Patient positioning using a skeleton model
First and second skeleton model data is determined based on first and second surface data of a patient. Each of the skeleton model data describes geometries of rigid anatomic structures of a patient at a different point in time. Skeleton difference data is determined describing differences between the geometries of the rigid anatomic structures. In a next step, movement instruction data is determined which describes movement to be performed by the rigid anatomic structures to minimize the differences, i.e. to correct the posture of the patient. The movement instruction data is for example determined based on anatomy constraint data which describes anatomical movement constraints for the rigid anatomic structures (e.g. range of motion of a joint). An instruction is displayed (e.g. using augmented reality), guiding the user how to move the rigid anatomic structures so as to correct the patients posture.
1. A computer-implemented method for determining a movement instruction for adjusting a pose of a body part of an associated patient, the method comprising:
acquiring first three-dimensional surface data that describes an outer three-dimensional contour of the body part of the associated patient imaged at a first point in time in a first spatial reference system to generate the first three-dimensional surface data in the first spatial reference system;
determining first skeleton model data based on the first three-dimensional surface data, wherein the first skeleton model data describes a first set of geometries of one or more rigid anatomic structures of the patient;
acquiring second three-dimensional surface data that describes the outer three-dimensional contour of the body part of the associated patient imaged at a second point in time in a second spatial reference system to generate the second three-dimensional surface data in the second spatial reference system;
determining second skeleton model data based on the second three-dimensional surface data, wherein the second skeleton model data describes a second set of geometries of the one or more rigid anatomic structures of the patient;
determining that a first geometry of the first set of geometries of a first rigid anatomic structure of the one or more rigid anatomic structures of the patient corresponds with a second geometry of the second set of geometries of the first rigid anatomic structure of the one or more rigid anatomic structures of the patient;
determining skeleton difference data comprising a transformation matrix that specifies a transformation from the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system to the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system; and
determining movement instruction data based on the skeleton difference data, wherein the movement instruction data describes a movement to be followed by the first rigid anatomic structure in order to minimize a difference between the first and second geometries.
2. The method according to claim 1 , wherein:
the determining the skeleton difference data comprises determining a transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system.
3. The method according to claim 2 , wherein:
the determining the transformation matrix comprises determining a linear transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system.
4. The method according to claim 3 , wherein:
the determining linear transformation matrix comprises determining a linear transformation matrix comprising:
one or more translational components; and/or
one or more rotatory components; and/or
one or more scaling factors.
5. The method according to claim 1 , wherein:
the determining that the first geometry of the first set of geometries corresponds with the second geometry of the second set of geometries comprises:
matching the acquired first three-dimensional surface data with the atlas data; and
matching the acquired second three-dimensional surface data with the atlas data.
6. The method according to claim 5 , wherein:
the matching the acquired first three-dimensional surface data with the atlas data comprises:
performing a first fusing of an atlas image with an image of the first three-dimensional surface data; and
determining the first rigid anatomic structure based on the first fusing; and
the matching the acquired second three-dimensional surface data with the atlas data comprises:
performing a second fusing of an atlas image with an image of the second three-dimensional surface data; and
determining the second rigid anatomic structure based on the second fusing.
7. The method according to claim 1 , wherein:
the determining the movement instruction data comprises determining:
a list of one or more vectors; and/or
one or more rotation matrices; and/or
one or more translation matrices.
8. The method according to claim 7 , wherein:
the determining the movement instruction data comprises:
determining a list of movements that is ordered to indicate a sequence in which the movement instructions are displayed to indicate the order of the determination of the movement to be performed by the one or more rigid anatomic structures.
9. A memory device storing program logic that when executed by a processor of an associated computer or when loaded onto the associated computer for execution, causes the computer to perform a method comprising:
acquiring first three-dimensional surface data that describes an outer three-dimensional contour of the body part of the associated patient imaged at a first point in time in a first spatial reference system to generate the first three-dimensional surface data in the first spatial reference system;
determining first skeleton model data based on the first three-dimensional surface data, wherein the first skeleton model data describes a first set of geometries of one or more rigid anatomic structures of the patient;
acquiring second three-dimensional surface data that describes the outer three-dimensional contour of the body part of the associated patient imaged at a second point in time in a second spatial reference system to generate the second three-dimensional surface data in the second spatial reference system;
determining second skeleton model data based on the second three-dimensional surface data, wherein the second skeleton model data describes a second set of geometries of the one or more rigid anatomic structures of the patient;
determining that a first geometry of the first set of geometries of a first rigid anatomic structure of the one or more rigid anatomic structures of the patient corresponds with a second geometry of the second set of geometries of the first rigid anatomic structure of the one or more rigid anatomic structures of the patient;
determining skeleton difference data comprising a transformation matrix that specifies a transformation from the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system to the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system; and
determining movement instruction data based on the skeleton difference data, wherein the movement instruction data describes a movement to be followed by the first rigid anatomic structure in order to minimize a difference between the first and second geometries.
10. The memory device according to claim 9 , wherein:
the determining the skeleton difference data comprises determining a transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system.
11. The memory device according to claim 10 , wherein:
the determining the transformation matrix comprises determining a linear transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system,
wherein the linear transformation matrix comprises:
one or more translational components; and/or
one or more rotatory components; and/or
one or more scaling factors.
12. The memory device according to claim 9 , wherein:
the determining that the first geometry of the first set of geometries corresponds with the second geometry of the second set of geometries comprises:
matching the acquired first three-dimensional surface data with the atlas data; and
matching the acquired second three-dimensional surface data with the atlas data.
13. The memory device according to claim 12 , wherein:
the matching the acquired first three-dimensional surface data with the atlas data comprises:
performing a first fusing of an atlas image with an image of the first three-dimensional surface data; and
determining the first rigid anatomic structure based on the first fusing; and
the matching the acquired second three-dimensional surface data with the atlas data comprises:
performing a second fusing of an atlas image with an image of the second three-dimensional surface data; and
determining the second rigid anatomic structure based on the second fusing.
14. The memory device according to claim 9 , wherein:
the determining the movement instruction data comprises determining:
a list of one or more vectors; and/or
one or more rotation matrices; and/or
one or more translation matrices.
15. The memory device according to claim 14 , wherein:
the determining the movement instruction data comprises:
determining a list of movements that is ordered to indicate a sequence in which the movement instructions are displayed to indicate the order of the determination of the movement to be performed by the one or more rigid anatomic structures.
16. A medical system, comprising:
at least one computer;
at least one electronic data storage device storing:
movement instruction control data;
first three-dimensional surface data that describes an outer three-dimensional contour of the body part of the associated patient imaged at a first point in time in a first spatial reference system to generate the first three-dimensional surface data in the first spatial reference system; and
second three-dimensional surface data that describes the outer three-dimensional contour of the body part of the associated patient imaged at a second point in time in a second spatial reference system to generate the second three-dimensional surface data in the second spatial reference system; and
a medical device for carrying out a medical procedure on the patient, the medical device comprising a display device,
wherein the at least one computer is operable to execute the movement control data to:
determine first skeleton model data based on the first three-dimensional surface data, wherein the first skeleton model data describes a first set of geometries of one or more rigid anatomic structures of the patient;
determine second skeleton model data based on the second three-dimensional surface data, wherein the second skeleton model data describes a second set of geometries of the one or more rigid anatomic structures of the patient;
determine that a first geometry of the first set of geometries of a first rigid anatomic structure of the one or more rigid anatomic structures of the patient corresponds with a second geometry of the second set of geometries of the first rigid anatomic structure of the one or more rigid anatomic structures of the patient;
determine skeleton difference data comprising a transformation matrix that specifies a transformation from the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system to the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system;
determine movement instruction data based on the skeleton difference data, wherein the movement instruction data describes a movement to be followed by the first rigid anatomic structure in order to minimize a difference between the first and second geometries; and
issue a control signal to the medical device for controlling, on the basis of movement instruction data, displaying, by the display device, an instruction specifying movement to be performed by one or more rigid anatomic structures of the patient.
17. The medical system according to claim 16 , wherein:
the at least one computer is configured to execute the movement control data to determine the skeleton difference data by determining a transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system.
18. The medical system according to claim 17 , wherein:
the at least one computer is configured to execute the movement control data to determine the transformation matrix by determining a linear transformation matrix that specifies a transformation between the first geometry of the first rigid anatomic structure of the patient in the first spatial reference system and the second geometry of the first rigid anatomic structure of the patient in the second spatial reference system,
wherein the linear transformation matrix comprises:
one or more translational components; and/or
one or more rotatory components; and/or
one or more scaling factors.
19. The medical system according to claim 16 , wherein:
the at least one computer is configured to execute the movement control data to determine that the first geometry of the first set of geometries corresponds with the second geometry of the second set of geometries by:
matching the acquired first three-dimensional surface data with the atlas data; and
matching the acquired second three-dimensional surface data with the atlas data.
20. The medical system according to claim 16 , wherein the at least one computer is configured to execute the movement control data to:
determine the movement instruction data by determining:
a list of one or more vectors; and/or
one or more rotation matrices; and/or
one or more translation matrices; and
determine the movement instruction data by determining:
a list of movements that is ordered to indicate a sequence in which the movement instructions are displayed to indicate the order of the determination of the movement to be performed by the one or more rigid anatomic structures.