Medical scan planning system

Abstract

The present invention relates to a medical scan planning apparatus having an input unit 10, a processing unit 20, and an output unit 30. The input unit 10 is configured to receive a first medical image X1 of a patient. The input unit 10 is configured to receive a first 3D image D1 of a patient, the data of which is acquired substantially simultaneously with the acquisition of the first medical image X1. The input unit 10 is configured to receive a first geometric relationship G1 between the imaging system that acquired the first medical image X1 and the imaging system that acquired the data of the first 3D image D1. The input unit 10 is configured to receive a selection of a region of interest R1 in the first medical image X1. The processing unit is configured to convert the region of interest R1 in the first medical image X1 into a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1, the conversion of which includes utilizing the first geometric relationship G1. The input unit 10 is configured to receive a second 3D image D2 of a patient. The input unit 10 is configured to receive a second geometric relationship G2 between an imaging system used to acquire a second medical image X2 of the patient and an imaging system that acquired a second 3D image D2. The processing unit 20 is configured to determine at least one scan parameter of the imaging system used to acquire the second medical image X2 of the patient, which includes utilizing the 3D region of interest R2 in the coordinate system of the imaging system that acquired the data for the first 3D image D1 and the second 3D image D2, and the second geometric relationship G2. The output unit 30 is configured to output at least one scan parameter of the imaging system used to acquire the second medical image X2 of the patient.

Description

Technical Field

[0001] The present invention relates to a medical scanning planning device, a medical scanning system, a medical scanning planning method, a medical scanning method, a computer program, and a computer-readable medium.

Background Art

[0002] In medical examinations such as CT examinations and MR examinations, in order to reduce the dose (imaging time) and save time by imaging only the field of view necessary to answer current clinical questions, an appropriate scan geometry plan is important. Usually, scan geometry is determined by a localizer scan, but it requires additional dose and / or time resources.

[0003] For example, International Publication No. 2019 / 134874A1 discloses an X-ray imaging system that reduces the difficulty for medical staff to properly position a patient for examination. International Publication No. 2019 / 134874A1 proposes to acquire an image of the position of the patient within the field of view almost simultaneously with the acquisition of the first X-ray image. If it is found that it is necessary to update the field of view setting (such as collimation parameters) to acquire subsequent X-ray images, the movement of the patient at the time of taking the second image is considered in providing the updated field of view setting.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Unfortunately, the specification of International Publication No. 2019 / 134874A1 does not solve all problems for medical staff. International Publication No. 2019 / 134874A1 assists medical staff when using the same X-ray device in a fixed geometric setup. However, in reality, patient images are acquired using different devices of the same modality (fixed X-ray systems, mobile X-ray systems, MR imaging (MRI), CT, ultrasound, etc.) or different devices of different modalities.

[0005] Therefore, these problems need to be addressed.

[0006] Improvements in technologies that aid in planning medical examinations are advantageous. [Means for solving the problem]

[0007] The object of the present invention is solved by the subject matter of the independent claim, and other embodiments are incorporated into the dependent claims.

[0008] In a first embodiment, a medical scan planning apparatus is provided, having an input unit, a processing unit, and an output unit.

[0009] The input unit is configured to receive a first medical image of the patient. The input unit is configured to receive a first 3D image of the patient, the data for the first 3D image being acquired at substantially the same time. The input unit is configured to receive a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data for the first 3D image. The input unit is configured to receive a selection of a region of interest in the first medical image. The processing unit is configured to transform the region of interest in the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data for the first 3D image, the transformation involving the use of the first geometric relationship. The input unit is configured to receive a second 3D image of the patient. The input unit is configured to receive a second geometric relationship between the imaging system used to acquire a second medical image of the patient and the imaging system that acquired the second 3D image. The processing unit is configured to determine at least one scan parameter of the imaging system used to acquire the second medical image of the patient. This decision involves utilizing a 3D region of interest in the coordinate system of the imaging system that acquired the data for the first and second 3D images, and a second geometric relationship. The first geometric relationship is different from the second geometric relationship. The output unit is configured to output at least one scan parameter of the imaging system used to acquire a second medical image of the patient.

[0010] In one example, the imaging system used to acquire the first medical image is a fixed 2DX-ray system (fixed two-dimensional X-ray system), a mobile 2DX-ray system (mobile two-dimensional X-ray system), an ultrasound system, an X-ray CT system, or an MRI system.

[0011] In one example, the imaging system used to acquire a second medical image of the patient may be a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

[0012] In one example, the imaging system used to acquire the first medical image of a patient and the imaging system used to acquire the second medical image belong to different system modalities. Imaging modalities include fixed and mobile X-ray systems, MR imaging (MRI), CT, and ultrasound. However, other methods are also considered.

[0013] In one example, the imaging system that acquired the data for the first 3D image differed from the imaging system that acquired the first medical image; the data for the first 3D image was acquired by the 3D imaging system.

[0014] In one example, the 3D imaging system that acquired the data for the first 3D image was a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0015] In one example, the imaging system that obtained the data for the first 3D image was the same as the imaging system that acquired the first medical image, and the data for the first 3D image was derived by segmenting the outer surface of the patient in the first medical image.

[0016] In one example, the imaging system that acquired the second 3D image is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0017] In one example, at least one scan parameter has a 3D region of interest in the coordinate system of the imaging system used to acquire a second medical image of the patient.

[0018] In one example, the imaging system used to acquire a second medical image of the patient is an ultrasound system, and at least one scan parameter includes information to guide the ultrasound sensor to the required probe position and / or required probe angle.

[0019] In one example, at least one scan parameter includes the kVp value for a CT scan or X-ray scan and / or the tube current for a CT scan or X-ray scan.

[0020] In a second embodiment, a medical scanning system comprising an input unit, a processing unit, a 3D data acquisition system, and a medical image scanner is dismantled.

[0021] The input unit is configured to receive a first medical image of the patient. The input unit is configured to receive a first 3D image of the patient, the data for the first 3D image being acquired substantially simultaneously with the acquisition of the first medical image. The input unit is configured to receive a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data for the first 3D image. The input unit is configured to receive a selection of a region of interest within the first medical image. The processing unit is configured to transform the region of interest within the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data for the first 3D image, the transformation involving the use of the first geometric relationship. A medical image scanner is configured to acquire a second medical image of the patient. A 3D data acquisition system is configured to acquire a second 3D image of the patient. The processing unit is configured to access a second geometric relationship between the medical image scanner used to acquire the second medical image of the patient and the 3D data acquisition system that acquired the second 3D image of the patient. The first geometric relationship is different from the second geometric relationship. The processing unit is configured to determine at least one scan parameter of a medical imaging scanner used to acquire a second medical image of the patient. This determination involves the use of the second geometric relationship and the 3D region of interest in the coordinate system of the imaging system that acquired the data for the first and second 3D images. The processing unit is configured to control the medical imaging scanner with respect to at least one scan parameter of the medical imaging system used to acquire a second medical image of the patient.

[0022] In one example, at least one scan parameter includes a 3D region of interest in the coordinate system of a medical imaging scanner used to acquire a second medical image (X2) of the patient.

[0023] In a third aspect, a medical scan planning method comprising: receiving a first medical image of a patient by an input unit; receiving a first 3D image of a patient by an input unit, wherein the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image; receiving a first geometric relationship between an imaging system that acquired the first medical image and an imaging system that acquired the data of the first 3D image by an input unit; receiving a selection of a region of interest in the first medical image by an input unit; and converting the region of interest in the first medical image into a three-dimensional region of interest in the coordinate system of the imaging system that acquired the data of the first 3D image by a processing unit, wherein the conversion includes utilizing the first geometric relationship; and receiving a second 3D image D2 of a patient by an input unit. A medical scan planning method is provided, comprising the steps of: receiving; receiving a second geometric relationship between an imaging system used to acquire a second medical image of a patient and an imaging system that acquired a second 3D image, wherein the first geometric relationship is different from the second geometric relationship; determining, by a processing unit, at least one scan parameter for the imaging system used to acquire the second medical image of the patient, wherein the determination includes utilizing the region of interest and the second geometric relationship in the coordinate system of the imaging system that acquired the data of the first 3D image and the second 3D image; and outputting, by an output unit, at least one scan parameter for the imaging system used to acquire the second medical image of the patient.

[0024] In a fourth embodiment, a medical scanning method comprising: receiving a first medical image of a patient by an input unit; receiving a first 3D image of a patient by an input unit, wherein the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image; receiving a first geometric relationship between an imaging system that acquired the first medical image and an imaging system that acquired the data of the first 3D image by an input unit; receiving a selection of a region of interest in the first medical image by an input unit; and converting the region of interest in the first medical image into a 3D region of interest in the coordinate system of an imaging system that acquired the data of the first 3D image by a processing unit, wherein the conversion includes utilizing the first geometric relationship; and acquiring a second 3D image of a patient by a 3D data acquisition system. A medical scanning method is provided, comprising the steps of: acquiring an image; a processing unit accessing a second geometric relationship between a medical image scanner used to acquire a second medical image of the patient and a 3D data acquisition system that acquired a second 3D image of the patient; a processing unit determining at least one scan parameter of the medical image scanner used to acquire a second medical image of the patient, wherein the determination includes utilizing the 3D region of interest in the coordinate system of the imaging system that acquired the data for the first 3D image and the second 3D image, and the second geometric relationship; and acquiring a second medical image of the patient by the medical image scanner, wherein the determination includes utilizing at least one scan parameter of the medical image scanner used to acquire the second medical image of the patient.

[0025] In one embodiment, a computer program is provided for controlling a device according to a first embodiment, which, when executed by a processor, is configured to perform the method of a fourth embodiment.

[0026] In one aspect, there is provided a computer program for controlling a system according to a second aspect, which is configured to execute the method of the fourth aspect when executed by a processor.

[0027] In one aspect, there is provided a computer program for controlling a system according to a third aspect, which is configured to execute the method of the fourth aspect when executed by a processor.

[0028] Thus, according to some aspects, there is provided a computer program for controlling one or more of the aforementioned devices / systems, which is configured to execute the aforementioned method when executed by a processor.

[0029] According to another aspect, there is provided a computer-readable medium storing a computer program as described above.

[0030] The computer program can be, for example, a software program, but may also be an FPGA, a PLD, or other suitable digital means.

[0031] Advantageously, the advantages provided by any of the above aspects equally apply to all other aspects, and vice versa.

[0032] The above aspects and examples will become apparent and be described in reference to the embodiments described below.

[0033] Hereinafter, embodiments will be described with reference to the drawings.

Brief Description of the Drawings

[0034] [Figure 1] A diagram showing an example of a medical scan planning device. [Figure 2] A diagram showing an example of a medical scan system. [Figure 3]A diagram illustrating an example of a medical scan planning method. [Figure 4] A diagram illustrating an example of a medical scanning method. [Figure 5] A diagram illustrating a detailed workflow for a medical scan planning device and / or medical scan system. [Figure 6] A diagram illustrating the detailed workflow related to a medical scan planning device and / or medical scan system. [Modes for carrying out the invention]

[0035] Figure 1 shows an example of a medical scan planning device, which comprises an input unit 10, a processing unit 20, and an output unit 30.

[0036] Input unit 10 is configured to receive a first medical image X1 of the patient. Input unit 10 is configured to receive a first 3D image D1 of the patient, the data of which is acquired approximately simultaneously with the acquisition of the first medical image X1. Input unit 10 is configured to receive a first geometric relationship G1 between the imaging system that acquired the first medical image X1 and the imaging system that acquired the data of the first 3D image D1. Input unit 10 is configured to receive a selection of a region of interest R1 in the first medical image X1. The processing unit is configured to transform the region of interest R1 in the first medical image X1 into a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1, the transformation of which includes utilizing the first geometric relationship G1. Input unit 10 is configured to receive a second 3D image D2 of the patient. The input unit 10 is configured to receive a second geometric relationship G2 between an imaging system used to acquire a second medical image X2 of the patient and an imaging system that acquired a second 3D image D2. The processing unit 20 is configured to determine at least one scan parameter of the imaging system used to acquire the second medical image X2 of the patient, which includes utilizing the 3D region of interest R2 in the coordinate system of the imaging system that acquired the data for the first 3D image D1 and the second 3D image D2, and the second geometric relationship G2. The output unit 30 is configured to output at least one scan parameter of the imaging system used to acquire the second medical image X2 of the patient.

[0037] Regarding input units, these may actually be part of the processing unit, or they may be separate units that provide data to the processing unit.

[0038] Regarding the output unit, it may actually be part of the processing unit, or it may be a separate unit that provides data to the processing unit.

[0039] It should be noted that the depth measurement D1 can be acquired by any hardware capable of sensing the patient's 3D surface (or a segment thereof). This may include, for example, depth cameras using time-of-flight measurement or stereo camera configurations, LiDAR, radar, or ultrasonic systems. Furthermore, multiple such sensors can be used, provided they are arranged in a known or measured spatial configuration. Alternatively, an RGB-D camera or an RGB camera alone may be used (the latter equipped with an algorithm for estimating a depth map from a color image; see, for example, Figure 7 in M. Oquab et al DINOv2: Learning Robust Visual Features without Supervision https: / / arxiv.org / pdf / 2304.07193.pdf). Regardless of how the depth measurement is implemented, it is sufficient to ensure that the first geometric relationship G1 and the depth measurement D1 are sufficiently accurate.

[0040] A first geometric relationship G1 between the imaging system that acquires the first medical image X1 and the imaging system that acquires the data for the first 3D image D1 is important. Ideally, this means that there should be no patient movement between the acquisition of the first medical image X1 and the acquisition of the first 3D image D1. This can be easily achieved by acquiring both images simultaneously or nearly simultaneously so that patient movement is negligible. However, if there is a long waiting time between the acquisition of the first medical image X1 and the acquisition of the first 3D image D1, potential patient movement (including, for example, rigid movement, inhalation, and changes in posture) can be detected and compensated for (e.g., by using a patient avatar model).

[0041] Similarly, a second geometric relationship G2 between the imaging system used to acquire the second medical image X2 of the patient and the imaging system that acquired the second 3D image D2 is important. This is because if the patient moves (in an unknown way) between the acquisition of the second 3D image D2 and the acquisition of the second medical image X2, the patient's movement may affect the estimated scan region R3. Ideally, the patient would be monitored by a depth camera (or similar other 3D data acquisition system) until the acquisition of the second medical image X2 so that the patient's movement up to the acquisition of the second medical image X2 can be taken into account in the scan plan. However, in the case of CT / MRI scans, the second 3D image D2 can be acquired while the patient is lying on the table but has not yet been moved into the scanner, and then known table movement where the table enters the scanner can be taken into account.

[0042] In one example, a region of interest R1 within the first medical image X1 is selected by a healthcare professional.

[0043] For example, the imaging system that acquired the first medical image X1 is a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

[0044] For example, the imaging system used to acquire a second medical image X2 of a patient may be a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

[0045] For example, the imaging system that acquired the data for the first 3D image D1 differs from the imaging system that acquired the first medical image X1, as the data for the first 3D image D1 was acquired by the 3D imaging system.

[0046] For example, if the first medical image X1 is acquired by a CT or MRI unit, and the image is inside the patient or contains only a small portion of the patient's skin, a separate depth camera is used.

[0047] For example, the 3D imaging system that acquires the data of the first 3D image D1 was a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0048] For example, the imaging system that acquired the data for the first 3D image D1 is the same imaging system that acquired the first medical image X1, and the data for the first 3D image D1 is derived by segmenting the outer surface of the patient in the first medical image X1.

[0049] For example, if the first medical image X1 is acquired by a CT or MRI unit and the image covers a sufficiently large segment of the patient's surface (in extreme cases: a whole-body scan), the depth measurement D1 can also be derived by segmenting the patient's skin surface within the first medical image X1 (e.g., using intensity thresholding for CT, or CNN for MRI).

[0050] For example, the imaging system that acquired the second 3D image D2 was a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0051] For example, at least one scan parameter includes a 3D region of interest R3 in the coordinate system of the imaging system used to acquire a second medical image X2 of the patient.

[0052] Therefore, the imaging system establishes the area within the space to be scanned, and the patient is positioned appropriately or is scheduled to be positioned, and this scanned area corresponds to a selected area on another image. In this way, scans such as CT scans or MRI scans can be performed more effectively and quickly when the correct area of ​​the patient to be scanned is determined from previously acquired images. Thus, the usage time of the CT scanner or MRI scanner can be reduced, and the patient's X-ray dose in a CT scan can be minimized.

[0053] Ideally, the patient should be monitored with a depth camera (or similar other 3D data acquisition system) until the acquisition of the second medical image X2, so that the patient's movement until the acquisition of the second medical image X2 can be taken into account in the scan plan. However, in the case of CT / MRI scans, the second 3D image D2 can be acquired while the patient is lying on the table but has not yet been moved into the scanner, and then the known movement of the table into the scanner can be taken into account. Therefore, in this case, the movement of the table must be taken into account when estimating the 3D region of interest R3.

[0054] For example, the imaging system used to acquire a second medical image X2 of the patient is an ultrasound system, and at least one scan parameter includes information to guide the ultrasound sensor to the required probe position and / or required probe angle.

[0055] Therefore, if a 3D region of interest R3 is defined for ultrasound examination X2, the user needs to be guided to the desired US probe position via projection onto the patient's surface, augmented reality, voice guidance, etc.

[0056] At least one scan parameter includes information about the imaging plane, i.e., the distance to the probe.

[0057] Information to guide the ultrasound sensor to the required probe position is necessary to guide the radiologist / technologist in positioning the probe accordingly. Therefore, this can serve as information to guide the radiologist / technologist regarding the position on the patient's body surface where the ultrasound probe should be positioned and the angle of the ultrasound probe relative to the patient's body surface. In this way, the feedback system can identify information regarding the probe's position / angle, determine the position and angle where the probe should be positioned, and guide the radiologist / technologist accordingly.

[0058] For example, at least one scan parameter includes the KVp value in a CT scan or X-ray scan, and / or the tube current in a CT scan or X-ray scan.

[0059] Therefore, methods for obtaining both the first medical image X1 and the second medical image X2 include fixed and mobile X-ray systems, MRI, CT, and ultrasound systems, and the modality of the first medical image X1 may be the same as or different from the modality of the second medical image X2.

[0060] Figure 2 shows an example of a medical scanning system comprising an input unit 10, a processing unit 20, a 3D data acquisition system 100, and a medical image scanner 110.

[0061] The input unit 10 is configured to receive a first medical image X1 of the patient. The input unit 10 is configured to receive a first 3D image D1 of the patient, the data of the first 3D image D1 being acquired at approximately the same time as the first medical image X1 was acquired. The input unit 10 is configured to receive a first geometric relationship G1 between the imaging system that acquired the first medical image X1 and the imaging system that acquired the data of the first 3D image D1. The input unit 10 is configured to receive a selection of a region of interest R1 in the first medical image X1. The processing unit is configured to transform the region of interest R1 in the first medical image X1 into a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1, and this transformation includes utilizing the first geometric relationship G1. The medical image scanner is configured to acquire a second medical image X2 of the patient. The 3D data acquisition system 100 is configured to acquire a second 3D image D2 of the patient. The processing unit 20 is configured to access a second geometric relationship G2 between a medical image scanner used to acquire a second medical image X2 of the patient and a 3D data acquisition system that acquired a second 3D image D2 of the patient. The processing unit 20 is configured to determine at least one scan parameter of the medical image scanner used to acquire the second medical image X2 of the patient, which includes utilizing the 3D region of interest R2 in the coordinate system of the imaging system that acquired the data for the first 3D image D1 and the second 3D image D2, and the second geometric relationship G2. The processing unit is configured to control the medical image scanner with respect to at least one scan parameter of the medical imaging system used to acquire the second medical image X2 of the patient.

[0062] In one example, a region of interest R1 within the first medical image X1 is selected by a healthcare professional.

[0063] In one example, the imaging system used to acquire the first medical image X1 was a fixed 2DX-ray system, a mobile 2DX-ray system, an ultrasound system, an X-ray CT system, or an MRI system.

[0064] In one example, the medical imaging scanner used to acquire a second medical image X2 of the patient may be a fixed 2DX-ray system, a mobile 2DX-ray system, an ultrasound system, an X-ray CT system, or an MRI system.

[0065] In one example, the imaging system that acquired the data for the first 3D image D1 differed from the imaging system that acquired the first medical image X1, as the data for the first 3D image D1 was acquired by the 3D imaging system.

[0066] In one example, the imaging system that acquired the data for the first 3D image D1 is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0067] In one example, the imaging system that acquired the data for the first 3D image D1 was the same as the imaging system that acquired the first medical image X1, and the data for the first 3D image D1 was derived by segmenting the outer surface of the patient in the first medical image X1.

[0068] In one example, the first medical image X1 was acquired by a CT or MRI scanner.

[0069] In one example, the 3D data acquisition system 100 that acquired the second 3D image D2 is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0070] For example, at least one scan parameter has a 3D region of interest R3 in the coordinate system of a medical imaging scanner used to acquire a second medical image X2 of the patient.

[0071] Ideally, the patient should be monitored with a depth camera (or similar other 3D data acquisition system) until the acquisition of the second medical image X2, so that the patient's movement can be taken into account in the scan plan until the acquisition of the second medical image X2. However, in the case of CT / MRI scans, the second 3D image D2 can be acquired while the patient is lying on the table but has not yet been moved into the scanner, and then the known movement of the table into the scanner can be taken into account; therefore, in this case, the movement of the table needs to be taken into account when estimating the 3D region of interest R3.

[0072] In one example, the medical imaging scanner used to acquire a second medical image X2 of the patient is an ultrasound system, and at least one scan parameter includes information to guide the ultrasound sensor to the required probe position and / or required probe angle.

[0073] At least one scan parameter includes information about the imaging plane, i.e., the distance to the probe.

[0074] In one example, at least one scan parameter includes the kVp value for a CT scan or X-ray scan and / or the tube current for a CT scan or X-ray scan.

[0075] Figure 3 shows a medical scan planning method 200, which includes the steps of: receiving a first medical image X1 of a patient by an input unit 10 (210); receiving a first 3D image D1 of a patient by an input unit 10 (220), wherein the data of the first 3D image D1 is acquired substantially simultaneously with the acquisition of the first medical image X1; receiving a first geometric relationship G1 between the imaging system that acquired the first medical image X1 and the imaging system that obtained the data of the first 3D image D1 by an input unit (230); receiving a selection of a region of interest R1 in the first medical image X1 by an input unit 10 (240); and converting the region of interest R1 in the first medical image X1 to a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1 by a processing unit (250), wherein this conversion is performed by a first geometric relationship The process includes the steps of: utilizing a geometric relationship G1; receiving a second 3D image D2 of a patient by an input unit 10 (260); receiving a second geometric relationship G2 between an imaging system used to acquire a second medical image X2 of a patient and the imaging system that acquired the second 3D image D2 by an input unit 10 (270); determining at least one scan parameter of the imaging system used to acquire a second medical image X2 of a patient by a processing unit 20 (280), wherein the determination includes utilizing a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1 and the second 3D image D2, and the second geometric relationship G2; and outputting at least one scan parameter of the imaging system used to acquire a second medical image X2 of a patient by an output unit 30 (290).

[0076] In one example, the region of interest R1 within the first medical image X1 is selected by a healthcare professional.

[0077] In one example, the imaging system that acquired the first medical image X1 is a fixed 2DX-ray system, a mobile 2DX-ray system, an ultrasound system, an X-ray CT system, or an MRI system.

[0078] In one example, the imaging system used to acquire a second medical image X2 of the patient may be a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

[0079] In one example, the imaging system that acquired the data for the first 3D image D1 differed from the imaging system that acquired the first medical image X1, as the data for the first 3D image D1 was acquired by the 3D imaging system.

[0080] In one example, the 3D imaging system that acquired the data for the first 3D image D1 is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0081] In one example, the imaging system that acquired the data for the first 3D image D1 was the same as the imaging system that acquired the first medical image X1, and the data for the first 3D image D1 was derived by segmenting the outer surface of the patient in the first medical image X1.

[0082] In one example, the imaging system that acquired the second 3D image D2 was a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0083] In one example, at least one scan parameter includes a 3D region of interest R3 in the coordinate system of the imaging system used to acquire a second medical image X2 of the patient.

[0084] In one example, the imaging system used to acquire a second medical image X2 of the patient is an ultrasound system, and at least one scan parameter includes information to guide the ultrasound sensor to the required probe position and / or required probe angle.

[0085] In one example, at least one scan parameter includes the kVp value for a CT scan or X-ray scan and / or the tube current for a CT scan or X-ray scan.

[0086] Figure 4 shows a medical scanning method 300, which includes the steps of: receiving a first medical image X1 of a patient by an input unit 10 (310); receiving a first 3D image D1 of a patient by an input unit 10 (320), wherein the data of the first 3D image D1 is acquired substantially simultaneously with the acquisition of the first medical image X1; and receiving the data of the first 3D image D1 from the imaging system that acquired the first medical image X1 by the input unit 10. Steps include: receiving a first geometric relationship G1 with the acquired imaging system (330); receiving a selection of a region of interest R1 in the first medical image X1 by the input unit 10 (340); and converting the region of interest R1 in the first medical image X1 into a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1 by the processing unit (350), wherein the conversion includes a step of utilizing the first geometric relationship G1; and 3D The process includes the steps of: acquiring a second 3D image D2 of the patient by a data acquisition system 100 (360); accessing a second geometric relationship G2 between a medical image scanner used to acquire a second medical image X2 of the patient and a 3D data acquisition system that acquired the second 3D image D2 of the patient by a processing unit 20 (370); determining at least one scan parameter of the medical image scanner used to acquire the second medical image X2 of the patient by the processing unit 20 (380), wherein the determination includes utilizing a 3D region of interest R2 in the coordinate system of the imaging system that acquired the data of the first 3D image D1 and the second 3D image D2, and the second geometric relationship G2; and acquiring a second medical image X2 of the patient by a medical image scanner (390), wherein the medical image scanner uses at least one scan parameter of the medical image scanner used to acquire the second medical image X2 of the patient.

[0087] In one example, the region of interest R1 within the first medical image X1 is selected by a healthcare professional.

[0088] In one example, the imaging system used to acquire the first medical image X1 was a fixed 2DX-ray system, a mobile 2DX-ray system, an ultrasound system, an X-ray CT system, or an MRI system.

[0089] In one example, the medical imaging scanner may be a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

[0090] In one example, the imaging system that acquired the data for the first 3D image D1 differed from the imaging system that acquired the first medical image X1, as the data for the first 3D image D1 was acquired by the 3D imaging system.

[0091] In one example, the imaging system that acquired the data for the first 3D image D1 is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0092] In one example, the imaging system that acquired the data for the first 3D image D1 was the same as the imaging system that acquired the first medical image X1, and the data for the first 3D image D1 was derived by segmenting the outer surface of the patient in the first medical image X1.

[0093] In one example, the first medical image X1 was acquired by a CT or MRI scanner.

[0094] In one example, the 3D data acquisition system 100 that acquired the second 3D image D2 is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

[0095] In one example, at least one scan parameter includes a 3D region of interest R3 in the coordinate system of the medical imaging scanner used to acquire a second medical image X2 of the patient.

[0096] In one example, the medical imaging scanner is an ultrasound system, and at least one scan parameter includes information for guiding the ultrasound sensor to the required probe position and / or probe angle.

[0097] In one example, at least one scan parameter includes a kVp value for a CT scan or X-ray scan, and / or a tube current for a CT scan or X-ray scan.

[0098] Next, with reference to Figures 5 and 6, we will specifically describe the medical scan planning device, medical scan system, medical scan planning method, and medical scan method.

[0099] The following concerns the use of 2DX-ray images as a first image to help plan the acquisition of subsequent CT or MRI images. It is important to understand that the first image can be acquired by various modalities, such as a fixed 2DX-ray unit, a mobile 2DX-ray unit, an ultrasound unit, an X-ray CT unit, or an MIR unit. Furthermore, the second, later acquired image can also be acquired by various modalities, such as a fixed 2DX-ray device, a mobile 2DX-ray device, an ultrasound device, an X-ray CT device, or an MRI device. The following MRI units or MRI scans are also referred to as MR units and MR scans.

[0100] As mentioned above, in CT / MR examinations, proper scan geometry planning is crucial to reduce dose (acquisition time) by imaging only the field of view necessary to answer clinical questions. Typically, scan geometry is determined by a localizer scan at the expense of additional dose and time resources.

[0101] The inventors of the present invention recognized that (i) X-ray examinations (or other image data) often serve as the starting point for further imaging examinations, and (ii) depth cameras are becoming widespread to assist in patient preparation. In such scenarios, the inventors realized that by using a combination of information obtained from X-ray examinations and recorded depth maps, CT (MR) scans can be planned in a patient-specific manner based on the actual symptoms.

[0102] This new technology relates to situations where X-ray images combined with depth maps have already been acquired prior to the CT (MR) scan, and the CT (MR) scan is typically directed to verify, rule out, or identify any signs of illness provided by the X-ray images.

[0103] Doing this has the following advantages:

[0104] Because localizer scans are no longer required, the amount of radiation the patient receives during CT scans has been reduced.

[0105] Reduced workload for technicians. This is because localizer scans are no longer required for CT / MRI examinations, eliminating the need for other preparatory work.

[0106] As a result, the data acquired from CT / MR scans becomes more focused, leading to a reduction in scan volume and the amount of interpretation / reporting required by radiologists.

[0107] This reduces communication barriers between radiologists / physicians (who interpret X-ray images and order CT / MRI scans of specific areas) and technicians who operate CT / MRI machines. These communication barriers are due to the fact that CT / MRI scan settings are driven by the radiologist's target input / selection of the patient's preceding X-ray images, which limits the specification of scan geometry.

[0108] Overall, the radiation dose and time resources required for CT / MR scans are reduced, and the ability to flexibly define patient- and symptom-specific 3D scan geometries improves the speed of image interpretation and report creation by radiologists.

[0109] Figure 3 schematically illustrates the main steps of a medical scan plan provided by the new technology.

[0110] A medical scan planning device that can be considered a CT / MR scan planning system that does not require a localizer, having the following: An X-ray system equipped with a depth camera with known geometric positional relationships, which records a depth map during X-ray acquisition; A module for outlining one or more 2D regions of interest within an X-ray image; A module that derives a 3D region of interest from recorded depth maps and outlined 2D regions of interest; CT scan / MR scanner with depth camera in known geometric configuration; A module that maps a 3D region of interest to the current patient posture using the geometry and depth camera signals from a CT / MR scanner; The required 3D scan geometry is derived from the latter 3D region of interest.

[0111] Refer to Figures 5 and 6, and the following steps will be applied.

[0112] During an X-ray examination, when acquiring an X-ray image X1, a depth image D1 of the patient is recorded using a depth camera with a known geometric configuration G1 relative to the X-ray detector and X-ray tube. The geometric configuration G1 can be inferred from system parameters, sensors, or from depth image D1 by identifying markers attached to the detector. Since depth image D1 can be acquired simultaneously with X-ray image X1, the patient does not move between the two; however, a time delay may occur between them, and if the patient's movement is known, the patient can be intentionally moved between the acquisition of depth image D1 and X-ray image X1.

[0113] If a patient is scheduled to undergo a follow-up CT / MR scan, a 2D region of interest R1 is outlined on the acquired X-ray image X1 by a radiologist or radiographer. Alternatively, the 2D region of interest R1 can be automatically determined, for example, using a segmentation or bounding box detection algorithm. This 2D region of interest R1 is then mapped to a 3D volume of interest R2 using a depth map D1 and geometry G1.

[0114] When preparing for a follow-up CT / MR examination, the 3D volume of interest R2 and a previously recorded depth map D1 are loaded from memory or the hospital's IT system. In the CT / MR examination room, the patient is observed by another depth camera with a known or measured geometric relationship G2 to the scanner. The resulting depth map (frame) D2 is registered with depth map D1 using, for example, a recurrent neural network or an iterative close-point algorithm operating on a 3D point cloud. Alternatively, both depth maps D1 and D2 can be registered to a rigid 3D human model (parameterized avatar, see http: / / www.makehumancommunity.org / ) using (global or local) rigid or deformable transformations. The resulting transformations are used to map the 3D volume of interest R2 to geometry G2, ultimately obtaining the desired field of view R3 of the CT / MR scan.

[0115] Other embodiments are as follows:

[0116] Organ and site-specific margins can be added to the 3D volume of interest R2 or R3 to ensure that anatomical structures of interest are not cropped out of the CT / MR scan field of view.

[0117] By incorporating anatomical information (such as the possible locations of organs) into the 3D avatar, it is also possible to limit the 3D volume of interest R3 along the direction of previous X-ray acquisition (i.e., the direction of the central beam).

[0118] Gravitational sag means that the positional relationship of the patient's body surface and organs differs between CT / MRI scans where the patient lies on a table and X-ray scans where the patient stands in front of a wall stand. This can be taken into account when matching depth maps D1 and D2, especially in the case of the abdomen. This can be achieved by combining a statistical model inferred from pairs of whole-body depth maps and MR scans in the same patient's upright position with skin and organ segmentation. By incorporating this statistical model into a 3D avatar, this change in organ landmarks from the patient's upright to recumbent position can be encoded into the estimated transformation from depth map D1 to D2. When the anatomical structures targeted in CT / MRI scans are soft tissues, it is more important to consider gravity-induced sag compared to scans targeting bone.

[0119] In addition to the field of view, other scan parameters (such as kVp or tube current in CT scans) can also be estimated from depth map D1, for example, by estimating the width of the relevant patient within the volume of interest.

[0120] In contrast-enhanced CT scans, the positions of locators and / or trackers can also be derived from depth maps D1 and D2 using anatomical information of the region of interest and location information of the ROI. For example, when scanning the liver, the locator should be set to the descending aorta at the level of the mid-lungs. Furthermore, if the 3D region of interest R1 corresponds to a multiview scan (e.g., if the multiview is associated with the presence of multiple images X1), the tracker position can also be estimated.

[0121] Specific embodiments of pathological anatomical structures that can be automatically detected and contoured in X-ray images include spinal curvature (scoliosis), which means that the boundaries of the 3D field of view (R2, R3) in the spinal scan need to be extended laterally accordingly. Another example is pathological lung dilation, which refers to a condition in which the diaphragm is abnormally flattened or descended in a specific region (e.g., the costophrenic angle), requiring the 3D FOV (R2, R3) to be extended caudally to prevent the lower part of the lung from being clipped. In rare cases, the position of the heart may be on the right side from the patient's perspective, which again means that the 3D FOV needs to be adjusted beyond the normal range of variation of its normally observed position.

[0122] When multiple X-ray images (e.g., chest PA and LAT) are acquired for an anatomical structure, a two-dimensional region of interest (ROI) can be manually or automatically contoured in each image (e.g., R1PA and R1LAT). The corresponding depth frames (e.g., D1PA and D1LAT) can be used to construct a more spatially confined 3D region of interest R2 compared to when only one X-ray view is available (information about the extent along the central beam axis can only be incorporated via a statistical model). This construction may require combining these depth frames with a 3D skin surface (or at least a partial view thereof) using structures from motion techniques, for example.

[0123] Thus, this new development relates to a device / system for localizer-free CT and MR scan (and other imaging modalities) planning that leverages the fact that X-ray examinations (and image data from other imaging modalities) often serve as the starting point for further medical imaging diagnosis. In one embodiment, this new development is based on recording a patient depth map at the moment of X-ray acquisition using a depth camera with a known orientation relative to the X-ray system. After defining the desired 2D field of view range within the acquired X-ray image, the recorded depth map is used to construct the corresponding 3D field of view. During preparation for a follow-up CT or MR scan, another depth camera with a known orientation relative to the CT or MR scanner is used. The 3D scan volume is determined by registering the image from the second depth camera to the depth map corresponding to the X-ray acquisition and transforming the desired 3D field of view accordingly. While this outline focuses on assisting the planning of subsequent CT or MR scans using 2D X-ray images, as mentioned above, both the first and second images can be from any of the various modalities.

[0124] In another exemplary embodiment, a computer program is provided that is configured to perform any method step of the method according to any of the embodiments described above on a suitable apparatus or system.

[0125] Therefore, the computer program may be stored in a computer unit, which may also be part of the embodiment. This computing unit may be configured to perform or trigger the steps of the method described above. Furthermore, the computing unit may be configured to operate the components of the system described above. The computing unit may be configured to operate automatically and / or to execute user instructions. The computer program may be loaded into the working memory of the data processor. Therefore, the data processor may be configured to perform the method according to one of the embodiments described above.

[0126] This exemplary embodiment of the present invention covers both computer programs that use the present invention from the outset and computer programs that, through updates, transform existing programs into programs that use the present invention.

[0127] Furthermore, a computer program may be able to provide all the steps necessary to carry out the procedure of an exemplary embodiment of the method described above.

[0128] According to another exemplary embodiment of the present invention, a computer-readable medium such as a CD-ROM or USB stick is provided, which stores the computer program described in the previous section.

[0129] Computer programs may be stored and / or distributed on appropriate media such as optical storage media or solid-state media provided with or as part of other hardware, but they may also be distributed in other forms, such as distribution via the Internet or other wired or wireless communication systems.

[0130] However, computer programs may also be provided via networks such as the World Wide Web and downloaded from such networks into the working memory of a data processor. According to another exemplary embodiment of the present invention, a medium for making a computer program available for download is provided, and the computer program is configured to perform the method according to one of the aforementioned embodiments of the present invention.

[0131] It should be noted that embodiments of the present invention are described with reference to different subject matter. In particular, some embodiments are described with reference to method-type claims, and other embodiments are described with reference to apparatus-type claims. However, those skilled in the art will understand from the above and below descriptions that, unless otherwise notified, any combination of features belonging to one type of subject matter, as well as any combination of features relating to different subject matter, are also disclosed in this application. However, all features can be combined to provide a greater synergistic effect than the simple sum of the features.

[0132] Although the present invention is illustrated and described in detail in the drawings and the foregoing description, such illustrations and descriptions should be considered illustrative and not limiting. The present invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments can be understood and achieved by those skilled in the art in carrying out the claimed invention, based on an examination of the drawings, disclosure and dependent claims.

[0133] In the claims, the words “comprising” do not exclude other components or steps, and the indefinite articles “a” or “an” do not exclude plurality. A single processor or other unit may perform the functions of several items mentioned in the claims. The mere fact that certain means are described in different dependent claims does not imply that combinations of these means cannot be used advantageously. No reference numeral in the claims should be construed as limiting its scope.

Claims

1. A medical scan planning device, Input unit and Processing unit and It has an output unit, The input unit is configured to receive a first medical image of the patient. The input unit is configured to receive a first 3D image of the patient, and the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image. The input unit is configured to receive a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data of the first 3D image. The input unit is configured to receive the selection of a region of interest within the first medical image. The processing unit is configured to convert the region of interest in the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data of the first 3D image, and the conversion includes utilizing the first geometric relationship. The input unit is configured to receive a second 3D image of the patient. The input unit is configured to receive a second geometric relationship between an imaging system used to acquire a second medical image of the patient and an imaging system that acquired the second 3D image. The processing unit is configured to determine at least one scan parameter of an imaging system used to acquire a second medical image of the patient, the determination comprising utilizing the 3D region of interest in the coordinate system of the imaging system from which the data of the first 3D image and the second 3D image were acquired, and the second geometric relationship, The first geometric relationship described above differs from the second geometric relationship described above. The device wherein the output unit is configured to output at least one scan parameter of an imaging system used to acquire the second medical image of the patient.

2. The apparatus according to claim 1, wherein the imaging system for acquiring the first medical image is one of a fixed two-dimensional X-ray unit, a mobile two-dimensional X-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit, and the imaging system used to acquire the second medical image of the patient is one of a fixed two-dimensional X-ray unit, a mobile two-dimensional X-ray unit, an ultrasound unit, an X-ray CT unit, or an MRI unit.

3. The apparatus according to claim 1 or 2, wherein the imaging system used to acquire the first medical image of the patient and the imaging system used to acquire the second medical image belong to different system modalities.

4. The apparatus according to any one of claims 1 to 3, wherein the imaging system that acquired the data of the first 3D image differs from the imaging system that acquired the first medical image, and the data of the first 3D image was acquired by the 3D imaging system.

5. The apparatus according to claim 4, wherein the 3D imaging system that acquired the data of the first 3D image was a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

6. The apparatus according to any one of claims 1 to 3, wherein the imaging system that acquired the data of the first 3D image is the same as the imaging system that acquired the first medical image, and the data of the first 3D image is derived by segmenting the outer surface of the patient in the first medical image.

7. The apparatus according to any one of claims 1 to 6, wherein the imaging system that acquires the second 3D image is a time-of-flight camera system, a stereo camera system, a LiDAR system, a radar system, an ultrasonic system, or an RGB-D system.

8. The apparatus according to any one of claims 1 to 7, wherein the at least one scan parameter includes a 3D region of interest in the coordinate system of the imaging system used to acquire the second medical image of the patient.

9. The apparatus according to any one of claims 1 to 8, wherein the imaging system used to acquire the second medical image of the patient is an ultrasound system, and the at least one scan parameter includes information for guiding the ultrasound sensor to a required probe position and / or a required probe angle.

10. The apparatus according to any one of claims 1 to 8, wherein the at least one scan parameter includes a KVp value for a CT scan or an X-ray scan, and / or a tube current for a CT scan or an X-ray scan.

11. A medical scanning system, Input unit and Processing unit and 3D data acquisition system and It has a medical image scanner, The input unit is configured to receive a first medical image of the patient. The input unit is configured to receive a first 3D image of the patient, and the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image. The input unit is configured to receive a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data of the first 3D image. The input unit is configured to receive the selection of a region of interest within the first medical image. The processing unit is configured to convert the region of interest in the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data of the first 3D image, and the conversion includes utilizing the first geometric relationship. The medical image scanner is configured to acquire a second medical image of the patient. The 3D data acquisition system is configured to acquire a second 3D image of the patient. The processing unit is configured to access a second geometric relationship between a medical image scanner used to acquire the second medical image of the patient and a 3D data acquisition system that acquires the second 3D image of the patient. The processing unit is configured to determine at least one scan parameter of a medical image scanner used to acquire the second medical image of the patient, the determination comprising using the 3D region of interest in the coordinate system of the imaging system that acquired the data of the first 3D image and the second 3D image, and the second geometric relationship, The first geometric relationship described above differs from the second geometric relationship described above. A medical scanning system wherein the processing unit is configured to control the medical image scanner with respect to at least one scan parameter of the medical imaging system used to acquire the second medical image of the patient.

12. The system according to claim 11, wherein the at least one scan parameter includes a 3D region of interest in the coordinate system of the medical image scanner used to acquire the second medical image of the patient.

13. A medical scan planning method, The input unit receives a first medical image of the patient, The input unit receives a first 3D image of the patient, wherein the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image. The input unit receives a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data of the first 3D image. The input unit receives the selection of a region of interest within the first medical image, A processing unit performs a step of transforming the region of interest in the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data for the first 3D image, wherein the transformation includes utilizing the first geometric relationship. The input unit receives a second 3D image of the patient, The input unit receives a second geometric relationship between an imaging system used to acquire a second medical image of the patient and an imaging system that acquired the second 3D image. The processing unit determines at least one scan parameter of an imaging system used to acquire the second medical image of the patient, wherein the determination includes utilizing the 3D region of interest in the coordinate system of the imaging system from which the data of the first 3D image and the second 3D image were acquired, and a second geometric relationship, wherein the first geometric relationship is different from the second geometric relationship. The steps include outputting the at least one scan parameter of the imaging system used to acquire a second medical image of the patient via an output unit, A method of having.

14. A medical scanning method, The input unit receives a first medical image of the patient, The input unit receives a first 3D image of the patient, wherein the data of the first 3D image is acquired substantially simultaneously with the acquisition of the first medical image. The input unit receives a first geometric relationship between the imaging system that acquired the first medical image and the imaging system that acquired the data of the first 3D image. The input unit receives the selection of a region of interest within the first medical image, A processing unit performs a step of transforming the region of interest in the first medical image into a 3D region of interest in the coordinate system of the imaging system that acquired the data for the first 3D image, wherein the transformation includes utilizing the first geometric relationship. The steps include acquiring a second 3D image of the patient using a 3D data acquisition system, The processing unit accesses a second geometric relationship between a medical image scanner used to acquire a second medical image of the patient and a 3D data acquisition system that acquired the second 3D image of the patient, wherein the first geometric relationship is different from the second geometric relationship. The processing unit determines at least one scan parameter of the medical image scanner used to acquire the second medical image of the patient, the determination comprising utilizing the 3D region of interest in the coordinate system of the imaging system that acquired the data of the first 3D image and the second 3D image, and the second geometric relationship. A step of acquiring the second medical image of the patient using the medical image scanner, comprising utilizing the at least one scan parameter of the medical image scanner used to acquire the second medical image of the patient, A method of having.

15. A computer program for controlling the apparatus according to any one of claims 1 to 10, wherein the computer program is configured to perform the method described in claim 13 when executed by a processor, or A computer program for controlling the system according to claim 11 or 12, configured to perform the method according to claim 14 when executed by a processor.

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