tracking image to determine coordinates of the three-dimensional image information, wherein the housing includes: a first housing to which the marker is fixed; and a second housing formed with the opening and coupled to the first housing to be capable of changing at least one of a relative location or a relative posture to the first housing.
15 . The medical image matching system of claim 14 , wherein the medical three-dimensional image measuring device further includes a sensor configured to detect displacement information according to a change in the at least one of the relative location or the relative posture of the marker to the opening, and wherein the external electronic device is configured to determine the coordinates of the three-dimensional image information based on the displacement information.
16 . The medical image matching system of claim 14 , further comprising: a processor configured to: cause the light source to output patterned light; cause the camera to generate a light field image by receiving the reflected light generated by reflecting the patterned light from the object; and cause the medical three-dimensional image measuring device to generate a three-dimensional image of a surface of the object using the light field image.

Description

TECHNICAL FIELD The present disclosure relates to a medical three-dimensional image measuring device and a medical image matching system. This present disclosure is derived from research conducted as part of the WC300 project technology development support, which is a national research and development project. [Project identification number: S2482672, Title of research project: Development of surgical navigation fusion head and neck surgery robot system with matching accuracy of 1 mm or less, Contribution rate: 1/1, Host organization: KohYoung Technology Inc., Research period: 2017 Mar. 1˜2021 Dec. 31]. BACKGROUND Recently, surgical navigation technology has been used to support doctors in surgical operations. By arranging markers on a surgical instrument and a medical three-dimensional image measuring device that photographs a patient's surgical site, respectively, and tracking the markers through an optical tracking system with an imaging device such as a camera, the location and posture of the surgical instrument can be tracked, and an image of the surgical site photographed through the medical three-dimensional image measuring device can be matched with a previously recorded patient's medical image (e.g., CT image or MRI image). Through this, the location and posture information of the surgical instrument on the patient's medical image can be recognized on the system. The location information and posture information of the surgical instrument or the medical three-dimensional image measuring device on which the marker is arranged may be obtained using the image of the marker acquired through the optical tracking system. For example, the location information may be defined as spatial coordinates such as coordinates on the X, Y, and Z axes of the Cartesian coordinate system, and the posture information may be defined as roll, pitch, and yaw. The medical three-dimensional image measuring device may measure a three-dimensional image of a patient's surgical site in order to acquire and process image information regarding the patient's surgical site. For example, the medical three-dimensional image measuring device uses a method of measuring a pattern generated by irradiating the surgical site with certain patterned light and acquiring a three-dimensional image of an object therefrom. SUMMARY When the medical three-dimensional image measuring device changes the location and/or posture to photograph the surgical site, there is a limitation in that the optical tracking system cannot change the location and/or posture of the medical three-dimensional image measuring device to a location and/or posture in which the marker of the medical three-dimensional image measuring device cannot be tracked. In the related art, depending on the patient's various surgical postures (e.g., parkbench posture, prone posture, and supine posture), the field of view of the optical tracking system is blocked due to interference by the patient or other objects (e.g., pedestal, surgical instrument, etc.), which may cause a problem that it is difficult to photograph the marker. Embodiments of the present disclosure solve the above-described problem of the related art. According to an aspect of the present disclosure, a medical three-dimensional image measuring device includes a light source configured to output light, a camera configured to generate three-dimensional image information by receiving reflected light generated by reflecting the light from an object, a housing including the camera disposed therein and forming an opening through which the reflected light enters into the housing, and a marker disposed on the housing to be capable of changing at least one of a relative location or a relative posture to the opening and including a tracking surface configured to be imaged by an external imaging device for tracking a location and a posture. According to another aspect of the present disclosure, a medical image matching system includes a medical three-dimensional image measuring device including a light source configured to output light, a camera configured to generate three-dimensional image information by receiving reflected light generated by reflecting the light from an object, a housing including the camera disposed therein and forming an opening through which the reflected light enters into the housing, and a marker disposed on the housing to be capable of changing at least one of a relative location or a relative posture to the opening and including a tracking surface configured to be imaged by an external imaging device for tracking a location and a posture, and an external electronic device including an imaging device for forming a tracking image by imaging at least a portion of the tracking surface of the marker, the external electronic device being configured to receive the three-dimensional image information and determine the location and the posture of the marker using the tracking image to determine coordinates of the t