Method and system for providing a corrected data set

Abstract

The invention relates to a method for providing a corrected data set, comprising: receiving a preoperative data set having an image and / or a model of an examination region of an examination object, wherein intraoperatively: a first part of a medical object is arranged in the examination region and a second part of the medical object is arranged outside the examination object; receiving positioning information about a spatial positioning of the second part of the medical object; determining an entry angle of the medical object into the examination object from the positioning information; receiving an intraoperative data set having an image of the examination region; determining a transformation rule based on the entry angle of the medical object to minimize a deviation between the preoperative data set and the intraoperative data set; generating a corrected data set by applying the transformation rule to the preoperative data set; providing the corrected data set. The invention also relates to a system for providing a corrected data set and to a computer program product.

Description

Technical Field

[0001] The present invention relates to a method and system for providing corrected sets of data, as well as a computer program product. 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 patient's blood vessels. For real-time imaging monitoring of medical objects within blood vessels, intraoperative X-ray projection images are usually recorded under conditions of application of contrast agents, particularly iodine-containing contrast agents. 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 intraoperative X-ray projection images and then overlaying them.

[0003] However, a common drawback here is that, due to the potential deformation or distortion of the blood vessels and / or surrounding tissues when placing a medical object within a blood vessel, this deformation is not mapped into the preoperative image dataset. Deformation correction of the preoperative image dataset based solely on intraoperative X-ray projection images is often insufficiently accurate, especially in the absence of depth information. Summary of the Invention

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

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

[0006] The invention relates in a first aspect to a method for providing a calibrated set of data. Here, a preoperative set of data, including images and / or models of an examination area of ​​an object being examined, is received. A first portion of the medical object is positioned intraoperatively within the examination area. Furthermore, a second portion of the medical object is positioned intraoperatively outside the examination area. Additionally, positioning information regarding the spatial location of the second portion of the medical object is received. Furthermore, an entry angle of the medical object into the examination area is determined based on the positioning information. Additionally, an intraoperative set of data, including images of the examination area, is received. Subsequently, a transformation rule is determined based on the entry angle of the medical object to minimize the deviation between the preoperative and intraoperative data sets. Furthermore, a calibrated set of data is generated and then provided by applying the transformation rule to the preoperative data set.

[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 spatial positioning of the first and / or second parts of the medical object changes, particularly the angle of entry changes.

[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. Advantageously, the medical object can be inserted intraoperatively, at least partially, particularly by means of an insertion gate, into the examination object, particularly the examination area. Specifically, a first portion of the medical object can be positioned in the examination area before the procedure begins. Here, the first portion of the medical object refers to a first segment of the medical object, particularly a first longitudinal segment along the longitudinal extension direction of the medical object, which is positioned intraoperatively in the examination area. Furthermore, a second portion of the medical object refers to a second segment of the medical object, particularly a second longitudinal segment along the longitudinal extension direction of the medical object, which is positioned intraoperatively outside the examination object. Here, the entry point of the medical object into the examination object, particularly the examination area, can mark a particularly variable boundary between the first and second portions of the medical object.

[0010] Receiving preoperative data sets and / or location information and / or intraoperative data sets may in particular include acquiring and / or retrieving computer-readable data from storage devices and / or from data storage units, such as databases.

[0011] Specifically, preoperative and / or intraoperative data sets can be recorded and / or provided using one or more medical imaging devices. Here, the medical imaging device used to record the preoperative and / or intraoperative data sets can be configured, for example, as a computed tomography (CT) and / or magnetic resonance imaging (MRI) and / or medical X-ray and / or ultrasound and / or positron emission tomography (PET) device.

[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 can preoperatively map 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 data set may include 2D and / or 3D models of the examination area, particularly hollow organs, particularly centerline models and / or volume models, such as volume mesh models.

[0014] The preoperative data set can advantageously be registered with the coordinate system of the subject and / or medical imaging equipment and / or patient support device. Here, the subject can be positioned on the patient support device preoperatively and / or intraoperatively. Advantageously, the preoperative data set can include images and / or models of the spatial orientation of hollow organs in the examination area. Furthermore, the preoperative data set can have 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 data set.

[0015] Advantageously, the positioning information may include, in particular, instantaneous spatial positioning, spatial location, and / or orientation and / or posture, information about the second part of the medical object. The positioning information can be received, for example, from an acquisition unit used to acquire, in particular, the instantaneous spatial positioning of the second part of the medical object. The acquisition unit may, for example, be arranged on the medical object, in particular the second part of the medical object, and / or at least partially integrated therein. Alternatively or additionally, the acquisition unit may be arranged spaced apart from the medical object. For example, the acquisition unit may be arranged on an insertion gate and / or on a medical imaging device for recording preoperative and / or intraoperative data sets. Advantageously, the acquisition unit may have sensors, such as optical and / or electromagnetic and / or acoustic and / or mechanical and / or gyroscopic sensors, configured to acquire the spatial positioning of the second part of the medical object.

[0016] Furthermore, location information can be received from a positioning unit used to locate the medical object. Here, the positioning unit can be configured for spatial positioning of a second part of the predefined medical object.

[0017] Advantageously, the positioning information can be registered with preoperative and / or intraoperative data sets. Here, the positioning information can describe the spatial positioning, particularly spatial location and / or orientation and / or posture, of the second part of the medical object in the coordinate system of the examination object and / or medical imaging device and / or patient support device used to record the preoperative and / or intraoperative data sets. The positioning information may, for example, include intraoperative images and / or orientation parameters, which describe the spatial positioning, particularly instantaneously, of the second part of the medical object. Here, the positioning information can describe the spatial positioning of the second part of the medical object, particularly its longitudinal extension direction relative to the examination object, particularly its spatial positioning at the entry point relative to the surface of the examination object and / or a reference direction. Advantageously, the reference direction can be located in a plane tangent to the surface of the examination object through the entry point. Furthermore, the entry angle of the medical object into the examination object, particularly the entry angle at the entry point relative to the surface of the examination object and / or the reference direction, can be determined based on the positioning information. The entry angle can, for example, describe the angle between the longitudinal extension direction of the second part of the medical object and the surface of the examination object and / or the reference direction. Alternatively, the reference direction extends, in particular, at least segmentally parallel to the centerline of the hollow organ, at the point of entry of the medical object into the examination object.

[0018] Advantageously, the intraoperative data set can have particularly time-resolved 2D and / or 3D images of the examination area, especially the hollow organ, and the first part of the medical object arranged therein. Here, the intraoperative data set can map the examination area intraoperatively, particularly when the first part of the medical object is arranged within the examination area. The intraoperative data set can advantageously be registered with the coordinate system of the examination object and / or the medical imaging equipment and / or patient support device used to record the preoperative and / or intraoperative data sets. Furthermore, the intraoperative data set and the preoperative data set can be registered.

[0019] Advantageously, the transformation rules can have information about rigid and / or non-rigid and / or global and / or local and / or regional transformations of the preoperative data set, such as translation and / or rotation and / or deformation and / or scaling. Advantageously, determining the transformation rules can include optimization, particularly cost-minimizing optimization, where the deviation between the spatial orientation of the preoperative data set, particularly the spatial orientation of anatomical structures (especially hollow organs) in the examination area preoperatively imaged and / or modeled, and the spatial orientation of the intraoperative data set, particularly the spatial orientation of the first part of the medical object imaged intraoperatively, is minimized by applying the transformation rules to the preoperative data set. The deformation of the anatomical structures in the modeled examination area, particularly the hollow organ, can be determined, particularly based on the instantaneous entry angle of the medical object into the examination object; this deformation may be caused by the first part of the medical object arranged therein intraoperatively. Advantageously, the spatial location, particularly the spatial orientation, of the first part of the medical object can be determined, particularly instantaneously, based on the intraoperative data set and the entry angle.

[0020] Advantageously, the generation of the corrected data set may include applying, in particular, the finalized transformation rules to the preoperative data set. Here, the corrected data set can advantageously be provided. 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 processing unit. In particular, a graphical representation of the corrected data set may be displayed on the display unit.

[0021] Advantageously, the proposed implementation enables improved, particularly accurate and / or X-ray dose-efficiency deformation correction of the preoperative dataset, wherein the positioning information can be used as in vitro information to determine the transformation rules. The provided corrected dataset advantageously supports users, particularly medical operators, for example, in EVAR procedures and / or transapical aortic valve replacement.

[0022] While the method presented herein describes providing a calibrated set of data for a medical object at least partially arranged in the examination area, it can also be adapted according to the invention to provide a calibrated set of data for multiple, particularly identical or different, medical objects, particularly simultaneously at least partially arranged in the examination area.

[0023] In another advantageous embodiment of the proposed method, the intraoperative data set may include a 2D image of the examination area. Here, determining the transformation rules may include determining the spatial orientation of a first portion of the medical object based on the 2D image of the examination area and the entry angle.

[0024] Advantageously, the intraoperative data set can map the examination area and the first part of the medical object arranged therein in a two-dimensional manner, for example as a projected image along the projection direction, particularly as a forming angle, especially as an X-ray projection image. Thus, the first part of the medical object can be acquired two-dimensionally in the imaging plane of the intraoperative data set. Advantageously, the spatial orientation of the first part of the medical object can be determined three-dimensionally, taking into account the entry angle of the medical object into the examination object. In particular, depth information of the 2D image of the first part of the medical object can be determined based on the entry angle.

[0025] Furthermore, the preoperative data set, particularly images and / or models of the examination area, may contain preoperative information regarding the spatial orientation and / or spatial dimensions of the hollow organ, particularly along its longitudinal extension direction, such as along the centerline, and / or its diameter and / or cross-section. Here, the preoperative information can advantageously be considered as a boundary condition when determining the spatial orientation of the first part of the medical object.

[0026] This allows for time-efficient and precise deformation correction of preoperative data sets.

[0027] In another advantageous embodiment of the proposed method, the positioning information may include intraoperative images of a second portion of the medical object. Furthermore, the intraoperative images may be registered with a preoperative dataset and / or with an intraoperative dataset.

[0028] Here, positioning information, particularly intraoperative images, can be recorded using an acquisition unit. The acquisition unit may, for example, have optical and / or electromagnetic and / or acoustic sensors configured to record and / or provide intraoperative images of a second part of the medical object.

[0029] If the intraoperative images are spatially resolved in two dimensions and map the second part of the medical object, then the intraoperative images can be advantageously additionally mapped with reference objects, such as marker structures, arranged on the second part of the medical object. Thus, the spatial location of the second part of the medical object can be determined based on the spatially resolved intraoperative images.

[0030] Advantageously, intraoperative images can be registered with preoperative and / or intraoperative datasets. In particular, intraoperative images can be registered with the coordinate system of the subject being examined and / or the medical imaging equipment and / or patient support device used to record preoperative and / or intraoperative datasets.

[0031] Determining the entry angle based on positioning information, particularly intraoperative images, may include identifying, and in particular segmenting, the second part of the medical object within the intraoperative images. Here, image points in the intraoperative images can be advantageously identified based on image values, particularly intensity values, that map to the second part of the medical object. Subsequently, the entry angle of the medical object into the examination subject can be determined based on registration between the intraoperative images and preoperative datasets and / or between the intraoperative images and intraoperative datasets.

[0032] By acquiring a second part of a medical object externally using an acquisition unit, accurate and patient-friendly positioning information, especially with efficient X-ray dosing, can be provided.

[0033] In another advantageous embodiment of the proposed method, intraoperative images can be recorded using a camera unit.

[0034] Advantageously, the camera unit may have one or more cameras configured to record and provide intraoperative images. Here, the camera unit may be advantageously configured to acquire at least a portion of the object being examined, particularly the surface of the object at the point of entry into the medical object, and a second part of the medical object. As long as the camera unit has at least two cameras, these at least two cameras may advantageously have a defined, particularly spaced-apart, arrangement. Thus, intraoperative imaging of the second part of the medical object with three-dimensional spatial resolution can be achieved by means of the camera unit. One or more cameras of the camera unit may be configured as a monocular camera and / or a depth camera and / or a stereo camera and / or a 3D camera, respectively.

[0035] This allows for advantageous acquisition of precise, particularly three-dimensional, intraoperative images of the second part of the medical object. Furthermore, the camera unit can be configured to acquire at least one portion of the surface of the object being examined and / or a reference object at the point of entry. Thus, the spatial positioning of the second part of the medical object relative to the surface of the object being examined can be mapped intraoperatively using the camera unit.

[0036] In another advantageous embodiment of the proposed method, material parameters and / or operating parameters of the medical object may also be received. Furthermore, transformation rules may be additionally determined based on the material parameters and / or operating parameters.

[0037] 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.

[0038] Advantageously, the transformation rules can be determined additionally based on material parameters and / or operating parameters as boundary conditions. In particular, the determination of the transformation rules can be based on a deformation model of the medical object. The deformation model of the medical object can advantageously possess information regarding the medical object, particularly the first part of the medical object, especially its segmental deformability and / or stiffness and / or elasticity and / or torsional strength, particularly the physical boundary conditions. Here, the deformation model can advantageously be spatially resolved, particularly in three dimensions, at least along the longitudinal extension direction of the medical object. Furthermore, the deformation model can be adjusted according to the material parameters and / or operating parameters.

[0039] Advantageously, the proposed implementation method enables the determination of improved transformation rules while taking into account the physical characteristics of the medical object.

[0040] In another advantageous embodiment of the proposed method, the medical object can be arranged in a positioning unit. Here, the positioning unit can be configured to accommodate the medical object, such that...

[0041] - It is possible to pre-define the spatial location of at least the second part of the medical object, and

[0042] - Medical objects can move along and / or around their longitudinal extension. Furthermore, positioning information can be provided by the positioning unit.

[0043] The positioning unit may have an insertion gate for inserting a medical object into an examination object and / or a movement device for moving the medical object in a robotic manner, as explained in the further description.

[0044] Advantageously, the positioning unit can be configured to accommodate at least a portion, particularly a second portion, of the medical object. Here, the positioning unit can be configured to pre-determine the spatial positioning, particularly the spatial location and / or orientation and / or posture, of at least the second portion of the medical object. Specifically, the positioning unit can be configured to pre-determine the entry angle of the medical object into the examination object by pre-determining the spatial positioning of at least the second portion of the medical object. Furthermore, the positioning unit can be configured to accommodate, particularly guide and / or hold and / or move the medical object, such that the medical object can move along and / or about its longitudinal extension direction. Thus, the mobility of the medical object relative to its longitudinal extension direction can be achieved while maintaining the entry angle pre-determined by the positioning unit.

[0045] Advantageously, the positioning information can be provided by a positioning unit, particularly an insertion gate and / or a moving device. The provision of the positioning information 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 processing unit.

[0046] The invention relates in a second aspect to a system for providing a calibrated set of data. The system includes a medical imaging device and a processing unit. Furthermore, the system includes an acquisition unit and / or a positioning unit. The processing unit is configured to receive a preoperative set of data containing an image and / or model of an examination area of ​​an object to be examined. Here, in the operating state of the system, a first portion of the medical object is positioned within the examination area. Furthermore, in the operating state of the system, a second portion of the medical object is positioned outside the examination area. Furthermore, the acquisition unit and / or the positioning unit is configured to provide positioning information regarding the spatial positioning of the second portion of the medical object. Furthermore, the medical imaging device is configured to receive an intraoperative set of data. Here, the intraoperative set of data maps to the examination area in the operating state of the system. Furthermore, the processing unit is configured to determine the entry angle of the medical object into the examination area based on the positioning information. Furthermore, the processing unit is configured to determine a transformation rule based on the entry angle of the medical object to minimize the deviation between the preoperative set of data and the intraoperative set of data. Furthermore, the processing unit is configured to provide a calibrated set of data by applying the transformation rule to the preoperative set of data.

[0047] The advantages of the proposed system essentially correspond to the advantages of the proposed method for providing corrected sets of data. The features, advantages, or alternative embodiments mentioned herein can also be applied to other claimed subjects, and vice versa.

[0048] In another advantageous embodiment of the proposed system, the acquisition unit may include a camera unit. Here, the camera unit may be configured to record positioning information of intraoperative images of the second part of the medical object. Furthermore, the intraoperative images may be registered with a preoperative dataset and / or with the intraoperative dataset.

[0049] In another advantageous embodiment of the proposed system, the camera unit may be arranged in a defined configuration on and / or at least partially integrated into the medical imaging device.

[0050] The defined arrangement advantageously describes the spatial correspondence between the camera unit, particularly the acquisition area and / or line-of-sight of the camera unit, and the medical imaging device, particularly the acquisition area and / or imaging geometry of the medical imaging device. Advantageously, the camera unit can be arranged, particularly tiltably and / or rotatably and / or pivotally, on the medical imaging device, such that a second part of the medical object and the entry point of the medical object into the examination object can be acquired by means of the camera unit. Alternatively or additionally, the camera unit can be at least partially, particularly completely, integrated into the medical imaging device, for example, within the housing of the medical imaging device.

[0051] This advantageously enables inherent registration between the camera unit and the medical imaging device, particularly inherent registration between intraoperative images and preoperative and / or intraoperative data sets.

[0052] In another advantageous embodiment of the proposed system, the positioning unit can be configured to accommodate a medical object, such that...

[0053] - It is possible to pre-define the spatial location of at least the second part of the medical object, and

[0054] - The medical object can move along and / or around its longitudinal extension. Furthermore, the positioning unit can be configured to provide positioning information.

[0055] In another advantageous embodiment of the proposed system, the positioning unit may have an insertion gate for inserting a medical object into an examination object. Here, the insertion gate may have an instrument channel and a retaining element. Furthermore, the retaining element may be configured to retain, particularly detachably fix, the instrument channel at the entry point of the medical object into the examination object. Furthermore, the instrument channel may have a first opening and a second opening. Here, the instrument channel may be configured to accommodate at least a portion of the medical object and to predetermine the entry angle of the medical object. Furthermore, in the operating state of the system, the first opening may be located outside the examination object. Furthermore, in the operating state of the system, the second opening may be located within the cavity of the hollow organ of the examination object. Furthermore, in the operating state of the system, the medical object can be inserted into the hollow organ through the first and second openings along the instrument channel.

[0056] The instrument channel may have a tubular and / or tunnel-shaped cannula connecting the first opening to the second opening. Advantageously, the cannula may extend substantially in a straight line. The first and second openings of the instrument channel, and the cannula extending therebetween, may be advantageously configured to accommodate at least a portion of a medical object, particularly a second portion of the medical object. Specifically, in the operating state of the system, the medical object may be arranged along the instrument channel through the first and second openings, particularly within the cannula.

[0057] Advantageously, the instrument channel can be configured such that the instrument channel, particularly the cannula, does not deform and / or move when force is applied through the medical object, especially perpendicular to its longitudinal extension direction. Thus, the instrument channel can be configured to guide the medical object, particularly in a straight line along the cannula through the second opening, into the hollow organ of the object being examined.

[0058] The retaining element can advantageously be configured to retain, particularly detachably fix, the instrument channel at the entry point, especially on the surface of the object being examined. The retaining element can be fixed to the patient's surface, for example, by means of a fixation device, particularly an adhesive fixation device. Advantageously, the retaining element can also be configured to keep the instrument channel stable at the entry point such that the spatial orientation of the instrument channel, particularly the cannula, relative to the entry point remains constant and / or is adjustable. The instrument channel can be positioned relative to the retaining element such that it is fixedly arranged relative to the retaining element during system operation, and tiltable and / or pivotable relative to the retaining element, particularly the entry point, during other operating states of the system. Here, the insertion gate can have additional sensors, such as optical and / or electromagnetic and / or acoustic and / or mechanical and / or gyroscopic sensors, configured to acquire the spatial orientation of the instrument channel, particularly its longitudinal extension direction, relative to the retaining element, particularly relative to the entry point. Thus, the instrument channel can be configured, particularly in a flexible manner, to pre-set the entry angle of the medical object.

[0059] Furthermore, in the operating state of the system, the first opening is advantageously located externally, particularly away from the object being examined. Additionally, in the operating state of the system, the second opening is located at the hollow organ of the object being examined, particularly within a cavity. Furthermore, in the operating state, the medical object is inserted into the hollow organ through the first and second openings along the instrument channel, particularly within a cannula.

[0060] Advantageously, the insertion gate can be configured to provide positioning information. Providing positioning information via the insertion gate 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 processing unit. Specifically, the insertion gate can be configured to provide positioning information based on the spatial orientation of the instrument channel relative to the holding element, acquired by additional sensors. Alternatively or additionally, providing positioning information may include providing identification parameters of the insertion gate, wherein the processing unit is configured to determine the positioning information, particularly the entry angle, based on the identification parameters, for example, using a database, which may have multiple insertion gates, each with its own geometric parameters, particularly its own entry angle.

[0061] By employing the proposed implementation, particularly the insertion gate, the entry angle of the medical object into the examination subject can be preset, and deformation correction of the preoperative dataset can be performed precisely, especially in intraoperative images without a second portion of the medical object. Advantageously, the processing unit can be configured to determine the transformation rule in one step based on the spatial positioning of at least the second portion of the medical object preset by the insertion gate, particularly the entry angle of the medical object. This enables deformation correction of the preoperative dataset with particularly high computational efficiency.

[0062] In another advantageous embodiment of the proposed system, the positioning unit may have a mobility device for robotically moving the medical object. Furthermore, in the operating state of the system, a second portion of the medical object may be at least partially disposed within the mobility device.

[0063] Advantageously, the mobile device can be a robotic device configured for remote manipulation of a medical object, such as a catheter 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 receive a second part 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 secure 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 a processing unit. Advantageously, the housing element can be mechanically and / or electromagnetically and / or pneumatically coupled to the moving element, particularly at least one actuator element. Here, the housing element can also have at least one transmission element that can be moved via 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 movement of the actuator element to the medical object, causing the medical object to move along its longitudinal extension direction and / or rotate about its longitudinal extension direction. At least one transmission element may have, for example, rollers and / or perforated plates and / or shear plates. Furthermore, the transmission element may be configured to hold the medical object, particularly to keep the medical object stable, by transmitting force. Holding the medical object may particularly include fixing at least the medical object relative to the position of the moving device. In addition, the moving device may be configured, for example by the corresponding positioning and / or orientation of the fixing element, to pre-position a second part of the medical object, particularly relative to the object being examined, which is at least partially arranged in the moving device during system operation.

[0064] Advantageously, the moving element can have multiple actuator elements, particularly those that can be independently controlled. Furthermore, the box element can have multiple transmission elements, especially at least one transmission element with motion coupling for each actuator element. Thus, movement of the medical object along different degrees of freedom, particularly independent and / or simultaneous movement, can be achieved.

[0065] Advantageously, the mobile device may also include a sensor unit, such as an electromagnetic and / or optical and / or acoustic and / or mechanical and / or gyroscopic sensor, configured to acquire the spatial positioning of a second part of the medical object. Alternatively or additionally, the sensor unit may be configured to acquire the spatial positioning of a box element and / or a fixed element, wherein the second part of the medical object housed in the mobile device has a defined relative position with respect to the box element and / or fixed element. This also allows the acquisition of the spatial positioning of the second part of the medical object.

[0066] Advantageously, the sensor unit can be configured to provide the processing unit with positioning information, which includes information about the spatial positioning of a second part of the acquired medical object.

[0067] The proposed implementation enables flexible pre-setting and precise acquisition of the spatial positioning of the second part of the medical object relative to the entry point into the examination object. This allows for improved deformation correction of the preoperative data set.

[0068] In another advantageous embodiment of the proposed system, the processing unit may be configured to receive a preset approach angle. Furthermore, the processing unit may be configured to identify deviations by comparing the determined approach angle with the preset. Additionally, the processing unit may be configured to provide signals and / or workflow hints based on the deviations.

[0069] The preset for the entry angle can be provided, for example, through user input via an input unit and / or treatment planning. Here, the preset for the entry angle can have a nominal value for the entry angle. Additionally, the preset can have a maximum deviation of the entry angle relative to the nominal value.

[0070] Advantageously, the processing unit can also be configured to compare, in particular, the instantaneous entry angle with a preset, in particular a rated value. Here, the comparison may include, for example, determining the difference and / or quotient between the entry angle and the preset, in particular the rated value. Advantageously, the processing unit can also be configured to identify, in particular, the deviation between the entry angle and the preset value, qualitatively or quantitatively, based on the comparison. Advantageously, the processing unit can also be configured to provide signals and / or workflow prompts based on the identified deviations. Here, the signals and / or workflow prompts include qualitative or quantitative information about the identified deviations. The processing unit can be advantageously configured to repeatedly identify deviations, in particular repeatedly comparing the entry angle with the preset value, and providing signals and / or workflow prompts based on each last identified deviation. Here, the provision of signals and / or workflow prompts may include storage on a computer-readable storage medium and / or output and / or transmission to the processing unit via an output unit, such as a display unit and / or a speaker.

[0071] The signal may be, for example, an acoustic and / or tactile and / or optical signal, which can be output via an output unit. Advantageously, the signal can be provided such that it can be visually and / or tactilely and / or acoustically acquired by a user controlling the medical object and / or positioning unit, particularly the insertion gate and / or movement device. The signal can be specifically designed for qualitative information regarding the identified deviation, and the workflow prompt can advantageously include information, particularly instructions, regarding reducing the identified deviation. In particular, the workflow prompt can include information about the spatial direction in which the second part of the medical object should be moved to minimize the identified deviation. Advantageously, the workflow prompt can be output via an output unit.

[0072] On the one hand, this reduces the risk of injury to the object being examined, especially hollow organs, when the entry angle deviates too much from the preset value. Furthermore, the preset value allows for the determination of a nominal value and / or range for the entry angle, enabling deformation correction of preoperative data sets.

[0073] 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 processing unit. The computer program has program segments that, when executed by the processing 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 processing 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 processing unit. The computer program product is configured such that it can implement the method steps according to the invention by means of a processing unit.

[0074] The advantages of the proposed computer program product substantially 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.

[0075] 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 a processing unit, which may be directly connected to the processing unit or configured as part of the processing unit. Furthermore, control information for 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 processing 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 processing unit, all embodiments of the method described above according to the invention can be implemented.

[0076] 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 processing unit, so that when the program segment is executed by the processing unit, all steps of the method for providing a corrected set of data are implemented.

[0077] The advantage of implementing it in software as much as possible is that the processing 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 additional parts, as well as hardware components, such as hardware keys (dongles, etc.) for using the software. Attached Figure Description

[0078] 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 the drawings:

[0079] Figure 1 and Figure 2 Schematic diagrams of different implementations of the proposed method for providing corrected sets of data are shown;

[0080] Figure 3 A schematic diagram of the proposed system for providing calibrated data sets is shown;

[0081] Figure 4 Schematic diagrams showing different arrangements of medical objects;

[0082] Figure 5 A schematic diagram of a positioning unit is shown, which has an insertion gate for inserting a medical object into an examination object;

[0083] Figure 6 A schematic diagram of another advantageous embodiment of the proposed system including a mobile device is shown;

[0084] Figure 7 A schematic diagram of the mobile device is shown. Detailed Implementation

[0085] Figure 1 An advantageous embodiment of a method for providing a corrected data set DS.corr (PROV-DS.corr) is illustrated schematically. Here, a preoperative data set DS.p (REC-DS.p) containing an image and / or model of the examination area of ​​the object being examined can be received. Furthermore, during the operation, a first part of the medical object can be positioned within the examination area, and a second part of the medical object can be positioned outside the examination object. Additionally, positioning information PI (REC-PI) regarding the spatial positioning of the second part of the medical object can be received. Furthermore, the entry angle EW (DET-EW) of the medical object entering the examination object can be determined based on the positioning information PI. Additionally, an intraoperative data set DS.i (REC-DS.i) containing an image of the examination area is received. Here, a transformation rule TF can be determined based on the entry angle EW of the medical object to minimize the deviation between the preoperative data set DS.p and the intraoperative data set DS.i. Subsequently, the corrected data set DS.corr can be generated by applying the transformation rule TF to the preoperative data set DS.p. Furthermore, the corrected data set DS.corr (PROV-DS.corr) can be provided.

[0086] Figure 2 A schematic diagram of another advantageous embodiment of the proposed method for providing the corrected data set DS.corr for PROV-DS.corr is shown. Here, material parameters and / or operational parameters PARAM of the medical object (REC-PARAM) can be received. Furthermore, the DET-TF transformation rule TF can be additionally determined based on the material parameters and / or operational parameters PARAM.

[0087] Figure 3An advantageous embodiment of the proposed system for providing a corrected data set DS.corr for PROV-DS.corr is illustrated schematically. Here, the system may include a medical imaging device, such as a medical C-arm X-ray device 37, and a processing unit 22. Furthermore, the system may include an acquisition unit, particularly a camera unit comprising two cameras E.1 and E.2. The processing unit 22 may be configured to receive the preoperative data set DS.p for REC-DS.p. Furthermore, in the operating state of the system, the first portion MD.1 of the medical object MD can be inserted at the entry point IP into the examination object 31 arranged on the patient support device 32. Here, in the operating state of the system, the second portion MD.2 of the medical object can be arranged outside the examination object 31. Furthermore, the medical object MD can be controlled and / or moved by a user U, particularly a medical operator, at the second portion MD.2, particularly the proximal portion. Advantageously, the patient support device 32 may be at least partially movable. For this purpose, the patient support device 32 may advantageously have a movement unit BV, which can be controlled by means of a signal 28 from the processing unit 22.

[0088] Medical imaging equipment, particularly a medical C-arm X-ray device 37, can be configured to record intraoperative data set DS.i. Here, the intraoperative data set DS.i can map the examination area during system operation. The medical C-arm X-ray device 37 may have a detector 34, particularly an X-ray detector, and an X-ray source 33. For recording the intraoperative data set DS.i, the arm 38 of the medical C-arm X-ray device 37 can be movably supported about one or more axes. Furthermore, the medical C-arm X-ray device 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 device 37 to move in space. The detector 34 and the X-ray source 33 can be movably fixed to a common C-arm 38 in a defined arrangement.

[0089] Furthermore, the processing unit 22 can be configured to control the positioning of the medical C-arm X-ray device 37 relative to the subject 31, such that the examination area and a first portion MD.1 of the medical subject MD, at least partially disposed therein, are 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 defined spatial axes.

[0090] To record the intraoperative data set DS.i for the subject 31, the processing 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, 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 a signal 21 to the processing unit 22. The processing unit 22 can, for example, receive the intraoperative data set DS.i based on the signal 21.

[0091] The acquisition unit, particularly the camera unit, can be configured to provide positioning information PI regarding the spatial location of the second part MD.2 of the medical object MD. Here, the camera unit, particularly two cameras E.1 and E.2, can be configured to record positioning information of intraoperative images containing the second part MD.2 of the medical object MD and, particularly, to provide it to the processing unit 22 via signals 44.1 and 44.2 respectively. Here, the intraoperative images can be registered with the preoperative data set DS.p and / or the intraoperative data set DS.i.

[0092] Furthermore, processing unit 22 can be configured to determine the entry angle EW of the medical object MD into the examination object 31 based on the positioning information PI. Furthermore, processing unit 22 can be configured to determine the DET-TF transformation rule TF based on the entry angle EW of the medical object MD to minimize the deviation between the preoperative data set DS.p and the intraoperative data set DS.i. Furthermore, processing unit 22 can be configured to provide a corrected data set DS.corr by applying the transformation rule TF to the preoperative data set DS.p.

[0093] Furthermore, the camera unit, particularly the two cameras E.1 and E.2, can be fixed to the medical imaging device, particularly the medical C-arm X-ray device 37, and / or at least partially integrated into the medical imaging device (not shown here), in a defined arrangement.

[0094] 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 be advantageously integrated into the display unit 41, for example in the case of a capacitive and / or resistive input display.

[0095] Display unit 41 can advantageously be configured to display information and / or a graphical representation of information from the system and / or processing unit 22 and / or other components, such as a graphical representation of preoperative and / or intraoperative and / or corrected data sets. Specifically, display unit 41 can be configured to display a graphical representation of the superposition of the preoperative data set DS.p and the corrected data set DS.corr. For this purpose, processing unit 22 can, 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.

[0096] Figure 4 Two distinct spatial locations, MD.A1 and MD.A2, of a medical object MD are schematically illustrated. Here, the medical object in the first spatial location MD.A1 may have a first entry angle EW1 at the entry point IP, and in the second spatial location MD.A2, it may have a second entry angle EW2 at the entry point IP. The first entry angle EW1 may, for example, describe the angle between a first longitudinal extension direction LA.1 of the medical object MD, particularly the second part of the medical object MD, and a reference direction RA in the first spatial location MD.A1, which advantageously lies in a plane tangent to the surface of the object 31 through the entry point IP. Similarly, the second entry angle EW2 may describe the angle between a second longitudinal extension direction LA.2 of the medical object MD, particularly the second part of the medical object MD, and the reference direction RA in the second spatial location MD.A2.

[0097] also, Figure 4 The diagram schematically illustrates the overlay of preoperative data set DS.p with images and / or models of the examination area, particularly the hollow organ HO, and intraoperative data set DS.i. Here, the intraoperative data set DS.i may contain a 2D image of the examination area. Furthermore, the determination of the transformation rule TF (DET-TF) may include determining the spatial orientation of the first part MD.1 of the medical object MD based on the 2D image of the examination area and the entry angle EW. Here, in Figure 4 The text explains how the spatial orientation of the first part of the medical object MD, MD.1, is affected by the entry angles EW1 and EW2. By determining the transformation rule TF based on the medical object MD, particularly the instantaneous entry angle EW, improved deformation correction of the preoperative data set DS.p can be achieved.

[0098] Figure 5A schematic diagram of a positioning unit with an insertion gate PU for inserting a medical object MD into an examination object 31 is shown. The insertion gate PU may have an instrument channel IC and a holding element HU. The holding element HU may be configured to hold the instrument channel IC at the entry point IP of the medical object MD into the examination object 31. Furthermore, the instrument channel IC may have a first opening O1 and a second opening O2. Here, the instrument channel IC may be configured to accommodate at least a portion of the medical object MD and predetermine the spatial positioning of at least a second portion MD.2 of the medical object, particularly the entry angle EW of the medical object MD. Here, the entry angle EW may describe the angle between the longitudinal extension direction LA of the medical object MD and the reference direction RA. In the operating state of the system, the first opening O1 may be arranged outside the examination object 31. Furthermore, in the operating state of the system, the second opening O2 may be arranged at the hollow organ HO of the examination object 31. Here, the hollow organ HO may, for example, have a vascular segment. Furthermore, in the operating state of the system, the medical object MD may be inserted into the hollow organ HO through the first opening O1 and the second opening O2 along the instrument channel IC. Here, the medical object MD can continue to move along and / or around its longitudinal extension direction LA. Furthermore, the positioning unit, particularly the insertion gate, can be configured to provide positioning information PI.

[0099] Figure 6 Another advantageous embodiment of the proposed system is illustrated schematically. Here, the positioning unit has a mobility device CR for robotically moving the medical object MD. Advantageously, in the operating state of the system, the second part MD.2 of the medical object MD can be at least partially arranged in the mobility device CR.

[0100] The mobile device CR can be configured, for example, as a catheter robot, particularly for remotely manipulating a medical object MD. In operation, the first portion MD.1 of the medical object MD can advantageously be at least partially positioned within the examination area of ​​the examination subject 31, particularly within the hollow organ HO. 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. Thus, the spatial positioning of the second portion MD.2 of the medical object, at least partially positioned within the mobile device CR, relative to the examination subject 31 can be predetermined. Advantageously, the mobile device CR can be configured such that the medical object MD (which is at least partially positioned within the mobile device CR in operation) can be translated at least along the longitudinal extension direction of the medical object MD. Furthermore, the mobile device CR can be configured to rotate the medical object MD about its longitudinal extension direction.

[0101] Advantageously, the processing unit 22 can be configured to receive a preset entry angle EW. Furthermore, the processing unit 22 can be configured to identify deviations by comparing the determined entry angle EW with the preset. Additionally, the processing unit 22 can be configured to provide signals and / or workflow prompts based on the deviations.

[0102] Figure 7 A 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 receive at least a portion of a second part MD.2 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 the processing unit 22 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.

[0103] 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, the medical object MD can be moved, particularly independently and / or simultaneously, along different degrees of freedom of movement.

[0104] Furthermore, the moving device CR, particularly at least one actuator element 73, can be controlled by the processing unit 22 via signal 35. Thus, the movement of the medical subject MD can be controlled, particularly indirectly, by the processing unit 22. 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.

[0105] The mobile device may also include a sensor unit 77, such as an electromagnetic and / or optical and / or acoustic and / or mechanical and / or gyroscopic sensor, configured to acquire, in particular, the instantaneous spatial positioning of a second portion MD.2 of the medical object MD. Alternatively or additionally, the sensor unit 77 may be configured to acquire the spatial positioning of the housing element 74 and / or the fixing element 71, wherein the second portion MD.2 of the medical object MD housed in the mobile device CR has a defined relative position with respect to the housing element 74 and / or the fixing element 71. This allows the acquisition of the spatial positioning of the second portion MD.2 of the medical object MD.

[0106] Advantageously, the sensor unit 77 can be configured to provide positioning information PI to the processing unit 22 by means of a signal S, the positioning information PI having information about the spatial positioning of the second part MD.2 of the acquired medical object MD.

[0107] The schematic diagrams included in the accompanying drawings do not depict any scale or size ratio.

[0108] 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 (DS.corr) (PROV-DS.corr), comprising: - Receive (REC-DS.p) preoperative data set (DS.p), which contains images and / or models of the examination area of ​​the subject (31), During the operation: - The first part (MD.1) of the medical object (MD) is arranged in the examination area, and - The second part (MD.2) of the medical object (MD) is placed outside the examination object (31). - Receive (REC-PI) positioning information (PI) regarding the spatial location of the second part (MD.2) of the medical object (MD), the positioning information including the instantaneous spatial position of the second part of the medical object and / or the instantaneous orientation and / or the instantaneous posture of the second part of the medical object. - Determine the instantaneous entry angle (EW) of the medical object (MD) into the examination object (31) based on the positioning information (PI) (DET-EW). - Receive (REC-DS.i) intraoperative data set (DS.i), which contains images of the examined area. - Based on the instantaneous angle of entry (EW) determination (DET-TF) transformation rule (TF) of the medical object (MD) to minimize the deviation between the preoperative data set (DS.p) and the intraoperative data set (DS.i). - The corrected dataset (DS.corr) is generated by applying the transformation rule (TF) to the preoperative dataset (DS.p). - Provides (PROV-DS.corr) the corrected data set (DS.corr).

2. The method according to claim 1, wherein, Intraoperative data set (DS.i) contains 2D images of the examined area. Among them, the determination of the transformation rule (TF) (DET-TF) includes determining the spatial orientation of the first part (MD.1) of the medical object (MD) based on the 2D image of the examination area and the instantaneous entry angle (EW).

3. The method according to claim 1 or 2, wherein, The location information (PI) includes intraoperative images of the second part (MD.2) of the medical object (MD). Intraoperative images were registered with the preoperative data set (DS.p) and / or with the intraoperative data set (DS.i).

4. The method according to claim 3, wherein, Intraoperative images were recorded using camera units (E.1, E.2).

5. The method according to claim 1 or 2, wherein, Receive material parameters and / or operating parameters (PARAM) of the medical object (MD). In addition, the transformation rule (TF) is determined based on material parameters and / or operating parameters (PARAM) (DET-TF).

6. The method according to claim 1 or 2, in, Medical objects (MDs) are arranged in the positioning unit. The positioning unit (MD) is configured to accommodate a medical object such that: - The spatial location of at least the second part (MD.2) of a medical object (MD) is given in advance, and - Medical objects (MDs) move along and / or around their longitudinal extension. The positioning unit provides positioning information (PI).

7. A system for providing a calibrated set of data, in, The system has medical imaging equipment and a processing unit (22). The system also includes a data acquisition unit and / or a positioning unit. The processing unit (22) is configured to receive a preoperative data set (DS.p) containing images and / or models of the examination area of ​​the subject (31). In the system's running state: - The first part (MD.1) of the medical object (MD) is arranged in the examination area, and - The second part (MD.2) of the medical object (MD) is placed outside the examination object (31). The acquisition unit and / or positioning unit are configured to provide positioning information (PI) regarding the spatial positioning of the second part (MD.2) of the medical object (MD), the positioning information including the instantaneous spatial position of the second part of the medical object and / or the instantaneous orientation and / or the instantaneous posture of the second part of the medical object. The medical imaging device is configured to receive intraoperative data sets (DS.i). The intraoperative data set (DS.i) maps the inspection area during the operation of the system. The processing unit (22) is further configured as follows: - Determine the instantaneous entry angle (EW) of the medical object (MD) into the examination object (31) based on the positioning information (PI) (DET-EW). - Based on the instantaneous angle of entry (EW) determination (DET-TF) transformation rule (TF) of the medical subject (MD) to minimize the deviation between the preoperative data set (DS.p) and the intraoperative data set (DS.i), and - A corrected dataset (DS.corr) is provided by applying the transformation rule (TF) to the preoperative dataset (DS.p) (PROV-DS.corr).

8. The system according to claim 7, in, The acquisition unit includes a camera unit. The camera unit is configured to record positioning information (PI), which includes intraoperative images of the second part (MD.2) of the medical object (MD). Intraoperative images were registered with the preoperative data set (DS.p) and / or with the intraoperative data set (DS.i).

9. The system according to claim 8, wherein, The camera unit is fixed to the medical imaging device and / or at least partially integrated into the medical imaging device in a defined arrangement.

10. The system according to any one of claims 7 to 9, in, The positioning unit is configured to accommodate a medical object (MD) such that: - It is possible to pre-define the spatial location of at least the second part (MD.2) of a medical object (MD), and - Medical objects (MDs) are capable of moving along and / or around their longitudinal extension. The positioning unit is further configured to provide positioning information (PI).

11. The system according to claim 10, wherein, The positioning unit has an insertion gate for inserting a medical object (MD) into an examination object (31). The insertion gate has an instrument channel (IC) and a holding element (HU). The retaining element (HU) is configured to hold the instrument channel (IC) at the entry point (IP) of the medical object (MD) into the examination object (31). The instrument channel (IC) has a first opening (O1) and a second opening (O2). The instrument channel (IC) is configured as follows: - To contain at least a portion of a medical object (MD), and - Pre-defined instantaneous angle of entry (EW) for the medical object (MD). In the system's running state: - The first opening (O1) is located outside the object being inspected (31). - The second opening (O2) is located in the cavity of the hollow organ (HO) of the object being examined (31), and - The medical object (MD) is inserted into the hollow organ (HO) through the first opening (O1) and the second opening (O2) along the instrument channel (IC).

12. The system according to claim 10, wherein, The positioning unit has a mobility device (CR) for robotically moving medical objects (MDs). In the system's operating state, the second part (MD.2) of the medical object (MD) is at least partially arranged in the mobile device (CR).

13. The system according to any one of claims 7 to 9, wherein, The processing unit (22) is configured as follows: - Receive presets for the instantaneous entry angle. - Deviations are identified by comparing the determined instantaneous angle of entry (EW) with the preset angle. - Provide signals and / or workflow prompts based on the aforementioned deviations.

14. A computer program product having a computer program that can be directly loaded into the memory of a processing unit (22), the computer program having program segments so as to implement all steps of the method according to any one of claims 1 to 6 when the program segments are executed by the processing unit (22).

Images