CN-122005087-A - Guidance support for guiding medical instruments

Abstract

The application relates to a guidance support for guiding a medical device (7), image data representing the medical device (7) inside a hollow organ (8) are received, wherein the medical device (7) extends along a portion (9) of the hollow organ (8). From the image data, the diameter (D) and/or the curvature of the hollow organ (8) at the target location or in the target region (10) of the medical instrument (7) is determined. Guiding support information for guiding the medical instrument (7) at least to the target location or the target region (10) is generated from the diameter (D) and/or curvature and from at least one geometrical property of the medical instrument (7).

Inventors

• M. kovo Hiker
• R. Farige

Assignees

• 西门子医疗股份公司

Dates

Publication Date

20260512

Application Date

20251110

Priority Date

20241111

Claims (15)

1. 1. Computer-implemented method for guiding a guidance support of a medical instrument (7), characterized in that, -Receiving image data representing a medical instrument (7) inside a hollow organ (8), wherein the medical instrument (7) extends along a portion (9) of the hollow organ (8); -determining the diameter (D) and/or curvature of the hollow organ (8) at the target location or in the target area (10) of the medical instrument (7) from the image data, and -Generating guiding support information for guiding at least the medical instrument (7) to the target location or the target area (10) depending on the diameter (D) and/or the curvature and depending on at least one geometrical property of the medical instrument (7).
2. 2. The computer-implemented method according to claim 1, characterized in that the at least one geometrical property of the medical instrument (7) is determined at least partly from the image data.
3. 3. The computer-implemented method according to one of the preceding claims, characterized in that the image data comprise at least two projection images representing the medical instrument (7) inside the hollow organ (8) according to at least two respective projection directions.
4. 4. The computer-implemented method of claim 1 or 2, wherein, -The image data comprises a plurality of projection images representing the medical instrument (7) inside the hollow organ (8) according to respective projection directions; generating a three-dimensional reconstruction from the plurality of projection images, and -Determining the diameter (D) and/or the curvature from the three-dimensional reconstruction.
5. 5. The computer-implemented method according to one of the preceding claims, characterized in that the at least one geometrical property of the medical instrument (7) comprises a diameter of the medical instrument (7) or a portion (7 a, 7 b) of the medical instrument (7) and/or a curvature of the medical instrument (7) or the portion (7 a, 7 b) of the medical instrument (7) and/or a length of the medical instrument (7) or the portion (7 a, 7 b) of the medical instrument (7) and/or a ratio of an inner diameter to an outer diameter of the medical instrument (7) or the portion (7 a, 7 b) of the medical instrument (7).
6. 6. The computer-implemented method according to one of the preceding claims, characterized in that the guidance support information is generated from at least one mechanical property of the medical instrument (7).
7. 7. The computer-implemented method according to claim 6, characterized in that the at least one mechanical property comprises a stiffness of the medical instrument (7) or a part (7 a, 7 b) of the medical instrument (7) and/or an elasticity of the medical instrument (7) or the part (7 a, 7 b) of the medical instrument (7) and/or a surface lubricity of the medical instrument (7) or the part (7 a, 7 b) of the medical instrument (7).
8. 8. The computer-implemented method according to one of the preceding claims, characterized in that the guidance support information or a part of the guidance support information is output to a user of the medical instrument (7).
9. 9. The computer-implemented method according to one of the preceding claims, characterized in that the guidance support information or a part of the guidance support information is provided to a control system for automatically controlling the navigation of the medical instrument (7).
10. 10. The computer-implemented method according to one of the preceding claims, characterized in that the medical device (7) comprises a catheter and/or a vascular prosthesis and/or a vascular implant and/or a shunt and/or a stent and/or a guidewire.
11. 11. The computer-implemented method of one of the preceding claims, wherein the guidance support information comprises -Risk information about the risk of damaging the hollow organ (8) when the medical instrument (7) is moved to the target location or the target area (10) or beyond the target location or the target area (10), and/or -A recommendation or specification of a navigation operation for moving the medical instrument (7) to the target position or the target area (10) or beyond the target position or the target area (10), and/or -A recommendation for not moving the medical instrument (7) to the target position or the target area (10) or beyond the target position or the target area (10).
12. 12. Data processing system (6), characterized in that the data processing system is configured to perform the computer-implemented method according to one of the preceding claims.
13. 13. Medical imaging system (1), characterized in that it comprises a data processing system (6) according to claim 12 and a medical imaging device (3) configured to generate the image data.
14. 14. The medical imaging system (1) according to claim 13, further comprising an intravascular robotic device configured to automatically control navigation of the medical instrument (7) according to the guidance support information.
15. 15. Computer program product comprising instructions, characterized in that the instructions, when executed by a data processing system (6), cause the data processing system (6) to perform a computer-implemented method according to one of claims 1 to 11.

Description

Guidance support for guiding medical instruments Technical Field The invention relates to a computer-implemented method for guiding a guidance support of a medical instrument, wherein image data is received, the image data representing the medical instrument inside a hollow organ, wherein the medical instrument extends along a portion of the hollow organ. The invention also relates to a corresponding data processing system for performing the computer-implemented method, a medical imaging system comprising the data processing system, and a corresponding computer program product. Background Endovascular procedures, such as deploying shunt stents, also known as shunts, based on catheters to treat cerebral aneurysms are typically based on pre-interventional imaging using, for example, computed tomography CT, cone Beam CT (CBCT), or magnetic resonance imaging MRI, and/or intra-operative (real-time) imaging using, for example, CBCT, fluoroscopy, digital subtraction angiography DSA, and the like. The quality of the results depends on intuition, experience and skill of the interventional expert. To date, image information is interpreted only by interventional professionals and then taken into account to guide subsequent clinical decisions and surgical steps. Thus, difficulties or complications may arise in the case where the used intravascular medical device or a portion thereof is found to be unsuitable for being guided to or through a certain location or region of a vascular structure. Furthermore, pre-interventional image data may not always be sufficient for selecting a medical instrument in an optimal way, as intravascular interventions themselves may change the geometry of the vascular structure. Thus, similar difficulties or complications may also occur when using robotic intravascular devices to guide medical instruments. The same or similar situation may occur in the context of other endoluminal procedures, i.e. in applications in hollow organs other than vascular structures, such as in bronchoscopy and the like. Disclosure of Invention It is an object of the present invention to provide an improved concept for image-based guidance support for guiding a medical instrument inside a hollow organ, which concept at least partly overcomes the above-mentioned drawbacks. This object is achieved by the subject matter of the independent claims. Further embodiments and preferred examples are the subject matter of the dependent claims. The invention is based on the idea of generating guiding support information for guiding a medical instrument based on the diameter and/or curvature of the hollow organ at a target location or target area and based on at least one geometrical property of the medical instrument. According to one aspect of the present invention, a computer-implemented method for guiding guidance support for guiding a medical instrument is provided. Wherein image data is received, the image data representing a medical instrument inside a hollow organ, wherein the medical instrument extends along a portion of the hollow organ, in particular only along the portion of the hollow organ. From the image data, a diameter of the hollow organ at or in a target location of the medical instrument and/or a curvature of the hollow organ at or in the target location is determined. Guidance support information for guiding the medical instrument at least to the target location or the target area is generated based on the diameter of the hollow organ and/or the curvature of the hollow organ and based on at least one geometrical property of the medical instrument. Unless otherwise indicated, all steps of the computer-implemented method may be performed by a data processing system that includes at least one data processing device. In particular, the at least one data processing device is configured or adapted to perform the steps of the computer-implemented method. For this purpose, the at least one data processing device may for example store a computer program comprising instructions which, when executed by the at least one data processing device, cause the at least one data processing device to perform the computer-implemented method. The terms "data processing system" and "at least one data processing device" are used interchangeably herein and below. This is also true for the corresponding expressions derived from them. If the at least one data processing device comprises two or more data processing devices, certain steps performed by the at least one data processing device may also be understood as different data processing devices performing different steps or different parts of one step. In particular, each data processing apparatus is not required to fully perform these steps. In other words, performing these steps may be distributed among two or more data processing devices. From each embodiment of the computer-implemented method, a respective embodiment of a method for guiding a medical instrument, which is not p