Medical imaging system, interventional system and control method thereof

Abstract

The present invention relates to a medical imaging system, which has a medical imaging unit for mapping imaging of a mapping imaging area within an examination object, wherein the imaging unit is configured to enable the orientation of the mapping imaging area relative to the examination object to be changed. The medical imaging system also has a processing unit, which has a data interface to a mobile device, and the mobile device is used to robotically position a medical object within the examination object. The processing unit is also configured to determine the current position of the medical object. The processing unit is also configured to preset a target position for the medical object defined relative to the mapping imaging area. The processing unit is also configured to determine one or more control signals, which are suitable for causing the medical object to move from the current position to the target position. The processing unit is also configured to provide the one or more control signals via the data interface of the mobile device.

Description

Technical Field

[0001] Interventional medical procedures in or through the vascular system of an object under examination usually require, in particular, percutaneous puncture to introduce the medical object into the vascular system. In addition, for successful diagnosis and / or treatment, usually at least a portion of the medical object needs to be guided to a target area to be treated in the vascular system. Background Art

[0002] For this purpose, the medical object is usually moved manually by a medical operator (hereinafter also referred to as the user) by means of regular fluoroscopic examinations, in particular, wherein the high X-ray exposure of the medical operator and the object under examination is disadvantageous.

[0003] Therefore, ultrasound systems for imaging are used in various interventional systems for performing invasive medical procedures. Here, the ultrasound head is brought into contact with the skin surface of the patient in order to display the tissue below the skin surface and, if necessary, the medical object. For this purpose, the user must manually guide the ultrasound head in order to set the correct viewing angle to the vessel to be treated. During the introduction of a guide wire or other medical object into the body, usually via the patient's groin (femoral artery access) and then navigating the medical object to the target area to be treated, the task must be performed by an ultrasound expert. In order to keep the medical object in the field of view of the imaging, the process requires high personnel and operating costs due to the constant manual tracking of the imaging. Summary of the invention

[0004] The invention is therefore based on the object of enabling a simplified and intuitive imaging-based operation of imaging systems and surgical systems during invasive medical procedures.

[0005] According to the invention, the stated object is achieved by means of an imaging system, a surgical system and a method for controlling an imaging system or a surgical system according to the invention. Advantageous developments are described in the following description.

[0006] According to one aspect of the present invention, a medical imaging system is provided. The imaging system has a medical imaging unit for mapping imaging (Abbildung) of a mapping imaging area within an inspection object, wherein the imaging unit is configured so that the orientation of the mapping imaging area relative to the inspection object can be changed. The imaging system also has a processing unit, which has a data interface to a mobile device, and the mobile device is used to robotically position the medical object within the inspection object. The processing unit is also configured so that it determines the current position of the medical object. The processing unit is also configured so that it presets a target position for the medical object defined relative to the mapping imaging area. The processing unit is also configured to determine one or more control signals, which are suitable for causing the medical object to move from the current position to the target position through the mobile device. In addition, the processing unit is configured to provide one or more control signals via the data interface of the mobile device.

[0007] According to another aspect, an interventional system for performing an interventional, in particular medical, procedure is provided. The interventional system has an imaging system as described above and a movement device for robotically positioning a medical object within and relative to an examination object.

[0008] Here, the medical object can be configured as a therapeutic instrument or a surgical instrument and / or a diagnostic instrument, for example. The medical object can be particularly elongated and / or soft. The medical object can be configured as a catheter and / or an endoscope and / or a guide wire, for example. The medical object can have a predefined section, which is preferably arranged at the distal end of the medical object. Here, the predefined section can be an active element of the medical object, or can be arranged near the active element. The active element can be configured to perform a therapeutic task or a surgical task and / or a diagnostic task in the object under examination. The active element can be configured as a catheter tip and / or an optical input end of an endoscope and / or a guide wire tip and / or a tissue manipulator, for example.

[0009] The examination object can be designed, for example, as an anatomical body having one or more cavities. The examination object can be, in particular, a patient.

[0010] The medical imaging unit can be configured, for example, as a medical X-ray device, in particular a medical C-arm X-ray device, and / or a computed tomography device (CT) and / or an ultrasound examination device and / or a magnetic resonance tomography device (MRT) and / or a positron emission tomography device (PET). The imaging unit can advantageously be movable relative to the object under examination and / or relative to the mobile device. In addition, the imaging unit can be configured to map and image at least one section (or part) of the object under examination. In the following, the section or part is also referred to as a mapping imaging area. For this purpose, the imaging unit can be configured to record two-dimensional and / or three-dimensional and / or four-dimensional image data of the object under examination, in particular. The three-dimensional image data can, for example, have two spatial dimensions and one time dimension (in the form of an image data sequence or video) or three spatial dimensions. The four-dimensional image data can, for example, have three spatial dimensions and one time dimension (in the form of an image data sequence or video). The two-dimensional image data can, for example, have two spatial dimensions. The orientation of the mapping imaging area can in particular represent a two-dimensional or three-dimensional area of ​​the object under examination from which the image data is recorded. Therefore, the orientation can represent the arrangement of the mapping imaging area in the object under examination. The position can be defined relative to the examination object, i.e., for example, in the coordinates of the examination object or relative to the coordinates of the examination object. The imaging unit can also be designed to depict at least a part of the medical object, in particular a predefined segment and / or a marking structure arranged on the medical object in the image data for better visualization.

[0011] Advantageously, the mobile device can be a robot device, such as a catheter robot, configured for remote manipulation of a medical object. The mobile device can advantageously have a fastening element, in particular an active and / or movable fastening element. In addition, the mobile device can have a box element, which is configured to accommodate at least a portion of a medical object. In addition, the mobile device can have a mobile element, which is fastened to a fastening element such as a tripod and / or a robot arm. In addition, the fastening element can be configured to fasten the mobile element to a patient support device. In addition, the mobile element can advantageously have at least one actuator element, such as an electric motor, wherein the processing unit is configured to control the actuator element. The box element can advantageously be coupled to the mobile element, in particular at least one actuator element, in particular mechanically and / or electromagnetically and / or pneumatically. Here, the box element can also have at least one transmission element, which can be moved by coupling between the box element and the mobile element, in particular at least one actuator element. At least one transmission element can be particularly movably coupled to at least one actuator element. The transmission element is advantageously configured to transmit the movement of the actuator element to the medical object so that the medical object is moved along the longitudinal extension direction of the medical object and / or the medical object is rotated about the longitudinal extension direction. At least one transmission element can have rollers and / or rolls and / or baffles, for example.

[0012] Advantageously, the moving element can have a plurality of actuator elements that can be controlled independently in particular. In addition, the box element can have a plurality of transmission elements, in particular at least one transmission element that is coupled to the actuator element in motion for each actuator element. Thus, the medical object can be moved independently and / or simultaneously in particular along different degrees of freedom of movement.

[0013] Advantageously, the mobile device is arranged outside the examination subject. Furthermore, the mobile device can be designed for controlling and / or moving at least one section of the medical object arranged in the examination subject (the section can have one or more active elements).

[0014] The processing unit can be configured as a central or decentralized control device for an imaging system or an interventional system. The processing unit can have one or more control devices and / or one or more processors. The processing unit can be implemented as a local or cloud-based processing server. The processing unit can advantageously have at least one user interface. The user interface can have input elements, such as a keyboard and / or a joystick (English: Joystick) and / or a pedal and / or a capacitive and / or resistive input area and / or a combination of resistive and capacitive input areas and / or a button switch, which enables the interventional system to be controlled by a user, such as a medical operator, through corresponding operation inputs. Thus, the movement of a medical object in an inspection object can be achieved by means of a mobile device and / or the control of the imaging unit can be achieved by the user's input on the input element. The user interface can also have a display element, such as a monitor or display. The display element can be configured to graphically display a mapped imaging area (image data recorded from the mapped imaging area) to the user.

[0015] The data interface can be configured as a real or virtual data interface. The data interface can be configured as a data interface for wireless data transmission in particular. The data interface can have a hardware and / or software interface, such as a PCI bus, a USB interface, a FireWire interface, a ZigBee or a Bluetooth interface. The data interface can have an interface of a communication network, wherein the communication network can have, for example, a local area network (LAN) or a wide area network (WAN) on an intranet. Correspondingly, the data interface can have a LAN interface or a wireless LAN interface (WLAN or WiFi). In addition, the data interface can also have a plurality of the above-mentioned interfaces in combination.

[0016] The current position can represent the position of the medical object relative to the orientation state and / or the examination object and / or the mapping imaging area. The current position can be given in the coordinates of the mapping imaging area and / or relative to the coordinates of the mapping imaging area. The current position can be defined in the coordinates of the examination object or the mapping imaging area or relative to the coordinates of the examination object or the mapping imaging area. The processing unit can be configured to determine the current position based on appropriate movement information of the medical object. To this end, the processing unit can be configured to receive movement information (e.g., from a mobile device). The processing unit can be configured to generate a registration between the examination object or the imaging unit and the mobile device (e.g., via a data interface). The current position can particularly relate to the current position of a predefined segment.

[0017] The target position may be understood as the position to which the medical object (or predefined section) should be moved. The target position may be defined relative to the mapping imaging region and preferably within the mapping imaging region. If the target position is defined relative to the mapping imaging region, the orientation change of the mapping imaging region relative to the examination object thereby changes, for example, the target position in the examination object. "Defined relative to the mapping imaging region" may mean that the target position has a preset orientation relationship relative to the mapping imaging region. The preset orientation relationship may be predetermined or fixedly preset. Alternatively, the orientation relationship may be variably preset, for example based on user input.

[0018] The components of the device thus cooperate in such a way that the position control of the medical object can be achieved by defining the target position via imaging. Thus, in particular, the target position can be tracked by mapping the imaging region. In other words, the medical object can thereby be controlled by the "method" of imaging or by directly presetting the target position based on the output image data, which in the sense of the stated purpose enables an intuitive and resource-saving implementation of the interventional procedure on the examination object.

[0019] According to one embodiment, the processing unit is configured such that a preset of a target position defined relative to the mapped imaging area can be activated and / or deactivated. In other words, the tracking of the target position by means of the mapped imaging area (or by means of the orientation of the mapped imaging area) can thus be switched on and off. The processing unit is preferably configured such that a preset of a target position defined relative to the mapped imaging area can be activated and / or deactivated by a user input. To this end, the imaging system can have a user interface, which is configured such that a user can activate and / or deactivate a preset of a target position defined relative to the mapped imaging area by means of a user input.

[0020] If the preset of the target position relative to the mapped imaging area is activated, the target position can be changed by changing the orientation of the mapped imaging area. In other words, the medical object can be guided by displacing the mapped imaging area or via input related to the image data. Conversely, if the preset of the target position relative to the mapped imaging area is deactivated, the mapped imaging area can be changed without causing the medical object to move. This allows adjusting the imaging and / or moving closer to a defined target area for the medical object independently of the mapped imaging area.

[0021] According to one embodiment, the processing unit is designed such that it determines a positional state of the mapped imaging region relative to the examination object and the processing unit determines one or more control signals based on the positional state.

[0022] The orientation state describes in particular the current orientation of the mapped imaging area relative to the object under examination. The orientation state may, for example, indicate the setting and / or position of the mapped imaging area in the coordinates of the object under examination or relative to the coordinates of the object under examination. In addition, the orientation state may indicate the setting and / or position of the mapped imaging area relative to geometric anchor points of the object under examination, such as one or more organs and / or anatomical features (Landmarken). The processing unit may be configured to determine the orientation state based on suitable orientation information. To this end, the processing unit may be configured to receive orientation information (e.g. from an imaging unit). In order to indicate the orientation state relative to the object under examination, the processing unit may be configured to generate a registration between the object under examination and the imaging unit.

[0023] Determination of the positional state of the mapped imaging region relative to the examination object allows the preset target position through imaging to be converted into precise instructions for the movement device. By knowing the positional state of the mapped imaging region relative to the examination object, the movement of the medical object can be accurately matched to the examination object, so that more complex movement patterns can be preset for the medical object more easily.

[0024] According to one embodiment, the processing unit is configured to receive information about the examination object, including information about the vessel structure of the examination object and / or information about material properties of the examination object and / or state information of the examination object. The processing unit is also configured to determine one or more control signals based on the information about the examination object.

[0025] Information about the material properties of the medical object may, for example, have diameter and / or elasticity and / or density and / or deformability. Information about the vascular structure may be resolved locally relative to the object of examination, i.e., describe the local material properties of the object of examination. Information about the vascular structure may, for example, have information about the direction of the vessel, information about the vessel diameter, vessel branches, in particular bifurcations, and / or vessel curvature and / or vessel abnormalities. The state information of the object of examination may have one or more physiological parameters of the object of examination that are variable over time. Physiological parameters that are variable over time may include the flow rate and / or flow direction of vascular fluids, such as blood, in the vascular structure. Alternatively or additionally, parameters that are variable over time may include information about the respiratory cycle and / or cardiac data.

[0026] The information about the object under examination can be provided to the processing unit as a data set. The processing unit can be configured to receive (eg load or call from a data memory in the processing unit or via a data interface) the data set. The data set can in particular map the vascular structure of the object under examination at least partially.

[0027] The information about the examination object (data set) can be registered with the examination object and / or the imaging unit and / or the mobile device.

[0028] Furthermore, information about the object under examination can be provided by the imaging system. For example, one or more of the time-varying parameters can be determined by the imaging system. In particular, the flow velocity and the flow direction can be determined by ultrasound-based imaging.

[0029] By taking into account additional information about the examination object, the control of the mobile device can be further optimized. In particular, it is conceivable to adjust or optimize one or more control signals based on the information about the examination object. The presetting of the target position by mapping the orientation of the imaging area can then be used as a "rough" presetting, which is further adjusted based on the situation within the examination object.

[0030] According to one embodiment, the processing unit is configured to determine a movement trajectory of the medical object (or a predefined section of the medical object) when determining one or more control signals, wherein the movement trajectory is suitable for moving the medical object (or the predefined section) from a current position to a target position, in particular in the examination object. Here, the processing unit is also configured to determine one or more control instructions based on the movement trajectory (and / or convert the movement trajectory into one or more control instructions).

[0031] The movement trajectory can have a series of space-time points and / or space-time curves, which lead from the current position of the medical object (predefined section) in the examination object to the target position. The movement trajectory can be two-dimensional and / or three-dimensional in particular. In order to create the movement trajectory, the processing unit can be designed, for example, to apply a trajectory planning algorithm. In this case, the processing unit can advantageously be designed to take into account information about the examination object.

[0032] Preferably, the mobile device is configured to move the medical object, in particular a part of the medical object arranged in the examination object, and in particular a predefined section, along a movement trajectory. Here, the mobile device can be configured to move the medical object along the longitudinal extension direction of the medical object and / or around the longitudinal extension direction, so that the part of the medical object arranged in the examination object, in particular the vascular structure, follows the movement trajectory. Here, the mobile device can also be configured to deform and / or align the tip of the medical object in a defined manner, for example by a rotational movement, so that the tip follows the movement trajectory. This is particularly useful in the case of vascular branches, such as bifurcations and / or inlets.

[0033] According to one specific embodiment, the processing unit is further designed to determine the movement trajectory based on the information about the examination object (based on the data set).

[0034] In this way, in particular the vessel structure can be taken into account in the path planning of the medical object, which makes the control of the medical object safer.

[0035] According to one configuration, the processing unit is configured to generate a registration between the imaging unit and the mobile device when determining one or more control signals. In other words, the coordinate system of the imaging unit can be advantageously registered with the coordinate system of the mobile device. Thus, a corresponding spatial position in the coordinate system of the mobile device can be associated with each position in the mapped imaging area. In addition, the processing unit can be configured to generate a corresponding registration between the imaging unit and the object under examination or between the object under examination and the mobile device.

[0036] By means of the registration, position and orientation information can be easily converted into one another, which can, for example, simplify the output of suitable control commands for operating the mobile device.

[0037] According to one embodiment, the imaging system or interventional system further comprises a positioning device, which is designed for robotically positioning the imaging unit relative to the examination object, so that the positioning device can robotically set the position of the mapped imaging region relative to the examination object.

[0038] In this case, the imaging system or interventional system can be designed so that the positioning device can be controlled via user input. For this purpose, the imaging system or interventional system (processing unit) can have a user interface, which is designed so that user inputs for controlling the positioning device can be entered into the user interface. The processing unit can also be designed so that it controls the positioning device based on the user input. A user interface suitable for this can be designed, for example, as a joystick. Additionally or alternatively, the processing unit can be designed to control the positioning unit automatically, i.e. without special user input.

[0039] The positioning device can usually set and maintain the position of the mapped imaging region relative to the examination object more accurately, which reduces the burden on the user when operating the imaging or interventional system. In addition, the positioning device can, if necessary, automatically track the mapped imaging region relative to the medical object, which can further improve the operator-friendliness. Suitable sensor devices can, for example, ensure contact between the examination object and an ultrasound head as part of the imaging system (for example, by means of force feedback).

[0040] According to one embodiment, the positioning device can have a 6DOF or 7DOF robot, and in particular a 7DOF lightweight robot. Here, "DOF" stands for "Degrees of Freedom", i.e. the freedom of movement of the robot used. The lightweight robot is preferably modularly constructed and more preferably imitates the human arm.

[0041] Such a robot enables increased flexibility and maneuverability and is thus well suited for positioning a mapped imaging area.

[0042] The positioning device may also have an integrated sensor arrangement for detecting external forces. The processing unit may be configured to control the positioning device based on the detected forces.

[0043] This makes it possible to yield to external forces when moving the imaging unit, and to perform sensitive movements and complex movement sequences, as may be necessary when, for example, the ultrasound unit is placed on the object of examination and moved thereon. In addition, it is possible to ensure that the ultrasound unit contacts the object of examination, if necessary.

[0044] According to one embodiment, the mobile device is configured to provide movement information to the processing unit, from which the movement state of the medical object and in particular the current position of the medical object can be derived. The movement state of the medical object describes the current movement behavior of the medical object relative to the orientation state and / or the examination object, so that at least one current position of the predefined segment relative to the mapping imaging area and / or the examination object can be derived from the movement state. In other words, the movement state allows conclusions to be drawn about the arrangement of the medical object (predefined segment) relative to the mapping imaging area or the orientation of the examination object. The movement state can, for example, have information about the speed, in particular the movement speed, of the medical object (predefined segment) relative to the mapping imaging area (and thus the examination object). Here, the information about the speed of the medical object (predefined segment) can have information about the translation speed of the medical object along its longitudinal extension direction and / or information about the rotation speed of the medical object around its longitudinal extension direction. In addition, the movement state can have the orientation and / or relative position and / or movement distance of the medical object (predefined segment) relative to the examination object and / or the mapping imaging area. Thus, the movement state at least enables tracking of the current position of the predefined segment in the coordinate system of the mapped imaging area and / or the orientation state and / or the examination object, and uses it for automatically (re- or newly) positioning the position of the medical object (predefined segment). Here, the movement information can have information about the speed and / or orientation and / or relative position and / or movement distance of the medical object. The movement information can also have relative movement of the medical object relative to the mobile device. Advantageously, the movement information can have information about the in particular current movement state of the medical object relative to the mobile device. Thus, the processing unit can be configured to determine the current position of the medical object based on the movement information.

[0045] The mobile device may, for example, have a sensor unit, which is configured to detect a relative movement of a medical object relative to the mobile device. Here, the sensor unit may in particular have: an encoder, for example a wheel encoder and / or a roller encoder, and / or an optical sensor, for example a barcode scanner and / or a laser scanner and / or a camera, and / or an electromagnetic sensor. For example, the sensor unit may be at least partially integrated into a moving element, in particular at least one actuator element, and / or a box element, in particular at least one transfer element. Alternatively or additionally, the mobile device may be configured to provide movement information based on control parameters for controlling at least one actuator element and / or at least one transfer element. In addition, the sensor unit may be configured to provide the movement information to a processing unit. The sensor unit may in particular be configured to detect a relative movement of a medical object by detecting the medical object relative to the mobile device. Alternatively or additionally, the sensor unit may be configured to detect a movement and / or a change in position of a component of the mobile device, which is coupled to the movement of the medical object, for example at least one actuator element and / or at least one transfer element. Here, the mobile device, in particular the sensor unit, can advantageously be configured to determine, at an earlier reference time in particular, a particularly current position and / or orientation and / or movement distance relative to a reference location of the medical object. Advantageously, if a predefined section of the medical object is arranged in an initial area, in particular an entry point and / or a guide sheath, the mobile device, in particular the sensor unit, can be configured to detect the reference location of the medical object. The reference location can in particular have information about the spatial position and / or orientation of the medical object, in particular a predefined section. For example, the mobile device, in particular the sensor unit, can be configured to detect, at a reference time, a movement state of the medical object on the mobile device and / or a state of the mobile device, in particular a state of a component of the mobile device that is coupled to the movement of the medical object.

[0046] In addition, the mobile device can be configured to detect a change in the movement state of the medical object relative to a reference position. Based on the detected change in the movement state of the medical object, the mobile device can be configured to provide movement information to the processing unit. For example, the processing unit can be configured to determine the movement distance between the reference position and the especially current position of the medical object, especially in the vascular structure of the examination object, based on the detected change in the state of the medical object on the mobile device. Here, the movement distance can especially describe the spatial distance between the reference position and the current position of the medical object along the longitudinal extension direction of the medical object. In particular, the longitudinal extension direction of the medical object can be curved in space. By the way that the medical object is arranged in the vascular structure along the movement trajectory from the entry point, the processing unit can be configured to determine the relative and / or absolute spatial positioning of the medical object, especially a predefined section.

[0047] This advantageously enables the precise determination of the spatial position, in particular the relative and absolute, of the medical object, in particular the predefined section, in the examination object. By providing the movement information by the mobile device, it is also possible to dispense with further sensor devices and / or derive the movement states from the recorded image data, which can simplify the system and reduce the computational effort. Advantageously, the movement information provided by the mobile device can be registered with the examination object. Such a registration can be achieved, for example, via an entry point of the medical object into the examination object, from which all movements of the medical object can be defined.

[0048] According to one embodiment, the imaging unit is configured to provide image data mapping the imaging region to the processing unit. The processing unit is configured to extract the current position from the image data, in particular using an algorithm for recognizing a medical object.

[0049] In other words, the image data can then be understood as a form of "movement information", from which the movement state of the medical object relative to the object under examination can be derived. The algorithm can be based on artificial intelligence, i.e., it has one or more trained functions. The trained function maps the input values ​​to the output values ​​corresponding to the "learned" mapping imaging rules. At present, the image data from the mapped imaging area can be understood as input values, while the output values ​​are the coordinates of the medical object (predefined area). Exemplarily, the algorithm can have one or more neural networks, in particular so-called convolutional neural networks.

[0050] The determination of the current position by means of the image data enables an efficient determination or checking of the current position, which can also work independently of the mobile device used.

[0051] According to one embodiment, the position of the target position (in case the target position preset is activated) is fixedly preset relative to the mapped imaging area.

[0052] For example, the target position can be associated with the middle of the mapped imaging area. By fixing a preset target position relative to the mapped imaging area, in other words, (when the target position preset is activated) the target position is determined by the orientation of the mapped imaging area. Thus, the target position relative to the object of examination can be directly changed by changing the orientation of the mapped imaging area. Therefore, the mobile device and thus the medical object can be controlled by displacing the mapped imaging area. Therefore, in ultrasound-based imaging (see below), the medical object can be controlled by a manually guided ultrasound head. If necessary, a dedicated user interface for controlling a robotically guided medical object can be omitted by this direct control of the medical object. For example, if the user forks with the medical object, the user can now very elegantly select the correct branch and continue to guide the medical object. Orientation and advance or retreat are fully automatically realized from the manual movement of the ultrasound head that is "converted" into one or more control signals. Alternatively, orientation and advance or retreat can also be triggered by manipulating an input element. The input element can be a push button switch in particular. The input element can be arranged in particular on the ultrasound head.

[0053] According to another embodiment, the target position can be determined dynamically by means of a user interface as an alternative. To this end, the imaging or intervention system (processing unit) can have a user interface, and the user interface is configured so that the user can determine the target position in the mapping imaging area by user input, especially based on the image data recorded by the mapping imaging area. Then, the target position so determined can be provided to the processing unit by the user interface. Here, the user interface is preferably configured to display one or more views (stereoscopic images) of the mapping imaging area. The user interface is preferably also configured so that the user can, for example, directly determine the defined position in at least one of the views shown by means of a capacitive and / or resistive display or by manipulating another suitable input element (e.g., by "mouse click").

[0054] In this embodiment, the user also has the advantage that the user can intuitively determine the target position based on the mapped imaging area. When the target position presetting is activated, the user input, in particular the image-based user input, can be directly converted into a corresponding control signal for moving the medical object. In addition, it is not necessary to reorient the mapped imaging area, whereby possible delays and ambiguities caused by reorientation can be avoided.

[0055] According to one embodiment, the processing unit is designed to repeatedly determine one or more control signals (movement trajectory) when the position state and / or the target position relative to the position state changes.

[0056] By repeatedly determining one or more control signals (or optionally movement trajectories) when the current position of the mapped imaging region and / or the target position changes, the position of the medical object can be continuously adapted to the target position (as long as the target position specification is active).

[0057] In this case, the movement trajectory can be determined repeatedly, in particular based on threshold values ​​for changes in the orientation state and / or the target position. This has the advantage that small, non-specific (and often also unintentional) changes, which may be caused, for example, by slight vibrations in the system or occur when the imaging unit is guided manually (by hand), are not directly converted into control commands for the mobile device.

[0058] According to one embodiment, the imaging unit is further configured such that the position of the mapped imaging region can be set manually by a user and / or by user input via a user interface, whereby the user can conveniently change the position of the mapped imaging region and thereby control the medical object.

[0059] According to one embodiment, the processing unit is also configured to control the imaging unit based on the movement information and in particular on the current position of the medical object, more specifically to perform optimization of the mapping imaging of the mapping imaging area by adjusting one or more imaging parameters of the imaging unit, and / or to set the orientation of the mapping imaging area so that the medical object (or at least a predetermined segment) is in the mapping imaging area.

[0060] The imaging can be optimized by calibrating the imaging unit according to the movement information / current position. To this end, the imaging parameters of the imaging unit can be optimized. In the case of an ultrasound unit, for example, the orientation of the ultrasound head, the flight time window, the radiation direction of the ultrasound pulse, the radiation width of the ultrasound pulse, etc. can be adjusted to optimize the imaging. In addition, a mapping imaging plane suitable for optimal display of the medical object can be defined in the mapping imaging area. The orientation of the mapping imaging area can be optionally set according to the current position of the medical object so that the medical object can be tracked, thereby, for example, ensuring that the medical object remains in the user's field of view. If other movement information such as the feed speed of the medical object is also considered in addition to the current position, the mapping imaging area can also be prospectively displaced here.

[0061] According to one embodiment, the processing unit is designed so that when controlling the imaging unit based on the movement information / current position, the processing unit deactivates, in particular automatically deactivates, the presetting of the target position defined relative to the mapped imaging area. This ensures that the optimization of the mapped imaging area does not cause undesired movements of the medical object.

[0062] According to one embodiment, the processing unit can also be designed in particular such that it controls the positioning device based on the movement information in such a way that the predefined section of the medical object is located in the mapping imaging region.

[0063] According to one embodiment, the imaging unit has an ultrasound imaging device with an ultrasound unit which is designed as an ultrasound head for ultrasonic examination of the examination object.

[0064] The design of the imaging unit as an ultrasound imaging device cooperates in a coordinated manner with the tracking of the medical object according to the invention by imaging. The ultrasound head can thus be moved easily and intuitively over the examination object, specifically not only manually by the user (especially by hand) but also, if necessary, robotically or with the assistance of a robot via a positioning device. The external, especially manually guided body ultrasound head thereby controls the introduced medical object.

[0065] According to one embodiment, the positioning device is configured to set the positioning of the ultrasound unit on the examination object for recording the mapped imaging region in the corresponding orientation. Here, the positioning device is particularly configured to set the positioning of the ultrasound head on the examination object according to a preset orientation. The preset orientation can be determined by a (correspondingly configured) processing unit or preset by a user, for example.

[0066] By guiding the ultrasound unit (or ultrasound head) by the positioning device, the orientation accuracy of the mapped imaging area can be improved, and the burden on the user can be further reduced.

[0067] According to one embodiment, the imaging or interventional system further comprises a display unit, which is configured to display at least one first view mapping the imaging region. The display unit is further configured to display a mark superimposed on the first view, which mark indicates the target position in the first view.

[0068] By mapping the imaging area and the superimposed display of the marking, the user can visually check the tracking of the medical object in real time by changing the position of the imaging. This enables intuitive and error-prone operation. Here, the first illustration can preferably be a side view of the long side of the medical object in the examination object (so-called long axis view) or a cross-sectional view of the medical object substantially perpendicular to the longitudinal direction (so-called short axis view), or in particular by user input, it can be switched between the two views (i.e. long axis and short axis view). The display unit is then designed so that a corresponding user input can be entered.

[0069] According to one embodiment, the display unit is further configured to display a second view of the mapped imaging area, wherein the viewing angle of the second view is different from the viewing angle of the first view. In addition, the display unit is configured to display a mark superimposed with the second view, the mark indicating a defined position in the second view.

[0070] In other words, at least two different angles of the intervention process are provided to the user, whereby the user can better judge and control the spatial orientation of the medical object in the object under examination. Here, the first view and the second view can be displayed simultaneously (e.g., in a graphical user interface). Alternatively, the display unit can be configured to switch between the first view and the second view. Here, the switching can be performed automatically, for example, by a control signal of a processing unit. Thus, the processing unit can be configured to provide a corresponding control signal for switching between the two views to the display unit. Here, the control signal can be based in particular on the current position or movement information or movement state of the medical object. By automatically switching, the support for the user can be further improved when performing the intervention. In particular, the movement state can be fed back. Alternatively or additionally, the display unit can be configured so that it can be switched between the first view and the second view by user input. Then, the display unit is configured to input the corresponding user input.

[0071] According to one embodiment, the processing unit is further designed such that, when the data connection is interrupted, the processing unit outputs a warning message to a user via the data interface, wherein the data interface is in particular designed as a wireless data interface.

[0072] If the medical object cannot currently be guided by the imaging unit, the user is immediately informed by outputting a warning message, which further increases the safety of the process. The wiring outlay can be reduced by a wireless data connection, which improves the modularity of the system.

[0073] According to one embodiment, the processing unit is configured such that it outputs a warning notification to the user via the user interface by optical and / or acoustic and / or tactile warning. If the imaging unit has an ultrasound device, the ultrasound head can be configured to output a warning notification as a tactile warning notification, for example in the form of vibrations of the ultrasound head.

[0074] According to another aspect, a method for controlling an imaging or interventional system according to the aforementioned aspects and embodiments is provided. The method has the following steps: recording image data of a mapped imaging region within an object under examination by means of an imaging unit; determining a current position of a medical object; presetting a target position for the medical object, the target position being defined relative to the mapped imaging region (in other words, defined based on or relative to the mapped imaging region, or defined in a preset orientation relationship relative to the mapped imaging region); determining one or more control signals for a mobile device, the one or more control signals being suitable for causing the mobile device to cause the medical object to move from the current position to the target position; providing one or more control signals to the mobile device via a data interface.

[0075] The method preferably further comprises the step of changing the orientation of the mapped imaging region, and subsequently repeating the above method steps.

[0076] The method preferably further comprises the step of determining a positional state of the mapped imaging region relative to the examination object, wherein one or more control signals are determined based on the positional state.

[0077] The advantages of the proposed method for controlling an interventional system correspond substantially to the advantages of the proposed system. Features, advantages or alternative embodiments can also be transferred to other claimed subjects and vice versa.

[0078] In another aspect, the invention relates to a computer program product, which comprises a program and can be directly loaded into the memory of a programmable computing unit and has program structures, such as libraries and auxiliary functions, so that when the computer program product is executed, a method for controlling an interventional system, in particular according to the aforementioned aspects, is executed. In this case, the computer program product can include: software with source code that still has to be compiled and linked or only has to be interpreted, or only executable software code that can also be loaded into a processing unit for execution. By means of the computer program product, a method for controlling a medical imaging device can be performed quickly, identically repeatably and robustly. The computer program product is configured so that it can perform the method steps according to the invention by means of a processing unit. In this case, the processing unit must have prerequisites, such as, for example, a corresponding memory, a corresponding graphics card or a corresponding logic unit, so that the corresponding method steps can be effectively performed.

[0079] The computer program product is stored, for example, on a computer-readable medium or saved on a network or server, from which the computer program product can be loaded into a processor of a processing unit, which can be directly connected to the processing unit or constitute a part of the processing unit. In addition, the control information of the computer program product can be stored on an electronically readable data carrier. The control information of the electronically readable data carrier can be constituted so that when the data carrier is used in the processing unit, the control information executes the method according to the invention. Examples of electronically readable data carriers are DVDs, magnetic tapes or USB memory sticks, on which electronically readable control information, in particular software, is stored. When the control information is read from the data carrier and stored in the processing unit, all embodiments of the present invention according to the above method can be executed. Therefore, the present invention can also be based on the computer-readable medium and / or the electronically readable data carrier. The advantages of the proposed computer program product basically correspond to the advantages of the proposed method. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Other features and advantages of the present invention can be seen from the following description of the exemplary embodiments according to the schematic diagrams. The modifications mentioned above and below can be combined with each other to form new embodiments. In different figures, the same reference numerals are used for the same features.

[0081] The accompanying drawings show:

[0082] Figure 1 Schematic diagram showing an embodiment of the proposed system for imaging a robotically moved medical object,

[0083] Figure 2 A schematic diagram showing a graphical user interface (English: Graphical User Interface) according to one embodiment is shown,

[0084] Figure 3 A schematic diagram showing a mobile device for robotically moving a medical object, and

[0085] Figure 4 A schematic diagram showing an embodiment of the proposed method for controlling a medical imaging device. DETAILED DESCRIPTION

[0086] Figure 1 A schematic diagram of an advantageous embodiment of an imaging or interventional system 1 (also referred to below as “system”) is shown.

[0087] As in Figure 1 As shown in , the system 1 can have an imaging unit 20 and a processing unit 22. In addition, the system 1 has a mobile device CR, which is designed such that it can robotically position a medical object MD, in particular in and relative to an examination object 31. The processing unit 22 and the mobile device CR are connected via a data interface 35.

[0088] The examination object 31 can be understood as a three-dimensional anatomical body with a plurality of cavities, on which an interventional procedure is to be performed with the aid of a medical object MD. The examination object 31 can in particular be a patient. Here, the examination object 31 can advantageously be arranged on and / or at a patient support device 32. The patient support device 32 can be at least partially movable. The patient support device 32 can be designed, for example, as an operating table. The patient support device 32 can advantageously have a mobile device BV, which can be controlled by the processing unit 22 and / or the operating element C11 with the aid of a signal 28.

[0089] The medical object MD can be configured as a particularly elongated, therapeutic or surgical instrument and / or diagnostic instrument. The medical object MD can be particularly soft and / or mechanically deformable. The medical object MD can have an active element, in particular at its distal end, which is configured to perform therapeutic or surgical and / or diagnostic tasks in the object under examination 31. The medical object MD can be configured, for example, as a catheter and / or an endoscope and / or a guide wire and / or a tissue manipulator. The mobile device CR can be configured to position and / or remotely manipulate the active element. For example, the mobile device CR can be configured as a catheter robot, a minimally invasive surgical robot, an endoscope robot, etc. In addition, the mobile device CR can be configured to move the medical object MD along a predefined movement trajectory. Advantageously, the medical object MD can be introduced into the object under examination 31 via a guide sheath at the entry point IP, for example, into a vessel or organ structure of the object under examination 31. The medical object can have a predefined section VD. The predefined section can have an active element, a tip of the medical object, a marking structure for better visibility in imaging, or another section of the medical object MD.

[0090] The mobile device CR can be fastened to the patient support device 32 in a particularly movably manner by means of a fastening element 71, for example a bracket and / or a robot arm. Advantageously, the mobile device CR can be designed to move the medical object MD arranged in the mobile device in a translational manner at least along the longitudinal extension direction of the medical object. In addition, the mobile device CR can be designed to rotate the medical object MD around the longitudinal extension direction. Alternatively or additionally, the mobile device CR can be designed to control the movement of at least a part of the medical object MD, in particular in the form of an active element, in particular at the distal end of the medical object MD. The mobile device CR can be designed in particular so that it can be controlled by the processing unit 22 to position the medical object MD by means of control signals via the data interface 35. Conversely, the mobile device CR can also be designed to provide information (movement information) about the movement or positioning state of the medical object MD (and in particular the active element) to the processing unit 22 via the data interface 35.

[0091] According to this embodiment, the imaging unit 20 is configured as an ultrasound imaging system. As an ultrasound imaging system, the imaging unit 20 may have an ultrasound unit US, which may be configured as an ultrasound head or an ultrasound probe. The ultrasound unit US may generally have one or more ultrasound transmitters and one or more ultrasound sensors. The ultrasound transmitter is configured to transmit ultrasound into the object under examination 31. The ultrasound sensor detects ultrasound signals returned from the object under examination 31 and medical objects that may be introduced therein. Here, the time-of-flight measurement may realize a three-dimensional illustration. The area imaged here (mapped imaging area AB) is partly defined by the position of the ultrasound unit US on the object under examination 31 and partly by one or more imaging parameters of the ultrasound unit US. In this way, for example, the spatial radiation width, propagation angle and / or propagation direction of the ultrasound pulse may be changed. In addition, for example, one or more mapping imaging planes may be defined, from which the ultrasound signal may be evaluated. Typically, at least two intersecting mapping imaging planes are defined, which enable a stereoscopic image along the medical object (i.e., along the longitudinal extension direction; the so-called long axis view, LAV, see Figure 2 ) and a stereoscopic image perpendicular to the longitudinal extension direction of the medical object, in which the medical object then appears more or less point-like (so-called short-axis view, SAV; see Figure 2 ). In addition, more than two mapping imaging planes may also be defined, which may further facilitate the simultaneous display of the medical object MD and the surrounding parts of the examination object 31.

[0092] The imaging unit 20 can be configured so that the ultrasound unit US maps and images a defined area within the object 31, namely, the mapping imaging area AB. The mapping imaging area AB has a defined azimuth state (or current azimuth) relative to the object 31, and the azimuth state depends on the position of the ultrasound unit US and the imaging parameters. The imaging unit 20 is also configured so that the azimuth state of the mapping imaging area AB can be changed, for example, by adjusting the imaging parameters or by changing the position of the ultrasound unit US. The control signal for setting the azimuth state can be transmitted by the processing unit 22 via a suitable data interface 36, for example. Here, the control signal can be based on user input input into the system 1 via the user interface 41, 42, for example in the form of a joystick, touchpad, mouse or keyboard. Alternatively, the control signal can also be automatically generated by the processing unit 22 without user preset.

[0093] The positioning of the ultrasound unit US can be performed by the user by hand. The position state can then be fine-tuned by adjusting the imaging parameters. In addition, the imaging unit 20 can have a positioning device 21, which is configured to preferably robotically position and / or move the ultrasound unit US, especially on the inspection object 31. The positioning device 21 can be controlled by a control signal, which is transmitted to the positioning device 21 from the processing unit 22 via the data interface 36. Conversely, the imaging unit 20 can provide the processing unit 22 with position information about the position state via the data interface 36. The position information can have the aforementioned imaging parameters, the image data itself, and the positioning parameters from the positioning device 21.

[0094] Exemplarily, the positioning device 21 can be designed as a 6DOF (degrees of freedom) or 7DOF robot. In a preferred embodiment, a so-called lightweight robot (LBR) is used, which is preferably modularly constructed and imitates a human arm. Such a robot has up to seven degrees of freedom and enables increased flexibility and maneuverability compared to conventional industrial robots. An integrated sensor device in combination with a suitable control algorithm makes it possible to yield to external forces and to perform sensitive movements and complex movement sequences, as may be necessary, for example, when placing the ultrasound unit US on the examination object 31. The sensor device also makes it possible to determine positioning parameters for forwarding to the processing unit 22. As in Figure 1 As shown in FIG, the positioning device 21 can be fastened in particular movably on the patient support device 32. Alternatively, the positioning device 21 can be arranged separately from the patient support device 32 and, for example, have its own mount.

[0095] Alternatively or additionally, the imaging unit 20 may also have one or more medical imaging devices that are different from the ultrasound imaging system. For example, the imaging unit 20 may have a medical C-arm X-ray device with a detector unit and an X-ray source. In order to record image data and set a defined orientation state of the mapped imaging area relative to the examination object 31, the arm of the medical C-arm X-ray device may be movably supported around one or more axes. In addition, the medical C-arm X-ray device may include a positioning device that enables the medical C-arm X-ray device to move in space. According to an exemplary embodiment, the imaging unit 20 may have an ultrasound imaging system and a C-arm X-ray device.

[0096] The processing unit 22 may also have a user interface 41, 42. The user interface 41, 42 may have an input element 42, such as a keyboard, and / or a display unit 41, such as a monitor and / or a display. In this case, the input element 42 may be integrated into the display unit 41, for example, in the form of a capacitive and / or resistive input display. In this case, the imaging unit 20 (positioning unit 21) and / or the movement device CR and / or the patient support device 32 may be controlled in a supplementary manner, in particular, by a user input on the input element 42. For this purpose, the input element 42 may, for example, send a signal to the processing unit 22 via a corresponding data interface 26.

[0097] Furthermore, the display unit 41 can be configured for displaying information of the imaging unit 20 and / or a graphical display of information, in particular image data, for example in a graphical user interface GUI. To this end, the processing unit 22 can send control signals to the display unit 41, for example via the data interface 25.

[0098] The various components of the surgical system 1 can be coordinated by the processing unit 22. Data exchange is ensured via data interfaces 25, 26, 35, 36. The processing unit 22 can be designed as a central control unit, for example as a control device with one or more processors. Alternatively, the processing unit 22 can be designed as part of the imaging unit 20 or the mobile device CR. As a further embodiment, the functions of the processing unit 22 described below can also be distributed in a decentralized manner to multiple processing units or control devices.

[0099] According to one embodiment, the processing unit 22 is designed to monitor the connection between the components via the data interfaces 25, 26, 35 and 36 of the intervention system 1 and to output a warning notification to the user if the connection is interrupted or fails. The warning notification can be output, for example, in particular via the display unit 41 as an optical and / or acoustic warning notification. Alternatively or additionally, the warning notification can also be designed as a tactile warning notification for the user. The input element 42 can be designed in particular to output a tactile warning notification, for example by applying a vibration to the input element 42. The ultrasound head can also be designed so that it makes the warning notification tactilely perceptible, for example by triggering a vibration of the ultrasound head.

[0100] Typically, the processing unit 22 is configured such that it controls the movement of the medical object MD based on the position state of the mapped imaging area AB. This makes it possible, for example, to track the medical object MD by means of imaging, or to navigate the medical object MD by targetedly changing the position state of the mapped imaging area AB. In other words, this enables the user to control the movement of the medical object by moving the ultrasound unit US, which can be achieved by hand or with robot support. Robot support can include fully automatic or semi-automatic movement. Here, semi-automatic movement control can, for example, include only robotically supporting the weight of the ultrasound unit US, so that the user can move the ultrasound unit US with minimal force (so-called "zero gravity mode"). Here, the medical object MD can be navigated so that a predefined section VD of the medical object MD is moved to a target position TP in the object of examination 31.

[0101] Conversely (or additionally), the processing unit 22 may also be configured such that it controls the position state of the mapped imaging area AB based on the movement state of the medical object MD, thereby tracking the imaging of the medical object MD. In other words, the processing unit 22 may be configured to control the position state of the mapped imaging area AB at least according to the current position of the medical object MD, so that the predetermined section VD of the medical object MD is included in the mapped imaging area AB and can thus be described with the aid of the image data recorded by the imaging unit 20. Here, the adjustment of the position state may preferably be achieved with the aid of the positioning device 21.

[0102] In order to mutually control the orientation state of the mapped imaging area AB according to the movement state of the medical object MD, the processing unit 22 can be configured to determine (or calculate) the orientation state and the movement state (or the current position of the medical object MD) from the available basic information. The basic information for determining the orientation state is also referred to as orientation information in the following text; the basic information for determining the movement state (at least the current position of the medical object MD) is referred to as movement information. The processing unit 22 can be set up so that it obtains this basic information from the components of the system 1 and processes it accordingly. To this end, the processing unit 22 can be connected to the imaging unit 20 and / or the mobile device CR in a wired or wireless manner, for example, via the data interfaces 35, 36.

[0103] Therefore, the processing unit 22 can obtain, for example, orientation information from the imaging unit 20, from which the orientation state of the mapped imaging area AB relative to the object of examination 31 can be determined. For example, the orientation information may include one or more imaging parameters, which, for example, describe the settings of the ultrasound transmitter and the ultrasound receiver of the ultrasound unit US. Alternatively or additionally to this, the orientation information may include one or more positioning parameters that define the position of the ultrasound unit US. For example, the positioning parameters may have the speed and / or orientation and / or relative position and / or movement distance of the ultrasound unit US relative to the object of examination 31. Here, the positioning parameters may be provided by the positioning unit 21. Alternatively, the orientation information can be determined by triangulation. For this purpose, for example, one or more tracking probes can be set on the ultrasound unit US, and the tracking probes emit measurement signals, which are related to the relative position relative to a predefined reference point. Here, the tracking probe can be configured, for example, as a coil element, the measurement signal of which depends on its corresponding position in the electromagnetic field generated by a suitable field generating unit. Advantageously, three coil elements are used in this design so that all degrees of freedom of movement can be appropriately detected. Furthermore, the image data from the mapped imaging area AB may also contain position information. The processing unit 22 may be configured such that it determines the position state of the mapped imaging area AB relative to the object of examination 31 from the image data by image processing. To this end, the processing unit 22 may, for example, operate an algorithm for detecting anatomical features in the medical image data, whereby the mapped imaging area AB may be related to the coordinate system of the object of examination 31. According to an advantageous embodiment, one or more trained functions, for example in the form of one or more neural networks, are used here, which are trained in the (ultrasound) image data for detecting anatomical features. The processing unit 22 may be configured such that it determines the position state of the mapped imaging area AB relative to the object of examination 31 based on one or more of the above-mentioned position information.

[0104] The processing unit 22 can obtain movement information from the mobile device CR. The movement information can include, for example, one or more movement parameters that define the movement state of the medical object MD. For example, the movement parameter can have the speed and / or orientation and / or relative position and / or movement distance of the medical object MD (especially the predefined segment VD). Alternatively or additionally, the processing unit 22 can obtain movement information about the imaging unit 20 in the form of image data. Then, the movement state of the medical object MD can be determined by evaluating the image data from the mapped imaging area AB. To this end, the processing unit 22 can, for example, operate an algorithm that identifies the medical object MD in the image data. According to an advantageous embodiment, one or more trained functions in the form of one or more neural networks are used here, for example, to train the function for detecting the medical object MD in the (ultrasound) image data. In order to improve the visibility of the medical object MD in the image data, the ultrasound signature, especially the ultrasound signature of the predefined segment VD, can be increased by a suitable coating and geometry and / or by a marker structure. An active ultrasound transmitter can also be used at the medical object MD for locating the medical object. Furthermore, movement information may also be obtained by using the above-mentioned tracking sensors at the medical object MD and provided to the processing unit 22 .

[0105] In order to control the movement state and in particular the position of the medical object MD based on the orientation state of the mapped imaging area AB, the processing unit 22 can also be configured so that it aligns the imaging unit 20 with the mobile device CR, thereby generating an alignment between the orientation state and the movement state. Alignment is a process of associating the coordinate system of the imaging unit 20 with the coordinate system of the mobile device CR. This can be done via a common coordinate system (for example, the coordinate system of the examination object 31 can be used as such a common coordinate system). Then, through the alignment, for example, the orientation change of the mapped imaging area AB or the preset of the target position TP within the mapped imaging area AB can be converted into an instruction for changing the position of the medical object MD in the examination object 31 (because the orientation state relative to the examination object 31 is defined). Alignment can be achieved, for example, based on an initial state of calibration, for which the relationship between the coordinate systems is known. Then, the orientation state and the movement state can be understood as changes relative to such an initial state of calibration. Alternatively, image-based alignment can also be considered, in which, for example, the orientation and the orientation state are defined relative to the anatomical features of the examination object 31. Furthermore, the registration may also be achieved by evaluating the relative relationship between the position and the movement state of the imaging unit 20 and / or the tracking sensors at the medical object MD. Combinations of the aforementioned registration processes are also possible.

[0106] An exemplary display method of the information displayed by the display unit 41 is as follows: Figure 2The information is preferably displayed in a graphical user interface GUI. The processing unit 22 and the display unit 41 are preferably configured so that they display at least two different views LAV, SAV of the mapped imaging area AB, wherein the views LAV, SAV in particular display different viewing angles of the mapped imaging area AB. Figure 2 As shown in , one of the diagrams may be a longitudinal view (long axis view, LAV) along the longitudinal extension direction of the medical object MD, while the other diagram corresponds to a viewing angle (short axis view SAV) parallel to the longitudinal extension direction of the medical object MD. The long axis view LAV enables the user to estimate the position of the medical object MD in the feeding direction, while the short axis view SAV is suitable for checking the position of the medical object MD transverse to the feeding direction. Figure 2 Alternatively to the simultaneous illustration of multiple illustrations LAV, SAV shown in the figure, the processing unit 22 and the display unit 41 can also be configured to switch between different illustrations LAV, SAV automatically or in response to user input, in particular between the long-axis view LAV and the short-axis view SAV.

[0107] The processing unit 22 and the display unit 41 may also be configured to display a target position TP for the medical object MD in the mapped imaging area AB. Here, the target position TP may be indicated by a marker M. The marker M may be superimposed on the displayed image data as a crosshair, for example, as in Figure 2 As shown in . Here, the target position TP can be fixedly preset relative to the mapping imaging area AB. For example, the target position TP can be fixed in the middle of the mapping imaging area AB. Then the target position TP can be set relative to the inspection object 31 by changing the orientation state of the mapping imaging area AB relative to the inspection object 31. In other words, the target position TP relative to the inspection object 31 can be changed by the displacement of the imaging unit 20. Here, the change can be achieved by manually guiding the ultrasound unit US or robot-supported by the positioning device 21. Here, the command for robotically setting the orientation state can be preset by the user via the input element 42. In order to achieve three-dimensional guidance, the processing unit 22 and the display unit 41 can also be configured so that the user can choose between multiple complementary viewing angles LAV, SAV when navigating the target position TP. Therefore, for example, the feeding along the medical object MD can be controlled in the long-axis view LAV, while the short-axis view SAV allows positioning transversely thereto. Then, the user input for navigating the target position TP relates to the viewing angle SAV or LAV that is just selected.

[0108] Additionally or alternatively thereto, the processing unit 22 and the display unit 41 may also be designed so that the user can flexibly set the target position TP in the mapped imaging area AB. To this end, the user can mark a point in the mapped imaging area AB or the illustrated viewing angles LAV, SAV via the input element 42, for example by clicking a mouse or touching a capacitive and / or resistive display.

[0109] Since the positional state of the mapping imaging area AB relative to the examination object 31 is known, the position of the target position TP relative to the examination object 31 is also known. This now makes it possible to determine the movement trajectory that guides the medical object MD to the target position TP.

[0110] The processing unit 22 may also be configured to control the movement of the patient support device 32 so that the imaging unit 20 is appropriately positioned relative to the examination object 31 .

[0111] Figure 3 A schematic diagram of a mobile device CR for robotically moving a medical object MD according to one embodiment is shown. Advantageously, the mobile device CR can have a fastening element 71 that is particularly movable and / or movable. In addition, the mobile device CR can have a box element 74, which is configured to accommodate at least a part of the medical object MD. In addition, the mobile device CR can have a moving element 72, which is fastened to the fastening element 71, such as a bracket and / or a robot arm. In addition, the fastening element 71 can be configured to fasten the moving element 72 to the patient support device 32, in particular to fasten it movably to the patient support device 32. In addition, the moving element 72 can advantageously have at least one, for example three, actuator elements 73, such as electric motors, wherein the processing unit 22 is configured to control at least one actuator element 73. Advantageously, the box element 74 can be coupled to the moving element 72, in particular at least one actuator element 73, in particular mechanically and / or electromagnetically and / or pneumatically. Here, the box element 74 may also have at least one transmission element 75, which may be moved by coupling between the box element 74 and the moving element 72, in particular at least one actuator element 73. In particular, the at least one transmission element 75 may be movably coupled to the at least one actuator element 73. In addition, the transmission element 75 may be configured to transmit the movement of the actuator element 73 to the medical object MD, so that the medical object MD is moved along the longitudinal extension direction of the medical object MD and / or the medical object MD is rotated around the longitudinal extension direction. For example, the at least one transmission element 75 may have rollers and / or rollers and / or baffles.

[0112] Advantageously, the movement element 72 can have a plurality of, in particular independently controllable, actuator elements 73. Furthermore, the box element 74 can have a plurality of transmission elements 75, in particular at least one movement-coupled transmission element 75 for each of the actuator elements 73. This allows the medical object MD to be moved, in particular independently and / or simultaneously, along different degrees of freedom of movement.

[0113] Furthermore, the mobile device CR, in particular the at least one actuator element 73, can be controlled by the processing unit 22 by means of the signal 35. Thus, the movement of the medical object MD can be controlled, in particular indirectly, by the processing unit 22. Furthermore, the orientation and / or position of the mobile device CR relative to the examination object 31 can be adjusted by moving the fastening element 71. The mobile device CR is advantageously designed to provide movement information to the processing unit 22.

[0114] For this purpose, the mobile device CR can, for example, have a sensor unit 77, which is designed to detect a relative movement of the medical object MD relative to the mobile device CR. In this case, the sensor unit 77 can, in particular, have an encoder, for example a wheel encoder and / or a roller encoder, and / or an optical sensor, for example a barcode scanner and / or a laser scanner and / or a camera, and / or an electromagnetic sensor. For example, the sensor unit 77 can be at least partially integrated in the moving element 72, in particular at least one actuator element 73, and / or the box element 74, in particular at least one transfer element 75. Alternatively or additionally, the mobile device CR can be designed to provide movement information based on control parameters for controlling at least one actuator element 73 and / or at least one transfer element 74. Furthermore, the sensor unit 77 can be designed to provide the movement information to the processing unit 22. The sensor unit can, in particular, be designed to detect a relative movement of the medical object MD relative to the mobile device by detecting the medical object MD. Alternatively or additionally, the sensor unit 77 may be designed to detect movements and / or position changes of components of the movement device CR, which are movement-coupled to the medical object MD, for example, the at least one actuator element 73 and / or the at least one transmission element 74 .

[0115] In this case, the mobile device CR can be designed in particular to provide movement information having information about the speed and / or orientation and / or relative position and / or movement distance of the medical object MD. Furthermore, the processing unit 22 can be designed to repeatedly determine the positioning of the medical imaging device in the event of a change in the movement information, in particular as a function of a threshold value for the change in the movement information. In this case, the change in the movement information can describe a change in the position and / or orientation of the medical object MD in a predefined section VD of the examination object 31, for example in a vessel structure.

[0116] Figure 4The schematic diagram shows an embodiment of the proposed method for controlling an interventional system 1. The sequence of the method steps is not restricted either by the sequence shown or by the selected numbering. The sequence of the steps can therefore be reversed if necessary and individual steps can be omitted.

[0117] The first step S10 aims at recording image data from the mapped imaging area AB by means of the imaging unit 20. In an optional step S11, one or more views LAV, SAV may be created based on the image data, which views may be output to a user via the display unit 41 in an optional step S12. In a further optional sub-step S13, a user input may be received to switch the output between different views LAV, SAV, whereupon the output may be switched between different views in a further optional sub-step S14.

[0118] Step S20 aims to determine the orientation state of the mapped imaging area AB relative to the inspection object 31. In order to determine the orientation state, orientation information can be provided (optional sub-step S21). For example, the orientation information can be provided by the imaging unit 20 in the form of image data of the mapped imaging area AB and / or positioning parameters of the imaging unit 20. In another optional sub-step S22, the orientation information can be received by the processing unit 22. Alternatively, in sub-step S21, the orientation information can be provided by the processing unit 22 itself, for example, in the form of tracking data of one or more tracking sensors appropriately arranged on the imaging unit 20 or in the form of evaluation results of the image data of the mapped imaging area AB. In another optional sub-step S23, the orientation state of the mapped imaging area AB is calculated from the orientation information (by the correspondingly configured processing unit 22). In another optional sub-step S24, the orientation information and / or the orientation state can be aligned with the coordinate system of the inspection object 31.

[0119] In step S30, the movement state of the medical object MD relative to the examination object 31 is determined. In particular, the current position of the medical object MD (predetermined section VD) can be determined. For this purpose, in an optional sub-step S31, movement information of the medical object MD can be provided, for example, as movement parameters by the mobile device CR or in the form of image data of the mapped imaging area AB by the imaging unit 20. In a further optional step S32, the movement information can be received by the processing unit 22. Alternatively, in sub-step S31, the movement information can be provided by the processing unit 22 itself, for example in the form of tracking data of one or more tracking sensors appropriately arranged on the mobile device CR and / or the medical object MD or as an evaluation result of the image data of the mapped imaging area AB. In a further optional sub-step S33, the movement state of the medical object MD is calculated from the movement information (by the correspondingly configured processing unit 22). In a further optional sub-step S34, the movement information and / or the movement state are registered with the coordinate system and / or the orientation state of the examination object 31.

[0120] In step S40, a target position TP for the medical object MD (predefined section VD) is preset relative to the examination object 31. The target position TP may have a preset positional relationship relative to the mapped imaging area AB. Then, the target position TP is implicitly preset by the orientation state of the mapped imaging area AB. Alternatively, in an optional sub-step S41, the defined position may be dynamically determined in the mapped imaging area AB by user input. The preset of the target position TP defined relative to the mapped imaging area may be activatable and / or deactivatable.

[0121] In step S50, one or more control signals for a mobile device are determined, the mobile device being suitable for moving the medical object MD (predefined segment VD) to the target position TP based on the movement state of the medical object MD. The one or more control signals may be particularly suitable for moving the medical object MD (predefined segment VD) from the current position to the target position TP. In an optional sub-step S51, a movement trajectory may be determined, the movement trajectory being suitable for moving the medical object MD (predefined segment VD) from the current position to the target position TP based on the movement state, and then one or more control signals may be determined based on the movement trajectory. In another optional sub-step S52, additional information about the object under examination 31 may be taken into account when determining the movement trajectory. Such additional information may exist, for example, as a two-dimensional and / or three-dimensional and / or four-dimensional data set, in particular an image data set, which is registered with the mapped imaging region AB and provided in another optional sub-step S53.

[0122] In step S60, one or more control signals are provided to the mobile device CR. In optional sub-step S61, the medical object MD is moved (to the target position TP) by the mobile device CR based on (depending on) the one or more control signals.

[0123] In optional step S70, the orientation and / or defined position of the mapped imaging area AB is changed by the user, whereupon the process repeats steps S10 to S60 (possibly including one or more optional sub-steps).

[0124] In optional step S80, the imaging unit 20 is adjusted based on the movement state (current position) of the medical object MD, for example to make the mapped imaging area AB track the medical object and / or optimize the imaging for the movement state (current position). Step S80 may in particular be based on the image data recorded in step S10.

[0125] The schematic diagrams included in the described figures are not drawn to any scale or size ratio.

[0126] Finally, it is pointed out again that the method described in detail above and the device shown are only the following embodiments, which can be modified in different ways by a person skilled in the art without departing from the scope of the present invention. In addition, the use of the indefinite article "a" or "an" does not exclude that the features involved can also be present multiple times. Similarly, the terms "unit" and "element" do not exclude that the components involved are composed of a plurality of cooperating subcomponents, which can also be distributed in space if necessary.

[0127] The following points are also part of the disclosure:

[0128] 1. A medical imaging system comprising:

[0129] A medical imaging unit (20) for mapping an imaging region (AB) within an object under examination (31), wherein the imaging unit (20) is configured to be able to change the position of the imaging region (AB) relative to the object under examination (31); and

[0130] a processing unit (22) having a data interface (35) to a movement device (CR) for robotically positioning a medical object (MD) within an examination object (31);

[0131] in:

[0132] The processing unit (22) is designed such that it determines a current position of the medical object (MD);

[0133] The processing unit (22) is also designed such that it predetermines a target position (TP) for the medical object (MD);

[0134] The processing unit (22) is further configured to determine one or more control signals suitable for causing the medical object (MD) to move from a current position to a target position (TP) via the movement device (CR);

[0135] The processing unit (22) is further configured to provide one or more control signals via a data interface (35) of the mobile device (CR);

[0136] The processing unit (22) is further configured such that it causes the target position (TP) to track the position of the mapped imaging area (AB).

[0137] 2. The imaging system according to 1, wherein the processing unit (22) is designed such that the tracking of the target position (TP) can be activated and / or deactivated, in particular by a user input.

[0138] 3. The imaging system according to any of the preceding points, wherein the processing unit (22) is further configured such that:

[0139] determining the positional state of the mapped imaging area (AB) relative to the inspection object (31); and

[0140] Track the target position (TP) based on the orientation state.

[0141] 4. The imaging system according to any of the preceding points, wherein

[0142] The imaging unit (20) is also designed so that the orientation of the mapped imaging area (AB) can be set manually, in particular by hand, by a user.

[0143] 5. The imaging system according to any of the preceding points, wherein

[0144] The imaging unit (20) also has a positioning device (21) which is designed to robotically set the position of the imaged imaging region (AB) relative to the object under examination (31).

[0145] 6. An interventional system (1), comprising:

[0146] a mobile device (CR) for robotically positioning a medical object (MD) within and relative to the examination object (31);

[0147] A medical imaging unit (20) having an ultrasound unit (US) for mapping an imaging region (AB) within an examination object (31) by means of ultrasound examination;

[0148] a positioning device (21) for robotically positioning the ultrasound unit (US) relative to the examination object (31); and

[0149] · Processing unit (22);

[0150] in:

[0151] The processing unit (22) is designed such that it determines a current position of the medical object (MD);

[0152] The processing unit (22) is designed such that it controls the positioning device (21) based on the movement state so that a predefined section (VD) of the medical object (MD) is located in the mapped imaging area (AB).

[0153] 7. The intervention system according to 5 or 6, wherein the positioning device has a 6DOF or 7DOF robot, in particular a 7DOF lightweight robot.

[0154] 8. The interventional system according to 6 or 7, wherein:

[0155] The mobile device (CR) is configured to provide movement information to the processing unit (22), from which the current position of the medical object (MD) can be derived; and

[0156] The processing unit (22) is configured to determine a current position of the medical object (MD) based on the movement information;

[0157] The movement information preferably comprises information about the speed and / or orientation and / or relative position and / or movement distance of the medical object (MD).

Claims

1. A medical imaging system (1), comprising: A medical imaging unit (20) for mapping an imaging region (AB) within an object under examination (31), wherein: The imaging unit (20) is configured to enable the orientation of the mapped imaging area (AB) relative to the inspection object (31) to be changed; as well as a processing unit (22) having a data interface (35) to a movement device (CR) for robotically positioning a medical object (MD) within the examination object (31); in: The processing unit (22) is designed such that it determines the current position of the medical object (MD); The processing unit (22) is further configured such that it predetermines a target position (TP) for the medical object (MD), the target position (TP) being defined relative to the mapped imaging area (AB); The processing unit (22) is further configured to repeatedly determine one or more control signals when the mapped imaging area (AB) changes, the control signals being suitable for causing the medical object (MD) to move from the current position to the target position (TP) via the mobile device (CR); and The processing unit (22) is further configured to provide the one or more control signals via a data interface (35) of the mobile equipment (CR).

2. The imaging system according to claim 1, wherein: The processing unit (22) is designed to enable activation and / or deactivation of a presetting of a target position (TP) defined relative to the mapped imaging area (AB).

3. The imaging system according to any one of claims 1 or 2, wherein: The target position (TP) is a fixed preset position relative to the mapped imaging area (AB).

4. The imaging system according to any one of claims 1 or 2, further comprising: A user interface (41, 42) is configured to enable a user to preset a target position (TP) within the mapped imaging area (AB) through user input.

5. The imaging system according to claim 1 or 2, wherein: The processing unit (22) is also configured such that: determining the orientation state of the mapped imaging area (AB) relative to the inspection object (31); and The one or more control signals are determined based on the orientation state.

6. The imaging system according to claim 5, wherein: The imaging unit (20) is configured to provide the following position information: the position information has information about the speed and / or orientation and / or relative position and / or movement distance of at least one imaging component (US) of the imaging unit (20) and / or image data of the mapped imaging area (AB); and The processing unit (22) is configured to determine an orientation state based on the orientation information.

7. The imaging system according to claim 1 or 2, wherein: The processing unit (22) is configured to: receiving the following information about the examination object (31): the information comprising information about the vessel structure of the examination object (31) and / or material properties of the examination object (31) and / or state information of the examination object (31); and The one or more control signals are determined based on information about the examination object (31).

8. The imaging system according to claim 1 or 2, wherein: The processing unit (22) is configured to repeatedly determine the one or more control signals in the event of a change in the target position (TP).

9. The imaging system according to claim 1 or 2, wherein: The imaging unit (20) is also configured to enable the orientation of the mapped imaging area (AB) to be manually set by a user.

10. The imaging system according to claim 1 or 2, wherein: The imaging unit (20) also has a positioning device (21), which is designed to be able to robotically set the orientation of the mapped imaging area (AB) relative to the examination object (31).

11. The imaging system according to claim 1 or 2, wherein: The processing unit (22) is also designed such that it controls the imaging unit (20) based on movement information of the medical object (MD).

12. The imaging system of claim 11, wherein: Optimizing the imaging of the mapped imaging area (AB) by adjusting one or more imaging parameters of the imaging unit (20), and / or The orientation of the mapping imaging area (AB) is set so that the medical object (MD) is located in the mapping imaging area (AB).

13. The imaging system according to claim 1 or 2, wherein: The imaging unit (20) has an ultrasonic imaging device, which has an ultrasonic unit (US) as an imaging component. The ultrasonic unit (US) is configured as an ultrasonic head for ultrasonically examining the object to be examined (31).

14. The imaging system according to claim 1 or 2, further comprising: A display unit (41) is configured to display: a first view (LAV) of said mapped imaging area (AB); and A marker (M) superimposed on the first image (LAV), the marker (M) indicating a target position (TP) in the first image (LAV).

15. The imaging system (1) according to claim 1 or 2, wherein: The processing unit (22) is also designed such that it outputs a warning message to a user via the data interface (35) in the event of an interruption of the data connection.

16. The imaging system of claim 1, wherein: The processing unit (22) is designed to enable activation and / or deactivation of a presetting of a target position (TP) defined relative to the mapped imaging area (AB) by means of a user input.

17. The imaging system according to claim 1 or 2, wherein: The imaging unit (20) is also configured to enable the orientation of the mapping imaging area (AB) to be set manually by a user.

18. The imaging system according to claim 15, wherein the data interface (35) is designed as a wireless data interface.

19. An interventional system for performing an interventional procedure, the interventional system having: An imaging system according to any one of claims 1 to 18; and A movement device (CR) is provided for robotically positioning the medical object (MD) within and relative to the examination object (31).

20. The interventional system of claim 19, wherein: The mobile device (CR) is configured to provide movement information about a current movement state of the medical object, the movement information having information about a speed and / or an orientation and / or a relative position and / or a movement distance of the medical object (MD); The processing unit (22) is configured to receive the movement information via the data interface (35); and The processing unit (22) is further configured to determine a current position of the medical object (MD) based on the movement information.

21. The interventional system of claim 19, wherein the interventional procedure is a medical procedure.

22. A computer program product comprising a program and capable of being directly loaded into a memory of a programmable computing unit of a processing unit (22), the computer program product having a program mechanism so as to control an imaging system according to any one of claims 1 to 18 and an interventional system according to any one of claims 19 to 21 when the program is executed in the computing unit of the processing unit (22).

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