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1. (WO2018162079) AUGMENTED REALITY PRE-REGISTRATION
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Claims

1 . A computer-implemented medical method for pre- registering an anatomical body part (7) of a patient's body, using the output of an augmented reality device (5) having a distance measurement unit, the method comprising executing, on at least one processor of at least one computer, the following steps:

a) a pre-registration of the anatomical body part (7) with an augmented reality coordinate system associated with the augmented reality device is determined (S1 1 ) based on the result of a distance measurement by the distance measurement unit;

b) the position of a fine registration region (8) of the anatomical body part (7) in a real image acquired by the augmented reality device (5) is determined (S12) based on the pre-registration;

c) augmentation information describing the position of the fine registration region (8) is output (S13) by the augmented reality device (5).

2. The method according to the preceding claim, wherein the augmentation information is displayed on a display of the augmented reality device (5) or projected into an eye of a user by a projector unit of the augmented reality device (5).

3. The method according to the preceding claim, wherein the fine registration region (8) shall serve as a positional basis for registration of the anatomical body part (7) with a tracking coordinate system associated with a medical position tracking system (2).

4. The method according to any one of the preceding claims, wherein the augmented reality device (5) comprises a head-mounted display or wherein

the augmented reality device (5) comprises a display included in glasses wearable by a user.

5. The method according to the preceding claim, wherein the distance measurement unit has at least one light source for emitting measurement light onto a physical object.

6. The method according to any of the preceding claims, wherein the distance measurement unit has at least one detecting unit for detecting reflections of the measurement light from a physical object.

7. The method according to any one of the preceding claims, wherein the augmentation information describes at least one of the following:

- at least one surface area or at least one point on the anatomical body part (7) which has to be positionally identified for the fine registration;

- at least one surface area or at least one point on the anatomical body part (7) which has to be positionally identified for the fine registration but is not within the field of view of a medical position tracking system (2) usable to conduct the fine registration;

- at least one part of the fine registration region (8) which has already been identified to a medical position tracking system (2), for example by using a pointing device (9), for example a handheld pointing device, for conducting the fine registration;

- at least one visual indication describing a region associated with a determined accuracy of the positional tracking by a medical position tracking system (2);

- at least one instruction to a user how to apply a previously selected method for conducting the fine registration;

- at least one region which shall not be positionally identified for the fine registration.

8. The method according to any one of the preceding claims, wherein the augmentation information is displayed as an overlay onto the real image.

9. The method according to any one of the preceding claims, wherein the fine registration region (8) is an area which shall serve as a detected area for fine registration with a tracking coordinate system of a medical position tracking system (2) for example using a pointing tool (9) tracked by the position tracking system (2) for identifying at least one point in the fine registration region to the position tracking system (2).

10. The method according to claim 9, wherein

the position tracking system (2) is an infra-red position tracking system and wherein the marker device is an infrared-reflective marker device which has a predetermined position relative to the fine registration region for allowing tracking of the anatomical body part (7) by the position tracking system (2), or wherein the position tracking system (2) is an electromagnetic position tracking system and the marker device is an electromagnetic marker device which has a predetermined position relative to the fine registration region (8) for allowing tracking of the anatomical body part (7) by the position tracking system (2).

1 1 .The method according to the preceding claim, comprising the following steps:

- surface detection data which describes a surface geometry of the marker device which is acquired based on a distance measurement by the distance measurement unit;

- marker device template data is acquired which describes a geometrical template of the marker device;

- a relative position between the augmented reality device and the marker device is determined based on the surface detection data and the marker device template data;

- the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the determined relative position between the augmented reality device (5) and a marker device tracked by the position tracking system (2), wherein at least one of the pre-registration or the position of the fine registration region is determined based on the registration of the viewing direction.

12. The method according to any one of claims 1 to 9, comprising the following steps:

- surface detection data which describes a surface geometry of the anatomical body part (7) is acquired based on a distance measurement by the distance measurement unit;

- anatomical body part template data is acquired which describes a geometrical template of at least the surface geometry of the anatomical body part (7);

- a relative position between the augmented reality device and the anatomical body part (7) is determined based on the surface detection data and the anatomical body part template data;

- the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the determined relative position between the augmented reality device (5) and the anatomical body part (7), wherein at least one of the pre-registration or the position of the fine registration region is determined based on the registration of the viewing direction.

13. The method according the preceding claim, wherein the anatomical body part template data is or has been generated from patient image data describing a medical image of the anatomical body part (7) of the patient's body or from atlas data describing a generic model of at least the surface geometry of the anatomical body part (7) or from synthetic template data describing a synthetic template of at least the surface geometry of the anatomical body part (7).

14. The method according to any one of claims 1 to 9, wherein the augmented reality device (5) is tracked by the position tracking system (2).

15. The method according to the preceding claim, wherein an infrared-reflective marker device or an electromagnetic marker device is attached to the augmented reality device (5).

16. The method according to any one of claims 14 or 15, wherein the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the result of tracking the augmented reality device (5), and wherein at least one of the pre-registration or the position of the fine registration region (8) is determined based on the registration of the viewing direction.

17. The method according to any one of claims 1 to 9, wherein the position tracking system has a distance measurement unit, and wherein the method comprises the following steps:

- surface detection tracking data which describes a surface geometry of the anatomical body part (7) is acquired based on a distance measurement by the distance measurement unit of the tracking system (2);

- the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system

based on the surface detection data and the surface detection tracking data and

based on the distance measurements by the distance measurement unit of the position tracking system (2) and the distance measurement unit of the augmented reality device (5), wherein

at least one of the pre-registration or the position of the fine registration region (8) is determined based on the registration of the viewing direction.

18. The method according to any one of claims 1 to 9, wherein the augmented reality device comprises an image acquisition unit for acquiring a video image or still image, and wherein the method comprises the following steps:

- tracking system surface template data is acquired which describes a geometrical template of at least part (4) of the position tracking system (2);

- an image describing the at least part (4) of the tracking system (2) is obtained from the image acquisition unit;

- the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the tracking system template data and the image describing the position tracking system, wherein

- at least one of the pre-registration or the position of the fine registration region (8) is determined based on the registration of the viewing direction.

19. The method according to any one of claims 1 to 9 or according to claim 1 6, wherein the method comprises the following steps:

- tracking system surface template data is acquired which describes a geometrical template of at least part (4) of the position tracking system (2); - tracking system surface detection data is acquired which describes a surface geometry of the at least part (4) of the position tracking system (2) based on a distance measurement by the distance measurement unit of the augmented reality device (5);

the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the tracking system surface template data and the tracking system surface detection data, wherein at least one of the pre-registration or the position of the fine registration region (8) is determined based on the registration of the viewing direction.

20. The method according to any one of the preceding claims, wherein the augmented reality device (5) comprises a visible image acquisition unit for acquiring a video image or still image in the visible wavelength range, wherein the method comprises the following steps:

- code pattern template data is acquired which describes a template of a code pattern attached to at least part (4) of the position tracking system (2);

- a code pattern image describing the code pattern attached to the at least part (4) of the position tracking system (2) is obtained from the image acquisition unit;

- the viewing direction of the augmented reality device (5) is positionally registered with the tracking coordinate system based on the code pattern template data and code pattern image, wherein

- at least one of the pre-registration or the position of the fine registration region (8) is determined based on the registration of the viewing direction.

21 . The method according to any one of the preceding claims, wherein the position of the fine registration region (8) is determined based on generating a three-dimensional scene using distance measurements by the distance measurement unit of the augmented reality device (5).

22. The method according to the preceding claim, wherein the pre-registration is to be used for comparison with the full registration.

23. A computer program which, when running on at least one processor of at least one computer (3) or when loaded into the memory of at least one computer (3), causes the at least one computer (3) to perform the method according to any one of the preceding claims, or a signal wave, for example a digital signal wave, carrying information which represents the program.

24. A non-transitory computer-readable program storage medium on which the program according to the preceding claim is stored.

25. At least one computer, comprising at least one processor and a memory, wherein the program according to claim 22 is running on the at least one processor or is loaded into the memory, or wherein the at least one computer comprises the program storage medium according to the preceding claim.

26. A medical system (1 ) for determining augmentation information relating to positional tracking by a medical position tracking system (2), the medical system (1 ) comprising:

a) the at least one computer (3) according to the preceding claim; and b) the position tracking system (2) for tracking the position of at least a marker device; and

c) an augmented reality device (5) having a distance measurement unit and an output unit for outputting the augmentation information.