Monitoring system and method for monitoring at least one target object

1 . A monitoring system for monitoring at least one target object in a medical environment, the at least one target object comprising at least one of a moveable medical object or an examination object, the monitoring system comprising:

a camera unit comprising a suspension facility and a cable-suspended camera, wherein the suspension facility comprises at least one cable and at least two cable mountings, wherein the cable mountings hold the at least one cable at a respective point in a room, wherein the suspension facility further comprises a camera mounting that holds the cable-suspended camera on the at least one cable, wherein the cable-suspended camera comprises a mono-camera and/or a stereo-camera and/or a depth camera and includes a field of view and is configured to capture the field of view, wherein the cable-suspended camera is re-positioned by moving the at least one cable with regard to the cable mountings and/or by moving the cable-suspended camera with regard to the at least one cable;

at least one further camera comprising a further mono-camera and/or a further stereo-camera and/or a further depth camera, wherein the at least one further camera has a further field of view and is configured to capture further image data of the further field of view; and

a processing unit configured to control the cable-suspended camera in such a manner that in a first operational state of the monitoring system the at least one target object is arranged in the field of view and the cable-suspended camera captures first image data including a map of the at least one target object, wherein the processing unit is configured to check whether the at least one target object is mapped in the first image data that has been captured by the cable-suspended camera and is configured so as to control the movement of the camera mounting and/or the movement of the cable mountings, in such a manner that the at least one target object is arranged in field of view of the cable-suspended camera and the cable-suspended camera captures the first image data of the at least one target object, wherein the processing unit is configured to check by applying object recognition and/or pattern recognition and/or segmentation to the first image data;

wherein in the first operational state of the monitoring system the at least one further camera is positioned in such a manner that the at least one target object is arranged in the further field of view, the at least one further camera captures further image data of the at least one target object from a further mapping direction, and the processing unit controls the cable-suspended camera in such a manner that the cable-suspended camera captures the first image data from a first mapping direction which is different from the further mapping direction and has a predetermined angle with regard to the further mapping direction;

wherein, the processing unit is configured to re-construct a three-dimensional representation of the at least one target object with the first image data and the further image data.

2 . The monitoring system of claim 1 , wherein, the suspension facility comprises multiple cables and at least three cable mountings,

wherein the cable mountings hold the multiple cables at a respective point in the room,

wherein the camera mounting holds the cable-suspended camera on the multiple cables,

wherein the cable-suspended camera is re-positioned by moving at least one of the multiple cables with regard to the cable mountings and/or by moving the cable-suspended camera with regard to the at least one of the multiple cables.

3 . The monitoring system of claim 1 , wherein the camera mounting holds the cable-suspended camera on the at least one cable in a rotatable manner and/or in a pivotable manner with regard to the at least one cable.

4 . The monitoring system of claim 1 , wherein the camera unit is configured to provide the captured image data to the processing unit, wherein the processing unit is configured with the first image data to identify a phase of a medical procedure which is mapped in the first image data, wherein the processing unit is configured to control the re-positioning of the cable-suspended camera additionally in dependence upon the identified phase.

5 . The monitoring system of claim 1 , wherein the camera unit is configured to provide the captured image data to the processing unit, wherein the processing unit is configured to:

identify further objects which are mapped in the first image data, and

control the re-positioning of the cable-suspended camera in a collision-free manner with regard to the further objects.

6 . The monitoring system of claim 1 , wherein the processing unit is configured to control the cable-suspended camera in such a manner that at least in a first operational state of the monitoring system:

multiple target objects that are to be captured by the cable-suspended camera are arranged in the field of view, and

the cable-suspended camera captures the first image data having a map of the multiple target objects.

7 . The monitoring system of claim 6 ,

wherein the camera unit is configured to provide the captured image data to the processing unit,

wherein the processing unit is configured to:

determine a collision probability between the multiple target objects with the first image data, and

provide a signal in dependence upon the collision probability.

8 . The monitoring system of claim 7 , wherein the processing unit is configured to provide the signal to the moveable medical object and to control a movement of the moveable medical object by the signal.

9 . The monitoring system of claim 1 , wherein the medical environment comprises the room, wherein the at least one target object is arranged in one operational state of the monitoring system in the room, wherein the cable mountings are fastened to a side wall and/or ceiling of the room.

10 . A method for monitoring at least one target object by a monitoring system, the at least one target object comprising at least one of a moveable medical object or an examination object, the method comprising:

receiving a treatment plan comprising information for multiple phases of a procedure, the information including at least spatial position and/or orientation and/or pose, of the at least one target object and/or of the further objects and/or of a medical operator for the multiple phases;

capturing, for a first phase of the multiple phases, first image data having a map of the at least one target object, wherein capturing comprises:

capturing initial image data of a field of view of a cable-suspended camera by the cable-suspended camera, wherein a position of the cable-suspended camera is determined based on the information in the treatment plan,

capturing further image data of the at least one target object from a further mapping direction by a further camera;

checking with the initial image data whether the at least one target object is arranged within the field of view, wherein checking comprising applying object recognition and/or pattern recognition and/or segmentation to the first image data,

wherein if at least one target object is not arranged within the field of view, the cable-suspended camera is re-positioned and capturing and checking are repeated, wherein the cable-suspended camera is positioned and/or re-positioned to capture the first image data in such a manner that the cable-suspended camera captures the first image data from a first mapping direction which is different from the further mapping direction and has a predetermined angle with regard to the further mapping direction,

wherein if the at least one target object is arranged within the field of view, the initial image data is provided as the first image data; and

repeating capturing of second image data for a second phase of the multiple phases.

11 . The method of claim 10 , wherein the cable-suspended camera is re-positioned in such a manner that multiple target objects that are to be captured are arranged in the field of view of the cable-suspended camera, wherein the first image data having a map of the multiple target objects is captured,

wherein a collision probability between the multiple target objects is determined with the first image data,

wherein a signal is provided in dependence upon the collision probability.

12 . A non-transitory computer implemented storage medium that stores machine-readable instructions executable by at least one processor, the machine-readable instructions comprising:

controlling a cable-suspended camera in such a manner that in a first operational state of a monitoring system an at least one target object is arranged in a field of view of the cable-suspended camera, the at least one target object comprising at least one of a moveable medical object or an examination object, wherein the cable-suspended camera comprises a mono-camera and/or a stereo-camera and/or a depth camera; and

capturing first image data having a map of the at least one target object, wherein capturing comprises:

capturing initial image data of the field of view of the cable-suspended camera by the cable-suspended camera,

capturing further image data of the at least one target object from a further mapping direction by a further camera; and

checking with the initial image data whether the at least one target object is arranged within the field of view, wherein checking comprising applying object recognition and/or pattern recognition and/or segmentation to the first image data,

wherein if at least one target object is not arranged within the field of view, the cable-suspended camera is re-positioned and capturing and checking are repeated, wherein the cable-suspended camera is positioned and/or re-positioned to capture the first image data in such a manner that the cable-suspended camera captures the first image data from a first mapping direction which is different from the further mapping direction and has a predetermined angle with regard to the further mapping direction,

wherein if the at least one target object is arranged within the field of view, the initial image data is provided as the first image data.

13 . The non-transitory computer implemented storage medium of claim 12 , wherein a phase of a medical procedure is identified that is mapped in the first image data, wherein the cable-suspended camera is re-positioned additionally in dependence upon the identified phase.