Arrangement for supporting a percutaneous intervention

• US 8,386,019 B2
• Filed: 02/21/2008
• Issued: 02/26/2013
• Est. Priority Date: 02/23/2007
• Status: Active Grant

• Current Assignee: Siemens Healthineers AG (Siemens AG)
• Original Assignee: Siemens AG
• Inventors: Camus, Estelle, Meissner, Oliver, Ostermeier, Martin, Redel, Thomas
• Primary Examiner(s): Chen, Tse
• Assistant Examiner(s): Roy, Baisakhi
• Application Number:
  US12/070,885
• Publication Number:
  US 20080208212A1
• Time in Patent Office: 1,832 Days
• Field of Search: 600/407, 600/411, 600/424, 600/427, 378/42, 702/94, 702/150, 606/130
• US Class Current: 600/424
• CPC Class Codes: A61B 2017/00699 correcting for movement caused by respiration, e.g. by triggering
• CPC Class Codes: A61B 2017/00703 correcting for movement of heart, e.g. ECG-triggered
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

The invention relates to an arrangement for assisting a percutaneous intervention, comprising an imaging system for tomographic imaging, a robot registered therewith and devices for capturing movements of the patient. A processing unit registers a 4D image dataset recorded before the intervention with a 2D or 3D image dataset of the patient which was recorded immediately before the intervention by the imaging system at a defined respiratory position. From this image data, the access path is transmitted to the robot as a function of the movements captured during recording the 4D image dataset and registration, said robot in turn, depending on the instantaneous movement data, holding the instrument on a predetermined target path and preventing the instrument from being advanced by the person if and as long as the instantaneous movement data does not match the previously recorded movement data. The arrangement reduces the risk of puncture errors.

Claims

1. A medical device for performing a percutaneous intervention for a patient, comprising:

an imaging device;

a robot that is registered with the imaging device;

a mounting unit arranged in the robot that mounts an instrument for the intervention;

a monitor that captures a movement of the patient and simultaneously transmits data of the movement to the robot; and

a processing unit that;

receives a 4D image dataset recorded before the intervention that comprises a temporal sequence of 3D images of an area of the patient each assigned a simultaneously recorded movement of the patient;

registers the 4D image dataset with an image dataset of the patient recorded by the imaging device immediately before the intervention at a defined movement position of the patient, and

generates a predetermined target path for the instrument as a function of the movement of the patient based on the registration,

wherein the robot stops inserting the instrument if a deviation between the movements of the patient captured during the intervention and recorded with the 4D image dataset exceeds a predetermined limit value, and

wherein the robot holds the instrument and is guided by a person performing the intervention in one movement while blocking other movements to perform a precise puncture.

2. A method for performing a percutaneous intervention for a patient monitored by an imaging device, comprising:

mounting an instrument for the intervention in a robot;

registering the robot with the imaging device;

capturing a movement of the patient;

simultaneously transmitting data of the movement of the patient to the robot;

providing a 4D image dataset recorded before the intervention comprising a temporal sequence of 3D images of the patient each assigned a simultaneously recorded movement of the patient;

registering the 4D image dataset with an image dataset of the patient recorded by the imaging device immediately before the intervention at a defined movement position of the patient; and

generating a predetermined target path for the instrument as a function of the movement of the patient based on the registration,

wherein the robot stops inserting the instrument if a deviation between the movements of the patient captured during the intervention and recorded with the 4D image dataset exceeds a predetermined limit value.

3. The method as claimed in claim 2, wherein the robot holds the instrument along the predetermined target path during the intervention based on the data of the movement.

4. The method as claimed in claim 2, wherein the robot is guided by a person performing the intervention.

5. The method as claimed in claim 2, wherein the robot is a lightweight robot.

6. The method as claimed in claim 2, wherein the robot has a six degrees of freedom or seven degrees of freedom.

7. The method as claimed in claim 2, wherein the imaging device is selected from the group consisting of:

a C-arm x-ray system, an ultrasound device, and a computer tomography.

8. The method as claimed in claim 2, wherein the monitor comprises a respiration belt that captures a respiration movement of the patient.

9. The method as claimed in claim 2, wherein the monitor comprises an ECG system that captures a heartbeat movement of the patient.

10. The method as claimed in claim 2, wherein the monitor comprises a position capturing system that captures an external movement of the patient.

11. The method as claimed in claim 2, wherein access paths for the instrument are marked on the 3D images.

12. The method as claimed in claim 11, wherein the target path is generated from the access paths marked on the 3D images.

13. The method as claimed in claim 2, wherein the robot is mounted on a ceiling.