Method for automatic position determination review and overall medical system

1 . A method for automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in a presence of an X-ray device with a movable acquisition system, the method comprising:

providing a registration of the EMT system to the movable acquisition system of the X-ray device;

providing a reference image of the hollow organ of the patient, the reference image being presegmented;

providing a registration of the reference image to the movable acquisition system of the X-ray device;

determining a position of the object by the EMT system and determining an associated position on the reference image;

applying at least one plausibility criterion, one boundary condition, or the at least one plausibility criterion and the one boundary condition for reviewing a plausibility of the position determined by the EMT system based on the reference image; and

performing a position correction of the position determined by the EMT system when the at least one plausibility criterion is violated, when the one boundary condition is violated, or when the at least one plausibility criterion and the one boundary condition are violated,

wherein the performing of the position correction of the position comprises using a calibration factor, for which the following applies:

P 3D (t)=K·P EMT (t), where P 3D (t) is an actual position of a sensor at a time t, and

P EMT (t) is a position of the sensor determined by the EMT system at the time t.

2 . The method of claim 1 , wherein the movable acquisition system includes a C-arm.

3 . The method of claim 1 , wherein the reference image is a three-dimensional (3D) reference image.

4 . The method of claim 1 , wherein the applying comprises applying the at least one plausibility criterion, and

wherein the at least one plausibility criterion comprises a review as to whether the position, an orientation, dimensions, or any combination thereof of the object is located inside a previously established area.

5 . The method of claim 4 , wherein the previously established area is inside a previously segmented hollow organ, inside a previously planned path, inside a previously established roadmap, or any combination thereof.

6 . The method of claim 1 , wherein the reference image is formed by a preoperative or intraoperative computed tomography (CT) X-ray image, a cone beam X-ray image, an angiography X-ray image, or a planning image.

7 . The method of claim 1 , wherein a presegmentation of the reference image is present with respect to the hollow organ.

8 . The method of claim 7 , wherein the presegmentation of the reference image is present with respect to centerlines and surfaces of the hollow organ.

9 . The method of claim 1 , wherein the EMT system includes at least one sensor arranged on the object, a field generator, and an associated control and evaluation unit.

10 . The method of claim 1 , wherein the applying comprises applying the at least one plausibility criterion, and

wherein the method further comprises outputting a signal or a warning when if the at least one plausibility criterion is violated.

11 . The method of claim 1 , wherein the calibration factor is determined by estimation.

12 . The method of claim 1 , wherein the method is performed during an endovascular aortic repair (EVAR), a cardiological intervention, a neuroradiological intervention, or an abdominal radiological intervention.

13 . A method for automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in a presence of an X-ray device with a movable acquisition system, the method comprising:

providing a registration of the EMT system to the movable acquisition system of the X-ray device;

providing a reference image of the hollow organ of the patient, the reference image being presegmented;

providing a registration of the reference image to the movable acquisition system of the X-ray device;

determining a position of the object by the EMT system and determining an associated position on the reference image;

applying at least one plausibility criterion, one boundary condition, or the at least one plausibility criterion and the one boundary condition for reviewing a plausibility of the position determined by the EMT system based on the reference image; and

performing an alternative position determination when the at least one plausibility criterion is violated, when the one boundary condition is violated, or when the at least one plausibility criterion and the one boundary condition are violated, wherein the performing of the alternative position determination comprises determining at least two different projection geometries for the movable acquisition system, on the basis of which an actual position of the object is determinable;

determining a calibration factor by calculation from the actual position of the object determined by the alternative position determination; and

performing a position correction of the position determined by the EMT system using the calibration factor.

14 . The method of claim 13 , wherein the at least two different projection geometries are suggested, taken up, or suggested and taken up, and at least two projection images are acquired with the at least two different projection geometries.

15 . The method of claim 13 , wherein the at least two different projection geometries are acquired with the X-ray device, and

wherein a three-dimensional image of the object and a surrounding area of the object is reconstructed from the at least two different projection geometries.

16 . A medical system for performance of automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in a presence of an X-ray device with a movable acquisition system, during navigation of the object inserted in the hollow organ of the patient, the medical system comprising:

the EMT system comprising at least one sensor arranged on the object, a field generator, and an associated control and evaluation unit;

an X-ray device comprising a movable acquisition system, on which an X-ray source and an X-ray detector are mounted; and

one or more processors configured for automatic activation of performance of the position determination review, the performance of the position determination review comprising:

provision of a registration of the EMT system to the movable acquisition system of the X-ray device;

provision of a reference image of the hollow organ of the patient, the reference image being presegmented;

provision of a registration of the reference image to the movable acquisition system of the X-ray device;

determination of a position of the object by the EMT system and determination of an associated position on the reference image;

application of at least one plausibility criterion, one boundary condition, or the at least one plausibility criterion and the one boundary condition for review of a plausibility of the position determined by the EMT system based on the reference image; and

performance of a position correction of the position determined by the EMT system when the at least one plausibility criterion is violated, when the one boundary condition is violated, or when the at least one plausibility criterion and the one boundary condition are violated,

wherein the performing of the position correction of the position comprises using a calibration factor, for which the following applies:

P 3D (t)=K·P EMT (t), where P 3D (t) is an actual position of a sensor at a time t, and

P EMT (t) is a position of the sensor determined by the EMT system at the time t.