Registration on setting an alignment of an instrument

Patent metadata

Field	Value
Publication number	US-10779788-B2
Application number	US-201816225855-A
Country	US
Kind code	B2
Filing date	Dec 19, 2018
Priority date	Dec 21, 2017
Publication date	Sep 22, 2020
Grant date	Sep 22, 2020

Abstract

A method is disclosed for registration on setting an alignment of an instrument relative to an object during a processing or treatment of the object by the instrument. A working image is registered to a planning image. The working image is recorded in a viewing direction that is selected dependent upon relevant degrees of freedom of the instrument such that the relevant degrees of freedom are the degrees of freedom with the greater registration accuracy. In addition, a robot system is provided which is configured for carrying out the method.

First claim

The invention claimed is:

1. A method for registration on setting an alignment of an instrument relative to an object during a processing or treatment of the object by the instrument, wherein the instrument is movable and includes a plurality of degrees of freedom of movement, the method comprising:
specifying, during the treatment or processing, at least one operational step, in which the alignment of the instrument relative to the object is defined and in which the setting of the alignment is required only in relation to a subset of degrees of freedom of the plurality of degrees of freedom;
determining and storing, as relevant degrees of freedom, the subset of degrees of freedom;
providing a three-dimensional planning image of the object;
generating, by an imaging system, a two-dimensional working image of the object in a viewing direction that is selected dependent upon the relevant degrees of freedom; and
registering the two-dimensional working image to the planning image so that a higher degree of registration accuracy results for some degrees of freedom of the plurality of degrees of freedom than for other degrees of freedom of the plurality of degrees of freedom.

2. The method of claim 1 , wherein for a respective operational step, only one two-dimensional working image is generated.

3. The method of claim 1 , wherein the treatment or processing comprises a plurality of consecutive operational steps, and
wherein after an operational step and before the subsequent operational step in each case, a re-registration is carried out in that for the subsequent operational step, a further two-dimensional working image that is registered to the three-dimensional planning image is recorded.

4. The method of claim 1 , further comprising carrying out an initial coarse registration, the carrying out of the initial coarse registration comprising generating the three-dimensional planning image while the object is at the location of the treatment.

5. The method of claim 1 , wherein the three-dimensional planning image is generated by the same imaging system as the two-dimensional working image.

6. The method of claim 1 , wherein the imaging system is an X-ray device.

7. The method of claim 1 , further comprising registering the instrument and the imaging system to one another during the treatment or processing, the registering of the instrument and the imaging system comprising:
imaging the instrument during the creation of the working image; and
subsequently, determining the position of the instrument relative to the imaging system based on the working image.

8. The method of claim 1 , further comprising:
specifying, in the at least one operational step, a position of the instrument on the object; and
setting the position of the instrument purely by a translation along two translation directions; and
determining the two translation directions and storing the two translation directions as a degree of freedom of the relevant degrees of freedom,
wherein the viewing direction is selected to be perpendicular to the translation directions.

9. The method of claim 1 , further comprising:
specifying, in the at least one operational step, a penetration angle of the instrument relative to the object; and
setting the penetration angle purely through rotation of the instrument about a rotation axis;
determining the rotation axis and storing the rotation axis as a degree of freedom of the relevant degrees of freedom,
wherein the viewing direction is selected to be along the rotation axis.

10. The method of claim 1 , further comprising:
specifying, in the at least one operational step, a penetration depth of the instrument into the object;
setting the penetration depth purely through a translation of the instrument along an advancing direction;
determining the advancing direction and storing the advancing direction as a degree of freedom of the relevant degrees of freedom,
wherein the viewing direction is selected to be perpendicular to the advancing direction.

11. The method of claim 1 , further comprising monitoring, during the execution of the at least one operational step, the setting of the alignment of the instrument by the imaging system.

12. The method of claim 1 , wherein the object is a patient,
wherein the treatment or processing is a spinal column operation that comprises three operational steps,
wherein the instrument is a needle, a drill, or a screw and extends along a longitudinal axis,
wherein a first operational step of the three operational steps is a placement of the instrument on the patient,
wherein a second operational step of the three operational steps is a setting of a penetration angle of the instrument,
wherein a third operational step of the three operational steps is a penetration of the instrument into the patient,
wherein for the first operational step, the viewing direction is selected to be along the longitudinal axis,
wherein for the second operational step and the third operational step, the viewing direction is selected to be perpendicular to the longitudinal axis in each case, and
wherein during the third operational step, the penetration of the instrument is monitored repeatedly by the imaging system.

13. A robot system that is configured for treatment or processing of an object, the robot system comprising:
an instrument for the treatment or processing of the object;
an imaging system; and
a controller configured for registration on setting an alignment of the instrument relative to the object during the processing or treatment of the object by the instrument, wherein the instrument is movable and includes a plurality of degrees of freedom of movement, the registration comprising:
specification, during the treatment or processing, of at least one operational step, in which the alignment of the instrument relative to the object is defined and in which the setting of the alignment is required only in relation to a subset of degrees of freedom of the plurality of degrees of freedom;
determination and store, as relevant degrees of freedom, the subset of degrees of freedom;
provision of a three-dimensional planning image of the object;
generation, by the imaging system, a two-dimensional working image of the object in a viewing direction that is selected dependent upon the relevant degrees of freedom; and
registration of the two-dimensional working image to the planning image so that a higher degree of registration accuracy results for some degrees of freedom of the plurality of degrees of freedom than for other degrees of freedom of the plurality of degrees of freedom.

14. The robot system of claim 13 , wherein the imaging system is an X-ray device.

Assignees

• Siemens Healthcare Gmbh

Inventors

• Fischer Peter
• Fuchs Thomas
• Mewes Philip
• Mönnich Holger
• Rube Martin

Classifications

• G06T7/33 Primary

  using feature-based methods · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• G06T2207/30004

  Biomedical image processing · CPC title

• A61B2090/376

  using X-rays, e.g. fluoroscopy · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title