Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device
The disclosure relates to a method for acquiring and for altering a configuration of a number of objects in a procedure room for planning and for collision avoidance during a medical procedure, wherein each object is represented by a virtual model, including a physical model of the object and a safety zone around the physical model. The physical model represents the configuration of the object and the safety zone represents a collision-prevention area for a movement of any of the objects during a medical procedure. The virtual models of the objects are placed at a position in a virtual model of the procedure room. Additionally, the configurations of the physical models during the medical procedure are computed and the configuration of the physical model of the corresponding object is altered when a collision during the movement is determined. The disclosure further relates to a device for executing the method.
1. A method for acquiring and for altering a configuration of a plurality of objects in a procedure room for collision avoidance during a procedure, the method comprising:
representing each object of the plurality of objects by a virtual model, each virtual model comprising a physical model of the object and a safety zone around the physical model, wherein the physical model represents a configuration of the object and the safety zone represents a collision-prevention area for a movement of any object of the plurality of objects during a procedure, and wherein each configuration of a respective object of the plurality of objects comprises a shape of the object, a position of the object, a position of a joint of the object, a velocity of a moving part of the object, an orientation of the object, or a relative position of a part of the object in relation to another part of the object;
placing each virtual model of each object at a corresponding position in a virtual model of the procedure room;
computing, by a controller, the configurations of the physical models during the procedure;
determining, by the controller, a collision between objects during movement of an object of the plurality of objects based on an overlap of the safety zones of the respective physical models during the procedure; and
avoiding the determined collision during the procedure by altering, by the controller, a plurality of configurations of respective physical models of corresponding objects affected by the determined collision.
2. The method of claim 1 , wherein dimensions of the safety zone are varied during a movement of a respective physical model of an object of the plurality of objects.
3. The method of claim 1 , wherein a physical model of a medical device is stored in a database,
wherein the physical model of the medical device is retrieved for the computation when the medical device is registered, and
wherein the corresponding virtual model represents one object of the plurality of objects in the procedure room.
4. The method of claim 3 , wherein, during the procedure, a device signal is received, wherein the device signal comprises data about the configuration of the medical device, and
wherein the configuration of the physical model of the medical device is set or altered according to the received device signal.
5. The method of claim 3 , further comprising:
generating, during the procedure, a control signal for control of the configuration of the medical device when a collision of the virtual model of the medical device in the computation is determined.
6. The method of claim 1 , further comprising:
deriving a virtual model of a patient from medical data; and
positioning the virtual model of the patient in the virtual model of the procedure room, wherein the virtual model of the patient represents an object of the plurality of objects in the procedure room.
7. The method of claim 3 , wherein the medical device is configured according to the corresponding virtual model.
8. The method of claim 1 , further comprising:
displaying, on a display device, the virtual models of the plurality of objects and the procedure room.
9. A device for acquiring and for altering a configuration of a plurality of objects in a procedure room for collision avoidance during a medical procedure, the device comprising:
a controller configured to:
represent each object of the plurality of objects by a virtual model, each virtual model comprising a physical model of the object and a safety zone around the physical model, wherein the physical model represents a configuration of the object and the safety zone represents a collision-prevention area for a movement of any object of the plurality of objects during a procedure, and wherein each configuration of a respective object of the plurality of objects comprises a shape of the object, a position of the object, a position of a joint of the object, a velocity of a moving part of the object, an orientation of the object, or a relative position of a part of the object in relation to another part of the object;
place each virtual model of each object at a corresponding position in a virtual model of the procedure room;
compute the configurations of the physical models during the procedure
determine a collision between objects during movement of an object of the plurality of objects based on an overlap of the safety zones of the respective physical models during the procedure; and
alter a plurality of configurations of respective physical models of corresponding objects affected by the determined collision in order to avoid the determined collision during the procedure.
10. The device of claim 9 , wherein at least one object of the plurality of objects is a medical device connected to the controller.
11. The device of claim 10 , further comprising:
a tracking device configured to capture an object of the plurality of objects which is not connected to the controller and send a tracking signal comprising data about the configuration of the object to the controller.
12. The device of claim 9 , further comprising:
a tracking device configured to capture an object of the plurality of objects which is not connected to the controller and send a tracking signal comprising data about the configuration of the object to the controller.
13. The method of claim 2 , wherein a physical model of a medical device is stored in a database,
wherein the physical model of the medical device is retrieved for the computation when the medical device is registered, and
wherein the corresponding virtual model represents one object of the plurality of objects in the procedure room.
14. The method of claim 13 , wherein, during the procedure, a device signal is received, wherein the device signal comprises data about the configuration of the medical device, and
wherein the configuration of the physical model of the medical device is set or altered according to the received device signal.
15. The method of claim 14 , further comprising:
generating, during the procedure, a control signal for control of the configuration of the medical device when a collision of the virtual model of the medical device in the computation is determined.
16. The method of claim 15 , further comprising:
deriving a virtual model of a patient from medical data; and
positioning the virtual model of the patient in the virtual model of the procedure room, wherein the virtual model of the patient represents an object of the plurality of objects in the procedure room.
17. The method of claim 16 , wherein the medical device is configured according to the corresponding virtual model.
18. The method of claim 17 , further comprising:
displaying, on a display device, the virtual models of the plurality of objects and the procedure room.
19. The method of claim 6 , further comprising:
displaying, on a display device, the virtual models of the plurality of objects and the procedure room.