Method and apparatus for optimal trajectory planning

• US 9,002,076 B2
• Filed: 04/15/2008
• Issued: 04/07/2015
• Est. Priority Date: 04/15/2008
• Status: Active Grant

• Current Assignee: Medtronic Incorporated (Medtronic Plc)
• Original Assignee: Medtronic Incorporated (Medtronic Plc)
• Inventors: Khadem, Rasool, Mokhtar, Jawad
• Primary Examiner(s): Fuelling, Michael
• Application Number:
  US12/103,488
• Publication Number:
  US 20090259230A1
• Time in Patent Office: 2,548 Days
• Field of Search: 606/130
• US Class Current: 382/128
• CPC Class Codes: A61B 2034/105 Modelling of the patient, e.g. for ligaments or bones
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Abstract

A system and method can increase confidence or other factors of a trajectory, path, etc. for a procedure. The system can use various weighting or determining factors to identify confidence of identified trajectories. The identified trajectories can be used for various purposes, such as diagnosis or treatment.

Claims

1. A method of determining a cost function value for a selected procedure, comprising:

accessing image data of a patient;

determining at least one entry point for the procedure;

determining at least one target for the procedure;

executing instructions with a processor to;

determine anatomical features in the accessed image data;

associate a weight to each of the determined anatomical features;

associate a weight with each of the at least one entry point and the at least one target point;

determine a plurality of possible trajectories through an anatomical region of the patient and a position of each trajectory of the determined possible trajectories relative to the determined anatomical features;

associate each trajectory of the determined plurality of trajectories with the at least one entry point and the at least one target point;

determine a cost function for each trajectory of the possible trajectories based at least in part on the position of each of the possible trajectories relative to the determined anatomical features and the associated weight of the determined anatomical features, the trajectory and the associated at least one entry point and the at least one target;

determine a cost function value for each trajectory of the possible trajectories based on the determined cost function for the possible trajectories;

output a representation of the cost function value based upon the determination of the cost function for each trajectory of the plurality of possible trajectories including outputting the representation of the cost function value determined with the cost function incorporating the weight determined for each of the plurality of trajectories, the at least one entry point, and the at least one target point;

selecting a region that is defined by at least one or a sub-plurality of trajectories of the determined plurality of possible trajectories based upon the output representation of the cost function value, wherein the selected region is used to perform a navigated procedure by moving an instrument along a procedure trajectory with the selected region and wherein the selected region is selected to allow for a greater variability of an instrument placement for the selected procedure; and

displaying a region cost function value on a human viewable display based on a cost function value of the selected region defined by the at least one or sub-plurality of trajectories of the determined plurality of possible trajectories.

2. The method of claim 1, wherein accessing image data of the patient includes accessing magnetic resonance image data, computer tomography image data, PET image data, functional MRI image data, diffusion tensor image data, x-ray image data, or combinations thereof.

3. The method of claim 2, wherein executing instructions with the processor to determine anatomical features in the accessed image data includes at least one of performing edge detection on the image data, selecting anatomical features in the image data, or performing segmentation of the image data.

4. The method of claim 1, wherein the outputted graphical representation of the cost function value includes at least one of a shaded area, a textured area, a dashed line, a blinking line, a blinking area, a color, or combinations thereof.

5. The method of claim 1, further comprising:

providing an imaging device operable to acquire the accessed image data of the patient.

6. The method of claim 1, further comprising:

tracking the instrument relative to the selected trajectory; and

displaying a representation of the instrument as the instrument is tracked.

7. The method of claim 6, further comprising:

displaying the accessed image data of the patient;

superimposing the selected region on the accessed image data of the patient; and

superimposing a graphical representation of the instrument on the image data relative to the graphical representation of the selected region.

8. The method of claim 7, wherein displaying the region cost function value includes associating a specific graphical representation of the output cost function value with the selected region and superimposing the specific graphical representation on the image data.

9. The method of claim 1, further comprising:

accessing data regarding a patient including at least one patient history or medical statistical data.

10. The method of claim 9, wherein determine the cost function for each trajectory of the possible trajectories further includes evaluating the weighting of the determined anatomical regions relative to each trajectory of the determined plurality of trajectories to determine a plurality of cost functions including at least one cost function for each trajectory of the plurality of the determined trajectories.

11. The method of claim 1, further comprising:

performing a procedure based upon the selected at least sub-plurality of trajectories; and

navigating the procedure with a navigation system.

12. A method of determining a cost function value for a selected procedure, comprising:

determining at least one entry point for the procedure based on an accessed data of a subject;

determining at least one target for the procedure based on the accessed data of the subject;

executing instructions with a processor to;

determine anatomical features in the accessed data;

associate a weight to each of the determined anatomical features;

associate a weight to the at least one entry point;

associate a weight to the at least one target point;

determine a plurality of possible trajectories through an anatomical region of the patient between the determined at least one entry point and the determined at least one target and a position of each trajectory of the determined possible trajectories relative to the determined anatomical features;

associate each trajectory of the determined plurality of trajectories with the at least one entry point and the at least one target point;

determine a cost function for each trajectory of the possible trajectories based at least in part on the position of each of the possible trajectories relative to the determined anatomical features and the associated weight of the determined anatomical features, the trajectory, the at least one entry point, and the at least one target of the trajectory;

determine a cost function value for each trajectory of the plurality of possible trajectories based on the determined cost function for each trajectory of the plurality of possible trajectories;

output a representation of the cost function value based upon the determination of the cost function for each trajectory of the plurality of possible trajectories including outputting a graphical representation of the cost function value determined with the cost function incorporating the weight determined for each of the trajectories, the at least one entry point, and the at least one target point;

selecting at least one trajectory or a sub-plurality of trajectories of the determined plurality of possible trajectories based upon the output representation of the cost function value, wherein the selected at least one or a sub-plurality of trajectories of the determined plurality of possible trajectories is used to perform a navigated procedure by moving an instrument along a procedure trajectory based on the selected at least one or a sub-plurality of trajectories of the determined plurality of possible trajectories; and

displaying the output representation of the cost function value on a human viewable display.

13. The method of claim 12, wherein selecting the at least one trajectory or sub-plurality of trajectories of the determined plurality of possible trajectories includes selecting a region.

14. The method of claim 13, further comprising:

determine a region cost function value based on the cost function value of the at least one trajectory or sub-plurality of trajectories of the determined plurality of possible trajectories.

15. The method of claim 14, wherein the selected region is selected to allow for a greater variability of placement of an instrument for the selected procedure.

16. The method of claim 12, further comprising:

accessing image data of the patient including accessing magnetic resonance image data, computer tomography image data, PET image data, functional MRI image data, diffusion tensor image data, x-ray image data, or combinations thereof.

17. The method of claim 12, wherein executing instructions with a processor to determine anatomical features in the accessed data includes at least one of performing edge detection on image data, selecting anatomical features in the image data, or performing segmentation of the image data.

18. The method of claim 12, wherein the outputted graphical representation of the cost function value includes at least one of a shaded area, a textured area, a dashed line, a blinking line, a blinking area, a color, or combinations thereof.

19. The method of claim 12, further comprising:

providing an imaging device operable to acquire image data of the patient.

20. The method of claim 12, further comprising:

tracking the instrument relative to the selected at least one trajectory or a sub-plurality of trajectories of the determined plurality of possible trajectories; and

displaying a representation of the instrument as the instrument is tracked.

21. The method of claim 12, further comprising:

displaying accessed image data of the subject;

superimposing the selected at least one trajectory or a sub-plurality of trajectories of the determined plurality of possible trajectories on the accessed image data of the patient; and

superimposing a graphical representation of the instrument on the image data relative to the graphical representation of the selected at least one trajectory or a sub-plurality of trajectories of the determined plurality of possible trajectories.

22. The method of claim 12, further comprising:

accessing data regarding a patient including at least one patient history or medical statistical data.

23. The method of claim 22, wherein determine the cost function for each trajectory of the possible trajectories further includes evaluating the weighting of the determined anatomical regions relative to each trajectory of the determined plurality of trajectories to determine a plurality of cost functions including at least one cost function for each trajectory of the plurality of the determined trajectories.