X-Ray VOI Positioning Using Robotic Travel Tracking
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Solution Overview
Problem
Current medical procedures for interventional procedures in hollow organs, such as the vascular system, require precise positioning of medical objects like catheters and guide wires, which is time-consuming and exposes patients to high x-ray doses when obtaining 3D images, especially in demanding vascular situations.
Innovation Solution
A method that uses a robotic system to move medical objects within the body, determining their position based on pre-recorded 3D volume images and measurement data from the robotic system's drive, allowing for quick and precise positioning without additional x-rays, and automatically adjusts the x-ray device to align the object at the isocenter for low-dose, high-quality 3D recordings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of the imaging device is performed to align the object at the isocenter for VOI recording, then positioning precision is improved, but time consumption increases significantly
Solution Approach 1:
The patent replaces the manual mechanical positioning system with an automated computer-controlled positioning system. The control unit automatically calculates the required positioning based on object detection data and robot movement data, then controls the imaging device to move to the correct position, eliminating manual intervention while maintaining precision.
Solution Approach 2:
The system performs self-positioning by automatically detecting the object's current position, calculating the required adjustment based on robot movement, and autonomously adjusting the imaging device's position without requiring operator intervention. The system serves itself by integrating detection, calculation, and positioning functions.
2Measurement precision
If the x-ray window is fully open to obtain 3D volume images, then imaging quality is improved, but radiation dose increases significantly
Solution Approach 1:
The patent applies local quality by restricting the x-ray window to only the volume of interest (VOI) containing the medical object, rather than opening the window fully. This localized imaging approach maintains diagnostic quality for the relevant area while minimizing radiation exposure to surrounding tissues and the patient.
Solution Approach 2:
The system performs partial action by acquiring 3D volume images only of the specific VOI containing the medical object, rather than imaging the entire field. This partial imaging approach provides sufficient diagnostic information while reducing the overall radiation dose compared to full-field imaging.
3Measurement precision
If additional position determining systems such as navigation systems are used to track object position, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges the position determination function into the existing imaging system by using the imaging device itself to detect the medical object's position. This integration eliminates the need for separate navigation systems, as the imaging system's detection capabilities are combined with the robot's movement data to achieve accurate position tracking.
Solution Approach 2:
The imaging device serves multiple functions: it not only provides diagnostic imaging but also performs position detection of the medical object. This multi-functionality eliminates the need for dedicated position determination systems, reducing overall system complexity while maintaining positioning accuracy.
Data Source
AI summary
Rapid and precise recording of a VOI is provided while monitoring a robot-assisted movement of a medical object through a hollow organ of a patient. For actuating an x-ray device that has a recording system, a user input for the recording of a recording region is accepted. A previously recorded three-dimensional volume image of at least part of the body, in particular of the hollow organ is provided. A length of travel covered by the object from measurement data and/or control data of the robotic system is ascertained. The current position of the object is ascertained on the basis of the three-dimensional volume image making use of the ascertained length of travel covered and a starting position of the object. The recording system of the imaging device is moved for isocentering and/or superimposing the recording region about the current position of the object. An image of the recording region is recorded.