Medical-technical system

• US 6,380,958 B1
• Filed: 09/10/1999
• Issued: 04/30/2002
• Est. Priority Date: 09/15/1998
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Guendel, Lutz, Wessels, Gerd
• Primary Examiner(s): Bayerl, Raymond J.
• Application Number:
  US09/394,520
• Time in Patent Office: 963 Days
• Field of Search: 345/848, 345/851, 345/849, 345/850, 345/419, 345/427, 345/424, 345/804, 345/781, 345/771, 600/407, 600/425, 600/427, 600/411, 600/416, 600/417, 606/130, 378/4, 378/21, 378/901
• US Class Current: 715/848
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 2210/41 Medical

Abstract

A medical technical system computing unit for calculating a multi-dimensional image dataset from subject signals supplied to the computing unit and obtained from the examination of a subject with at least one pre-operative imaging method. A virtual, multi-dimensional image that can be calculated from the multi-dimensional image dataset via the computing unit can be displayed on a display unit. A controllable window can be displayed at the display unit via a window generator allocated to the computing unit. The image at the display means corresponding to a virtual location of the controllable window controllable is produced via a control unit allocated to the computing unit.

Claims

1. A medical-technical system comprising:

an imaging system operable according to a pre-operative imaging modality to obtain subject signals from an examination subject;

a computing unit supplied with said subject signals for calculating a multi-dimensional image dataset from said subject signals;

a display unit connected to said computing unit for displaying a virtual, multi-dimensional image produced in said computing unit from said multi-dimensional image dataset;

a window generator connected to said computing unit for generating a controllable window displayed at said display unit; and

a control unit connected to said computing unit for controlling production of said virtual, multi-dimensional image in said computing unit by including a virtual location of said window in said virtual, multi-dimensional image, said virtual location being controlled by said control unit so that said window displayed at said display unit contains a portion of said virtual, multi-dimensional image surrounded by said window at said virtual location.

2. A medical-technical system as claimed in claim 1 comprising a further imaging system operable according to an imaging modality to obtain further subject signals from an examination subject, said further subject signals being supplied to said computing unit, and said computing unit producing said virtual, multi-dimensional image based on at least one of said subject signals and said further subject signals.

3. A medical-technical system as claimed in claim 2 wherein said imaging system is operable according to a first pre-operative imaging modality and wherein said further imaging system is operable according to a second pre-operative imaging modality, said second pre-operative imaging modality being different from said first pre-operative imaging modality, and wherein said computing unit calculates said multi-dimensional image dataset from said subject signals and said further subject signals.

4. A medical-technical system as claimed in claim 3 wherein said computing unit calculates a first multi-dimensional image dataset from said subject signals and calculates a second multi-dimensional image dataset from said further signals and wherein said display unit displays a first virtual, multi-dimensional image produced in said computing unit from said first multi-dimensional image dataset and displays a second virtual, multi-dimensional image produced in said computing unit from said second multi-dimensional image dataset.

5. A medical-technical system as claimed in claim 4 wherein said computing unit calculates a first three-dimensional image dataset from said subject signals and calculates a second three-dimensional image dataset from said further signals and wherein said display unit displays a first virtual, three-dimensional image produced in said computing unit from said first three-dimensional image dataset and displays a second virtual, three-dimensional image produced in said computing unit from said second three-dimensional image dataset.

6. A medical-technical system as claimed in claim 4 wherein said computing unit operates on at least one of said first multi-dimensional dataset and said second multi-dimensional dataset to produce a manipulated multi-dimensional dataset, and wherein said display unit displays a manipulated virtual, multi-dimensional image produced in said computing unit from said manipulated multi-dimensional image dataset.

7. A medical-technical system as claimed in claim 6 wherein said computing unit operates on at least one of said first multi-dimensional dataset and said second multi-dimensional dataset to produce a manipulated multi-dimensional dataset, and wherein said display unit displays a manipulated virtual, multi-dimensional image produced in said computing unit from said manipulated multi-dimensional image dataset.

8. A medical-technical system as claimed in claim 1 wherein said computing unit calculates a three-dimensional image dataset from said subject signals, and wherein said display unit displays a virtual, three-dimensional image produced in said computing unit from said three-dimensional image dataset.

9. A medical-technical system as claimed in claim 1 comprising a further display unit, connected to said computing unit and to said control unit, said further display unit displaying only a portion of said virtual, multi-dimensional image contained within said window.

10. A medical-technical system as claimed in claim 9 wherein said computing unit calculates a three-dimensional image dataset from said subject signals and wherein said display unit displays a virtual, three-dimensional image produced in said computing unit from said three-dimensional image dataset, and wherein said window comprises a virtual channel in said virtual, three-dimensional image according to which said window is controlled by said control unit.

11. A medical-technical system as claimed in claim 10 wherein each of said window and said virtual channel has a shape, and wherein said control unit controls the shape of at least one of said window and said virtual channel.

12. A medical-technical system as claimed in claim 10 wherein said computing unit calculates said virtual channel from said multi-dimensional image dataset.

13. A medical-technical system as claimed in claim 1 wherein said window has a shape, and wherein said control unit controls the shape of said window.

14. A medical-technical system as claimed in claim 1 wherein said window generator generates a plurality of controllable windows, and wherein said control unit controls production of said virtual, multi-dimensional image in said computing unit by including respective virtual locations of each of said plurality of windows in said virtual, multi-dimensional image, said respective virtual locations being controlled by said control unit and each of said plurality of windows containing respective portions of said virtual multi-dimensional image within the respective virtual locations.

15. A medical-technical system as claimed in claim 14 comprising a further display unit, connected to said computing unit and to said control unit, said display unit and said further display unit respectively displaying different portions of said virtual, multi-dimensional image contained within different windows in said plurality of windows.

16. A medical-technical system as claimed in claim 15 wherein said computing unit calculates a three-dimensional image dataset from said subject signals and wherein said display unit and said further display unit each display a virtual, three-dimensional image produced in said computing unit from said three-dimensional image dataset, and wherein each window comprises a virtual channel in said virtual, three-dimensional image according to which said window is controlled by said control unit.

17. A medical-technical system as claimed in claim 16 wherein each of said windows and each of said virtual channels has a shape, and wherein said control unit controls the shape of at least one window and the virtual channel associated therewith.

18. A medical-technical system as claimed in claim 16 wherein said computing unit calculates said virtual channel from said multi-dimensional image dataset.

19. A medical-technical system as claimed in claim 1 further comprising an instrument representation generating unit connected to said computing unit and connected to said control unit, said instrument representation generating unit generating a representation of at least one virtual instrument, said representation being displayed in said virtual, multi-dimensional image at said display unit at a position in said virtual, multi-dimensional image controlled by said control unit.

20. A medical-technical system as claimed in claim 19 further comprising a controllable robot arm connected to said computing unit, and wherein said computing unit generates control signals, corresponding to the position of said representation in said virtual, multi-dimensional image, said control signals being supplied to said robot arm for controlling operation of said robot arm.

21. A medical-technical system as claimed in claim 1 comprising a further imaging system operable according to a preoperative imaging modality to obtain real-time subject signals from an examination subject, and wherein said computing unit is connected to said further imaging system and receives said real-time subject signals therefrom, and wherein said computing unit causes said real-time subject signals to be displayed on said display unit as a real-time image.

22. A medical-technical system as claimed in claim 21 wherein said further imaging system comprises an imaging system selected from the group consisting of optical imaging systems, acoustic imaging systems and radiological imaging systems.

23. A medical-technical system as claimed in claim 22 wherein said computing unit combines said real-time subject signals with said subject signals obtained from said imaging system, to embody said real-time image in said virtual, multi-dimensional image for display by said display unit.

24. A medical-technical system as claimed in claim 21 wherein said display unit has a plurality of display areas, and said display areas respectively displaying said virtual, multi-dimensional image and said real-time image.

25. A medical-technical system as claimed in claim 23 further comprising a further display unit connected to said computing unit and wherein said real-time image and said virtual, multi-dimensional image are respectively displayed on said display unit and said further display unit.

26. A medical-technical system as claimed in claim 21 wherein said further imaging system comprises an imaging system having an imaging instrument selected from the group consisting of an endoscope, a laparoscope, and an ultrasound probe.

27. A medical-technical system as claimed in claim 26 further comprising a locator carried by said imaging instrument which emits a location signal, and said medical-technical system further comprising a location generator, supplied with said location signal, which generates a location mark in said virtual, multi-dimensional image identifying a real-time location of said imaging instrument at said display unit.

28. A medical-technical system as claimed in claim 27 wherein said location mark generator also generates signals representing an adjustment path for said imaging instrument, said signals for said adjustment path also being supplied to said display unit for inclusion in said virtual, multi-dimensional image.

29. A medical-technical system as claimed in claim 27 wherein said location mark comprises a location window.

30. A medical-technical system as claimed in claim 1 wherein said imaging system includes an imaging instrument, said imaging instrument carrying a locator which emits a location signal, and said medical-technical system further comprising a location generator, supplied with said location signal, which generates a location mark in said virtual, multi-dimensional image identifying a real-time location of said instrument at said display unit.

31. A medical-technical system as claimed in claim 1 wherein said computing unit has a data memory containing subject data, and wherein said computing unit causes said subject data to be displayed at said display unit.

32. A medical-technical system as claimed in claim 1 further comprising a physiological signal acquisition system for acquiring physiological signals from the examination subject, connected to said display unit, said display unit displaying said physiological signals.

33. A medical-technical system as claimed in claim 1 further comprising means for determining a spatial relationship between at least two locations in said virtual, multi-dimensional image.

34. A medical-technical system as claimed in claim 33 wherein said means for determining comprises means for determining a spatial relationship between two real locations in said virtual, multi-dimensional image.

35. A medical-technical system as claimed in claim 33 wherein said means for determining comprises means for determining a spatial relationship between two virtual locations in said virtual, multi-dimensional image.

36. A medical-technical system as claimed in claim 1 further comprising a further imaging system operable according to an intra-operative imaging modality to obtain real-time subject signals from the examination subject, and wherein said display unit displays a real-time image formed from said real-time subject signals, and said medical-technical system further comprising means for determining a spatial relationship between at least two locations in said real-time image.

37. A medical-technical system as claimed in claim 1 wherein said window encloses a portion of said virtual, multi-dimensional image comprised of a plurality of voxels, each voxel having a voxel value associated therewith, and wherein said control unit contains an evaluation unit which evaluates the voxel value associated with at least one voxel in said window relative to a predetermined voxel value criterion, said evaluation unit generating a signal representing an evaluation result dependent upon evaluation of said voxel value relative to said predetermined criterion.

38. A medical-technical system as claimed in claim 37 wherein said evaluation unit evaluates whether said voxel value is inside or outside of a selectable area.

39. A medical-technical system as claimed in claim 37 wherein said evaluation unit evaluates whether said voxel value is above or below a selectable reference value.

40. A medical-technical system as claimed in claim 37 wherein said evaluation unit evaluates whether said voxel value is inside or outside of a selectable area and above or below a selectable reference value.

41. A medical-technical system as claimed in claim 37 wherein said control unit permits or suppresses directional control of said window dependent on said signal representing said evaluation result.

42. A medical-technical system as claimed in claim 1 further comprising means for generating a connecting line between a first location and a second location in said virtual, multi-dimensional image.

43. A medical-technical system as claimed in claim 42 wherein said means for generating a connecting line comprises means for generating a connecting line starting at said first location and proceeding to said second location.

44. A medical-technical system as claimed in claim 43 wherein said imaging system includes an imaging instrument and a locator carried by said imaging instrument which generates a real-time signal identifying a location of said imaging instrument, and wherein said means for generating a connecting line defines said second location to correspond to said real-time location of said imaging instrument.

45. A medical-technical system as claimed in claim 42 wherein said window encloses a portion of said virtual, multi-dimensional image comprised of a plurality of voxels, each voxel having a voxel value associated therewith, and wherein said control unit contains an evaluation unit which evaluates the voxel value associated with at least one voxel in said window relative to a predetermined voxel value criterion, said evaluation unit generating a signal representing an evaluation result dependent upon evaluation of said voxel value relative to said predetermined criterion, and wherein said computing unit is connected to said means for generating a line and wherein said computing unit calculates said first location dependent on said voxel value of said at least one voxel in said window.

46. A medical-technical system as claimed in claim 45 wherein said computing unit calculates a third location dependent on said voxel value, said third location being close to said first location and said connecting line being displaceable from between said first location and said second location to between said third location and said second location.

47. A medical-technical system as claimed in claim 46 wherein said computing unit calculates a plurality of locations selected from at least one group of locations consisting of a plurality of first locations, a plurality of second locations, and a plurality of third locations.

48. A medical-technical system as claimed in claim 47 further comprising an examination/treatment instrument and a location signal emitter carried by said examination/treatment instrument which emits a real-time signal identifying a location of said examination/treatment instrument, said signal emitted by said location emitter being supplied to said computing unit and said computing unit generating an indicator signal if a position of said examination/treatment instrument deviates from said connecting line.

49. A medical-technical system as claimed in claim 1 further comprising a further imaging system operable according to an intra-operative imaging modality to obtain real-time subject signals from an examination subject, said real-time signals being supplied to said display unit and said display unit displaying a real-time image based on said real-time subject signals, and said medical-technical system further comprising means for generating a connecting line between a first location and a second location in said real-time image.

50. A medical-technical system as claimed in claim 49 wherein said means for generating a connecting line comprises means for generating a connecting line starting at said first location and proceeding to said second location.

51. A medical-technical system as claimed in claim 50 wherein said imaging system includes an imaging instrument and a locator carried by said imaging instrument which generates a real-time signal identifying a location of said imaging instrument, and wherein said means for generating a connecting line defines said second location to correspond to said real-time location of said imaging instrument.

52. A medical-technical system as claimed in claim 49 wherein said window encloses a portion of said virtual, multi-dimensional image comprised of a plurality of voxels, each voxel having a voxel value associated therewith, and wherein said control unit contains an evaluation unit which evaluates the voxel value associated with at least one voxel in said window relative to a predetermined voxel value criterion, said evaluation unit generating a signal representing an evaluation result dependent upon evaluation of said voxel value relative to said predetermined criterion, and wherein said computing unit is connected to said means for generating a line and wherein said computing unit calculates said first location dependent on said voxel value of said at least one voxel in said window.

53. A medical-technical system as claimed in claim 52 wherein said computing unit calculates a third location dependent on said voxel value, said third location being close to said first location and said connecting line being displaceable from between said first location and said second location to between said third location and said second location.

54. A medical-technical system as claimed in claim 53 wherein said computing unit calculates a plurality of locations selected from at least one group of locations consisting of a plurality of first locations, a plurality of second locations, and a plurality of third locations.

55. A medical-technical system as claimed in claim 54 further comprising an examination/treatment instrument and a location signal emitter carried by said examination/treatment instrument which emits a real-time signal identifying a location of said examination/treatment instrument, said signal emitted by said location emitter being supplied to said computing unit and said computing unit generating an indicator signal if a position of said examination/treatment instrument deviates from said connecting line.