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CN-121985920-A - FORS docking top position and orientation and device access location detection from device shape data

CN121985920ACN 121985920 ACN121985920 ACN 121985920ACN-121985920-A

Abstract

The invention relates to a system for estimating the orientation of a mount (DT) of an elongated shape sensing enabled Interventional Device (ID), said mount (DT) being mounted on a Patient Table (PT) on which a patient (P) lies and said Interventional Device (ID) being connected to the mount (DT), said Interventional Device (ID) being inserted into the patient's body at a device access site (BA, FA), said Interventional Device (ID) providing 3D shape sensing data of its shape, said 3D shape sensing data being separable into a proximal Part (PS) of the Interventional Device (ID) near the mount (DT), an access part (AS) of the Interventional Device (ID) near the device access site (BA, FA) and a distal part (DS) of the Interventional Device (ID) near the distal end, said system comprising a Control Unit (CU) configured to divide the 3D shape sensing data of the mounted and used Interventional Device (ID) into proximal, access and distal parts and to estimate the orientation of the proximal part (DT) according to the proximal and distal parts.

Inventors

  • L. Salish
  • A. Tolyerson
  • T M de Delong
  • H. Manderko

Assignees

  • 皇家飞利浦有限公司

Dates

Publication Date
20260505
Application Date
20240923
Priority Date
20240102

Claims (16)

  1. 1. A system for estimating an orientation of a mount (DT) of an elongated shape sensing enabled Interventional Device (ID), the mount (DT) being mounted on a Patient Table (PT) on which a patient (P) lies and the Interventional Device (ID) being attached to the mount (DT), the Interventional Device (ID) being inserted into a body of the patient at a device access site (BA, FA), the Interventional Device (ID) providing 3D shape sensing data of its shape, the 3D shape sensing data being separable into a proximal Portion (PS) of the Interventional Device (ID) near the mount (DT), an access portion (AS) of the Interventional Device (ID) near the device access site (BA, FA) and a distal portion (DS) of the Interventional Device (ID) near a distal end, the system comprising a Control Unit (CU) configured to: Dividing the 3D shape sensing data of the installed and used Interventional Device (ID) into a proximal portion, an access portion and a distal portion, and The orientation of the fixture (DT) is estimated from data of the proximal portion, the access portion and the distal portion.
  2. 2. The system according to claim 1, wherein the Control Unit (CU) is configured to provide data of the proximal portion, the access portion and the distal portion AS vector data of vectors fitted to the proximal Portion (PS), the access portion (AS) and the distal portion (DS) of the Interventional Device (ID).
  3. 3. The system according to claim 1, wherein the Control Unit (CU) is configured to: Determining a first angle (theta 1 ) between the distal portion (DS) and the access portion (AS) based on the distal portion and the access portion, An entry site or entry type of the Interventional Device (ID) into the patient's body, such as a humerus or a thigh, is estimated based on the first angle (θ 1 ).
  4. 4. A system according to claim 3, wherein the control unit is configured to: Determining a second angle (θ 2 ) between the access portion (AS) and the proximal Portion (PS) based on the access portion and the proximal portion, and -Estimating the orientation of the fixture (DT) based on the second angle (θ 2 ).
  5. 5. The system according to claim 4, wherein the Control Unit (CU) is configured to determine whether an estimated orientation of the fixture (DT) is suitable for performing a procedure with the Interventional Device (ID) based on the estimated access site or access type, preferably wherein the Control Unit (CU) or output unit or user interface (O) is configured to output a warning if the estimated orientation of the fixture is unsuitable.
  6. 6. The system according to claim 1, wherein the Control Unit (CU) is configured to determine the angle between the distal portion (DS), the access portion (AS) and the proximal Portion (PS) AS an angle in 3D space.
  7. 7. The system according to claim 1, wherein the Control Unit (CU) is configured to perform 2D projection of the proximal portion, the entry portion and the distal portion on a plane coplanar with a surface of the Patient Table (PT) to obtain data of a 2D proximal portion, a 2D entry portion and a 2D distal portion, and to determine the angles between the distal portion (DS), the entry portion (AS) and the proximal Portion (PS) AS 2D angles based on the 2D data.
  8. 8. The system according to claim 1, wherein the Control Unit (CU) is configured to perform 2D projection of at least the distal portion on a plane coplanar with a surface of the Patient Table (PT) to obtain 2D distal data, thereby determining a first axis (Z) and a non-parallel second axis (X) of the 2D distal data in a 2D coordinate system ) And based on the determined projection direction on the first axis (Z) and the second axis (X ) And a projection direction on the support to estimate the orientation of the mount (PT).
  9. 9. The system according to claim 8, wherein the Control Unit (CU) is configured to cause the first axis (Z) and the second axis (X) by defining a longitudinal length of the proximal portion of the Interventional Device (ID) as the first axis (Z) of the 2D coordinate system and by rotating the 2D coordinate system around the first axis (Z) ) Are located on a plane coplanar with the surface of the Patient Table (PT) to provide the 2D coordinate system.
  10. 10. The system according to claim 8, wherein the Control Unit (CU) is configured to store an entry site or entry type of the Interventional Device (ID) into the patient's body and to determine whether an estimated orientation of the fixture (DT) is suitable for performing a procedure with the Interventional Device (ID) based on the stored entry location or entry type, preferably wherein the Control Unit (CU) or output unit or user interface (O) is configured to output a warning if the estimated orientation of the fixture (DT) is unsuitable.
  11. 11. The system according to claim 8, wherein the Control Unit (CU) is configured to determine an angle (θ 1 ) between the entry portion (AS) and the distal portion (DS) from data of the entry portion (AS) and the distal portion (DS) and to determine whether an estimated orientation of the fixture (DT) is suitable for implementing a procedure with the Interventional Device (ID) based on the determined angle (θ 1 ) between the entry portion (AS) and the distal portion (DS), preferably wherein the Control Unit (CU) or output unit or user interface (O) is configured to output a warning if the estimated orientation of the fixture (DT) is unsuitable.
  12. 12. The system according to claim 1, wherein the Control Unit (CU) is configured to perform 2D projection of the proximal, entry and distal portions on a plane coplanar with a surface of the Patient Table (PT) to obtain 2D proximal, 2D entry and 2D distal data, and to calculate a cross product of a proximal vector fitting the to 2D proximal data and a distal vector fitting to the 2D distal data, and to estimate the orientation of the fixture (DT) based on a direction of a vector resulting from the cross product.
  13. 13. The system of claim 1, wherein the Control Unit (CU) is configured to estimate the position of the fixture (DT) at the Patient Table (PT) based on one or more of the data of the proximal portion, the access portion and the distal portion.
  14. 14. The system according to claim 1, wherein the control unit or output unit or input unit or user interface (O) of the system is configured to alert the user if the orientation and/or position of the fixture is incorrect.
  15. 15. A method of estimating an orientation of a mount (DT) of an elongated shape sensing enabled Interventional Device (ID), the mount (DT) being mounted on a Patient Table (PT) on which a patient (P) lies and the Interventional Device (ID) being attached to the mount (DT), wherein the Interventional Device (ID) is inserted into a patient's body at a device access site (BA, FA), the Interventional Device (ID) providing 3D shape sensing data of its shape, the 3D shape sensing data being separable into a proximal Portion (PS) of the Interventional Device (ID) near the mount (DT), an access portion (AS) of the Interventional Device (ID) near the device access site (BA, FA) and a distal portion (DS) of the Interventional Device (ID) near a distal end, the method comprising the steps of: 3D shape sensing data of an installed and used Interventional Device (ID) is divided into a proximal portion, an access portion and a distal portion, and The orientation of the fixture (DT) is estimated from data of the proximal portion, the access portion and the distal portion.
  16. 16. A computer program comprising program code means for performing the steps of the method as claimed in claim 14 when said computer program is executed on a computer.

Description

FORS docking top position and orientation and device access location detection from device shape data Technical Field The present invention relates generally to the field of Optical Shape Sensing (OSS), also known as fiber optic true shape (foss). In particular, the present invention relates to a system for estimating a fixture orientation of an elongate shape sensing enabled interventional device. In particular, the system utilizes data recorded in real time from an elongate interventional device to estimate its entry point into the patient's body. It also does this by estimating the position and/or orientation of a mount mounted to the edge of the patient table on which the patient is lying. The invention also relates to a corresponding method and computer program. Background Fiber optic true shape (foss) technology provides real-time 3D information of the shape of interventional devices (e.g., catheters, guidewires, etc.) through embedded optical fibers without the use of real-time imaging systems (e.g., X-ray based imaging, such as X-ray fluoroscopy). This will reduce the exposure of the patient, physician and nurse to X-rays while simplifying the mitigation measures by providing 3D information instead of X-ray generated 2D projections. The reconstructed shape of the fos device may be superimposed in real time onto live or previously acquired anatomical imaging, such as Computed Tomography (CT) or Digital Subtraction Angiography (DSA). The reconstruction of the shape of the fos device starts at a fixed point relative to the patient bed where the fos device is connected to a mount (also called a docking head) mounted on the bed rail, which may contain one or more device slots directed at an angle to the patient's foot, as disclosed for example in US11432880B 2. Automatic registration of the fos and X-ray fluoroscopic data (obtained from the DSA) requires some knowledge of the general direction of access of the interventional device in order to reduce the image search space for device detection. The registration algorithm assumes that the dock is properly oriented with the device connector on the dock pointing at the foot at a 45 degree angle. Thus, for example, improper installation of the docking station (e.g., flipping the docking station, causing its slot orientation to change toward the patient's head) may result in improper registration of the fos and X-ray fluoroscopic data. Furthermore, automatic registration algorithms may require information about the access site or type of access of the interventional device into the patient's body in order to perform a correct registration. The most common access is brachial access or femoral access. Disclosure of Invention It is an object of the present invention to provide a system that is capable of estimating the device access location or type, orientation of the docking top and/or location of the docking top. It is a further object of the present invention to provide a system that can verify whether an estimated orientation of the docking roof is correct and suitable for performing a particular interventional procedure. It is a further object of the invention to provide a corresponding method and software implementation. In a first aspect of the invention, a system for estimating an orientation of a mount of an elongate shape sensing enabled interventional device is provided. The interventional device is attached to a fixture mounted on a patient table on which the patient lies. The interventional fos device is inserted into the patient's body at the device access site. The interventional fos device provides data about its 3D shape, which can be divided into a proximal portion near the anchor, an access portion near the access site, and a distal portion near the distal tip. The system includes a control unit configured to: Dividing 3D shape sensing data of an installed and used interventional device into the proximal portion, the access portion and the distal portion, and The orientation of the fixture is estimated from the data of these portions. According to the invention, the system is able to estimate the orientation of the fixture of the elongated shape sensing enabled interventional device. The fixture may be a docking station as described above. The fixture may have one or more device slots for attaching one or more elongated shape sensing enabled interventional devices. In addition to the slots, the fixture may also be provided with means of connection or attachment with the interventional device, including other types of geometrical relationships between the interventional device and the patient table than the lines defined by the slots. Thus, the fos device may be mechanically connected to the mount (and to the patient table) according to the geometric relationship, such as a direction, orientation, angle, coordinate, etc., determined by the type or configuration of the connection. If the connection is made via a straight slot as described above