Determining a consensus plane for imaging a medical device

A non-transitory computer readable storage medium storing a program comprising program instructions that, when executed on at least one processor of a computer or loaded onto the at least one processor of the computer, causes the computer to perform a method of determining a consensus plane usable for imaging an anatomical body part with a medical imaging device by:

• acquiring patient image data that describes an anatomical body part of a patient's body;
• acquiring planned trajectory data that describes an orientation of a longitudinal axis of an elongate medical device and a position of the elongate medical device relative to the anatomical body part;
• determining initial imaging plane data of the medical imaging device based on the planned trajectory data, wherein the initial imaging plane data describes a relative orientation between the orientation of the longitudinal axis of the elongate medical device and an imaging plane of the medical imaging device useable for simultaneously imaging the elongate medical device and the anatomical body part;
• acquiring imaging device constraint data that describes a plurality of possible relative orientations between the imaging plane of the medical imaging device and an orientation of the longitudinal axis of the elongate medical device or the anatomical body part;
• acquiring orientation condition data that describes a predetermined condition to be met by the relative orientation between the orientation of the longitudinal axis of the elongate medical device and the imaging plane of the medical imaging device;
• determining consensus plane data based on the imaging device constraint data and the initial imaging plane data and the orientation condition data, wherein the consensus plane data describes a relative orientation between the imaging plane of the medical imaging device and the orientation of the longitudinal axis of the elongate medical device, which orientation is to be applied for imaging the anatomical body part and the elongate medical device with the medical imaging device;
• and
• acquiring avoidance region position data that describes a position of an avoidance region which shall at least substantially not be intersected by imaging radiation during the imaging,
• wherein the determining consensus plane data is further based on the avoidance region position data.

A medical system, comprising:

• at least one computer;
• at least one electronic data storage device storing at least patient data and imaging device constraint data;
• and
• a medical imaging device for imaging an anatomical body part and an elongate medical device,
• wherein the at least one computer is operable to:
• acquire patient image data which describes an anatomical body part of a patient's body;
• acquire planned trajectory data which describes an orientation of a longitudinal axis of the elongate medical device and a position of the elongate medical device relative to the anatomical body part;
• determine initial imaging plane data of the medical imaging device based on the planned trajectory data, wherein the initial imaging plane data describes a relative orientation between the orientation of the longitudinal axis of the elongate medical device and an imaging plane of the medical imaging device useable for simultaneously imaging the elongate medical device and the anatomical body part;
• acquire, from the at least one electronic data storage device, imaging device constraint data that describes a plurality of possible relative orientations between the imaging plane of the medical imaging device and an orientation of the longitudinal axis of the elongate medical device or the anatomical body part;
• acquire orientation condition data that describes a predetermined condition to be met by the relative orientation between the orientation of the longitudinal axis of the elongate medical device and the imaging plane of the medical imaging device;
• determine consensus plane data based on the imaging device constraint data and the initial imaging plane data and the orientation condition data, wherein the consensus plane data describes a relative orientation between the imaging plane of the medical imaging device and the orientation of the longitudinal axis of the elongate medical device, which orientation is to be applied for imaging the anatomical body part and the elongate medical device with the medical imaging device;
• and
• acquire avoidance region position data that describes a position of an avoidance region which shall at least substantially not be intersected by imaging radiation during the imaging,
• wherein the at least one computer is operable to determine the consensus plane data further based on the avoidance region position data,
• wherein the at least one computer is operable to issue a control signal to the medical imaging device for controlling operation of the medical imaging device based on the consensus plane data.