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

• US 8,798,339 B2
• Filed: 05/05/2008
• Issued: 08/05/2014
• Est. Priority Date: 05/10/2007
• Status: Active Grant

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips N.V.
• Inventors: Mielekamp, Pieter Maria, Homan, Robert Johannes Frederik, Babic, Drazenko
• Primary Examiner(s): Holcomb, Mark
• Assistant Examiner(s): Ng, Jonathan K
• Application Number:
  US12/599,514
• Publication Number:
  US 20100215213A1
• Time in Patent Office: 2,283 Days
• Field of Search: 382128-134, 600/424, 38128-134
• US Class Current: 382/128
• CPC Class Codes: A61B 17/3403 Needle locating or guiding means guides for suture needles A61B17/0482; guiding or tracking by nuclear magnetic resonance G01R33/285
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/3764 with a rotating C-arm having a cone beam emitting source
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 90/11 with guides for needles or instruments, e.g. arcuate slides or ball joints

Abstract

This invention will introduce a fast and effective target approach planning method preferably for needle guided percutaneous interventions using a rotational X-ray device. According to an exemplary embodiment A targeting method for targeting a first object in an object under examination is provided, wherein the method comprises selecting a first two-dimensional image of an three-dimensional data volume representing the object under examination, determining a target point in the first two-dimensional image, displaying an image of the three-dimensional data volume with the selected target point. Furthermore, the method comprises positioning the said image of the three-dimensional data volume by scrolling and/or rotating such that a suitable path of approach crossing the target point has a first direction parallel to an actual viewing direction of the said image of the three-dimensional data volume and generating a second two-dimensional image out of the three-dimensional data volume, wherein a normal of the plane of the second two-dimensional image is oriented parallel to the first direction and crosses the target point.

Claims

1. A method for targeting a first interventional object of a targeting device to a target point in an object under examination, the method comprising the following steps:

receiving in a processor of the targeting device a first two-dimensional image from an imaging device of a three-dimensional data volume representing the object under examination;

receiving in the processor a target point in the first two-dimensional image;

operating the processor to display an image of the three-dimensional data volume with the selected target point represented as a three-dimensional structure having a distance scale within its image, wherein the three-dimensional data volume is combined with a three-dimensional angiographic volume rendering of the same object under examination;

operating the processor to position the image of the three-dimensional data volume by scrolling and/or rotating about the target point center to make a path of approach crossing the target point having a first direction parallel to an actual viewing direction of the said image of the three-dimensional data volume;

operating the processor to generate a second two-dimensional image out of the three-dimensional data volume wherein a normal of the plane of the second two-dimensional image is oriented parallel to the first direction and crosses the target point;

operating the processor to render the image of the three-dimensional data volume, the three-dimensional structure having a distance scale within its image, and the two-dimensional image under the same perspective, wherein the imaging device is focused on an extension of the path of approach;

moving the first interventional object to target the target point in the object under examination according to the path of approach;

wherein the path of approach avoids perforation of any vessel in the three-dimensional angiographic volume rendering.

2. The method according to claim 1, further comprising:

generating a third two-dimensional image out of the three-dimensional data volume, wherein the plane of the third two-dimensional image is oriented parallel to the first direction and crosses the target point.

3. The method according to claim 1, wherein the two-dimensional images are selected as slices of the three-dimensional data volume of the object under examination.

4. The method according to claim 1, wherein the first interventional object is a needle and the path of approach is the trajectory path of the needle through the object under examination.

5. The method according to claim 1, further comprising:

determining an entry point of the path of approach into the object under examination.

6. The method according to claim 1, further comprising:

projecting the entry point and/or the target point by a three-dimensional sphere in the three-dimensional data volume.

7. The method according to claim 1, wherein the path of approach is represented as a three-dimensional line.

8. The method according to claim 1, wherein the target point is represented as a three-dimensional sphere, circle or cross-hair in the three-dimensional data volume.

9. The method according to claim 1, wherein the first two-dimensional image is an cross-sectional view of the object under examination.

10. The method according to claim 1, wherein the selection of the third two-dimensional image is caused by manually clicking on the representation of the target point.

11. The method according to claim 1, further comprising:

toggling between the third two-dimensional image and the second two-dimensional image and/or the image of the three-dimensional data volume.

12. The method according to claim 1, further comprising:

displaying at least two of the said images to the user in a predefined orientation.

13. The method according to claim 1, wherein the object under examination is a patient;

and wherein the predefined orientation of said images is an axial feet to head multi planar reformat (MPR) rendered cross section out of a 3D reconstructed data volume with no rotation angle around a perpendicular viewing direction of the plane of said images.

14. The method according to claim 1, further comprising regions of interest in the object under examination that are coloured.

15. The method according to claim 14, wherein at least portions of the coloured regions of interest in the object under examination and/or at least portions of the path of approach, the entry point, and the target point which extend apart from the plane of the third two-dimensional image are rendered semi-transparent.

16. The method according to claim 1, wherein the three-dimensional image is reconstructed out of the three-dimensional data volume recorded by a computer tomography apparatus.

17. The method according to claim 1, wherein the three-dimensional image is recorded by a C-arm device.

18. The method according to claim 1, further comprising:

generating a 2D image showing the planned path and the target point and

overlaying the 2D image on at least one of the two-dimensional images of the object under examination.

19. The method according to claim 1, further comprising projecting a scale on the path of approach in at least one of the two-dimensional images.

20. A device for targeting a first interventional object to a target point in an object under examination, the device comprising:

a processor that selects from an imaging device a first two-dimensional image of a three-dimensional data volume representing the object under examination, wherein the first two-dimensional image contains a target point;

a display that displays an image of the three-dimensional data volume with the target point;

wherein the processor positions the said image of the three-dimensional data volume by scrolling and/or rotating about the target point center to make a path of approach crossing the target point having a first direction parallel to an actual viewing direction of the said image of the three-dimensional data volume, wherein the processor represents the target point as a three-dimensional object having a distance scale within its image, and wherein the processor combines the three-dimensional data volume with a three-dimensional angiographic volume rendering of the same object under examination;

a generator that generates a second two-dimensional image out of the three-dimensional data volume, wherein a normal of the plane of the second two-dimensional image is oriented parallel to the first direction and crosses the target point;

wherein the processor renders the image of the three-dimensional data volume, the three-dimensional structure having a distance scale within its image, and the two-dimensional image under the same perspective, wherein the imaging device is focused on an extension of the path of approach;

a motor that moves the first interventional object to target the target point in the object under examination according to the path of approach;

wherein the path of approach avoids perforation of any vessel in the three-dimensional angiographic volume rendering.

21. A system for targeting a first interventional object in an object under examination, the system comprising:

a radiation source;

a radiation detector; and

a device according claim 20, wherein the radiation detector records the data representing the three-dimensional data volume.

22. The system according to claim 21, further comprising:

a computer tomography apparatus, wherein the computer tomography apparatus generates the two-dimensional images of the object under examination.

23. A tangible computer readable medium in which a program for targeting a first interventional object to a target point in an object under examination is stored as non-transitory computer data, the program comprising instructions configured to perform a method comprising the following steps:

receiving in a processor of the targeting device providing a first two-dimensional image from an imaging device of a three-dimensional data volume representing the object under examination;

determining a target point in the first two-dimensional image;

operating the processor to display displaying an image of the three-dimensional data volume with the selected target point represented as a three-dimensional structure having a distance scale within its image, wherein the three-dimensional data volume is combined with a three-dimensional angiographic volume rendering of the same object under examination;

operating the processor to position positioning the said image of the three-dimensional data volume by scrolling and/or rotating about the target point center to make a path of approach crossing the target point having a first direction parallel to an actual viewing direction of the said image of the three-dimensional data volume;

operating the processor to generate generating a second two-dimensional image out of the three-dimensional data volume wherein a normal of the plane of the second two-dimensional image is oriented parallel to the first direction and crosses the target point;

operating the processor to render the image of the three-dimensional data volume, the three-dimensional structure having a distance scale within its image, and the two-dimensional image under the same perspective, wherein the imaging device is focused on an extension of the path of approach;

moving the first interventional object to target the target point in the object under examination according to the path of approach;

wherein the path of approach avoids perforation of any vessel in the three-dimensional angiographic volume rendering.