Image system for supporting the navigation of interventional tools

摘要

The invention relates to an image system and a method for supporting the navigation of interventional tools when performing imaging controlled minimally invasive interventions within the body of a patient in a predetermined intervention plane, which serves to improve the precision and reliability of interventional accesses that are required for performing a histological tissue sample removal under CT or MRT based image-oriented monitoring, or in the context of tumor therapy or pain therapy. Directional deviations, away from the intervention plane, of the actual course of an interventional tool from a predeterminable desired course are captured and presented for display by registering the shortened represented total length or a shortened represented partial length of this interventional tool in the 2D projection representation of a fluoroscopic radioscopy recording that was recorded in a 2D projection direction running normally relative to the intervention plane.

主权项

1. An image system for supporting a navigation of an interventional tool when performing an imaging controlled invasive intervention within a body of a patient in an intervention plane, comprising:
a recording system that records a 2D projection recording representing a current position of the interventional tool from two different projection planes running normally to the intervention plane; an imaging processing system that processes the 2D projection recording; and an input/output interface that receives the recorded 2D projection recording from the recording system and supplies the recorded 2D projection recording to the imaging processing system, wherein the imaging processing system is configured to:
register a shortened length of the interventional tool represented in the 2D projection recording;capture a directional deviation of an actual course of the interventional tool from a predetermined desired course that lies within the intervention plane from the registration;generate a 3D data record of a target zone of the patient;define a spatial coordinate of a puncture target in the 3D data record with respect to a 3D Cartesian coordinate system;define a spatial coordinate of an insertion point in the 3D Cartesian coordinate system;identify a position of a tip of the interventional tool in the 2D projection recording;calculate a location coordinate of the position in the 3D Cartesian coordinate system based on the identified position in the 2D projection recording;select a further spatial point of the intervention tool in the 3D Cartesian coordinate system;estimate a position of the further spatial point of the interventional tool in the 2D projection recording;calculate a 3D location coordinate of the 2D estimated position of the further spatial point in the 3D Cartesian coordinate system;adjust the further spatial point until a deviation between a direction of a line connecting the identified position of the tip and the estimated position of the further spatial point in the 2D projection recording and a projected direction of the predetermined desired course in the 2D projection recording being within a predetermined deviation value; andconvert the directional deviation of the interventional tool into an actuating variable for triggering an actuator system to compensate the directional deviation by a reverse control, wherein the intervention plane is defined by the position of the tip of the interventional tool, the further spatial point of the interventional tool, and the puncture target when the intervention tool is properly aligned with a desired path of the intervention tool, and wherein the image system further comprises a robot that guides the interventional tool introduced from the insertion point to the puncture target based on the actuating variable.