Granted Patent B2

US 12,629,211 · App. 17/484,113 · Granted May 19, 2026

Inventors: Christian Kaethner (Forchheim, DE); Tobias Lenich (Nuremberg, DE); Andreas Meyer (Bubenreuth, DE); Marcus Pfister (Bubenreuth, DE); Michael Wiets (Langensendelbach, DE)

Assignee: Siemens Healthineers AG

A61B34/20A61B34/32A61B34/35A61B2034/301

Abstract

Claims (56)

1 . An apparatus for positioning a medical object, the apparatus comprising:

a moving apparatus operable to robotically move the medical object, wherein the medical object comprises a predefined section, wherein the predefined section includes a tip of the medical object, a section including a marker structure on the medical object, or the tip of the medical object and the section including the marker structure on the medical object, and is configured to be at least partially arranged in an examination object; and

a processor configured to receive a control specification, the control specification including a specification for spatial positioning with respect to the examination object, an angle of the medical object with respect to the examination object, a relative movement of the medical object with respect to the examination object, or any combination thereof,

wherein the moving apparatus is configured to position the predefined section based on the control specification,

wherein the processor is further configured to:

receive positioning information on the predefined section from a memory, a sensor, or an imaging device, the positioning information including information on an instantaneous spatial position, alignment, pose, or any combination thereof of the predefined section in the examination object;

determine a degree of deviation, wherein the degree of deviation describes a deviation between a target positioning of the predefined section prescribed by the control specification and an actual positioning of the predefined section described by the positioning information; and

determine a correction specification for minimizing the deviation based on the degree of deviation,

wherein the moving apparatus is further configured to reposition the predefined section based on the correction specification,

wherein the processor is further configured to receive a data set comprising a centerline model of a vascular section of the examination object,

wherein the processor being configured to determine the degree of deviation comprises the processor being configured to determine the degree of deviation based on the data set,

wherein the predefined section is arranged in the vascular section,

wherein the processor is further configured to determine the deviation with respect to the centerline model,

wherein the centerline model includes at least one centerline,

wherein a spatial course of the at least one centerline from an entry point of the medical object into the examination object to the target positioning of the predefined section describes a mean distance of the medical object,

wherein the processor is further configured to determine a shortened distance and a lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object, the processor being configured to determine the shortened distance and the lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object comprising the processor being configured to determine a spatial deviation between a spatial course of the medical object and the centerline model, and

wherein the processor being configured to determine the degree of deviation comprises the processor being configured to determine a relationship between the lengthened distance and the shortened distance based on the control specification and the centerline model.

2 . The apparatus of claim 1 , wherein the positioning information includes the information on the instantaneous spatial position of the predefined section with respect to the moving apparatus, information on an angle of the medical object with respect to the moving apparatus, or the information on the instantaneous spatial position of the predefined section with respect to the moving apparatus and the information on the angle of the medical object with respect to the moving apparatus.

3 . The apparatus of claim 1 , wherein the data set further comprises a map.

4 . A system comprising:

an apparatus for positioning a medical object, the apparatus comprising:

a moving apparatus operable to robotically move the medical object, wherein the medical object comprises a predefined section, wherein the predefined section includes a tip of the medical object, a section including a marker structure on the medical object, or the tip of the medical object and the section including the marker structure on the medical object, and is configured to be at least partially arranged in an examination object; and

a processor configured to receive a control specification, the control specification including a specification for spatial positioning with respect to the examination object, an angle of the medical object with respect to the examination object, a relative movement of the medical object with respect to the examination object, or any combination thereof, wherein the moving apparatus is configured to position the predefined section based on the control specification, wherein the processor is further configured to receive positioning information on the predefined section from a capturing unit, the positioning information including information on an instantaneous spatial position, alignment, pose, or any combination thereof of the predefined section in the examination object, determine a degree of deviation, the degree of deviation describing a deviation between a target positioning of the predefined section prescribed by the control specification and an actual positioning of the predefined section described by the positioning information, and determine a correction specification for minimizing the deviation based on the degree of deviation, and wherein the moving apparatus is further configured to reposition the predefined section based on the correction specification; and

the capturing unit configured to:

capture the positioning, change in positioning, or the positioning and the change in positioning of the predefined section in the examination object; and

determine the positioning information based on the captured positioning, change in positioning, or the positioning and the change in positioning and provide the positioning information to the apparatus,

wherein the processor is further configured to receive a data set comprising a centerline model of a vascular section of the examination object,

wherein the processor being configured to determine the degree of deviation comprises the processor being configured to determine the degree of deviation based on the data set,

wherein the predefined section is arranged in the vascular section,

wherein the processor is further configured to determine the deviation with respect to the centerline model,

wherein the centerline model includes at least one centerline,

wherein a spatial course of the at least one centerline from an entry point of the medical object into the examination object to the target positioning of the predefined section describes a mean distance of the medical object,

wherein the processor is further configured to determine a shortened distance and a lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object, the processor being configured to determine the shortened distance and the lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object comprising the processor being configured to determine a spatial deviation between a spatial course of the medical object and the centerline model, and

wherein the processor being configured to determine the degree of deviation comprises the processor being configured to determine a relationship between the lengthened distance and the shortened distance based on the control specification and the centerline model.

5 . The system of claim 4 , wherein the capturing unit includes a medical imaging device that is configured to record medical image data of the examination object,

wherein the predefined section in the medical image data is mapped in a time-resolved manner,

wherein the capturing unit is configured to capture the positioning, change in positioning, or the positioning and the change in positioning of the predefined section based on the medical image data.

6 . A method comprising:

receiving, by a processor of an apparatus for positioning a medical object, a control specification, wherein the apparatus comprises a moving apparatus operable for robotically moving the medical object, wherein the medical object comprises a predefined section, wherein the predefined section includes a tip of the medical object, a section including a marker structure on the medical object, or the tip of the medical object and the section including the marker structure on the medical object, and is configured to be at least partially arranged in an examination object, and wherein the predefined section has been positioned by the moving apparatus based on the control specification, the control specification including a specification for spatial positioning with respect to the examination object, an angle of the medical object with respect to the examination object, a relative movement of the medical object with respect to the examination object, or any combination thereof;

receiving, by the processor, positioning information on the predefined section of the medical object from a memory, a sensor, or an imaging device, the positioning information including information on an instantaneous spatial position, alignment, pose, or any combination thereof of the predefined section in the examination object;

receiving, by the processor, a data set comprising a centerline model of a vascular section of the examination object, wherein the predefined section is arranged in the vascular section;

determining, by the processor, a degree of deviation, wherein the degree of deviation describes a deviation between a target positioning of the predefined section prescribed by the control specification and an actual positioning of the predefined section described by the positioning information, wherein determining the degree of deviation comprises determining the degree of deviation based on the data set, with respect to the centerline model;

determining, by the processor, a correction specification for minimizing the deviation based on the degree of deviation; and

repositioning, by the moving apparatus, the predefined section based on the correction specification,

wherein the centerline model includes at least one centerline,

wherein a spatial course of the at least one centerline from an entry point of the medical object into the examination object to the target positioning of the predefined section describes a mean distance of the medical object,

wherein the method further comprises determining a shortened distance and a lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object, the determining of the shortened distance and the lengthened distance between the entry point and the target positioning of the predefined section compared to the mean distance of the medical object comprising determining a spatial deviation between a spatial course of the medical object and the centerline model, and

wherein determining the degree of deviation comprises determining a relationship between the lengthened distance and the shortened distance based on the control specification and the centerline model.

7 . The method of claim 6 , wherein the specification for the spatial positioning includes a length dimension along a longitudinal extension direction of the medical object, and

wherein the information on the instantaneous spatial position, alignment, pose, or any combination thereof of the predefined section in the examination object includes the length dimension along the longitudinal extension direction of the medical object, an angle of the medical object with respect to the moving apparatus, or a combination thereof.

8 . The method of claim 6 , wherein the data set further comprises a map.

9 . The method of claim 6 , further comprising:

receiving, by the imaging device, medical image data from the examination object,

wherein the predefined section in the medical image data is mapped in a time-resolved manner, and

wherein the positioning information is determined based on the medical image data.

10 . The apparatus of claim 1 , wherein the processor is further configured to determine an initial positioning of the predefined section, a spatial course of the medical object, or the initial positioning of the predefined section and the spatial course of the medical object based on the control specification in the centerline model.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (26)