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US 11,596,484 B2Granted
Compensation of tracking inaccuracies
AssigneeBrainlab AG
InventorsJörg Uhde, Manfred Weiser
Life of this patent
Estimating the term…
Abstract
The disclosed method encompasses moving an object such as a medical device or instrument to a desired spatial position based on tracking data provided by a tracking system. Once it is determined from the tracking data that the object has reached the desired spatial position, a projection image is generated, which is registered with the desired spatial position and shows the object. Based on the image data, it is possible to verify whether the object has actually reached the desired position, or whether the object's actual position deviates from the desired position due to errors or inaccuracies, allowing measures to be taken to compensate for these errors or inaccuracies.
Claims20
A computer-implemented medical method of compensating for tracking inaccuracies, the method comprising:
- a) acquiring a three-dimensional image dataset comprising spatial image data that describes a three-dimensional representation of an associated physical anatomical body part;
- b) acquiring target position data that describes in three-dimensional image dataset a desired spatial position of an associated trackable device with respect to the three-dimensional representation of the associated physical anatomical body part;
- c) acquiring spatial registration data that describes a spatial registration of the three-dimensional representation of the associated physical anatomical body part together with the desired spatial position of the associated trackable device in the three-dimensional image dataset with the associated physical anatomical body part;
- d) acquiring tracking position data that describes a current spatial position of the associated trackable device;
- e) determining control data based on the spatial registration data and the tracking position data, wherein the control data describes one or more instructions for positioning the associated trackable device at the desired spatial position with respect to the associated physical anatomical body part;
- f) acquiring imaging setup data that describes a positional setup of an associated projection imaging device operable to acquire a two-dimensional projection image of the associated physical anatomical body part and of the associated trackable device having been positioned, based on the control data, at the desired spatial position;
- g) acquiring projection image data that describes the two-dimensional projection image;
- h) determining position verification data based on the imaging setup data, the projection image data and the spatial registration data, wherein the position verification data describes a deviation between:
- the current spatial position of the associated trackable device as shown in the two-dimensional projection image;
- and
- the desired spatial position of the associated trackable device;
- and
- i) determining position correction data based on the position verification data, the position correction data comprising a transformation matrix describing a positional compensation of the deviation of the associated trackable device between the current spatial position and the desired spatial position.
10 more elements
A non-transitory computer-readable medium that when executed by a computer, causes the computer to perform a computer-implemented medical method of compensating for tracking inaccuracies, the method comprising:
- a) acquiring a three-dimensional image dataset comprising spatial image data that describes a three-dimensional representation of an associated physical anatomical body part;
- b) acquiring target position data that describes in three-dimensional image dataset a desired spatial position of an associated trackable device with respect to the three-dimensional representation of the associated physical anatomical body part;
- c) acquiring spatial registration data that describes a spatial registration of the three-dimensional representation of the associated physical anatomical body part together with the desired spatial position of the associated trackable device in the in three-dimensional image dataset with the associated physical anatomical body part;
- d) acquiring tracking position data that describes a current spatial position of the associated trackable device;
- e) determining control data based on the spatial registration data and the tracking position data, wherein the control data describes one or more instructions for positioning the associated trackable device at the desired spatial position with respect to the associated physical anatomical body part;
- f) acquiring imaging setup data that describes a positional setup of an associated projection imaging device operable to acquire a two-dimensional projection image of the associated physical anatomical body part and of the associated trackable device having been positioned, based on the control data, at the desired spatial position;
- g) acquiring projection image data that describes the two-dimensional projection image;
- h) determining position verification data based on the imaging setup data, the projection image data and the spatial registration data, wherein the position verification data describes a deviation between:
- the current spatial position of the associated trackable device as shown in the two-dimensional projection
- image;
- and
- the desired spatial position of the associated trackable device;
- and
- i) determining position correction data based on the position verification data, the position correction data comprising a transformation matrix describing a positional compensation of the deviation of the associated trackable device between the current spatial position and the desired spatial position.
11 more elements
A medical system, comprising:
- a) at least one computer comprising a processor and a non-transitory computer readable storage medium storing a program executable by the processor to:
- acquire a three-dimensional image dataset comprising spatial image data that describes a three-dimensional representation of an associated physical anatomical body part;
- acquire target position data that describes in three-dimensional image dataset a desired spatial position of an associated trackable device with respect to the three-dimensional representation of the associated physical anatomical body part;
- acquire spatial registration data that describes a spatial registration of the three-dimensional representation of the associated physical anatomical body part together with the desired spatial position of the associated trackable device in the in three-dimensional image dataset with the associated physical anatomical body part;
- acquire tracking position data that describes a current spatial position of the associated trackable device;
- determine control data based on the spatial registration data and the tracking position data, wherein the control data describes one or more instructions for positioning the associated trackable device at the desired spatial position with respect to the associated physical anatomical body part;
- acquire imaging setup data that describes a positional setup of an associated projection imaging device operable to acquire a two-dimensional projection image of the associated physical anatomical body part and of the associated trackable device having been positioned, based on the control data, at the desired spatial position;
- acquire projection image data that describes the two-dimensional projection image;
- determine position verification data based on the imaging setup data, the projection image data and the spatial registration data, wherein the position verification data describes a deviation between:
- the current spatial position of the associated trackable device as shown in the two-dimensional projection image;
- and
- the desired spatial position of the associated trackable device;
- and
- determining position correction data based on the position verification data, the position correction data comprising a transformation matrix describing a positional compensation of the deviation of the associated trackable device between the current spatial position and the desired spatial position;
- b) at least one electronic data storage device storing at least the spatial image data;
- and
- c) a tracking system for acquiring at least the associated tracking position data, and comprising an interface for transmitting the control data, wherein the interface is connected to the associated projecting imaging device to acquire the imaging setup data.
14 more elements
Dependencies are inferred from the claim text.