System for positioning a medical object at a nominal depth

Abstract

The invention relates to a system for positioning a medical object at a target depth. The system comprises a light guide device and a processing unit, wherein the processing unit is arranged to receive planning information, the planning information specifying a target depth in an examination object at which a predefined section of the medical object is to be arranged in the examination object with reference to an entry point of the medical object into the examination object, wherein the medical object has a marker having a predefined relative positioning with respect to the predefined section, wherein the processing unit is arranged to control the light guide device for emitting a light distribution in accordance with the planning information and the predefined relative positioning so as to illuminate the marker when the predefined section is arranged at the target depth.

Description

Technical Field

[0001] The present invention relates to a system for positioning a medical object at a specified depth, a method for emitting light distribution, and a computer program product. Background Technology

[0002] For handling and / or examining an object, it is typically necessary to insert a medical object, such as a needle and / or endoscopic section, into the object up to a specified depth, especially for target positioning. To minimize harm to the object, it is crucial to precisely adhere to the specified depth, and especially not exceed it. The specified depth is usually given relative to the point of entry of the medical object into the object. To indicate the insertion depth of the medical object into the object, especially the instantaneous insertion depth, graduations, particularly in centimeters or millimeters, can be provided on the surface of the medical object, where the medical operator can read the insertion depth at a point on the graduations, located at the point of entry of the medical object into the object. However, this method of display is often prone to misuse by the medical operator due to the lack of reference markings for the specified depth on the graduations. Alternatively, the medical operator can, for example, place markings on the medical object at the point of entry to indicate the specified depth.

[0003] Disadvantages include the possibility that markers placed at the entry point may be obscured by other medical objects, such as guiding devices and / or guiding sheaths. Furthermore, the nominal depth relative to the entry point changes during insertion of the medical object into the examination object, particularly due to tissue deformation of the examination object, such as due to interaction with the medical object and / or physiological movement of the examination object. This also means that fixed markers on the medical object cannot flexibly adapt to changes in nominal depth. Consequently, this can adversely lead to mispositioning of the medical object within the examination object. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to achieve precise and flexible positioning of medical objects within the examination object at a rated depth.

[0005] This technical problem is solved according to the present invention by a system for positioning a medical object at a specified depth. Advantageous embodiments with suitable improved designs are also the subject of this application.

[0006] The invention relates in a first aspect to a system for positioning a medical object at a nominal depth. The system includes a light guide and a processing unit. The processing unit is configured to receive planning information specifying a nominal depth at which a predefined segment of the medical object is positioned within the examination object, referencing an entry point into the examination object. The medical object has a marker having a predefined relative position relative to the predefined segment. The processing unit is further configured to control the light guide for emitting a light distribution according to the planning information and the predefined relative position, so that the light distribution illuminates the marker when the predefined segment is positioned at the nominal depth.

[0007] The medical object may include surgical instruments, such as needles, especially puncture needles, and / or drills, and / or diagnostic instruments, such as endoscopes, especially laparoscopes, and / or catheters. Advantageously, the medical object may be designed at least partially, especially entirely, to be rigid and / or flexible. Furthermore, the medical object may be designed at least partially, especially entirely, to be elongated. Additionally, the medical object may have the aforementioned predefined segment. Here, the predefined segment may be, for example, a distal segment of the medical object, especially a tip and / or distal segment. The medical object may be configured to be inserted into the examination object at least partially through an entry point on the surface of the examination object, such as the skin surface. In particular, the predefined segment of the medical object may be configured to be disposed within the examination object. In system operation, the medical object may be inserted into the examination object at the entry point, such that the predefined segment is disposed within the examination object.

[0008] The marker can be positioned relative to a predefined segment on the medical object, particularly in terms of spatial relative position and / or relative orientation and / or relative posture, and / or at least partially, particularly fully, integrated into the medical object. Here, the marker can be fixed relative to the predefined segment or movably arranged on the medical object and / or at least partially integrated into the medical object, particularly along the longitudinal extension direction of the medical object. Furthermore, the marker can be fixed to the medical object, for example, to the gripping area and / or proximal segment of the medical object. In designs with a basic elongation of the medical object, it is advantageous that the marker can be spaced apart relative to the predefined segment along the longitudinal extension direction of the medical object. For example, the marker can be arranged on the rod of the medical object. Advantageously, the marker can be arranged relative to the predefined segment, with the marker positioned externally, particularly outside the examination object and / or spaced apart from the entry point, when the predefined segment is positioned at a nominal depth. This advantageously ensures that the marker can be illuminated by a light distribution when the medical object is at least partially positioned within the examination object, particularly when the predefined segment is positioned at a nominal depth. Advantageously, the medical object may additionally have graduations, particularly on its surface, indicating distances relative to a mark extending longitudinally along the object, especially in centimeters or millimeters. Here, the graduations may be arranged below and / or above the mark along the longitudinal direction of the medical object. When the arrangement of the predefined section within the object differs from the nominal depth, the light distribution can advantageously illuminate the graduation elements of the graduations, thereby quantitatively indicating the deviation relative to the nominal depth as a distance between the mark and the illuminated graduation elements.

[0009] The objects of examination can be, for example, human and / or animal patients and / or examination phantoms.

[0010] The processing unit can be advantageously designed to receive planning information having a predetermined value relative to a specified depth. Receiving the planning information may in particular include detecting and / or reading from a computer-readable data storage unit and / or receiving from a data storage unit, such as a database. Furthermore, the planning information may be provided by a providing unit of a medical imaging device. The planning information may include, in particular, a pre-procedural presentation of the object being examined, such as an image, particularly medical image data, and / or a model of the object being examined. Here, the presentation of the object being examined may be spatially resolved in two dimensions (2D) and / or three dimensions (3D). Furthermore, the planning information may have a predetermined value for a specified depth, particularly relating to the pre-procedural presentation of the object being examined. Here, the specified depth may be defined as a point pair, which includes the target location of a predefined segment and the entry point of the medical object into the object being examined, particularly relative to the presentation of the object being examined.

[0011] The nominal depth can describe the spatial distance between a predefined segment (especially a reference point on the predefined segment) and the entry point of the medical object into the examination subject. Here, the nominal depth can be specified along the longitudinal extension direction of the medical object, especially in the design of the medical object as a curve or a straight line. In particular, the processing unit can be designed to repeatedly receive planning information. For example, when physiological movement of the examination subject is detected, planning information can be repeatedly provided. Here, the predetermined nominal depth can be adapted to the corresponding last detected movement state of the examination subject. Physiological movement can, for example, include organ movement, especially cardiac movement, and / or respiratory movement of the examination subject.

[0012] The light guiding device may advantageously include a light source, such as a laser source, designed to emit a particularly predetermined light distribution. For this purpose, the light guiding device may, for example, include an optical shield. The light distribution may advantageously include a predetermined distribution of laser light. Here, the light distribution may project a predetermined light pattern, such as lines and / or crosses and / or dots. For example, the light source may include two laser sources for emitting intersecting beams. The light distribution can define the target positioning, particularly spatial position and / or orientation and / or posture, of the marker, wherein predefined segments are arranged at a predetermined nominal depth relative to the point of entry. The predetermined light pattern can be generated by the marker reflecting and / or absorbing at least a portion of the predetermined light distribution, which is particularly provided. In particular, the marker may have optically observable characteristics, at least when illuminated with this light distribution.

[0013] Advantageously, the processing unit can control the light guide device in such a way that the light distribution accurately illuminates the mark when the predefined segment of the medical object is positioned at the rated depth. In particular, if the predefined segment of the medical object is not positioned at the rated depth, the light distribution will not illuminate the mark.

[0014] The processing unit is advantageously designed to control the emitted light distribution of the light guide device based on planning information and predefined relative positioning. The light guide device can be advantageously designed to adapt the emission of light distribution to the control of the processing unit, particularly the direction and / or aperture angle of the light distribution.

[0015] This allows for the precise and flexible positioning of a predefined segment of the medical object within the examination object at a specified depth. For example, during planned movement of the medical object, particularly during the gradual retraction of the predefined segment, the emission of the light distribution can be adapted to the corresponding specified depth of the planned movement, especially along the longitudinal extension direction of the medical object. Through this adapted emission of the light distribution, the medical operator can advantageously support the planned movement as the predefined segment is gradually positioned into the specified depth. This allows for, for example, further shaping of the ablation zone during the ablation process on the examination object.

[0016] In another advantageous embodiment of the proposed system, the system may further include a detection unit designed to detect the positioning of a predefined segment. Furthermore, a processing unit may be designed to control the light guide device to additionally emit light distribution based on the positioning.

[0017] The detection unit can be designed to detect the positioning, particularly spatial location and / or orientation and / or posture, of a predefined segment of a medical object. This detection unit may incorporate, in particular, optical and / or acoustic (especially ultrasound-based) and / or electromagnetic and / or mechanical sensors designed for detecting, in particular, the instantaneous positioning of the predefined segment. For example, the detection unit may include a camera, particularly a 2D and / or 3D camera, and / or medical imaging equipment and / or an electromagnetic positioning system. Furthermore, the detection unit can be designed to provide the processing unit with the positioning of the predefined segment of the medical object.

[0018] Advantageously, the processing unit can be designed to register or mark (German: registerrien) the location of the predefined segment detection with the planning information, especially in a common coordinate system, such as the coordinate system of the object being examined or the coordinate system of the detection unit. The registration of the planning information and the location of the predefined segment detection can be performed, for example, based on the entry point of the medical object into the object being examined. Furthermore, the processing unit can be designed to control the light guide device to additionally emit light distribution based on the location of the predefined segment detection.

[0019] The emission of light distribution can thus be advantageously adapted to the particularly instantaneous positioning of predefined segments, for example, when the position of a medical object and / or an examination object changes relative to the light guide device.

[0020] In another advantageous embodiment of the proposed system, the detection unit may include a medical imaging device. Here, the medical imaging device may be configured to capture medical image data containing images of a medical object and an object to be examined, and provide this data to the processing unit. The processing unit may also be configured to detect the location of predefined segments of the medical object based on the image data.

[0021] Medical imaging equipment may include, for example, medical X-ray equipment, particularly medical C-arm X-ray equipment, and / or computed tomography (CT) and / or magnetic resonance imaging (MRI) and / or ultrasound equipment and / or positron emission tomography (PET) equipment. Medical imaging equipment can be advantageously configured to acquire medical image data having images of a medical object, particularly predefined segments, and an object under examination. Medical image data may include two-dimensional (2D) or three-dimensional (3D) spatially resolved images of the medical object and the object under examination. Furthermore, medical image data can image or map the medical object and the object under examination in a time-resolved manner. In particular, medical imaging data can image the medical object and the object under examination during system operation, wherein the medical object is at least partially arranged within the object under examination. Furthermore, medical imaging equipment can be configured to provide, particularly transmit, medical image data to a processing unit. In particular, medical imaging equipment can be configured to repeatedly acquire medical image data and repeatedly provide it to the processing unit.

[0022] The processing unit can be advantageously configured to detect, in particular, determine, a predefined segment of a medical object based on medical image data, particularly its instantaneous location relative to the object being examined. Specifically, the processing unit can be configured to detect the location of the predefined segment relative to the entry point of the medical object into the object being examined, based on the medical image data. Here, the processing unit can be configured to identify an image of the medical object, particularly the predefined segment, in the medical image data. Identifying the image of the medical object, particularly the predefined segment, in the medical image data can include identifying, in particular, segmenting image points, particularly pixels and / or volume pixels, of the medical image data, which map the medical object, particularly the predefined segment. The processing unit can, for example, be configured to identify image points imaged on the medical object, particularly the predefined segment, based on a comparison of the image value of the image point with a predetermined threshold. Furthermore, the medical object, particularly the predefined segment, may have a marker structure imaged in the medical image data. Here, the processing unit can be configured to identify an image of the marker structure in the medical image data. The processing unit can also be configured to identify an image of the entry point of the medical object into the object being examined in the medical image data. For this purpose, the processing unit can, for example, identify an image of the surface of the object being examined in the medical image data, particularly the skin surface. The processing unit can thus advantageously detect, in particular determine, the location of a predefined segment of a medical object relative to the point of entry.

[0023] The proposed implementation can achieve better control over the emission of light distribution based on the positioning of predefined segments.

[0024] In another advantageous embodiment of the proposed system, the light guide device may be arranged on the detection unit and / or at least partially integrated into the detection unit.

[0025] The light guide device can be arranged on the detection unit (especially on a medical imaging device) via a holding device, such as a joint and / or bracket and / or robotic arm and / or holding arm and / or fixation device. In particular, the light guide device can be movably, for example, pivotally and / or rotatably and / or translationally supported on the detection unit via the holding device and / or fixation device (especially robotically). Here, the processing unit can be configured to control the especially robotic movement of the light guide device to adapt to the light distribution.

[0026] Alternatively or additionally, the light guide device can be at least partially, and especially completely, integrated into the detection unit, particularly medical imaging equipment. For example, the light guide device can be integrated into the housing of the detection unit, particularly medical imaging equipment.

[0027] If the inspection unit includes medical X-ray equipment and / or CT facilities, the light guide device can be arranged on and / or integrated into the source or detector of the medical X-ray equipment, for example. The inspection unit, especially medical imaging equipment, can have an isogonal point, particularly a center of rotation. Advantageously, the light guide device can be arranged on the inspection unit (especially on the medical imaging equipment) and / or at least partially integrated into the inspection unit so that the light distribution illuminates the object arranged at the isogonal point, for example, with a light pattern illumination. Here, the inspection unit, especially the medical imaging equipment, can be repositioned relative to the object being inspected so that when a predefined segment is arranged at a nominal depth and a mark is arranged at the isogonal point of the inspection unit, the light distribution illuminates the mark.

[0028] The proposed implementation allows for an inherent registration between the coordinate system of the light guide device and the coordinate system of the detection unit. Furthermore, the detected positioning of predefined segments can thus be inherently registered in the coordinate system of the light guide device.

[0029] In another advantageous embodiment of the proposed system, the detection unit may also be configured to detect the location of the object to be inspected. The processing unit may also be configured to register planning information along with the location of the object to be inspected.

[0030] Sensors used to detect the positioning of predefined segments of a medical object can also be configured to detect the positioning of the object being examined. Alternatively, the detection unit can have additional, particularly optical and / or acoustic, especially ultrasound-based, and / or electromagnetic and / or mechanical sensors configured to detect the instantaneous positioning of the object being examined, particularly spatial position and / or orientation and / or posture. For example, the detection unit can have additional cameras (especially 2D and / or 3D cameras) and / or medical imaging equipment and / or additional electromagnetic positioning systems. Furthermore, the detection unit can be configured to provide the detected positioning of the object being examined to a processing unit.

[0031] The processing unit can also be configured to register planning information, particularly preset values ​​relative to a rated depth, along with the location of the object being examined. Specifically, the detection unit can be configured to detect the entry point of the medical object into the object being examined and / or the location of the tissue within which the target is located. Furthermore, the detection unit can be configured to register planning information based on the location of the entry point and / or tissue, particularly preset values ​​relative to a rated depth, along with the particularly instantaneous location of the object being examined.

[0032] The emission of light distribution can thus be advantageously adapted to the inspection object, especially the instantaneous positioning of the entry point, based on the registered plan information.

[0033] In another advantageous embodiment of the proposed system, the detection unit may also be configured to identify a medical object and provide information about the identification of the medical object to the processing unit. Here, the processing unit may also be configured to determine a predefined relative position of the marker relative to a predefined segment based on the identification of the medical object.

[0034] Advantageously, the detection unit can be configured to identify medical objects, particularly the type and / or material properties and / or operating parameters and / or geometric characteristics of the medical object, such as size and / or length and / or shape and / or thickness and / or diameter. Here, a sensor for detecting the positioning of a predefined segment of the medical object can be configured to identify the medical object. Alternatively or additionally, the detection unit can have additional sensors configured to identify medical objects. For example, the processing unit can be configured to identify medical objects based on geometric features (e.g., contour and / or shape) and / or material properties (e.g., sensitivity) and / or marking structures (e.g., barcodes and / or QR codes) and / or electromagnetic identifiers (e.g., radio frequency identification systems (RFID)).

[0035] The detection unit can also be configured to provide, and in particular transmit, information regarding the identification of the medical object to the processing unit. The processing unit can also be configured to determine a predefined relative position of the marker relative to a predefined segment based on the identification of the medical object, and in particular based on the information regarding the identification of the medical object. Advantageously, the processing unit can receive a directory containing information regarding the predefined relative positions of markers relative to predefined segments for different medical objects. The processing unit can determine the predefined relative position of the marker for the identified medical object relative to the predefined segment based on this directory.

[0036] Alternatively or additionally, the detection unit may include an input unit, such as a keyboard and / or input screen and / or a voice detection system, configured to detect user input. Here, the detection unit may be configured to identify a medical object based on the user input. The user input may also include information about the relative positioning of the marker relative to a predefined segment. Alternatively, the processing unit may be configured to determine the relative positioning based on the identification of the medical object and a catalog, the catalog including information about predefined relative positioning of markers relative to predefined segments for different medical objects.

[0037] The proposed implementation can more reliably determine the relative positioning of the marker with respect to the predefined segment.

[0038] In another advantageous embodiment of the proposed system, the planning information may further specify a predetermined path for arranging the medical object. Here, the light guide device may be configured to emit an additional light distribution that illuminates the medical object with a predefined light pattern when the medical object is arranged on the predetermined path.

[0039] The nominal path can define a trajectory for the medical object, particularly in three dimensions and / or as a straight line, especially relative to the object being examined, for example, in the coordinate system of the object being examined. Advantageously, the light guide device can be configured to emit an additional light distribution through the light source and / or additional light sources. The additional light distribution can advantageously be a typical light distribution of a typical light source, used to present the nominal path, especially the needle path. In particular, the additional light distribution can include an additional distribution of laser light. Here, the additional light distribution can project additional light patterns, such as intersecting lines and / or dots. For example, the additional light source can include two laser sources for emitting light fans that intersect along the nominal path. The nominal path can be projected through the additional light distribution, along which the medical object is arranged. The additional light pattern can be generated, and particularly provided, by the medical object reflecting and / or absorbing at least a portion of the additional light distribution.

[0040] This allows for precise and flexible positioning of predefined segments at a specified depth and along a specified path for the medical object.

[0041] In another advantageous embodiment of the proposed system, the light guide device can be movably supported relative to the object being inspected. Here, the light guide device for emitting light distribution can be arranged in a first position. Furthermore, the light guide device can be arranged in another position different from the first position to emit a different light distribution.

[0042] Advantageously, the light guide device can be movably supported relative to the object being examined, particularly in a translational and / or rotatable manner. If the detection unit includes a movable medical imaging device, such as a medical C-arm X-ray device, and the light guide device is arranged on and / or at least partially integrated into the medical imaging device, the light guide device can move together with the medical imaging device as it moves relative to the object being examined. For example, the light guide device can be arranged on the source or detector of the medical C-arm X-ray device and can be moved, particularly rotated, relative to the object being examined by the rotational movement of the C-arm holding the source and detector. In this case, the light guide device can advantageously be arranged relative to the medical imaging device, particularly relative to the source and detector, in a predefined positional relationship.

[0043] Alternative or additional light guide devices may have a moving unit that movably supports the light guide device. This moving unit may be configured to enable particularly manual and / or robotic movements of the light guide device, particularly translation and / or rotation.

[0044] Advantageously, the light guide device for emitting light distribution can be arranged in the first positioning, particularly in the first spatial position and / or orientation and / or posture, especially relative to the object being inspected. In particular, the light guide device can be arranged in the first positioning and emit light distribution in the first operating state of the system.

[0045] Furthermore, the light guide device can be positioned, particularly relative to the object being inspected, in a separate location to emit a separate light distribution, especially in a separate spatial position and / or orientation and / or posture. This separate location can be at least partially, and particularly completely, different from the first location. In particular, the light guide device can be positioned in the separate location and emit a light distribution in a separate operating state of the system. The light guide device can be configured to be moved from the first location, particularly manually and / or robotically, to this separate location, or vice versa. In particular, the light guide device can be configured to repeatedly move between the first and separate locations, particularly repositioning.

[0046] Thus, alternating, particularly alternating, light distributions can be achieved by using light guide devices in corresponding positions, especially the first and other positions. In particular, the light guide devices can be rotatably supported around an isogonal point, specifically a rotation center. Here, the first and other positions can be respectively arranged on the radius of the circular path curve of the light guide device around the isogonal point, specifically the trajectory. Furthermore, both the light distribution and the other light distribution can illuminate the isogonal point.

[0047] Advantageously, the first positioning point can be arranged relative to the object being examined such that the marker can be illuminated by a light distribution when the medical object is positioned on the nominal path. The first positioning point can be arranged, in particular, to be spaced apart from the nominal path in a progressive view. Furthermore, the light guide device can be configured to emit a light distribution that is not parallel to the nominal path.

[0048] The additional positioning can be advantageously arranged to be spaced apart from the entry point of the medical subject into the examination subject, for example, the additional positioning can be arranged along the standard path (English: bullet-eye view).

[0049] Furthermore, the light guide device can be configured to emit additional light distributions at least partially, and especially completely, parallel to the nominal path.

[0050] This allows for the determination of a specified depth and specified path through light distribution and other light distribution via light guide devices, especially in a sequential and / or alternating manner, which is particularly cost-effective.

[0051] In another advantageous embodiment of the proposed system, the markers may be configured as structured elements and / or graphic elements and / or light-reflecting elements and / or light-absorbing elements on the surface of a medical object.

[0052] The markings can be constructed as structured elements, particularly on the surface of a medical object, such as recesses and / or protrusions and / or edges. Alternatively or additionally, the markings can be constructed as graphic elements on the surface of the medical object, such as patterns and / or lines and / or stripes and / or crosses. Alternatively or additionally, the markings can be constructed as light-reflecting elements, such as reflectors, and / or as light-absorbing elements, such as a black, especially dark black, coating on the surface of the medical object. Here, the light-reflecting elements can be constructed to reflect the light distribution at least partially, and especially completely. Furthermore, the light-absorbing elements can be constructed to absorb the light distribution at least partially, and especially completely. Advantageously, particularly with regard to the light distribution, the light-reflecting elements can have a reflectivity at least partially different from that of the surface of the medical object. Furthermore, particularly with regard to the light distribution, the light-absorbing elements can have an absorptivity at least partially different from that of the surface of the medical object.

[0053] Thus, the illumination of the markers by light distribution can be advantageously detected by optical sensors and / or medical operators.

[0054] In another advantageous embodiment of the proposed system, the medical object may have multiple markers, each marker having a predefined relative position with respect to a predefined segment. These multiple markers may be optically distinguishable, at least when illuminated with the light distribution. The processing unit may be configured to identify one of the multiple markers as the marker to be illuminated based on planning information. The processing unit may also be configured to control a light guide device to emit a light distribution that illuminates the identified marker when the predefined segment is positioned at a nominal depth.

[0055] Advantageously, the medical object can have multiple markings, which are at least partially, and especially entirely, constructed to be identical or different. Here, the multiple markings can have different relative positions relative to a predefined segment, particularly along the longitudinal extension direction of the medical object. The multiple markings can be arranged at uniform or non-uniform intervals along the longitudinal extension direction of the medical object.

[0056] Multiple markers may each possess optical characteristics, such as reflectivity and / or absorptivity and / or color and / or geometric characteristics, particularly shape and / or numbering and / or textual descriptions, which are distinguishable at least when illuminated by a light distribution, especially from other markers within the multiple markers. Advantageously, the optical characteristics of the multiple markers are also distinguishable when not illuminated by a light distribution. Advantageously, the optical characteristics of the multiple markers can be distinguished by optical sensors and / or by medical operators.

[0057] The processing unit can advantageously be designed to identify one of a plurality of markers as the marker to be illuminated by the light distribution, based on planning information. The planning information advantageously contains a preset value regarding the nominal depth of the arrangement of a predefined segment of the medical object relative to the entry point of the medical object. The processing unit can identify the marker to be illuminated, for example, by comparing the different relative positions of the plurality of markers relative to the predefined segment with the nominal depth specified by the planning information. For example, a minimum distance between the marker to be illuminated and the entry point of the medical object into the medical object can be predetermined. The processing unit can then identify this marker as the marker to be illuminated, which, due to its relative position relative to the predefined segment, has at least a minimum distance relative to the entry point and / or is spatially closest to that minimum distance when the predefined segment is arranged at the nominal depth, especially in vitro. The processing unit can be configured to receive information regarding the plurality of markers, especially the relative positions of the plurality of markers relative to the predefined segment. In particular, the processing unit can be configured to receive and / or determine information regarding the plurality of markers identified according to the medical object.

[0058] Furthermore, the processing unit can be configured to control the light guide device so that when the predefined section is arranged at the rated depth, especially only when the predefined section is arranged at the rated depth, the light distribution illuminates the identification mark, especially only the identification mark.

[0059] In the proposed implementation, medical objects with multiple markings are advantageously used for predefined segments arranged at different nominal depths.

[0060] In a second aspect, the present invention relates to a method for emitting light distribution. In a first step, planning information is received, specifying a nominal depth for arranging a predefined segment of a medical object relative to the entry point of the medical object into the examination object. Here, the medical object has a marker having a predefined relative position relative to the predefined segment. In a further step, light distribution is emitted via a light guide device according to the planning information and the predefined relative position, so that the marker is illuminated when the predefined segment is arranged at the nominal depth.

[0061] The advantages of the proposed method essentially correspond to the advantages of the proposed system for positioning a medical object at a specified depth. The features, advantages, or alternative embodiments mentioned herein can also be applied to other claims and vice versa.

[0062] In another advantageous embodiment of the proposed method, the positioning of a predefined segment can be detected. Here, the distribution of emitted light can be additionally determined based on the positioning.

[0063] In another advantageous implementation of the proposed method, a medical subject can be identified.

[0064] Here, the predefined relative positioning of the marker relative to a predefined segment is determined based on the identification of the medical object.

[0065] In another advantageous embodiment of the proposed method, the planning information can further specify a predetermined path for arranging the medical object. Here, an additional light distribution can be emitted via a light guide device, illuminating the medical object with a predefined light pattern when it is positioned on the predetermined path.

[0066] In another advantageous embodiment of the proposed method, the medical object may have multiple markers, each marker having a predefined relative position with respect to a predefined segment. These multiple markers may be optically distinguishable, at least when illuminated with the predefined light distribution. Furthermore, one of the multiple markers can be identified as the marker to be illuminated based on planning information. Advantageously, the light distribution can be emitted such that when the predefined segment is positioned at a specified depth, the light distribution illuminates the identified marker.

[0067] 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 having program segments that, when executed by the processing unit, perform all steps of the proposed method for emitting light distribution.

[0068] The present invention may also relate to a computer-readable storage medium having stored thereon a program segment that can be read and executed by a processing unit, wherein when the program segment is executed by the processing unit, all steps of the method for emitting light distribution are performed.

[0069] The main advantage of software implementation is that existing processing units can be easily updated and modified via software to operate in accordance with the present invention. In addition to the computer program, such a computer program product may also include other components, such as files and / or other components, as well as hardware components, such as hardware locks (dongles, etc.) for using the software. Attached Figure Description

[0070] Embodiments of the present invention are shown in the accompanying drawings and further described below. The same reference numerals are used for the same features in different drawings. Wherein:

[0071] Figure 1 and Figure 2 A schematic diagram showing the different operating states of the proposed system is provided.

[0072] Figure 3 A schematic diagram illustrating another implementation of the proposed system is shown.

[0073] Figure 4 and Figure 5 The diagram illustrates different operating states of another implementation of the proposed system.

[0074] Figures 6 to 8 Schematic diagrams illustrating different implementations of the proposed method for emitting light distribution are shown. Detailed Implementation

[0075] Figure 1 and Figure 2The diagram illustrates different operating states of the proposed system for positioning a medical object MO at a nominal depth D. Here, the system may include a light guide device LFE and a processing unit PU. The processing unit PU may be configured to receive REC-PLI planning information PLI, which specifies the nominal depth D for arranging a predefined segment VD of the medical object MO relative to the entry point IP of the medical object MO into the examination object 31. Furthermore, the medical object MO may have a marker MK with a predefined relative position relative to the predefined segment VD. Here, the marker MK may be constructed as a structured element and / or graphic element and / or light reflective element and / or light absorber element on the surface of the medical object MO. The processing unit PU may also be configured to control the light guide device LFE to emit a light distribution LV according to the planning information PLI and the predefined relative position, so that when the predefined segment VD is arranged at the nominal depth D, the light distribution LV illuminates the marker MK, for example, via a signal CS.

[0076] Advantageously, the system may also include a detection unit EU designed to detect the positioning of a predefined segment of the CAP-POS. Here, the processing unit PU may be designed to control the light guide device LFE to additionally emit a light distribution LV according to the detected positioning POS. Advantageously, the detection unit EU may also be configured to detect the positioning of the inspection object 31. Here, the processing unit PU may be configured to register planning information PLI along with the positioning of the inspection object 31. Furthermore, the processing unit PU may be designed to control the light guide device LFE to emit a light distribution LV according to the registered planning information.

[0077] Furthermore, the detection unit EU can be configured to identify the medical object MO and provide information about the identification of the medical object MO to the processing unit PU. Here, the processing unit PU can also be configured to determine the predefined relative position of the marker MK relative to the predefined segment VD based on the identification of the medical object MO.

[0078] In the system Figure 1 In the operating state shown, the medical object MO can be partially inserted into the examination object 31 through the entry point IP. The depth of the predefined segment VD, particularly relative to the entry point IP, can be less than the predetermined nominal depth D, such that the light distribution LV does not illuminate the marker MK. Specifically, in this operating state, the predefined segment is not positioned at the predetermined target location TP within the examination object 31. Figure 2 This illustrates another operating state of the system, where the predefined segment VD is arranged at the nominal depth D, particularly at the target positioning TP. Here, the light distribution LV illuminates the marker MK.

[0079] Figure 3A schematic diagram illustrating another advantageous embodiment of the proposed system is shown. The medical object MO may have multiple markers MK1, MK2, MK3, and MK4, each having a predefined relative position relative to a predefined segment VD. Furthermore, the multiple markers MK1, MK2, MK3, and MK4 may have optically distinguishable characteristics, at least when illuminated with the predefined light distribution LV. The processing unit PU may also be configured to identify one of the multiple markers MK1, MK2, MK3, and MK4, such as marker MK3, as the marker to be illuminated based on planning information PLI. The processing unit PU may also be configured to control the light guide device LFE to emit the light distribution LV, which illuminates the identified marker MK when the predefined segment VD is arranged at a nominal depth D.

[0080] Figure 4 and Figure 5 The diagram schematically illustrates different operating states of another advantageous embodiment of the proposed system. The detection unit EU may include medical imaging equipment, such as a medical C-frame X-ray device 37. The medical C-frame X-ray device 37 may be configured to acquire medical image data having images of a medical object MO and an examination subject 31 and provide it to a processing unit PU. In this operating state, the examination subject 31 may be positioned on a patient support device 32. The medical C-frame X-ray device 37 may advantageously have a detector 34, particularly an X-ray detector, and an X-ray source 33, particularly an X-ray source. To acquire medical image data of the examination subject 31 and the medical object MO, the processing unit PU may send a signal 24 to the X-ray source 33. The X-ray source 33 may then emit an X-ray beam. When the X-ray beam interacts with the examination subject 31 and the medical object MO and reaches the surface of the detector 34, the detector 34 may send a signal 21 to the processing unit PU. The processing unit PU may receive the medical image data based on the signal 21. The processing unit PU may also be configured to detect the positioning POS of a predefined segment VD of the medical object MO based on the image data. Advantageously, the light guide device LFE can be arranged on and / or at least partially integrated into the medical C-frame X-ray device 37. Here, the light guide device LFE can be movably supported relative to the object being examined 31, for example, by rotational movement of the C-arm 38. The C-arm 38 of the medical C-frame X-ray device 37 can advantageously be movably supported about one or more axes. Furthermore, the X-ray source 33 and detector 34 can be respectively arranged at the ends of the C-arm 38. Advantageously, the light guide device LFE can be arranged in a first positioning for emitting light distribution LV, such as... Figure 4As illustrated in the diagram. Furthermore, the planning information PLI can predefine the rated path for arranging the medical object MO. The light guide device LFE can be configured to emit an additional light distribution LVF, which, when arranged on the rated path, illuminates the medical object MO with a predefined light pattern. For example... Figure 5 As illustrated in the diagram, the light guide device LFE can be arranged in a different location than the first location for emitting a different light distribution LVF.

[0081] The system may also include an input unit 42, such as a keyboard, and a display unit 41, such as a monitor and / or screen and / or projector. The input unit 42 may preferably be integrated into the display unit 41, for example, in a capacitive and / or resistive input screen. The input unit 42 may advantageously be designed to detect user input. For this purpose, the input unit 42 may, for example, send a signal 26 to a processing unit PU. The processing unit PU may be configured to control a medical C-arm X-ray device 37 and / or a light guide device LFE based on user input, particularly based on signal 26. The display unit 41 may advantageously be designed to display a graphical representation of medical image data. For this purpose, the processing unit PU may send a signal 25 to the display unit 41.

[0082] Figure 6 The diagram schematically illustrates an advantageous implementation of the proposed method for emitting EM-LV light distribution LV. Here, REC-PLI planning information PLI can be received, which specifies a nominal depth D for the arrangement of a predefined segment VD in the examination object 31 relative to the entry point IP of the medical object MO in the examination object 31. Furthermore, the light distribution LV can be emitted via a light guide device LFE according to the planning information PLI and the predefined relative positioning, so that the marker MK is illuminated when the predefined segment VD is arranged at the nominal depth D. Advantageously, REC-REL can be received, in particular detecting or determining information regarding the relative positioning REL of the marker MK relative to the predefined segment VD.

[0083] Figure 7 The diagram schematically illustrates another advantageous embodiment of the proposed method for emitting EM-LV light distribution LV. Here, medical image data BD, containing images of the medical object MO and the examination subject 31, can be acquired using a medical imaging device, such as a medical C-frame X-ray device 37. Furthermore, the positioning POS of a predefined segment VD of the medical object MO can be detected based on the image data BD. The ID-MO of the medical object MO can be identified here. Furthermore, the predefined relative positioning of the marker MK relative to the predefined segment VD can be determined based on the identification of the medical object MO.

[0084] Figure 8A schematic diagram illustrating another advantageous embodiment of the proposed method for emitting EM-LV light distribution LV is shown. The planning information PLI can also advantageously predefine a nominal path SP for arranging a medical object MO. Here, the additional light distribution LVF can be emitted via a light guide device LFE, such that the medical object MO is illuminated by a predefined light pattern when arranged on the nominal path SP.

[0085] Furthermore, the medical object MO can have multiple markers MK1, MK2, MK3, and MK4, each having a predefined relative position with respect to a predefined segment VD. These multiple markers MK1, MK2, MK3, and MK4 can be optically distinguishable, at least when illuminated with the predefined light distribution. Furthermore, one of the multiple markers MK1, MK2, MK3, and MK4, such as marker MK3, can identify ID-MK as the marker MK to be illuminated. The light distribution LV can emit EM-LV such that when the predefined segment VD is arranged at a nominal depth D, the light distribution illuminates the identified marker MK.

[0086] The schematic diagrams included in the accompanying drawings do not reflect scale or dimensional relationships.

[0087] Finally, it should be reiterated that the methods and apparatus described in detail above are merely embodiments, and those skilled in the art can make modifications in different ways without departing from the scope of the invention. Furthermore, the use of the indefinite article "a" does not preclude the existence of multiple related features. Similarly, the terms "unit" and "element" do not preclude the fact that the relevant component consists of multiple interacting sub-components, which, if necessary, are spatially distributed.

Claims

1. A system for positioning a medical object (MO) at a nominal depth (D), The system includes a light guide device (LFE) and a processing unit (PU). in, The processing unit (PU) is configured to receive (REC-PLI) planning information (PLI), which specifies the predefined segment (VD) of the medical object (MO) and the nominal depth (D) of the medical object (MO) within the examination object (31) based on the entry point (IP) of the medical object (MO). The medical object (MO) has a marker (MK) that has a predefined relative position relative to a predefined segment (VD). The processing unit (PU) is configured to control the light guide device (LFE) for emitting light distribution (LV) according to the planning information (PLI) and the predefined relative positioning, so that when the predefined section (VD) is arranged at the rated depth (D), the light distribution (LV) illuminates the marker (MK).

2. The system according to claim 1, It also includes a detection unit (EU) designed to detect the position (POS) of a predefined segment (CAP-POS). in, The processing unit (PU) is also designed to control the light guide device (LFE) in order to additionally emit light distribution (LV) according to the position (POS).

3. The system according to claim 2, in, The detection unit (EU) includes medical imaging equipment. The medical imaging device is configured to capture medical image data (BD) of images of a medical object (MO) and an examination object (31) and provide it to a processing unit (PU). The processing unit (PU) is configured to locate (POS) a predefined segment (VD) of a medical object (MO) based on image data (BD) detection (CAP-POS).

4. The system according to claim 2 or 3, in, The light guide device (LFE) is arranged on the detection unit (EU) and / or at least partially integrated into the detection unit (EU).

5. The system according to claim 2 or 3, in, The detection unit (EU) is also configured to detect the positioning of the object to be inspected (31). The processing unit (PU) is also configured to register plan information (PLI) along with the location (POS) of the inspection object (31).

6. The system according to claim 1, The system also includes a detection unit (EU), which is configured as follows: - Identify (ID-MO) medical objects (MO) and - Information regarding the identification of medical objects (MOs) is provided to the processing unit (PU). in, The processing unit (PU) is also configured to determine the predefined relative positioning of the marker (MK) relative to the predefined segment (VD) based on the identification of the medical object (MO).

7. The system according to claim 2, The detection unit is further configured as follows: - Identify (ID-MO) medical objects (MO) and - Information regarding the identification of medical objects (MOs) is provided to the processing unit (PU). in, The processing unit (PU) is also configured to determine the predefined relative positioning of the marker (MK) relative to the predefined segment (VD) based on the identification of the medical object (MO).

8. The system according to claim 1 or 2, in, The Planning Information (PLI) also specifies the designated pathways (SPs) for arranging medical objects (MOs). The light guide device (LFE) is configured to emit an additional light distribution (LVF) that illuminates the medical object (MO) with a predefined light pattern when the medical object (MO) is positioned on the nominal path (SP).

9. The system according to claim 8, in, The light guide device (LFE) is movably supported relative to the object being inspected (31). The light guide device (LFE) for emitted light distribution (LV) can be arranged in the first positioning. The light guide device (LFE) can be arranged in a different location than the first location to emit a different light distribution (LVF).

10. The system according to claim 1 or 2, in, Markers (MK) are constructed as structured elements and / or graphic elements and / or light-reflecting elements and / or light-absorbing elements on the surface of a medical object (MO).

11. The system according to claim 1 or 2, in, A medical object (MO) has multiple markers, each with a predefined relative position relative to a predefined segment (VD). Among them, multiple markers possess optically distinguishable properties at least when illuminated with the predefined light distribution (LV). The processing unit (PU) is constructed as follows: - Identify one of the multiple markers as the marker to be illuminated (MK) based on the planning information (PLI) (ID-MK). - Control the light guide device (LFE) to emit a light distribution (LV), which illuminates the identified mark (MK) when the predefined section (VD) is arranged at a rated depth (D).

Images