A corrected data set is provided

Abstract

This invention relates to a method for providing a calibrated data set, comprising: receiving a preoperative data set having an image and / or model of an examination area of ​​an object; receiving length information, wherein at least a portion of the medical object is positioned intraoperatively in the examination area, wherein the length information has information regarding the length of the portion of the medical object positioned in the examination area; determining first positioning information based on the preoperative data set and the length information, virtually positioning a predefined segment of the portion of the medical object positioned in the examination area; receiving and / or determining second positioning information, actual positioning of the predefined segment; determining a transformation rule for minimizing the deviation between the first and second positioning information; generating a calibrated data set by applying the transformation rule to the preoperative data set; and providing the calibrated data set. The invention also relates to a system and a computer program product.

Description

Technical Field

[0001] The present invention relates to a method, a system, and a computer program product for providing a corrected set of data. Background Technology

[0002] When treating and / or examining changes in the blood vessels of a patient, medical objects, such as guidewires and / or catheters, are typically introduced into the vessel. For real-time imaging monitoring of medical objects within the vessel, X-ray projection images are usually recorded under conditions of application of contrast agents, particularly iodine-containing ones. Typically, procedures such as endovascular aortic repair (EVAR) are performed under fluoroscopic control on an angiography system. Contrast agent savings can often be achieved by registering a set of preoperatively recorded image data with one of the X-ray projection images and then overlaying them.

[0003] However, a common drawback here is that deformation or warping of the blood vessels and / or surrounding tissues can occur when a medical object is placed within a blood vessel, and this deformation is not mapped into the preoperative image dataset. To correct for deformation in the preoperative image dataset, a deformation model is typically used, based on the material parameters of the medical object, and / or based on multiple time-consuming manual adjustments made to multiple X-ray projection images recorded under contrast agent conditions. Here, correction of the preoperative image dataset is often inaccurate, particularly at ostia and / or vascular bifurcations. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to improve the intraoperative acquisition and / or imaging of the anatomical structures of a medical object arranged therein.

[0005] According to the present invention, the above-mentioned technical problems are solved by means of the corresponding content of the present invention. Advantageous embodiments with suitable improvements are also part of the present invention.

[0006] The invention relates in a first aspect to a method for providing a corrected set of data. Here, a preoperative data set containing an image and / or model of an examination area of ​​an object is received. Furthermore, length information is received. Here, at least a portion of the medical object is positioned in the examination area during surgery. Furthermore, the length information contains information regarding the length of the portion of the medical object positioned in the examination area. Furthermore, first positioning information, based on the preoperative data set and the length information, is determined regarding the virtual positioning of a predefined segment of the portion of the medical object positioned in the examination area. Furthermore, second positioning information, regarding the actual positioning of the predefined segment, is received and / or determined. Furthermore, a transformation rule is determined to minimize the deviation between the first and second positioning information. Then, a corrected set of data is generated by applying the transformation rule to the preoperative data set. Furthermore, the corrected set of data is provided.

[0007] Here, the above steps can advantageously be performed sequentially and / or at least partially simultaneously. Furthermore, the above steps can advantageously be repeated in cases where the arrangement of the medical object within the examination area is altered, particularly in cases of changes in length information.

[0008] The subject of examination may be, for example, a human patient and / or an animal patient and / or an examination phantom, particularly a vascular phantom. Furthermore, the examination area may describe a spatial segment of the subject, which may include, for example, the subject's anatomical structures, particularly hollow organs. Here, hollow organs may be formed, for example, vascular segments, particularly arteries and / or veins, and / or vascular trees and / or the heart and / or lungs and / or liver.

[0009] Medical objects can be constructed, for example, as particularly elongated surgical and / or diagnostic instruments. In particular, medical objects can be at least partially flexible and / or rigid. For example, medical objects can be constructed as catheters and / or endoscopes and / or guide wires. Furthermore, medical objects can be at least partially inserted into the examination object during surgery, particularly by means of an insertion gate, such that a predefined section of the medical object is arranged within the examination object, particularly within a hollow organ. The portion of the medical object arranged in the examination area can particularly describe the distal region of the medical object, particularly the spatial segment of the medical object between the tip and the insertion gate. Furthermore, predefined segments can describe segments of the medical object, particularly the distal segment. Predefined segments can advantageously be predetermined based on the medical object and / or the examination area and / or defined by the operator, for example, through corresponding user input.

[0010] Receiving preoperative data sets and / or length information and / or second positioning information may in particular include acquiring and / or reading computer-readable data from storage devices and / or receiving data from data storage units, such as databases.

[0011] Specifically, the preoperative data set can be provided by a medical imaging equipment providing unit. Here, the medical imaging equipment used to record the preoperative data set can be configured, for example, as a computed tomography (CT) and / or magnetic resonance imaging (MRI) and / or medical X-ray equipment and / or ultrasound and / or positron emission tomography (PET) equipment. In particular, the preoperative data set can be recorded using CT angiography.

[0012] Advantageously, the preoperative data set can include two-dimensional (2D) and / or three-dimensional (3D) images of the examination area, particularly hollow organs, especially time-resolved two-dimensional and / or three-dimensional images. Here, the preoperative data set allows for preoperative imaging of the examination area, particularly temporally before the introduction and / or placement of the medical object within the examination area. Specifically, the preoperative data set can include contrasting and / or segmented images of the examination area, particularly hollow organs.

[0013] Alternatively or additionally, the preoperative dataset may include 2D and / or 3D models of the examination area, particularly hollow organs, especially centerline models and / or volume models, such as volume mesh models. Advantageously, the preoperative dataset can be registered with the coordinate system of the examination object and / or the medical imaging equipment used to record the preoperative dataset. Advantageously, the preoperative dataset may include images and / or models of the spatial orientation of hollow organs within the examination area. Furthermore, the preoperative dataset may include metadata, which may include, for example, information about the recording parameters and / or operating parameters of the medical imaging equipment used to record the preoperative dataset.

[0014] Advantageously, the length information can include, in particular, information about the instantaneous length of the portion of the medical object arranged in the examination area. Specifically, the length information can include a measurement of the length extending longitudinally along the medical object from its entry point into the examination area, particularly from the insertion gate. Furthermore, the length information can include information about the virtual positioning of the medical object's entry point, particularly the insertion gate, within the preoperative data set.

[0015] Advantageously, determining the first positioning information includes arranging a virtual representation of the medical object, particularly a 2D and / or 3D model, within the preoperative data set, especially starting from the virtual positioning of the medical object's entry point within the preoperative data set. Here, at least with respect to the preoperative data set, the first positioning information is determined regarding the virtual positioning of a predefined segment of the medical object. The virtual positioning of the predefined segment can be further determined with respect to the corresponding coordinate system by registering the preoperative data set with the coordinate system of the examination object and / or the medical imaging equipment used to record the preoperative data set. The virtual positioning of the predefined segment can here represent a positioning based on a model and / or determined computationally. Advantageously, the first positioning information may include information regarding the virtual position and / or orientation and / or posture of the predefined segment within the preoperative data set, particularly at an instantaneous time.

[0016] Advantageously, the second positioning information may include information regarding the particularly instantaneous spatial location and / or orientation and / or posture of a predefined segment within the examination area of ​​the subject. Specifically, the positioning information may describe the particularly instantaneous spatial location of the predefined segment in the coordinate system of the subject. Here, the second positioning information can be received from an acquisition unit used to acquire the actual location of the predefined segment. Alternatively or additionally, the second positioning information may be determined based on intraoperative data sets. The actual location of the predefined segment may here represent the measured and / or imaging-determined location.

[0017] Advantageously, the transformation rule can have information regarding rigid and / or non-rigid and / or global and / or local and / or regional transformations, particularly deformation, of the preoperative data set. Advantageously, the determination of the transformation rule can include optimization, particularly cost-minimizing optimization, wherein the deviation between the first and second positioning information is minimized by applying the deformation rule to the preoperative data set. Optimization here can include adjusting the transformation rule, particularly iterative adjustment. Here, the first positioning information can advantageously be determined repeatedly, particularly based on length information and intermediate data sets, wherein the intermediate data sets are generated by applying the current transformation rule to the preoperative data set respectively. Furthermore, optimization can, for example, be based on a cost function, particularly to be minimized, wherein the cost function is determined based on the deviation between the first and second positioning information.

[0018] Advantageously, the generation of the corrected data set may include applying, in particular, the finalized transformation rules to the preoperative data set. Here, it is advantageous to provide the corrected data set. Furthermore, the provision of the corrected data set may, for example, include storing it on a computer-readable storage medium and / or displaying it on a display unit and / or transmitting it to a providing unit. In particular, a graphical representation of the corrected data set may be displayed on the display unit.

[0019] Advantageously, the proposed implementation enables accurate and simultaneously effective deformation correction of the preoperative data set for X-ray dose. Although the method presented herein describes providing a corrected data set for medical subjects at least partially arranged in the examination area, it can also be adapted according to the invention to provide a corrected data set for multiple, particularly identical or different, medical subjects, particularly simultaneously at least partially arranged in the examination area.

[0020] In another advantageous embodiment of the proposed method, the preoperative data set may include planning information regarding the planned movement trajectory of the medical object within the examination area. Furthermore, the first positioning information may be additionally determined based on the planning information.

[0021] Planning information may include, for example, information regarding the planned movement trajectory of the examination area, particularly the medical object within a hollow organ, particularly a predefined segment, and particularly the spatial orientation of the planned path. Advantageously, the planning information may describe the spatial orientation of the planned movement trajectory starting from the virtual location of the medical object's entry point in the preoperative data set. Advantageously, determining the first positioning information may include arranging a virtual representation of the medical object along the planned movement trajectory in the preoperative data set according to length measurements. Here, the virtual positioning of the predefined segment describes the position and / or orientation and / or posture of the predefined segment of the medical object along the planned movement trajectory according to length measurements, starting from the virtual location of the entry point.

[0022] This enables the computational determination of transformation rules and / or the generation of corrected data sets.

[0023] In another advantageous embodiment of the proposed method, a predefined segment of the medical object can be positioned in the examination area using a moving device before the method begins. Furthermore, the moving device is configured to hold and / or move the medical object, at least partially disposed within it. Here, length information can be provided by the moving device.

[0024] Advantageously, the mobile device can be configured as a robotic device for remotely manipulating a medical object, such as a catheterization robot. Advantageously, the mobile device is positioned externally to the object being examined. Furthermore, the mobile device can have a fixing element, particularly a movable and / or drivable fixing element. Additionally, the mobile device can have a housing element configured to accommodate at least a portion of the medical object. Furthermore, the mobile device can have a moving element fixed to the fixing element, such as a support and / or robotic arm. Furthermore, the fixing element can be configured to fix the moving element to a patient support device. Furthermore, the moving element advantageously can have at least one actuator element, such as an electric motor, which can be controlled by providing a unit. Advantageously, the housing element can be coupled, particularly mechanically and / or electromagnetically and / or pneumatically, to the moving element, particularly at least one actuator element. Here, the housing element can also have at least one transmission element, which can be moved by coupling between the housing element and the moving element, particularly at least one actuator element. In particular, at least one transmission element can be movably coupled to at least one actuator element. Advantageously, the transmission element is configured to transmit the movement of the actuator element to the medical object, causing the medical object to move along its longitudinal extension and / or rotate about its longitudinal extension. At least one transmission element may have, for example, a roller and / or a perforated plate and / or a shear plate. Furthermore, the transmission element may be configured to hold the medical object, particularly to hold the medical object stably, by transmitting force. Holding the medical object may in particular include positioning the medical object fixedly relative to the position of the moving device.

[0025] Advantageously, the moving element can have multiple (particularly independently controllable) actuator elements. Furthermore, the box element can have multiple transmission elements, particularly at least one motion-coupled transmission element for each actuator element. Thus, movement of the medical object along different degrees of freedom, particularly independent and / or simultaneous movement, can be achieved.

[0026] Furthermore, the mobile device advantageously may have a sensor unit configured to acquire the relative movement of the medical object relative to the mobile device. Here, the sensor unit may in particular have encoders, such as wheel encoders and / or roller encoders, and / or optical sensors, such as barcode scanners and / or laser scanners and / or cameras, and / or electromagnetic sensors. For example, the sensor unit may be arranged at least partially integrated into a moving element, particularly at least one actuator element and / or a cartridge element, particularly at least one transmission element. The sensor unit may in particular be configured to acquire the relative movement of the medical object by acquiring the medical object relative to the mobile device. Alternatively or additionally, the sensor unit may be configured to acquire the movement and / or positional changes of components of the mobile device, such as at least one actuator element and / or at least one transmission element, which are coupled to the movement of the medical object.

[0027] Advantageously, the moving device, particularly the sensor unit, can be configured to determine the length of the portion of the medical object arranged in the examination area based on the acquired relative movement of the medical object with respect to the moving device. Here, the acquired relative movement can include the area between the initial positioning of a predefined segment at the entry point, particularly the insertion gate, and the particularly instantaneous spatial positioning of a predefined segment in the examination area, particularly within a hollow organ. Specifically, the predefined segment of the medical object can be positioned from its initial positioning, particularly moved to its particularly instantaneous spatial positioning in the examination area, before the method begins. Advantageously, the moving device can also be configured to provide length information relating to the length of the portion of the medical object arranged in the examination area.

[0028] Advantageously, the proposed implementation method enables accurate acquisition and provision of length information. This also allows for the application of transformation rules to improve the accuracy of preoperative data sets.

[0029] In another advantageous embodiment of the proposed method, the preoperative data set may have a centerline model of at least one hollow organ of the subject being examined. Here, at least a portion of the medical subject, particularly a predefined segment, can advantageously be arranged intraoperatively within at least one hollow organ. Furthermore, the transformation rules may include rules regarding the deformation of at least one centerline of the centerline model.

[0030] Advantageously, the centerline model of at least one hollow organ can be determined by semi-automatic and / or automatic segmentation of preoperative images of the hollow organ. Furthermore, the determination of the first positioning information may include a virtual representation of the medical object arranged according to length measurements along at least one centerline of the centerline model. Additionally, the transformation rules advantageously include information regarding rigid and / or non-rigid and / or global and / or local and / or regional transformations, particularly deformation, of at least one centerline of the centerline model used to minimize deviations. Specifically, the transformation rules are configured to deform at least one centerline of the centerline model when applied to the preoperative dataset. This advantageously allows for automatic and corrective adjustment of the spatial orientation of at least one centerline.

[0031] In another advantageous embodiment of the proposed method, an intraoperative data set can be received. Here, determining the second positioning information may include locating a predefined segment within the intraoperative data set.

[0032] Receiving intraoperative data sets may particularly include acquiring and / or retrieving computer-readable data from storage devices and / or from data storage units, such as databases. Here, intraoperative data sets may be provided by a medical imaging device and / or additional, particularly different, medical imaging devices used for recording preoperative data sets.

[0033] Advantageously, the intraoperative data set can have two-dimensional (2D) and / or three-dimensional (3D) images, particularly time-resolved two-dimensional and / or three-dimensional images, of the examination area, particularly hollow organs, and predefined segments of medical objects arranged therein. Here, the intraoperative data set allows imaging of the examination area during the operation, particularly during the arrangement of the medical object at least partially within the examination area. The intraoperative data set is advantageously registered with the coordinate system of the examination object and / or the medical imaging device used to record the intraoperative data set. Furthermore, the intraoperative data set and the preoperative data set can be advantageously registered. Here, the localization of predefined segments in the intraoperative data set can include identifying, for example, segmenting, and / or annotating image points in the intraoperative data set that map to the predefined segments. In particular, predefined segments in the intraoperative data set can be identified based on their contours and / or marker structures. The localization of predefined segments in the intraoperative data set can advantageously be performed manually, for example by annotation, and / or semi-automatically and / or automatically. Furthermore, the predefined segment can be located relative to the coordinate system of the object being examined and / or the medical imaging equipment used to record intraoperative data sets. In addition, particularly in addition to the spatial location of the predefined segment, its orientation and / or posture are determined based on the intraoperative data sets. For this purpose, the spatial orientation of the predefined segment can be determined based on the intraoperative data sets. Advantageously, this determines second positioning information, which contains information regarding the, in particular, instantaneous spatial location and / or orientation and / or posture of the predefined segment within the examination area of ​​the object being examined.

[0034] Advantageously, the proposed implementation can achieve particularly accurate determination of the second positioning information.

[0035] In another advantageous embodiment of the proposed method, the spatial orientation of predefined segments can be identified within the intraoperative data set. Furthermore, determining the transformation rules may include minimizing any additional deviation between at least one centerline and the spatial orientation of the predefined segments.

[0036] Here, the identification of the spatial orientation of predefined segments in the intraoperative data set may include, for example, identifying and segmenting image points in the intraoperative data set that map to the predefined segments. Furthermore, the spatial orientation of predefined segments in the intraoperative data set may be identified based on the spatial orientation and / or spatial arrangement of the contours and / or marker structures of the predefined segments mapped in the intraoperative data set.

[0037] Advantageously, the determination of the transformation rule may additionally include minimizing the deviation between the virtual representation of at least one centerline, particularly a predefined segment, and the spatial orientation of the identified predefined segment. Here, the transformation rule advantageously includes information regarding the rigid and / or non-rigid and / or global and / or local and / or regional transformations, particularly deformation, of at least one centerline. Specifically, the transformation rule can be constructed to match the spatial orientation of at least one centerline to the spatial orientation of the predefined segment when applied to the preoperative dataset. This allows for accurate and simultaneously near-realistic deformation correction.

[0038] In another advantageous embodiment of the proposed method, the intraoperative data set may include projected images of the examined object. Furthermore, the spatial orientation of predefined segments is identified in the projected images using a deformation model of the medical object.

[0039] Advantageously, the projection image can have a medical object at least partially arranged in the examination area, particularly a predefined segment along at least one projection direction, particularly forming an angle, particularly a two-dimensional image. In particular, the projection image can be an X-ray projection image.

[0040] Advantageously, the deformation model of the medical object can have information about the medical object, particularly the segmental deformability and / or stiffness and / or elasticity and / or torsional strength of predefined segments, especially the physical boundary conditions. Here, the deformation model can advantageously be spatially resolved, especially in three-dimensional space, at least along the longitudinal extension direction of the medical object.

[0041] Advantageously, the identification of the spatial orientation of a predefined segment can include virtually arranging a virtual representation of the predefined segment along its 2D orientation mapped in the intraoperative data set, particularly in the projected images. Here, the spatial orientation of the virtual representation of the predefined segment is advantageously constrained by a deformation model, particularly as an optimization boundary condition. Thus, depth information regarding the spatial orientation of the predefined segment can be advantageously estimated in 3D, particularly in a physically consistent manner.

[0042] In another advantageous embodiment of the proposed method, the deformation model is based on the material parameters and / or operational parameters of the medical object.

[0043] Advantageously, material parameters can include information about the deformability of the medical object, particularly its deformability and / or stiffness and / or ductility and / or torsional strength and / or flexibility and / or elasticity. Furthermore, operational parameters can describe information about the medical object, particularly its instantaneous operational state. Specifically, operational parameters can include information about the spatial attitude of the medical object, particularly predefined segments.

[0044] Advantageously, the proposed implementation can improve the identification of the spatial orientation of predefined segments by means of a deformation model.

[0045] In another advantageous embodiment of the proposed method, the second positioning information can be provided by a data acquisition unit used to acquire the actual positioning of a predefined segment.

[0046] The acquisition unit may, for example, have electromagnetic and / or ultrasound-based and / or optical sensors configured to acquire, in particular, probe a predefined segment. Advantageously, the acquisition unit can be configured to acquire the actual location, particularly spatial position and / or orientation and / or posture, of the predefined segment within the acquisition unit's coordinate system. Furthermore, the coordinate system of the acquisition unit can advantageously be registered with the coordinate system of the object being examined and / or the medical imaging equipment used to record preoperative data sets. Additionally, the acquisition unit can be configured to provide second positioning information regarding the actual location of the predefined segment.

[0047] Advantageously, the proposed implementation enables particularly accurate, especially high-resolution acquisition of the actual location of predefined segments.

[0048] The invention relates in a second aspect to a system comprising a moving device, an acquisition unit, and a providing unit. The moving device is configured to hold and / or move a medical object at least partially disposed within the moving device during system operation. Furthermore, during system operation, at least a portion of the medical object is disposed within an examination area of ​​the examination object. The moving device is also configured to provide length information relating to the length of the portion of the medical object disposed within the examination area. The providing unit is configured to receive a preoperative data set containing an image and / or model of the examination area of ​​the examination object. The providing unit is further configured to determine first positioning information, based on the preoperative data set and the length information, a virtual location of a predefined segment of the portion of the medical object disposed within the examination area. The acquisition unit is configured to acquire the actual location of the predefined segment. The acquisition unit is also configured to provide second positioning information relating to the actual location of the predefined segment. The providing unit is further configured to determine a transformation rule for minimizing the deviation between the first and second positioning information. Finally, the providing unit is configured to generate and provide a corrected data set by applying the transformation rule to the preoperative data set.

[0049] The advantages of the proposed system essentially correspond to the advantages of the proposed method for providing corrected data sets. The features, advantages, or alternative embodiments mentioned herein can also be applied to other claimed subjects, and vice versa.

[0050] In another advantageous embodiment of the proposed system, the acquisition unit can be configured as a medical imaging device. Here, the medical imaging device can be configured to record intraoperative data sets of the examined area. Furthermore, the providing unit can be configured to determine second positioning information by locating a predefined segment within the intraoperative data set.

[0051] In another advantageous embodiment of the proposed system, the providing unit may also be configured to receive user input having a preset target location and / or movement for a predefined segment. Furthermore, the providing unit may be configured to determine a control preset based on a calibrated data set and the user input. Additionally, the providing unit may be configured to provide the control preset to a mobile device. Furthermore, the mobile device may be configured to move the medical object according to the control preset.

[0052] Advantageously, the system may have an input unit for acquiring user input, such as a keyboard and / or indicating device and / or input display and / or joystick. Here, the input unit can be configured to provide user input to the providing unit. Target positioning can, particularly with respect to pre-defined data sets and / or calibrated data sets, pre-defined segments of the medical object should occupy a spatial position and / or orientation and / or posture. Furthermore, user input can pre-set at least one movement parameter for the movement of the pre-defined segment. The movement parameter, for example, pre-sets a movement direction and / or speed for the pre-defined segment.

[0053] Advantageously, the providing unit can be configured to determine a control preset based on a calibrated data set and user input. Here, the control preset may include at least one instruction for controlling the moving device, particularly stepwise and / or continuously. Specifically, the control preset may include at least one instruction, particularly a time sequence of instructions, for pre-setting the translation and / or rotation, particularly simultaneous translation and / or rotation, of a medical object, particularly a predefined segment, using the moving device. In particular, the providing unit can be configured to determine and / or adjust the control preset based on the calibrated data set and user input, in the case of pre-setting a target location with respect to a pre-operative data set, such that the predefined segment reaches the target location, particularly the target location with respect to the calibrated data set.

[0054] Furthermore, providing control presets to the mobile device may include, for example, storing them on a computer-readable storage medium and / or displaying them on a display unit and / or transmitting them to the mobile device. Advantageously, the providing unit may be configured to convert the control presets and control the mobile device based on them. Furthermore, the mobile device may be configured to move the medical object based on the control presets, particularly translational and / or rotational movements. Additionally, the mobile device may be configured to deform predefined sections of the medical object in a defined manner, for example, by means of a cable transmission device (Seilzug) within the medical object.

[0055] In a third aspect, the present invention relates to a computer program product having a computer program that can be directly loaded into the memory of a providing unit. The computer program has program segments that, when executed by the providing unit, perform all the steps of the proposed method for providing a corrected set of data. The computer program product may herein include software having source code that also needs to be compiled and linked, or only needs to be interpreted, or executable software code that only needs to be loaded into the providing unit for execution. The computer program product allows for the rapid, repeatable, and robust execution of the method for providing a corrected set of data by means of a providing unit. The computer program product is configured such that it can implement the method steps according to the invention by means of a providing unit.

[0056] Computer program products are stored, for example, on computer-readable storage media, networks, or servers, from which they can be loaded into the processor of the providing unit, which may be directly connected to the providing unit or constructed as part of the providing unit. Furthermore, control information of the computer program product can be stored on an electronically readable data carrier. The control information on the electronically readable data carrier can be designed such that when the data carrier is used in the providing unit, the control information implements the method according to the invention. Examples of electronically readable data carriers are DVDs, magnetic tapes, or USB sticks, on which electronically readable control information, particularly software, is stored. When this control information is read from the data carrier and stored in the providing unit, all embodiments of the method described above according to the invention can be implemented.

[0057] The present invention may also relate to a computer-readable storage medium and / or an electronically readable data carrier having stored thereon a program segment that is readable and executable by a providing unit, so that when the program segment is executed by the providing unit, all steps of the method for providing the corrected data set are implemented.

[0058] The advantage of implementing it in software as much as possible is that the provisioning units already in use can be easily added via software updates to operate in accordance with the invention. In addition to the computer program, such a computer program product may, if necessary, include additional components, such as documentation and / or add-ons, as well as hardware components, such as hardware keys (dongles, etc.) for using the software. Attached Figure Description

[0059] Embodiments of the invention are illustrated in the accompanying drawings and described in more detail below. In the different drawings, the same reference numerals are used for the same features, in which:

[0060] Figure 1 and Figure 2Schematic diagrams are shown of different implementations of a method for providing corrected sets of data;

[0061] Figure 3 A schematic diagram illustrating the deviation between the virtual and actual positioning of a predefined segment of a medical object is shown.

[0062] Figure 4 and Figure 5 Schematic diagrams of different implementations of the proposed system are shown;

[0063] Figure 6 A schematic diagram of the mobile device is shown. Detailed Implementation

[0064] Figure 1 An advantageous embodiment of the proposed method for providing a corrected data set of PROV-DS.corr is illustrated schematically. Here, a preoperative data set DS.p containing an image and / or model of the examination area of ​​the medical object can be received (REC-DS.p). Additionally, REC-LI length information LI can be received. Here, at least a portion of the medical object can be positioned within the examination area during the procedure. The medical object can be constructed, for example, as a particularly elongated surgical and / or diagnostic instrument. In particular, the medical object can be flexible and / or mechanically deformable. For example, the medical object can be constructed as a catheter and / or endoscope and / or guidewire and / or vascular stent. Furthermore, the medical object MD has predefined segments. Here, the predefined segments can, for example, describe the tip and / or segments, particularly the distal segments, with marking structures on the medical object.

[0065] Furthermore, the length information LI can contain information about the length of the portion of the medical object arranged in the examination area. Additionally, based on the preoperative data set DS.p and the length information LI, a first positioning information POS1 can be determined as the virtual positioning of a predefined segment of the portion of the medical object arranged in the examination area using DET-POS1. Furthermore, a second positioning information POS2 can be received as the actual positioning of the predefined segment using REC-POS2. Specifically, the second positioning information POS2 can be provided by an acquisition unit used to acquire the actual positioning of the predefined segment. Furthermore, a transformation rule TF can be determined by DET-TF to minimize the deviation between the first positioning information POS1 and the second positioning information POS2. Furthermore, a corrected data set DS.corr can be generated by applying the transformation rule TF to the preoperative data set DS.p. Thereafter, the corrected data set DS.corr can be provided as PROV-DS.corr.

[0066] Advantageously, the calibrated data set can provide support to medical personnel during medical procedures, such as aortic valve replacement and / or coronary intervention.

[0067] Advantageously, the preoperative data set DS.p can contain planning information about the planned movement trajectory of the medical object in the examination area. Here, the first positioning information POS1 of DET-POS1 can be additionally determined based on the planning information.

[0068] Figure 2 A schematic diagram of another advantageous embodiment of the proposed method for providing a corrected data set of PROV-DS.corr is shown. Here, the intraoperative data set DS.i (REC-DS.i) can be received. Furthermore, the determination of the second positioning information POS2 (DET-POS2) may include locating a predefined segment within the intraoperative data set DS.i.

[0069] Furthermore, the preoperative data set DS.p may have a centerline model of at least one hollow organ of the subject being examined. Here, at least a portion of the medical subject, particularly a predefined segment, can be arranged intraoperatively within at least one hollow organ. Furthermore, the transformation rule TF may include rules regarding the deformation of at least one centerline of the centerline model. Advantageously, the spatial orientation of the predefined segment can be identified in the intraoperative data set DS.i. Here, the determination of the transformation rule TF, DET-TF, may include minimizing additional deviations between at least one centerline and the spatial orientation of the predefined segment.

[0070] Figure 3 The illustration schematically shows an exemplary deviation between the virtual and actual positioning of a predefined segment VD of a medical object MD. Here, the preoperative data set DS.p may contain an image and / or model of the hollow organ HO.p of the subject. Furthermore, the determination of the first positioning information POS1 (DET-POS1) includes arranging a virtual representation of the medical object MD.v in the preoperative data set DS.p. As long as the preoperative data set DS.p includes a centerline model (not shown here), the virtual representation of the medical object MD.v can advantageously be arranged along at least one centerline of the centerline model. Furthermore, the first positioning information POS1 regarding the virtual positioning of a predefined segment of the medical object MD can be determined at least with respect to the preoperative data set.

[0071] Furthermore, the intraoperative data set DS.i can have projected images of the examination area, particularly hollow organs. Advantageously, the projected images can be 2D images of medical objects MD, particularly predefined segments VD, arranged at least partially in the examination area during the operation, along at least one projection direction, particularly forming an angle. Figure 3The diagram schematically illustrates the overlay of preoperative data set DS.p and intraoperative data set DS.i. The overlaid illustration can show the deviation between the virtual end position VD.v, a virtual representation of a predefined segment VD, and the actual end position VD.r, also a predefined segment VD. Furthermore, the overlaid illustration can show the deviation between the 2D orientation of the hollow organ HO.p as seen in preoperative imaging and the 2D orientation of the hollow organ HO.i as seen in intraoperative imaging.

[0072] To illustrate the identification of the spatial orientation of the predefined segment VD, Figure 3 The diagrams schematically illustrate the 2D orientations SEC.v and SEC.r, and the 3D orientations SEC.vD and SEC.rD, respectively, for the virtual representation of the medical object and the segments of the intraoperative image of the medical object.

[0073] Here, deformation of the medical object MD in depth, particularly with respect to the projection direction, can cause a difference between the virtual end position VD.v of the virtual representation of the predefined segment VD and the actual end position VD.r of the predefined segment VD. Advantageously, the spatial orientation of the predefined segment VD can be identified in the intraoperative data set DS.i using a deformation model of the medical object MD. Advantageously, the deformation model can be based on the material parameters and / or operational parameters of the medical object. In particular, the deformation model of the medical object can advantageously have information, particularly segment-by-segment deformability and / or stiffness and / or elasticity and / or torsional strength, of the medical object MD, particularly the predefined segment VD, especially physical boundary conditions. Here, the deformation model can advantageously be resolved at least along the longitudinal extension direction of the medical object MD, especially in three dimensions.

[0074] Advantageously, the identification of the spatial orientation of the predefined segment VD can include virtually arranging a virtual representation of the medical object MD.v along the 2D orientation of the medical object MD.r mapped in the intraoperative data set DS.i. Furthermore, the spatial orientation of at least one centerline of the hollow organ HO.p along which the virtual representation of the medical object MD.v is arranged can be described in the segment SEC.vD of the observed hollow organ HO.p according to curvature rules, particularly as a symmetrical parabola:

[0075] y1=A1·x 2 (1)

[0076] Here, the observed segment SEC.vD of the hollow organ can be normalized to the interval [-1, 1], and A can be a parameter of the parabola. Furthermore, the parabola can have an arc length, where...

[0077]

[0078] To minimize the deviation between at least one centerline and the actual spatial orientation of the predefined segment SEC.rD, parameter A2 can be determined for the additional parabola:

[0079] y2=A2·x 2 (3)

[0080] The other parabola has a shortened arc length.

[0081] L2 = L1 - D (4)

[0082] Wherein, D describes the difference between the virtual end position VD.v of the virtual representation of the predefined segment VD and the actual end position VD.r of the predefined segment VD:

[0083] D = |VD.v - VD.r| (5)

[0084] Advantageously, the transformation rule TF can be determined such that, in the corrected data set DS.corr, the virtual spatial orientation along at least one central line of the hollow organ HO.p, which is the virtual representation of the medical object MD.v, follows an additional parabola y2 in the observed segment SEC.vD.

[0085] Alternatively or additionally, the spatial orientation of at least one central line of the hollow organ HO.p, which is a virtual representation of the medical object MD.v, arranged along its arrangement, can be described by a polynomial in the observed segment SEC.vD of the hollow organ HO.p, wherein the polynomial advantageously has a polynomial degree greater than or equal to 2, particularly 5.

[0086] Figure 4 The proposed system is illustrated schematically, including a mobile device CR, an acquisition unit (not shown here), and a provisioning unit PRVS.

[0087] The mobile device CR can be configured, for example, as a catheter robot, particularly for remotely manipulating a medical object MD. In operation, a predefined segment VD of the medical object MD can advantageously be at least partially positioned within the examination area of ​​the examination subject 31, particularly within a hollow organ. Specifically, in operation, the medical object MD can be inserted into the examination subject 31, particularly into the hollow organ of the examination subject 31, positioned on the patient support device 32, via an insertion gate at the entry point IP. Here, the hollow organ may have, for example, a vascular segment, within which the predefined segment VD is at least partially positioned in operation. Furthermore, the patient support device 32 can be at least partially movable. For this purpose, the patient support device 32 can advantageously have a movement unit BV, which can be controlled by means of a signal 28 from the providing unit PRVS.

[0088] Furthermore, the mobile device CR can be movably fixed to the patient support device 32 by means of a fixing element 71, such as a bracket and / or a robotic arm. Advantageously, the mobile device CR can be configured such that the medical object MD (which is at least partially arranged in the mobile device CR in the operating state of the system) translates at least along the longitudinal extension direction of the medical object MD. Additionally, the mobile device CR can be configured to rotate the medical object MD about the longitudinal extension direction. Alternatively or additionally, the mobile device CR can be configured to control the movement of at least a portion of the medical object MD, such as the distal segment and / or tip of the medical object MD, particularly the movement of a predefined segment VD. Furthermore, the mobile device CR can be configured to deform the predefined segment VD of the medical object MD in a defined manner, for example, via a cable transmission device (Seilzug) within the medical object MD.

[0089] Furthermore, the system may include an input unit 42, such as a keyboard, and / or a display unit 41, such as a monitor and / or display. The input unit 42 may preferably be integrated into the display unit 41, for example in the case of a capacitive and / or resistive input display.

[0090] Display unit 41 can advantageously be configured to display information and / or a graphical representation of information from the device and / or medical C-arm X-ray equipment 37 and / or the providing unit PRVS and / or other components. For this purpose, the providing unit PRVS may, for example, send signal 25 to display unit 41. Input unit 42 can advantageously be configured to acquire user input and to provide signal 26 based on user input. Furthermore, display unit 41 can advantageously be configured to display information and / or a graphical representation of information from the system and / or the providing unit PRVS and / or other components, such as a graphical representation of preoperative and / or intraoperative and / or corrected data sets. For this purpose, the providing unit PRVS may, for example, send signal 25 to display unit 41.

[0091] The providing unit PRVS can advantageously be configured to receive user input, in particular, based on signal 26 from input unit 42, which has a preset target location and / or movement for a predefined segment VD. The providing unit PRVS can also be configured to determine a control preset based on a calibrated data set DS.corr and the user input. Furthermore, the providing unit PRVS can be configured to provide the control preset to the moving device CR, in particular, by means of signal 35. The moving device CR can advantageously be configured to receive the control preset based on signal 35. Furthermore, the moving device CR can be configured to move the medical object MD according to the control preset.

[0092] Figure 5A schematic diagram of another embodiment of the proposed system is shown. Here, the acquisition unit can be configured as a medical imaging device, specifically as a medical C-arm X-ray device 37. Furthermore, the medical C-arm X-ray device 37 can be configured to record intraoperative data set DS.i of the examination area. Additionally, the providing unit PRVS can be configured to determine second positioning information POS2 by locating a predefined segment VD within the intraoperative data set DS.i.

[0093] An exemplary medical imaging device, such as a medical C-arm X-ray apparatus 37, may have a detector 34, specifically an X-ray detector, and an X-ray source 33. For recording intraoperative data sets DS.i, the arm 38 of the medical C-arm X-ray apparatus 37 may be movably supported about one or more axes. Furthermore, the medical C-arm X-ray apparatus 37 may include additional movement units 39, such as a wheel system and / or a track system and / or a robotic arm, enabling the medical C-arm X-ray apparatus 37 to move in space. The detector 34 and the X-ray source 33 may be movably fixed to a common C-arm 38 in a defined arrangement.

[0094] Furthermore, the providing unit PRVS can be configured to control the positioning of the medical C-arm X-ray device 37 relative to the subject 31, such that a predefined segment VD of the medical subject MD is mapped in the intraoperative data set DS.i recorded by means of the medical C-arm X-ray device 37. The positioning of the medical C-arm X-ray device 37 relative to the subject 31 may include, for example, the positioning of the X-ray source 33 and detector 34, and in particular the positioning of the C-arm 38 around one or more spatial axes.

[0095] To record the intraoperative data set DS.i for the subject 31, the providing unit PRVS can send signal 24 to the X-ray source 33. The X-ray source 33 can then emit an X-ray beam, particularly a cone beam and / or a fan beam and / or a parallel beam. After the X-ray beam interacts with the area of ​​the subject 31 to be imaged and then strikes the surface of the detector 34, the detector 34 can send signal 21 to the providing unit PRVS. The providing unit PRVS can, for example, receive the intraoperative data set DS.i based on signal 21.

[0096] Figure 6A schematic diagram of a mobile device CR for robotically moving a medical object MD is shown. Advantageously, the mobile device CR may have a fixing element 71, particularly a movable and / or drivable fixing element 71. Furthermore, the mobile device CR may have a housing element 74 configured to accommodate at least a portion of the medical object MD. Additionally, the mobile device CR may have a moving element 72 fixed to the fixing element 71, for example, fixed to a support and / or robotic arm. Furthermore, the fixing element 71 may be configured to movably fix the moving element 72 to a patient support device 32. Furthermore, the moving element 72 advantageously may have at least one, for example, three actuator elements 73, such as electric motors, wherein a providing unit PRVS is configured to control at least one actuator element 73. Advantageously, the housing element 74 may be mechanically and / or electromagnetically and / or pneumatically coupled to the moving element 72, particularly at least one actuator element 73. Here, the housing element 74 may also have at least one transmission element 75, which is movable via coupling between the housing element 74 and the moving element 72, particularly at least one actuator element 73. Specifically, the at least one transmission element 75 may be movably coupled to at least one actuator element 73. Furthermore, the transmission element 75 may be configured to transmit the movement of the actuator element 73 to the medical object MD, causing the medical object MD to move along its longitudinal extension direction and / or rotate about its longitudinal extension direction. The at least one transmission element 75 may, for example, have a roller and / or a perforated plate and / or a shear plate.

[0097] Advantageously, the moving element 72 may have multiple actuator elements 73, particularly multiple independently controllable actuator elements 73. Furthermore, the housing element 74 may have multiple transmission elements 75, particularly at least one transmission element 75 with motion coupling for each actuator element 73. Thus, movement of the medical object MD along different degrees of freedom, particularly independently and / or simultaneously, can be achieved.

[0098] Furthermore, the moving device CR, particularly at least one actuator element 73, can be controlled by the providing unit PRVS via signal 35. Thus, the movement of the medical subject MD can be controlled, particularly indirectly, by the providing unit PRVS. Moreover, the orientation and / or position of the moving device CR relative to the examination subject 31 can be adjusted by moving the fixing element 71.

[0099] Furthermore, the mobile device CR advantageously may have a sensor unit 77 configured to acquire the relative movement of the medical object MD relative to the mobile device CR. Here, the sensor unit 77 may in particular have an encoder, such as a wheel encoder and / or a roller encoder, and / or an optical sensor, such as a barcode scanner and / or a laser scanner and / or a camera, and / or an electromagnetic sensor. For example, the sensor unit 77 may be arranged at least partially integrated into the moving element 72, particularly at least one actuator element 73 and / or a cartridge element 74, particularly at least one transmission element 75. The sensor unit 77 may in particular be configured to acquire the relative movement of the medical object MD by acquiring it relative to the mobile device CR. Alternatively or additionally, the sensor unit 77 may be configured to acquire the movement and / or positional changes of components of the mobile device CR, such as at least one actuator element 73 and / or at least one transmission element 75, which are coupled to the movement of the medical object MD.

[0100] The mobile device can advantageously be configured to provide length information LI, in particular length information LI of the relative movement of the acquired medical object MD with respect to the mobile device CR, to the providing unit PRVS via a signal C from the sensor unit 77.

[0101] The schematic diagrams included in the accompanying drawings do not depict any scale or size ratio.

[0102] Finally, it should be reiterated that the methods and apparatus described in the above-described detail are merely embodiments and can be modified in various ways by those skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite articles "a" or "an" does not preclude the possibility that the involved features may appear multiple times. Similarly, the terms "unit" and "element" do not preclude the possibility that the involved components consist of multiple interacting sub-components, which may also be spatially distributed if necessary.

Claims

1. A method for providing a corrected dataset, comprising: - Receive a preoperative data set, which includes images and / or models of the examination area of ​​the subject. - Receive length information, At least a portion of the medical subject is positioned within the examination area during the procedure. The length information includes information about the length of the portion of the medical object arranged in the examination area. - Based on the preoperative data set and the length information, first positioning information is determined regarding the virtual positioning of a predefined segment of the medical object's arrangement within the examination area. - Receive and / or determine second positioning information regarding the actual location of the predefined segment. - Determine a transformation rule to minimize the deviation between the first positioning information and the second positioning information. - A corrected dataset is generated by applying the transformation rules to the preoperative dataset. - Provides calibrated data sets.

2. The method according to claim 1, in, The preoperative data set contains planning information regarding the planned movement trajectories of medical subjects within the examination area. The first positioning information is determined additionally based on the planning information.

3. The method according to claim 1 or 2, in, Before the method begins, a predefined segment of the medical object has been positioned within the examination area using a mobile device. The mobile device is configured to hold and / or move a medical object at least partially disposed within the mobile device. The length information is provided by the mobile device.

4. The method according to claim 1 or 2, in, The preoperative data set contains a centerline model of at least one hollow organ of the subject being examined. In this case, at least a portion of the medical subject is placed in at least one hollow organ during the operation. The transformation rules include rules regarding the deformation of at least one centerline of the centerline model.

5. The method according to claim 1 or 2, in, Receive intraoperative data set, The determination of the second positioning information includes locating the predefined segment within the intraoperative data set.

6. The method according to claim 5, in, Identify the spatial orientation of predefined segments in the intraoperative data set. The determination of the transformation rule includes minimizing the deviation between at least one centerline and the spatial orientation of a predefined segment.

7. The method according to claim 6, in, The intraoperative data set contains projected images of the examined object. Specifically, the spatial orientation of predefined segments in the projected image is identified using a deformation model of the medical object.

8. The method according to claim 7, wherein, The deformation model is based on the material parameters and / or operational parameters of the medical object.

9. The method according to claim 1 or 2, wherein, The second positioning information is provided by a data acquisition unit used to acquire the actual positioning of a predefined segment.

10. A system for providing calibrated data sets, comprising a mobile device, an acquisition unit, and a providing unit. in, The mobile device is configured to hold and / or move a medical object, at least partially disposed within the mobile device, while the system is in operation. In the operating state of the system, at least a portion of the medical object is arranged within the examination area of ​​the object being examined. The mobile device is configured to provide length information, which includes information about the length of a portion of the medical object positioned in the examination area. The providing unit is configured as follows: - A preoperative data set used to receive images and / or models of the examination area of ​​the subject being examined. - First positioning information for determining the virtual positioning of a predefined segment of the medical object's arrangement within the examination area based on the preoperative data set and the length information. The acquisition unit is constructed as follows: - Used to collect the actual location of the predefined segment. - Second positioning information used to provide the actual location of the predefined segment. The providing unit is further configured as follows: - Used to determine a transformation rule that minimizes the deviation between the first positioning information and the second positioning information. - Used to generate a corrected dataset by applying the transformation rules to the preoperative dataset. - Provides calibrated data sets.

11. The system according to claim 10, in, The acquisition unit is configured as a medical imaging device. The medical imaging device is configured to record intraoperative data sets of the examined area. The providing unit is further configured to determine the second positioning information by locating a predefined segment in the intraoperative data set.

12. The system according to claim 10 or 11, in, The providing unit is further configured as follows: - Used to receive user input, which has presets for target positioning and / or movement within a predefined segment. - Used to determine control presets based on the corrected data set and the user input. - Used to provide the control preset to the mobile device. The mobile device is further configured to move the medical object according to the control preset.

13. A computer program product having a computer program that can be directly loaded into the memory of a providing unit, the computer program having program segments so as to implement all steps of the method according to any one of claims 1 to 9 when the program segments are executed by the providing unit.

Images