KR102056436B1 - Medical navigation system and the method thereof - Google Patents

Abstract

The present invention relates to a medical optical navigation technology using a three-dimensional scanning, it is possible to operate without attaching the patient tracker to the measurement target site, it is possible to provide a technology that does not require a process such as data registration and realignment.

Description

Medical navigation system and its method {MEDICAL NAVIGATION SYSTEM AND THE METHOD THEREOF}

The present invention relates to a medical navigation system and a method thereof, and more particularly to a medical optical navigation technology using three-dimensional scanning.

The surgical navigation system uses a tracker attached to the patient and the surgical instrument to determine the current position of the surgical instrument, and is pre-computed computed tomography (CT) and magnetic resonance imaging (magnetic resonance imaging) It is a system showing the position of the surgical tool on the internal image reproduced on the monitor by using the image information such as MRI (MRI).

Using this surgical navigation system, it is possible to intuitively determine the location of surgical instruments that are obscured by skin or other organs.

The existing surgical navigation system displays the coordinates of the patient tracker on the surgical site of the measurement target based on the CT imaging data of the measurement target (patient) before surgery, and displays the coordinates of the displayed patient tractor and the body of the measurement target. Provides image information by tracking the coordinates of a tool tracker inserted into the inside.

However, since the existing technology is to designate the coordinates of the patient tracker in the surgical site of the measurement target, there was a problem that if the movement of the measurement target occurs during surgery, the coordinates of the CT scan data and the patient tracker must be re-aligned.

In addition, the existing technology has a disadvantage in that the coordinates of the patient tracker to be fixed to the surgical site of the measurement target with a band or tape, etc., and if the patient tracker falls or changes from the surgical site of the measurement target, the accuracy of the technology is inferior. There was a limit.

In recent years, interest in three-dimensional (3D) scanning apparatus has been increasing.

The three-dimensional scanning device is an optical device for acquiring 3D shape and color information of an object, and is used in a wide range of fields such as commerce, architecture, medicine, industry, science, and culture. The 3D scanning apparatus can be implemented by various methods such as laser triangulation, structured light projection, and TOF (Time Of Flight), and stores the 3D shape information of the obtained object in a 3D file format that can be used in a computer.

3D scanning technology acquires and stores object shape information as a computer model, and its demand is gradually increasing in areas such as robot driving, component defect inspection, reverse engineering, human computer interaction, and cultural restoration. Doing.

Accordingly, the present invention proposes a medical navigation technology of augmented reality using 3D scanning technology.

Korean Registered Patent No. 10­1049507 (registered on July 8, 2011), "Image guided surgery system and its control method" Korean Patent No. 10­1471040 (registered on Dec. 3, 2014), "Ultrasonic Image Assistance System for Navigation of Medical Device"

An object of the present invention is to provide a surgical optical navigation using three-dimensional (3D) scanning, instead of a patient tracker attached to the measurement target site.

In addition, an object of the present invention is to provide a technique that can be operated without the attachment of the patient tracker to the measurement target site, a process such as data registration and realignment is unnecessary.

In addition, an object of the present invention is to provide a technique that can reflect the minute movement of the measurement target, improve the accuracy of the operation, and reduce the operation time.

In addition, the object of the present invention is applied to electromagnetic, optical and hybrid navigation technology, to provide a technique capable of precise positioning of the surgical tool during the operation of the endoscope or microscope.

According to an exemplary embodiment of the present invention, a medical navigation method includes: scanning a measurement object in three dimensions (3D), matching scanned three-dimensional scan data with image photographing data of the measurement object, and tracking based on the matching data. And providing monitoring image information according to the coordinates of the measurement target with respect to the measurement target site and the coordinates of the tool device inserted into the measurement target.

In the 3D scanning, the 3D scan data for the measurement target may be obtained by using a 3D scanner which acquires 3D shape and color information.

The step of matching the data may include at least one of an axial plane, a sagittal plane, and a coronal plane of the measurement target photographed using computed tomography (CT). The photographing data and the three-dimensional scan data can be matched.

The step of matching the data may include extracting surface point coordinates of the measurement target from the image capturing data, and applying an iterative closest point (ICP) algorithm to the extracted surface point coordinates to capture the image capturing data and the 3D scan data. Can be matched.

The providing of the monitoring image information may provide coordinates of the measurement target obtained from the matching data or the 3D scan data as the monitoring image information.

The providing of the monitoring image information may be provided as the monitoring image information by including the coordinates of the tool device inserted into the measurement object in the monitoring image information indicating the coordinates of the measurement object.

The providing of the monitoring image information may be performed by applying a coordinate system mapping algorithm to the coordinates of the measurement target and the coordinates of the tool device, and may provide the mapped image information as the monitoring image information.

Coordinates of the tool device may be tracked from a tracking device that detects a certain area included in the tool device.

According to an embodiment of the present invention, a medical navigation system includes a three-dimensional scanner for three-dimensional (3D) scanning of a measurement target, a data registration for matching three-dimensional scan data scanned from the three-dimensional scanner with image capturing data for the measurement target. The coordinate mapping unit may be configured to map coordinates of the measurement target with respect to the measurement target region tracked based on the registration data, coordinates of a tool device inserted into the measurement target, and monitor the registration data and the mapped coordinates. It includes an image providing unit for providing the image information.

The data matching unit may include the image capturing data of at least one of an axial plane, a sagittal plane, and a coronal plane of the measurement target photographed using computed tomography (CT). The 3D scan data may be matched.

The data matching unit extracts surface point coordinates of the measurement target from the image capturing data, and applies the Iterative Closest Point (ICP) algorithm to the extracted surface point coordinates to match the image capturing data and the 3D scan data. Can be.

Coordinates of the tool device may be tracked from a tracking device that detects a certain area included in the tool device.

The coordinate mapping unit may map by applying a coordinate system mapping algorithm to the coordinates of the measurement target and the coordinates of the tool device between the 3D scanner and the tracking device.

Medical navigation system according to an embodiment of the present invention may further include a control unit for controlling the operation of at least one of the three-dimensional scanner, the tracking device (Tracking Device) and the tool device.

According to an exemplary embodiment of the present invention, surgery may be performed without attaching a patient tracker to a measurement target site, and a technology that does not require a process such as data registration and realignment may be provided.

In addition, according to an embodiment of the present invention, it is possible to reflect the minute movement of the measurement target, improve the accuracy of the operation, and shorten the operation time.

Further, according to embodiments of the present invention, the present invention can be applied to electromagnetic, optical and hybrid navigation technologies.

In addition, according to an embodiment of the present invention, the replacement of imports and exports may increase due to the development of inexpensive domestic medical devices in comparison with the overseas medical devices on the market, and it is possible to ensure more improved safety in terms of treatment effects and postoperative sequelae of patients Can be.

1 illustrates a flowchart of a medical navigation method according to an embodiment of the present invention.
2 is a block diagram of a detailed configuration of a medical navigation system according to an embodiment of the present invention.
3A and 3B are diagrams for explaining an application example of the medical navigation system according to an exemplary embodiment of the present invention.
4 illustrates an example of data matching according to an embodiment of the present invention.
5 is a view illustrating a display example of a monitor according to an exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments. Also, like reference numerals in the drawings denote like elements.

Also, the terminology used herein is a term used to properly express a preferred embodiment of the present invention, which may vary depending on a viewer, an operator's intention, or customs in the field to which the present invention belongs. Therefore, the definitions of the terms should be made based on the contents throughout the specification.

The present invention is a navigation system required for otorhinolaryngology surgery in the medical field, unlike a conventional navigation system that requires matching between a surgical instrument (hereinafter referred to as a 'tool device') and a patient (hereinafter referred to as a 'measurement object'). We propose a new matching and system technique that combines scanning techniques.

However, hereinafter, the embodiments of the face portion of the measurement target are described, but it is obvious that the medical navigation system and method thereof of the present invention can be applied to various medical fields as well as an otolaryngologist.

Such a system and method according to embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is a flowchart illustrating a medical navigation method according to an embodiment of the present invention, and FIG. 2 is a block diagram of a detailed configuration of a medical navigation system according to an embodiment of the present invention.

The medical navigation system 200 according to an embodiment of the present invention matches the scanned 3D scan data and the image capturing data, and provides the monitoring image information by mapping the coordinates of the measurement target and the coordinates of the tool device.

To this end, the medical navigation system 200 according to the embodiment of the present invention includes a 3D scanner 210, a data matching unit 220, a coordinate mapping unit 230, and an image providing unit 240. In addition, the medical navigation system 200 according to the embodiment of the present invention is a three-dimensional scanner 210, the tracking device (Tracking Device) and the tool device (Tool Rigid Body, Tool Rigid Body or a tool with an electromagnetic tracker attached) It may further include a control unit 250 for controlling the operation.

In this case, the 3D scanner 210, the data matching unit 220, the coordinate mapping unit 230, and the image providing unit 240 may be configured to perform the steps 110 to 130 of FIG. 1.

In operation 110, the 3D scanner 210 scans a measurement object in 3D (3D).

In an embodiment of the disclosed invention, the measurement target refers to a patient or a subject to be diagnosed, and the measurement target region may refer to a specific part of the patient's body for surgery or a procedure. For example, the site to be measured may be a specific site of any one of the brain, face, teeth, spine, joints, breast and chest.

In operation 110, the 3D scanner 210 may scan 3D scan data including 3D shape and color information about a measurement target.

For example, the three-dimensional scanner 210 generates a three-dimensional model for the measurement object, irradiates a light source to the measurement object, converts the light source incident after being reflected by the irradiated light into an electrical image signal, Three-dimensional scan data of the three-dimensional image may be generated by combining a plurality of images according to the image signal. That is, the 3D scanner 210 may scan 3D scan data of a 3D model including a 3D shape of a specific portion or the entire body of the measurement target and color information according to each of the 3D shapes. However, the model, shape, and operation method of the 3D scanner 210 are not limited, and may be a scanner that generates a real-time 3D model for a measurement target.

According to an embodiment, the three-dimensional scanner 210 according to the present invention mainly on the scan of the head and neck, based on the optical lens and geometry design, generates real-time 3D scanning results, SIMD (Single Instruction Multiple Data) / The image processing and coordinate calculation based on the GPU (Graphics Processing Unit) is calculated.

In operation 120, the data matching unit 220 matches the scanned 3D scan data with the image photographing data about the measurement target.

In this case, the image capturing data may be data obtained by photographing a measurement target region to be operated or performed using an imaging device. For example, the imaging apparatus scans a measurement target to acquire internal image data. For this, X-ray or magnetic resonance may be used. As a more specific example, the imaging device may be any one of tomosynthesis using X-ray, computed tomography (CT), and positron emission tomography, and magnetic resonance imaging (Magnetic Resonance Imaging). It may be a device for performing the. In addition, the imaging device may be a device which combines two or more methods of a photographing method.

As another example, the imaging apparatus restores a three-dimensional volume using image data of a measurement object, and reprojects the three-dimensional volume of the measurement object in at least one of an x-axis direction, a y-axis direction, and a z-axis direction. It may be a device that extracts predetermined feature information from at least one reprojection image by reprojection.

In operation 120 according to an embodiment of the present invention, the data matching unit 220 includes an axial plane, a sagittal plane, and a coronal plane of a measurement target photographed using computed tomography (CT). The image photographing data and the 3D scan data of at least one of the images may be matched.

More specifically, in step 120, the data matching unit 220 may equalize the position and size of the measurement target site included in the image capturing data and the 3D scan data based on the image capturing data and the 3D scan data acquired from the CT. After positioning, it classifies into CT (Hunsfield Unit) of CT from image data, or extracts surface point coordinates of measurement object by using separate segmentation algorithm, and ICP (Iterative Closest Point) algorithm to extracted surface point coordinates You can apply the data to match the data. At this time, the data matching unit 220 sets the image capturing data obtained from the CT as reference data, sets the 3D scan data obtained from the 3D scanner 210 as new data, and applies the ICP algorithm. The algorithm calculates a pair according to the point-to-point scan mapping between the image photographing data and the 3D scan data, thereby correcting and matching the exact position. Accordingly, the medical navigation system 200 according to the embodiment of the present invention may correct the extracted skin coordinates in order to minimize the effect of an error that may occur from the skin thickness on the measurement target area during CT imaging.

In step 130, the coordinate mapping unit 230 coordinates of the measurement target to be tracked based on the matching data, and the coordinates of the tool device (Tool Rigid Body, tool attached to the electronic tracker) inserted into the measurement target The image providing unit 240 provides monitoring image information on the matching data and the mapped coordinates.

For example, the coordinate of the measurement target indicates the position of the measurement target site for surgery or procedure, and is basically tracked from the 3D scanner 210, and is tracked from matching data of the imaging data and the 3D scan data. May be In addition, the coordinates of the tool device indicates the position of a surgical instrument (or tool device) for surgery or a procedure, and may be tracked from a tracking device that detects a certain area (marker, marker) included in the tool device. Can be. Here, the tool device (or surgical instrument) is a medical instrument used for surgery or a procedure for any one of the measurement target areas of the brain, face, teeth, spine, joint, breast, and chest, and different types according to the measurement target site. It may be a device of, may mean a plurality of devices.

In addition, the tracking device may be provided with a sensor for identifying the location information of a certain area included in the tool device by using a magnetic field, and may track the movement route by identifying the location information of the tool device.

In step 130 according to an embodiment of the present invention, the coordinate mapping unit 230 may map the coordinates of the measurement target and the coordinates of the tool device by applying a coordinate system mapping algorithm. At this time, mapping between the coordinates of the measurement target and the coordinates of the tool device may be performed before or during the operation, and the coordinates of the mapped measurement object and the coordinates of the tool device may be fixed without being changed during the surgery or the procedure. At this time, since the coordinate system mapping algorithm is an algorithm generally used in the existing technology for error correction, a detailed description thereof will be omitted.

In operation 130, the image providing unit 240 may provide coordinates of a measurement target that is tracked from the 3D scanner 210 or tracked from matching data of image photographing data and 3D scan data as monitoring image information. The monitoring image information indicating the coordinates of the object may be included in the coordinates of the tool device inserted into the measurement object.

For example, in step 130, the controller 250 according to an embodiment of the present invention may control to display monitoring image information corresponding to a measurement target part to be monitored through a monitor. In addition, the controller 250 may display an image, a waveform, and a numerical value on the basis of the screen mode and the measurement target region so as to more clearly monitor the state of the measurement target region. At least one monitoring image information of at least one of 2D image information, 3D image information, coordinate information, identification information of a measurement target, and information of a measurement target portion may be displayed on each of the displayed screens. In addition, the controller 250 may control to provide a warning signal of at least one of sound, vibration, and color change when it is out of a stable range during a predetermined surgery or procedure.

3A and 3B are diagrams for explaining an application example of the medical navigation system according to an exemplary embodiment of the present invention.

3A and 3B, the medical navigation system 300 according to an embodiment of the present invention includes a three-dimensional scanner 310 for three-dimensional scanning a measurement object 10 and a tool device inserted into the measurement object 10. 330, a tracking device 320 for tracking the coordinates, and a monitor 340.

The three-dimensional scanner 310 in the medical navigation system 300 according to an embodiment of the present invention is a three-dimensional scanning (a) of the measurement target 10 during the operation or procedure for the measurement target 10, The coordinates of the measurement object indicating the position are tracked.

Accordingly, the medical person may check the coordinates of the measurement target from the monitor 240 and proceed with the surgery or the procedure by using the tool device 330 (b). In this case, the monitor 240 may provide not only the coordinates of the measurement object but also the coordinates of the tool device indicating the position of the tool device inside the measurement object 10.

The tracking device 320 of the medical navigation system 300 according to an embodiment of the present invention may track (c) the coordinates of the measurement target through the 3D scanner 310 and include a predetermined area (marker) included in the tool device. (d) can also track the coordinates of the tool device by detecting markers. At this time, the tracking device 320 may be provided with a sensor for identifying the location information of a predetermined area included in the tool device 330 by using a magnetic field.

4 illustrates an example of data matching according to an embodiment of the present invention.

Referring to FIG. 4, the medical navigation system according to an embodiment of the present invention matches three-dimensional scan data of a measurement object scanned using a three-dimensional scanner and image photographing data of the measurement object.

In this case, the image capturing data may be data obtained by photographing a measurement target region to be operated or performed using an imaging device. For example, the imaging apparatus scans a measurement target to acquire internal image data. For this, X-ray or magnetic resonance may be used. As a more specific example, the imaging device may be any one of tomosynthesis using X-ray, computed tomography (CT), and positron emission tomography, and magnetic resonance imaging (Magnetic Resonance Imaging). It may be a device for performing the. In addition, the imaging device may be a device that combines two or more methods of a photographing method.

However, the medical navigation system according to the embodiment of the present invention uses image photographing data photographed through CT.

Referring back to FIG. 4, a medical navigation system according to an embodiment of the present invention uses at least one of an axial plane, a sagittal plane, and a coronal plane of a measurement target using a CT before surgery (or a procedure). Image capture data (or CT scan data) for any one or more may be collected. In this case, the image photographing data is basically two-dimensional, but depending on the embodiment, the two-dimensional data may be implemented as three-dimensional data.

That is, the medical navigation system according to the embodiment of the present invention sets the image data (or CT scan data) before the operation as reference data, and is three-dimensionally scanned using a three-dimensional scanner before or during surgery. You can set the scan data as new data.

Thereafter, the medical navigation system according to the embodiment of the present invention arranges the image capturing data and the 3D scan data such that the position and size of the measurement target part (for example, the face) are the same as shown in FIG. 4. In addition, the image data may be classified into Hounsfield Units (HU) of the CT, or surface point coordinates of the measurement target may be extracted using a separate segmentation algorithm. Thereafter, the medical navigation system according to the embodiment of the present invention applies an ICP algorithm to the extracted surface point coordinates to match the data. That is, the medical navigation system according to an embodiment of the present invention may correct an error between data that may occur during CT imaging using an ICP algorithm.

5 is a view illustrating a display example of a monitor according to an exemplary embodiment of the present invention.

Referring to FIG. 5, a monitor according to an embodiment of the present invention divides a screen into a plurality of screens, and each of the divided screens includes two-dimensional image information, three-dimensional image information, coordinate information, identification information of a measurement target, and a measurement target site. At least one of monitoring information may be displayed. In this case, each of the divided screens may display monitoring image information about different measurement target sites.

In addition, the monitor according to the embodiment of the present invention may display the coordinates of the measurement target and the coordinates of the tool device in real time, and may provide different positions and paths to the coordinates of the tool device.

In addition, the monitor according to an embodiment of the present invention may receive a selection input of a user (or an administrator, a medical person, etc.), convert and display monitoring image information based on the received selection input, and display different numerical values. It can also be displayed as waveforms and colors.

In addition, the monitor according to an embodiment of the present invention may provide a warning signal of at least one of sound, vibration, and color change when out of a stable range during a preset surgery or procedure.

That is, the monitor according to the embodiment of the present invention may display more various data based on the pathological state of the object to be measured in addition to the data shown in FIG. 5, and the position, number, and size of the displayed screen and information are limited thereto. It doesn't work.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be, for example, processors, controllers, arithmetic logic units (ALUs), digital signal processors, microcomputers, field programmable arrays (FPAs), It may be implemented using one or more general purpose or special purpose computers, such as a programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device may be described as one used, but those skilled in the art will appreciate that the processing device includes a plurality of processing elements and / or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as parallel processors.

The software may include a computer program, code, instructions, or a combination of one or more of the above, and configure the processing device to operate as desired, or process it independently or collectively. You can command the device. Software and / or data may be any type of machine, component, physical device, virtual equipment, computer storage medium or device in order to be interpreted by or to provide instructions or data to the processing device. Or may be permanently or temporarily embodied in a signal wave to be transmitted. The software may be distributed over networked computer systems so that they may be stored or executed in a distributed manner. Software and data may be stored on one or more computer readable recording media.

Method according to the embodiment is implemented in the form of program instructions that can be executed by various computer means may be recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the media may be those specially designed and constructed for the purposes of the embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CDROMs, DVDs, and magneto-optical media such as floppy disks. (magnetooptical media), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine code, such as produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described by the limited embodiments and the drawings as described above, various modifications and variations are possible to those skilled in the art from the above description. For example, the described techniques may be performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different manner than the described method, or other components. Or even if replaced or replaced by equivalents, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims are within the scope of the claims which follow.

10: Target of measurement (patient)
200, 300: medical navigation system
310: 3D scanner
320: tracking device
330: tool device
340: monitor

Claims (14)

In the operation method of the medical navigation system,
Three-dimensional (3D) scanning the measurement object;
Matching the scanned 3D scan data with the image photographing data of the measurement object; And
And providing monitoring image information according to the coordinates of the measurement target with respect to the measurement target region tracked based on the matching data and the coordinates of the tool device inserted into the measurement target.
Matching the data is
After arranging the position and size of the measurement target part included in the image capturing data and the 3D scan data in the same manner, the surface point coordinates of the measurement target are extracted from the image capturing data, and the extracted surface point coordinates are extracted. Applying an Iterative Closest Point (ICP) algorithm to calculate a pair based on a point-to-point scan mapping between the image photographing data and the three-dimensional scan data, correcting and correcting an exact position,
Providing the monitoring image information
Coordinate system mapping algorithms are applied to the coordinates of the measurement target and the coordinates of the tool device, and the monitoring image information representing the coordinates of the measurement target is included in the monitoring image information to include the coordinates of the tool device inserted into the measurement target. Medical navigation method, characterized in that provided as image information. The method of claim 1,
The three-dimensional scanning step
Medical navigation method for acquiring the three-dimensional scan data for the measurement target by using a three-dimensional scanner (3D Scanner) for obtaining three-dimensional shape and color information. The method of claim 1,
Matching the data is
The three-dimensional image data of at least one of an axial plane, a sagittal plane, and a coronal plane of the measurement object photographed using computed tomography (CT) Medical navigation method to match scan data. delete The method of claim 1,
Providing the monitoring image information
And a coordinate of the measurement target obtained from the registration data or the 3D scan data as the monitoring image information. delete delete The method of claim 1,
Coordinates of the tool device
Medical navigation method tracked from a tracking device for detecting a certain area included in the tool device. A three-dimensional scanner for three-dimensional (3D) scanning a measurement object;
A data matching unit for matching the 3D scan data scanned from the 3D scanner with the image photographing data for the measurement target;
A coordinate mapping unit for mapping coordinates of the measurement target with respect to the measurement target region tracked based on the matching data and coordinates of a tool device inserted into the measurement target; And
Includes an image providing unit for providing the monitoring image information on the matching data and the mapped coordinates,
The data matching unit
After arranging the position and size of the measurement target part included in the image capturing data and the 3D scan data in the same manner, the surface point coordinates of the measurement target are extracted from the image capturing data, and the extracted surface point coordinates are extracted. Applying an Iterative Closest Point (ICP) algorithm to calculate a pair based on a point-to-point scan mapping between the image photographing data and the three-dimensional scan data, correcting and correcting an exact position,
The coordinate mapping unit
By applying a coordinate system mapping algorithm to the coordinates of the measurement target and the coordinates of the tool device between the 3D scanner and the tracking device,
The image providing unit may include the coordinates of the tool device inserted into the measurement target in the monitoring image information indicating the coordinates of the measurement target and provide the mapped coordinates as the monitoring image information. Navigation system. The method of claim 9,
The data matching unit
The three-dimensional image data of at least one of an axial plane, a sagittal plane, and a coronal plane of the measurement object photographed using computed tomography (CT) Medical navigation system to match scan data. delete The method of claim 9,
Coordinates of the tool device
Medical navigation system tracked from the tracking device for detecting a certain area included in the tool device. delete The method of claim 9,
Control unit for controlling the operation of at least one of the three-dimensional scanner, the tracking device and the tool device
Medical navigation system further comprising a.

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