DETERMINING A TARGET POSITION OF AN X-RAY DEVICE

Abstract

Disclosed is a computer-implemented method for determining a target position of an X-ray device which 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 (embodied by registered image data). Furthermore, a trajectory of an implant positioned within the anatomical structure relative to the patient coordinate system is acquired (embodied by trajectory data). 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 (embodied by X-ray device position data).

Claims

1.-14. (canceled)

15. A method in a navigation system for automatically determining a target positon of an associated X-ray device, the method comprising: receiving patient image data acquired by an associated patient imaging device imaging an associated patient, wherein the patient image data is representative of an anatomical structure of the associated patient; registering the patient image data to a coordinate system of the patient as registered patient image data by: imaging a first marker device detectable by the navigation system, the first marker device being disposed on the associated patient; imaging a second marker device detectable by the navigation system, the second marker device being disposed on the associated patient imaging device; determining a spatial relationship between the associated patient imaging device and the associated patient based on the imaging of the first and second marker devices detectable by the navigation system; and using the determined spatial relationship to register the received patient image data with the coordinate system of the associated patient; receiving implant trajectory data that describes a trajectory of an associated implant device relative to the anatomical structure in the coordinate system of the associated patient; determining X-ray device position data based on the registered the patient image data and the implant trajectory data; 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 associated X-ray device to move automatically to the target positon.

16. The method according to claim 15, wherein the determining the control data comprises: determining control data representative of a control signal that causes the associated X-ray device to move automatically to: i) an orientation aligned with the trajectory of the associated implant device, or ii) an orientation within a predetermined angle range relative to the trajectory of the associated implant device.

17. The method according to claim 15, wherein the receiving implant trajectory data comprises: imaging a third marker device detectable by the navigation system, the third marker device being attached with an associated instrument used to guide the associated implant device to a desired location relative to the anatomical structure of the associated patient.

18. The method according to claim 15, wherein the receiving implant trajectory data comprises: receiving planned trajectory data as the implant trajectory data from an associated user operating the navigation system, wherein the planned trajectory data describes a planned trajectory of the associated implant device relative to the anatomical structure of the associated patient.

19. The method according to claim 18, wherein the receiving the planned trajectory data as the implant trajectory data from the associated user operating the navigation system comprises: receiving planned trajectory data that describes an entry point and a target point of the associated implant device relative to the anatomical structure of the associated patient.

20. The method according to claim 15, wherein the receiving patient image data comprises receiving patient image data acquired by the associated X-ray device.

21. The method according to claim 15, wherein the receiving patient image data comprises receiving patient image data acquired by an associated patient imaging device different than the associated X-ray device.

22. A navigation system comprising: a memory device; logic stored in the memory device; and a processor operable to execute the logic to automatically determine a target positon of an associated X-ray device by: receiving patient image data acquired by an associated patient imaging device imaging an associated patient, wherein the patient image data is representative of an anatomical structure of the associated patient; registering the patient image data to a coordinate system of the patient as registered patient image data by: imaging a first marker device detectable by the navigation system, the first marker device being disposed on the associated patient; imaging a second marker device detectable by the navigation system, the second marker device being disposed on the associated patient imaging device; determining a spatial relationship between the associated patient imaging device and the associated patient based on the imaging of the first and second marker devices detectable by the navigation system; and using the determined spatial relationship to register the received patient image data with the coordinate system of the associated patient; receiving implant trajectory data that describes a trajectory of an associated implant device relative to the anatomical structure in the coordinate system of the associated patient; determining X-ray device position data based on the registered the patient image data and the implant trajectory data; 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 associated X-ray device to move automatically to the target positon.

23. The navigation system according to claim 22, wherein the processor is operable to execute the logic to: determine control data representative of a control signal that causes the associated X-ray device to move automatically to: i) an orientation aligned with the trajectory of the associated implant device, or ii) an orientation within a predetermined angle range relative to the trajectory of the associated implant device.

24. The navigation system according to claim 22, wherein the processor is operable to execute the logic to receive the implant trajectory data by: imaging a third marker device detectable by the navigation system, the third marker device being attached with an associated instrument used to guide the associated implant device to a desired location relative to the anatomical structure of the associated patient.

25. The navigation system according to claim 22, wherein the processor is operable to execute the logic to receive the implant trajectory data by: receiving planned trajectory data as the implant trajectory data from an associated user operating the navigation system, wherein the planned trajectory data describes a planned trajectory of the associated implant device relative to the anatomical structure of the associated patient.

26. The navigation system according to claim 25, wherein the processor is operable to execute the logic to receive the planned trajectory data as the implant trajectory data from the associated user operating the navigation system by: receiving planned trajectory data that describes an entry point and a target point of the associated implant device relative to the anatomical structure of the associated patient.

27. The navigation system according to claim 22, wherein the processor is operable to execute the logic to receive the patient image data by receiving patient image data acquired by the associated X-ray device.

28. The navigation system according to claim 22, wherein the processor is operable to execute the logic to receive the patient image data by receiving patient image data acquired by an associated patient imaging device different than the associated X-ray device.

29. A computer readable medium storing instructions thereon that are executable by a processor to perform a method for automatically determining a target positon of an associated X-ray device, the method comprising: receiving patient image data acquired by an associated patient imaging device imaging an associated patient, wherein the patient image data is representative of an anatomical structure of the associated patient; registering the patient image data to a coordinate system of the patient as registered patient image data by: imaging a first marker device detectable by the navigation system, the first marker device being disposed on the associated patient; imaging a second marker device detectable by the navigation system, the second marker device being disposed on the associated patient imaging device; determining a spatial relationship between the associated patient imaging device and the associated patient based on the imaging of the first and second marker devices detectable by the navigation system; and using the determined spatial relationship to register the received patient image data with the coordinate system of the associated patient; receiving implant trajectory data that describes a trajectory of an associated implant device relative to the anatomical structure in the coordinate system of the associated patient; determining X-ray device position data based on the registered the patient image data and the implant trajectory data; 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 associated X-ray device to move automatically to the target positon.

30. The computer readable medium according to claim 29, wherein the determining the control data comprises: determining control data representative of a control signal that causes the associated X-ray device to move automatically to: i) an orientation aligned with the trajectory of the associated implant device, or ii) an orientation within a predetermined angle range relative to the trajectory of the associated implant device.

31. The computer readable medium according to claim 29, wherein the receiving implant trajectory data comprises: imaging a third marker device detectable by the navigation system, the third marker device being attached with an associated instrument used to guide the associated implant device to a desired location relative to the anatomical structure of the associated patient.

32. The computer readable medium according to claim 29, wherein the receiving implant trajectory data comprises: receiving planned trajectory data as the implant trajectory data from an associated user operating the navigation system, wherein the planned trajectory data describes a planned trajectory of the associated implant device relative to the anatomical structure of the associated patient.

33. The computer readable medium according to claim 32, wherein the receiving the planned trajectory data as the implant trajectory data from the associated user operating the navigation system comprises: receiving planned trajectory data that describes an entry point and a target point of the associated implant device relative to the anatomical structure of the associated patient.

34. The computer readable medium according to claim 29, wherein the receiving patient image data comprises receiving patient image data acquired by the associated X-ray device.

35. The computer readable medium according to claim 29, wherein the receiving patient image data comprises receiving patient image data acquired by an associated patient imaging device different than the associated X-ray device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In the following, the invention is described with reference to the appended figures which give background explanations and represent specific embodiments of the invention. The scope of the invention is however not limited to the specific features disclosed in the context of the figures, wherein

[0084] FIG. 1 is a flow diagram illustrating the basic steps of the method for determining a target position of an X-ray device;

[0085] FIG. 2 is a schematic illustration of acquiring registered image data of an anatomical structure of a patient;

[0086] FIG. 3 is a schematic illustration of positioning an implant within the anatomical structure of the patient;

[0087] FIG. 4 is a schematic illustration of positioning the X-ray device at a target position; and

[0088] FIG. 5 is a schematic illustration of the system according to the fifth aspect.

DESCRIPTION OF EMBODIMENTS

[0089] FIG. 1 illustrates the basic steps of the method for determining a target position of an X-ray device according to the first aspect, in which step S11 encompasses acquisition of the registered image data and step S12 encompasses acquisition of the trajectory data. The subsequent step S13 encompasses determining the X-ray device position data.

[0090] FIG. 2 is a schematic illustration of acquiring registered image data of an anatomical structure of a patient 4. Medical image data is acquired by an imaging device (for example by means of a 3D scan). The imaging device may be for example an X-ray device 3, as shown in FIG. 2.

[0091] A first reference (not shown), for example a first marker device, is attached to the patient 4, for example attached to a vertebrae of the patient 4. A second reference (not shown), for example a second marker device, is attached to the imaging device, here the X-ray device 3. The first reference and the second reference are detectable (for example trackable) by a navigation system 5, for example an optical navigation system.

[0092] The X-ray device 3 and the navigation system 5 are connected to a computer 2 (as shown in FIG. 5). The connection may be wired or wireless. Based on the known spatial relationship between the first reference attached to the patient 4 and the second reference attached to the X-ray device 3, the image data acquired by the X-ray device 3 may be registered via a transformation matrix T1 relative to a coordinate system of the patient 4.

[0093] FIG. 3 is a schematic illustration of positioning an implant 7 within the anatomical structure of the patient 4. In one example, the implant 7 is a pedicle screw positioned within a pedicle of the patient 4. Positioning of the implant 7 is navigated (tracked) by the navigation system 5. In one example, a third reference, for example a marker device, is attached to an instrument guiding the implant 7.

[0094] As shown, in FIG. 3 a trajectory 9 of the implant (described by trajectory data) is acquired by the navigation system 5. The trajectory 9 of the implant 7 is indicated by the dashed line in FIG. 3. The trajectory 9 comprises an entry point and a target point of the implant 7 within the anatomical structure of the patient 4. In one example, the implant 7 may be guided along a (for example, preoperatively) planned trajectory and the (actual) trajectory may be acquired during navigation.

[0095] Based on the known spatial relationship between the implant 7 and the patient 4 the trajectory data may be registered via a transformation matrix T2 relative to the coordinate system of the patient 4. The trajectory data may be saved automatically by the navigation system 5 after positioning of the implant 7. The trajectory data of a plurality of implants 7 may be acquired consecutively.

[0096] FIG. 4. is a schematic illustration of positioning the X-ray device 3 at a target position.

[0097] Based on the known spatial relationship between the X-ray device 3 and the implant 7 the trajectory data of the implant 7 may be registered via the transformation matrix T3 relative to the coordinate system of the X-ray device 3. Based on the registered image data and the trajectory data a target position (described by the X-ray device position data) of the X-ray is determined for acquiring a (control) image of the implant 7.

[0098] In the target position the imaging direction of the X-ray device 3 may be oriented along the orientation of the trajectory of the implant 7. As shown in FIG. 4, the imaging direction of the X-ray device 3 may be oriented along the longitudinal axis of the implant 7. For example, a source 11 of the X-ray device 3 may be directed to one end of the implant 7 (for example, the tip of a pedicle screw) and a detector 13 of the X-ray device may be directed to another end of the implant (for example, the head of a pedicle screw).

[0099] Accordingly, a (control) image at least part of the implant 7 may be acquired, which allows an easy evaluation of position of the implant 7 within the anatomical structure. In case of a plurality of implants 7 a plurality of (control) images may be acquired consecutively.

[0100] FIG. 5 is a schematic illustration of the medical system 1 according to the fifth aspect. The system is in its entirety identified by reference sign 1 and comprises the computer 2 with an electronic data storage device (not shown), for example a hard disc, the X-ray device 3 and the navigation system 5. The components of the medical system 1 have the functionalities and properties explained above with regard to the fifth aspect of this disclosure.