Method for planning a surgical procedure
First Claim
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1. A method to determine a surgical plan for reaching an anatomical target in a portion of a human brain relative to identified anatomical landmarks, the method comprising:
- capturing a plurality of slices of image data of the anatomy, wherein the slices are captured at selected distances from one another along an axis;
processing the image data at least by;
segmenting a third ventricle of a brain in each of the captured plurality of slices of image data;
after segmenting a third ventricle, aligning the plurality of slices of image data relative to each other based at least in part on the segmented third ventricle; and
after aligning the plurality of slices of image data, determining a location of the mid-sagittal plane in the aligned plurality of slices of image data;
after determining the location of the mid-sagittal plane, determining an anatomical landmark that is distinguishable in the processed image data including an intensity change at an edge of the segmented third ventricle;
after determining the anatomical landmark, determining an anatomical target that is relatively indistinguishable from the surrounding structures in the image data based on a position relative to the determined mid-sagittal plane and the determined anatomical landmark; and
after determining the anatomical target, determining a surgical plan, including;
determining an entry point into the anatomy illustrated in the image data;
weighting the image data;
inputting procedure specific data; and
determining a trajectory to reach a point relative to the anatomical target based on the weighted image data, at least a portion of the inputted procedure specific data, and the determined anatomical target.
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Abstract
A method for planning a procedure, which can include determining anatomical landmarks is disclosed. The anatomical landmarks can be used to determine anatomical targets of a patient. The plan can include a path or trajectory to reach a selected target.
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Citations
47 Claims
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1. A method to determine a surgical plan for reaching an anatomical target in a portion of a human brain relative to identified anatomical landmarks, the method comprising:
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capturing a plurality of slices of image data of the anatomy, wherein the slices are captured at selected distances from one another along an axis; processing the image data at least by; segmenting a third ventricle of a brain in each of the captured plurality of slices of image data; after segmenting a third ventricle, aligning the plurality of slices of image data relative to each other based at least in part on the segmented third ventricle; and after aligning the plurality of slices of image data, determining a location of the mid-sagittal plane in the aligned plurality of slices of image data; after determining the location of the mid-sagittal plane, determining an anatomical landmark that is distinguishable in the processed image data including an intensity change at an edge of the segmented third ventricle; after determining the anatomical landmark, determining an anatomical target that is relatively indistinguishable from the surrounding structures in the image data based on a position relative to the determined mid-sagittal plane and the determined anatomical landmark; and after determining the anatomical target, determining a surgical plan, including; determining an entry point into the anatomy illustrated in the image data; weighting the image data; inputting procedure specific data; and determining a trajectory to reach a point relative to the anatomical target based on the weighted image data, at least a portion of the inputted procedure specific data, and the determined anatomical target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A method to determine a surgical plan for reaching an anatomical target in a portion of a human brain relative to identified anatomical landmarks, the method comprising:
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obtaining image data of a brain of a patient; processing the image data with a processor for; removing unneeded data, smoothing the image data, segmenting the image data, aligning the image data, and combinations thereof; after removing unneeded data, smoothing the image data, segmenting the image data, aligning the image data, and combinations thereof, determining a location of the anatomical landmark in the image data of the brain; and after determining the location of the anatomical landmark, determining a location of the anatomical target in the image data of the brain relative to the determined location of the anatomical landmark; displaying the processed image data with a display device; displaying a representation of the determined location of the anatomical target with the display device; and executing instructions with the processor to determine a plan to reach the anatomical target, including; weighting the processed image data including at least one of determining high contrast areas of the processed image data, determining low contrast areas of the processed image data, determining bright areas of the processed image data, determining dark areas of the processed image data, and determining sharp edges in the processed image data; determining an entry point into the brain imaged in the image data including identifying a region of a skull and a plurality of possible entry points through the identified region of the skull that would allow access to the displayed representation of the determined location of the anatomical target, wherein the plurality of possible entry points can include limitations of the structure of a treatment device for a patient through which the treatment device can be passed; determining a path to reach the anatomical target in the brain based at least one the weighted image data; and displaying the determined plan for the procedure with the display device. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method to determine a surgical plan for reaching an anatomical target in a portion of a human brain relative to identified anatomical landmarks, the method comprising:
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providing procedure specific data; identifying an entry region to the portion of an anatomy including an area through which a plurality of entry points are defined into the portion of the anatomy; executing instructions with a planning process for weighting image data of the portion of the anatomy to determine a relative importance of a first region of the image data to a second region of the image data; and determining a plan, at least in part with the planning processor, to reach the anatomical target of the portion of the anatomy based on the weighted image data and the provided procedure specific data further including, determining a mid-sagittal plane in the image data; after determining a mid-sagittal plane, determining a location of an anterior commissure and a posterior commissure; after determining a location of the anterior commissure and the posterior commissure, determining a location of a sub-thalamic nucleus in the image data by executing instructions with the planning processor to determine the location of the sub-thalamic nucleus relative to at least two of the determined location of the anterior commissure, the posterior commissure, the mid-sagittal plane, or combinations thereof in the image data; determining a trajectory to reach the determined location of the sub-thalamic nucleus in the image data at least by determining all possible trajectories to provide a determined therapy to the anatomical target from each of the plurality of entry points identified with the entry region; determining a factor for each of all possible trajectories to provide a determined therapy to the anatomical target based at least in part upon the weighted image data; and displaying a sub-plurality of the all possible trajectories having a factor above a selected threshold on a first display device associated with the planning processor; a user selecting a plan trajectory from one of the displayed sub-plurality of all possible trajectories, wherein the displayed sub-plurality of all possible trajectories are determined by the execution of instructions with the planning processor; displaying only the selected plan trajectory; and displaying the determined plan for the procedure on a second display device separate from the first display device. - View Dependent Claims (36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
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Specification