Calibration apparatus

Patent metadata

Field	Value
Publication number	US-9867998-B2
Application number	US-201314443662-A
Country	US
Kind code	B2
Filing date	Nov 20, 2013
Priority date	Dec 6, 2012
Publication date	Jan 16, 2018
Grant date	Jan 16, 2018

Abstract

The invention relates to a calibration apparatus for calibrating a system for introducing an influencing element like a radiation source into an object, particularly for calibrating a brachytherapy system. First and second images show a longish introduction device ( 12 ) like a catheter and a tracking device ( 16 ) like an electromagnetically trackable guidewire inserted into the introduction device as far as possible, and the introduction device and a calibration element ( 46 ) having the same dimensions as the influencing element and being inserted into the introduction device as far as possible. A spatial relation between the tracking device and the calibration element is determined based on the images for calibrating the system. Knowing this spatial relation allows accurately determining an influencing plan like a brachytherapy treatment plan and accurately positioning the influencing element in accordance with the influencing plan, which in turn allows for a more accurate influencing of the object.

First claim

The invention claimed is:

1. A calibration apparatus for calibrating a system for introducing an influencing element into an object, wherein the influencing element is adapted to influence a target region within the object and wherein the calibration apparatus comprises:
an image providing unit for providing a first image showing a longish introduction device, which is adapted to be inserted into the object for introducing the influencing element into the object, and a tracking device, which is adapted to track the introduction device and to be inserted into the introduction device as far as possible, and a second image showing the introduction device and a calibration element, which has the same dimensions as the influencing element and which is to be inserted into the introduction device as far as possible;
an identification unit for identifying the tip of the introduction device, the tracking device and the calibration element in the first and second images; and
a spatial relation determining unit for determining a spatial relation between the tracking device and the calibration element from the first and second images, in which the tip of the introduction device, the tracking device and the calibration element have been identified.

2. The calibration apparatus as defined in claim 1 , wherein the spatial relation determining unit is adapted to determine:
a distance between the position of the tip of the introduction device and the position of the tracking device from the first image, in which the tip of the introduction device and the tracking device have been identified,
a distance between the position of the tip of the introduction device and the position of the calibration element from the second image, in which the tip of the introduction device and the calibration element have been identified, and
a distance between the position of the tracking device and the position of the calibration element based on the determined the distance between the position of the tip of the introduction device and the position of the tracking device and the distance between the position of the tip of the introduction device and the position of the calibration element.

3. The calibration apparatus as defined in claim 1 , wherein the calibration apparatus further comprises:
an ultrasound image providing unit for providing an ultrasound image of the tip of the introduction device; and
a tracking device position providing unit for providing a position of the tracking device, when it has been inserted into the introduction device as far as possible, wherein the identification unit is adapted to identify the tip of the introduction device in the ultrasound image and wherein the spatial relation determination unit is adapted to update the spatial relation between the tracking device and the calibration element based on the ultrasound image with the identified tip of the introduction device and the provided position of the tracking device.

4. The calibration apparatus as defined in claim 3 , wherein the tracking device position providing unit is adapted to provide an electromagnetically or fiber optically shaped sensing tracked position of the tracking device.

5. The calibration apparatus as defined in claim 3 , wherein the tracking device position providing unit is adapted to provide the positions of the tracking device, while it is moved inside the introduction device towards and/or away from a furthest position within the introduction device, and wherein the calibration apparatus further comprises a length determination unit for determining a length of the introduction device based on the provided positions.

6. The calibration apparatus as defined in claim 1 , wherein the image providing unit is adapted to provide radiographic images as the first and second images.

7. The calibration apparatus as defined in claim 1 , further comprising a calibration device that comprises a radiolucent block with
radiopaque fiducials identifiable in radiographic images, and
a channel for receiving an introduction device that is adapted to be inserted into the object for introducing an influencing element into the object.

8. The calibration apparatus as defined in claim 7 , wherein at least some of the fiducials are arranged in parallel to the channel.

9. The calibration apparatus as defined in claim 7 , wherein the block comprises several channels having different diameters.

10. The calibration apparatus as defined in claim 7 , wherein the block is ultrasound compatible.

11. An influencing plan determination apparatus incorporating the calibration apparatus as defined in claim 1 and for determining an influencing plan for influencing a target region within an object, the influencing plan determination apparatus comprising:
a tracking device position providing unit for providing positions of a tracking device within an introduction device, which has been inserted into the object for introducing an influencing element into the object, wherein the positions are determined along the length of the introduction device and at a furthest position within the introduction device;
an introduction device pose and shape determination unit for determining the pose and shape of the introduction device from the provided positions of the tracking device;
a target region pose and shape providing unit for providing the pose and shape of the target region within the object; and
an influencing plan determination unit for determining the influencing plan depending on the pose and shape of the introduction device, the pose and shape of the target region, the furthest position of the tracking device within the introduction device and the spatial relation between the tracking device and the calibration element determined by the calibration apparatus.

12. A calibration method for calibrating a system for introducing an influencing element into an object, wherein the influencing element is adapted to influence a target region within the object and wherein the calibration method comprises:
providing a first image showing a longish introduction device, which is adapted to be inserted into a living object for introducing an influencing element within the living object, and a tracking device, which is adapted to track the introduction device and which inserted into the introduction device as far as possible, and a second image showing the introduction device and a calibration element, which has the same dimensions as the influencing element and which is inserted into the introduction device as far as possible, by an image providing unit;
identifying the tip of the introduction device, the tracking device and the calibration element in the first and second images by an identification unit; and
determining a spatial relation between the tracking device and the calibration element from the first and second images, in which the introduction device, the tracking device and the calibration element have been identified, by a spatial relation determining unit.

13. An influencing plan determination method incorporating the calibration method as defined in claim 12 and for determining an influencing plan for influencing a target region within an object, the influencing plan determination method comprising:
providing positions of a tracking device within an introduction device, which has been inserted into the object for introducing an influencing element into the object, by a tracking device position providing unit, wherein the positions have been determined along the length of the introduction device and at a furthest position within the introduction device,
determining the pose and shape of the introduction device from

Assignees

• Koninklijke Philips Nv
• Sunnybrook Health Sciences Ct
• Koninkljke Philips N V
• Sunnybrook Res Inst

Inventors

• Bharat Shyam
• Kruecker Jochen
• Ravi Ananth
• Dehghan Marvast Ehsan

Classifications

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• G06T7/97

  Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85) · CPC title

• A61B2090/363

  Use of fiducial points · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• A61B2034/2061

  using shape-sensors, e.g. fiber shape sensors with Bragg gratings · CPC title