Brainlab AG

The invention relates to a system for positioning a tool relative to an anatomical structure. The system comprises a robotic arm configured to position a tool and to adjust a force applied by the tool. The system also comprises force determination means to determine a force applied by the tool to the anatomical structure. A navigation system determines positions of a target tracker placed on the anatomical structure and of the tool. A controller receives data from the navigation system and the force determination means and determines whether the tool is in contact with the anatomical structure. After determining that the tool is in contact with the anatomical structure, the controller adjusts the force applied to the tool such that the magnitude of the force is within a predefined force range and the direction of the applied force is within a predefined range of directions.

Disclosed is a computer-implemented methods of determining the position of an image representation of an anatomical structure having a movement pattern which is similar to a movement pattern of a target structure considered for radiation treatment. The disclosed methods encompass, in one aspect, acquiring a planning computed x-ray tomography of a patient including an image representation of a target structure, such as a tumour, which is subject to movement, reading information describing which describes an anatomical structure which moves together with the tumour in a similar movement pattern, and determining, from the planning computed x-ray tomography a synthesized two-dimensional radiography including an image representation of the tumour and the anatomical structure. The image representation of the anatomical structure can be used as a surrogate, i.e. a proxy, for the image representation of the target structure, i.e. the image representation of the anatomical similarity structure is used for tracking the position of the target structure when matching the tracking reference image with a patient tracking image which shows the live position and/or motion of the anatomical similarity structure but in which the target structure might be of inferior visibility, for example might be occluded. The anatomical similarity structure can be determined using an atlas such as a dynamic atlas or an accordingly configured trained trainable algorithm. The tracking result, i.e. the result of comparing the actual position of the tumour to the planned position of the tumour, can be used for controlling a radiation treatment device.

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A computer-implemented method of generating an overlay of medical video data and overlay data is presented. The method comprising the steps acquiring, from a medical video modality, the medical video data comprising at least a first video frame and a second video frame of different points in time, t1 and t2, (step S1), analysing the acquired medical video data comprising a comparison of the video data captured by the first and the second video frames (step S2); providing initial overlay data (step S3), generating modified overlay data by adapting the initial overlay data based on a result of the analysis of the medical video data (step S4), and generating the overlay by generating a video output comprising at least medical video data originating from the medical video modality and comprising the generated modified overlay data (step S5). In a particular embodiment, the determined change over time in the first and second video frames is a spatial shift of an object imaged in the video frames.

A system and method for generating a projection of a planned patient specific implant model 101 on a sterile projection plate 102 in a sterile field is presented. The method comprises the steps of detecting the sterile projection plate 102 located in the sterile field with a detection device 103 (step S1) and calculating, based on a result of the detection of the sterile projection plate carried out in step S1, projection parameters for the projection device (step S4). Further, the planned patient specific implant model is provided to a projection device 104 (step S2). Further the step of projecting the planned patient specific implant model 101 with the projection device 104 onto the sterile projection plate (step S3) is comprised, wherein said calculated projection parameters in step S3 when projecting the planned patient specific implant model with the projection device onto the sterile projection plate (step S5). The method shown in Figure 1 can be carried out by a system as shown in Figure 1, but also other systems may be used.

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Zusammenfassung wird geladen …

Zusammenfassung wird geladen …

Zusammenfassung wird geladen …

Zusammenfassung wird geladen …