Siemens Aktiengesellschaft

Siemens Healthcare Gmbh

Siemens Healthineers Ag

Andreas Meyer

Christian Kaethner

Norbert Rahn

Jan Boese

Anton Nekovar

Marcus Pfister

Terrence Chen

Shanhui Sun

Ziyan Wu

Thomas Redel

Ankur Kapoor

Matthias John

Markus Kowarschik

Estelle Camus

Bernhard Sandkamp

Michael Kelm

Michael Wiets

Martin Ostermeier

Peng Wang

Sebastian Schafer

Oliver Meissner

Markus Rossmeier

Klaus Fischer

Guillaume Dumont

Dong Zhang

Bor-Jeng Chen

Jörn Justiz

Jens Bernhardt

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.

Position determining method, method for actuating an x-ray device and medical system

A system and method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object with a curved tip in a hollow organ of a patient. An an X-ray system for image monitoring of the intervention is assigned to the robotic system. The method includes determining a current relative position and relative orientation of the curved tip of the object relative to the hollow organ using the X-ray system, calibrating the robotic system on the basis of the determined current relative position and relative orientation of the tip of the object relative to the hollow organ, retrieving first information on a planned path section in the hollow organ, retrieving second information on at least one relative position and relative orientation or relative position sequence and relative orientation sequence of the curved tip of the same or a similar object relative to the hollow organ used during a navigation movement along at least one previously traversed path section in the hollow organ or another hollow organ from a memory unit, and generating an actuation signal for actuating the robotic system. The actuation takes account of the first and second information and the current relative position and relative orientation of the tip relative to the hollow organ.

Method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object and overall system

A method for automatically monitoring a robot-assisted movement of a medical object through a hollow organ of a medical object of a patient performed by a robotic system is provided. The method includes tracking movement of the medical object using a medical imaging device such that the medical object and/or the hollow organ is at least partially arranged in a recording region that is mappable by the imaging device. The tracking is effected by a relative movement between the recording system of the imaging device and the patient. An image of the recording region is recorded during the tracking. In each case, a further image is recorded at regular intervals. The current image in each case and/or sensor data from a sensor assigned to the robotic system or the object is evaluated to determine whether a situation relevant to decision-making and/or safety with respect to the robotic system is present.

Monitoring method and medical system

A medical imaging system includes a medical imaging device to map a mapping region inside an examination object, the medical imaging device being designed such that a location of the mapping region is changable in respect of the examination object; and a processing device, including a data interface, to robotically position a medical object inside the examination object, via a movement device. In an embodiment, the processing device is configured to determine an instantaneous position of the medical object; specify a target position for the medical object, the target position being defined relative to the mapping region; determine one or more control signals, configured to cause a movement of the medical object via the movement device from the instantaneous position to the target position; and provide the one or more control signals, via the data interface, to the movement device.

Control of a robotically moved object

A method for actuating an X-ray device during robot-assisted navigation of at least two objects introduced into a body, such as a hollow organ, of a patient by at least one robotic system, includes providing a first selection criterion for selecting one of the objects, and providing a second selection criterion for selecting one of the objects. One of the at least two objects is selected based on the first selection criterion and the second selection criterion, and recording parameters of the X-ray device are automatically set, such that the selected object in an X-ray image to be recorded is highlighted compared to the at least one other object. The selected object may be highlighted with respect to image quality, image flavor, positioning on the X-ray image, and/or a collimator setting of a collimator of the X-ray device. An X-ray image is recorded with the set recording parameters.

Actuating an x-ray device and medical system

A system for imaging a robotically moved medical object has a movement device for robotic movement of the medical object, a medical imaging device, and a processing unit. The processing unit is configured to receive a data set that maps a vessel structure of an examination object and is registered with the medical imaging device, and to determine an object path along the vessel structure toward a target region in the data set. The movement device is configured to move the medical object along the object path and provide an object parameter relating to a movement state of the medical object. The processing unit is further configured to control a positioning of the medical imaging device relative to the examination object as a function of object parameter and object path such that a predefined section of the medical object is mapped in image data acquired by the medical imaging device.

Imaging a robotically moved medical object

A method and device for acquiring at least a part of an x-ray data set with at least one x-ray device. The x-ray data set includes at least one first x-ray image data set and at least one second x-ray image data set acquired separated in time that are to be evaluated together. Both x-ray image data sets show a region of interest of a patient that is subject to heart motion at different phases of a heart cycle. The second x-ray image data set is acquired triggered at a beginning of each heart cycle covered by the acquisition and with an acquisition rate such that the phases of the acquired x-ray image data set match phases of the first x-ray image data set.

Method for acquiring x-ray data, x-ray device, computer program and electronically readable storage medium

In order to increase the accuracy of registration between a world coordinate system and an image coordinate system such that a tracked medical tool may be moved forward in the body of a patient without any additional or with limited live imaging, a method for registration of the tracked medical tool with an X-ray system is provided. The method includes receiving image data from the X-ray system at a plurality of time points, receiving tracking data from a tracking device of the tracked medical tool at the plurality of time points, and registering the world coordinate system and the image coordinate system based on the received image data and the received tracking data at the plurality of time points.

Registration for tracked medical tools and X-ray systems

A periodic time-varying model of a guide wire, other device, or vessel is created from higher contrast CINE acquisition. A multivariate curve regression is used for periodic, phase dependent motion modeling. This model is then used to locate or track the guide wire, other device or vessel in lower contrast fluoroscopy images during intervention.

Regression for periodic phase-dependent modeling in angiography

In a method and apparatus for graphical assistance in an interventional procedure to open an occlusion of a hollow organ of a patient a three-dimensional CT image data set of an examination region with the at least one hollow organ having the occlusion is retrieved and visualized segmentation data with segmentation data of the hollow organ at a display unit. At least two x-ray fluoroscopy images are acquired at different angulations the CT image data set is registered with at least two of the x-ray images. A number of fluoroscopy x-ray images are acquired during a time period, with real-time visualization of at least one x-ray fluoroscopy image and data of the CT image data set at the display unit. The steps are implemented individually and in sequence, and control options relating exclusively to the current step can be selected manually via a user interface depending on the step that is currently implemented, and only user inputs that are appropriate for the current step are accepted.

Method and apparatus for graphical assistance in a medical procedure

A method for tracking vessels in image data includes receiving a plurality of image frames and annotating a target vessel in the plurality of image frames. A plurality of tracking targets associated with the target vessel is selected based on a first image frame included in the plurality of image frames. For each respective image frame, a set of tracking points are determined according to a tracking algorithm which includes: selecting a plurality of landmark hypothesis points for each tracking target in the respective frame based on a comparison with a previous image frame, constructing a directed acyclic graph from the plurality of landmark hypothesis points, and solving the directed acyclic graph to yield a plurality of optimal landmarks for the respective image frame.

Vessel tree tracking in angiography videos

Various improvements may lead to reducing or avoiding artifacts in curved planar reformation imaging. The source of voxels used in projection rendering may be verified to be from the vessels rather than intervening anatomy. To make the check more rapid, a hierarchal data structure may be used. Rather than using the vessels, geometric forms fit to the vessels may be used. Processing with geometric forms may be more rapid than a fine mesh or surface. Since tubular structures have a predictable change over length, the geometric forms or the vessel data itself may be filtered with a monotonicity constraint. Instead of using planes for segments based on the lumen or center line, a convex hull around the tubular structures is formed for the curved planar reformation.

Fast rendering of curved reformation of a 3D tubular structure

A method for positioning a stent able to be deployed to support a vessel in a blood vessel, especially in the cardiology, with the stent after its provisional placement in a not yet deployed state in an area intended for the support of the vessel, being at least partly automatically deployed as a function of at least one triggering signal for final positioning in the blood vessel.

Method and associated device for positioning a stent deployed to support a vessel

The present invention relates to a device and a method for synchronizing an image capture device with a first image data set. The image capture device is used for recording a second image data set of a periodically moving area or object. Each first image data set contains information as to the point in time, relative to the periodically moving area or object, when recording took place. The device additionally acquires periodically recurring, current information of the area as well as information concerning the recording instant of the first image data set. From the periodically recurring information and the recording instant of the first image data set, a triggering instant is derived which controls at least one recording of the second image data set by the image capture device in such a way that the second image data set contains image data synchronized to the first image data set.

Device and method for synchronizing an image capture device with a pre-operative image data set

Registration of preoperatively acquired MRI images of soft parts to intraoperatively acquired X-ray images of soft parts is not possible. The invention shows a way of nevertheless using such preoperatively acquired images for superimposition with 2D projections of the soft parts, taking an indirect route via 3D/3D registration of images of the spinal column. For this purpose, 3D image data sets of the spinal column must be obtained separately on the one hand using MRI and on the other using the X-ray imaging system so that the 3D/3D registration produces a mapping rule which then also applies to the preoperatively acquired images of the soft part if the soft part images and the spinal images are acquired without intervening change in the patient position in the MRI scanner.

Growing community of inventors

Bubenreuth, Germany

Andreas Meyer