Device for positioning a medical object and method for providing a correction preset

Abstract

The invention relates to a device for positioning a medical object, wherein the device has a moving device for robotically moving the medical object, wherein the medical object has a predefined section, wherein the predefined section is at least partially arranged in the examination object, wherein the device is designed to receive a control preset, wherein the moving device is designed to position the predefined section based on the control preset, wherein the device is also designed to: - receive positioning information about the predefined section, - determine a deviation size, wherein the deviation size describes a deviation between the control preset and the positioning information, - determine a correction preset for minimizing the deviation based on the deviation size, wherein the moving device is also designed to reposition the predefined section based on the correction preset. The invention also relates to a system, a method for providing a correction preset, a method for providing a trained function, and a computer program product.

Description

Technical Field

[0001] The present invention relates to a device, a system, a method for providing a correction preset, a method for providing a trained function and a computer program product for positioning a medical object. Background Art

[0002] Interventional medical procedures in or on the vascular system of the subject usually require that an especially elongated medical object is especially percutaneously introduced into the vascular system. In addition, in order to successfully diagnose and / or treat, usually at least a portion of the medical object needs to be guided toward the target area to be treated in the vascular system.

[0003] When the medical object is moved, especially translated and / or rotated, the medical object may meander and / or spiral in the vascular system. As a result, the response of the distal section of the medical object to the movement applied to the distal section by the operator, for example, may be delayed. In addition, a length difference and / or an angle difference may occur between the preset target positioning and the actual positioning of the distal section. In order to compensate for such a length difference and / or an angle difference, the medical object is usually moved, especially manually, by the medical operator in the case of regular X-ray fluoroscopy. The disadvantage here is the high X-ray load on the medical operator and the object of examination. In addition, without accurate knowledge of the spatial direction of the medical object in the vascular system, especially the meandering and / or spiraling behavior, the positioning of the distal section is usually erroneous. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to achieve improved positioning of a medical object.

[0005] This object is achieved according to the invention by a device for localizing a medical object, a system, a method for providing a correction specification, a method for providing a trained function, and a computer program product.

[0006] In a first aspect, the present invention relates to a device for positioning a medical object. In this case, the device has a moving device for robotically moving the medical object. In addition, the medical object has a predefined section. In addition, the predefined section is at least partially arranged in the object under examination. In addition, the device is designed to receive a control preset (Steuerungsvorgabe). In addition, the moving device is designed to position the predefined section based on the control preset. The device is also designed to receive positioning information about the predefined section. In addition, the device is designed to determine a deviation size. In this case, the deviation size describes the deviation between the control preset and the positioning information. In addition, the device is designed to determine a correction preset for minimizing the deviation based on the deviation size. The moving device is also designed to reposition the predefined section based on the correction preset.

[0007] Here, the medical object can be designed, for example, as a surgical instrument and / or a diagnostic instrument. The medical object can be in particular elongated and / or flexible. The medical object can be designed, for example, as a catheter and / or an endoscope and / or a guidewire. The predefined section of the medical object can advantageously describe a spatial, in particular distal section of the medical object, such as an end and / or a tip of the medical object.

[0008] The device may also have a provision unit which is designed to control the device and / or components of the device, in particular a movement device.

[0009] In addition, the mobile device can advantageously be a robot device designed for remote manipulation of a medical object, such as a catheter robot. Advantageously, the mobile device is arranged outside the object of examination. In addition, the mobile device can have a fixed element that is particularly movable and / or operable. In addition, the mobile device can have a cassette element designed to accommodate at least a portion of the medical object. In addition, the mobile device can have a mobile element that is fixed on a fixed element, such as a tripod and / or a robot arm. In addition, the fixed element can be designed to fix the mobile element on a patient support device. In addition, the mobile element can advantageously have at least one actuator element, such as a motor, wherein the providing unit is designed to control the actuator element. The cassette 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 cassette element can also have at least one transmission element that can be moved by coupling between the cassette element and the mobile element, in particular at least one actuator element. The at least one transmission element can be particularly movably coupled to at least one actuator element. Advantageously, the transmission element is designed to transmit the movement of the actuator element to the medical object in such a way 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. The at least one transmission element can, for example, have rollers and / or a screen and / or a shear plate.

[0010] Advantageously, the moving element can have a plurality of actuator elements, in particular independently controllable. In addition, the cassette element can have a plurality of transmission elements, in particular at least one transmission element coupled to movement for each actuator element. This can enable, in particular, independent and / or simultaneous movement of the medical object along different degrees of freedom of movement.

[0011] The device, in particular the providing unit, can advantageously be designed to receive a control preset. Receiving a control preset can in particular include the acquisition and / or reading of a computer-readable data memory and / or receiving from a data storage unit, such as a database. In addition, the control preset can be provided by an input unit for acquiring inputs of an operator. The control preset can include at least one instruction for controlling the mobile device, in particular step by step. The control preset can in particular include at least one instruction for specifying (or prescribing) a medical object, in particular a predefined section, by means of a mobile device, in particular a simultaneous translation and / or rotation, in particular a sequence of instructions in time. Advantageously, the providing unit can be designed to interpret the control preset and control the mobile device based thereon. In addition, the mobile device can be designed to position, in particular translate and / or rotate, the medical object based on the control preset.

[0012] As an alternative or in addition, the control preset may include a preset in terms of the target positioning in space that needs to be achieved in the examination object by the predefined section, in particular the position and / or orientation and / or posture in space that needs to be achieved. Here, the providing unit can be advantageously designed to translate the control preset into at least one instruction for controlling the mobile device, in particular based on the imaging and / or model of the examination object, and control the mobile device based on this. The providing unit can be particularly designed to control the mobile device in such a way that the predefined section is positioned based on the imaging and / or model of the examination object and the control preset. The providing unit can be particularly designed to guide the predefined section in the examination object with the help of the control preset and the mobile device. The examination object can be, for example, a human patient or an animal patient and / or a phantom, in particular a vascular model, and / or a corpse. The examination object can have, in particular, a hollow organ, such as a vascular segment, in which the medical object, in particular the predefined segment, is at least partially arranged.

[0013] The positioning of the predefined section can advantageously include a movement, in particular a translation and / or a rotation, of the medical object, in particular the predefined section relative to the mobile device, in particular relative to the examination object. The predefined section can advantageously have an original position in the examination object, in particular an original spatial position and / or orientation and / or posture after positioning. In addition, the mobile device can be designed to deform the predefined section of the medical object as specified, for example by means of a traction rope inside the medical object. The device, in particular the mobile device, can advantageously be designed to position the predefined section of the medical object in the original position in the examination object based on a control preset. The control preset can in particular include information about the relative movement of the medical object, in particular the predefined section, relative to the mobile device, for positioning the predefined section in the original position.

[0014] Furthermore, the device can be designed to receive positioning information about the predefined section. The receiving of the positioning information can in particular include the acquisition and / or reading of a computer-readable data memory and / or the receiving from a data storage unit, such as a database. Furthermore, the positioning information can be received by a capture unit for acquiring the, in particular current, positioning of the predefined section. The positioning information can advantageously include information about the, in particular current, spatial position and / or orientation and / or posture of the predefined section in the examination object.

[0015] Furthermore, the device can be designed to determine a deviation dimension that describes a deviation between a control specification and the positioning information. The deviation dimension can in particular describe a difference between a spatial target positioning of the predefined segment specified by the control specification and an actual spatial positioning, in particular an original positioning, of the predefined segment described by the positioning information. Furthermore, the deviation dimension can include a length difference, in particular a shortening or lengthening, and / or an angular difference between a spatial target positioning of the predefined segment specified by the control specification and an actual positioning described by the positioning information.

[0016] If the control specification specifies a spatial positioning of the predefined segment relative to the mobile device, the positioning information can describe the spatial positioning of the predefined segment, preferably similarly relative to the mobile device, in particular the current spatial positioning. The spatial positioning of the predefined segment can be described, for example, by a length dimension along the longitudinal extension of the medical object and / or an angle of the medical object relative to the mobile device.

[0017] As an alternative or in addition, the control preset can specify the spatial positioning of the predefined segment relative to the examination object, for example in the patient coordinate system. Here, the positioning information can advantageously describe information about the spatial positioning of the predefined segment in the same patient coordinate system, especially the current one. The deviation dimension can describe the deviation between the spatial target positioning of the predefined segment specified by the control preset and the actual spatial positioning described by the positioning information in the patient coordinate system. The deviation between the spatial target positioning of the predefined segment specified by the control preset and the actual spatial positioning described by the positioning information, especially the original positioning, can be caused by the detour and / or spiral formation of the medical object in the hollow organ. The detour of the medical object here especially describes the curvature of the medical object, wherein the curvature extends along the curvature of the hollow organ, especially the curve, which is mostly on the outside of the curve of the hollow organ. In addition, the medical object can be caused to spiral due to the rotation of the medical object by means of the moving device. Here, the spatial direction of the medical object in the hollow organ can have a spiral shape, especially a curvature in space.

[0018] In addition, the device can be designed to determine a correction preset for minimizing the deviation based on the deviation size. The correction preset can include at least one instruction for controlling the mobile device, especially step by step, in particular, similar to the control preset. The correction preset can especially include at least one instruction for specifying a translation and / or rotation of a medical object, especially a predefined segment, in particular simultaneously, by means of the mobile device, in particular, a sequence of instructions in time. Advantageously, the device can be designed to determine the correction preset in such a way that the deviation between the control preset and the positioning information is minimized. To this end, the control preset can include at least one instruction for specifying the repositioning of the medical object, in particular the predefined segment. The mobile device can advantageously be designed to reposition the predefined segment from the original positioning toward the target positioning specified by the control preset based on the correction preset.

[0019] The device can advantageously be designed to repeatedly determine the deviation size and / or the correction preset when the positioning information and / or the control preset changes. In addition, the movement device can be designed to repeatedly reposition the predefined section when the correction preset changes.

[0020] This allows a particularly precise positioning and / or movement of a medical object, in particular a predefined section, in the examination object. This advantageously reduces injuries to the examination object. In addition, the control of the device, in particular the movement device, can be improved based on the correction presetting. In addition, the correction presetting can advantageously be used for improved path planning in order to position the medical object in other positioning. The proposed device can in particular compensate and correct incorrect positioning of the predefined section in the examination object, for example due to a winding and / or spiral formation of the medical object.

[0021] In another advantageous embodiment of the proposed device, the control presettings may include presettings about the spatial positioning relative to the mobile device, in particular the length dimension along the longitudinal extension of the medical object and / or the angle of the medical object relative to the mobile device and / or the relative movement of the medical object, in particular the predefined segment, relative to the mobile device. Furthermore, the positioning information may include information about the spatial positioning of the predefined segment relative to the mobile device, in particular the length dimension along the longitudinal extension of the medical object and / or the angle of the medical object relative to the mobile device.

[0022] The control presetting can advantageously specify the spatial positioning of the medical object, in particular the predefined section, relative to the mobile device. Here, the presetting about the spatial positioning of the medical object, in particular the predefined section, can include a presetting about a length dimension along the longitudinal extension direction of the medical object and / or a presetting about the angle of the medical object relative to the mobile device.

[0023] As an alternative or in addition, the control presetting may include a presetting about a relative movement of the medical object, in particular the predefined section, relative to the mobile device, in particular for positioning the predefined section in an original position. Here, the relative movement may describe a movement, in particular a translation and / or a rotation, of the medical object, in particular the predefined section, relative to the mobile device.

[0024] Furthermore, the positioning information may include a spatial positioning of the predefined segment relative to the mobile device, in particular a current spatial positioning of the predefined segment. Here, the spatial positioning of the predefined segment may be described, for example, by a length dimension along a longitudinal extension of the medical object and / or an angle of the medical object relative to the mobile device.

[0025] The deviation dimension can advantageously describe the difference between the spatial positioning and / or the relative movement of the medical object, in particular the predefined segment, relative to the mobile device, which is specified by the control presetting, and the spatial positioning of the predefined segment relative to the mobile device, which is described by the positioning information, in particular the actual spatial positioning. In this case, the deviation dimension can describe a length difference, in particular a shortening or lengthening, and / or an angular difference.

[0026] In a further advantageous embodiment of the proposed device, the device can also be designed to determine the deviation dimension as a function of a displacement direction along which the displacement device is designed to position a predefined section.

[0027] Since the medical object, in particular an elongated one, is at least partially arranged in the examination object, in particular a hollow organ of the examination object, the medical object can meander and / or spiral. Such meandering and / or spiraling is usually associated with a movement direction, in particular a translational and / or rotational direction, for positioning the predefined segment.

[0028] Here, the circuitous and / or spiral formation can be enhanced, in particular, become the largest, when the predefined segment is positioned along a translational movement direction away from the mobile device. In contrast, the circuitous and / or spiral formation can be reduced, in particular, become the smallest, when the predefined segment is positioned along a translational movement direction toward the mobile device. Therefore, the deviation between the control preset and the positioning information can have different signs when the predefined segment is positioned along a translational movement direction away from and / or towards the mobile device. In addition, the appearance of the spiral formation and / or the curling direction can depend on the rotational movement direction used to position the predefined segment.

[0029] The device can advantageously be designed to determine the deviation size as a function of at least one movement direction, in particular along a plurality of different movement directions, along which the mobile device is designed to position the predefined section. The device can also be designed to determine a correction preset for at least one movement direction based on the respective deviation size in order to minimize the associated deviation and to provide the correction preset to the mobile device.

[0030] This makes it possible to achieve a particularly precise and at the same time efficient correction of an erroneous positioning of the predefined section as a function of the at least one movement direction for positioning the predefined section.

[0031] In a further advantageous embodiment of the proposed device, the device can also be designed to receive a data set having an image and / or a model of the examination object. In this case, the device can also be designed to additionally determine the deviation dimension based on the data set.

[0032] The receiving of data sets, in particular images and / or models, may in particular comprise the acquisition and / or reading of a computer-readable data memory and / or the receiving from a data storage unit, for example a database. Furthermore, the data sets may be provided by a providing unit of a medical imaging device for recording and / or for providing data sets. The medical imaging device may, for example, comprise a magnetic resonance device (MRT) and / or a computed tomography device (CT) and / or a medical X-ray device, in particular a medical C-arm X-ray device, and / or an ultrasound device and / or a positron emission tomography device (PET).

[0033] The data set can advantageously have a two-dimensional and / or three-dimensional image of the examination object, in particular a hollow organ, in particular time-resolved. The data set can in particular include a developed and / or segmented image of the examination object, in particular a hollow organ. In addition, the data set can map (abbilden, or image out) the examination object before and / or during the operation. As an alternative or in addition, the data set can have a two-dimensional and / or three-dimensional model of the examination object, in particular a hollow organ, in particular a centerline model and / or a volume model, for example a volume mesh model (English volume mesh model). The data set can advantageously be registered with the patient coordinate system and / or with respect to the mobile device.

[0034] The device can be advantageously designed to image the original positioning of the predefined segment and / or the spatial orientation of the medical object in the examination object in the data set based on the control preset. The device can be particularly designed to determine, in particular simulate, the original positioning of the predefined segment and / or the spatial orientation of the medical object in the data set based on the control preset. The device can be advantageously designed to simulate and / or image the winding and / or spiral formation of the medical object in the data set when positioning the predefined segment. For this purpose, the device can also be designed to receive material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object. The reception of material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object can in particular include the acquisition and / or reading of a computer-readable data memory and / or receiving from a data storage unit, such as a database. In addition, the operating parameters can be provided by the mobile device and / or the medical object. In addition, the physiological parameters of the examination object can be provided by a sensor unit for acquiring physiological parameters. The sensor unit can, for example, include a breathing sensor and / or a pulse sensor and / or a motion sensor. Material parameters can, for example, describe the deformability, in particular ductility and / or torsional strength and / or bendability of the medical object. In addition, operating parameters can describe information about the medical object, in particular the current operating state. Operating parameters can, in particular, include information about the spatial posture of the medical object. In addition, physiological parameters can include information about the physiological state of the object under examination, in particular during the positioning of the predefined section, and / or the change of the physiological state over time. Physiological parameters can, for example, have a breathing signal and / or a pulse signal and / or a motion signal of the object under examination. The device can advantageously be designed to simulate the original positioning of the predefined sections of the medical object and / or the spatial orientation of the medical object in the data set based on the material parameters of the medical object and / or the operating parameters and / or the physiological parameters of the object under examination. Thus, the circuitous and / or spiral formation of the medical object in the object under examination, in particular the hollow organ, can be simulated and / or imaged particularly accurately in the data set.

[0035] By adding the data set when determining the deviation size, the spatial course of the medical object in the examination object, in particular the winding and / or spiral formation, can be advantageously taken into account. The data set can in particular include information about the spatial course and / or spatial extension of the hollow organ in which the medical object is at least partially arranged, such as a diameter and / or a cross-sectional area. The device can be designed to determine the deviation size based on the data set particularly accurately, in particular as a function of the direction of movement for positioning the predefined section. In this case, the device can also be designed to take into account the information about the spatial course and / or spatial extension of the hollow organ in order to determine the deviation size, in particular the length difference and / or the angle difference, as a function of the direction of movement for positioning the predefined section.

[0036] In another advantageous embodiment of the proposed device, the data set can have a centerline model of a vessel segment of the examination subject. In this case, the predefined segment can be arranged in the vessel segment. In addition, the device can be designed to determine the deviation based on the centerline model.

[0037] The centerline model can have at least one centerline, which describes the spatial orientation of a hollow organ of the examination object, in particular at least one blood vessel segment, spatially, in particular two-dimensionally and / or three-dimensionally. In this case, the at least one centerline can be a centerline of the hollow organ, which extends along the longitudinal extension direction of the hollow organ through the center point of the cross section of the hollow organ. The device can be designed in particular to determine, in particular simulate, the original positioning of the predefined segment and / or the spatial orientation of the medical object in the centerline model based on the control specification.

[0038] In this case, in particular when the medical object is arranged along a center line, the spatial course of the at least one center line from the entry point of the medical object into the examination object to the target location in the space of the predefined section can describe the average distance of the medical object. When the predefined section is positioned along a direction of movement away from the movement device, in particular a translational movement, the distance from the entry point to the target location can be extended relative to the average distance due to the winding and / or spiral formation of the medical object in the hollow organ. In addition, when the predefined section is positioned along a direction of movement towards the movement device, in particular a translational movement, a shortening of the distance from the entry point to the target location relative to the average distance can result. The device can advantageously be designed to determine a deviation, in particular a deviation size, based on a center line model, in particular relative to the average distance. In this case, the device can also be designed to determine a shortening and / or lengthening of the distance from the entry point to the target location relative to the average distance, in particular substantially perpendicularly to at least one center line, by determining, in particular in sections, the spatial deviation between the spatial course of the medical object and the center line model. In this case, due to the spatial extension of the hollow organ, in particular the diameter and / or the cross-sectional area, the spatial deviation between the spatial course of the medical object and the centerline model can be limited.

[0039] Furthermore, the device can be designed to determine a correction presetting for minimizing the deviation based on the course of the at least one center line. Furthermore, the device can be designed to advantageously take into account curvatures and / or spatial extensions of the hollow organ to determine the correction presetting.

[0040] This makes it possible to achieve a particularly precise correction of an incorrect positioning of the predefined section, in particular taking into account the spatial course of the medical object in the hollow organ.

[0041] In a further advantageous embodiment of the proposed device, the movement device can be designed to move the medical object along a first movement direction based on a control specification in order to position the predefined section in the original position. Furthermore, the movement device can be designed to move the medical object based on other control specifications in such a way that the predefined section begins to move away from its original position. Furthermore, the device can be designed to additionally determine a deviation size based on a comparison of a control specification with other control specifications.

[0042] Here, the first movement direction can be substantially towards or away from the mobile device. The device can advantageously be designed to detect deviations of the predefined segment relative to the original positioning, in particular a change in positioning. The device can, for example, be designed to detect a change in positioning of the predefined segment based on positioning information, in particular a change in positioning information.

[0043] The other control presets may in particular include all features and characteristics described with respect to the control presets and vice versa. In addition, the mobile device may be designed to move the medical object in such a way that, based on the other control presets, the medical object is moved in such a way that, in particular, the current positioning of the predefined section has a deviation relative to the original positioning, based on the other control presets. The mobile device may in particular be designed to move the medical object in such a way that, in accordance with the other control presets, the medical object is moved in such a way that, in particular, the current positioning of the predefined section has a deviation relative to the original positioning, in contrast to the first movement direction, until the predefined section begins to leave its original positioning. Here, the other control presets may include information about the relative movement of the medical object, in particular, the predefined section, relative to the mobile device, wherein the relative movement includes the time period of the movement of the medical object from the start of the movement in the opposite direction to the first movement direction to the time point when the predefined section begins to leave its original positioning. The other control presets may in particular include information about the spatial distance and / or the rotation angle that is passed when the medical object is moved relative to the mobile device, in particular, until the time point when the predefined section has a deviation relative to its original positioning.

[0044] The spatial orientation of the medical object may have an extension, in particular relative to an average distance, along a first movement direction facing away from the moving device after positioning the predefined section in an original position in the examination object, in particular in a hollow organ, for example due to a winding and / or spiral formation of the medical object. Here, the moving device may be designed to shorten the extension by moving the medical object opposite to the first movement direction, in particular along a movement direction toward the moving device. Alternatively, the spatial orientation of the medical object may have a shortening, in particular relative to an average distance, along a first movement direction facing away from the moving device after positioning the predefined section in an original position in the examination object, in particular in a hollow organ. Here, the moving device may be designed to lengthen the shortening by moving the medical object opposite to the first movement direction, in particular along a movement direction facing away from the moving device.

[0045] In addition, the device can be designed to determine the deviation size based on the comparison of the control preset with other control presets. The comparison of the control preset with other control presets can in particular include subtracting the translation and / or rotation of the medical object relative to the moving device specified by the corresponding control preset. Here, the device can be designed to determine the deviation size between the maximum shortening and the maximum extension of the medical object relative to the original positioning, especially the arrangement of the medical object in the hollow organ, the deviation size especially includes the length difference and / or the angle difference. It can be advantageously ensured that when the medical object is moved according to the second control preset, especially in the opposite direction to the first movement direction, the predefined section directly and without delay follows (or follows) this preset. In addition, the device can be designed to determine the correction preset based on the deviation size, in particular based on the other control presets.

[0046] According to another advantageous design, the device can be designed to repeatedly and successively move the medical object in the second oppositely directed direction of movement, in particular in an oscillating manner, based on the other control presets. For the respective oppositely directed movements of the medical object in one repetition, the distance of the movement, in particular the translation and / or rotation, can advantageously be the same, so that the medical object is arranged in its original position again after one oscillation. In addition, the device can be designed to increase the amplitude of the movement, in particular the oscillation, for such a long time with each repetition of the paired oppositely directed movement of the medical object until the predefined section begins to leave its original position. Thus, the device can advantageously be designed to determine the deviation size and / or the correction preset about the oppositely directed movement direction based on the other control presets and the amplitude of the movement at the time point when the predefined section leaves the original position. In addition, the device can advantageously be designed to determine the deviation size and / or the correction preset by oscillatingly moving the medical object in the original position along two oppositely directed rotation directions and / or along two oppositely directed translation directions. Thus, the device can be designed to determine and provide correction specifications particularly accurately for different degrees of freedom of movement of a mobile device, in particular a medical object. In addition, the oscillating movement can ensure that the predefined segment is arranged in the original position after each repetition.

[0047] In a further advantageous embodiment of the proposed device, the device can also be designed to determine deviation dimensions and correction defaults for different original positions of the predefined section in the examination object. Furthermore, the device can be designed to determine a correction default for at least one other position of the predefined section in the examination object by interpolation and / or extrapolation of previously determined correction defaults.

[0048] The device, in particular the mobile device, can be advantageously designed to position the predefined section of the medical object, in particular in sequence, at different original positions in the inspection object, in particular the hollow organ. Here, different original positions can advantageously form a path in the inspection object, in particular the hollow organ. The mobile device can be particularly designed to move the predefined section of the medical object to the target position along the path. Here, the device can be particularly designed to determine the deviation size and the correction preset for each original position in different original positions along the path. In addition, the device can be designed to determine the deviation size and the correction preset for different original positions respectively according to one of the aforementioned embodiments. In addition, the device can be designed to determine the correction preset for at least one other position of the predefined section, in particular for the intermediate position along the path and / or for the target position by interpolation and / or extrapolation of the correction preset determined so far. The device can be particularly designed to parameterize the deviation size and / or the correction preset according to the control preset for positioning the predefined section based on the deviation size and the correction preset determined for different original positions. This can be done in particular under the assumption that the deviation size and / or the correction presetting is dependent on the length of the part of the medical object arranged in the examination object. The device can thus be designed to determine a control presetting for a control presetting for positioning the predefined segment, in particular in the target location, by interpolation and / or extrapolation of the previously determined correction presettings. In particular, a particularly precise and at the same time efficient positioning of the predefined segment can thereby be achieved, in particular taking into account the path along which the predefined segment is moved to the target location.

[0049] In another advantageous embodiment of the proposed device, the device can also be designed to determine the position information by applying a trained function to the control specification. In this case, at least one parameter of the trained function can be based on a comparison of the training position information with the comparison position information.

[0050] The trained function can advantageously be trained by a machine learning method. The trained function can be in particular a neural network, in particular a convolutional neural network (CNN) or a network comprising a convolutional layer (convolutional layer). In addition, the trained function can be designed to process control specifications as input data and to provide positioning information as output data.

[0051] The trained function images (or maps) input data to output data. Here, the output data may also depend on one or more parameters of the trained function. The one or more parameters of the trained function may be determined and / or adjusted by training. The determination and / or adjustment of one or more parameters of the trained function may be based on a pair of training input data and corresponding assigned training output data, wherein the trained function is used for training input data to generate training imaging data (or training mapping data). The determination and / or adjustment may be based on a comparison of the training imaging data with the training output data. In general, a function that can be trained, that is, a function that has one or more parameters that have not yet been adjusted, may also be referred to as a trained function.

[0052] Other terms for a trained function are a trained imaging rule, an imaging rule with trained parameters, a function with trained parameters, an algorithm based on artificial intelligence, a machine learning algorithm. An example for a trained function is an artificial neural network, wherein the edge weights of the artificial neural network correspond to the parameters of the trained function. Instead of the term "neural network", the term "neural network" can also be used. The trained function can also be, in particular, a deep artificial neural network (English: deep neural network, deep artificial neural network). Another example of a trained function is a "support vector machine", and in particular other machine learning algorithms can also be used as trained functions.

[0053] The trained function can be trained in particular by means of back propagation. First, training imaging data can be determined by applying the trained function to training input data. Thereafter, a deviation between the training imaging data and the training output data can be determined by applying an error function to the training imaging data and the training output data. Furthermore, at least one parameter, in particular a weight, of the trained function, in particular a neural network, can be iteratively adjusted with respect to at least one parameter of the trained function based on the gradient of the error function. As a result, the deviation between the training imaging data and the training output data can be advantageously minimized during the training of the trained function.

[0054] The trained function, in particular the neural network, advantageously has an input layer and an output layer. Here, the input layer can be designed to receive input data. In addition, the output layer can be designed to provide imaging data. Here, the input layer and / or the output layer can each include a plurality of channels, in particular neurons.

[0055] The input data of the trained function can be formed by the control preset. In addition, the output data of the trained function can be formed by the positioning information.

[0056] At least one parameter of the trained function can preferably be based on a comparison of the training position information with the comparison position information. In this case, the training position information and / or the comparison position information can advantageously have been determined as part of the proposed computer-implemented method for providing a trained function and explained in the following description. The trained function can in particular have been provided by an embodiment of the proposed computer-implemented method for providing a trained function.

[0057] Furthermore, the input data of the trained function can additionally be based on material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object. Furthermore, the input data of the trained function can be based on a data set of the examination object, in particular a centerline model and / or medical image data.

[0058] The application of the trained function to the control presetting enables efficient determination of the position information, in particular without a detection unit for detecting the position of the predefined section.

[0059] In a second aspect, the present invention relates to a system comprising a device according to the invention and a detection unit. The detection unit is designed to detect the position and / or position change of a predefined section in the examination object. The detection unit is also designed to determine position information based on the detected position and / or position change and to provide it to the device.

[0060] The acquisition unit can advantageously include a sensor, for example an electromagnetic and / or optical and / or acoustic, in particular ultrasound-based, and / or gyroscopic sensor, which is designed to detect the predefined segment. For this purpose, the medical object, in particular the predefined segment, can, for example, have a marking structure, which can be acquired, in particular identified and / or located by the acquisition unit. The acquisition unit can in particular be arranged in and / or on the medical object, in particular the predefined segment. The acquisition unit can, for example, be arranged at least partially integrated in the medical object, in particular the predefined segment. As an alternative or in addition, the acquisition unit can be arranged spatially spaced from the medical object. The acquisition unit can advantageously have an acquisition region, which at least partially includes the volume of the examination object, in particular a hollow organ, in which the medical object, in particular the predefined segment, is at least partially arranged. Here, the acquisition unit can be designed to acquire, in particular, the current positioning, in particular the spatial position and / or orientation of the predefined segment. In addition, the acquisition unit can be designed to acquire a change in the positioning of the predefined segment. The acquisition unit can in particular be designed to acquire a deviation of the predefined segment from its original positioning. The acquisition unit can be designed in particular to determine the position and / or position change of the predefined segment relative to a reference position, in particular an original position, and / or absolutely, in particular relative to a patient coordinate system. For this purpose, the coordinate system of the acquisition unit can advantageously be aligned with the patient coordinate system and / or relative to the mobile device.

[0061] The acquisition unit can also advantageously be designed to provide positioning information to the device based on the acquired positioning and / or positioning changes of the predefined segment. The provision of the positioning information can, for example, include storage on a computer-readable storage medium and / or display on a display unit and / or transmission to the providing unit.

[0062] The proposed embodiment enables accurate acquisition of positioning information, in particular independently of control specifications. As a result, the actual positioning and / or positioning change of the predefined section can advantageously be used to determine the deviation size and the correction specification.

[0063] In a further advantageous embodiment of the proposed system, the acquisition unit can include a medical imaging device which is designed to record medical image data of the examination object. In this case, the predefined segment can be imaged in the medical image data in a time-resolved manner, in particular intraoperatively. Furthermore, the acquisition unit can be designed to acquire the position and / or position change of the predefined segment as a function of the medical image data.

[0064] The medical imaging device may include, for example, a magnetic resonance device (MRT) and / or a computed tomography device (CT) and / or a medical X-ray device, in particular a medical C-arm X-ray device, and / or an ultrasound device and / or a positron emission tomography device (PET). The medical imaging device may be designed to record medical image data of the object under examination. Here, the medical image data may advantageously have a two-dimensional and / or three-dimensional imaging of the object under examination, in particular a hollow organ, and / or a predefined segment, in particular with time resolution. The medical image data may in particular image the movement of the predefined segment in the object under examination, in particular the hollow organ, in a time-resolved manner. The acquisition unit, in particular the medical imaging device, may advantageously be designed to identify and / or locate the predefined segment in the medical image data. In addition, the acquisition unit, in particular the medical imaging device, may be designed to determine the location and / or location change of the predefined segment in a time-resolved manner based on the medical image data. For this purpose, the acquisition unit, in particular the medical imaging device, may also be designed to segment the predefined segment in the medical image data. Furthermore, the acquisition unit, in particular the medical imaging device, can be designed to determine the position and / or position change of the predefined segment relative to a reference image from the medical image data and / or absolutely, in particular relative to a patient coordinate system. For this purpose, the medical imaging device, in particular the coordinate system of the medical image data, can be registered with the patient coordinate system and / or relative to the mobile device. The acquisition unit, in particular the medical imaging device, can also be designed to determine positioning information based on the position and / or position change of the predefined segment acquired from the medical image data and to provide it to the device.

[0065] The proposed embodiment enables accurate, in particular image-based, acquisition of positioning information, in particular independently of control specifications. As a result, the actual positioning and / or positioning changes of the predefined segments can be advantageously used to determine the deviation size and the correction specifications.

[0066] The present invention relates in a third aspect to a method for providing a correction preset. In this case, in a first step a), a control preset is received by a device for positioning a medical object, in particular according to the present invention. In addition, the device has a moving device for robotically moving the medical object. In addition, the medical object has a predefined section, wherein the predefined section is at least partially arranged in the examination object. In addition, before the method starts, the predefined section is positioned based on the control preset by means of the moving device. In a second step b), positioning information about the predefined section of the medical object is received. In a third step c), a deviation size is determined, wherein the deviation size describes the deviation between the control preset and the positioning information. In addition, in a fourth step d), a correction preset for minimizing the deviation is determined based on the deviation size. In a fifth step e), a correction preset is provided.

[0067] The advantages of the proposed method for providing a correction presetting correspond substantially to the advantages of the proposed device for positioning a medical object and / or the proposed system. The features, advantages and alternative embodiments mentioned here can also be transferred to other claimed technical solutions and vice versa.

[0068] The proposed method, in particular steps a) to e), can advantageously be carried out after the predefined section of the medical object has been localized, in particular in an original positioning.

[0069] The receiving of control presettings and / or positioning information can in particular comprise the acquisition and / or reading of a computer-readable data memory and / or the receiving from a data storage unit, for example a database. Furthermore, the control presettings can be provided by the proposed device and / or the proposed system and / or an input unit for acquiring inputs of an operator. Furthermore, the positioning information can be provided by the proposed device, in particular the acquisition unit and / or the proposed system.

[0070] In particular, the control specifications and / or the positioning information can have all the properties and features described with reference to the device for positioning a medical object and vice versa.

[0071] Providing the correction preset in step e) can, for example, include storing on a computer-readable storage medium and / or displaying on a display unit and / or transmitting to a providing unit. The provided correction preset can advantageously assist an operator when correcting a possible incorrect positioning of the predefined segment.

[0072] In a further advantageous embodiment of the proposed method, the control presettings may include presettings about the spatial positioning relative to the mobile device, in particular the length dimension along the longitudinal extension of the medical object and / or the angle of the medical object relative to the mobile device and / or the relative movement of the medical object, in particular the predefined segment, relative to the mobile device. Furthermore, the positioning information may include information about the spatial positioning of the predefined segment relative to the mobile device, in particular the length dimension along the longitudinal extension of the medical object and / or the angle of the medical object relative to the mobile device.

[0073] In a further advantageous embodiment of the proposed method, the control specification can include information about the direction of movement, wherein the predefined section is positioned along the direction of movement by means of the movement device before the method is started. Furthermore, the deviation size can be determined in step c) as a function of the direction of movement.

[0074] Advantageously, the control presetting received in step a) can include information about the movement direction along which the predefined section is positioned by means of the movement device.

[0075] The detours and / or spiral formation of the medical object within the object under examination is usually related to the direction of movement, in particular translational and / or rotational, used to locate the predefined segment. When the predefined segment is located with the help of the mobile device along a translational movement direction away from the mobile device, the detours and / or spiral formation can be enhanced, in particular maximal. When the predefined segment is located with the help of the mobile device along a translational movement direction toward the mobile device, the detours and / or spiral formation can be reduced, in particular minimal. Therefore, the deviation between the control preset and the positioning information can have different signs depending on the direction of movement, in particular relative to the mobile device, used to locate the predefined segment. In addition, the appearance of the spiral formation and / or the curling direction can depend on the rotational movement direction used to locate the predefined segment.

[0076] The deviation size can advantageously be determined as a function of at least one direction of movement, in particular along a plurality of different directions of movement, along which the predefined section is positioned by means of the movement device. Furthermore, a correction presetting can be determined for at least one direction of movement based on the corresponding deviation size in order to minimize the associated deviation. This advantageously allows an increase or decrease in the winding and / or spiraling of the medical object to be taken into account as a function of the direction of movement in order to determine the deviation size and the correction presetting.

[0077] In a further advantageous embodiment of the proposed method for providing a correction presetting, the method can also include a step a.2), wherein a data set can be received, which has an image and / or a model of the examination object. In this case, in step c), the deviation size can be determined based on the data set and the positioning information.

[0078] The receipt of the data set, in particular the imaging and / or the model, may in particular comprise the acquisition and / or reading of a computer-readable data memory and / or the receipt from a data storage unit, for example a database. Furthermore, the data set may be provided by a providing unit of a medical imaging device for recording and / or for providing the data set. The data set may in particular have all the properties and features described with reference to the device for locating a medical object and vice versa.

[0079] After the predefined section has been positioned by means of the mobile device before the proposed method begins, the original position and / or spatial orientation of the medical object at least partially arranged in the examination object can be imaged in the data set based on the control preset. Here, the original position of the predefined section and / or the spatial orientation of the medical object can be determined in the data set, in particular simulated, based on the control preset. Advantageously, the winding and / or spiral formation of the medical object can be simulated and / or imaged in the data set. For this purpose, in step a.2), material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object can also be received. The reception of the material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object can in particular include the acquisition and / or reading of a computer-readable data memory and / or receiving from a data storage unit, such as a database. In addition, the operating parameters can be provided by the mobile device and / or the medical object. In addition, the physiological parameters of the examination object can be provided by a sensor unit for acquiring physiological parameters. In addition, the material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object can in particular have all the properties and features described with reference to the device for positioning the medical object and vice versa.

[0080] Advantageously, the original positioning of the predefined sections of the medical object and / or the spatial orientation of the medical object can be simulated in the data set based on material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object. As a result, the meandering and / or spiral formation of the medical object in the examination object, in particular the hollow organ, can be simulated and / or imaged particularly accurately in the data set. Furthermore, the deviation size can be determined particularly accurately based on the data set, in particular according to the direction of movement along which the positioning of the predefined sections was carried out before the start of the method. In this case, the information about the spatial orientation and / or spatial extension of the hollow organ contained in the data set can advantageously be taken into account according to the direction of movement to determine the deviation size, in particular the length difference and / or the angle difference.

[0081] In another advantageous embodiment of the proposed method for providing a correction presetting, the data set can have a centerline model of a vessel segment of the examination object. The predefined segment can advantageously be arranged in the vessel segment. Furthermore, in step c), the deviation size can be determined based on the centerline model.

[0082] The centerline model can in particular have all the properties and features described with reference to the device for positioning the medical object and vice versa. In addition, the original positioning of the predefined segment and / or the spatial orientation of the medical object can be determined in the centerline model, in particular simulated, based on the control preset. In addition, in particular when the medical object is arranged along the centerline, the spatial orientation of at least one centerline of the centerline model from the entry point of the medical object into the examination object to the target positioning of the predefined segment in space can describe the average distance of the medical object. If the predefined segment is positioned along the direction of movement away from the moving device, the distance from the entry point to the target positioning can be extended relative to the average distance due to the detour and / or spiral formation (Spiralbildung) of the medical object in the hollow organ. Similarly, if the predefined segment is positioned along the direction of movement towards the moving device, the distance from the entry point to the target positioning can be shortened relative to the average distance. Advantageously, the deviation, in particular the deviation size, can be determined based on the centerline model, in particular relative to the average distance in step c). In particular, a shortening and / or lengthening of the distance from the entry point to the target location relative to the average distance can be determined by determining the spatial deviation between the spatial course of the medical object and the centerline model, in particular in sections, in particular substantially perpendicularly to at least one centerline. In this case, the spatial deviation between the spatial course of the medical object and the centerline model, in particular at least one centerline, can be limited due to the spatial extension of the hollow organ, in particular the diameter and / or the cross-sectional area. For this purpose, the data set can advantageously have information about the diameter and / or the cross-sectional area of ​​the hollow organ along at least one centerline.

[0083] Furthermore, the medical object can have a spatial course in the hollow organ, wherein due to the winding and / or spiral formation, at least section-wise shortening and at least section-wise lengthening of the distance from the entry point to the target location relative to the average distance can occur. In this case, the spatial course of the medical object can have a deviation from the center line, wherein the at least section-wise shortening and lengthening of the distance from the entry point to the target location relative to the average distance can at least partially compensate for the length difference. For this purpose, it can be advantageous to determine the size of the deviation based on a center line model.

[0084] Furthermore, a correction presetting for minimizing the deviation can be additionally determined based on the course of at least one center line. Advantageously, the curvature and / or the spatial extension of the hollow organ can be taken into account in order to determine the correction presetting.

[0085] This makes it possible to achieve a particularly precise correction of an incorrect positioning of the predefined section, in particular taking into account the spatial course of the medical object in the hollow organ.

[0086] In a further advantageous embodiment of the proposed method for providing a correction preset, the method can also include a step a.3), in which a further control preset is received by the device. Here, before the start of the method, the medical object can be moved along a first movement direction by means of a movement device based on a control preset for the original positioning of the predefined section. Furthermore, before the start of the method, the medical object can be moved by means of a movement device based on a further control preset in such a way that the predefined section has a deviation relative to its original positioning. Thereafter, the deviation size can advantageously be determined in step c) based on a comparison of the control preset with the further control preset.

[0087] The receiving of the further control presettings may in particular comprise the acquisition and / or reading of a computer-readable data memory and / or the receiving from a data storage unit, for example a database. In addition, the further control presettings may be provided by an input unit for acquiring inputs of an operator. The further control presettings may in particular have all the features and properties described with reference to the control presettings and / or with reference to the device for positioning a medical object and vice versa.

[0088] The first movement direction may be substantially towards or away from the mobile device. Advantageously, a deviation of the predefined segment from its original position, in particular a change in position, may be detected based on the position information, in particular based on a change in the position information.

[0089] The winding and / or spiral formation of the medical object at least partially arranged in the examination object can be reduced, in particular minimal, or can be enhanced, in particular maximal, in relation to the first movement direction. Therefore, after the predefined segment is positioned in its original position by means of the movement device, the spatial course of the medical object can have an extension or a shortening relative to the average distance. Here, due to the movement of the medical object opposite to the first movement direction by means of the movement device based on other control presettings before the start of the method, the aforementioned extension is shortened or the aforementioned shortening is extended. Here, the state of the spatial course of the medical object being extended or shortened relative to the average distance is inverted, in particular, to a spatial course shortened or extended relative to the average distance.

[0090] Advantageously, the deviation size can be additionally determined based on the comparison of the control preset with other control presets. The comparison of the control preset with other control presets can in particular include subtracting the translation and / or rotation of the medical object relative to the mobile device specified by the corresponding control preset. Here, the deviation size between the maximum shortening and the maximum extension of the arrangement of the medical object in the hollow organ relative to the original positioning, in particular, can be determined, and the deviation size in particular includes a length difference and / or an angle difference. Here, the deviation size in particular describes the length difference and / or angle difference that needs to be compensated when the medical object moves along a moving direction opposite to the first moving direction before the predefined section may have a deviation relative to its original positioning. Here, the correction preset can be determined based on the deviation size, in particular based on other control presets. The deviation size in particular describes the slip of the spatial arrangement of the medical object in the hollow organ, and the slip can be determined and provided as a correction preset in particular according to the moving direction.

[0091] The above-described embodiments of the proposed method allow for particularly precise determination of the deviation size and of the correction specification, which is determined, in particular verified, by a movement of the medical object opposite to the first movement direction, which is carried out before the start of the method.

[0092] In a further advantageous embodiment of the proposed method for providing a correction preset, a plurality of control presets can be received in step a) for different original positions of the predefined section in the examination object. Furthermore, a plurality of further control presets can be received in step a.3) for the original position of the predefined section. In this case, the deviation size and the correction preset can be determined for different original positions in the examination object. Furthermore, a correction preset for at least one further possible position of the predefined section in the examination object can be determined by interpolation and / or extrapolation of the previously determined correction presets.

[0093] Different original positionings of predefined sections can advantageously form paths in the object under examination, in particular hollow organs. In particular, the predefined section of the medical object can be moved to the target positioning along the path by means of a mobile device before the method starts. Advantageously, deviation sizes and correction presets can be determined for different original positionings, in particular, along the path. In particular, the deviation sizes and correction presets can be determined for different original positionings, in particular by comparing the control presets corresponding to each other with other control presets, respectively, according to one of the aforementioned embodiments. In addition, the correction preset can be determined for at least one other possible positioning of the predefined section, in particular for possible intermediate positioning along the path and / or for target positioning, by interpolation and / or extrapolation of the correction presets determined so far. At least one other possible positioning can be preset by input of an input unit, for example, by an operator. Deviation sizes and / or control presets can be parameterized, in particular, based on deviation sizes and correction presets determined for different original positionings, according to the control presets. Thus, the correction preset can be determined and provided for the control presets used to locate the predefined section, in particular, in the target positioning, by interpolation and / or extrapolation of the correction presets determined so far.

[0094] The above-described embodiments of the proposed method allow for particularly precise determination of the deviation size and correction specification, in particular taking into account the path along which the displacement device is moved toward the target position before the start of the method.

[0095] In a further advantageous embodiment of the proposed method, a plurality of control pre-settings for different original positions of the predefined section in the examination object can be received in step a). Furthermore, a plurality of positioning information about the original position of the predefined section can be received in step b). In this case, deviation dimensions and correction pre-settings can be determined for the different original positions in the examination object in accordance with one of the above-described embodiments. Furthermore, a correction pre-setting can be determined for at least one other possible position of the predefined section in the examination object by interpolation and / or extrapolation of the previously determined correction pre-settings.

[0096] In another advantageous embodiment of the proposed method for providing a correction default, the position information can be determined in step b) by applying a trained function to the control default. In this case, at least one parameter of the trained function can be based on a comparison of the training position information with the comparison position information.

[0097] The trained function and / or the training localization information and / or the comparative localization information can in particular have all the features and properties described with reference to the device for localizing a medical object and vice versa. The trained function can in particular be provided by an embodiment of the proposed method for providing a trained function.

[0098] Therefore, the control presets can form the input data of the trained function. In addition, the positioning information can form the output data of the trained function.

[0099] Furthermore, the input data of the trained function can additionally be based on material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object. Furthermore, the input data of the trained function can be based on a data set of the examination object, in particular a centerline model and / or medical image data.

[0100] The application of the trained function to the control presetting enables efficient determination of the position information, in particular without a detection unit for detecting the position of the predefined section.

[0101] In a further advantageous embodiment of the proposed method for providing a correction presetting, the method can also include a step b.0), in which medical image data of the examination object are received. In this case, the predefined segment can advantageously be imaged in a time-resolved manner in the medical image data. Furthermore, in step b), the localization information can be determined from the medical image data.

[0102] The receiving of medical image data may in particular include the acquisition and / or reading of a computer-readable data memory and / or the receiving from a data storage unit, such as a database. Furthermore, the medical image data may be provided by a medical imaging device for recording the medical image data. The medical image data may in particular have all the properties and features described with reference to the device for locating a medical object and vice versa.

[0103] Advantageously, a predefined segment of the medical object can be identified and / or located in the medical image data. Furthermore, the positioning and / or a change in positioning of the predefined segment can be determined in a time-resolved manner based on the medical image data. For this purpose, the predefined segment can be segmented in the medical image data. Furthermore, the positioning and / or a change in positioning of the predefined segment relative to a reference imaging from the medical image data and / or absolutely, in particular relative to a patient coordinate system, can be determined. For this purpose, a medical imaging device, in particular a coordinate system of the medical image data, can be aligned with a patient coordinate system and / or relative to a mobile device. Furthermore, positioning information can be determined in step b) based on the positioning and / or a change in positioning of the predefined segment imaged in a time-resolved manner in the medical image data.

[0104] The proposed specific embodiment advantageously enables precise determination of the position information of the predefined section, in particular independently of the control specifications.

[0105] In a fourth aspect, the present invention relates to a method, in particular a computer-implemented method, for providing a trained function. In this case, in a first step t1), a training control preset is received by a device for positioning a medical object. Furthermore, in a second step t2), comparative positioning information is received for each training control preset for a predefined segment of the medical object. In a third step t3), the training positioning information is determined by applying the trained function to the training control preset. In a fourth step t4), at least one parameter of the trained function is adjusted based on a comparison of the training positioning information with the comparative positioning information. Furthermore, in a fifth step t5), the trained function is provided.

[0106] The receiving of the training control preset in step t1) and / or the receiving of the comparative positioning information in step t2) may in particular comprise the acquisition and / or reading of a computer-readable data memory and / or the receipt from a data storage unit, such as a database. Furthermore, the training control preset may be provided by an input unit for acquiring inputs of an operator and / or by a proposed device for positioning the medical object. Furthermore, the comparative positioning information may be provided by an acquisition unit, in particular a medical imaging device, for acquiring the positioning and / or changes in the positioning of a predefined section of the medical object.

[0107] The training control presets can in particular have all the properties of the control presets described with reference to the device for positioning a medical object and / or with reference to the method for providing a correction preset, and vice versa. Furthermore, the comparative positioning information can have all the properties of the positioning information described with reference to the device for positioning a medical object and / or with reference to the method for providing a correction preset, and vice versa. Furthermore, the training control presets and / or the comparative positioning information can be simulated.

[0108] Advantageously, in step t1), a plurality of, in particular different, training control presettings for at least one, in particular different examination objects can be received. Furthermore, in step t2), comparative positioning information can be received for each training control presetting. The comparative positioning information can hereby respectively include information about the spatial positioning and / or the change in positioning of the predefined segment, wherein the predefined segment was positioned, in particular simulated, by means of the mobile device based on the corresponding training control presetting before the method was started. The comparative positioning information can advantageously respectively describe the actual positioning of the predefined segment.

[0109] In step t3), the training positioning information can be determined by applying the trained function to the training control preset. In other words, the training control preset can form input data of the trained function and the training positioning information forms output data of the trained function. Furthermore, the input data of the trained function can be based on material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object described with reference to the method for providing the correction preset. Furthermore, the input data of the trained function can be based on a data set of the examination object described with reference to the method for providing the correction preset, in particular a centerline model and / or medical image data.

[0110] In step t4), at least one parameter of the trained function can be adjusted based on the comparison of the training positioning information with the comparison positioning information. The comparison can, for example, include determining a length difference and / or an angle difference between the training positioning information and the comparison positioning information, which correspond to each other according to the training control preset. Advantageously, the at least one parameter can be adjusted in such a way that the deviation between the comparison positioning information and the training positioning information is minimized.

[0111] The provision of the trained function in step t5) may in particular include storage on a computer-readable storage medium and / or transmission to a provision unit, in particular to the proposed device for positioning a medical object.

[0112] Advantageously, the proposed method can provide a trained function which can be used in embodiments of the device for localizing a medical object and / or of the method for providing a correction specification.

[0113] The invention further relates to a provision unit having a computing unit, a storage unit and an interface. The provision unit can be designed to implement the proposed embodiment of the method for providing a correction presetting in such a way that the components of the provision unit are designed to implement the individual method steps. The interface can be designed in particular to implement step a), in particular further sub-steps a.1) to a.3), step b), in particular further sub-steps b.0), and / or step e). Furthermore, the computing unit and / or the storage unit can be designed to implement the remaining steps.

[0114] The advantages of the proposed provision unit correspond substantially to the advantages of the proposed method for providing a correction specification. The features, advantages and alternative embodiments mentioned here can also be transferred to other claimed technical solutions and vice versa.

[0115] The present invention also relates to a training unit having a training computing unit, a training storage unit and a training interface. In this case, the training unit can be designed to implement the proposed method for providing a trained function in the following way, that is, the components of the training unit are designed to implement each individual method step. The training interface can be designed in particular to implement steps t1), t2) and / or t5). In addition, the training computing unit and / or the training storage unit can be designed to implement steps t3) and t4).

[0116] The advantages of the proposed training unit correspond substantially to the advantages of the proposed method for providing a trained function. Here, the mentioned features, advantages or alternative embodiments can also be transferred to other claimed technical solutions and vice versa.

[0117] In a fifth aspect, the present invention relates to a computer program product having a computer program, which can be directly loaded into the memory of a providing unit, and the computer program has a program segment so that when the program segment is executed by the providing unit, all steps of the computer-implemented method for providing a correction preset and / or an aspect of the method are implemented; and / or the computer program can be directly loaded into the training memory of a training unit, and the computer program has a program segment so that when the program segment is executed by the training unit, all steps of the proposed method for providing a trained function and / or an aspect of the method are implemented.

[0118] The present invention also relates to a computer-readable storage medium, on which a program segment is stored that can be read and executed by a providing unit, so that when the program segment is executed by the providing unit, all steps of the method for providing a correction preset and / or an aspect of the method are implemented; and / or on which a program segment is stored that can be read and executed by a training unit, so that when the program segment is executed by the training unit, all steps of the method for providing a trained function and / or an aspect of the method are implemented.

[0119] The invention may also relate to a computer program or a computer-readable storage medium comprising a trained function provided by the proposed computer-implemented method or an aspect thereof.

[0120] The advantage of implementing the method largely by software is that provision units and / or training units already used to date can also be retrofitted in a simple manner by software updates in order to operate in the manner according to the invention. Such a computer program product may include additional components, such as file collections and / or additional components, as well as hardware components, such as hardware dongles (dongles, etc.) for using the software, in addition to the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0121] Embodiments of the present invention are shown in the drawings and described in detail below. The same reference numerals are used for the same features in different drawings. In the drawings:

[0122] Figure 1 and Figure 2 Schematic diagrams showing different embodiments of the proposed device for locating a medical object and the proposed system;

[0123] Figure 3 A schematic diagram showing a mobile device;

[0124] Figure 4 A schematic diagram showing the positioning of predefined sections;

[0125] Figures 5 to 10 Schematic diagrams showing different embodiments of the proposed method for providing a correction preset;

[0126] Fig.11 A schematic diagram showing the proposed method for providing a trained function;

[0127] Fig.12 A schematic diagram showing a providing unit;

[0128] Fig.13 A schematic diagram showing a training unit. DETAILED DESCRIPTION

[0129] Figure 1 The schematic diagram of the proposed device for positioning a medical object and the proposed system is shown. In this case, the device can have a moving device CR, which is used to robotically move the medical object MD. The moving device CR can be designed, for example, as a catheter robot, in particular for remote manipulation of the medical object MD. The medical object MD can be designed as an especially long surgical and / or diagnostic instrument. The medical object MD can be flexible and / or mechanically deformable, in particular. The medical object MD can be designed, for example, as a catheter and / or an endoscope and / or a guide wire. Advantageously, the medical object MD can be introduced into an examination object 31 arranged on a patient support device 32 at the entry point, in particular into a hollow organ of the examination object 31, by means of an introduction sheath. In this case, the patient support device 32 can be at least partially movable. For this purpose, the patient support device 32 can advantageously have a motion device BV, which can be controlled by means of a motion signal 28 of the processing unit 22.

[0130] Furthermore, the medical object MD can have a predefined segment VD. In this case, the predefined segment VD can, for example, describe a tip and / or a segment with a marking structure located on the medical object MD. The predefined segment VD of the medical object MD can advantageously be arranged at least partially in the examination object, in particular in a hollow organ. In this case, the hollow organ can, for example, have a vessel segment in which the predefined segment VD is at least partially arranged.

[0131] Furthermore, the mobile device CR can be fastened to the patient support device 32, in particular movably, by means of a fastening element 71, such as a tripod and / or a robot arm. The mobile device CR can advantageously be designed to translate the medical object MD arranged in the mobile device at least along the longitudinal extension direction of the medical object MD. Furthermore, the mobile device CR can be designed to rotate the medical object MD around the longitudinal extension direction. Alternatively or in addition, the mobile device CR can be designed to control the movement of at least a part of the medical object MD, such as a distal segment and / or a tip of the medical object MD. Furthermore, the mobile device CR can be designed to deform a predefined segment VD of the medical object MD in a defined manner, for example by a traction cable inside the medical object MD.

[0132] The device may also have a provision unit 22. In this case, the device, in particular the provision unit 22, may be designed to receive control presets. Receiving control presets may in particular include the acquisition and / or reading of a computer-readable data memory and / or receiving from a data storage unit, such as a database. In addition, the control presets may be provided by an input unit 42 for acquiring inputs of an operator. The input unit 42 may, for example, include a keyboard and / or a pointing device, in particular a computer mouse. In addition, the device may have a display unit 41, such as a monitor and / or a display screen. In this case, the input unit 42 may preferably be at least partially integrated in the display unit 41, for example in a capacitive and / or resistive input display screen.

[0133] The control presetting may include at least one instruction for controlling the mobile device, in particular step by step. The control presetting may include in particular at least one instruction, in particular a temporal sequence of instructions, for specifying a translation and / or rotation, in particular a simultaneous, of a medical object MD, in particular a predefined segment VD, by means of the mobile device CR. Advantageously, the provision unit 22 may be designed to interpret the control presetting and control the mobile device CR based thereon. Furthermore, the mobile device CR may be designed to position, in particular translationally and / or rotationally move, the medical object MD based on the control presetting.

[0134] The device, in particular the providing unit 22 , can also be designed to receive position information of the predefined section VD. The position information can advantageously include information about the, in particular current, spatial position and / or orientation and / or posture of the predefined section VD in the examination object 31 .

[0135] The control presets may advantageously include presets about the spatial positioning relative to the mobile device CR, in particular the length dimension along the longitudinal extension direction of the medical object MD and / or the angle of the medical object MD relative to the mobile device CR and / or the relative movement of the medical object MD, in particular the predefined section VD, relative to the mobile device CR. Furthermore, the positioning information may include information about the spatial positioning of the predefined section VD relative to the mobile device CR, in particular the length dimension along the longitudinal extension direction of the medical object MD and / or the angle of the medical object MD relative to the mobile device CR.

[0136] Here, Figure 1 An embodiment of the proposed system is shown, which comprises the proposed device and a detection unit SEN, wherein the detection unit is designed to detect the position and / or position change of the predefined section VD in the examination object 31. In addition, the detection unit SEN can be designed to determine the position information based on the detected position and / or position change and provide it to the device, in particular the provision unit 22, for example by means of a signal 35. The detection unit SEN can advantageously include a sensor, for example an electromagnetic and / or optical and / or acoustic, in particular ultrasound-based, and / or gyroscopic sensor, which is designed to detect the predefined section VD. The detection unit SEN can be arranged in particular in and / or on the medical object MD, in particular the predefined section VD. The detection unit SEN can be arranged, for example, at least partially integrated in the medical object MD, in particular the predefined section VD.

[0137] As an alternative or in addition, the device may be designed to determine the position information by applying a trained function to the control specification, wherein at least one parameter of the trained function TF is based on a comparison of the training position information TPI with the comparison position information VPI.

[0138] The device, in particular the providing unit 22, can also be designed to determine a deviation size, wherein the deviation size describes a deviation between a control preset and the positioning information. Furthermore, the device, in particular the providing unit 22, can be designed to determine a correction preset for minimizing the deviation based on the deviation size. Furthermore, the movement device CR can be designed to reposition the predefined section VD based on the correction preset.

[0139] In this case, in particular supplementary control of the device, in particular the movement device CR and / or the system and / or the patient support device 32 , can be achieved by an operator input at the input unit 42 . To this end, the input element 42 sends a signal 26 to the provision unit 22 , for example.

[0140] Furthermore, the display unit 41 can be designed to display information of the device, in particular the mobile device CR and / or the system and / or a graphical representation of information, such as control specifications and / or positioning information and / or deviation dimensions and / or correction specifications. For this purpose, the processing unit 22 can, for example, send a signal 25 to the display unit 41.

[0141] Figure 2 A further advantageous embodiment of the proposed system is shown, in which the acquisition unit SEN can include a medical imaging device, for example a medical C-arm X-ray device 37 . The medical C-arm X-ray device 37 can be designed to record medical image data of the examination subject 31 .

[0142] In an exemplary embodiment, a medical imaging device as a medical C-arm X-ray device 37 can have a detector 34, in particular an X-ray detector, and an X-ray source 33. In order to record image data, an arm 38 of the medical C-arm X-ray device 37 can be mounted movably about one or more axes. In addition, the medical C-arm X-ray device 37 can include a movement device 39, which enables the movement of the medical C-arm X-ray device 37 in space. The detector 34 and the X-ray source 33 can be movably fixed on the common C-arm 38 in a defined arrangement.

[0143] Furthermore, the provision unit 22 can be designed to control the positioning of the medical C-arm X-ray device 37 relative to the examination object 31 in such a way that a predefined section VD of the medical object MD is imaged in the medical image data recorded with the aid of the medical C-arm X-ray device 37. The positioning of the medical C-arm X-ray device 37 relative to the examination object 31 can, for example, include a defined arrangement of an X-ray source 33 and a detector 34, in particular a positioning of a C-arm 38 about one or more spatial axes. Furthermore, the medical C-arm X-ray device 37 can include a movement device 39, for example a wheel system and / or a rail system and / or a robot arm, which enables the movement of the medical C-arm X-ray device 37 in space.

[0144] In order to record medical image data of the examination object 31, the providing unit 22 can send a signal 24 to the X-ray source 33. The X-ray source 33 can then emit an X-ray beam, in particular a cone beam and / or a fan beam and / or a parallel beam. After the X-ray beam interacts with the examination area to be imaged of the examination object 31, when the X-ray beam reaches the surface of the detector 34, the detector 34 can send a signal 21 to the providing unit 22. The providing unit 22 can, for example, receive medical image data based on the signal 21.

[0145] The predefined segment VD can advantageously be imaged in a time-resolved manner in the medical image data. In this case, the acquisition unit SEN, in particular the medical C-arm X-ray device 37, can be designed to acquire the position and / or position change of the predefined segment VD as a function of the medical image data. Furthermore, the display unit 41 can be designed to display a graphical representation of the medical image data.

[0146] Figure 3 A schematic diagram of a mobile device CR for robotically moving a medical object MD is shown. The mobile device CR can advantageously have a fixing element 71 that is particularly movable and / or operable. In addition, the mobile device CR can have a cassette element 74 that is designed to accommodate at least a portion of the medical object MD. In addition, the mobile device CR can have a mobile element 72 that is fixed to the fixing element 71, for example a tripod and / or a robot arm. In addition, the fixing element 71 can be designed to fix the mobile element 72, in particular movably, on the patient support device 32. Here, the mobile element 72 can advantageously have at least one, for example three, actuator elements 73, for example electric motors, wherein the provision unit 22 is designed to control the at least one actuator element 73. The cassette element 74 can advantageously be coupled to the mobile element 72, in particular at least one actuator element 73, in particular mechanically and / or electromagnetically and / or pneumatically. Here, the cassette element 74 may also have at least one transmission element 75, which can be moved by coupling between the cassette element 74 and the displacement element 72, in particular the at least one actuator element 73. The at least one transmission element 75 may be particularly movably coupled to the at least one actuator element 73. In addition, the transmission element 75 may be designed to transmit the movement of the actuator element 73 to the medical object MD in such a way that the medical object MD moves along the longitudinal extension direction of the medical object MD and / or rotates the medical object MD around the longitudinal extension direction. The at least one transmission element 75 may, for example, have a roller and / or a roller and / or a mask and / or a shear plate.

[0147] Advantageously, the movement element 72 can have a plurality of, in particular independently controllable, actuator elements 73. Furthermore, the cassette element 74 can have a plurality of transmission elements 75, in particular at least one movably coupled transmission element 75 for each actuator element 73. This makes it possible to achieve, in particular, independent and / or simultaneous movement of the medical object MD along different degrees of freedom of movement.

[0148] Furthermore, the movement device CR, in particular at least one actuator element 73, can be controlled by the provision unit 22 by means of the signal 35. As a result, the movement of the medical object MD can be controlled, in particular indirectly, by the provision unit 22. Furthermore, the orientation and / or position of the movement device CR relative to the examination object 31 can be adjusted by moving the fixing element 71. The movement device CR is advantageously designed to receive control specifications.

[0149] Furthermore, the mobile device CR can advantageously 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. The sensor unit 77 can, for example, be arranged at least partially integrated in the mobile element 72, in particular in at least one actuator element 73, and / or in the cassette element 74, in particular in at least one transfer element 75. The sensor unit 77 can in particular be designed to detect a relative movement of the medical object MD by detecting the medical object MD relative to the mobile device CR. As an alternative or in addition, the sensor unit 77 can be designed to detect a movement and / or a position change of a component of the mobile device CR, which is coupled to the movement of the medical object MD, for example in at least one actuator element 73 and / or in at least one transfer element 74.

[0150] Figure 4 A schematic diagram of the positioning of a predefined segment VD in a hollow organ HO, in particular a blood vessel segment, of an object to be examined 31 is shown. The hollow organ HO can, for example, have a blood vessel segment in which the predefined segment VD is arranged. The device can advantageously be designed to determine the deviation size as a function of a movement direction FW, BW, along which the movement device CR is designed to position the predefined segment VD. Furthermore, the device, in particular the provision unit 22, can be designed to receive a data set having an image and / or a model, in particular a centerline model, of the object to be examined, in particular the hollow organ HO. In this case, the data set can in particular image the object to be examined 31 before and / or during surgery. Furthermore, the device can be designed to additionally determine the deviation size based on the data set, in particular based on the centerline model.

[0151] The centerline model can have at least one centerline CL, which describes the spatial orientation of the hollow organ HO, in particular at least one blood vessel segment, of the object to be examined 31 spatially, in particular two-dimensionally and / or three-dimensionally. If the data set, in particular the centerline model, describes the spatial orientation of the hollow organ HO in two dimensions, in particular images it, the device can advantageously be designed to determine and supplement the depth information by applying an algorithm for estimating the depth information to the data set. Here, the at least one centerline CL can be the centerline of the hollow organ HO, which extends through the midpoint of the cross section of the hollow organ HO along the longitudinal extension direction of the hollow organ HO. The device can be designed in particular to determine, in particular simulate, the spatial orientation of the original positioning IP and / or the medical object MD of the predefined segment VD in the centerline model based on the control preset.

[0152] In this case, in particular when the medical object MD is arranged along at least one center line CL, the spatial course of the at least one center line CL from the entry point EP of the medical object MD into the examination object 31 to the spatial target position TP of the predefined section VD can describe the average distance of the medical object MD. When the predefined section VD is positioned along a movement direction FW, in particular a translational movement, pointing away from the movement device CR, the distance from the entry point EP to the target position TP can be extended relative to the average distance due to the winding and / or spiral formation of the medical object MD.FW in the hollow organ HO. The predefined section VD.FW can have an original position IP. In addition, when the predefined section VD is positioned along a movement direction BW, in particular a translational movement, pointing toward the movement device CR, the distance from the entry point EP to the target position TP can be shortened, in particular reduced, relative to the average distance. The device can advantageously be designed to determine a deviation, in particular a deviation size, based on a center line model, in particular relative to the average distance. In this case, the device can also be designed to determine a shortening and / or lengthening of the distance from the entry point EP to the target location IP relative to the average distance by determining, in particular in sections, a spatial deviation between the spatial course MD.FW, MF.BW of the medical object and the centerline model, in particular substantially perpendicularly to at least one centerline CL. In this case, due to the spatial extension of the hollow organ HO, in particular the diameter and / or the cross-sectional area, the spatial deviation between the spatial course MD.FW, MD.BW of the medical object and the centerline model can be limited. The device can be designed in particular to determine the deviation size based on control presettings and the centerline model, in particular according to the movement direction FW, BW for positioning the predefined segment VD. The device can be designed in particular to determine, in particular to simulate, a relationship between an extended spatial course MD.FW and a shortened spatial course MD.BW of the medical object in the examination object 31, in particular a length difference and / or an angle difference, based on control presettings and the centerline model.

[0153] Furthermore, the device can be designed to determine, in particular verify, a centerline model, in particular at least one straight line CL, additionally based on the positioning information, based on a comparison and / or averaging of an extended spatial course MD.FW and a shortened spatial course MD.BW of the medical object in the examination subject. Similarly, the device can be designed to verify, additionally based on the positioning information, a relationship, in particular a length difference and / or an angle difference, between an extended spatial course MD.FW and a shortened spatial course MD.BW of the medical object in the examination subject 31. The quality of the determination of the deviation size can thereby be advantageously improved.

[0154] Furthermore, the movement device CR can be designed to move the medical object MD in a first movement direction FW based on a control specification in order to position the predefined section VD in its original position IP. Furthermore, the movement device CR can be designed to move the medical object MD BW in the opposite direction to the first movement direction based on further control specifications such that the predefined section VD begins to move away from its original position IP. In this case, the device can be designed to additionally determine the deviation size based on a comparison of the control specification with the further control specifications.

[0155] Furthermore, the device can be designed to determine deviation sizes and correction presets for different original positions IP of a predefined segment in the examination object 31, in particular a hollow organ HO. Furthermore, the device can be designed to determine a correction preset for at least one other position, in particular a target position TP, of the predefined segment VD in the examination object by interpolation and / or extrapolation of previously determined correction presets.

[0156] Figure 5 A schematic diagram of an advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, in a first step a), a RES-SC control preset SC can be received by the proposed device for positioning a medical object MD. In this case, advantageously before the start of the method, the predefined segment VD is positioned based on the control preset SC by means of a mobile device CR. In a second step b), positioning information PI of the predefined segment VD of the medical object MD can be received from REC-PI. In a third step c), a DET-DIFF deviation dimension DIFF can be determined, wherein the deviation dimension DIFF describes the deviation between the control preset SC and the positioning information PI. In a fourth step d), a correction preset CC for minimizing the deviation can be determined by DET-CC based on the deviation dimension DIFF. In a fifth step e), a PROV-CC correction preset CC can be provided.

[0157] The control preset SC may comprise in particular information about the movement directions FW, BW, wherein the predefined section VD is positioned along the movement directions FW, BW by means of the movement device CR before the method begins, and furthermore, in step c), a DET-CC deviation dimension CC may be determined as a function of the movement directions FW, BW.

[0158] Figure 6 A schematic diagram of another advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, a REC-DS data set DS can be received in step a.2), which data set has an image and / or a model of the examination object 31. Furthermore, in step c), a deviation size can be determined, in particular additionally based on the data set DS and the positioning information PI.

[0159] The data set DS can advantageously have a centerline model of a vessel segment of the examination subject 31, wherein the predefined segment VD is arranged in the vessel segment. Furthermore, in step c), a DET-DIFF deviation dimension DIFF can be determined based on the centerline model. In this case, the data set DS can in particular image the examination subject 31 before and / or during surgery.

[0160] Figure 7 A schematic diagram of another advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, in a further step a.3), a further control preset SC2 can be received by the proposed device. Advantageously, before the start of the method, in order to locate the predefined segment VD in the original positioning IP, the medical object MD is moved along the first movement direction FW by means of a movement device CR based on the control preset SC. Furthermore, before the start of the method, the medical object MD is advantageously moved BW opposite to the first movement direction by means of a movement device CR based on the further control preset SC2 in such a way that the predefined segment VD has a deviation relative to its original positioning IP. In this case, in step c), a DET-CC deviation dimension DIFF can be determined, preferably based on a comparison COMP-SC-SC2 of the control preset SC with the further control preset SC.

[0161] Figure 8 A schematic diagram of another advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, in step a), multiple control presets SC.iter of REC-SC regarding different original positioning IP.iter of the predefined segment VD in the inspection object 31 can be received. In addition, in step a.3), multiple other control presets SC2.iter of REC-SC2 regarding the original positioning IP.iter of the predefined segment VD can be received. Advantageously, the deviation size DIFF.iter and the correction preset CC.iter of DET-DIFF, DET-CC can be determined for different original positioning IP.iter in the inspection object 31. Thereafter, the correction preset CC-TP of CALC-CC for at least one other possible positioning of the predefined segment VD in the inspection object, in particular the target positioning TP of the received REC-TP, can be determined by interpolation and / or extrapolation of the correction preset CC.iter determined so far.

[0162] Fig. 9A schematic diagram of another advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, in step b), the positioning information PI can be determined by applying a trained function TF to the control preset SC. Advantageously, at least one parameter of the trained function TF can be based on a comparison of the training positioning information with the comparison positioning information.

[0163] The movement of the medical object MD can advantageously consist of a translation T and a rotation R. A distinction can be made here between the effective position for manipulating the movement of the medical object MD and the effective position of the resulting positioning of the predefined segment VD. If R(CR) describes the rotation of the medical object MD at the effective position at the mobile device CR and T(CR) describes the translation of the medical object MD at the effective position at the mobile device CR, then R(VD) and T(VD) can describe the resulting rotation or translation of the predefined segment. The influence of the movement of the medical object MD by means of the mobile device CR on the positioning of the predefined segment VD can therefore be described as:

[0164] [R(VD), T(VD)]=TF[R(CR), T(CR)] (1).

[0165] The rotation R(CR) and translation T(CR) of the medical object MD at the mobile device CR are defined by the control presettings. Furthermore, the influence of the rotation R(CR) and translation T(CR) of the medical object MD on the positioning of the predefined segment VD by means of the mobile device CR can be described by means of positioning information. The information contained in the positioning information about the predefined segment VD, in particular the current spatial position and orientation, can advantageously be described by means of the translation T(VD) and the rotation R(VD) of the predefined segment VD. The determination and / or adjustment of at least one parameter of the trained function TF can in particular be based on a training data pair consisting of training input data and associated training output data. Thus, the training data pair can advantageously include training control presettings, in particular different rotations R(CR) and translations T(CR) of the medical object MD by means of the mobile device CR, and comparative positioning information about the predefined segment, in particular the rotation R(VD) and translation T(VD) of the predefined segment VD corresponding to the rotation R(CR) and translation T(CR) of the medical object. Furthermore, the input data of the trained function TF can additionally be based on material parameters and / or operating parameters of the medical object and / or physiological parameters of the examination object 31. Furthermore, the input data of the trained function TF can be based on a data set DS of the examination object 31, in particular a centerline model and / or medical image data ID.

[0166] In addition, the inverse TF of the trained function TF can also be determined -1 :

[0167] [R(CR), T(CR)] = TF -1 [R(VD), T(VD)] (2).

[0168] Fig.10 A schematic diagram of another advantageous embodiment of the proposed method for providing a correction preset PROV-CC is shown. In this case, in step b.0), medical image data ID of the REC-ID examination object can be received by a medical imaging device, in particular a medical C-arm X-ray device 37. In addition, the predefined segment VD can advantageously be imaged in a time-resolved manner in the medical image data ID. In this case, in step b), DET-PI positioning information can be determined from the medical image data ID.

[0169] exist Fig.11 An advantageous embodiment of the proposed method for providing a trained function PROV-TF is shown in the figure. In a first step t1), a RES-TSC training control preset SC can be received by the proposed device for positioning a medical object MD. In a second step t2), comparative positioning information VPI of REC-VPI for each training control preset TSC for a predefined segment VD of the medical object MD can be received respectively. In a third step t3), training positioning information TPI can be determined by applying the trained function TF to the training control preset TSC. Furthermore, in a fourth step t4), at least one parameter of the ADJ-TF trained function TF can be adjusted based on a comparison of the training positioning information TPI with the comparative positioning information VPI. Thereafter, the PROV-TF trained function TF can be provided in a step t5).

[0170] exist Fig.12 The proposed providing unit 22 is schematically shown in . Here, the providing unit 22 may include an interface IF, a computing unit CU and a memory unit MU. The providing unit 22 may be designed to implement the method and its aspects for providing a correction preset PROV-CC in the following manner, i.e., the interface IF, the computing unit CU and the memory unit MU are designed to implement the corresponding method steps. The interface IF may be designed in particular to implement step a), in particular the other sub-steps a.1) to a.3), step b), in particular the other sub-steps b.0) and / or step e). In addition, the computing unit CU and / or the memory unit MU may be designed to implement the remaining steps.

[0171] Fig.13A schematic diagram of the proposed training unit TRS is shown. The training unit TRS may advantageously include a training interface TIF, a training storage unit TMU and a training calculation unit TCU. The training unit TRS may be designed to implement the method and aspects thereof for providing a trained function PROV-TF in the following manner, i.e. the training interface TIF, the training storage unit TMU and the training calculation unit TCU are designed to implement the corresponding method steps. The training interface TIF may in particular be designed to implement steps t1), t2) and / or t5). In addition, the training calculation unit TCU and / or the training storage unit TMU may be designed to implement steps t3) and t4).

[0172] The providing unit 22 and / or the training unit TRS can be a computer, a microcontroller or an integrated circuit in particular. Alternatively, the providing unit 22 and / or the training unit TRS can be a real or virtual collection of (multiple) computers (the English technical term for a real collection is "Cluster", and the English technical term for a virtual collection is "Cloud"). The providing unit 22 and / or the training unit TRS can also be designed as a virtual system, which is implemented on a real computer or a real or virtual collection of computers (English virtualization).

[0173] The interface IF and / or the training interface TIF may be a hardware or software interface (e.g. a PCI bus, USB or FireWire). The computing unit CU and / or the training computing unit TCU may be a hardware element or a software element, such as a microprocessor or a so-called FPGA (English abbreviation for "Field Programmable Gate Array"). The memory unit MU and / or the training memory unit TMU may be implemented as a non-persistent working memory (Random Access Memory, RAM for short) or may be designed as a persistent mass storage (hard disk, USB disk, SD card, solid state drive).

[0174] The interface IF and / or the training interface TIF may in particular include a plurality of sub-interfaces, which implement different steps of the corresponding method. In other words, the interface IF and / or the training interface TIF may also be understood as a plurality of interfaces IF or a plurality of training interfaces TIF. The computing unit CU and / or the training computing unit TCU may in particular include a plurality of sub-computing units, which implement different steps of the corresponding method. In other words, the computing unit CU and / or the training computing unit TCU may also be understood as a plurality of computing units CU or a plurality of training computing units TCU.

[0175] The schematic views contained in the described drawings do not reflect scale or dimensional relationships.

[0176] Finally, it is pointed out again that the method described in detail above and the device shown are only embodiments, and those skilled in the art can change the embodiments in different ways without departing from the scope of the invention. In addition, the use of the indefinite article "a" does not exclude that the relevant features can also exist multiple times. Similarly, the terms "unit" and "element" do not exclude that the relevant components are composed of multiple cooperating subcomponents, which can also be distributed in space if necessary.

Claims

1. A device for positioning a medical object (MD), in, The device comprises a movement device (CR) for robotically moving a medical object (MD), wherein the medical object (MD) has a predefined region (VD), wherein the predefined section (VD) is at least partially arranged in the examination object (31), wherein the device is designed to receive (REC-SC) a control preset (SC), wherein said mobile device (CR) is designed to locate said predefined zone (VD) based on said control preset (SC), Wherein, the device is also designed to: - receiving (REC-PI) positioning information (PI) about a predefined segment (VD), - determining (DET-DIFF) a deviation measure (DIFF), wherein the deviation measure (DIFF) describes a deviation between a control specification (SC) and the localization information (PI), which deviation is caused by a winding and / or spiral formation of the medical object in the examination object, - determining (DET-CC) a correction preset (CC) for minimizing the deviation based on the deviation size (DIFF), wherein the mobile device (CR) is further designed to reposition the predefined segment (VD) based on a correction preset (CC), The device is further designed to determine a deviation size (DIFF) based on a movement direction (FW, BW), the movement device (CR) being designed to position a predefined segment (VD) along the movement direction, wherein the winding and / or spiral formation is related to the movement direction for positioning the predefined segment.

2. The device according to claim 1, wherein: The control settings (SC) include settings regarding a spatial positioning of the medical object (MD) relative to the mobile device (CR) and / or regarding a relative movement of the medical object (MD) relative to the mobile device (CR), Therein, the positioning information (PI) comprises information about the spatial positioning of the predefined segment (VD) relative to the mobile device (CR).

3. The device according to claim 2, wherein: The control preset (SC) comprises presets regarding a spatial positioning of the predefined segment (VD) relative to the mobile device (CR) and / or regarding a relative movement of the predefined segment (VD) relative to the mobile device (CR).

4. The device according to claim 2, wherein: The pre-settings regarding the spatial positioning include pre-settings regarding a length dimension along a longitudinal extension direction of the medical object (MD) and / or an angle of the medical object (MD) relative to the movement device (CR).

5. The device according to claim 2, wherein: The information about the spatial positioning of the predefined segment (VD) comprises information about a length dimension along a longitudinal extension of the medical object (MD) and / or an angle of the medical object (MD) relative to the mobile device (CR).

6. The device according to claim 1, characterized in that The device is further designed to receive (REC-DS) a data set (DS) having an image and / or a model of the object to be examined (31), Therein, the device is designed to additionally determine (DET-DIFF) a deviation dimension (DIFF) based on the data set (DS).

7. The device according to claim 6, characterized in that The data set (DIFF) comprises a centerline model of a vessel segment of the examination subject (31), wherein the predefined segment (VD) is arranged in the blood vessel segment, In this case, the device is also designed to determine a deviation based on a centerline model (DET-DIFF).

8. The device according to claim 1, characterized in that The mobile device (CR) is designed to: - moving the medical object (MD) along a first movement direction (FW) based on a control preset (SC) in order to position the predefined zone (VD) in the original position (IP), - based on further control specifications (SC2) moving the medical object (MD) opposite (BW) to the first movement direction such that the predefined section (VD) begins to move away from its original position (IP), Therein, the device is designed to determine (DET-DIFF) a deviation dimension (DIFF) additionally based on a comparison (COMP-SC-SC2) of the control default (SC) with a further control default (SC2).

9. The device according to claim 1, characterized in that The device is also designed to: - determining deviation dimensions (DIFF.iter) and correction presettings (CC.iter) for different original positionings (IP.iter) of a predefined section (VD) in the object under examination (31), - determining (CALC-CC) a correction default (CC.TP) for at least one further position (TP) of the predefined section (VD) in the examination object (31) by interpolation and / or extrapolation of the previously determined correction defaults (CC.iter).

10. The device according to claim 1, characterized in that The device is further designed to determine positioning information (PI) by applying a trained function (TF) to a control preset (SC), Therein, at least one parameter of the trained function (TF) is based on a comparison of the training position information (TPI) and the comparison position information (VPI).

11. A system comprising a device according to one of the preceding claims and a collection unit (SEN), wherein: The acquisition unit (SEN) is designed to: - detecting the position and / or the change in position of a predefined zone (VD) in the object under examination (31), - Positioning information (PI) is determined based on the acquired position and / or position change and provided to the device.

12. The system according to claim 11, characterized in that The acquisition unit (SEN) comprises a medical imaging device (37), The medical imaging device is designed to record medical image data (ID) of an examination object (31), wherein a predefined segment (VD) is imaged in a time-resolved manner in the medical image data (ID), Therein, the acquisition unit (SEN) is designed to acquire (DET-PI) a position and / or a change in position of a predefined segment (VD) as a function of the medical image data (ID).

13. A method for providing a correction preset (PROV-CC), comprising: a) receiving (RES-SC) a control preset (SC) by a device for positioning a medical object (MD), The device comprises a movement device (CR) for robotically moving a medical object (MD), wherein the medical object (MD) has a predefined segment (VD), wherein the predefined section (VD) is at least partially arranged in the examination object (31), wherein, before the method is started, the predefined section (VD) is positioned based on a control preset (SC) by means of a mobile device (CR), b) receiving (REC-PI) positioning information (PI) about a predefined segment (VD) of a medical object (MD), c) determining (DET-DIFF) a deviation measure (DIFF), wherein the deviation measure (DIFF) describes a deviation between the control specification (SC) and the localization information (PI), which deviation is caused by a winding and / or spiral formation of the medical object in the examination object, d) determining (DET-CC) a correction preset (CC) for minimizing the deviation based on the deviation size (DIFF), e) Provide (PROV-CC) correction preset (CC), The control preset (SC) includes information about the moving direction (FW, BW), wherein, before the method is started, a predefined section (VD) is positioned along a movement direction (FW, BW) by means of a movement device (CR), wherein the meandering and / or spiraling is related to the movement direction for positioning the predefined section, Therein, in step c), the deviation size (DIFF) is determined (DET-DIFF) according to the moving direction (FW, BW).

14. The method according to claim 13, wherein: The control settings (SC) include settings regarding a spatial positioning of the medical object (MD) relative to the mobile device (CR) and / or regarding a relative movement of the medical object (MD) relative to the mobile device (CR), Therein, the positioning information (PI) comprises information about the spatial positioning of the predefined segment (VD) relative to the mobile device (CR).

15. The method according to claim 14, wherein: The control preset (SC) comprises presets regarding a spatial positioning of the predefined segment (VD) relative to the mobile device (CR) and / or regarding a relative movement of the predefined segment (VD) relative to the mobile device (CR).

16. The method according to claim 14, wherein: The pre-settings regarding the spatial positioning include pre-settings regarding a length dimension along a longitudinal extension direction of the medical object (MD) and / or an angle of the medical object (MD) relative to the movement device (CR).

17. The method according to claim 14, wherein: The information about the spatial positioning of the predefined segment (VD) comprises information about a length dimension along a longitudinal extension of the medical object (MD) and / or an angle of the medical object (MD) relative to the mobile device (CR).

18. The method according to claim 13, further comprising: a.2) receiving (REC-DS) a data set having an image and / or a model of the object to be examined (31), Therein, in step c), a deviation dimension (DIFF) is determined (DET-DIFF) based on the data set (DS) and the positioning information (PI).

19. The method according to claim 18, characterized in that The data set (DS) comprises a centerline model of a vessel segment of the examination subject (31). wherein the predefined segment (VD) is arranged in the blood vessel segment, Therein, in step c), a deviation dimension (DIFF) is determined (DET-DIFF) based on a centerline model.

20. The method according to claim 13, a.3) receiving (REC-SC2) other control presets (SC2) by the device, in, Before the method starts, the medical object (MD) is moved along a first movement direction (FW) by means of a movement device (CR) based on a control specification (SC) in order to position the predefined section (VD) in an original position (IP), wherein, before the method is started, the medical object (MD) is moved by means of a displacement device (CR) based on further control specifications (SC2) in such a way that the predefined section (VD) has a deviation from its original position (IP), Therein, in step c), a deviation dimension (DIFF) is determined (DET-DIFF) based on a comparison (COMP-SC-SC2) of the control preset (SC) with the other control preset (SC2).

21. The method according to claim 20, characterized in that In step a), a plurality of control presettings (SC.iter) are received (REC-SC) for different original positions (IP.iter) of the predefined section (VD) in the object under examination (31), wherein, in step a.3), a plurality of further control presets (SC2.iter) are received regarding the original positioning (IP.iter) of said predefined segment (VD), wherein the deviation size (DIFF.iter) and the correction presetting (CC.iter) are determined (DET-DIFF, DET-CC) for different original positionings (IP.iter) in the object under examination (31), Therein, a correction default (CC.TP) is determined (CALC-CC) for at least one further possible position (TP) of the predefined section (VD) in the examination object (31) by interpolation and / or extrapolation of previously determined correction defaults (CC.iter).

22. The method according to claim 13, characterized in that In step b), positioning information (PI) is determined by applying the trained function (TF) to the control preset (SC), Therein, at least one parameter of the trained function (TF) is based on a comparison of the training position information (TPI) and the comparison position information (VPI).

23. The method according to claim 13, further comprising: b.0) receiving (REC-ID) medical image data (ID) of the examination object (31), wherein the predefined segment (VD) is imaged in a time-resolved manner in the medical image data (ID), Therein, in step b), the positioning information (PI) is determined (DET-PI) based on the medical image data (ID).

24. A method for providing a trained function (PROV-TF), comprising: t1) receiving (RES-TSC) a training control preset (SC) by the device for positioning a medical object (MD) according to any one of claims 1 to 10, t2) receiving (REC-VPI) respectively comparative positioning information (VPI) for each trained control preset (TSC) for a predefined segment (VD) of the medical object (MD), Therein, a medical object (MD) is arranged in an examination object (31), t3) determining training positioning information (TPI) by applying the trained function (TF) to the training control preset (TSC), t4) adjusting (ADJ-TF) at least one parameter of the trained function (TF) based on a comparison of the training positioning information (TPI) with the comparison positioning information (VPI), t5) Provide (PROV-TF) the trained function (TF).

25. A computer program product comprising a computer program, which can be directly loaded into a memory (MU) of a provision unit (22), the computer program having a program segment so that when the program segment is executed by the provision unit (22), all the steps of the method according to one of claims 13 to 23 are implemented; and / or the computer program can be directly loaded into a training memory (TMU) of a training unit (TRS), the computer program having a program segment so that when the program segment is executed by the training unit (TRS), all the steps of the method according to claim 24 are implemented.

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