Determining a target position of an X-ray device

Patent metadata

Field	Value
Publication number	US-11259771-B2
Application number	US-201916647249-A
Country	US
Kind code	B2
Filing date	Jan 3, 2019
Priority date	Jan 3, 2019
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

A computer-implemented method for determining a target position of an X-ray device encompasses acquiring image data describing an anatomical structure of a patient, for example, by means of a 3D scan, and registering the image data relative to a coordinate system of the patient, for example by means of a navigation system. Furthermore, a trajectory of an implant positioned within the anatomical structure relative to the patient coordinate system is acquired. A target position of an X-ray device for acquiring an X-ray image of at least part of the implant is determined based on the registered image and the acquired trajectory of the implant.

First claim

The invention claimed is:

1. A computer-implemented medical method for determining a target position of an X-ray device, the method comprising:
acquiring registered image data that describes a medical image of an anatomical structure of a patient relative to a coordinate system of the patient;
registering, by a computer operatively coupled with the X-ray device, the registered image data relative to the coordinate system of the patient by a first transformation matrix T 1 ;
acquiring trajectory data that describes a trajectory of an implant positioned within the anatomical structure relative to the coordinate system of the patient;
registering, by the computer, the trajectory data of the implant relative to the coordinate system of the patient by a second transformation matrix T 2 ;
registering, by the computer, the trajectory data of the implant relative to a coordinate system of the X-ray device by a third transformation matrix T 3 ;
determining X-ray device position data based on the trajectory data and the registered image data, wherein the X-ray device position data describes a target position of the X-ray device;
determining, by the computer based on the third transformation matrix T 3 , the target position of an X-ray to be emitted from the X-ray device for acquiring an image of the implant; and
determining control data based on the X-ray device position data, wherein the control data is representative of a control signal that causes the X-ray device to move automatically.

2. The method according to claim 1 , wherein the method further comprises the following step:
acquiring X-ray imaging direction data which describes an orientation of the imaging direction of the X-ray device relative to the orientation of the trajectory;
wherein determining the X-ray position data is further based on the X-ray imaging direction data.

3. The method according to claim 2 , wherein the imaging direction of the X-ray device is oriented along the orientation of the trajectory or within a predetermined angle range relative to the orientation of the trajectory.

4. The method according to claim 2 , wherein the imaging direction of the X-ray device is oriented along a longitudinal axis of the implant.

5. The method according to claim 1 , wherein the method further comprise the following step:
determining display output data based on the X-ray device position data, wherein the display output data describes a display output associated with the target position of the X-ray device.

6. The method according to claim 1 , wherein the trajectory data is acquired during navigation of the implant and/or wherein the trajectory data comprises planned trajectory data which describes a planned trajectory of the implant.

7. The method according to claim 1 , wherein the trajectory comprises an entry point and a target point of the implant within the anatomical structure.

8. The method according to claim 1 , wherein the trajectory data is acquired automatically by a navigation system.

9. The method according to claim 1 , wherein the method further comprises the following step:
acquiring X-ray image data after the X-ray device is positioned at the target position described by the X-ray device position data, wherein the X-ray image data describes an X-ray image of at least a part of the anatomical structure comprising at least a part of the implant.

10. The method according to claim 1 , wherein the implant is a pedicle screw.

11. The method according to claim 1 , wherein the image data is registered to the coordinate system of the patient by means of a separate navigation system detecting a reference provided on the X-ray device.

12. The method according to claim 1 , wherein the image data is registered to the coordinate system of the patient by means of a separate navigation system detecting a reference attached to the patient.

13. The method according to claim 1 , wherein:
the registering the registered image data relative to the coordinate system of the patient by the first transformation matrix T 1 comprises:
registering the registered image data relative to the coordinate system of the patient by the first transformation matrix T 1 based on a known spatial relationship between a first reference device attached with the patient and a second reference device attached with the X-ray device;

the registering the trajectory data of the implant relative to the coordinate system of the patient by the second transformation matrix T 2 comprises:
registering the trajectory data of the implant relative to the coordinate system of the patient by the second transformation matrix T 2 based on a known spatial relationship between the implant and the patient; and

the registering the trajectory data of the implant relative to the coordinate system of the X-ray device by the third transformation matrix T 3 comprises:
registering the trajectory data of the implant relative to the coordinate system of the X-ray device by the third transformation matrix T 3 based on a known spatial relationship between the X-ray device and the implant.

14. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed, configure a processor to perform the method steps of the method according to claim 1 .

15. A medical system for acquiring an X-ray image of at least part of an implant within an anatomical structure, comprising:
a navigation system;
an X-ray device; and
at least one computer comprising a non-transitory computer readable storage medium having stored thereon computer-executable instructions that, when executed, configure a processor to:
acquire registered image data that describes a medical image of an anatomical structure of a patient relative to a coordinate system of the patient;
register the registered image data relative to the coordinate system of the patient by a first transformation matrix T 1 ;
acquire trajectory data that describes a trajectory of an implant positioned within the anatomical structure relative to the coordinate system of the patient;
register, the trajectory data of the implant relative to the coordinate system of the patient by a second transformation matrix T 2 ;
register the trajectory data of the implant relative to a coordinate system of the X-ray device by a third transformation matrix T 3 ;
determine X-ray device position data based on the trajectory data and the registered image data, wherein the X-ray device position data describes a target position of the X-ray device, wherein the at least one computer is operably coupled to the navigation system and the X-ray device;
determine based on the third transformation matrix T 3 , the target position of an X-ray to be emitted from the X-ray device for acquiring an image of the implant; and
determine control data based on the X-ray device position data, wherein the control data is representative of a control signal that causes the X-ray device to move automatically.

16. The medical system of claim 15 , wherein the navigation system is configured to register the image data to the coordinate system of the patient, and the image data is registered to the coordinate system of the patient by means of the navigation system detecting a reference provided on the X-ray device.

17. The medical system of claim 15 , wherein:
the navigation system is configured to register the image data to the coordinate system of the patient; and
the image data is registered to the coordinate system of the patient by means of the navigation system detecting a reference attache

Assignees

• Brainlab Ag
• medPhoton GmbH

Inventors

• Bertram Michael
• Essenreiter Robert
• Steininger Philipp
• Deutschmann Heinz

Classifications

• A61B6/12

  Arrangements for detecting or locating foreign bodies · CPC title

• A61B6/4405

  the apparatus being movable or portable, e.g. handheld or mounted on a trolley · CPC title

• A61B6/547 Primary

  involving tracking of position of the device or parts of the device · CPC title

• A61N5/10

  X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy (A61N5/01 takes precedence) · CPC title

• A61B2090/376

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