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CN-115188446-B - Providing corrected data sets

CN115188446BCN 115188446 BCN115188446 BCN 115188446BCN-115188446-B

Abstract

The invention relates to a method for providing a corrected data set, comprising receiving a preoperative data set having an image and/or a model of an examination region of an examination object, receiving length information, wherein at least a part of a medical object is arranged intraoperatively in the examination region, wherein the length information has information about the length of the part of the medical object arranged in the examination region, determining a first positioning information about a virtual positioning of a predefined section of the part of the medical object arranged in the examination region based on the preoperative data set and the length information, receiving and/or determining a second positioning information about an actual positioning of the predefined section, determining a transformation rule for minimizing a deviation between the first positioning information and the second positioning information, generating the corrected data set by applying the transformation rule to the preoperative data set, and providing the corrected data set. The invention also relates to a system and a computer program product.

Inventors

  • M. Fister

Assignees

  • 西门子医疗有限公司

Dates

Publication Date
20260505
Application Date
20220322
Priority Date
20210322

Claims (13)

  1. 1. A method for providing a corrected data set, comprising: Receiving a preoperative data set having an image and/or model of an examination region of an examination object, -Receiving the length information in-tervals, Wherein at least a portion of the medical object is arranged intraoperatively in the examination region, Wherein the length information has information about the length of a portion of the medical object arranged in the examination region, Determining first positioning information regarding virtual positioning of a predefined section of a portion of a medical object arranged in an examination region based on the preoperative data set and the length information, Receiving and/or determining second positioning information about the actual positioning of the predefined section, Determining a transformation rule for minimizing a deviation between the first positioning information and the second positioning information, Generating a corrected data set by applying the transformation rules to the pre-operative data set, -Providing a corrected data set.
  2. 2. The method according to claim 1, Wherein the pre-operative data set has planning information about a planned movement trajectory of the medical object in the examination region, Wherein the first positioning information is additionally determined based on the planning information.
  3. 3. The method according to claim 1 or 2, Wherein a predefined section of the medical object is already positioned in the examination zone by means of the mobile device before the method starts, Wherein the mobile device is configured for holding and/or moving a medical object at least partially arranged in the mobile device, Wherein the length information is provided by the mobile device.
  4. 4. The method according to claim 1 or 2, Wherein the preoperative dataset has a centerline model of at least one hollow organ of the examination subject, Wherein at least a portion of the medical object is intraoperatively disposed in at least one hollow organ, Wherein the transformation rules comprise rules for deformation of at least one centerline of the centerline model.
  5. 5. The method according to claim 1 or 2, Wherein the intra-operative data set is received, Wherein the determining of the second positioning information comprises positioning the predefined section in the intraoperative dataset.
  6. 6. The method according to claim 5, Wherein the spatial course of the predefined section is identified in the intraoperative data set, Wherein the determination of the transformation rules comprises minimizing a deviation between at least one centerline and a spatial trend of the predefined section.
  7. 7. The method according to claim 6, wherein the method comprises, Wherein the intraoperative data set has a projection image of the examination object, Wherein the spatial course of a predefined section is identified in the projection image by means of a deformation model of the medical object.
  8. 8. The method of claim 7, wherein the deformation model is based on material parameters and/or operational parameters of a medical object.
  9. 9. The method according to claim 1 or 2, wherein the second positioning information is provided by an acquisition unit for acquiring an actual positioning of a predefined section.
  10. 10. A system for providing corrected data sets comprises a mobile device, an acquisition unit and a providing unit, Wherein the mobile device is configured for holding and/or moving a medical object at least partially arranged in the mobile device in an operating state of the system, Wherein, in the operating state of the system, at least a part of the medical object is arranged in an examination region of an examination object, Wherein the mobile device is configured for providing length information with information about the length of a portion of the medical object arranged in the examination region, Wherein the providing unit is configured to: For receiving a preoperative dataset of images and/or models of an examination region with an examination subject, First positioning information for determining a virtual positioning of a predefined section of a portion of a medical object arranged in an examination region based on the preoperative data set and the length information, Wherein the acquisition unit is configured to: For acquiring the actual positioning of the predefined section, For providing second positioning information about the actual positioning of the predefined section, Wherein the providing unit is further configured to: determining a transformation rule for minimizing a deviation between the first positioning information and the second positioning information, For generating a corrected data set by applying the transformation rules to the pre-operative data set, -Providing a corrected data set.
  11. 11. The system according to claim 10, Wherein the acquisition unit is configured as a medical imaging device, Wherein the medical imaging device is configured for recording a intraoperative dataset of an examination region, Wherein the providing unit is further configured to determine the second positioning information by positioning a predefined section in the intraoperative data set.
  12. 12. The system according to claim 10 or 11, Wherein the providing unit is further configured to: For receiving user input with a preset of target positioning and/or movement of a predefined section, For determining a control preset based on the corrected data set and the user input, For providing said control preset to said mobile device, Wherein the moving means is further configured to move the medical object in accordance with the control preset.
  13. 13. A computer program product having a computer program directly loadable into the memory of a providing unit, the computer program having program segments for performing all the steps of the method according to any of claims 1 to 9 when the program segments are executed by the providing unit.

Description

Providing corrected data sets Technical Field The invention relates to a method, a system and a computer program product for providing corrected data sets. Background Medical objects, such as guidewires and/or catheters, are often introduced into blood vessels while treating and/or examining changes at the blood vessels of the examination object. For the imaging real-time monitoring of intravascular medical objects, X-ray projection images are usually recorded under the application of a contrast medium, in particular iodine-containing. Typically, for example, endovascular aortic repair (english, endovascular aortic repair, EVAR) is performed under fluoroscopy-controlled conditions on an angiographic system. By registering the preoperatively recorded image data set with one of the X-ray projection images and subsequently superimposing, a saving of contrast agent to be applied can generally be achieved. However, in this case, it is often disadvantageous that deformations or deformations of the blood vessel and/or surrounding tissue may occur as a result of the placement of the medical object in the blood vessel, which deformations are not mapped in the preoperative image data set. For correcting deformations in the preoperative image dataset, usually a deformation model is used, which is manually adjusted time-consuming on the basis of material parameters of the medical object and/or on the basis of a plurality of X-ray projection images, which have been recorded under the application of a contrast agent. In this case, the correction of the preoperative image data record is often not sufficiently accurate, in particular at the opening (Ostien) and/or at the vessel bifurcation. Disclosure of Invention The object of the present invention is therefore to improve the intraoperative acquisition and/or imaging of an anatomical structure of a medical object arranged therein. According to the invention, the above technical problem is solved by the corresponding content according to the invention. Advantageous embodiments with suitable modifications are also the subject matter of the invention. The invention relates in a first aspect to a method for providing a corrected data set. In this case, a preoperative dataset is received with an image and/or model of an examination region of the examination subject. Further, length information is received. At least a part of the medical object is arranged in the examination region during surgery. Furthermore, the length information has information about the length of the portion of the medical object arranged in the examination region. Furthermore, first positioning information about the virtual positioning of a predefined section of the portion of the medical object arranged in the examination region is determined based on the preoperative dataset and the length information. Furthermore, second positioning information about the actual positioning of the predefined section is received and/or determined. Furthermore, a transformation rule is determined for minimizing a deviation between the first and second positioning information. The corrected data set is then generated by applying the transformation rules to the pre-operative data set. Furthermore, a corrected data set is provided. The steps described above may advantageously be performed sequentially and/or at least partially simultaneously. Furthermore, the above-described steps can advantageously be repeatedly performed in the event of a change in the arrangement of the part of the medical object arranged in the examination region, in particular a change in the length information. The examination object may be, for example, a human patient and/or an animal patient and/or an examination phantom, in particular a vascular phantom. Furthermore, the examination region may describe a spatial section of the examination object, which may comprise, for example, an anatomical structure of the examination object, in particular a hollow organ. The hollow organ can be formed, for example, as a blood vessel segment, in particular an artery and/or vein, and/or a blood vessel tree and/or a heart and/or a lung and/or a liver. The medical object may be configured, for example, as an elongated surgical and/or diagnostic instrument in particular. In particular, the medical object may be at least partially bendable and/or rigid. For example, the medical object may be configured as a catheter and/or an endoscope and/or a guide wire (english). Furthermore, the medical object can be inserted at least partially into the examination object intraoperatively, in particular by means of an insertion gate, so that a predefined section of the medical object is arranged within the examination object, in particular in the hollow organ. The portion of the medical object arranged in the examination region may in particular describe a distal region of the medical object, in particular a spatial section of the medical object between the tip and the insertion