Method and system for providing a collision model

Abstract

The present invention relates to a method for providing a collision model, which includes: - obtaining patient information having information on the spatial positioning of the entry site of a medical object into an examination object, wherein the patient information is registered with a movable medical device, - obtaining object information having information on the geometry and spatial position of an operator for moving the medical object, wherein the operator includes a mobile device and / or a medical operator, - determining the relative positioning of the operator with respect to the examination object based on the patient information and the object information, - providing a collision model for moving the medical device based on the relative positioning and the object information. The present invention also relates to a system and a computer program product.

Description

Technical Field

[0001] The present invention relates to a method, a system, and a computer program product for providing a collision model. Background Art

[0002] In minimally invasive interventions, treatments, such as stent placement, or diagnostics, such as stenosis detection, are typically performed by introducing medical objects into the body. These medical objects are often advanced through an access point in the groin, particularly the femoral artery or the radial artery access via the subclavian artery in the left axilla, through a guide wire and a catheter, to the site of use of the medical object. Navigation to each individual vascular outlet is often achieved by rotating and advancing the guide wire or catheter at the access site.

[0003] Now, if such a process is supported by a robotic mobile device, such as a catheter robot and / or a vascular navigation robot, the medical object is often manipulated by the mobile device. The problem that arises when the mobile device is spatially arranged near the examination object is how to avoid a collision between the mobile device and a medical imaging device used to image the examination object and / or monitor the process at or around the examination object. When the mobile device is remotely operated by a medical operator, it may disadvantageously pose difficulties for the visual monitoring of the layout structure of the medical imaging device, the examination object, and / or the mobile device for the purpose of avoiding a collision.

[0004] In addition, for manual and / or semi-automatic operations of medical objects, such as those performed by a medical operator, a collision between the operator and the medical imaging device should also be avoided anyway. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to enable improved collision avoidance between a movable medical device and an operator of a mobile medical object.

[0006] According to the present invention, the above technical problem is solved by a method, a system, and a computer program product for providing a collision model. Advantageous embodiments with suitable extensions are the subject of the following description.

[0007] In a first aspect, the present invention relates to a method for providing a collision model. In a first step, patient information is obtained, where the patient information includes information on the spatial localization of the entry site of a medical object into an examination object. Here, the patient information is registered with a movable medical device. In another step, object information is obtained, where the object information has information on the geometry and spatial position of an operator moving the medical object. Here, the operator includes a mobile device, in particular a robotic mobile device and / or a medical operator. In another step, based on the patient information and the object information, the relative localization of the operator with respect to the examination object is determined. Furthermore, a collision model for moving the medical device is provided at least based on this relative localization.

[0008] Obtaining the patient information may include recording and / or receiving the patient information. Obtaining the patient information can be performed, for example, by means of an acquisition unit, such as a patient sensor and / or a medical imaging device. The patient sensor can include, for example, optical and / or acoustic and / or electromagnetic sensors. Receiving the patient information can in particular include acquiring and / or reading a computer-readable data memory and / or receiving from a data storage unit, such as a database. Alternatively or additionally, the patient information can be obtained based on the user input of a medical operator.

[0009] The patient information can have information on the spatial localization of the entry site of the medical object into the examination object, in particular spatial coordinates. The entry site can include an entry point and an entry channel. The spatial localization of the entry site can include the spatial position of the entry site. Alternatively, the spatial localization of the entry site can include the spatial position and orientation of the entry site, in particular the spatial position of the entry point and the spatial orientation of the entry channel. The patient information can also include, in particular, image data and / or a patient model of the examination object before and / or during the operation. Here, the localization of the entry site with respect to the image data and / or the patient model can be determined, in particular preset. Alternatively or additionally, the localization of the entry site can be determined at least based on the image data and / or the patient model.

[0010] The examination object can be, for example, a human and / or animal patient, and / or an examination phantom, such as a vascular phantom. The medical object can be designed, for example, as a particularly elongated surgical instrument and / or diagnostic instrument. In particular, the medical object can be designed to be at least sectionally flexible and / or rigid. The medical object can be designed, for example, as a needle, in particular a puncture needle, and / or a catheter and / or an endoscope and / or a guide wire.

[0011] A movable medical device may include a medical imaging device and / or a medical treatment device. Here, the medical device can be moved, in particular translated and / or rotated, at least partially, especially completely, relative to the mobile device. Patient information, especially information about the spatial localization of the access site, is registered with the coordinate system of the movable medical device, especially the medical device. In particular, a positional relationship, such as a relative positioning, between the access site and the medical device can be defined.

[0012] Obtaining object information may include recording and / or receiving object information. Obtaining object information can be performed, for example, by means of an obtaining unit, such as an object sensor and / or a patient sensor. The object sensor may include, for example, an optical and / or acoustic and / or electromagnetic sensor. Here, the obtaining unit can be designed to directly and / or indirectly obtain object information of the operator, especially the geometry. The obtaining unit can, for example, acquire an image of the operator and determine the geometry based on the image, for example, by recognizing the contour of the operator in the image. Here, the obtaining unit, especially the object sensor or the patient sensor, may include a camera. Alternatively or additionally, the obtaining unit can acquire an identifier of the operator, such as a barcode and / or a QR code and / or an RFID transponder (RFID-Transponder). Here, the object information can be provided by the identifier. Alternatively or additionally, object information can also be received, for example, from a database and / or an object directory, based on the identification information provided by the identifier.

[0013] Receiving object information may in particular include acquiring and / or reading a computer-readable data storage and / or receiving from a data storage unit, such as a database. Alternatively or additionally, object information can be obtained based on other user inputs of the medical operator. Alternatively or additionally, the object information can be provided by the operator.

[0014] The object information advantageously has information about the geometry and spatial position of the operator. The preferred geometry can describe the shape and / or envelope and / or orientation and / or pose of the operator, especially the outer shape, and / or the positional relationship of the proximal section of the medical object relative to the operator. Here, the operator includes a moving device for moving, especially translating and / or rotating, the medical object, especially a robotic moving device, and / or a medical operator, such as a doctor. The moving device can be, for example, a robotic device for remotely manipulating a medical object, especially a catheter robot. The operator can advantageously make contact with the proximal section of the medical object in order to position and / or reposition the distal section of the medical object. Here, the medical object can be at least partially introduced, especially the distal section of the medical object, into the examination object, especially the hollow organ and / or tissue of the examination object, at the access site, for example, through an introducer sheath (Einführschleuse). The object information can advantageously be two-dimensional (2D) or three-dimensional (3D) spatially resolved. The object information can, for example, have a representation of the operator, especially a model and / or an image. In addition, the object information can be acquired repeatedly. The representation of the operator can, for example, include a skeleton model and / or a volume mesh model and / or a computer-aided design model (CAD model).

[0015] Advantageously, the relative positioning, especially the relative position and / or orientation and / or pose, of the operator with respect to the examination object, especially with respect to the access site, can be determined based on patient information, especially the spatial position of the access site, and object information, especially the spatial position of the operator. In addition, based on the registration of the patient information with the coordinate system of the medical device, especially with the medical device, other relative positions of the operator with respect to the medical device can be determined according to the relative positioning of the operator with respect to the examination object, especially with respect to the access site.

[0016] Advantageously, a collision model can be provided based on the relative positioning, especially the other relative positioning, and the object information. The collision model can have information about the distance, especially the instantaneous distance, especially the distance field, between the medical device and the operator, especially between the operator and the medical object. In addition, the collision model can have information about a spatial region, such as a volume, in which the operator, especially the operator and the medical object, are arranged.

[0017] Advantageously, the movement of the medical device can be adjusted, such as steered or stopped, according to the provided collision model to avoid contact, especially touching and / or collision, between the medical device and the operator.

[0018] In another advantageous embodiment of the proposed method, obtaining patient information may include recording and / or receiving preoperative image data and / or a patient model of the subject to be examined. Furthermore, planning information regarding the planned procedure and / or the planned positioning of the access site may be obtained. Here, based on the planning information and the preoperative image data and / or the patient model, the positioning of the access site may be determined.

[0019] The preoperative image data may advantageously be recorded by means of a medical device, in particular a medical imaging device or other medical imaging device. Alternatively or additionally, the preoperative image data may be provided by a providing unit of the medical imaging device for recording the preoperative image data. Alternatively or additionally, receiving the preoperative image data may include obtaining and / or reading a computer-readable data memory and / or receiving from a data storage unit, such as a database.

[0020] The preoperative image data may have 2D and / or 3D spatially resolved images of the subject to be examined. Furthermore, the preoperative image data may be time-resolved. Here, the preoperative image data may image the subject to be examined preoperatively, in particular temporally before the medical object is placed in the subject to be examined. The preoperative image data may for example include a preoperative 3D data set of a CT angiography.

[0021] Alternatively, obtaining patient information may include receiving a patient model. The patient model may for example include an individual, in particular adapted, generic model or statistical model of the subject to be examined. Here, the patient model may have a 2D and / or 3D spatially resolved representation of the subject to be examined, such as a skeleton model and / or a volume model, in particular a volume mesh model.

[0022] Obtaining the planning information may in particular include obtaining and / or reading a computer-readable data memory and / or receiving from a data storage unit, such as a database. Alternatively or additionally, the planning information may be obtained based on other user inputs of the medical operator. Alternatively or additionally, the operator may provide the planning information.

[0023] The planning information may include information regarding the planned procedure, in particular information regarding the course and / or treatment location and / or treatment goal. Alternatively or additionally, the planning information may include information regarding the access site, in particular the planned spatial positioning, in particular the planned spatial location and / or orientation, relative to the patient information and / or the subject to be examined.

[0024] The positioning of the access site, in particular the actual positioning, can be determined based on the planning information, in particular information regarding the positioning of the planned procedure and / or the access site, as well as preoperative image data and / or a patient model. Determining the position of the access site can include registering the planning information with the patient information.

[0025] According to a first variant, the positioning of the access site can be determined, in particular automatically, based on information regarding the planned procedure. For example, the standard positioning of the access site for the planned procedure can be received from a data storage unit and / or a database. Here, the standard positioning can be matched to the examination object based on patient information, in particular preoperative image data and / or a patient model. According to a second variant, the positioning of the access site can be determined by identifying the planned positioning of the access site in the preoperative image data and / or the patient model and registering between the patient information and the planning information.

[0026] With the proposed embodiments, it is possible to determine the positioning of the access site based on a plan, in particular based on a workflow.

[0027] In another advantageous embodiment of the proposed method, acquiring patient information can include recording and / or receiving intraoperative image data of the examination object. Here, at least one section image of a medical object and / or an image of an introduction sheath for introducing the medical object into the examination object can be identified in the intraoperative image data. Furthermore, the positioning of the access site can be determined based on the identified images.

[0028] The intraoperative image data can advantageously be recorded by means of a medical device, in particular a medical imaging device or other medical imaging device. Alternatively or additionally, the intraoperative image data can be provided by a providing unit of a medical imaging device for recording intraoperative image data. Alternatively or additionally, receiving the intraoperative image data can include acquiring and / or reading a computer-readable data memory and / or receiving from a data storage unit, such as a database.

[0029] The intraoperative image data can have 2D and / or 3D spatially resolved images of the examination object. Furthermore, the intraoperative image data can be time-resolved. Here, the intraoperative image data can image the examination object during the operation, in particular during the placement of the medical object in the examination object through the access site.

[0030] Images of at least one section of a medical object, in particular a distal section, and / or an image of an introducer sheath can include identifying, in particular segmenting, image points, in particular pixels and / or voxels, of intraoperative image data that image at least one section of the medical object and / or the introducer sheath. For example, for this purpose, the image values of the image points of the intraoperative image data can be compared with a preset threshold. Alternatively or additionally, an algorithm for object recognition and / or pattern recognition can be applied to the intraoperative image data, which is designed to identify an image of at least one section of the medical object and / or an image of the introducer sheath based on the geometric features of the medical object and / or the introducer sheath imaged in the intraoperative image data. These geometric features can include, for example, contours and / or shapes and / or edges and / or corners and / or contrasts.

[0031] The entry site location can advantageously be determined based on the identified images. When the image of the introducer sheath is identified, the location of the entry site that has a predefined positional relationship with the image of the introducer sheath, in particular with the geometric features of the introducer sheath, can be determined, for example, by determining it as the geometric center point of the opening of the introducer sheath. Alternatively or additionally, the location of the entry site can be determined based on the identified image of at least one section of the medical object, in particular a distal section. Here, determining the location of the entry site can also include identifying an image of the anatomical features of the examination object imaged in the intraoperative image data, such anatomical features being, for example, tissue boundaries and / or hollow organs. Here, the location of the entry site that has a predefined positional relationship with the image of the anatomical features and / or the image of at least one section of the medical object can be determined.

[0032] The proposed embodiments enable the location of the entry site to be determined particularly reliably, in particular safely.

[0033] In another advantageous embodiment of the proposed method, a 2D image of the introducer sheath can be identified in the intraoperative image data. Here, the spatial position and azimuth angle of the introducer sheath can be determined based on the 2D image of the introducer sheath. The object information can advantageously include information about the geometric shape of the introducer sheath. Here, the altitude angle of the introducer sheath can be determined based on the 2D image of the introducer sheath and the object information. Here, the relative position can be determined based on the position, azimuth angle, altitude angle, and object information of the introducer sheath.

[0034] Intraoperative image data can advantageously define an imaging plane, for example the plane of a 2D image of an introducer sheath. Here, first, a predefined section of the introducer sheath, such as the position of the sheath tip, can be identified in the intraoperative image data. The azimuth angle of the introducer sheath in the imaging plane and at the position of the predefined section of the introducer sheath, such as the entry site, can be determined based on the 2D image of the introducer sheath identified in the intraoperative image data, in particular based on the geometric features of the introducer sheath identified in the intraoperative image data.

[0035] Object information can advantageously additionally have information about the geometry of the introducer sheath. Here, the geometry of the introducer sheath can describe the structural features of the introducer sheath, such as the external shape and / or structure and / or arrangement structure, in particular the position and / or orientation and / or pose, of the profile and / or edges and / or corners and / or openings. The intraoperative image data can advantageously have a 2D image of the structural features of the introducer sheath. The elevation angle of the introducer sheath relative to the imaging plane and at the position of the predefined section of the introducer sheath, such as the entry site, can be determined based on the intraoperative 2D image of the introducer sheath, in particular the structural features, and the object information, in particular the information about the geometry of the introducer sheath.

[0036] Here, the entry site, in particular the entry point, can form a reference point, in particular a vertex, for the azimuth angle and the elevation angle. In addition, the longitudinal axis in the coronal plane of the examination object can form a reference edge for the azimuth angle. In addition, the longitudinal axis in the sagittal plane of the examination object can form a reference edge for the elevation angle.

[0037] The proposed embodiment enables the 3D relative positioning to be advantageously determined based on the 2D image of the introducer sheath. Here, the depth information, in particular the elevation angle, can be determined by additionally considering the object information, in particular the information about the geometry of the introducer sheath.

[0038] In another advantageous embodiment of the proposed method, the identification of at least one section of a medical object and / or the image of the introducer sheath in the intraoperative image data can include the identification of a marker structure. In addition, the object information can additionally include information about the geometry and / or arrangement structure of the marker structure at the medical object and / or the introducer sheath.

[0039] Images of at least one section, in particular the distal section, of a medical object and / or an image of an introducer sheath can include identifying, in particular segmenting, image points, in particular pixels and / or voxels, of intraoperative image data that image a marker structure. For example, for this purpose, the image values of the image points of the intraoperative image data can be compared with a preset threshold. Alternatively or additionally, an algorithm for object recognition and / or pattern recognition can be applied to the intraoperative image data, which algorithm is designed to identify an image of the marker structure based on the geometric features of the marker structure imaged in the intraoperative image data. These geometric features can include, for example, the contour and / or shape and / or edges and / or corners and / or contrast of the marker structure.

[0040] The object information can advantageously additionally include information about the geometry of the marker structure at the medical object and / or the introducer sheath, such as information about the shape and / or dimensions and / or arrangement structure, in particular the position and / or relative position and / or positional relationship and / or orientation and / or pose. Based on the information about the geometry of the marker structure, it is possible to improve the recognition of the image of the marker structure. The position of the entry site can be determined based on the information about the arrangement structure of the marker structure at the medical object and / or the introducer sheath and the recognized image of the marker structure.

[0041] The proposed embodiment enables improved, in particular more robust and / or more reliable, recognition of an image of at least one section of a medical object and / or an introducer sheath in intraoperative image data.

[0042] In another advantageous embodiment of the proposed method, the intraoperative image data can have at least two images of at least one section of a medical object and / or at least two images of an introducer sheath from different imaging directions, respectively. Here, based on the respective at least two images, the spatial position and orientation of at least one section of the medical object and / or the introducer sheath can be determined. Additionally, relative positioning can be determined based on the position and orientation of at least one section of the medical object and / or the introducer sheath and the object information.

[0043] The intraoperative image data can advantageously image at least one section, in particular the distal section, of a medical object and / or an introducer sheath from at least two different, in particular non - collinear, imaging directions, in particular projection directions. Based on the at least two images, for example by means of filtered back - projection, the 3D positioning, in particular the position and orientation, of at least one section of the medical object and / or the introducer sheath can be determined. Here, the positioning of at least one section of the medical object and / or the insertion sheath relative to the examination object can be determined, in particular the positioning in the coordinate system of the examination object.

[0044] The relative positioning can advantageously be determined based on at least one section of the medical object and / or the positioning of the insertion sheath, in particular the position and orientation, and object information, in particular the geometry of the operator. For example, the relative positioning can be determined based on information about the arrangement structure and / or positional relationship of the proximal section of the medical object relative to the operator, and the positioning of the distal end of the medical object and / or the introduction sheath.

[0045] The proposed embodiment enables the 3D acquisition of at least one section of the medical object and / or the introduction sheath in intraoperative image data advantageously. This enables a better, in particular more precise, determination of the relative positioning.

[0046] In another advantageous embodiment of the proposed method, the object information can include the geometry of the external shape of the operator and / or information about the positioning of the medical object at the operator.

[0047] The object information can advantageously describe the geometry of the external shape of the operator, for example the arrangement structure and / or dimensions and / or configuration of the structural features of the operator. The structural features can for example include the housing and / or contour and / or edge and / or corner and / or opening and / or eversion and / or recess of the mobile device. In addition, the structural features can also include the dimensions and / or extension dimensions and / or contour of the operator. Alternatively or additionally, the object information can include information about the medical object, in particular the proximal section of the medical object, at the operator, in particular the positioning relative to the operator, in particular the instantaneous positioning, in particular the position and / or orientation and / or attitude of the medical object. This information can in particular describe the positional relationship between the medical object and the operator. The object information can for example describe information about the positioning of the removal point of the medical object on the mobile device. The mobile device can for example translate and / or rotate the medical object by applying a force to the proximal section of the medical object. The proximal section of the medical object can for this purpose be at least partially arranged in the mobile device. The mobile device can for example have a recess, in particular a groove-shaped and / or channel-shaped recess, for accommodating the proximal section. Here, the removal point can describe the opening of the mobile device facing the examination object, in particular the opening of the recess, at which the medical object exits from the accommodation area of the mobile device.

[0048] The proposed embodiment enables an advantageously better, in particular more precise, provision of the collision model.

[0049] In another advantageous embodiment of the proposed method, the examination object can be arranged on a patient support device. Here, the operator can have a defined positional relationship relative to the patient support device. In addition, the relative positioning can be determined additionally based on the defined positional relationship.

[0050] The patient support device can for example include a patient bed and / or a patient table and / or a patient chair for supporting the examination object. Here, the patient support device can be stationary or movable, in particular repositionable. The operator can advantageously have a defined, in particular known, positional relationship, in particular position and orientation, relative to the patient support device.

[0051] The mobile device can be fixed to the patient support device by means of a fixing unit, such as a tripod and / or a robotic arm. Here, the fixing unit can be designed to position and / or move and / or hold the mobile device relative to the patient support device in a defined manner. Alternatively or additionally, the fixing unit can be designed to acquire the position of the mobile device relative to the patient support device, in particular the instantaneous position, in particular the positional relationship, for example by means of a sensor.

[0052] Alternatively or additionally, the position of the operator, in particular the mobile device and / or the operating personnel, in particular the instantaneous position, in particular the position and / or orientation and / or posture, can be acquired, for example by means of an object sensor. By additionally acquiring the position of the patient support device and / or arranging the object sensor in a defined positional relationship relative to the patient support device, the positional relationship of the operator relative to the patient support device can be determined.

[0053] By additionally taking into account the defined positional relationship, it is possible to advantageously determine the relative position more precisely. For example, the position of the examination object on the patient support device can be estimated and / or received. Thereby, the positional relationship of the operator relative to the examination object, in particular the access site, can be determined.

[0054] In another advantageous embodiment of the proposed method, the movable medical device can include a medical imaging device and / or a medical treatment device.

[0055] The medical imaging device can advantageously include a medical X-ray device, in particular a medical C-arm X-ray device and / or an angiography device and / or a computed tomography device (CT device) and / or a magnetic resonance tomography device (MRI device) and / or a positron emission tomography device (PET device) and / or an ultrasonic device. Here, the medical imaging device can be designed to record preoperative image data and / or intraoperative image data.

[0056] The medical treatment device can for example include an irradiation device and / or an ultrasonic device, such as a tissue slicing device and / or a surgical robot and / or a biopsy device.

[0057] The medical device, in particular the medical imaging device and / or the medical treatment device, can be moved manually and / or automatically, in particular by a robot.

[0058] The proposed embodiments enable, for example, during intraoperative imaging and / or treatment of an examination object, advantageously avoiding collisions between the operator and the medical imaging device and / or the medical treatment device.

[0059] In another advantageous embodiment of the proposed method, the movement of the medical device can be controlled according to a collision model such that no contact, in particular contact caused by movement, occurs between the medical device, the operator, and the medical object.

[0060] The control of the movement of the medical device can be carried out manually, semi-automatically, or fully automatically. The medical device can be moved manually, for example, by a medical operator or another medical operator. Here, controlling the movement based on the collision model can include outputting warning signals, in particular acoustic and / or tactile and / or visual warning signals. When controlling the movement of the medical device semi-automatically or fully automatically, for example, control signals can be provided to the medical device according to the collision model. Outputting the warning signal can be advantageously carried out selectively, in particular when the minimum distance preset is reached or fallen below between the medical device and the operator. Control signals can be provided advantageously non-selectively and / or selectively. When providing control signals non-selectively, the movement of the medical device, such as the movement trajectory, can be predictively adjusted based on the collision model. When providing control signals selectively, in particular when the minimum distance preset is reached or fallen below between the medical device and the operator, the movement of the medical device can be slowed down, stopped, or redirected.

[0061] The proposed embodiments enable the medical device to move safely, in particular collision-free, in the presence of an operator.

[0062] In another advantageous embodiment of the proposed method, providing the collision model can include identifying a spatial no-go zone within which the operator is at least partially located. Here, the movement of the medical device can be controlled according to the collision model such that the medical device does not enter and / or is not located within the no-go zone.

[0063] The collision model can have information about the relative positioning, in particular the relative position and / or positional relationship, between the medical device and the operator. Additionally, the collision model can have information about the distance, in particular the instantaneous distance, between the medical device and the operator. A spatial no-go zone including a certain volume can be advantageously identified. Here, the operator can be at least partially, in particular completely, located within this volume.

[0064] Additionally, the identification of the no-go zone can be extended such that the medical object and / or the examination object and / or the patient support device are at least partially, in particular completely, located within the no-go zone.

[0065] The movement of a medical device can be advantageously controlled according to a collision model, for example by outputting a warning signal and / or providing a control signal, such that the medical device does not enter a restricted area and / or is not arranged within a restricted area.

[0066] The proposed embodiments enable an improved control of the movement of a medical device to avoid collisions.

[0067] In another advantageous embodiment of the proposed method, a collision model can additionally be provided based on object information. Here, the restricted area can be identified, in particular, as being conical and / or cubic and / or elliptical and / or a half-space according to the geometry of the operator.

[0068] A restricted area in space including a certain volume can be advantageously identified. The volume can be delimited, for example, by one or more boundary surfaces. For example, according to the geometry of the operator, a volume with a boundary surface having a preset minimum distance from the operator, in particular the surface of the operator, can be identified as a restricted area. Alternatively or additionally, according to the geometry of the operator, a boundary surface at a predefined point of the operator, for example an exit point, and having a predefined angle relative to the operator can be determined, for example as a tangent plane at the surface of the operator, and this boundary surface delimits the restricted area. Here, advantageously based on object information, in particular the geometry of the operator, the shape of the volume can be matched to the external shape and / or movement range and / or arrangement range of the operator. The volume can be identified, for example, as being substantially conical, where the apex of the cone is arranged at the exit point or entry site of the operator. Alternatively or additionally, it can be identified that the volume is a half-space delimited, in particular, by planar boundary surfaces. Alternatively or additionally, it can be identified that the volume is substantially cubic, in particular delimited by a plurality of planar boundary surfaces. Alternatively or additionally, it can be identified that the volume is substantially elliptical, in particular enclosing the operator.

[0069] The proposed embodiments enable the restricted area to be matched to the geometry of the operator, in particular in a space-saving manner. Thereby, an unnecessary restriction on the movement range of the medical device can be advantageously avoided.

[0070] In a second aspect, the invention relates to a system that includes an acquisition unit and a provision unit, and the system is designed to implement the proposed method for providing a collision model. Here, the acquisition unit is designed to acquire patient information and object information. In addition, the provision unit is designed to determine relative positioning and provide a collision model.

[0071] The acquisition unit may include an object sensor and / or a patient sensor and / or a medical imaging device, which is designed to acquire, in particular record, object information and / or patient information. Alternatively or additionally, the acquisition unit may include an interface, which is designed to receive object information and / or patient information.

[0072] The advantages of the proposed system basically correspond to the advantages of the proposed method for providing a collision model. The features, advantages or alternative embodiments mentioned herein can equally be transferred to other claimed subject matters, and vice versa.

[0073] In another advantageous embodiment of the proposed system, the system may further include a medical device. Here, the medical device may be designed to move according to the collision model, such that no contact, in particular contact caused by movement, occurs between the medical device, the operator and the medical object.

[0074] The medical device may be designed to move manually, semi-automatically or fully automatically, in particular to be controlled to move. The medical device may for example be designed to be moved manually by a medical operator. Here, the control of the movement based on the collision model may include outputting a warning signal, in particular an acoustic and / or tactile and / or visual warning signal. Alternatively or additionally, the medical device may be designed to move semi-automatically or fully automatically according to a control signal provided by the providing unit. The providing unit may be designed to provide a control signal to the medical device according to the collision model. The medical device may in particular be designed to move according to the collision model, such that contact between the medical device, the operator and the medical object, in particular contact caused by movement, is excluded.

[0075] In another advantageous embodiment of the proposed system, the movable medical device may include a medical imaging device and / or a medical treatment device.

[0076] The medical imaging device may include a medical X-ray device, in particular a medical C-arm X-ray device and / or a computed tomography device (CT device) and / or a magnetic resonance tomography device (MRI device) and / or a positron emission tomography device (PET device) and / or an ultrasonic device. Here, the medical imaging device may be designed to record preoperative image data and / or intraoperative image data.

[0077] The medical treatment device may for example include an irradiation device and / or an ultrasonic device, such as a tissue slicing device and / or a surgical robot and / or a biopsy device.

[0078] In a third aspect, the present invention relates to a computer program product having a computer program that can be directly loaded into the memory of a providing unit. The computer program has program segments for implementing all steps of the proposed method for providing a collision model when the program segments are executed by the providing unit. Here, the computer program product can include software with source code that still needs to be compiled and bound or only needs to be interpreted, or executable software code that only needs to be loaded into the providing unit for execution. Through this computer program product, the method for providing a collision model can be executed quickly, identically repeatably, and robustly by means of the providing unit. The computer program product is configured to be able to execute the method steps according to the present invention by means of the providing unit.

[0079] The advantages of the proposed computer program product basically correspond to the advantages of the proposed method for providing a collision model. The features, advantages, or alternative embodiments mentioned here can also be transferred to other claimed subject matters, and vice versa.

[0080] The present invention may also relate to a computer-readable storage medium and / or an electronically readable data carrier on which program segments readable and executable by a providing unit are stored for implementing all steps of the method for providing a collision model when the program segments are executed by the providing unit. The largely software-based implementation has the advantage that previously used providing units can also be retrofitted in a simple manner by software updates to work in accordance with the present invention. In addition to the computer program, such a computer program product may also include additional components, such as documentation and / or additional parts, as well as hardware components, such as a hardware key (dongle, etc.) for the use of the software, if necessary. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Embodiments of the present invention are shown in the drawings and described in more detail below. In the different drawings, the same reference numerals are used for the same features. In the drawings:

[0082] Figures 1 to 3 Schematic diagrams showing different advantageous embodiments of the method for providing a collision model;

[0083] Figure 4 and Figure 5 Schematic diagrams showing different advantageous embodiments of the system. DETAILED DESCRIPTION

[0084] In Figure 1Fig. schematically shows an advantageous embodiment of the proposed method for providing a collision model PROV-CM. Here, CAP-PI patient information PI can be obtained, and the patient information PI includes information about the spatial positioning of the entry site of the medical object into the examination object, such as the axial or radial entry site. Here, the patient information PI can be registered with a movable medical device. The medical device can include a medical imaging device and / or a medical treatment device. In addition, CAP-OI object information OI can be obtained, and the object information OI has information about the geometry and spatial position of the operator of the movable medical object. Here, the operator can include a mobile device and / or a medical operator. In addition, DET-RPOS the relative positioning RPOS of the operator with respect to the examination object can be determined based on the patient information PI and the object information OI. Thereby, PROV-CM for the collision model CM of the movable medical device can be provided based on the relative positioning RPOS and the object information OI. The movement of the medical device can be advantageously controlled according to the collision model CM so that no contact occurs between the medical device, the operator, and the medical object.

[0085] The object information OI can advantageously include information about the geometry of the outer shape of the operator and / or about the positioning of the medical object on the operator.

[0086] Figure 2 Fig. shows a schematic diagram of another advantageous embodiment of the proposed method for providing a collision model PROV-CM. Here, obtaining the patient information CAP-PI can include recording and / or receiving CAP-pID-PM preoperative image data and / or a patient model pID-PM of the examination object. In addition, CAP-PLI planning information PLI about the planned procedure and / or the planned position of the entry site can be obtained. Here, DET-EP the position of the entry site EP can be determined based on the planning information PLI and the preoperative image data and / or the patient model pID-PM.

[0087] Next, an exemplary process of an embodiment of the proposed method described above will be described for a C-arm X-ray device as a medical device and a mobile device as an operator. In a first step, the planning information PLI can preset a vascular intervention via the groin as a planned procedure. Here, the common femoral artery located approximately 2 - 5 cm under the skin at the groin of the examination subject can be identified as the planned position of the entry site as the point closest to the surface of the femoral artery. For example, from the literature of Breininger et al., "Estimation of femoral artery access location for anatomic deformation correction", 3rd Conference on Image-Guided Interventions, 2017, a method is described for estimating the position of the entry site based on the vascular orientation extracted from preoperative image data, such as 3D datasets of CT angiography, where the deviation is typically less than 10 mm. In addition, the puncture direction can also be determined according to the vascular orientation, particularly determined as a tangent. Thus, through the vascular orientation, the position of the entry site, particularly the puncture point, and two solid angles are known. The two solid angles can include the azimuth angle and the elevation angle. By registering the patient information with a medical device, such as a C-arm X-ray device, information about the positioning of the entry site in the coordinate system of the medical device is provided. In the case where the geometry of a mobile device, such as a catheter robot and / or a vascular navigation robot, is rigid, its position and orientation can be completely determined according to the orientation of the front-end unit of the mobile device. The position and orientation of the front-end unit can be determined according to the positioning of the entry site, particularly the position and two solid angles. In addition, the positioning of the mobile device, particularly the position and the outer envelope of the mobile device, can be determined according to the information about the geometry of the mobile device contained in the object information OI. Since the position and envelope of the mobile device in the coordinate system of the C-arm X-ray device are known through registration, it can be incorporated into the collision model CM for the purpose of avoiding collisions, and the collision model CM suitably has a corresponding error tolerance.

[0088] In Figure 3 Another advantageous embodiment of the proposed method for providing the collision model PROV-CM is schematically shown. Here, obtaining the patient information CAP-PI can include recording and / or receiving the intraoperative image data iID of the examination subject CAP-iID. In addition, at least one section image of the medical object and / or an image of the introducer sheath for introducing the medical object into the examination subject can be identified in the intraoperative image data iID. Here, the position of the entry site DET-EP can be determined according to the identified image.

[0089] Identifying at least one section of a medical object and / or an image of an introducer sheath in intraoperative image data iID may include identifying a marker structure. Here, the object information may include information about the geometry and / or arrangement structure of the marker structure on the medical object and / or the introducer sheath.

[0090] If a 2D image of the introducer sheath is identified in the intraoperative image data iID, the spatial position P of the DET-P introducer sheath and the DET-AZW azimuth angle AZW can be determined based on the image. Here, the object information OI may have information about the geometry of the introducer sheath. In addition, based on the 2D image of the introducer sheath and the object information, the DET-ALW elevation angle ALW of the introducer sheath can be determined. The DET-RPOS relative positioning RPOS can be determined based on the position P, azimuth angle AZW, elevation angle ALW of the introducer sheath, and the object information OI.

[0091] Alternatively, the intraoperative image data iID may have at least two images of at least one section of the medical object and / or at least two images of the introducer sheath from different imaging directions. Here, based on the corresponding at least two images, the spatial position and orientation of at least one section of the medical object and / or the introducer sheath can be determined. In addition, the DET-RPOS relative positioning RPOS can be determined based on the position and orientation of at least one section of the medical object and / or the introducer sheath and the object information OI.

[0092] Below, an exemplary flow of an embodiment of the proposed method described above is described, where the intraoperative image data iID includes individual X-ray projection images, such as anteroposterior (AP) X-ray projection images. In a first step, for example, the DET-AZW azimuth angle AZW of an introducer sheath, such as a vascular introducer sheath, can be determined. The introducer sheath can be clearly seen in the X-ray projection image. In the X-ray projection image recorded from the AP, the 2D position P(AP) and the azimuth angle AZW can be directly inferred by identifying the introducer sheath. It can be assumed that the height of the tip of the introducer sheath above the patient support device is approximately constant, so that the 3D position P(X,Y,Z) of the tip of the introducer sheath is generally known. In a second step, the DET-ALW elevation angle ALW of the introducer sheath can be determined. Based on the comparison between the length Lp of the image of the introducer sheath in the X-ray projection image and the original length Lo of the introducer sheath known from the object information, the elevation angle ALW can be inferred: In the case of generating X-ray projection images by cone-beam projection, slight deviations may occur.

[0093] The determination of the position P, the azimuth angle AZW, and the elevation angle ALW can be simplified if a marking structure, in particular an X-ray-opaque structure such as a wire mesh, is arranged on the introducer sheath. The object information can advantageously have information about the geometry of the marking structure. The marking structure can, for example, have a wire cage that has at least one, in particular a plurality of, X-ray-opaque spheres. Here, the marking spheres can be arranged above the introducer sheath. A plurality of scale spheres can be arranged below the introducer sheath, where each scale sphere is assigned to an angle. The azimuth angle AZW can be estimated based on the projection of the marking spheres onto the scale spheres. By expanding the scale spheres in the transverse direction, the elevation angle ALW can also be estimated.

[0094] The position and orientation of the front-end unit can be determined, in particular uniquely determined, based on the position P of the tip of the introducer sheath and the two solid angles AZW and ALW. In addition, the positioning of the mobile device, in particular the position and the outer envelope of the mobile device, can be determined based on the information about the geometry of the mobile device contained in the object information OI. Since, through registration, the position and the envelope of the mobile device in the coordinate system of the C-arm X-ray device are known, it can be incorporated into the collision model CM for the purpose of collision avoidance, and the collision model CM suitably has a corresponding error tolerance.

[0095] Figure 4 A schematic illustration of an advantageous embodiment of the proposed system is shown. Here, the system can include an acquisition unit CAPU and a provision unit PRVS. The system can be designed to carry out the proposed method for providing the collision model PROV-CM. In addition, the acquisition unit CAPU can be designed to acquire patient information CAP-PI and acquire object information CAP-OI. The provision unit PRVS can be designed to determine the relative positioning DET-RPOS and provide the collision model PROV-CM.

[0096] In Figure 5 Another advantageous embodiment of the proposed system is schematically shown. Here, the system can also include a medical device that is designed to move in accordance with the collision model CM such that no contact occurs between the medical device, the operator, and the medical object MO. In Figure 5 In this case, the medical device includes a medical imaging device. Here, the medical imaging device can, for example, include a medical C-arm X-ray device 37.

[0097] The medical C-arm X-ray device 37 can advantageously have a detector 34, in particular an X-ray detector, and a source 33, in particular an X-ray source, arranged on the C-arm 38 in a defined arrangement. The C-arm 38 of the C-arm X-ray device 37 can be movably supported about one or more axes. In order to record preoperative image data and / or intraoperative image data of the examination object 31 positioned on the patient support device 32, the providing unit PRVS can send a signal 24 to the X-ray source 33. Subsequently, the X-ray source 33 can emit an X-ray beam. When the X-ray beam impinges on the surface of the detector 34 after interacting with the examination object 31, the detector 34 can send a signal 21 to the providing unit PRVS. The providing unit PRVS can acquire preoperative image data and / or intraoperative image data based on the signal 21.

[0098] The operator can advantageously include a moving device CR for remotely operating the movement of the medical object MO by a robot. In one operating state of the system, the distal section of the medical object MO can advantageously be at least partially arranged in the examination object 31. In this operating state of the system, the distal section of the medical object MO can in particular be introduced into the examination object 31 through an introduction sheath at the entry site EP. In addition, the moving device CR can be movably fixed to the patient support device 32 by means of a fixing unit, such as a tripod and / or a robotic arm. Here, the moving device CR can have a defined positional relationship relative to the patient positioning device 32. In addition, the DET-RPOS relative positioning RPOS can be determined additionally based on the defined positional relationship. The moving device CR can advantageously be designed to translate the medical object MO, which is at least partially arranged in the moving device CR in this operating state of the system, at least along the longitudinal extension direction of the medical object MO. In addition, the moving device CR can be designed to rotate the medical object MO about the longitudinal extension direction of the medical object MO.

[0099] The provided collision model PROV-CM can advantageously include identifying a spatial no-go zone VZ in which the moving device CR is at least partially, in particular completely, arranged. Here, the movement of the C-arm X-ray device 37, such as the movement of the C-arm 38, can be controlled according to the collision model CM such that the C-arm X-ray device does not enter the no-go zone VZ and / or is not arranged within the no-go zone VZ. The PROV-CM collision model CM can advantageously be provided additionally based on the object information OI. Here, the no-go zone VZ can be identified according to the geometry of the moving device CR. The no-go zone VZ can in particular be delimited by a boundary surface GF that extends through the entry site EP, for example through the tip of the introduction sheath. The no-go zone VZ can, for example, include an infinite half-space delimited by the boundary surface GF.

[0100] In addition, the system may include an input unit 42, such as a keyboard, and a display unit 41, such as a monitor and / or a display and / or a projection device. For example, in the case of a capacitive and / or resistive input display, the input unit 42 may preferably be integrated into the display unit 41. The input unit 42 may advantageously be designed to obtain user input. For this purpose, the input unit 42 may, for example, send a signal 26 to a providing unit PRVS. The providing unit PRVS may be designed to be controlled according to user input, in particular the signal 26, in particular so as to execute a method for providing a collision model PROV-CM. Alternatively or additionally, the providing unit PRVS may be designed to control the movement of the C-arm X-ray device 37 according to user input. Furthermore, the providing unit PRVS may be designed to control the movement of a moving device CR, in particular the movement of a medical object MO by a robot, by means of a signal CS, for example according to user input. The display unit 41 may advantageously be designed to display a graphical representation of a collision model and / or a warning signal and / or a workflow prompt and / or preoperative image data and / or a patient model and / or intraoperative image data. For this purpose, the providing unit PRVS may send a signal 25 to the display unit 41.

[0101] The schematic illustrations contained in the described figures do not represent any scale or dimensional relationships.

[0102] In the context of the present application, the expression "based on" may in particular be understood as the expression "using". The expression that a first feature is generated (alternatively: derived, determined, etc.) based on a second feature does not in particular exclude that the first feature is generated (alternatively: derived, determined, etc.) based on a third feature.

[0103] Finally, it should be noted once again that the methods and the devices shown in detail above are merely examples, and those skilled in the art can modify these examples in different ways without departing from the scope of the present invention. In addition, the use of the indefinite article "a" or "an" does not exclude that the relevant features may also be present in plurality. The terms "unit" and "element" also do not exclude that the relevant components are composed of a plurality of cooperating sub-components, which may also be spatially distributed if necessary.

Claims

1. A method for providing a (PROV-CM) collision model, the method comprising: - obtaining (CAP-PI) patient information having information about the spatial location of an entry site (EP) of a medical object (MO) into an examination object (31), wherein the patient information (PI) is registered with a movable medical device, - obtaining (CAP-OI) object information having information about the geometry and spatial location of an operator moving the medical object (MO), wherein the operator includes a mobile device (CR) and / or a medical operator, - determining (DET-RPOS) a relative positioning of the operator relative to the examination object (31) based on the patient information (PI) and the object information (OI), - providing (PROV-CM) a collision model for moving the medical device based on the relative positioning (RPOS) and the object information (OI).

2. The method according to claim 1, wherein obtaining (CAP-PI) the patient information includes recording and / or receiving (CAP-pID-PM) a patient model (pID-PM) of the examination object (31) and / or preoperative image data, wherein obtaining (CAP-PLI) planning information (PLI) about a planned procedure and / or a planned position of the entry site (EP), wherein the position of the entry site (EP) is determined based on the planning information (PLI) and the preoperative image data and / or the patient model (pID-PM).

3. The method according to claim 1, wherein obtaining (CAP-PI) the patient information includes recording and / or receiving (CAP-iID) intraoperative image data (iID) of the examination object (31), wherein an image of at least one section of the medical object (MO) and / or an image of an introducer sheath for introducing the medical object (MO) into the examination object (31) is identified in the intraoperative image data (iID), wherein the position of the entry site (EP) is determined based on the identified image.

4. The method according to claim 3, wherein a 2D image of the introducer sheath is identified in the intraoperative image data (iID), wherein the spatial location and azimuth angle of the introducer sheath are determined based on the 2D image of the introducer sheath, wherein the object information (OI) has information about the geometry of the introducer sheath, wherein the elevation angle of the introducer sheath is determined based on the 2D image of the introducer sheath and the object information (OI), wherein the relative positioning (RPOS) is determined (DET-RPOS) based on the position, the azimuth angle, the elevation angle of the introducer sheath and the object information (OI).

5. The method according to claim 4, wherein identifying an image of at least one section of the medical object (MO) and / or the introducer sheath in the intraoperative image data (iID) includes identifying a marker structure Wherein, the object information (OI) includes information about the geometry and / or arrangement structure of the medical object (MO) and / or the marking structure on the introducer sheath.

6. The method according to claim 3, wherein, the intraoperative image data (iID) has at least two images of at least one section of the medical object (MO) from different imaging directions respectively and / or at least two images of the introducer sheath, wherein, based on the corresponding at least two images, the spatial position and orientation of at least one section of the medical object (MO) and / or the introducer sheath are determined, wherein, based on the position and orientation of at least one section of the medical object (MO) and / or the introducer sheath and the object information (OI), the relative positioning (RPOS) is determined (DET-RPOS).

7. The method according to any one of claims 1 to 6, wherein, the object information (OI) includes information about the geometry of the external shape of the operator and / or about the positioning of the medical object (MO) at the operator.

8. The method according to any one of claims 1 to 6, wherein, the object to be examined (31) is arranged on the patient support device (32), wherein, the operator has a defined positional relationship relative to the patient support device (32), wherein, additionally based on the defined positional relationship, the relative positioning (RPOS) is determined (DET-RPOS).

9. The method according to any one of claims 1 to 6, wherein, the movable medical device includes a medical imaging device and / or a medical treatment device.

10. The method according to any one of claims 1 to 6, wherein, the movement of the medical device is controlled according to the collision model (CM) such that no contact occurs between the medical device, the operator, and the medical object (MO).

11. The method according to claim 10, wherein, providing (PROV-CM) the collision model includes identifying a spatial restricted area (VZ) in which the operator is at least partially arranged, wherein, the movement of the medical device is controlled according to the collision model (CM) such that the medical device does not enter the restricted area (VZ) and / or is not arranged within the restricted area (VZ).

12. The method according to claim 11, wherein, additionally based on the object information, the collision model (CM) is provided (PROV-CM), wherein, according to the geometry of the operator, the restricted area (VZ) is identified as being in particular conical and / or cubic and / or elliptical and / or a half-space.

13. A system for providing (PROV-CM) a collision model, the system includes an acquisition unit (CAPU) and a providing unit (PRVS), the system is designed to perform the method according to any one of claims 1 to 12, wherein, the acquisition unit (CAPU) is designed to acquire (CAP-PI) patient information and acquire (CAP-OI) object information, Wherein, the providing unit (PRVS) is designed to determine (DET-RPOS) relative positioning and provide (PROV-CM) a collision model.

14. The system according to claim 13, The system further includes a medical device, which is designed to move according to the collision model (CM) such that no contact occurs between the medical device, the operator, and the medical object (MO).

15. The system according to claim 14, Wherein, The movable medical device includes a medical imaging device and / or a medical treatment device.

16. A computer program product having a computer program that can be directly loaded into the memory of a providing unit (PRVS), the computer program having program segments for implementing all steps of the method according to one of claims 1 to 12 when the program segments are executed by the providing unit (PRVS).

Images