Method and apparatus for assisted trajectory planning

Patent metadata

Field	Value
Publication number	US-10398387-B2
Application number	US-201514684925-A
Country	US
Kind code	B2
Filing date	Apr 13, 2015
Priority date	Oct 4, 2011
Publication date	Sep 3, 2019
Grant date	Sep 3, 2019

Abstract

A procedure can be assisted by a processor system, such as a computer system. A trajectory can be used to identify a selected trajectory or path of an instrument to reach a tumor within a brain of a subject, reach a selected portion of the anatomy (e.g. sub-thalamic nucleus (STN) or spinal cord), or other appropriate target. The planning algorithm can include both inputted data and learned rankings or ratings related to selected trajectories. The planning algorithm can used the learned ratings to rate and later determined trajectories.

First claim

What is claimed is:

1. A system to plan a trajectory to perform a procedure, comprising:
a display device to display a first training dataset with a first training trajectory along with a first training image data and display a second training dataset with a second training trajectory along with a second training image data;
a learning processor operable to execute instructions including an algorithm to be trained to determine a coefficient based on the instructions for rating a current subject data different from the first training dataset or the second training dataset at least by:
receiving from a rater a first input of a first rating of the displayed first training trajectory;
receiving from the rater a second input of a second rating of the displayed second training trajectory; and
determining the coefficient based on the instructions to relate the input first rating and the input second rating regarding the displayed first training trajectory and the displayed second training trajectory; and

a memory device configured to store the determined coefficient based on the trained algorithm;
wherein the trained algorithm including the determined coefficient stored in the memory is configured to be recalled for rating a current subject trajectory, wherein the current subject trajectory is different from the first training trajectory and the second training trajectory;
wherein rating the current subject trajectory occurs subsequent to the training of the algorithm.

2. The system of claim 1 , further comprising:
an input system configured for the rater to input the first rating and the second rating to be received by the learning processor;
wherein the learning processor is further configured to execute further instructions to process the training image data.

3. The system of claim 2 , wherein execute instructions to process the training image data includes the learning processor executing instructions to sample the image data in a shell relative to the training trajectory.

4. The system of claim 3 , wherein process the training image data further includes reducing a dimensionality of the shell sampled data.

5. The system of claim 4 , further comprising:
a current subject data input device operable to input the current subject data including the current subject image data and the current subject trajectory;
a rating processor operable to access the memory device to recall the determined coefficient and execute instructions to:
process the current subject image data by at least sampling the current subject image data in a current subject shell relative to the current subject trajectory and reducing the dimensionality of the current subject shell sampled data to generate current subject processed data and subsequently rate the current subject trajectory with the recalled determined coefficient based on the current subject processed data;
wherein the rating processor is separate from the rater.

6. The system of claim 1 , further comprising:
an imaging device operable to acquire the first training image data and the second training image data.

7. The system of claim 1 , further comprising:
a current subject data input device operable to input the current subject data and the current subject trajectory; and
a rating processor operable to access the memory device including the determined coefficient and rate the current subject trajectory with the determined coefficient.

8. The system of claim 7 , wherein the learning processor is separate from the rating processor.

Assignees

• Medtronic Navigation Inc

Inventors

• Merkl Brandon
• Khadem Rasool

Classifications

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B90/90

  Identification means for patients or instruments, e.g. tags · CPC title

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B34/10

  Computer-aided planning, simulation or modelling of surgical operations · CPC title