Remote assistance of medical interventions

Abstract

For remote assistance of medical intervention, an input specifying a suggested medical device is received by a data processing system (5). Representation data for generating a visual representation (8) of the medical device is generated by the data processing system (5) from the input and transmitted to a remotely located display device (7). The visual representation (8) is displayed by the display device (7) as a function of the representation data and a display size of the display device (7), such that the displayed visual representation (8) corresponds in real size to a further visual representation (8) intended for a medical device or a reference object, and the visual representation (8) is displayed in real scale by the display device (7).

Description

TECHNICAL FIELD

[0001] The present invention relates to a method for remote assistance of a medical intervention, a system for performing such a method and a corresponding computer program product. BACKGROUND

[0002] A medical intervention, for example an intervention on a blood vessel, including but not limited to a cardiovascular intervention or an intervention on a cerebral vessel, can be performed by a first person and / or a robot (in the following also denoted as operator), which is assisted by a second person (in the following also denoted as remote expert) located at a remote place. This is sometimes also denoted as tele-surgery or tele-surgery. This has for example the advantage that a single remote expert can assist several interventions at the same time or one after the other without having to be present at the place of the intervention.

[0003] For performing such an intervention, the operator can need to select a medical device from a plurality of medical devices or modify a generic medical device. The remote expert can instruct the operator to do so via a remote verbal communication or text-based communication or gestures communicated via a video link. It has been found that sometimes the operator has difficulties to correctly understand or implement the instructions as intended by the remote expert. Therefore, the operator can select the wrong medical device or modify the generic medical device in the wrong way and thus the process of the invention can be delayed. SUMMARY

[0004] The technical problem addressed by the present invention is to improve the remote assistance of a medical intervention such that the risk of the operator selecting the wrong medical device or modifying the generic medical device in the wrong way is reduced.

[0005] The technical problem is solved by a method for remote assistance of a medical intervention, a system for performing the method according to the preceding and a computer program product comprising instructions. Further embodiments and preferred embodiments are also subject of the present invention.

[0006] The present invention is based on the idea to display a visual representation of a medical device to be used, in particular proposed by the remote expert to the operator, in real size, either displayed in real size or together with a reference object at the operator side in real scale.

[0007] According to an aspect of the present application, a method for remote assistance of a medical intervention is provided. Therein, an input, in particular a user input, in particular a user input of a remote expert, specifying a medical device to be used is received by a data processing system. Representation data for generating a visual representation of the medical device to be used is generated by the data processing system depending on the input. The representation data is transmitted from the data processing system to a display device, which is remotely located with respect to the data processing system. The visual representation is displayed by the display device depending on the representation data and depending on a display size of the display device such that the displayed visual representation corresponds to the medical device to be used in real size. Alternatively, another visual representation of a reference object and the visual representation are both displayed by the display device in real proportions.

[0008] It is to be noted that the method according to the present application does not comprise steps for carrying out the medical intervention, in particular by using the selected or modified medical device.

[0009] The input can be received by the data processing system, for example, via a user input interface, which comprises, for example, a speech input interface and / or a text input interface, for example, from the remote expert. The user input interface can also be part of the data processing system.

[0010] For example, the medical device can be selected from a plurality of medical devices depending on the displayed visual representation, or a generic medical device can be modified depending on the displayed visual representation. The selection or the modification can be performed manually, automatically or partially automatically.

[0011] The selection of the device or the modification of the device is performed, for example, by an operator or partially by an operator. The operator and the display device are located at the same location and are remote from the data processing system, in particular from the remote expert. The operator and the display device are, in particular, located in an intervention room, in which the medical intervention shall be performed. The data processing system and the display device are remotely located from each other can be understood, for example, such that the user input interface and, for example, the remote expert are located outside the intervention room. The user input interface and the intervention room can be, for example, remotely located with respect to each other, as it is not possible for the remote expert and the operator to directly verbally communicate with each other or to directly see each other.

[0012] The display device can be part of a further data processing system or can be connected to a further data processing system. Thus, the transmission of the representation data from the data processing system to the display device can be realized by transmitting the representation data from the data processing system to the further data processing system, and the further data processing system can control the display device to display the visual representation. In case the display device has a corresponding interface, the representation data can also be transmitted directly from the data processing system to the display device.

[0013] The display device can for example comprise a two-dimensional array of pixels for displaying the visual representation. The array of pixels can have a width of W pixels and a height of H pixels. Thus, the total number of pixels of the array of pixels is W x H. The display size can for example be given by W and H, or in other words, the total number of pixels W x H and the aspect ratio of the array of pixels and the pixel size of the individual pixels of the array. These data can be stored in a memory of the display device, a memory of the data processing system and / or a memory of another data processing system.

[0014] The display size is for example received by another data processing system. The further data processing system can then adjust the representation data accordingly in dependence on the display size, such that the displayed visual representation corresponds to the medical device to be used in actual size. Alternatively, the display size can be received by the data processing system, and the data processing system can generate the representation data in dependence on the display size, such that the other data processing system can control the display device accordingly to display the medical device to be used in actual size.

[0015] The transmission of the representation data from the data processing system to the display device and / or to the further data processing system can for example comprise a transmission via a local area network, LAN, a wide area network, WAN, the internet, an Ethernet connection, a Wi-Fi connection, a Bluetooth connection and / or a cellular network.

[0016] The display device can be any type of device capable of displaying a visual representation based on the transmitted representation data, such as a computer screen, a television, a screen of a smartphone or tablet computer, a head-up display device, a head-mounted display device, augmented reality glasses, virtual reality glasses, etc.

[0017] Some, but not all, of these types of display devices can be capable of displaying the visual representation such that it corresponds to the medical device to be used in real size, which can be understood such that if the real physical medical device would be held next to the displayed visual representation, both would have the same size and shape as well as proportions. This is for example possible in case of a screen as display device. For other types of display devices, for example a head-up display device or augmented reality glasses, this can not be possible or feasible. However, with such devices, the visual representation can be displayed together with a further visual representation of a reference object, which can be an anatomical object or a further medical device, in real proportions, for example next to each other or one of them being superimposed on the other, etc. However, with a screen as display device, it is also possible to display the visual representation together with the further visual representation in real proportions.

[0018] The representation data can be any data that is generated based on the input that allows the display device to directly display the visual representation and, in some embodiments, display further visual representations, or that allows a further data processing system to control the display device to display the visual representation and, in some embodiments, display further visual representations.

[0019] The medical device can be any medical device that is used during a medical intervention, including but not limited to tools, implants, and assistive devices. In particular, the medical device can be a catheter, in particular a vascular catheter, a stent, a vascular prosthesis, or a guidewire for guiding a further medical device, such as a catheter or a stent, in a vascular structure.

[0020] By means of the method according to the present application, the remote assistance of an operator performing a medical intervention by a remote expert is improved, as the risk of the operator selecting a wrong medical device or modifying a generic medical device in a wrong way is reduced. In particular, this is achieved by displaying the visual representation in real dimensions or in real scale with respect to the reference object. Thus, the operator can directly verify their selection of a medical device or modification of a generic medical device based on the displayed visual representation.

[0021] In the present disclosure, the expressions “data processing system” and “at least one data processing device” can be used interchangeably. The data processing device can in particular be understood as a data processing device comprising processing circuitry. Thus, the data processing device can inter alia process data to perform computational operations. This can also include operations that perform indexed access to data structures, such as lookup tables LUTs, and data processing processes implemented in hardware.

[0022] In particular, the data processing device can comprise one or more computers, one or more microcontrollers, and / or one or more integrated circuits, such as one or more application-specific integrated circuits ASICs, one or more field-programmable gate arrays FPGAs, and / or one or more systems on a chip SoCs. The data processing device can further comprise one or more processors, such as one or more microprocessors, one or more central processing units CPUs, one or more graphics processing units GPUs, and / or one or more signal processors, in particular one or more digital signal processors DSPs. The data processing device can further comprise a physical or virtual cluster of computers or other said units.

[0023] In various embodiments, the data processing device comprises one or more hardware and / or software interfaces and / or one or more memory units.

[0024] The memory unit can be implemented as a volatile data memory, such as a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, such as a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or a flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase change random access memory, PCRAM.

[0025] According to several embodiments, the dimensions, in particular geometric dimensions, and / or shape properties, in particular of the geometric shape, of the medical device under consideration are displayed in real size or real scale, in particular relative to the reference object, by displaying the visual representation. The dimensions and / or shape properties can be specified, for example, by the input.

[0026] Thus, the visual representation of the medical device provides an accurate depiction of its dimensions and shape, thereby allowing to accurately assess the dimensions and shape of the medical device under consideration before making a selection or modification. In such embodiments, a level of precision and accuracy can be achieved that is increased in the selection or modification of the medical device. Displaying the dimensions or shape in real size or real scale can help to clarify uncertainties regarding the medical device, thereby making the selection or modification process more efficient.

[0027] The dimensions of the medical device under consideration can correspond to dimensions of the medical device under consideration or of a particular portion thereof, which can be expressed, for example, in length, width, height, diameter, thickness, etc. In other words, the dimensions can be understood as measurable characteristics of the medical device under consideration or of said particular portion thereof, indicating the extent or size of its dimensions.

[0028] The shape properties of the medical device under consideration can refer to characteristics of the medical device under consideration that define its geometric shape or form. This can include, for example, properties such as curvature, angle, contour, and / or other geometric characteristics. In case the medical device under consideration is or comprises a guidewire, the shape properties can correspond, for example, to the curvature of a curved tip or the angle of a beveled tip of the guidewire, etc.

[0029] According to several embodiments, the medical device is selected from a plurality of medical devices in accordance with the displayed visual representation, or a generic medical device is modified in accordance with the displayed visual representation. Sensor data representing the selected or modified medical device is generated by the sensor system. The selection or modification of the medical device is verified in accordance with the sensor data.

[0030] The sensor data can for example comprise information about the size, shape or other physical characteristics of the selected or modified medical device, which can for example be compared with the intended medical device. Verifying the selection or modification of the medical device according to the sensor data can for example comprise confirming or rejecting the selection or modification of the medical device. If it is confirmed, the operator can proceed with the selected or modified medical device, otherwise, another selection and / or modification can be required. This adds an additional level of precision and accuracy to the remote assistance method.

[0031] The sensor system can for example comprise one or more imaging sensors, such as video cameras, stereo video cameras, 3D video cameras (e.g. time-of-flight video cameras) or the like. These can for example also be used to capture images of the selected or modified medical device from different angles. The sensor system can for example comprise one or more other optical sensors, e.g. laser scanners or optical probes, which can measure the size and shape of the selected or modified medical device with particularly high precision. The sensor system can further comprise a touch-sensitive device, which can directly interact with the selected or modified medical device by touching the touch-sensitive device with the selected or modified medical device (“device-to-touch”).

[0032] According to several embodiments, the sensor data is transmitted to the data processing system, in particular by the sensor system. A verification output is generated by the data processing system from the sensor data, in particular for the remote expert. The selection or modification of the medical device is verified in response to the verification output.

[0033] Thus, it can be ensured with increased reliability that the selected or modified medical device is suitable for the medical intervention. The verification output can for example be a visual and / or audible output, which allows the remote expert to decide whether the selected or modified medical device is correctly selected or modified. The verification output can for example comprise the sensor data or a visual and / or audible representation of the sensor data or a portion thereof. Verifying the selection or modification of the medical device in response to the verification output particularly means that the verification is completed after the verification output has been generated.

[0034] According to several embodiments, in response to the verification output, a further input is received by the data processing system, in particular via a user input interface, in particular from the remote expert, confirming or rejecting the selection or modification of the medical device. If the further input confirms the selection or modification of the medical device, a confirmation message is transmitted from the data processing system to a display device or to a further output device. The further output device is in particular located remote from the data processing system. The further output device can for example be located in the intervention room.

[0035] If the confirmation message is received for example by the operator, the operator can further proceed with the medical intervention using the selected or modified medical device.

[0036] On the other hand, if the further input does not confirm, in particular rejects, the selection or modification of the medical device, a rejection message can be sent from the data processing system to the display device or to a further output means. The operator can then, for example, select a further medical device or adjust the modification of the general medical device, or the method steps can be repeated to find the correct intended medical device.

[0037] In some embodiments, the further input confirming or rejecting the selection or modification can also be generated automatically, for example by an AI-based algorithm. The confirmation message or the rejection message can also be sent to a remote expert. The remote expert can also be prompted to suggest alternatives or changes, etc.

[0038] According to several embodiments, for generating the sensor data, a size and / or shape property of the selected or modified medical device is measured by the sensor system. The selection or modification of the medical device is verified in dependence on the measured size and / or shape property. In particular, the sensor data comprises the measured size and / or shape property.

[0039] Thus, a particularly reliable verification loop is established. The measurement can be performed, for example, by a further data processing system and / or by a data processing device of the sensor system. For example, in case the sensor system is a laser scanner or an optical probe, the sensor data can already comprise the respective measurement data. In case the sensor system is a camera, the measurement can comprise a computer program for measuring size and / or shape properties applied to the respective image(s). The computer program can comprise, for example, an object detection algorithm, an image segmentation algorithm, etc.

[0040] According to several embodiments, for generating the sensor data, a camera image or video of the selected or modified medical device is generated by at least one camera, in particular by at least one camera of the sensor system. The selection or modification of the medical device is verified in dependence on the camera image or video. In particular, the sensor data comprises the camera image or video.

[0041] According to several embodiments, for generating the sensor data, a three-dimensional scan of the selected or modified medical device is generated by a laser scanner, in particular by a laser scanner of the sensor system. The selection or modification of the medical device is verified in dependence on the three-dimensional scan.

[0042] This allows a particularly precise characterization of the selected or modified medical device and thus a particularly reliable verification. In particular, the sensor data comprises the three-dimensional scan.

[0043] According to several embodiments, further sensor data representing the intended medical device is generated by a further sensor system, and the input comprises or is generated based on the further sensor data.

[0044] In other words, the user input is generated based on a real physical version of the medical device to be used. Thus, the reliability of the process is further improved. For example, the remote expert can have the medical device to be used at hand and use another sensor system to generate the input. The above explanations and examples with respect to the sensor system apply analogously to the further sensor system.

[0045] According to another aspect of the application, a system for performing a method for remote assistance for medical interventions according to the application is provided. The system comprises a data processing system and a display device.

[0046] In some embodiments, the system further comprises a sensor system and / or a further sensor system.

[0047] According to several embodiments, the system comprises a robotic manipulator configured to select a medical device from a plurality of medical devices and / or to modify a generic medical device in accordance with the displayed visual representation.

[0048] The robotic manipulator can select the medical device or modify the generic medical device automatically, e.g. autonomously, or can be controlled by a human operator to do so.

[0049] In the above and below, the solution according to the application is described with respect to the system claimed according to the application and with respect to the method claimed according to the application. Features, advantages or alternative embodiments herein can be assigned to the other claimed object, and vice versa. In other words, embodiments of the system can be improved with features described or claimed in the context of the respective method. In this case, the functional features of the method are realized by physical units of the system.

[0050] According to another aspect of the application, a computer program comprising instructions is provided. When the instructions are executed by a system according to the application, in particular by its data processing system, the instructions cause the data processing system to receive input, to generate representation data, and to transmit the representation data to a display device, and to cause the display device to display a visual representation.

[0051] For example, the instructions can be provided as program code. The program code can for example be provided as binary code or assembly program and / or source code in a programming language, e.g. C, and / or program scripts, e.g. Python.

[0052] According to several embodiments, the instructions, when executed by the system according to the application, in particular by its data processing system, cause the sensor system to generate sensor data and / or to transmit the sensor data to the data processing system, and / or cause the data processing system to generate validation output in dependence on the sensor data.

[0053] The further implementation of the computer program according to the invention directly follows the various embodiments of the method according to the invention, and vice versa. In particular, the individual features and corresponding explanations and advantages associated with the various embodiments of the method according to the invention can be transferred analogously to the corresponding embodiments of the computer program according to the invention.

[0054] According to another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program according to the present invention.

[0055] The computer program and the computer-readable storage medium are respective computer program products comprising instructions.

[0056] Further features and combinations of features of the invention can be derived from the accompanying drawings, their description, and the claims. In particular, further embodiments of the invention may not necessarily include all features of one of the claims. Other embodiments of the invention may include features or combinations of features not described in the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Hereinafter, the present invention will be explained in detail with reference to specific exemplary embodiments and corresponding schematic diagrams. In the accompanying drawings, identical or functionally identical elements may be represented by the same reference numerals. There is no need to repeatedly describe identical or functionally identical elements with reference to different drawings.

[0058] In the accompanying drawings,

[0059] Figure 1 shows a schematic representation of an exemplary embodiment of a system according to the present invention;

[0060] Figure 2 shows a schematic diagram of another exemplary embodiment of a system according to the present invention;

[0061] Figure 3 A flow chart showing an exemplary embodiment of a method for remote assistance of a medical intervention according to the present invention;

[0062] Figure 4 a flow chart showing another exemplary embodiment of the method for remote assistance of a medical intervention according to the present invention; and

[0063] Figure 5 A flow chart showing a part of another exemplary embodiment of the method according to the invention for remote assistance of a medical intervention is shown. DETAILED DESCRIPTION

[0064] Figure 1 A schematic diagram of an exemplary embodiment of a system 1 for remote assistance of medical interventions according to the present invention is shown.

[0065] The system 1 comprises a data processing system 5 for use by the remote expert 4. The system 1 further comprises a display device 7 which is located remotely with respect to the data processing system 5 and the remote expert 4. The display device 7 is accessed to the data processing system 5, e.g. via a further data processing system 6, which is also located remotely with respect to the data processing system 5. The display device 7 can display information to an operator 10 who can perform the medical intervention. In particular, the remote expert 4 can communicate with the operator 10 via the data processing system 5, optionally the further data processing system 6 and the display device 7. In this way, the remote expert 4 can assist and / or guide the operator 10 when performing the medical intervention.

[0066] The operator 10 and the display device 7 are located at the same site and remote from the data processing system 5, in particular the remote expert 4. The operator 10 and the display device 7 are for example located in an intervention room 3 in which the medical intervention is to be performed. The data processing system 5 and the remote expert 4 are located outside the intervention room, e.g. in a control room 2.

[0067] In a non-limiting example, the medical intervention can for example be a minimally invasive intervention on a vascular structure of a patient 13 under fluoroscopy assistance by using an x-ray imaging system comprising an x-ray source 11 and an x-ray detector 12.

[0068] The system 1 is adapted to perform a method for remote assistance for a medical intervention according to the present application. Figure 3 A corresponding flowchart is shown in Fig. 1.

[0069] In step 100, the data processing system 5 receives an input specifying a medical device to be used, in particular from the remote expert 4, via a user input interface of the data processing system 5. In step 110, the data processing system 5 generates representation data for generating a visual representation 8 of the medical device to be used in accordance with the received input and transmits it to the display device 7, e.g. via the further data processing system 6. In step 120, the visual representation 8 is displayed by the display device 7 in accordance with the representation data and in accordance with a display size of the display device 7 such that the displayed visual representation 8 corresponds to a further visual representation of the medical device to be used or of a reference object in actual size and the visual representation 8 is displayed by the display device 7 in true scale.

[0070] In an optional step 130, a medical device is selected from a plurality of medical devices, e.g. by the operator 10, in accordance with the displayed visual representation 8 or a generic medical device is modified in accordance with the displayed visual representation.

[0071] Figure 2 A schematic representation of another exemplary embodiment of a system 1 for remote assistance for a medical intervention according to the present application is shown which is based on the embodiment of Figure 1 Fig. 2.

[0072] The system 1 comprises a sensor system 14, such as a video camera or a laser scanner. The sensor system 14 can generate sensor data, for example one or more camera images or videos or a three-dimensional scan, and provide it to the data processing system 5, for example via the further data processing system 6. Figure 3 A flow chart of a further exemplary embodiment of a method for remote assistance of a medical intervention according to the application is shown, which can be executed using the system 1 of Figure 2 and which is based on the method of Figure 3 The steps 100 to 130 of the method according to Figure 4 are identical to the steps 100 to 130 of the method according to Figure 3 The steps 100 to 130 of the method according to

[0073] In a step 140, sensor data representing the selected or modified medical device 9 is generated by the sensor system 14. In a step 150, the selection or modification of the medical device is verified, for example by the remote expert 4, from the sensor data.

[0074] Figure 5 A flow chart of the method steps of a further exemplary embodiment of a method for remote assistance of a medical intervention according to the application is shown, which is contained in the step 150 of the method according to Figure 4 The steps 100 to 130 of the method according to

[0075] In a step 160, the sensor data is transmitted from the sensor system 140 to the data processing system 5, for example via the further data processing system 5. In a step 170, a verification output is generated by the data processing system 5 from the sensor data. In a step 180, in response to the verification output, a further input is received by the data processing system 5, in particular from the remote expert 4, in particular via a user input interface of the data processing system 5, confirming or rejecting the selection or modification of the medical device. In a step 190, if the further input confirms the selection or modification of the medical device, a confirmation message is transmitted from the data processing system 5 to the display device 7. The operator can then perform the medical intervention using the selected or modified medical device 9.

[0076] As described above, the application improves the remote assistance of a medical intervention, so that the risk of the operator 10 selecting a wrong medical device or modifying a general medical device in a wrong way is reduced.

[0077] For example, in a vascular intervention, when the remote expert 4 selects the appropriate medical device for the next step in the intervention procedure, they can determine that a specific shape or curvature needs to be added to the medical device in order to efficiently and effectively navigate through the blood vessels. The desired shape can be directly displayed on a display device 7, which can for example be a computer screen, a touchpad screen or a head-up display, in real size or real scale. Thus, the operator 10 is effectively provided with a template which can be directly compared to the medical device to be selected or modified.

[0078] In some embodiments, direct feedback can be provided to the remote expert 4 via an optical camera, via a device-touchscreen interaction or via a 3D scan of the selected or modified medical device 9 in order to determine whether the shape provided by the operator 10 matches the intended template. The direct feedback increases the confidence of the remote expert 4 that the operator 10 has selected the correct medical device and / or has implemented the correct shape modification.

[0079] In some embodiments, a 3D visual overlay can be used for the comparison of the intended medical device to the real medical device.

[0080] In some embodiments, automated template selection can be provided. A prior imaging database allows for determining, suggesting and / or automatically calculating the best shape modification and / or device selection based on knowledge of the 3D vessel geometry of the patient 13 from prior 3D imaging techniques including for example computed tomography, magnetic resonance imaging, positron emission tomography, tomosynthesis, cone beam computed tomography and / or based on single view angiography, double view angiography, standard vessel geometry based on population statistics, etc. Thus, the intended medical device or shape itself is automatically provided.

[0081] In some embodiments, the remote expert 4 can have the exact medical device and / or modify a generic medical device at hand and then, for example by another sensor device 14', such as a touch display and / or an optical scanning device or camera, the intended medical device can be visualized to the operator 10.

Claims

1. A method for remote assistance for a medical intervention, wherein, An input specifying a medical device to be generated is received by a data processing system (5), which generates representation data for generating a visual representation (8) of the medical device to be generated from the input and transmits the representation data from the data processing system (5) to a display device (7) located remotely relative to the data processing system (5), - the visual representation (8) is displayed by the display device (7) from the representation data and from a display size of the display device (7) such that a size of the displayed visual representation (8) corresponds to an actual size of the medical device to be generated; or - a further visual representation of a reference object and the visual representation (8) are displayed by the display device (7) in true scale.

2. The method of claim 1, wherein, The reference object is an anatomical object or a further medical device.

3. The method according to any of the preceding claims, characterized in that, By displaying the visual representation, a size and / or shape property of the medical device to be generated is displayed in true size or true scale.

4. The method according to any one of the preceding claims, characterized in that - a medical device is selected from a plurality of medical devices or a generic medical device is modified in accordance with the displayed visual representation (8); - sensor data representing the selected or modified medical device (9) are generated by a sensor system (14); and - the selection or modification of the medical device is verified in accordance with the sensor data.

5. The method according to claim 4, characterized in that - the sensor data are transmitted to the data processing system (5); - a verification output is generated by the data processing system (5) in accordance with the sensor data; and - the selection or modification of the medical device is verified in response to the verification output.

6. The method according to claim 5, characterized in that - a further input confirming or rejecting the selection or modification of the medical device is received by the data processing system (5) in response to the verification output; - a confirmation message is sent from the data processing system (5) to the display device (7) or to a further output device if the further input confirms the selection or modification of the medical device.

7. The method according to claim 3 and any one of claims 4 to 6, characterized in that - for generating the sensor data, size and / or shape properties of the selected or modified medical device (9) are measured by the sensor system (14); and - the selection or modification of the medical device is verified in accordance with the measured size and / or shape properties.

8. The method according to claim 3 and any one of claims 4 to 6, characterized in that - for generating the sensor data, camera images or videos of the selected or modified medical device (9) are generated by at least one camera; and - the selection or modification of the medical device is verified in accordance with the camera images or videos.

9. The method according to claim 3 and any one of claims 4 to 6, characterized in that - for generating the sensor data, a three-dimensional scan of the selected or modified medical device (9) is generated by a laser scanner; and - the selection or modification of the medical device is verified in accordance with the three-dimensional scan. ​ 10. Method according to one of the preceding claims, characterized in that, The input comprises or is based on additional sensor data generated by an additional sensor system indicative of a further medical device.

11. The method according to any of the preceding claims, characterized in that, The medical device is a stent or a vascular prosthesis or a vascular catheter or a guidewire for guiding another medical device in a vascular structure.

12. A system (1) for performing the method according to any one of the preceding claims, the system comprising the data processing system (5) and the display device (7).

13. The system (1) according to claim 12, characterized in that, The system comprises a robotic manipulator configured to select a medical device from a plurality of medical devices in accordance with the displayed visual representation (8) or to modify a generic medical device in accordance with the displayed visual representation (8).

14. A computer program product comprising instructions which, when executed by a system (1) according to one of claims 12 or 13: - cause the data processing system (5) to receive the input, generate the representation data, and transmit the representation data to the display device (7); and - cause the display device (7) to display the visual representation (8).

Images