DE102008004468A1 - Interventional instrument i.e. catheter, guidance controlling method for patient, involves representing position-, orientation or movement related information in three dimensional image data record represented in display device - Google Patents
Interventional instrument i.e. catheter, guidance controlling method for patient, involves representing position-, orientation or movement related information in three dimensional image data record represented in display device Download PDFInfo
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- DE102008004468A1 DE102008004468A1 DE102008004468A DE102008004468A DE102008004468A1 DE 102008004468 A1 DE102008004468 A1 DE 102008004468A1 DE 102008004468 A DE102008004468 A DE 102008004468A DE 102008004468 A DE102008004468 A DE 102008004468A DE 102008004468 A1 DE102008004468 A1 DE 102008004468A1
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 title claims abstract description 18
- 230000004807 localization Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 14
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000002591 computed tomography Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002594 fluoroscopy Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/466—Displaying means of special interest adapted to display 3D data
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Gynecology & Obstetrics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Kontrolle der Führung eines interventionellen Instruments in einem stereographischen 3-D-Bilddatensatz des untersuchten Objekts.The The invention relates to a method for controlling the guidance of a interventional instruments in a stereographic 3-D image data set of the examined object.
3-D-Bilddatensätze, die mit Bildmodalitäten wie CT, MRT oder auch Ultraschall gewonnen wurden, lassen sich mittels moderner Displaytechnologien stereographisch darstellen. Zwar vermitteln diese Datensätze einem Betrachter einen sehr guten räumlichen Eindruck, allerdings ist die Datenaufnahme und Prozessierung dreidimensionaler Datensätze sehr zeitintensiv. Daher können dreidimensionale Datensätze nicht dazu verwendet werden, die Führung von interventionellen Instrumenten, wie z. B. einem Katheter, zu kontrollieren. Diese Echtzeitkontrolle wird nach dem Stand der Technik mit 2-D-Datensätzen, insbesondere mit Röntgendurchleuchtung, durchgeführt. Solche 2-D-Datensätze erlauben eine Zeitauflösung von bis zu 60 Bildern/Sekunde. Diese Echtzeit-2-D-Bilder lassen sich an der korrekten Position in das Bild des 3-D-Datensatzes einfügen, allerdings geht hierdurch der Tiefeneindruck verloren.3-D image data sets that with picture modalities like CT, MRI or ultrasound were obtained by means of stereographic display of modern display technologies. Although mediate these records a very good spatial impression to a viewer, however is the data acquisition and processing of three-dimensional data sets very much time-consuming. Therefore, you can three-dimensional data sets not be used to guide the interventional Instruments, such. As a catheter to control. These Real-time control is based on the state of the art with 2-D data sets, in particular with fluoroscopy. Such 2-D data sets allow a time resolution up to 60 frames / second. Leave these real-time 2-D images to fit in the correct position in the image of the 3-D dataset, however the depth impression is lost as a result.
Der Erfindung liegt damit die Aufgabe zugrunde, ein derartiges Verfahren anzugeben, bei dem der Tiefeneindruck des 3-D-Bildes nicht verloren geht.Of the Invention is therefore the object of such a method specify that the depth impression of the 3-D image is not lost.
Zur Lösung des Problems ist bei einem derartigen Verfahren erfindungsgemäß vorgesehen, dass mindestens eine das Instrument betreffende positions-, orientierungs- oder bewegungsbezogene Information stereographisch in dem an einer Anzeigeeinrichtung dargestellten stereographischen 3-D-Bilddatensatz dargestellt wird.to solution the problem is provided in such a method according to the invention that at least one position, orientation or motion-related information stereographically in the on Display device shown stereographic 3-D image data set is pictured.
Erfindungsgemäß wird also das Einfügen von Informationen vermieden, die den Tiefeneindruck des 3-D-Bildes zerstören könnten. Stattdessen wird eine stereographisch darstellbare Information verwendet, um die Kontrolle der Führung des interventionellen Instruments zu ermöglichen.Thus, according to the invention the insertion of Avoiding information that could destroy the depth impression of the 3-D image. Instead a stereographically representable information is used to the control of the leadership interventional instrument.
Vorzugsweise kann eine Information die Position der Spitze des Instruments sein. Da natürlicherweise die Spitze des Instruments als erste auf Hindernisse stößt, beziehungsweise Verletzungen hervorruft, ist eine Information über diese am zweckdienlichsten zur Kontrolle der Führung. Aufgrund der Beschaffenheit der herkömmlichen interventionellen Instrumente genügt eine Information über die Position der Spitze, um zu wissen, wie der Rest des Instruments ungefähr positioniert ist.Preferably An item of information may be the position of the tip of the instrument. As natural the tip of the instrument first encounters obstacles, respectively Injuries are the most appropriate information about them to control the leadership. Due to the nature of conventional interventional Instruments are enough an information about the position of the tip to know how the rest of the instrument approximately is positioned.
Zweckmäßigerweise kann eine gegebenenfalls weitere Information einen Bewegungsvektor der Spitze des Instruments sein. Um Verletzungen des zu untersuchenden oder therapierenden Objekts zu vermeiden, ist es auch hilfreich, neben der aktuellen Position die weitere Bewegung der Spitze des interventionellen Instruments abschätzen zu können. Ein Bewegungsvektor ist dabei aus den Komponenten der Größe der Geschwindigkeit und ihrer Richtung zusammengesetzt. Gerade die Darstellbarkeit der Bewegungsrichtung lässt mögliche Verletzungen vorhersehen, da ein Durchdringen oder Beschädigen eines Gewebes absehbar ist.Conveniently, If necessary, further information can be a motion vector be the tip of the instrument. To injury of the examined or therapeutic object, it is also helpful to next to the current position the further movement of the top of the to assess interventional instruments. A motion vector is thereby from components of the size of speed and their direction. Especially the representability of Movement direction leaves possible Foresee injuries, as a penetration or damage of a Tissue is foreseeable.
In besonders vorteilhafter Ausgestaltung kann eine Positionsbestimmung des Instruments mittels elektromagnetischer Mittel vorgenommen werden. Hierzu werden in der Spitze des Instruments Vorrichtungen angebracht, die sich dann während des Eingriffs von außen mit Hilfe eingestrahlter elektromagnetischer Felder ansprechen lassen. Durch diese Sensoreinrichtung lässt sich dann die Position der Spitze des Instruments genau bestimmen. Sind im Bereich der Spitze des interventionellen Instruments mehrere Vorrichtungen an verschiedenen Plätzen eingebaut und besitzt die Sensoreinrichtung räumlich verteil te Ortungssysteme, so lässt sich auch die Ausrichtung des Instruments genau bestimmen.In Particularly advantageous embodiment, a position determination of the instrument by means of electromagnetic means. For this purpose devices are placed in the tip of the instrument which then during the Intervention from the outside with the help of radiated electromagnetic fields. By this sensor device leaves then accurately determine the position of the tip of the instrument. Are several in the area of the tip of the interventional instrument Devices installed in different places and owns the sensor device spatially distribute te locating systems, so lets also determine the orientation of the instrument exactly.
Alternativ oder zusätzlich kann eine gegebenenfalls weitere Positionsbestimmung des Instruments mittels Röntgenortung, insbesondere mit einem Biplansystem, vorgenommen werden. Die Information, die so gewonnen wird, wird allerdings nicht direkt als Bild im 3-D-Datensatz dargestellt, es wird daraus nur die Position des Instruments berechnet. Wie oben bereits beschrieben, würde sonst der Tiefeneindruck des 3-D-Bildes zerstört werden. Mit der Röntgenortung kann eine Zeitauflösung von bis zu 60 Bildern/Sekunde erreicht werden, was bedeutet, dass ca. alle 15 ms eine neue Information zur Verfügung steht.alternative or additionally If necessary, further determination of the position of the instrument by means of X-ray localization, especially with a biplane system. The information, which is won, however, is not directly as a picture in the 3-D record shown, it is calculated from it only the position of the instrument. As already described above otherwise the depth impression of the 3-D image will be destroyed. With the X-ray location can be a time resolution of up to 60 frames / second, which means that about every 15 ms a new information is available.
Vorzugsweise kann die Positionsbestimmung des Instruments mehrmals pro Sekunde, insbesondere 10-mal pro Sekunde, durchgeführt werden. Einerseits will der Betrachter, der das interventionelle Instrument führt, möglichst zeitnah über die Position des Instruments informiert werden, andererseits ist insbesondere bei Verwendung von Röntgenortung eine zu hohe Strahlenbelastung zu vermeiden. Daher muss ein Kompromiss gefunden werden, der das verletzungsfreie Führen des Instruments erlaubt, und der das Objekt andererseits nicht zu sehr belastet. Durch eine zeitliche Auflösung von 10 Aufnahmen/Sekunde wird eine ausreichende Informationsdichte gewährleistet.Preferably can determine the position of the instrument several times a second, especially 10 times per second. On the one hand wants the viewer, who leads the interventional instrument, if possible timely about the position of the instrument is informed, on the other hand especially when using X-ray localization too high a radiation exposure to avoid. Therefore, a compromise has to be found, that the injury-free leadership of the instrument, and the object is not very stressed. Through a temporal resolution of 10 shots / second a sufficient information density is guaranteed.
Mit besonderem Vorteil kann aus einzelnen Messpunkten als Information eine Trajektorie und/oder ein Bewegungsvektor errechnet werden. Die Vorrichtungen, die die Ortung des Instruments vornehmen, können selbstverständlich nicht die Absichten desjenigen, der das Instrument führt, vorhersehen. Daher kann ein Bewegungsvektor aus einer wählbaren Anzahl der letzten Messpunkte als Trend extrapoliert werden. Aber auch das Verbinden der letzten Messpunkte zu einer Trajektorie ist möglich. Dadurch lässt sich der Weg des Instruments zurückverfolgen, insbesondere kann dadurch festgestellt werden, wenn kritische Stellen passiert wurden. Auf diese Art und Weise ist es beispielsweise möglich festzustellen, ob das interventionelle Instrument eventuell ein Gefäß eines Patienten verletzt haben könnte oder ob das Instrument gar nicht in der Nähe eines Gefäßes war.With particular advantage, a trajectory and / or a motion vector can be calculated from individual measuring points as information. The devices that detect the location of the instrument Of course, it is not possible to foresee the intentions of the person who runs the instrument. Therefore, a motion vector can be extrapolated from a selectable number of the last measurement points as a trend. But also the connection of the last measuring points to a trajectory is possible. As a result, the path of the instrument can be traced, in particular it can be determined when critical points have been passed. In this way, for example, it is possible to determine if the interventional instrument could have injured a patient's vessel or if the instrument was not near a vessel.
Vorzugsweise kann das Instrument als 3-D-Objekt im stereographischen 3-D-Bilddatensatz dargestellt werden. Eine Darstellung nicht nur der Spitze des Instruments sondern des gesamten Instruments vermittelt einen plastischeren Eindruck und erleichtert die Vorstellung des Betrachters.Preferably The instrument can be represented as a 3-D object in the stereographic 3-D image data set become. A representation not only of the tip of the instrument but of the entire instrument gives a more vivid impression and facilitates the viewer's imagination.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus den im Folgenden beschriebenen Ausführungsbeispielen sowie anhand der Zeichnungen. Dabei zeigen:Further Advantages, features and details of the invention will become apparent the embodiments described below and with reference to the Drawings. Showing:
Eine
zweite Möglichkeit
zur Durchführung des
erfindungsgemäßen Verfahrens
ist in
Wenn
man die Positionen, die durch aufeinanderfolgende Ortungen gewonnen
wurden, zusammen darstellt, erhält
man eine Trajektorie
Um
den Eindruck noch realistischer zu gestalten kann, wie
Claims (8)
Priority Applications (1)
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DE102008004468A DE102008004468A1 (en) | 2008-01-15 | 2008-01-15 | Interventional instrument i.e. catheter, guidance controlling method for patient, involves representing position-, orientation or movement related information in three dimensional image data record represented in display device |
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DE102008004468A DE102008004468A1 (en) | 2008-01-15 | 2008-01-15 | Interventional instrument i.e. catheter, guidance controlling method for patient, involves representing position-, orientation or movement related information in three dimensional image data record represented in display device |
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DE102008004468A1 true DE102008004468A1 (en) | 2009-07-23 |
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DE102008004468A Withdrawn DE102008004468A1 (en) | 2008-01-15 | 2008-01-15 | Interventional instrument i.e. catheter, guidance controlling method for patient, involves representing position-, orientation or movement related information in three dimensional image data record represented in display device |
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004044847A1 (en) * | 2002-11-13 | 2004-05-27 | Koninklijke Philips Electronics N.V. | Medical viewing system and method for detecting boundary structures |
WO2006067676A2 (en) * | 2004-12-20 | 2006-06-29 | Koninklijke Philips Electronics N.V. | Visualization of a tracked interventional device |
WO2007111570A2 (en) * | 2006-03-29 | 2007-10-04 | Bracco Imaging S.P.A. | Methods and apparatuses for stereoscopic image guided surgical navigation |
-
2008
- 2008-01-15 DE DE102008004468A patent/DE102008004468A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2004044847A1 (en) * | 2002-11-13 | 2004-05-27 | Koninklijke Philips Electronics N.V. | Medical viewing system and method for detecting boundary structures |
WO2006067676A2 (en) * | 2004-12-20 | 2006-06-29 | Koninklijke Philips Electronics N.V. | Visualization of a tracked interventional device |
WO2007111570A2 (en) * | 2006-03-29 | 2007-10-04 | Bracco Imaging S.P.A. | Methods and apparatuses for stereoscopic image guided surgical navigation |
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Effective date: 20130801 |