Method and control system for controlling a medical device

Patent metadata

Field	Value
Publication number	US-9943271-B2
Application number	US-201514731851-A
Country	US
Kind code	B2
Filing date	Jun 5, 2015
Priority date	Jun 6, 2014
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

A medical device is controlled as a function of a position of a control element projected onto a projection surface, wherein a geometric property of the projected control element is adjusted to the surface structure. The adjustment is accomplished by means of a transformation of projection data, the projection data corresponding to the control element that is to be projected. The optical projection of the control element is based on the transformed projection data. Such an adjustment and transformation are made possible by determining the surface structure of the projection surface. The control system has an image processor both for determining the surface structure and for transforming the projection data. The control system additionally has a projector for optically projecting the control element and a control unit for controlling the medical device based on the first position of the projected control element.

First claim

We claim as our invention:

1. A method for controlling a medical device, said method comprising:
while a patient is on a patient bed of a medical device, acquiring a 3D surface structure data record representing a surface structure, comprising a curvature, of a non-planar projection surface of at least one of said patient and said patient bed;
providing a computer with a projection data record comprising projection data representing a control element of the medical device that is to be projected on said projection surface, said control element having a geometric property that is represented in said projection data;
also providing said computer with said 3D surface structure data record and, in said computer, automatically transforming said projection data in said projection data record to adjust said geometric property of the control element to said curvature of said surface structure of the non-planar projection surface as represented in said surface structure data record, thereby generating a transformed projection data record;
using said transformed projection data record operate a projector in order to optically project said control element onto said projection surface without distortion of said geometric property of said control element due to said curvature of said surface structure of said non-planar projection surface, thereby optically projecting a non-distorted control element onto said non-planar projection surface with said control element exhibiting a control element position;
controlling said medical device dependent on said control element position of said non-distorted control element projected onto said non-planar projection surface;
operating a camera, having a field of view, to obtain an camera image of said non-planar projection surface with said non-distorted control element projected thereon;
introducing an input element into said field of view of said camera, and thereby also detecting said input element in said camera image;
in said computer, analyzing said camera image to determine a relative position of said input element in said camera image to said non-distorted projection of said control element in said camera image; and
controlling said medical device dependent on said relative position of said input element to said non-distorted projection of said control element in said camera image.

2. A method as claimed in claim 1 comprising acquiring said surface structure data record at an acquisition angle, and wherein transforming said projection data record includes adjusting said geometric property with respect to said acquisition angle.

3. A method as claimed in claim 2 comprising adjusting said geometric property relative to said acquisition angle to give said geometric property a predetermined geometric shape in said non-distorted control element projected onto said non-planar projection surface.

4. A method as claimed in claim 1 comprising acquiring said 3D surface structure data record of said non-planar projection surface as a 3D image of said non-planar projection surface.

5. A method as claimed in claim 4 comprising acquiring said 3D image as an optically projected stripe or dot pattern onto said non-planar projection surface.

6. A method as claimed in claim 4 comprising acquiring said 3D image as an optical projection of said control element onto said non-planar projection surface using said projection data in said projection data record, prior to transforming said projection data record.

7. A method as claimed in claim 1 wherein said control element indicates an interaction zone of said medical device with said patient on said patient bed.

8. A control system for a medical device, said control system comprising:
an acquisition unit configured to acquire a 3D surface structure data record, while a patient is on a patient bed of a medical device, representing a surface structure, comprising a curvature, of a non-planar projection surface of at least one of said patient and said patient bed;
a processor configured to receive said 3D surface structure data record and a projection data record comprising projection data representing a control element of the medical device that is to be projected on said non-planar projection surface, said control element having a geometric property that is represented in said projection data;
said processor being configured to automatically transform said projection data in said projection data record to adjust said geometric property of the control element to said curvature of said surface structure of the non-planar projection surface as represented in said surface structure data record, thereby generating a transformed projection data record;
an optical projector in communication with said processor;
said processor being configured to use said transformed projection data record to operate said projector to optically project said control element onto said non-planar projection surface without distortion of said geometric property of said control element due to said curvature of said surface structure of said projection surface, thereby optically projecting a non-distorted control element onto said non-planar projection surface with said control element exhibiting a control element position;
a camera, having a field of view, positioned to obtain a camera image of said non-planar projection surface with said non-distorted control element projected thereon;
an input element introduced into said field of view of said camera, with said input element then also being detected in said camera image;
said computer being configured to analyze said camera image to determine a relative position of said input element in said camera image to said non-distorted projection of said control element in said camera image; and
said control computer being configured to control said medical device dependent on said relative position of said input element to said non-distorted projection of said control element in said camera image.

9. A control system as claimed in claim 8 wherein said acquisition unit is configured to acquire said surface structure data record at an acquisition angle, and wherein said processor is configured to transform said projection data record by adjusting said geometric property with respect to said acquisition angle.

10. A control system as claimed in claim 9 wherein said processor is configured to adjust said geometric property relative to said acquisition angle to give said geometric property a predetermined geometric shape in said non-distorted control element projected onto said non-planar projection surface.

11. A control system as claimed in claim 8 wherein said acquisition unit is configured to acquire said 3D surface structure data record of said non-planar projection surface as a 3D image of said non-planar projection surface.

12. A control system as claimed in claim 11 wherein said acquisition unit is configured to acquire said 3D image as an optically projected stripe or dot pattern onto said non-planar projection surface.

13. A control system as claimed in claim 11 wherein said acquisition unit is configured to acquire said 3D image as an optical projection of said control element onto said non-planar projection surface using said projection data in said projection data record, prior to transforming said projection data record.

14. A control system as claimed in claim 8 wherein said control element indicates an interaction zone of said medical device with said patient on said patient bed.

Assignees

• Siemens Ag

Inventors

• Dirauf Franz
• Hannemann Thilo
• Jaeger Anja
• Kagermeier Robert

Classifications

• A61B6/032

  Transmission computed tomography [CT] · CPC title

• G01B11/25

  by projecting a pattern, e.g. {one or more lines,} moiré fringes on the object (G01B11/255 takes precedence {; image analysis for depth or shape recovery G06T7/50}) · CPC title

• G06K9/00355

  Physics · mapped topic

• A61B6/547

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

• H04N9/3185

  Geometric adjustment, e.g. keystone or convergence (optical or mechanical adjustment of convergence H04N9/317; using scanning means H04N3/22; optical or mechanical adjustments of projectors not peculiar to the presence of an electronic spatial light modulator G03B21/14) · CPC title