Collision Avoidance for Medical Imaging Device Positioning
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Solution Overview
Problem
The existing methods for positioning medical imaging devices and patient positioning apparatuses are time-consuming and often result in non-collision-free acquisitions during 3D mapping, especially when the examination region is not centrally arranged with respect to patient geometry, requiring repeated fluoroscopy images and restricted lateral shifting due to the rotating C-arm.
Innovation Solution
A method that captures a representation of the examination object, identifies the examination region, and determines initial and further acquisition trajectories to ensure collision-free positioning of the medical imaging device and patient positioning apparatus, allowing for 3D reconstruction by aligning the isocenter of the device with the examination region and specifying permissible ranges of relative positioning, which includes repositioning within defined limits to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the examination region is positioned at the isocenter for 3D mapping, then the 3D reconstruction quality is improved, but the positioning time increases due to repeated fluoroscopy image acquisition
Solution Approach 1:
The system performs preliminary identification of the examination region and calculation of the optimal isocenter position before actual positioning. Acquisition trajectories are pre-planned and collision checks are performed in advance, allowing the imaging device to be directly positioned at the calculated isocenter without repeated fluoroscopy image acquisition, thus reducing positioning time while maintaining 3D reconstruction quality
Solution Approach 2:
The system uses fluoroscopy images to identify the examination region and calculate the isocenter position, then provides feedback by guiding the positioning of the imaging device to this calculated isocenter. This feedback mechanism eliminates the need for repeated trial-and-error positioning with fluoroscopy images, reducing time while ensuring accurate isocentering for 3D reconstruction
2Measurement precision
If lateral shifting of the patient positioning apparatus is used for isocentering, then the examination region can be positioned at the isocenter, but collision-free acquisition is restricted by the rotating C-arm
Solution Approach 1:
Instead of relying solely on lateral shifting of the patient positioning apparatus (one-dimensional adjustment), the system calculates the isocenter position based on the examination region location and plans acquisition trajectories in multiple dimensions. This allows the imaging device to reach the isocenter through coordinated movements in different spatial dimensions, bypassing collision restrictions while maintaining isocentering accuracy
Solution Approach 2:
The system dynamically plans acquisition trajectories that adapt to the specific geometric configuration of the examination object and C-arm position. Rather than using fixed lateral shifting patterns, the trajectories are adjusted in real-time to avoid collisions while achieving accurate isocentering, thereby maintaining both isocentering accuracy and operational flexibility
3Measurement precision
If multiple fluoroscopy images are acquired for isocentering, then the examination region can be brought into the isocenter, but the X-ray dose to the patient increases
Solution Approach 1:
The system performs preliminary identification of the examination region using a minimal number of fluoroscopy images or even a single image, then calculates the optimal isocenter position and plans the acquisition trajectory in advance. This preliminary action eliminates the need for repeated fluoroscopy image acquisition during positioning, significantly reducing patient X-ray dose while ensuring accurate examination region positioning at the isocenter
Solution Approach 2:
The system uses fluoroscopy images to identify the examination region and provides feedback by calculating and guiding the positioning to the calculated isocenter. This single-step feedback approach replaces the traditional multi-step trial-and-error fluoroscopy acquisition process, reducing patient X-ray dose while achieving accurate examination region positioning
Data Source
AI summary
A method for collision avoidance when positioning a medical imaging device and a patient positioning apparatus includes capturing a representation of an examination object, identifying an examination region based on representation, and identifying an initial acquisition trajectory around an initial isocenter, which enables a 3D reconstruction of the examination region. The imaging device and/or the patient positioning apparatus is positioned such that an isocenter of the medical imaging device coincides with the initial isocenter. A further acquisition trajectory is identified around one further isocenter, which enables a collision-free positioning of the imaging device and a 3D reconstruction of the examination region. The further isocenter specifies a permissible range for relative positionings of the imaging device and the patient positioning apparatus. The imaging device and/or the patient positioning apparatus is repositioned. Repositioning is limited to a permissible range of relative positionings.