Targeting method, targeting device, computer readable medium and program element

• US 8,208,708 B2
• Filed: 03/15/2007
• Issued: 06/26/2012
• Est. Priority Date: 03/30/2006
• Status: Active Grant

• Current Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Original Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Inventors: Homan, Robert Johannes Frederik, Babic, Drazenko, Mielekamp, Pieter Maria, Timmer, Jan
• Primary Examiner(s): Taningco, Alexander H
• Application Number:
  US12/294,626
• Publication Number:
  US 20100172541A1
• Time in Patent Office: 1,930 Days
• Field of Search: 382/131, 382/132, 378/62
• US Class Current: 382/131
• CPC Class Codes: A61B 2018/2025 with a pilot laser
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/366 using projection of images directly onto the body
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 6/4441 the rigid structure being a C-arm or U-arm
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

According to an exemplary embodiment a targeting method for targeting a first object from an entry point to a target point in an object (110) under examination is provided, wherein the method comprises selecting a two-dimensional image (301) of the object under examination depicting the entry point (305) and the target point (303) and determining a planned path (304) from the entry point to the target point, wherein the planned path has a first direction. Furthermore, the method comprises recording data representing a fluoroscopic image of the object under examination, wherein the fluoroscopic image is recorded under a second direction so that a normal of the image coincide with the first direction and determining whether the first object is on the determined planned path based on shape and/or position of the projection of the first object in the fluoroscopic image.

Claims

1. A targeting method for targeting a first object from an entry point to a target point in an object under examination, the method comprising:

selecting a two-dimensional image of the object under examination depicting the entry point and the target point, the two-dimensional image acquired by a first imaging modality;

displaying the two-dimensional image on a display device;

determining a planned path from the entry point to the target point, wherein the planned path has a first direction;

recording data representing a fluoroscopic image of the object under examination utilizing a second imaging modality, wherein the fluoroscopic image is recorded under a second direction so that a normal of the second direction of the fluoroscopic image is parallel with the first direction;

displaying the fluoroscopic image on the display device;

determining whether the object is on the planned path based on a shape and/or position of a projection of the object in the fluoroscopic image.

2. The targeting method according claim 1, wherein the two-dimensional image is selected as a slice of a three-dimensional image of the object under examination.

3. The targeting method according claim 2, wherein the three-dimensional image is reconstructed out of data recorded by a computer tomography apparatus.

4. The targeting method according to claim 3, wherein the fluoroscopic image is recorded by a C-arm device.

5. The targeting method according to claim 1, further including:

projecting a 3D graphical model onto the fluoroscopic image.

6. The targeting method according to claim 1, wherein the shape is substantially a circle.

7. The targeting method according to claim 1, further including:

recording a first plurality of fluoroscopic images of the object under examination, wherein the first plurality of fluoroscopic images is recorded under the second direction;

wherein the determining whether the first object is on the determined planned path is based on a shape of a projection of a first object in the first plurality of fluoroscopic images.

8. The targeting method according to claim 1, further including:

recording data by performing a shuttered computer tomography; and

determining whether the planned path has to be altered based on the data recorded in the shuttered computer tomography.

9. The targeting method according to claim 1, further including:

recording a second fluoroscopic image of the object under examination, wherein the second fluoroscopic image is recorded under a third direction so that a normal of the third direction of the second fluoroscopic image is perpendicular to the second direction;

determining an advancing of the object based on the second fluoroscopic image.

10. The targeting method according to claim 9, further including:

generating a graphic, showing the planned path and the target point, from a 3D graphical model; and

overlaying the graphic on the two-dimensional image of the object under examination.

11. The targeting method according to claim 10, wherein the graphic includes a scale and further including:

rendering the graphic, the fluoroscopic images and the two-dimensional image under the same perspective.

12. The targeting method according to claim 11, wherein a focus point in the recording of the fluoroscopic image lays on an extension of the planned path.

13. The targeting method according to claim 1, wherein the object comprises at least one marker.

14. The targeting method according to claim 1, further including:

projecting a laser onto the entry point, wherein a direction of the laser coincide with the first direction.

15. The targeting method according to claim 1, further including:

determining an entrance point by moving the object to the entry point by using the fluoroscopic image.

16. A targeting device for targeting a first object from an entry point to a target point, the targeting device comprising:

a selecting unit which selects a two-dimensional image of the object under examination depicting the entry point and the target point;

a determining unit which determines a planned path from the entry point to the target point, wherein the planned path has a first direction;

a recording unit which records data representing a fluoroscopic image of the object under examination, wherein the fluoroscopic image is recorded under a second direction so that a normal of the image coincides with the first direction;

wherein the determining unit determines whether the object is on the determined planned path based on a shape of a projection of the object in the fluoroscopic image.

17. A system for targeting a first object from an entry point to a target point, the system comprising:

a radiation source;

a radiation detector; and

a targeting device according claim 16,

wherein the radiation detector records the data representing the fluoroscopic image.

18. The system according to claim 17, further comprising:

a computer tomography apparatus,

wherein the computer tomography apparatus generates the two-dimensional image of the object under examination.

19. A non-transitory-computer readable medium in which a program for targeting a first object from an entry point to a target point is stored, which program, when executed by a processor, controls the processor to perform a method comprising:

selecting a two-dimensional image of the object under examination depicting the entry point and the target point;

determining a planned path from the entry point to the target point, wherein the planned path has a first direction;

recording data representing a fluoroscopic image of the object under examination, wherein the fluoroscopic image is recorded under a second direction so that a normal of the second direction of the image coincide with the first direction;

determining whether the object is on the determined planned path based on a shape and/or position of a projection of the object in the fluoroscopic image.

20. A method for targeting a first object from an entry point to a target point, the method comprising:

selecting a two-dimensional image of the object under examination depicting the entry point and the target point, the two-dimensional image selected as a slice of a three-dimensional image of the object under examination acquired by a first imaging modality;

determining a planned path from the entry point to the target point, wherein the planned path has a first direction;

recording data representing a fluoroscopic image of the object under examination utilizing a second imaging modality, wherein the fluoroscopic image is recorded under a second direction so that a normal of the second direction of the image coincide with the first direction;

determining whether the object is on the determined planned path based on a shape and/or position of a projection of the object in the fluoroscopic image.

21. A targeting device for targeting an object from an entry point to a larger point, the targeting device comprising:

a processor programmed to perform the method according to claim 20; and

a display which displays at least one of the two-dimensional image and the fluoroscopic image.