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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
First Claim
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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.

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