Method for assisting the positioning of a medical structure on the basis of two-dimensional image data

Patent metadata

Field	Value
Publication number	US-9947110-B2
Application number	US-201415118341-A
Country	US
Kind code	B2
Filing date	Feb 13, 2014
Priority date	Feb 13, 2014
Publication date	Apr 17, 2018
Grant date	Apr 17, 2018

Abstract

A medical data processing method for assisting the positioning of a first medical structure ( 1 ) relative to a second medical structure ( 2 ), the method being constituted to be executed by a computer and comprising the following steps: —acquiring two-dimensional projection image data comprising two-dimensional projection image information describing a two-dimensional projection image of at least the first medical structure ( 1 ); —acquiring registration data comprising registration information describing the registration of the two-dimensional projection image with respect to the first medical structure ( 1 ); —acquiring, on the basis of said two-dimensional projection image data, two-dimensional position data comprising position information describing the position of at least one base point ( 3 ) and at least one reference point ( 4 ) in the two-dimensional projection image; —acquiring, on the basis of the two-dimensional position data, positional relationship data comprising positional relationship information describing the positional relationship between the at least one base point ( 3 ) and the at least one reference point ( 4 ) in the two-dimensional projection image; —acquiring three-dimensional position data comprising position information describing the position of the at least one base point ( 3 ) and the at least one reference point ( 4 ) in three-dimensional anatomical space, in particular relative to the first medical structure ( 1 ); —determining, on the basis of the positional relationship data, the registration data and the three-dimensional position data, three-dimensional reference point correspondence data comprising correspondence information describing whether or not the position of the at least one reference point ( 4 ) corresponds to the position of the at least one reference point ( 4 ) in the two-dimensional projection image.

First claim

The invention claimed is:

1. A medical data-processing system for assisting a positioning of a first medical structure relative to a second medical structure, the system comprising a navigation system, a display, and a computer having a processor, the processor being configured to:
acquire, at the processor, two-dimensional projection image data comprising two-dimensional projection image information describing a two-dimensional projection image of at least the first medical structure;
acquire, at the processor, registration data comprising registration information describing a registration of the two-dimensional projection image with respect to the first medical structure;
acquire, at the processor and on the basis of said two-dimensional projection image data, two-dimensional position data comprising position information describing a position of at least one base point and at least one reference point in the two-dimensional projection image;
acquire, at the processor and on the basis of the two-dimensional position data, positional relationship data comprising positional relationship information describing a directional distance between the at least one base point and the at least one reference point in the two-dimensional projection image;
acquire, at the processor from the navigation system, three-dimensional position data comprising position information describing a position of the at least one base point and the at least one reference point in a three-dimensional anatomical space;
determine, by the processor and on the basis of the positional relationship data, the registration data and the three-dimensional position data, three-dimensional reference point correspondence data comprising correspondence information describing a directional distance between the at least one base point and the at least one reference point in the three-dimensional anatomical space that is consistent with the directional distance in the two-dimensional projection image; and
output the three-dimensional reference point correspondence data to the display thereby assisting a surgeon in positioning the first medical structure relative to the second medical structure.

2. A computer-implemented medical method, using a medical system comprising a navigation system, a display, and a computer having a processor, for assisting a positioning of a first medical structure relative to a second medical structure, the method comprising executing, on the processor, the steps of:
acquiring, at the processor, two-dimensional projection image data comprising two-dimensional projection image information describing a two-dimensional projection image of at least the first medical structure;
acquiring, at the processor, registration data comprising registration information describing a registration of the two-dimensional projection image with respect to the first medical structure;
acquiring, at the processor and on the basis of said two-dimensional projection image data, two-dimensional position data comprising position information describing a position of at least one base point and at least one reference point in the two-dimensional projection image;
acquiring, at the processor and on the basis of the two-dimensional position data, positional relationship data comprising positional relationship information describing a directional distance between the at least one base point and the at least one reference point in the two-dimensional projection image;
acquiring, at the processor from the navigation system, three-dimensional position data comprising position information describing a position of the at least one base point and the at least one reference point in a three-dimensional anatomical space;
determining, by the processor and on the basis of the positional relationship data, the registration data and the three-dimensional position data, three-dimensional reference point correspondence data comprising correspondence information describing a directional distance between the at least one base point and the at least one reference point in the three-dimensional anatomical space that is consistent with the directional distance in the two-dimensional projection image;
outputting the three-dimensional reference point correspondence data to the display thereby assisting a surgeon in positioning the first medical structure relative to the second medical structure.

3. The method according to claim 2 , wherein the first medical structure is an anatomical structure of an associated patient.

4. The method according to claim 2 , wherein the second medical structure is selected from a group consisting of:
an anatomical structure of an associated patient;
an implant or a surgical instrument.

5. The method according to claim 2 , wherein the two-dimensional projection image is an x-ray image made in an anterior-posterior direction.

6. The method according to claim 2 , wherein the at least one base point is assigned to the first medical structure in an invariant positional relationship and/or the at least one reference point is assigned to the second medical structure in an invariant positional relationship.

7. The method according to claim 2 , wherein the two-dimensional position data and the positional relationship data comprise position information concerning the position of the at least one base point and the at least one reference point in a cranial-caudal direction and/or in a medial-lateral direction and/or in an anterior-posterior direction.

8. The method according to claim 2 , wherein the two-dimensional projection image is registered with respect to the first medical structure on the basis of identifying at least one landmark in both the two-dimensional projection image and the first medical structure.

9. The method according to claim 2 , wherein the acquiring the three-dimensional position data is based on palpating the at least one base point and/or the at least one reference point.

10. The method according to claim 2 , wherein the acquiring the three-dimensional position data is based on palpating at least one landmark that has an invariant position relative to the at least one base point or the at least one reference point.

11. The method according to claim 2 , wherein the determining the three-dimensional reference point position data of the at least one reference point comprises determining whether or not a correspondence between the second medical structure and the first medical structure fulfils a condition that the three-dimensional position of the at least one reference point approximately corresponds to the position of the at least one reference point in the two-dimensional projection image.

12. The method according to claim 2 , wherein a plurality of base points and/or a plurality of reference points define at least one geometric structure that can be identified within the two-dimensional projection image, the at least one geometric structure comprising one or more lines, curves, planes or curved surfaces.

13. The method according to claim 2 , wherein the acquiring the three-dimensional position data comprises defining a three-dimensional space, and wherein a spatial position of the first and the second medical structure is determined relative to said three-dimensional space.

14. The method according to claim 13 , wherein a plurality of base points and/or a plurality of reference points define at least one geometric structure that can be identified within said three-dimensional space, the at least one geometric structure comprising one or more lines, curves, planes or curved surfaces.

15. The method according to claim 2 , wherein the determini

Assignees

• Brainlab Ag

Inventors

• Haimerl Martin

Classifications

• A61B90/37

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• G06T2207/10116

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• A61B2034/2068

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• A61B34/20

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