阅读说明：本技术 医学介入的支持 (Support for medical interventions ) 是由 A.斯特兰贾克 于 2021-05-07 设计创作，主要内容包括：本发明涉及一种用于支持医学介入的系统、一种用于输出反馈信号的方法以及一种计算机程序产品。该系统包括用于向介入器械的使用者输出反馈信号的反馈设备和用于控制该反馈设备的控制设备。在此,控制设备被构建为用于接收介入器械的实际位置和介入器械的目标位置；用于确定实际位置与目标位置的偏差；并且用于依据偏差控制反馈设备的反馈信号的输出。在此,反馈信号是非视觉反馈信号。(The invention relates to a system for supporting a medical intervention, a method for outputting a feedback signal and a computer program product. The system comprises a feedback device for outputting a feedback signal to a user of the interventional instrument and a control device for controlling the feedback device. Here, the control device is constructed for receiving an actual position of the interventional instrument and a target position of the interventional instrument; for determining a deviation of the actual position from the target position; and for controlling the output of the feedback signal of the feedback device in dependence on the deviation. Here, the feedback signal is a non-visual feedback signal.)

1. A system for supporting medical intervention, the system comprising:

a feedback device for outputting a feedback signal to a user of the interventional instrument,

a control device for controlling the feedback device,

wherein the control device is constructed to,

for receiving an actual position of the interventional instrument,

-a target location for receiving an interventional instrument,

for determining the deviation of the actual position from the target position,

-an output for controlling a feedback signal of a feedback device in dependence of said deviation,

wherein the feedback signal is a non-visual feedback signal.

2. The system of claim 1,

the actual position comprises position data acquired by means of an imaging device, in particular by means of a magnetic resonance device, a computed tomography device, an X-ray device and/or an ultrasound device.

3. The system of any one of the preceding claims,

the feedback signal comprises an acoustic signal and/or a haptic signal.

4. The system of any one of the preceding claims,

the feedback signal has a signal pattern that depends on the determined deviation.

5. The system of any one of the preceding claims,

the feedback signal comprises an acoustic signal having a pitch variation and/or a volume variation and/or interruptions of different lengths depending on the deviation.

6. The system of any one of the preceding claims,

the feedback signal comprises a haptic signal having pressure variations and/or interruptions of different lengths depending on the deviation.

7. The system of any one of the preceding claims,

the feedback signal includes a plurality of partial feedback signals that are distinguishable by a user of the interventional instrument.

8. The system of claim 7,

the feedback device comprises an earphone with a first sound transducer and a second sound transducer,

wherein a first partial feedback signal of the plurality of partial feedback signals is capable of being output by the first sound converter,

wherein a second partial feedback signal of the plurality of partial feedback signals is capable of being output by the second acoustic transducer.

9. The system of claim 7 or 8,

the deviation of the actual position from the target position can be described by a plurality of deviation coordinates,

wherein the plurality of partial feedback signals depend on values of the plurality of deviation coordinates.

10. A medical imaging device comprising a system according to any of the preceding claims.

11. A method for outputting a feedback signal, the method comprising:

receiving, by the control device, an actual position of the interventional instrument and a target position of the interventional instrument,

-determining, by the control device, a deviation of the actual position from the target position,

-outputting a non-visual feedback signal by a feedback device in dependence of the determined deviation.

12. The method of claim 11, wherein the first and second light sources are selected from the group consisting of,

wherein the method comprises determining a target position of an interventional instrument,

wherein determining the target position of the interventional instrument comprises determining the target.

13. The method of claim 12, wherein the first and second light sources are selected from the group consisting of,

wherein the deviation of the position data from the target position is described by at least one deviation coordinate,

wherein the non-visual feedback signal is an acoustic feedback signal,

wherein the acoustic feedback signal has a pitch variation,

wherein the pitch change is determined in dependence on at least one deviation coordinate.

14. The method according to claim 12 or 13,

wherein determining the deviation of the actual position from the target position comprises:

-determining an object plane at least partially comprising the object,

calculating a projection point by projecting the interventional instrument onto the target plane depending on the actual position of the interventional instrument,

-calculating the deviation of the projected point from the target in the target plane.

15. The method of claim 14, wherein the first and second light sources are selected from the group consisting of,

wherein the deviation of the projected point from the target in the target plane is described by a first deviation coordinate of the first coordinate axis and a second deviation coordinate of the second coordinate axis,

wherein the first coordinate axis and the second coordinate axis are oriented non-parallel to each other,

wherein the first coordinate axis and the second coordinate axis are oriented parallel to a target plane,

wherein the output of the non-visual feedback signal comprises an output of the first partial feedback signal and an output of the second partial feedback signal,

wherein the first partial feedback signal is generated in dependence on the first and/or second deviation coordinate,

wherein the second partial feedback signal is generated in dependence on the first and/or second deviation coordinate.

16. The method according to claim 14 or 15,

wherein determining the deviation of the position data from the target position comprises determining a distance of the interventional instrument from the target plane,

wherein the non-visual feedback signal is output according to the distance between the interventional instrument and the target.

17. The method of claim 16, wherein the first and second light sources are selected from the group consisting of,

wherein the non-visual feedback signal has an interrupt,

wherein the interruption is determined in dependence on a distance of the interventional instrument from the target plane.

18. A computer program product comprising a program and directly loadable into a memory of a programmable control device, having program means for implementing a method according to any of claims 11 to 17 when the program is implemented in the control device.

Technical Field

The invention relates to a system for supporting a medical intervention, a method for outputting a feedback signal and a computer program product.

Background

Ablation, biopsy and puncture are among the most common methods during medical interventions, in which an interventional instrument is inserted into a patient by a user (e.g. a physician). The interventional instrument may be a needle, for example. For example, a tissue sample is taken with the aid of a biopsy needle, which is analyzed in a further procedure. In order to perform such procedures safely and efficiently, guidance of the needle needs to be continuously monitored until a location where a tissue sample should be taken. Prior to surgery, the intended path of the needle between the entry point (e.g., skin surface) and the target body part is carefully planned.

Once the path is defined, it must be ensured that the needle follows the pre-given path. Since the needle is usually inserted manually and controlled by the human hand, the position of the needle may deviate slightly from the specified path and must therefore be constantly monitored. For example, a magnetic resonance image is generated with an imaging device (e.g., a magnetic resonance device) whose imaging region encompasses the path such that the needle is always visible on the magnetic resonance image if correctly inserted and follows the planned path.

During surgery, the user attempts to keep the needle on the path (and make it visible on the magnetic resonance image) at all times by the user manually adjusting the trajectory of the needle. To achieve this, the magnetic resonance image is typically displayed on a screen, and the user controls the progress of the needle intrusion into the patient by viewing the screen.

Usually, a layer is displayed in real time here, which layer contains the planned path of the needle between the entry point and the target region. It is possible here that the needle is out of the planned path and is therefore no longer visible on the screen. In this case, the user would have to try to bring the needle back into the path again. This is typically done by the user withdrawing the needle and attempting another path while the user attempts to see the needle again on the display. This procedure can be error prone, time consuming, labor intensive and, most importantly, uncomfortable for the patient.

Furthermore, this method requires continuous visual observation of the patient's body and needle on the one hand, and of the screen display on the other hand. This requires the user's eyes to be continuously focused or defocused. This can also be laborious and error prone. Furthermore, switching between inserting the needle and observing the activity of the display slows down the process and increases the user's feeling of fatigue.

Disclosure of Invention

It is desirable that the user can focus his attention more on the operation of the interventional instrument. This technical problem is solved by the features of the present invention. In the present invention, advantageous embodiments are described.

Therefore, a system for supporting a medical intervention is proposed. The system comprises a feedback device for outputting a feedback signal to a user of the interventional instrument and a control device for controlling the feedback device. Here, the control device is constructed for receiving an actual position of the interventional instrument and a target position of the interventional instrument; for determining a deviation of the actual position from the target position; and for controlling the output of the feedback signal of the feedback device in dependence on the deviation. Here, the feedback signal is a non-visual feedback signal.

The system, in particular the feedback device, is preferably constructed to output the feedback signal in real time. In particular, the control device is constructed for receiving the actual position of the interventional instrument in real time; for determining a deviation of the actual position from the target position; and for controlling the output of the feedback signal of the feedback device in real time in dependence on the deviation. Preferably, the actual position of the interventional instrument is the current actual position of the interventional instrument, in particular the interventional instrument acquired in real time. Here, "real-time" preferably means that both the possible acquisition time for receiving the actual position of the interventional instrument and the possible processing time for outputting the feedback signal are so short that the user does not perceive a significant delay between a change in the actual position of the interventional instrument and a correspondingly changed feedback signal.

The actual position of the interventional instrument may in particular be the current actual position of the interventional instrument. The target position of the interventional instrument can be, in particular, a predefined target position of the interventional instrument.

The target position may for example have been determined, in particular planned, prior to the medical intervention. The target location may comprise, inter alia, a target of the interventional instrument (e.g. a target region and/or a target point in a patient's body) and/or an entry point of the interventional instrument on a surface of the patient's body. The target position of the interventional instrument may comprise, inter alia, a path of the interventional instrument. The path may in particular be a path between a starting point (e.g. an entry point of the interventional instrument on a surface of a patient's body) to a target, in particular a target region and/or a target point within the patient's body.

The interventional instrument may be, for example, a needle, in particular a surgical needle and/or a biopsy needle.

Instead of a visual screen display according to the prior art, the user can concentrate better on the intervention itself by using non-visual feedback signals. Preferably, the system may enable non-image based needle guidance.

The actual position of the interventional instrument preferably comprises position data acquired by means of an imaging device, in particular by means of a magnetic resonance device, a computed tomography device, an X-ray device and/or an ultrasound device. Preferably, the actual position can be described by means of such position data.

Preferably, the actual position can be determined from image data which are acquired by means of an imaging device, in particular by means of a magnetic resonance device, a computed tomography device, an X-ray device and/or an ultrasound device. Such image data may advantageously be acquired and/or analyzed in real-time.

Preferably, the feedback signal comprises an acoustic signal and/or a tactile signal. Advantageously, such a signal does not or only to a small extent offset the attention of the user from the intervention itself.

The acoustic signal is preferably a signal that can be transmitted by means of sound waves. The acoustic signal is advantageously a signal that is perceptible by the auditory organs of the user of the interventional instrument.

The tactile signal is preferably a pressure signal acting on the body, in particular the skin, of a user of the interventional instrument.

Preferably, the feedback signal has a signal pattern which depends on the determined deviation.

The signal pattern is advantageously adapted to convey information about the determined deviation to the user. The signal pattern has, in particular, a code, by means of which a message can be conveyed to the user.

Preferably, the feedback signal comprises an acoustic signal having a pitch change and/or a volume change and/or interruptions of different lengths depending on the deviation of the actual position from the target position. Advantageously, information about the deviation of the actual position from the target position can be conveyed to the user by means of pitch changes and/or interruptions of different length.

The pitch variation may particularly comprise a continuous variation of the frequency of the acoustic signal from a start frequency to an end frequency. This may also be referred to as frequency sweeping. The pitch change may also include a jump from the first frequency to a further frequency.

The volume change may especially comprise a continuous change of the amplitude of the acoustic signal from a starting amplitude to a terminating amplitude. This may also be referred to as amplitude scanning. The volume change may also comprise a jump from the first amplitude to the further amplitude.

Preferably, the feedback signal comprises a haptic signal having pressure variations and/or interruptions of different lengths depending on the deviation.

Preferably, the feedback signal comprises a plurality of partial feedback signals distinguishable by a user of the interventional instrument. Advantageously, more information can thereby be conveyed to the user at the same time. Thus, the feedback signal preferably comprises a plurality of partial feedback signals that are simultaneously perceptible by a user of the interventional instrument.

Preferably, the feedback device comprises an earphone having a first sound transducer and a second sound transducer, wherein a first part of the plurality of part feedback signals may be output by the first sound transducer and a second part of the plurality of part feedback signals may be output by the second sound transducer.

For example, the first sound converter may be positioned at a right ear of the user such that a first partial feedback signal of the plurality of partial feedback signals is perceptible by the right ear of the user. Correspondingly, the second sound transducer may be positioned at the left ear of the user, for example, such that the second partial feedback signal of the plurality of partial feedback signals is perceptible by the left ear of the user.

Preferably, the first and second partial feedback signals are distinguished in such a way that information about the actual position of the interventional instrument can be derived from the difference for the user.

Preferably, the deviation of the actual position from the target position can be described by a plurality of deviation coordinates, wherein the plurality of partial feedback signals depend on the values of the plurality of deviation coordinates.

For example, the deviation coordinates are coordinates of an N-dimensional coordinate system, in particular a two-dimensional or three-dimensional coordinate system. The orientation of such a coordinate system may be determined, for example, in dependence on the target position. In particular, the orientation of such a coordinate system may be determined in dependence of a path describing a target position of the interventional instrument.

In particular, the coordinate system may comprise coordinate axes of an open plane in which at least a part of the path, in particular an object of the path, is located.

In particular, the coordinate system may comprise coordinate axes through the target of the interventional instrument and/or the entry point of the interventional instrument.

Preferably, the deviation of the actual position from the target position may be described by a plurality of deviation coordinates, wherein each of the plurality of partial feedback signals is associated with one of the plurality of deviation coordinates. Preferably, the feedback signal is dependent on a plurality of deviation coordinates. In particular, each partial feedback signal depends on the offset coordinate associated therewith.

Furthermore, a medical imaging device is proposed, which comprises the previously described system for supporting a medical intervention.

The medical imaging device may comprise, for example, a magnetic resonance device, a computed tomography device, an X-ray device and/or an ultrasound device. Preferably, the medical imaging device is constructed for acquiring the actual position of the interventional instrument.

Furthermore, a method for outputting a feedback signal is proposed. The advantages of the proposed method correspond substantially to those of a system for supporting medical interventions, which have already been explained in detail above. Features, advantages, or alternative embodiments mentioned herein may also be transferred to the method and vice versa. In particular, the invention may also be extended with features described or claimed in connection with the method.

The method for outputting the feedback signal includes: receiving, by a control device, an actual position of an interventional instrument and a target position of the interventional instrument; determining, by the control device, a deviation of the actual position from the target position; and outputting a non-visual feedback signal by a feedback device in dependence on the determined deviation.

In particular, position data of the interventional instrument may be acquired by the medical imaging device. In particular, the target position of the interventional instrument may be determined in advance.

Preferably, the method comprises determining a target position of the interventional instrument, wherein determining the target position of the interventional instrument comprises determining a target, in particular a target region. The target area may be, for example, a spatial area located around the target point up to a determined distance.

Preferably, the deviation of the position data from the target position is described by at least one deviation coordinate, wherein the non-visual feedback signal is an acoustic feedback signal, wherein the acoustic feedback signal has a pitch change, in particular a pitch change over time, wherein the pitch change is determined depending on the at least one deviation coordinate.

Preferably, determining the deviation of the actual position from the target position comprises: determining an object plane at least partially comprising the object; calculating a projection point by projecting the interventional instrument, in particular a part of the interventional instrument, onto the target plane in dependence of the actual position of the interventional instrument; and calculating the deviation of the projection point from the target, in particular from the target area, in the target plane.

The interventional instrument may be, for example, a needle, and the projection portion of the interventional instrument may be, for example, a tip of the needle.

The object plane is preferably a plane extending parallel to the surface of the patient and/or a tangent plane to the surface. For example, the target plane may extend tangentially to the surface of the patient at the point where the interventional instrument enters the patient.

Preferably, the interventional instrument is a needle, in particular a straight needle, and the projection of the needle is performed in the manner of an elongated needle, in particular by means of a needle tip.

Preferably, the deviation of the projection point from the target, in particular from the target region, in the target plane is described by a first deviation coordinate of a first coordinate axis and a second deviation coordinate of a second coordinate axis, wherein the first coordinate axis and the second coordinate axis are oriented not parallel to each other, but for example perpendicular to each other, wherein the first coordinate axis and the second coordinate axis are oriented parallel to the target plane, wherein the output of the non-visual feedback signal comprises an output of a first feedback signal and an output of a second feedback signal, wherein the first feedback signal is generated in dependence on the first and/or second deviation coordinates, wherein the second feedback signal is generated in dependence on the first and/or second deviation coordinates.

Preferably, determining the deviation of the position data from the target position comprises determining a distance of the interventional instrument from the target plane, wherein the output of the non-visual feedback signal is performed in dependence of the distance of the interventional instrument from the target, in particular from the target region. The distance of the interventional instrument from the target plane may also be considered as a third deviation coordinate.

Preferably, the non-visual feedback signal has an interruption, in particular a temporal interruption, wherein the interruption is determined depending on the distance of the interventional instrument from the target plane. For example, the non-visual feedback signal is an acoustic feedback signal, wherein silence is maintained in the interruption.

Furthermore, a computer program product is proposed, which contains the program and can be loaded directly into a memory of a programmable control device and has program means, such as a program library, and auxiliary functions in order to carry out the method according to the invention when the computer program product is implemented in the control device. Here, the computer program product may comprise software with source code which has not yet been compiled and connected or has only to be interpreted, or implementable software code which has only to be loaded into the control device for implementation.

By means of the computer program product the method according to the invention can be implemented quickly, identically repeatable and robustly. The computer program product is configured such that it can carry out the method steps according to the invention by means of the control device.

The control device comprises, for example, a main memory, a graphics card, a processor and/or a logic unit, so that the corresponding method steps can be implemented efficiently.

The computer program product is stored, for example, on a computer-readable medium or on a network or server, from where it can be loaded into the processor of the local control device.

Furthermore, the control information of the computer program product can be stored on an electronically readable data carrier. The control information of the electronically readable data carrier can be designed such that, when the data carrier is used in the control device, these control information carry out the method according to the invention.

Examples for electronically readable data carriers are DVD, magnetic tape or USB stick, on which electronically readable control information, in particular software, is stored. When these control information are read from the data carrier and stored in the control device, then all embodiments according to the invention of the previously described method can be carried out. The invention therefore also proceeds from the computer-readable medium described above and/or from the electronically-readable data carrier described above.

Drawings

Further advantages, features and details of the invention are given in the examples described below and in the figures. In all the drawings, portions corresponding to each other have the same reference numerals.

In the drawings:

fig. 1 shows a medical imaging device with a system for supporting a medical intervention;

fig. 2 shows a spatial illustration of the actual position and the target position of the interventional instrument;

fig. 3 to 10 show different signal patterns depending on the deviation of the actual position from the target position;

fig. 11 shows a flow chart of a method for outputting a feedback signal.

Detailed Description

Fig. 1 schematically shows a system for supporting a medical intervention, the system comprising: a feedback device 1 for outputting a feedback signal to a user of an interventional instrument shown in the following figures; a control device 2 for controlling the feedback device.

Directions F (forward), B (backward), L (leftward) and R (rightward) correspond to directions shown in the following drawings. Here, in this example, it is assumed that the medical imaging apparatus (here the magnetic resonance apparatus 100) is located on the left side of the user. The patient table 101 is positioned in front of the user and the patient 102 is placed on the patient table 101. Other orientations are of course possible.

The control device 2 is constructed for receiving an actual position of the interventional instrument, for receiving a target position of the interventional instrument and for determining a deviation of the actual position from the target position. The actual position is determined by means of the magnetic resonance system 100. To this end, the magnetic resonance apparatus 100 records a magnetic resonance image of the patient 102 while the interventional instrument is at least partially located within the body of the patient 102.

For example, a target position, in particular a target path, of the interventional instrument can be determined, in particular planned, by a user by means of the user interface 3. The user interface can have, in particular, a display unit (e.g., a screen) and an input unit (e.g., a keyboard) by means of which information and/or parameters can be entered.

Depending on the deviation, the control device 2 is constructed to control the output of the feedback signal of the feedback device 1. Here, the feedback signal is a non-visual feedback signal. In the case shown, the feedback device comprises a headset 1, by means of which an acoustic signal can be output as a feedback signal. The headphone 1 includes a left-side sound converter 1L and a right-side sound converter 1R via which different partial feedback signals can be output, respectively. Specifically, the first partial feedback signal may be output by the left sound converter 1L, and the second partial feedback signal may be output by the right sound converter 1R. These signals can be heard with the left or right ear of the user, respectively.

It is also conceivable to mount an instrument on the user as a feedback device, the instrument generating a tactile signal that is perceptible to the user. For example, the feedback device may include straps that may be placed on the user's left and right legs to apply pressure as a feedback signal to the user's body.

A spatial illustration of the actual position of the interventional instrument in the form of a needle 4 and its relative position as target position with respect to the predetermined path P is shown in fig. 2. The path P is determined by the needle entry point E and the target. The target is described by a target point located in a target plane TP. An elliptical target area T of height d is located around the target point. It is usually necessary to move the tip 5 precisely to the target point, but it is sufficient if the tip is moved within a certain tolerance in the vicinity of the target point, i.e. within the target area T. For example, at the target, the user wants to perform a biopsy or treatment.

Generally, the path P is determined as a straight line between the needle entry point E and the target. The needle entry point E is marked, for example, by markers at the following locations on the skin of the patient 102: where the needle penetrates the patient 102.

The needle shown in fig. 2 is partly located inside the patient 102 and should now be brought to the target with its tip 5. The position of the needle deviates from the path P here and does not hit the target if it continues further in the current direction. The deviation of the projection J of the needle 4 to the target plane TP, in particular the deviation of the extension of the needle 4 to the target plane TP, is shown in two directions: along the horizontal axis in the direction L or R is the value h and along the vertical axis in the direction B or F is the value v. The values h and v therefore represent deviation coordinates which describe the deviation of the actual position from the target position.

The distance between the tip 5 and the target plane TP is represented by the value k. Therefore, this value also represents a deviation coordinate describing the deviation of the actual position from the target position.

In order to guide the needle tip 5 to the target, the value of the offset coordinate must be reduced in order for the needle tip 5 to reach into the target area T.

During the intervention, the user hears parts of the feedback signal via the headphones 1 on his right and left ear, respectively. By sensing the partial feedback signals through the right and left ears, the user can distinguish the partial feedback signals from each other.

Fig. 3 shows the possibility in which way a partial feedback signal can be output. Depending on the necessary correction of the actual position of the interventional instrument, a suitable partial feedback signal is output via the left-hand sound transducer 1L and/or the right-hand sound transducer 1R. Nine different situations I to IX are shown which may occur during the guidance of the needle 4 to the target area T. These situations represent different signal patterns of the feedback signal, which are dependent on the determined deviation.

The deviation of the actual position from the target position in the direction L or R can be described, in particular, by a deviation coordinate h. As explained below, part of the feedback signal output via the left-side sound converter 1L and the right-side sound converter 1R depends on the deviation coordinate h.

In the case of the left column, i.e. in the cases I, IV and VII, a partial feedback signal, in particular a first partial feedback signal, is output by the left-hand sound converter 1L only, i.e. no partial feedback signal, in particular a second partial feedback signal, is output by the right-hand sound converter. This means that the value h is above a predetermined threshold value h_tThe case (1).

Similarly, in the case of the right column, i.e., in the cases III, VI and IX, only a partial feedback signal is output by the right sound converter 1R. This means that the value h is below a predetermined threshold value h_tThe case (1).

In the case of the middle column, i.e., in cases II, V, and VIII, the partial feedback signals are output by not only the left-side sound converter 1L but also the right-side sound converter, respectively. This is a value of h lying in-h_tAnd h_tWithin a tolerance range therebetween.

As explained below, the acoustic signal output by the headset 1 has a certain pitch variation, depending on the value v.

In the case of the upper row, i.e. in the cases I, II and III, a tone with a temporally increasing frequency f is output as part of the feedback signal. This is the value v being below a predetermined threshold value-v_tThe case (1).

In the case of the lower row, i.e. in the cases VII, VIII and IX, a tone with a temporally falling frequency f is output as part of the feedback signal. This means that the value v is above a predetermined threshold value v_tThe case (1).

In the case of the middle row, i.e. in the cases IV, V and VI, a tone with a temporally constant frequency f is output as part of the feedback signal. This is a value v located at-v_tAnd v_tWithin a tolerance range therebetween.

The value v is therefore a function of exceeding a predetermined threshold value v_tOr is below a predetermined threshold value v_tAn acoustic signal having a temporally decreasing frequency f or a temporally increasing frequency f is output. If the value v is located at-v_tAnd v_tWithin a tolerance range therebetween, the frequency remains constant.Thus, the frequency characteristics of the acoustic signal provide the user with information about the deviation in the direction F or B.

For example, a falling tone in the left ear of case VII means that if the needle 4 is moved further without a change of direction, the needle 4 will miss its target and the needle 4 should change to the left (i.e. in direction L, since h is>h_t) And backwards (i.e., in direction B, since v is>v_t) And (4) moving. Since the user hears the signal only at the left side, it can be easily and intuitively grasped for the user that he should move the needle 4 to the left. Furthermore, by means of the descending pitch, it can be easily and intuitively perceived for the user that he should move the needle 4 backwards, i.e. towards himself. Similarly, in case I, leftward (i.e., in direction L) should be performed by the user (i.e., because h is a positive integer)>h_t) And forward (i.e., in direction F, since v<-v_t) The movement correction of (2). Furthermore, with an increased pitch, it can be easily and intuitively perceived for the user that he should move the needle 4 forward, i.e. away from himself.

The signal pattern of the partial feedback signal shown in fig. 3 has interruptions, which are described in more detail with respect to fig. 4 to 6. By way of example, the line diagram shown in fig. 4 corresponds here to one of the cases IV, V or VI, and the line diagram shown in fig. 5 corresponds to one of the cases I, II or III. As can be seen from the line graph shown in fig. 6, the length g of the interruption depends on the distance k between the needle tip 5 and the target plane TP. If the tip 5 is still at a relatively large distance k from the target plane TP>k_maxIn the following, the length g of the interruption is the value g_max. With the distance k at k_maxThe length g of the interruption becomes shorter and shorter as compared to the target region starting at d/2 until the length of the interruption is equal to zero from d/2, i.e. the acoustic signal is then continuous. Thereby, the interruption is determined in dependence of the distance k of the interventional instrument, in particular the needle tip 5, to the target plane TP. How far the needle tip 5 is from the target plane TP is indicated to the user by the length of the interruption.

For the sake of clarity, various scenarios of medical interventions supported by the proposed system are shown in fig. 7 to 10. In thatHere, it is shown on the left side respectively where the needle 4 is located relative to the target area T and relative to the target plane TP, and on the right side which feedback signals are output to the user in this case. For simplicity, it is assumed that the tip 5 is within tolerance along the vertical axis, i.e., in direction B or F, | v<v_t. Whether the feedback signal is output by the left-hand sound converter 1L, the right-hand sound converter 1R or both sound converters 1L, 1R depends on the value h. For example, if the tip 5 is within tolerance along a horizontal axis (i.e., in direction B or F), i.e., | h<h_tThen, the two sound converters 1L, 1R output feedback signals.

In the scenario shown in fig. 7, the user has guided the needle tip 5 into the target area T. Thus, the value k < d/2, so that a continuous signal is output. In the scenario shown in fig. 8, the needle is still in the approach phase to the target region T, so that the value k is still relatively large. The interruption of the signal is thus still relatively large. As shown in fig. 9, the closer the user brings the needle tip 5 to the target area T, i.e. the smaller the value k, the shorter the interruption. In contrast, fig. 10 shows a case where the target region T is missed so that the needle tip is located below the target plane TP. This can be indicated to the user, for example, by the signal jumping back and forth between two frequencies f. The user can then, in particular, pull the needle 4 slightly again in order to bring the needle tip 5 back above the target plane TP again, so that the usual signal pattern is again output (as shown in fig. 3), and from there again an attempt is made to hit the target region T.

A method of how support for medical intervention may be performed is depicted in fig. 11.

In S1, the needle entry point E and the target with tolerance, i.e., the target area T, are determined. Based on this information, a path P is planned as the target position of the interventional instrument. In particular, the control device 2 receives a target position of the interventional instrument. Furthermore, a target plane TP is determined, which is preferably oriented perpendicular to the path P.

In S2, the actual position of the interventional instrument, in particular the needle 4, is determined in three-dimensional space. In particular, the control device 2 receives the actual position of the interventional instrument. Furthermore, it is checked whether the inserted needle 4 intersects the target plane TP, i.e. whether the target plane TP has an intersection with the needle 4.

If the needle 4 does not intersect the target plane TP, a projection point is determined by projecting J the needle 4 onto the target plane TP based on the actual position of the needle 4 in S3.

In S4, a deviation of the actual position of the interventional instrument, in particular the needle 4, from its target position is determined by the control device 2. For this purpose, the values h, v and k of the deviation coordinate are determined.

In S5, depending on the deviation (in particular the values h, v and k), a non-visual feedback signal is output by the feedback device (e.g. the headset 1), the non-visual feedback signal for example comprising two partial feedback signals. In the example shown above, this is achieved by the sound converters 1L, 1R.

If it is found from S2 that the needle 4 intersects the target plane TP, it is checked in S6 whether the needle tip 5 is located in the target region T. If so, the method ends. Otherwise, a corresponding feedback signal is output in S7, which reports to the user that he missed the target.

Finally, it is again pointed out that the method described in detail above and the system, the control device and the magnetic resonance apparatus shown are merely embodiments which can be modified in a very different manner by a person skilled in the art without departing from the scope of the invention. Furthermore, the use of the indefinite article "a" or "an" does not exclude that a feature referred to may also be present several times. Likewise, the term "unit" does not exclude that the component concerned is formed by a plurality of interacting sub-components, which may also be spatially distributed if desired.