# US 10,441,313 B2 · Spatial dimension determination device for determining a spatial dimension of a target element within an object

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- Number: US 10,441,313 B2
- Document ID: US10441313B2
- Status: Granted
- Kind: B2
- Application number: 14/646,805
- Filed: 2013-12-04
- Published: 2015-10-22
- Granted: 2019-10-15
- Earliest claimed: 2012-12-11
- Assignees: Koninklijke Philips N.V.
- Applicants: Koninklijke Philips N.V.
- Inventors: Erik Martinus Hubertus Petrus Van Dijk; Sander Slegt
- Web page: https://patentgrep.com/patent/US10441313B2

## CPC

- A61B 17/3403: {Needle locating or guiding means}
- A61B 6/12: Arrangements for detecting or locating foreign bodies
- A61B 6/547: {involving tracking of position of the device or parts of the device}
- A61B 6/582: {Calibration}
- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 34/30: Surgical robots
- A61M 25/0105: {Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B)}
- G01B 15/00: Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons (characterised by the use of optical techniques G01B9/00, G01B11/00)
- A61B 6/504: {for diagnosis of blood vessels, e.g. by angiography}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes}
- A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body}
- A61B 2090/376: {using X-rays, e.g. fluoroscopy}
- A61B 2090/3764: {with a rotating C-arm having a cone beam emitting source}
- A61F 2/82: Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents (stent-grafts for tubular structures of the body other than blood vessels A61F2/04; stent-grafts for blood vessels A61F2/07)
- A61M 2025/0166: {Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)

## Abstract

The invention relates to a spatial dimension determination device for determining a spatial dimension of a target element like a vessel within an object (9), for instance, within a person. Movement parameters describing a movement of an introduction element (4) moved by a moving unit (2) like a robot and several images showing the introduction element are used for determining a dimensional relation between an image dimension and a real dimension. A further image showing the target element is provided, wherein a real dimension of the target element is determined based on an image dimension of the target element in the further image and based on the determined dimensional relation. An unknown real physical dimension of a target element within the object can therefore accurately be determined from an image of the target element by using, inter alia, the movement parameters.

## Claims

### Claim 1

A spatial dimension determination device for determining a real spatial dimension of a target element within a living being, the spatial dimension determination device comprising:
a storing unit that stores:
movement parameters of a robot describing movements by the robot of an introduction element within the living being by defining a sequence of real positions of the introduction element moving within the living being;
a plurality of images generated by an x-ray imaging system respectively showing the introduction element at the real positions within the living being during the movements of the introduction element, and a target image generated by the x-ray imaging system showing the target element within the living being; and
a computer processing unit in communication with the storing unit, the computer processing unit programmed to:
receive the movement parameters of the robot and the plurality of images from the storing unit;
determine a real dimension of a physical length covered by the sequence of real positions of the introduction element indicated by the movement parameters, and an image dimension of an image length covered by the sequence of real positions of the introduction element indicated by the plurality of images of the introduction element;
determine a dimensional ratio between the real dimension and the image dimension; and
determine the real spatial dimension of the target element within the living being by multiplying a target image dimension of the target element in the target image by the determined dimensional ratio.

### Claim 2 (depends on 1)

The spatial dimension determination device as defined in claim 1, wherein the introduction element is a catheter or a needle.

### Claim 3 (depends on 1)

An interventional system comprising:
the spatial dimension determination device as defined in claim 1;
the robot for moving the introduction element within the object; and
the x-ray imaging system for generating the plurality of images and the target image showing the target element within the object, the plurality of images capturing the introduction element at different times corresponding to the real positions of the introduction element in the sequence of real positions, respectively, during movement of the introduction element within the living being by the robot.

### Claim 4 (depends on 3)

An interventional computer program, stored on a non-transitory medium executable by the computer processing unit, for causing an interventional system according to claim 3 to:
move the introduction element within the living being by the robot;
generate the plurality of images, and
determine the real spatial dimension of the target element within the living being.

### Claim 5

A spatial dimension determination method for determining a real spatial dimension of a target element within a living being, the spatial dimension determination method comprising:
providing movement parameters of a robot describing a movement by the robot of an introduction element within the living being by defining a sequence of real positions of the introduction element moving within the living being;
providing a plurality of images generated by x-ray imaging system respectively showing the introduction element at the real positions of the sequence of real positions within the living being during the movement of the introduction element;
determining a real dimension of a physical length covered by the sequence of real positions of the introduction element indicated by the movement parameters;
determining an image dimension of an image length covered by the sequence of real positions of the introduction element indicated by the plurality of images;
determining a dimensional ratio between the real dimension and the image dimension;
providing a target image showing the target element within the living being; and
determining the real spatial dimension of the target element by multiplying an image dimension of the target element in the target image by the determined dimensional ratio.

### Claim 6 (depends on 5)

The method of claim 5, wherein the introduction element is a catheter or a needle.

### Claim 7

A non-transitory computer readable medium storing a spatial dimension determination computer program containing instructions for determining a real spatial dimension of a target element within a living being, the instructions, when executed by a computer processing unit, causing the computer processing unit to perform a method comprising:
providing movement parameters of a robot describing a movement by the robot of an introduction element within the living being by defining a sequence of real positions of the introduction element moving within the living being;
providing a plurality of images generated by an x-ray imaging system respectively showing the introduction element at the real positions of the sequence of real positions during the movement of the introduction element;
determining a real dimension of a physical length covered by the sequence of real positions of the introduction element indicated by the movement parameters;
determining an image dimension of an image length covered by the sequence of real positions of the introduction element indicated by the plurality of images;
determining a dimensional ratio between the real dimension and the image dimension;
providing a target image showing the target element within the living being; and
determining the real spatial dimension of the target element within the living being by multiplying an image dimension of the target element in the target image by the determined dimensional ratio.