Determination apparatus for determining the pose and shape of an introduction element

Abstract

The invention relates to a determination apparatus for determining the pose and shape of an introduction element like a catheter within a living being, wherein the introduction element is adapted to be used by a therapy apparatus for introducing a energy source close to a target object to be treated. A position determination element like guidewire with an electromagnetic tracking element is introduced into the introduction element such that it is arranged at different locations within the introduction element, wherein the positions of the position determination element within the introduction element are determined. The determined positions are then acquired depending on the determined positions for determining the pose and shape of the introduction element within the living being. This can lead to a determination procedure with reduced user interaction, thereby simplifying the determination procedure for the user.

1 . A determination apparatus for determining a pose and shape of an introduction element within a living being, wherein the introduction element is adapted to be used by a therapy apparatus for introducing a energy source close to a target object to be treated within the living being, the determination apparatus comprising:
 a position determination unit comprising a position determination element for being introduced into the introduction element such that the position determination element is arranged at different locations within the introduction element, wherein the position determination unit is adapted to determine positions of the position determination element at the different locations within the introduction element,   an acquisition unit for acquiring the determined positions of the position determination element for determining the pose and shape of the introduction element within the living being, and   a control unit for controlling the acquisition unit to perform the acquisition only when the determined positions are distal to a template which holds the introduction element.   
     
     
         2 . The determination apparatus as defined in  claim 1 , wherein the position determination unit is adapted to perform at least one of an electromagnetic position determination technique and an optical shape sensing position determination technique. 
     
     
         3 . The determination apparatus as defined in  claim 1 , wherein the position determination element comprises a longish part with a tip, wherein the position determination unit is adapted to determine a position of the tip as a respective position of the position determination element at a respective different location of the different locations within the introduction element. 
     
     
         4 . The determination apparatus as defined in  claim 1 , wherein the determination apparatus further comprises a target object position providing unit for providing a position of the target object within the living being, wherein the control unit is adapted to acquire the determined positions, which are within a region within the living being associated with the target object as indicated by the provided position of the target object. 
     
     
         5 . The determination apparatus as defined in  claim 1 , wherein the position determination element is adapted to be introduced into the introduction element and to be then removed from the introduction element, wherein the control unit is adapted to acquire a first set of the determined positions of the position determination element, when the position determination element is introduced, and a second set of the determined positions of the position determination element, when the position determination element is removed, wherein the acquisition unit is adapted to average the determined positions of the first and second sets for determining the pose and shape of the introduction element. 
     
     
         6 . The determination apparatus as defined in  claim 1 , wherein the position determination element is adapted to be introduced into several introduction elements of the therapy apparatus, wherein the determination apparatus further comprises an introduction element determination unit for determining whether the position determination element is introduced into an introduction element of the several introduction elements, into which the position determination element has already been introduced, based on one or more already determined positions of the position determination element. 
     
     
         7 . The determination apparatus as defined in  claim 1 , wherein the position determination element is adapted to be introduced into several introduction elements of the therapy apparatus, wherein the several introduction elements are held in openings of a template, wherein positions of the openings are known, wherein the determination apparatus comprises an introduction element determination unit for determining a next introduction element, into which the position determination element is to be introduced, based on one or more already acquired determined positions of the position determination element and the known positions of the openings in the template holding the introduction elements, wherein the determination apparatus further comprises an output unit for outputting information indicating the determined next introduction element. 
     
     
         8 . The determination apparatus as defined in  claim 1 , wherein the position determination unit further comprises a position quality determination unit for determining a quality of a respective determined position of the position determination element at a given location of the different locations within the introduction element. 
     
     
         9 . The determination apparatus as defined in  claim 1 , wherein the determination apparatus further comprises a switch for providing a switch signal depending on an actuation of the switch by a user, wherein the control unit is adapted to control the acquisition depending on the switch signal. 
     
     
         10 . A therapy apparatus for applying a therapy to a target object within a living being, the therapy apparatus comprising:
 a energy source emitting energy for treating the target object within the living being,   an introduction element for introducing the energy source into the living being close to the target object, and   a determination apparatus for determining a pose and shape of the introduction element within the living being, wherein the determination apparatus comprises:
 a position determination unit comprising a position determination element for being introduced into the introduction element such that the position determination element is arranged at different locations within the introduction element, wherein the position determination unit is adapted to determine positions of the position determination element at the different locations within the introduction element, 
 an acquisition unit for acquiring the determined positions of the position determination element for determining the pose and shape of the introduction element within the living being, and 
 a control unit for controlling the acquisition unit to perform the acquisition only when the determined positions are distal to a template which holds the introduction element. 
   
     
     
         11 . An operating method of a determination apparatus for determining a pose and shape of an introduction element within a living being, wherein the introduction element is adapted to be used by a therapy apparatus for introducing a energy source close to a target object to be treated within the living being, and the determination apparatus comprises a position determination unit, an acquisition unit, and a control unit, the operating method comprising:
 the position determination unit determining positions of a position determination element, which is introduced into the introduction element, at different locations within the introduction element, at which the position determination element is arranged, and   the acquisition unit acquiring the determined positions of the position determination element for determining the pose and shape of the introduction element, wherein the acquisition is controlled depending on the determined positions, and   the control unit controlling the acquisition unit to perform the acquisition only when the determined positions are distal to a template which holds the introduction element.   
     
     
         12 . A non-transitory computer readable medium embodied with a determination computer program for determining the pose and shape of an introduction element within a living being, wherein the introduction element is adapted to be used by a therapy apparatus for introducing a energy source close to a target object to be treated within the living being, the determination computer program comprising executable program code for causing a determination apparatus as defined in  claim 1  to determine the pose and shape of the introduction element within the living being, when the determination computer program is run executed on a computer controlling the determination apparatus. 
     
     
         13 . A non-transitory computer readable medium embodied with a therapy computer program for applying a therapy to a target object within a living being, the therapy computer program comprising executable program code means for causing a therapy apparatus as defined in  claim 10  to carry out steps, when the therapy computer program is executed on a computer controlling the therapy apparatus, the steps comprising:
 inserting an introduction element into the living being close to the target object, 
 determining the pose and shape of the introduction element within the living being, and 
 introducing a energy source emitting energy for treating the target object into the introduction element. 
 
     
     
         14 . A determination apparatus for determining a pose and shape of an introduction element within a living being, wherein the introduction element is adapted to be used by a therapy apparatus for introducing a energy source close to a target object to be treated within the living being, the determination apparatus comprising:
 a position determination unit comprising a position determination element for being introduced into the introduction element such that the position determination element is arranged at different locations within the introduction element, wherein the position determination unit is adapted to determine positions of the position determination element in real-time at the different locations within the introduction element,   an acquisition unit for acquiring the determined positions of the position determination element for determining the pose and shape of the introduction element within the living being, and   a control unit for controlling the acquisition of the determined positions of the position determination element for determining the pose and shape of the introduction element within the living being depending on the determined positions of the position determination element in real-time only being within the living being.