Method for displaying at least one medical instrument in a hollow organ, as well as data processing device, imaging system and computer program product

Abstract

The invention relates to a method for displaying at least one medical instrument (8) in a hollow organ (9), wherein: - instrument parameters (6) relating to mechanical properties of the at least one medical instrument (8) are obtained; - hollow organ parameters (7) relating to mechanical properties of the hollow organ (9) are obtained; - a model of the at least one medical instrument (8) in the hollow organ (9) is created depending on the obtained instrument parameters (6) and the obtained hollow organ parameters (7); - at least one image of the at least one medical instrument (8) in the hollow organ (9) is obtained; - a representation of the at least one medical instrument (8) in the hollow organ (9) is generated depending on the at least one image obtained and the model created.

Description

The present invention relates to a method for displaying at least one medical instrument in a hollow organ. The invention further relates to a data processing device for executing such a method, an imaging system having such a data processing device, and a corresponding computer program product.In interventions on hollow organs, in particular vessel interventions, for example minimally invasive vessel interventions, therapies, for example placement of vessel supports, also referred to as stents, or diagnoses, for example the detection of stenosis, are carried out by medical instruments introduced into the body. Such medical instruments can be, for example, the mentioned stents or vessel catheters, in particular micro catheters, and so forth. Navigation into the individual vessel outputs or the placement of stents is effected by rotating and advancing a guide wire or catheter at the puncture point, generally the ledge. The guide wire can likewise be understood as a medical instrument.Such interventions can be carried out, for example, under visual control by means of imaging methods, for example under X-ray control using angiography systems.In this case, for example, a plurality of X-ray images can be recorded and a time-averaged image can be displayed. Due to movement, which arises, for example, due to breathing or heartbeat, a blurred image of the medical instrument can thereby arise. It is also possible that the medical instrument and in particular its contour is difficult to recognize on a single x-ray image, since a contrast is too low, for example.U.S. Pat. No. 9,082,158 B2 discloses a method for real-time stent improvement in a live 2D fluoroscopic scene. A motion compensated stent gain image is generated for this purpose from a first set of images in a fluoroscopic image sequence by summing individual images of the image sequence in a weighted manner. Based on the motion compensated stent gain image, a weighting field is generated. For each new image in the fluoroscopic image sequence received, the stent in the new image is enhanced by composing the new image with the motion compensated stent gain image using the weighting field.It is an object of the present invention to improve the display of at least one medical instrument in a hollow organ during imaging.The invention is based on the idea of generating a model of the at least one medical instrument in the hollow organ for improved representation of at least one medical instrument, which model takes into account mechanical properties of both the at least one medical instrument and the hollow organ.One aspect of the invention relates to a method for displaying a medical instrument in a hollow organ. Instrument parameters relating to mechanical properties of the at least one medical instrument are obtained. Hollow organ parameters concerning mechanical properties of the hollow organ are obtained. A model of the at least one medical instrument in the hollow organ is created depending on the obtained instrument parameters and the obtained hollow organ parameters. At least one image of the at least one medical instrument in the hollow organ is obtained. An, in particular visual, representation of the at least one medical instrument in the hollow organ is generated and in particular displayed depending on the at least one image obtained and the model created.In particular, the method is an imaging method or part of such a method. An image of the at least one medical instrument in the hollow organ is an image which images the hollow organ and the at least one instrument in the hollow organ, for example an, in particular two-dimensional, X-ray projection image or a CT reconstruction or an MRI image. The method can therefore also be an X-ray imaging method.In various embodiments of the method, the method may be fully computer-implemented. Unless otherwise stated, all steps of such a computer-implemented method can be carried out by a data processing device which has at least one arithmetic unit. In particular, the at least one computing unit is configured or adapted to carry out the steps of the computer-implemented method. For this purpose, the at least one arithmetic unit can store, for example, a computer program which contains instructions which, when executed by the at least one arithmetic unit, cause the at least one arithmetic unit to execute the computer-implemented method.Each embodiment of the computer-implemented method is followed by a corresponding embodiment of the method according to the invention, which is not purely computer-implemented by including corresponding method steps for generating the at least one image by means of an imaging modality, for example an X-ray-based imaging modality.The at least one image is generated, for example, by means of an imaging modality, while the at least one medical instrument is introduced into the hollow organ and / or after the at least one medical instrument has been introduced into the hollow organ and / or the at least one medical instrument is moved within the hollow organ. The introduction of the at least one medical instrument into the hollow organ or the movement of the at least one medical instrument is not part of the method according to the invention. In some embodiments, the generation of the at least one image can be part of the method according to the invention and can take place in other embodiments before the method according to the invention is carried out.In some embodiments, the at least one image includes multiple images.The hollow organ is, for example, at least one vessel, in particular a blood vessel, for example a vessel tree having a main vessel and one or more vessel outputs.The at least one medical instrument contains, for example, a vascular prosthesis, in particular a stent, and / or a guide wire, or a catheter, in particular a vascular catheter. If the at least one medical instrument includes more than one instrument, the mechanical instrument parameters may characterize mechanical properties of individual instruments. In addition, in this case, the mechanical instrument parameters can optionally be characterized by an interaction between the various instruments if they are connected or coupled to one another.The mechanical instrument parameters can include, for example, a geometric shape and / or a diameter and / or a length and / or a rigidity and / or a surface lubricity of the corresponding medical instrument. It is possible for the at least one medical instrument to have X-ray-visible markings. The mechanical instrument parameters can then also include distances and / or relative positions of the markings to one another. If the at least one medical instrument contains a balloon catheter, then the markings can optionally be designed as balloon markers. The mechanical instrument parameters can be determined before carrying out the method according to the invention. The determination of the mechanical instrument parameters, in particular by measuring the corresponding medical instrument, can also be part of the method according to the invention in some embodiments.The mechanical hollow organ parameters can include, for example, a stiffness and / or an elasticity, in particular a volume elasticity coefficient, and / or a geometric shape, in particular a diameter or a course of the diameter along the longitudinal direction of the hollow organ, of the hollow organ. The mechanical vessel properties can also vary locally, for example along the longitudinal direction of the main vessel.The hollow organ parameters are preferably determined by means of a pre-CT image, which is created, for example, before the intervention. In particular, for this purpose, a pre-CT image of a hollow organ region of the hollow organ, into which the at least one medical instrument is to be introduced, is obtained, in particular generated and provided to the computing unit. From the pre-CT image, the hollow organ parameters can be determined particularly accurately and reliably.The mechanical hollow organ parameters are not necessarily defined exclusively by the hollow organ itself. It is also possible, for example, for the tissue surrounding the hollow organ or adjoining the hollow organ, such as internal organs, bones, muscle tissue, adipose tissue, and so forth, to influence the mechanical hollow organ parameters.It is possible that the model is created depending on the model boundary conditions. For example, the model boundary conditions are generated depending on the mechanical instrument parameters and the hollow organ mechanical parameters.The model optionally contains an image and / or an outer contour of the at least one medical instrument for different possible positions of the at least one medical instrument in the hollow organ for specific hollow organ parameters and instrument parameters. Alternatively, the model optionally contains an image and / or an outer contour of the at least one medical instrument for a predetermined, in particular obtained, position of the at least one medical instrument in the hollow organ for specific hollow organ parameters and instrument parameters.The display is, for example, a visual display on a display unit, for example on a screen, and / or the display contains display data from which such a visual display can be generated.Taking into account the hollow organ parameters and the instrument parameters, the method makes it possible to display the at least one medical instrument in the hollow organ in an improved manner, in particular in an improved manner recognizable to a viewer.In one exemplary embodiment, the at least one image is overlaid as a representation with an artificial representation of the at least one medical instrument. The artificial representation is generated depending on the created model. The artificial representation can be referred to as overlay (overlay).This exemplary embodiment allows a viewer to recognize particularly easily where the stent is located.In an embodiment, the at least one image includes at least two images.In one embodiment, an image area of the at least two images obtained is selected. For this purpose, for example, a plurality of pixels of the at least two images are selected.Preferably, the image area is selected in each of the at least two images. In particular, the selected image area images the same content in each of the at least two images. The at least two images are optionally different from one another and in particular the selected image region shows a substantially identical image content optionally at different points in the respective image.For example, the markings are respectively detected in the at least two images. The image area is preferably selected depending on positions of the detected markings. For example, at least parts of a method as in the aforementioned document U.S. Pat. No. 9,082,158 B2 can be carried out for this purpose.This is not necessarily a two-dimensional region. It is also possible that only a single-pixel-wide sequence of pixels is selected as the image area. If appropriate, only outer contours of the at least one medical instrument are selected as the image region. Depending on the model, a deformation field is generated for the selected image area. The representation is generated depending on the deformation field.For example, the selected region is deformed according to the deformation field. Specifically, the deformed area is displayed instead of the original area.Optionally, a pixel strength, which can also be referred to as a gray value, in particular of pixels of the selected region, is increased. As a result, the outer contour of the at least one medical instrument can be represented, for example, with improved contrast. Pixel information for increasing the pixel strength is optionally part of the deformation field or is provided in addition to the deformation field.It is possible, for example, for overlay information to be generated from the model, which is used in particular for generating the artificial representation and in particular has an outer contour of the at least one medical instrument at a specific position in the hollow organ. Optionally, the overlay information corresponds to the model. Alternatively, the overlay information corresponds to the model taking into account a specific position of the at least one medical instrument in the hollow organ, in particular if the model has the position as input parameter. The deformation field is preferably determined as a function of the overlay information.In one exemplary embodiment, the deformation field for the image region indicates how the image region or its pixel is rotated when the representation is generated and / or how the size of the image region is changed.As a result, the at least two images can be adapted to the overlay information and in particular to one another.It is possible that a first of the at least two images is compared with the overlay information in order to generate the deformation field. The deformation field preferably indicates how the first of the at least two images is rotated and / or displaced in order to have a high, in particular the highest, correspondence with the overlay information.Preferably, the at least two images are displayed superimposed after the deformation. This can be referred to in particular as a resulting representation.Alternatively or additionally, it is possible for the first of the at least two images to be compared with at least a second of the at least two images. For example, the deformation field indicates that the outer contour of the at least one medical instrument is shown in the resulting representation at a position which lies between the respective positions of the outer contours of the at least two images, in particular represents an average value thereof.In one exemplary embodiment, deformation field boundary conditions are taken into account in the generation of the deformation field.This prevents, in particular reduces a probability that the image region changed by the deformation field represents impossible or unlikely positions and / or orientations of the at least one medical instrument.The deformation field boundary conditions are preferably that the at least one medical instrument is located within the hollow organ and / or that the markings of the at least one medical instrument are arranged consistently relative to the at least one medical instrument and / or that a guide wire is located within the at least one medical instrument.In one exemplary embodiment, a finite element simulation (FEM simulation) is carried out in order to generate the model.The model, in particular for the hollow organ parameters obtained and the instrument parameters obtained, is thus determined particularly accurately. This improves the display of the at least one medical instrument, in particular more precisely.For the FEM simulation, for example, a corresponding simulation tool is used, such as, for example, Simscale (cf. https: / / www.simscale.com / de / ) or Simcenter Femap software (cf. https: / / plm.sw.siemens.com / de-DE / simcenter / mechanical simulation / femap / ).The term FEM simulation may also include extensions such as the mixed finite element method.In one embodiment, mapping data is obtained. The assignment data associate predetermined combinations of instrument parameters and hollow organ parameters with an outer contour of the at least one instrument in the hollow organ. The model is created depending on the mapping data.This results in the advantage that the model is created more quickly in comparison to a model that is created depending on a simulation.In particular, different sets of instrument parameters and hollow organ parameters are generally assigned in the assignment data, not or not only the obtained instrument parameters and hollow organ parameters.Optionally, the combination of the obtained hollow organ parameters and instrument parameters is not included in the mapping data. It is possible to check which combination of instrument parameters and hollow organ parameters comes closest to the obtained instrument parameters and hollow organ parameters. Preferably, the associated outer contour, in particular the associated outer contours for different positions of the at least one medical instrument in the hollow organ, is created for this closest combination, in particular selected as a model.In one embodiment, the assignment data are interpolated depending on the obtained instrument parameters and the obtained hollow organ parameters. The model is created depending on the interpolated mapping data.By this procedure, the model is created with high accuracy and quickly.In this exemplary embodiment, at least two closest combinations which are present in the assignment data are preferably determined as a function of the instrument parameters and hollow organ parameters obtained. In particular, in this exemplary embodiment, the outer contours assigned to the at least two combinations, in particular the assigned outer contours for different positions of the at least one medical instrument in the hollow organ, are interpolated. Preferably, the model is thus generated as an interpolated contour, which in particular is either already determined for a specific position of the at least one instrument in the hollow organ or has the position as an input parameter of the model.Preferably, the outer contour or the outer contours are interpolated by means of a polynomial function or as a spline.In one embodiment, a position to be viewed in the hollow organ is obtained. Depending on the obtained position to be viewed, the representation of the at least one instrument is generated. The position to be viewed in the hollow organ can be referred to in particular as a vessel section.As already explained, the vessel section, which can also be referred to as vessel position, can be an input parameter of the model. Preferably, the model is provided before performing an intervention in which the at least one medical instrument is introduced into the hollow organ. If necessary, during the execution, the current position of the at least one instrument in the hollow organ is obtained and, depending on the obtained position, the overlay information is generated by means of the model, for example.In one embodiment, the mechanical instrument parameters include wire parameters relating to mechanical properties of a guide wire for guiding the at least one instrument in the hollow organ. The model is created depending on the wire parameters.An improved model can thereby be created.The at least one medical instrument may include, for example, the guide wire. Alternatively, the at least one medical instrument does not include the guide wire. Nevertheless, the model can be improved by taking account of the wire parameters, since the behavior of the at least one medical instrument, for example of a stent, is influenced by the wire parameters. Optionally, the wire parameters describe how the wire is coupled to the at least one instrument.In an embodiment, the obtained wire parameters define or include a geometric shape and / or a diameter and / or a length and / or a stiffness and / or an elasticity.In one embodiment, the at least one medical instrument includes a stent or a vascular catheter.The method is particularly advantageous for these medical instruments, since these instruments remain in the hollow organ for a longer period of time from several hours to many years, for example. Therefore, correct positioning is critical, especially for stent effectiveness. For the correct positioning, a correct representation of the at least one medical instrument is required. This is improved by the method.In an embodiment, the obtained instrument parameters define or include a geometric shape and / or a diameter and / or a length and / or a stiffness and / or an elasticity and / or a surface lubricity of the at least one instrument.The stiffness can be, for example, a stretching stiffness or a shear stiffness or a bending stiffness or a torsional stiffness. The surface lubricity is in particular a lubricity of an outer surface of the respective stent or vascular implant. The lubricity is given, for example, by an inverse coefficient of friction.The diameter may be an inner diameter or an outer diameter. The diameter can also be different at different locations of the respective stent or vascular graft.In one exemplary embodiment, the at least one image is at least one X-ray image, in particular an X-ray projection image.According to a further aspect of the invention, a method for assisting an intervention on a hollow organ is specified. At least one medical instrument is introduced into a hollow organ of a person. A method according to the invention for displaying the at least one medical instrument in the hollow organ is carried out.In this case, the hollow organ parameters and the instrument parameters are obtained, for example, before the introduction of the at least one medical instrument into the hollow organ. If appropriate, the model is likewise created before the introduction of the at least one medical instrument into the hollow organ. The at least one image of the at least one medical instrument is obtained in particular after the introduction of the at least one medical instrument into the hollow organ. In particular, the representation of the at least one medical instrument is generated after the introduction of the at least one medical instrument into the hollow organ.According to a further aspect of the invention, a data processing device is provided. The data processing device has at least one computing unit which is configured to carry out a method according to the invention for displaying at least one medical instrument in a hollow organ.A computing unit can be understood in particular as a data processing device which contains a processing circuit. The computing unit can therefore process data in particular for carrying out computing operations. This also includes operations to perform indexed accesses to a data structure, for example a look-up table (LUT).The computing unit can in particular contain one or more computers, one or more microcontrollers and / or one or more integrated circuits, for example one or more application-specific integrated circuits, ASICs (application-specific integrated circuit), one or more field programmable gate arrays, FPGAs, and / or one or more single-chip systems, SoCs (system on a chip). The computing unit may also contain one or more processors, for example one or more microprocessors, one or more central processing units, CPUs (central processing units), one or more graphics processing units, GPUs (graphics processing units) and / or one or more signal processors, in particular one or more digital signal processors, DSPs. The computing unit may also include a physical or virtual group of computers or other of the aforementioned units.In various exemplary embodiments, the computing unit contains one or more hardware and / or software interfaces and / or one or more memory units.A memory unit can be used as volatile data memory, for example as dynamic random access memory, DRAM (dynamic random access memory) or static random access memory, SRAM (static random access memory), or as nonvolatile data memory, for example as read-only memory, ROM (read-only memory), as programmable read-only memory, PROM (programmable read-only memory), as erasable programmable read-only memory, EPROM (erasable programmable read-only memory), as electrically erasable programmable read-only memory, EEPROM (electrically erasable programmable read-only memory), as flash memory or flash EEPROM, as ferroelectric random access memory, FRAM (ferroelectric random access memory), as magnetoresistive random access memory, MRAM (magnetoresistive random access memory) or as phase-change random access memory, PCRAM (phase-change random access memory).According to a further aspect of the invention, an imaging system is specified which has a data processing device according to the invention and an imaging modality which is configured to generate the at least one image.According to at least one embodiment, the imaging modality is an X-ray imaging modality with an X-ray source and an X-ray detector.According to at least one embodiment, the X-ray imaging modality is configured as a C-arm device.According to a further aspect of the invention, a computer program comprising instructions is specified. When the instructions are executed by a data processing device, in particular a data processing device according to the invention, the instructions cause the data processing device to carry out a method according to the invention.The instructions can be present, for example, as program code. The program code can be provided, for example, as binary code or assembler and / or as source code of a programming language, for example C, and / or as a program script, for example Python.According to a further aspect of the invention, a computer-readable storage medium is specified which stores a computer program according to the invention.The computer program and the computer-readable storage medium are each computer program products having the instructions.Further features and combinations of features of the invention are evident from the figures and their description and from the claims. In particular, further embodiments of the invention need not necessarily include all features of any of the claims. Further embodiments of the inventions may comprise features or combinations of features not mentioned in the claims.The invention is explained in more detail below with reference to specific exemplary embodiments and associated schematic drawings. In the figures, identical or functionally identical elements can be provided with the same reference numerals. The description of identical or functionally identical elements may not necessarily be repeated with respect to different figures.The figures show FIG. 1 is a schematic illustration of an exemplary embodiment of an imaging system according to the invention; FIG. 2 shows a schematic flow diagram of an exemplary embodiment of a method according to the invention for displaying at least one medical instrument in a hollow organ; and FIG. 3 shows a schematic representation of a representation of at least one medical instrument in a hollow organ.FIG. 1 shows a schematic representation of an exemplary embodiment of an imaging system 1 according to the invention. The imaging system 1 has an imaging modality 3, 4, which is represented here without limiting generality as an X-ray imaging modality with an X-ray detector 3 and an X-ray source 4. The imaging system 1 has a data processing device according to the invention having at least one computing unit 2 which is configured to execute a method according to the invention for displaying at least one medical instrument 8 (FIG. 3 ) in a hollow organ 9 (FIG. 3 ), in particular in a hollow organ 9 of a patient 5. FIG. 2 shows a schematic flow diagram of an exemplary embodiment of such a method according to the invention.The at least one computing unit 2 receives the mechanical instrument parameters 6 of the at least one medical instrument 8 and the mechanical hollow organ parameters 7 of the hollow organ 9.In particular, the computing unit 2 additionally receives wire parameters relating to mechanical properties of a guide wire for guiding the at least one instrument 8 in the hollow organ 9. The mechanical instrument parameters 6 include, for example, the wire parameters. For example, the at least one medical instrument 8 includes, for example, a stent 11 and the guide wire. In step 200, the at least one computing unit 2 generates a model of the at least one medical instrument 8 in the hollow organ 9 based on the mechanical instrument parameters 6, which optionally contain the wire parameters, and the mechanical hollow organ parameters 7. The mechanical instrument parameters 6 contain, for example, a geometric shape and / or a diameter and / or a length and / or a stiffness and / or an elasticity and / or a surface lubricity of the at least one medical instrument 8. The mechanical hollow organ parameters 7 can also vary locally, for example along the longitudinal direction of a main vessel.The model can be created, for example, by means of a simulation based on the finite element method, wherein the simulation can, for example, be based on pre-operative planning data or a pre-operative CT reconstruction. Alternatively or additionally, the model can be created as a function of assignment data that assign predetermined combinations of instrument parameters 6 and hollow organ parameters 7 to a contour of the at least one instrument 8 in the hollow organ 9. In particular, the at least one arithmetic unit 2 performs an interpolation of the associated contours for the obtained instrument parameters 6 and the obtained hollow organ parameters 7.In step 220 of the method, the at least one computing unit 2 receives at least one image, in particular at least two images, which were generated by means of the imaging modality 3, 4. The at least one image shows a vessel section 10 of a vessel tree of the patient 5. the at least one image shows the at least one medical instrument 8 arranged in the vessel section 10.In step 240, a representation of the at least one medical instrument 8 in the hollow organ 9 is generated and in particular displayed depending on the at least one image obtained and the model created.In one exemplary embodiment, the at least one arithmetic unit 2 receives a current position of the at least one medical instrument 8. For example, the at least one arithmetic unit 2 generates overlay information by means of the model and depending on the current position, which is in particular an input parameter of the model.The stent 11 shown in FIG. 3 has in particular radiopaque markers 12. For example, the markings 12 are arranged on the stent 11 so as to be axially spaced apart from one another. Preferably, in particular by the at least one arithmetic unit 2, the current position of the stent 11 is detected as a function of the markings 12. For example, marker positions of the markings 12, in particular further, input parameters of the model, are.In one exemplary embodiment, the overlay information is displayed as an artificial representation at the location in the at least one image at which the at least one medical instrument 8, in particular probably, is located. For example, the at least one image includes at least two images. Then, in particular by the at least one computing unit 2, a resulting image is generated from the at least two images. Specifically, the artificial representation is displayed in the resulting image.In one exemplary embodiment, a deformation field is generated as a function of the overlay information. The at least one image is optionally rotated and / or changed in size depending on the deformation field. In particular, the rotated and / or modified image is displayed as a representation.Regardless of the grammatical sex of a certain term, individuals with male, female or other sex identity are included.References included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedU.S. Pat. No. 9,082,158 B2 [0005, 0029]Cited Non-Patent Literaturehttps: / / www.simscale.com / de /

[0044] https: / / plm.sw.siemens.com / de-DE / simcenter / mechanical simulation / femap /

[0044]

Claims

Method for displaying at least one medical instrument (8) in a hollow organ (9), wherein: - instrument parameters (6) relating to mechanical properties of the at least one medical instrument (8) are obtained; - hollow organ parameters (7) relating to mechanical properties of the hollow organ (9) are obtained; - a model of the at least one medical instrument (8) is created in the hollow organ (9) depending on the obtained instrument parameters (6) and the obtained hollow organ parameters (7); - at least one image of the at least one medical instrument (8) is obtained in the hollow organ (9); - a display of the at least one medical instrument (8) is created in the hollow organ (9) depending on the at least one obtained image and the created model.Method according to claim 1, wherein the at least one image is overlaid as a representation with an artificial representation of the at least one medical instrument (8), wherein the artificial representation is generated depending on the created model.Method according to claim 1 or 2, wherein: - the at least one image includes at least two images; - an image area of the at least two images obtained is selected; - a deformation field is generated for the selected image area depending on the model; and - the representation is generated depending on the deformation field.Method according to claim 3, wherein the deformation field for the image area indicates how the image area is rotated when generating the representation and / or how the size of the image area is changed.Method according to one of the preceding claims, wherein a finite element simulation is carried out in order to create the model.Method according to one of Claims 1 to 4, wherein assignment data which assign predetermined combinations of instrument parameters (6) and hollow organ parameters (7) to a contour of the at least one instrument (8) in the hollow organ (9) are obtained and the model is created on the basis of the assignment data.Method according to claim 6, wherein the assignment data are interpolated depending on the obtained instrument parameters (6) and the obtained hollow organ parameters (7) and the model is created depending on the interpolated assignment data.Method according to one of the preceding claims, wherein a position to be viewed in the hollow organ (9) is obtained and the representation of the at least one instrument (8) is generated depending on the obtained position to be viewed.Method according to one of the preceding claims, wherein the mechanical instrument parameters contain wire parameters relating to mechanical properties of a guide wire for guiding the at least one instrument (8) in the hollow organ (9) and the model is created depending on the wire parameters.The method of any preceding claim, wherein the at least one medical instrument (8) includes a stent (11) or a vessel catheter.Method according to any one of the preceding claims, wherein the obtained instrument parameters (6) include or define a geometric shape and / or a diameter and / or a length and / or a stiffness and / or an elasticity and / or a surface lubricity of the at least one instrument (8).Method according to one of the preceding claims, wherein the at least one image is at least one X-ray image.Data processing device having at least one arithmetic unit (2) which is configured to carry out a method according to one of the preceding claims.Imaging system (1) comprising a data processing device according to claim 13 and an imaging modality (3) configured to generate the at least one image.A computer program product comprising instructions which, when executed by a data processing device, cause the data processing device to perform a method according to any one of claims 1 to 12.

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