System and method for dynamic reachability visualization of trajectory planning

Abstract

The invention relates to a system and method for dynamic reachability visualization for trajectory planning. A processor-implemented method includes accessing or acquiring one or more images from a medical imaging device. The processor-implemented method also includes receiving an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, interventional device, or both, and receiving an indication of a target point in the one or more images. The target point may specify an expected location of the interventional device. The processor-implemented method also includes determining a corresponding reachability region for each of the one or more images based on the target point and the one or more constraints. Each corresponding reachability region includes a reachable path of the interventional device between one or more reachable entry points and the target point. The processor-implemented method also includes overlaying the corresponding reachability region on each of the one or more images and displaying the one or more images.

Description

Technical Field

[0001] The subject matter disclosed herein relates to image processing and, more particularly, to systems and methods for analyzing the accessibility of interventional needle trajectory planning. Background Art

[0002] The subject matter discussed in this section should not be assumed to be prior art merely as a result of its mention in this section. Similarly, problems mentioned in this section or related to the subject matter provided as background should not be assumed to have been previously recognized in the prior art. The subject matter in this section only represents different approaches, which may themselves also correspond to specific implementations of the claimed technology.

[0003] Non-invasive imaging techniques allow obtaining images of the internal structures or features of a patient or other subject without performing invasive surgery on the patient or subject. Specifically, such non-invasive imaging techniques rely on various physical principles (such as differential transmission of X-rays through a target volume, reflection of sound waves within a volume, paramagnetism of different tissues and materials within a volume, decomposition of target radionuclides in the body, etc.) to acquire data and construct images or otherwise represent the observed internal features of the patient / object.

[0004] Clinicians can use non-invasive imaging devices to perform trajectory planning and evaluate interventional procedures, such as procedures using biopsy needles or other needles, and / or during the execution of such interventional procedures. For example, in terms of needle insertion, clinicians can use images from multiple cross-sectional views to plan the path of a medical device from an entry point to a target point. However, analyzing multiple cross-sectional views together can be difficult, and the movement of the medical device along the planned trajectory may be limited by the characteristics of the patient, the properties of the imaging device, geometric limitations of the interventional system or the operating environment, etc. Summary of the Invention

[0005] The embodiments disclosed in the present invention are not intended to limit the scope of the claimed subject matter, but these embodiments are only intended to provide a brief overview of possible embodiments. In fact, the present disclosure may include various forms, which may be similar to or different from the embodiments described below.

[0006] In one embodiment, a processor-implemented method includes accessing or obtaining one or more images from a medical imaging device. The processor-implemented method further includes receiving an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, an interventional device, or both, and receiving an indication of a target point in the one or more images. The target point may specify an intended target location of the interventional device. The processor-implemented method further includes determining a corresponding reachability region for each of the one or more images based on the target point and the one or more constraints. Each corresponding reachability region includes a reachable path of the interventional device between one or more reachable entry points and the target point. The processor-implemented method further includes overlaying the corresponding reachability regions on each of the one or more images and displaying the one or more images via a display device.

[0007] In another embodiment, a system includes a medical imaging device configured to acquire medical images in one or more planes. The system further includes a computing device communicatively coupled to the medical imaging device, the computing device being configured to receive the medical images from the medical imaging device. The computing device is further configured to receive an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, an interventional device, or both, and receive an indication of a target point in each of the one or more planes of the medical images. The target point specifies an intended target location of the interventional device. The computing device is further configured to determine a corresponding reachability region for each of the one or more planes of the medical images based on the target point and the one or more constraints. Each corresponding reachability region includes a reachable path of the interventional device between one or more reachable entry points and the target point. The computing device is further configured to overlay the corresponding reachability regions on each of the one or more planes of the medical images and display the medical images via a display device.

[0008] In yet another embodiment, a computer-readable medium includes processor-executable code that, when executed by a processor, causes the processor to access or obtain one or more images from a medical imaging device, receive an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, an interventional device, or both, and receive an indication of a target point in the one or more images. The target point specifies an intended target location of the interventional device. The processor-executable code may further cause the processor to determine a corresponding reachability region for each of the one or more images based on the target point and the one or more constraints. Each corresponding reachability region includes a reachable path of the interventional device between one or more reachable entry points and the target point. The processor-executable code may further cause the processor to overlay the corresponding reachability regions on each of the one or more images and display the one or more images via a display device. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects, and advantages of the present invention will be better understood when the following detailed description is read with reference to the accompanying drawings, in which like reference characters represent like parts throughout the drawings, and in which:

[0010] Figure 1 is a schematic diagram of an imaging system for generating images according to aspects of the present disclosure;

[0011] Figure 2 is a schematic side view of a C-arm imager system representing the features of such an imager according to aspects of the present disclosure;

[0012] Figure 3 is a block diagram showing the communication between an imager system, a computing device, and a user input device of a dynamic reachability visualization system according to an embodiment of the present disclosure;

[0013] Figure 4 is a block diagram of an imager system, a patient, and a computing device shown in an operating environment according to an embodiment of the present disclosure;

[0014] Figure 5 is shown in an operating environment according to an embodiment of the present disclosure Figure 3 a block diagram of an imager system and a computing device, wherein the imager system is manipulated to acquire medical images;

[0015] Figure 6 is for according to an embodiment of the present disclosure Figure 2 an illustration of a graphical user interface of an imager system;

[0016] Figure 7 is shown on a graphical user interface according to an embodiment of the present disclosure in Figure 6 an illustration of a medical image including a reachability region;

[0017] Figure 8 is shown on a graphical user interface according to an embodiment of the present disclosure in Figure 6 an illustration of a medical image including a reachability region and a buffer region;

[0018] Figure 9 is a flowchart of a method for determining and displaying a reachability region based on a target point according to an embodiment of the present disclosure;

[0019] Figure 10 is a flowchart of a method for determining and displaying a reachability region based on an entry point according to an embodiment of the present disclosure; and

[0020] Figure 11It is a diagram of a client-server architecture for medical image processing and display according to an embodiment of the present technology. Detailed implementation manners

[0021] One or more specific embodiments will be described below. To provide a concise description of these embodiments, not all features of actual specific implementations are described in the specification. It should be understood that in the development of any such actual specific implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the specific goals of the developer, such as compliance with system-related and business-related constraints that may vary depending on the specific implementation. In addition, it should be understood that such development efforts may be complex and time-consuming, but still routine tasks for those of ordinary skill in the art who benefit from the present disclosure in terms of design, fabrication, and manufacture.

[0022] Any example or illustration given herein should not be construed in any way as a constraint, limitation, or explicit definition of any one or more of the terms it utilizes. Instead, these examples or illustrations are to be regarded as descriptions of various specific embodiments and are merely illustrative. Those of ordinary skill in the art will understand that any one or more of the terms used in these examples or illustrations will cover other embodiments that may or may not be presented with them or elsewhere in this specification, and all such embodiments are intended to be included within the scope of that one or more terms. Language specifying such non-limiting examples and illustrations includes, but is not limited to: "for example", "such as", "including", "in certain embodiments", "in some embodiments", and "in one embodiment".

[0023] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any included method. The patent scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. If such other examples have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with minor differences from the literal language of the claims, then such other examples are intended to fall within the scope of the claims.

[0024] For decades, medical imaging devices have been used to non-invasively acquire image data of the internal structures or physiological processes of a subject, thereby allowing for appropriate medical diagnosis, surgical planning, and care without damaging the subject. Examples of such medical imaging techniques include radiography, computed tomography (CT), magnetic resonance imaging (MRI), positron emission tomography (PET), single photon emission computed tomography (SPECT), mammography, ultrasound, and the like. Traditionally, such images could be evaluated (i.e., read) by a trained clinician, such as a radiologist, and advancements in medical imaging technology have allowed for the electronic acquisition, processing, access, and viewing of such images via a graphical user interface.

[0025] As discussed herein, a clinician can use images captured by a medical imaging device to visualize a patient's anatomy in preparation for an interventional procedure. Images can be captured in one or more of a number of planes or cross-sections through the patient. These planes include, for example, sagittal planes that pass vertically and longitudinally through the patient's anatomy, coronal planes that are vertical and perpendicular to the sagittal planes, and axial (e.g., transverse) planes that are horizontal and perpendicular to the coronal and sagittal planes. Additionally, "bull's-eye" views or images of planes that are perpendicular to the path of the interventional device and that generally correspond to a view seen along the length of the interventional device (e.g., a needle) (e.g., along the bore direction) can be acquired. The plane in which an image is acquired can be based, for example, on the orientation of the medical imaging device when the image is acquired, and techniques such as multi-planar reconstruction (MPR) can be implemented to reproduce the image in other planes such that a clinician can analyze the subject's anatomy from multiple perspectives. Multiple perspectives can be combined to develop a strategy for an interventional procedure. For example, a clinician can use multiple perspectives to determine an optimal path (e.g., trajectory, angulation, placement) for an interventional device, such as a needle.

[0026] Determining an optimal path for an interventional device can be challenging. The optimal path can include a target point and an entry point, where the interventional device performs its function, such as a skeletal structure for vertebroplasty or an organ for a needle biopsy, and the entry point, such as the skin surface or outside of a skeletal structure, and the region between the entry point (e.g., starting point) and the target point (e.g., final destination point) can include important anatomical structures (e.g., major blood vessels) that the interventional device will need to avoid, thereby restricting the potential paths of the interventional device. Additionally, characteristics of the interventional device, such as the maneuverability of the imaging device, or characteristics of the operating environment, such as the height of the table on which the patient is lying, can pose challenges in acquiring specific images that are valuable for planning or evaluating an interventional procedure and / or can represent restrictions on the placement of the interventional device in terms of potential path trajectories.

[0027] Clinicians can use medical imaging to analyze the subject's positioning and anatomical structures to establish preferred or estimated target points and entry points. Specifically, a clinician can establish a target point based on a medical image in a specific planar view (such as an oblique or sagittal planar view), and can determine an entry point based on the target point in the same planar view. A clinician can select a specific planar view for analysis based on, for example, the best visibility of important anatomical structures between the entry point and the target point that limit accessibility. For example, a particular bone structure may be occluded in one plane but visible in another plane. Specifically, while sagittal, coronal, and axial planes can provide useful information for pre-interventional analysis, a bull's-eye view can better characterize the path of an interventional device during a procedure and can thus be particularly useful for a clinician during interventional planning. However, in some cases, due to limitations in the maneuverability of the imaging device, obstacles around the imaging device, etc., the bull's-eye view of the path of the interventional device may be eliminated. Thus, it may be desirable to display the area or extent of the entry point that, together with a given target point, forms a path with a bull's-eye view that can be acquired or extrapolated by the imaging device.

[0028] Techniques are provided herein for dynamically displaying accessibility information for interventional trajectory planning using medical imagery. The disclosed techniques can include acquiring medical imagery via a medical imaging device, reconstructing the medical imagery for display in multiple planes, and overlaying an accessibility region on the multi-planar medical imagery for analysis by a user (e.g., a clinician). As used herein, the term "accessibility region" can be understood to mean the region of a cross-sectional view in which an entry point can be placed such that the path formed between the entry point and the target point has an associated bull's-eye view that can be acquired by the medical imaging device. The target point can include a point, region, or area of interest of a patient's anatomical structure, such as an internal bone structure, organ, or tissue to be accessed by an interventional device, and the entry point can represent where the interventional device can be inserted or otherwise begin to penetrate the outer surface of the patient.

[0029] A clinician may specify a target point via a graphical user interface (GUI) of a medical imaging system and may determine an accessibility region based on the target point and additional constraints. The accessibility region may be determined for multiple planar views and may be overlaid on the medical images of each planar view. For example, a clinician may specify a target point in a sagittal planar view (e.g., via the GUI of the medical system) and may determine and display the accessibility region for the sagittal planar view, the coronal planar view, the axial planar view, and / or one or more oblique planar views. The accessibility region may thus characterize the region in which a path (e.g., the region between an entry point and the target point) may be placed such that a bull's-eye view of the path may be obtained. The imaging system and / or the intervention system may dynamically display each of these accessibility regions such that the clinician may analyze the accessibility region from multiple perspectives simultaneously.

[0030] Additionally or alternatively, a clinician may specify an entry point and may determine an accessibility region based on the entry point and additional constraints. In this case, the accessibility region may specify the region in which a target point may be placed such that the path formed between the entry point and the target point may be imaged in a bull's-eye view. A clinician may specify an entry point in a planar view (e.g., sagittal, coronal, axial, or oblique) and may determine the accessibility region for each displayed planar view. For example, this particular implementation may be particularly useful when the target point is relatively large or flexible but the entry point options are more limited or even fixed.

[0031] As mentioned, the accessibility region may be determined based on additional constraints. The additional constraints may include length, width, diameter, amount of time, temperature, indication, anatomical properties of the patient, characteristics of the imaging device, characteristics of the intervention device, properties of the operating environment, etc. For example, the intervention device or the imaging device may have a limited reach, rotation range, or maneuverability, which may limit the accessibility of the target point from the entry point. As another example, the height or angulation of the patient table (e.g., the operating table) may allow additional angulation capabilities of the imaging device and may thus expand the accessibility region. Other examples of additional constraints include the body size or dimensions of the patient, the preferences of the patient or the clinician, and the components of the operating room that may obstruct the imaging device.

[0032] In response to input received from a user (e.g., selection or modification of the entry point and / or the target point, rotation of the view, change in configuration settings (such as the type of intervention device or needle), change in patient positioning, etc.), the accessibility region may be dynamically (e.g., in real time) updated for each planar view. For example, a medical imaging device may change its orientation during an imaging procedure via rotation of the gantry or adjustment of the patient table, and may dynamically update and display the accessibility region as the orientation is changed. The accessibility region may also be dynamically updated based on a changed target point, changed constraints, etc.

[0033] In Figure 1 the exemplary embodiment, the imaging system 10 includes an X-ray radiation source 12 and a detector 14. The X-ray source 12 can be an X-ray tube or any other X-ray radiation source suitable for acquiring medical images or other images. The X-rays 16 generated by the source 12 enter the region where the patient 18 is located during the operation. In the depicted example, the X-rays 16 are collimated into a fan-shaped (planar) beam or a cone-shaped (volumetric) beam that passes through the volume to be imaged. When the imaging system 10 is used for surgical support or navigation, a collimator can be used to constrain the X-rays 16 to irradiate only the field of view (FOV) corresponding to a specific part of the patient 18 (such as the region of interest (ROI)) and avoid other parts of the patient (such as sensitive organs) or medical staff. By way of example, in a specific implementation for a specific scenario, different FOVs may be appropriate, such as 9-inch and 12-inch FOVs, where the 9-inch FOV is suitable for spinal imaging and the 12-inch FOV is suitable for peripheral (e.g., extracardiac) intravascular imaging.

[0034] A portion of the X-ray radiation 20 passes through or around the patient 18 (or other subject of interest) and impinges on a detector array, generally denoted as detector 14. The detector elements of the detector 14 generate electrical signals representative of the intensity of the incident X-rays 20. As discussed herein, these signals are acquired and processed to reconstruct an image of the features within the patient 18.

[0035] In this example, the source 12 and the detector 14 can be part of an imager subsystem 30. According to this embodiment, during a scanning process for acquiring projection data, the source 12 and the detector 14 of the imager 30 can be moved relative to the patient or the object being imaged along one or more axes. For example, the imager 30 can be moved around a first rotation axis 40, a second rotation axis 42, or a third rotation axis 44, or any combination thereof. In one embodiment, the translation and rotation of the imager 30 can be determined or coordinated according to a specified protocol, such as a protocol associated with an interventional procedure.

[0036] The movement of the imager 30 can be initiated and / or controlled by one or more linear / rotary subsystems 46. The linear / rotary subsystem 46 can include support structures, motors, gears, bearings, etc. that implement the rotational and / or translational movement of the imager 30. In one embodiment, the linear / rotary subsystem 46 can include structural means for supporting the source 12 and the detector 14 (e.g., a C-arm imager device having rotational movement about at least two axes).

[0037] The system controller 48 may control the linear / rotary subsystem 46 that initiates and / or controls the movement of components of the imager 30. In practice, the system controller 48 may be combined with one or more processing devices that include a tangible non-transitory machine-readable medium or communicate with a tangible non-transitory machine-readable medium that collectively stores instructions executable by one or more processors to perform the operations described herein. The system controller 48 may also include features for controlling the timing of activation of the source 12, such as to control the acquisition of X-ray attenuation data obtained during a particular imaging sequence. The system controller 48 may also perform various signal processing and filtering functions, such as for initial adjustment of dynamic range, interleaving of digital projection data, and the like. Thus, generally speaking, the system controller 48 may be regarded as commanding the operation of the imaging system 10 to execute an examination protocol. It should be noted that, for the sake of discussion, the system controller 48 is hereinafter referred to as the unit that uses imager control for acquisition, movement, etc. However, the present disclosure also encompasses embodiments in which the system controller 48 acts in conjunction with other control devices (e.g., other control circuits local to the imager or remote from the system 10).

[0038] In the context of the present invention, the system controller 48 includes signal processing circuitry and various other circuitry that enables the system controller 48 to control the operation of the imager 30 and the linear / rotary subsystem 46. In the illustrated embodiment, the circuitry may include an X-ray controller 50 configured to operate the X-ray source 12. The circuitry of the system controller 48 may also include one or more motor controllers 52. The motor controllers 52 may control the activation of various components responsible for moving the source 12 and the detector 14. In other words, the motor controllers may implement a specific acquisition trajectory or movement for the components of the imager 30.

[0039] The system controller 48 is also shown as including one or more data acquisition systems 54. Generally speaking, the detector 14 may be coupled to the system controller 48, and more specifically to the data acquisition system 54. The data acquisition system 54 may receive data collected by the readout electronics of the detector 14 and, in some embodiments, may process the data (e.g., by converting analog signals to digital signals or performing other filtering, transformation, or similar operations).

[0040] It should be noted that a tangible non-transitory machine-readable medium and a processor configured to execute instructions stored on such a medium present in system 10 may be shared among various components of system controller 48 or other components of system 10. For example, as shown, X-ray controller 50, motor controller 52, and data acquisition system 54 may share one or more processing components 56, each of which is specifically configured to cooperate with one or more memory devices 58 storing instructions that, when executed by processing components 56, perform image acquisition and reconstruction techniques. In addition, processing components 56 and memory components 58 may coordinate to perform various image reconstruction processes.

[0041] System controller 48 and its various included circuits, as well as processing components 56 and memory components 58, may be accessed or otherwise controlled by an operator via operator workstation 60. Operator workstation 60 may include any dedicated or general-purpose computer, which may include one or more programs (e.g., one or more imaging programs) capable of enabling operator input for the techniques described herein. Operator workstation 60 may include various input devices, such as a mouse, keyboard, trackball, or any other similar feature that enables the operator to interact with the computer. Operator workstation 60 may enable the operator to control various imaging parameters, for example, by adjusting certain instructions stored on memory device 58.

[0042] Operator workstation 60 may be communicatively coupled to printer 62 for printing images, patient data, etc. Operator workstation 60 may also communicate with display 64, which enables the operator to view various parameters in real time, to view images generated from the acquired data, etc. In certain embodiments, operator workstation 60 may also be communicatively coupled to a picture archiving and communication system (PACS) 66. Such systems may enable the storage of patient data, patient images, image acquisition parameters, etc. This stored information may be shared throughout the imaging facility and may also be shared by other facilities (e.g., remote client 68). Remote client 68 may include a hospital, doctor's office, or any other similar client.

[0043] Regarding Figure 2 the various aspects of the present method may be further understood, Figure 2Provide useful context and background in the depiction of a C-arm imager system that may have certain features in common with a particular embodiment of the present invention. In this example, as shown, imager 30 includes a base 80 and a rotatable extension 82 extending from base 80. In the illustrated embodiment, base 80 is a floor-mounted base such that imager 30 can be fixed to the floor of the imaging area where it is located. However, in other embodiments, base 80 can be fixed to other surfaces (e.g., a wall or ceiling) and / or can be mobile or movable, such as moving towards or away from a patient undergoing surgery for imaging as needed during the surgery.

[0044] The rotatable extension 82 is depicted as extending generally along a second axis of rotation 42 and enables the source 12 and the detector 14 to move about the second axis of rotation 42. For example, the rotatable extension 82 can enable the source 12 and the detector 14 to move about the second axis of rotation 42 in a manner that maintains their positions relative to each other during the entire movement. The rotation achieved by the rotatable extension 82 is shown as a double arrow 84. The rotatable extension 82 is coupled to a movement structure 86 (e.g., directly or indirectly via an extension arm), which enables the source 12 and the detector 14 to move about a third axis of rotation 44. This rotation about the third axis of rotation 44 is depicted as a double arrow 88.

[0045] The movement structure 86 can be a gear or track structure that is movably coupled to a support structure 90 that physically supports the source 12 and the detector 14 and can be in the form of a C-arm imager system or any other shape (e.g., other double-arm shapes) that positions the source 12 and the detector 14 on either side of the patient 18. As shown, the support structure 90 includes an arcuate structure that extends from a first side of the patient table 92 around the patient table 92 to a second side of the patient table 92. In this way, the source 12 and the detector 14 are generally maintained positioned at opposite ends and / or opposite sides of a patient (not shown) located on the patient table 92. The base 80, the rotatable extension 82, the movement structure 86, and the support structure 90 can be considered together as the structure 94 of the imager 30.

[0046] The imager 30 can include various motors, actuators, or other features responsible for moving the various structures of the imager 30, and they can be communicatively coupled to one or more position encoders 96. One or more position encoders 96 can encode the respective positions of any one or more components of the imager 30 in a manner that facilitates processing by the system controller 48. In such embodiments, the position encoders 96 can provide feedback 98 to the system controller 48 (e.g., via a wired signal or a wireless signal). The system controller 48 can use this feedback 98 to control the imager 30.

[0047] For example, the system controller 48 can simultaneously move the source 12 and the detector 14 together about the first rotation axis 40, the second rotation axis 42, or the third rotation axis 44, or any combination thereof, and obtain X-ray attenuation data for a subset of the traversed viewpoints. In one embodiment, the system controller 48 can receive position information from a position encoder 96 associated with the imager 30 and can use this position feedback information to calculate the trajectory of either or both of the source 12 and the detector 14 (or update the modeled trajectory).

[0048] In addition, the system controller 48 or other image reconstruction circuitry can use the data obtained by the imager 30 to synthesize one or more images (e.g., volumetric images). Reconstruction algorithms can be used to reconstruct a 3D volumetric image or multi-planar images of the imaged region of interest. In one embodiment, the imager 30 can perform data acquisition using the acquisition trajectory of the source 12 and the detector 14 relative to the patient 18. The imager can be movable (e.g., on wheels), so that it can be easily moved into or within the operating room. Real-time images obtained using such a system can be used to support and simplify surgical and / or other interventional procedures.

[0049] Figure 3 The communication paths between the C-arm imager system 10, the operator workstation 60, and the user input device 63 of the dynamic reachability visualization system 60 are shown. In the illustrated embodiment, the operator workstation 60 can receive imagery 69, such as sampled digitized X-ray data, from the C-arm imager system 10. The operator workstation 60 can store the received imagery 69 in the memory 75 and / or a mass storage device. In addition, the operator workstation 60 can receive constraints 65 (e.g., additional constraints) from the imager system 10 and additional constraints 67 from the user input device 63. The imager system 10 can store, for example, a set of constraints 65 that may be related to the attributes of the imager system 10, such as extended length, angulation, etc. The constraints 65 are stored in the memory of the imager system 10 and are sent to the operator workstation 60 when requested by the operator workstation 60 and stored in the memory 75 of the operator workstation 60.

[0050] Additionally or alternatively, additional constraints 67 may be manually input via the user input device 63. For example, the user input device 63 may include a keyboard and mouse for interacting with a graphical user interface displayed by the display 73. It will be appreciated that a particular imager device may not be convenient for storing and communicating constraints. Accordingly, a clinician may manually input constraints associated with the imager device via the user input device 63. Additionally, in some embodiments, information input by the clinician may not be associated with the imager system 10, but may in fact affect the accessibility of the imager system 10 to the bull's-eye view. For example, the clinician may input relevant patient information, such as body type or spinal curvature, or environmental information, such as a possible angulation of the operating table, which may affect the accessibility of the imager system 10 to the positions necessary to obtain the bull's-eye view. The additional constraints 67 may also include a target point or entry point input by the clinician, and the target point or entry point may be used to generate an accessibility region. In any case, the computing device may store the received constraints 65 and additional constraints 67 in the memory 75 and may access these constraints as part of, for example, an accessibility determination.

[0051] Other embodiments for determining constraints are contemplated. For example, the operator workstation 60 may store a set of profiles in the memory 75, and each profile may include constraints applicable to a particular interventional procedure and / or interventional device. The clinician may select, via the graphical user interface of the operator workstation 60, a profile associated with a particular procedure, a particular interventional device, and / or a particular imager system / device, and may determine an accessibility region based on the selected profile. For example, the clinician may select a profile for a vertebroplasty needle (including applicable constraints, e.g., a maximum length of 5 inches, a diameter of 3 to 5 millimeters) and a C-arm imager system, and may determine an accessibility region based on the applicable constraints.

[0052] The operator workstation 60 may generate a multi-planar reconstruction of the image 69 via the processor 71 or other suitable means and display the multi-planar reconstruction via the display 73. The multi-planar reconstruction may include sagittal, coronal, axial, oblique, and / or bull's-eye cross-sectional views, and each cross-sectional view may be displayed as part of a graphical user interface, as will be described in detail below. Additionally or alternatively, the operator workstation 60 may generate a display of the bull's-eye view in response to user input. For example, the clinician may analyze sagittal, coronal, and oblique cross-sections to determine a suitable target point and may subsequently use the bull's-eye view for surgical planning. Further, the operator workstation 60 may generate an accessibility region for each displayed cross-sectional view based on the received image 69, constraints 65, and additional constraints 67 via the processor 71.

[0053] Figure 4An illustration of a dynamic reachability visualization system 60 that includes a C-arm imager system 10 and an operator workstation 60, and may be referred to Figure 1 and Figure 2 for description. In the illustrated embodiment, the moving structure 86 of the C-arm imager system 10 is in an initial position (e.g., perpendicular to the patient table 92) before rotating about the center of rotation. The imager system 10 can capture (e.g., of the patient's anatomy) an image in a plane (e.g., a plane parallel to the patient table 92), and send the image to the operator workstation 60. The operator workstation 60 can perform multi-planar reconstruction via a processor 71 to generate multiple cross-sectional views based on the image, and a clinician can specify a target point in the multiple cross-sectional views. Based on the specified target point, a reachability region can be displayed to the clinician via a graphical user interface, and the clinician can select an entry point within the reachability region. As shown, a path 74 is formed between the entry point and the target point, thereby specifying the angulation at which an interventional device can be used during an interventional procedure.

[0054] Figure 5 FIG. shows the dynamic reachability visualization system 60, where the moving structure 86 of the C-arm imager system 10 and the components thereon rotate about the center of rotation to reach a position where a bull's-eye view from which the path 74 can be obtained can be acquired. In this way, the bull's-eye view can be determined to be reachable, and the reachability can be displayed to the clinician via a graphical user interface. It should be noted that this reachability determination is for illustrative purposes to present a path with a bull's-eye view that the imager system 10 can reach. In practice, the techniques used herein can determine reachability based on the target point and additional constraints, and the reachability can be determined without manipulating the moving structure 86 or other components of the imager system 10. That is, the reachability region can be determined in real time without moving the structure 86 or other components of the imager system 10.

[0055] To display the cross-sectional views and the associated reachability regions, a graphical user interface, such as Figure 6 the graphical user interface 81, can be implemented. The graphical user interface can be displayed to the clinician, for example, on the display 73 of the operator workstation 60, and the memory 75 of the operator workstation 60 can include processor-executable instructions to update the graphical user interface 81. The graphical user interface 81 can include components such as an aesthetic design 89 (e.g., logo, slogan, etc.), a trajectory planning window 86, and a medical image 83. In the illustrated embodiment, the medical image 83 includes four oblique cross-sectional views generated using multi-planar reconstruction, and the display of the oblique cross-sectional views can assist the clinician in planning, for example, vertebroplasty or other interventional procedures. The medical image 83 can also provide supplementary patient information, information related to medical imaging devices, attributes of interventional devices, etc.

[0056] A clinician may select target points on or within one or more of the medical images 83 via the graphical user interface 81, such as by selecting points or regions of an anatomical structure shown in one of the medical images of the medical images 83. As discussed, the target points may be related to points of interest, such as anatomical structures or features where a kyphoplasty device is to be inserted. The clinician may then use a verification button 93 included as part of the trajectory planning window 86 to verify the selected target points (e.g., the points at the intersection of the vertical lines in the medical image 83). A list of optimal trajectories (e.g., optimal paths) may then be generated and displayed in the trajectory list window 91. The optimal trajectories may be generated and / or determined based on the imaging used to generate the medical images 83, constraints received from the medical imager system (e.g., Figure 3 constraints 65), and additional constraints input by the clinician via the user input device (e.g., Figure 3 constraints 65). Additionally or alternatively, the optimal trajectories may be included as part of the determined reachable regions, and thus the optimal trajectories may be determined based on the reachable regions. The optimal trajectories may be selected and / or sorted in the trajectory list window 91 based on the quality of each trajectory in the reachable region (such as the length of each optimal trajectory). That is, the trajectory list window may sort the optimal trajectories in ascending order of length or other sorting criteria (e.g., proximity to the vasculature or non-target organs at risk of injury, proximity to pain-sensitive anatomical structures, other difficult factors in addition to path length, etc.).

[0057] The trajectory list window 91 may generate a name (e.g., label, descriptor) for each optimal trajectory and display the name along with the determined length of each optimal trajectory. The clinician may select an optimal trajectory from the trajectory list window via an input, such as from the user input device, and the intervention device may be overlaid on each of the medical images in the medical image based on the selected optimal trajectory. The overlaid intervention device may characterize the selected optimal trajectory for each cross-sectional view shown in the medical image 83, thereby allowing the clinician to analyze the potential path of the intervention device in multiple planes.

[0058] The trajectory planning window may also include a bull's-eye view generation button 95. For example, after selecting the optimal trajectory from the trajectory list window 91, the bull's-eye view generation button 95 may be selected, and a bull's-eye view for the selected optimal trajectory (e.g., the view that would be seen along the length direction or bore direction of the intervention device) may be generated and displayed. The bull's-eye view may be generated based on multi-planar reconstruction techniques, such as the techniques used to generate the oblique cross-sectional views of the medical image 83. Alternatively, the operator workstation 60 may send a rotation instruction to the associated medical imaging device such that it may acquire an image of the bull's-eye view, the imaging device may send the image to the operator workstation 60, and the operator workstation 60 may display the bull's-eye view via the graphical user interface 81.

[0059] The graphical user interface 81 may also dynamically display the bull's-eye view in response to other events. For example, when the optimal path is selected from the trajectory list window, the operator workstation 60 may generate a bull's-eye view for the selected optimal path. That is, when determining the trajectory without a user input instructing the graphical user interface 81 to display the bull's-eye view, the graphical user interface 81 may display the bull's-eye view.

[0060] However, if for the selected path (e.g., path 74), the imager system cannot reach the direct image of the bull's-eye view, an alternative path 76 may be generated and displayed. This alternative path 76 may include, for example, a path that is close to the selected path and that the imager system can reach. The alternative path 76 may be determined, for example, by selecting a path from the reachability region where the target point is close to the target point of the selected optimal path and the entry point is close to the entry point of the selected optimal path. The alternative path 76 may be displayed as part of the graphical user interface 81 and may thus be used to suggest a sub-optimal option when the imager system cannot reach the selected path. As shown, the alternative path 76 may be displayed side by side with the selected path 74 and may be visually distinguished from the selected path using a color indicator or other means. In other embodiments, the alternative path 76 may be displayed instead of the selected path. That is, the selected path may be removed from the graphical user interface 81 and the alternative path 76 may be displayed.

[0061] Alternatively, if the direct image of the bull's-eye view is not reachable by the imager system, an indication of non-reachability may be displayed. The indication of non-reachability may include an error message displayed on the graphical user interface 81 that includes an indication that the bull's-eye view may not be generated and / or displayed for the selected optimal trajectory. The indication may also include the bull's-eye generation button 95 being deactivated, crossed out, deleted, or otherwise indicated as unavailable.

[0062] Along with the list, the reachability region may be displayed (e.g., overlaid) on the medical image 83. Figure 7A medical image 101 is shown, which may be included as part of the medical images displayed by the graphical user interface 81, including an accessibility region 104, and conversely, an inaccessibility region 106. In the illustrated embodiment, the portion of the medical image 101 including the accessibility region remains unchanged, while the inaccessibility region 106 is indicated by a shaded region, and the boundary of the inaccessibility region 106 is defined by a dashed line of the same shading. In other embodiments, the distinction between the accessibility region and the inaccessibility region may be indicated differently. For example, the accessibility region may be shaded, while the inaccessibility region may remain unchanged, the accessibility region and the inaccessibility region may be shaded differently (e.g., in different colors), etc.

[0063] The accessibility region 104 may define the region of the patient's anatomy where the entry point can be placed such that the medical imager system can be maneuvered to obtain a bull's-eye view of the trajectory formed between the entry point and the target point. As shown, the target point 102 has been selected by the clinician and is displayed on the medical image 101. The accessibility region can then be generated based on the target point 102 and other constraints (e.g., the constraints 65 of the dynamic accessibility visualization system 60 and additional constraints 67). For example, the inaccessibility region 106 can be determined based on the rotation limits of the gantry. Thus, if an entry point is selected within the inaccessibility region 106, the medical imager system may not be able to obtain a bull's-eye view of the path formed between the entry point and the selected target point 102. Conversely, if an entry point is selected within the accessibility region 104, the medical imager system may be able to obtain a bull's-eye view of the path formed between the entry point and the selected target point 102.

[0064] Although one medical image 101 is shown in Figure 7 , it should be noted that multiple medical images including the accessibility region and the inaccessibility region may be displayed as part of, for example, the graphical user interface 81. The clinician can define the target point in each medical image (e.g., the medical image 101), and the accessibility region can be generated and displayed for each medical image based on the corresponding target point such that when analyzed together, the medical images provide a three-dimensional definition of the accessibility region. Additionally, although the accessibility region 104 and the inaccessibility region 106 are adjacent in the illustrated embodiment, in other embodiments, the accessibility region 104 and / or the inaccessibility region 106 may be divided into multiple accessibility regions and / or inaccessibility regions.

[0065] Figure 8A medical image 101 is shown, where an accessibility region 114 and an inaccessibility region 116 are bounded by a buffer region 118. The buffer region 118 can be determined according to constraints and, as in the illustrated embodiment, can be distinguished from the accessibility region 114 and the inaccessibility region 116 using a suitable visual indication. In one embodiment, the buffer region 118 can define a region of the patient's anatomy where an entry point can be placed such that, in some cases, the path formed between the entry point and the target point is inaccessible, while in other cases, the path formed between the entry point and the target point can become accessible. That is, the path formed within the buffer region may be inaccessible in the current configuration but can become accessible by adjusting the configuration. For example, an entry point placed in the buffer region 118 can form a path that is inaccessible to the imager system, but an adjustment to the operating table (e.g., height, angular change, extension, or retraction) can avoid the inaccessibility. Thus, the constraints can include the current configuration and / or default configuration of the operating table and / or possible adjustments to the operating table. Additionally or alternatively, the buffer region 118 can be determined based on range values that can affect accessibility, such as the size of the patient (e.g., height, weight, BMI) within a specific range.

[0066] The buffer region 118 can also be determined based on a confidence level (e.g., confidence interval) associated with, for example, a specific constraint. That is, the buffer region 118 can define a region where an entry point can be placed such that an accessible path can be formed with a specific confidence level. The confidence level can be based on, for example, a weight assigned to the constraint, which makes the specific constraint superior to other constraints, and the confidence level can be displayed together with the buffer region 118. In some embodiments, it can be assumed that the confidence level of the inaccessibility region indicates the improbability of an accessible path (e.g., 0% confidence), while the confidence level of the accessibility region indicates the near certainty of an accessible path (e.g., 100% confidence). Thus, the buffer region can be used to indicate levels of both possibility and uncertainty.

[0067] Figure 9 is a flowchart of a method 200 for determining and displaying accessibility regions and buffer regions to visualize interventional accessibility and is described with reference to the previous figures. The following detailed description of method 200 is described as being performed by a computing device (e.g., operator workstation 60), but it should be noted that any suitable processor-based device or system can be specifically programmed to perform any of the methods described herein. Additionally, although the following detailed description of method 200 is described as including specific steps performed in a specific order, it should be understood that the steps of method 200 can be performed in any suitable order, specific steps can be omitted, and / or specific steps can be added.

[0068] In block 202, an operator workstation 60 of the dynamic reachability visualization system 60 receives an indication of a target point via a graphical user interface, such as graphical user interface 81. The target point may indicate a point of interest for an interventional procedure, such as a location in a patient's anatomy that an interventional device is to reach in order to perform the procedure. Additionally, the target point may be selected by a clinician in multiple medical images such that the target point is defined in multiple planes (e.g., in the X, Y, and Z axes).

[0069] In block 204, a reachability region is determined based on the target point. As discussed herein, the reachability region may also be determined based on constraints associated with the imager system, the interventional device, the patient's anatomy, the clinician, or the patient's preferences, among other things. In any case, the reachability region may define a region of the patient's anatomy in which an entry point may be placed such that the medical imager system can be maneuvered to obtain a bull's-eye view of the trajectory formed between the entry point and the target point. Additionally, a reachability region for each of the multiple medical images of the graphical user interface may be determined based on the target point and the constraints.

[0070] In addition to determining the reachability region, in block 206, a buffer region may also be determined. As mentioned, the buffer region may define a region of the patient's anatomy that is not reachable in the current configuration but may be made reachable with a specific adjustment. Alternatively, the buffer region may define a region with a confidence level based on, for example, differently weighted constraints.

[0071] In block 208, the reachability region and the buffer region determined in blocks 204 and 206, respectively, are displayed as part of the graphical user interface. Specifically, for each medical image displayed as part of the graphical user interface, the corresponding reachability region and the corresponding buffer region may be displayed, thereby providing three-dimensional reachability visualization to the clinician. The reachability region and the buffer region may be visually defined using shading, color, boundaries, labels, and the like.

[0072] Figure 10It is a flowchart of method 300 for determining and displaying reachable regions and buffer regions to visualize intervention reachability, where the reachable region defines the reachable target points based on the entry points selected by the clinician. Method 300 can be applicable to planning an interventional procedure, where, for example, there are many options for the target points, but relatively few options for the entry points. The following specific implementation of method 300 is described as being executed by a computing device (e.g., operator workstation 60), but it should be noted that any suitable processor-based device or system can be specifically programmed to execute any of the methods described herein. Additionally, although the following specific implementation of method 70 is described as including specific steps executed in a specific order, it should be understood that the steps of method 300 can be executed in any suitable order, specific steps can be omitted, and / or specific steps can be added.

[0073] In block 302, the operator workstation 60 of the dynamic reachability visualization system 60 receives an indication of an entry point via a graphical user interface (such as graphical user interface 81). The entry point can include the exterior of a skin structure, a bone structure, or other anatomical structures that the clinician deems optimal. The entry point can be selected by the clinician in multiple medical images such that the target point is defined in multiple planes (e.g., in the X-axis, Y-axis, and Z-axis), and can be defined by the area or range of the optimal entry point.

[0074] In block 304, the reachable region is determined based on the entry point. As discussed herein, the reachable region can also be determined based on constraints associated with the imager system, the interventional device, the patient's anatomy, the clinician's or patient's preferences, etc. In any case, the reachable region can define the region of the patient's anatomy in which the target point can be placed such that the medical imager system can be manipulated to obtain a bull's-eye view of the trajectory formed between the entry point and the target point. Additionally, the reachable region for each of the multiple medical images of the graphical user interface can be determined based on the entry point and other constraints.

[0075] In block 306, the buffer region can be determined. As mentioned, the buffer region can define the region of the patient's anatomy that is not reachable in the current configuration, but can be made reachable with specific adjustments. Alternatively, the buffer region can be defined as a region with a confidence level based on, for example, differently weighted constraints.

[0076] In block 308, the reachable region and the buffer region determined in blocks 304 and 306, respectively, are displayed as part of the graphical user interface. Specifically, for each medical image displayed as part of the graphical user interface, the corresponding reachable region and the corresponding buffer region can be displayed, thereby providing three-dimensional reachability visualization for the clinician. The reachable region and the buffer region can be visually defined using shading, color, boundaries, labels, etc.

[0077] In view of the foregoing, Figure 11 FIG. 4 shows an implementation of a client-server or cloud-based architecture 400 for medical image processing and analysis in accordance with the presently described techniques. In the depicted example, the client-server or cloud-based architecture 400 generally includes at least one backend computing system 404 and at least one frontend computing system, herein represented as an imager system 408 (e.g., a C-arm imager system 10) communicatively coupled directly or indirectly via a suitable network 412 (e.g., a local area network (LAN), a wide area network (WAN), a virtual private network (VPN), the Internet). In some implementations, the operator workstation 60 may include at least one server deployed on the LAN of a medical facility. For implementations in which the client-server architecture 400 is a cloud-based client-server architecture, in whole or in part, the backend computing system 404 may include one or more rack-mounted servers deployed at a remote data center. The imager system 408 may include or be coupled to a clinician's desktop or laptop computer, such as being deployed on the LAN of a medical facility or communicatively coupled to the backend computing system 404 via a suitable network connection.

[0078] In the following description, it should be understood that certain functionality may be implemented on the backend computing system 404, the frontend computing system (e.g., the imager system 408 and / or an associated workstation), or both. Accordingly, certain routines and / or functionality may be described as potentially being present on both the backend computing system 304 and / or the imager system 408 (or an associated workstation). In practice, such routines or functionality will likely be implemented on only one of the frontend or backend, as determined based on specific implementation and business-specific decisions. However, for the sake of completeness, this discussion describes such functionality as potentially being implemented on the frontend or backend.

[0079] With this in mind, in the depicted example, the backend computing system 404 includes at least one processor 420, at least one memory 436 (e.g., random access memory (RAM), read-only memory (ROM)), at least one networking device 438 (e.g., wireless networking card, Ethernet networking card), and at least one storage device 454 (e.g., non-transitory computer-readable medium such as, but not limited to, hard disk device, solid state disk device, flash memory device). The processor 420 may include one or more central processing units (CPUs), each having one or more processing cores configured to execute instructions and process data loaded from the storage device 454 into the memory 436. The backend graphics processing unit (GPU) 448 may perform multi-planar reconstruction on medical images such that the medical images can be analyzed and viewed in multiple cross-sectional views. In the context of the present invention, the storage device 454 of the backend computing system 404 may store images 444 (e.g., medical images or scans), processor-executable routines for generating medical images 445 based on received constraints and images 442, processor-executable routines 460 for generating reachable regions based on target points and / or entry points and constraints, processor-executable routines for generating buffer regions, and / or processor-executable routines for overlaying target points, entry points, reachable regions, buffer regions, medical information, etc. on the medical images 444.

[0080] A front-end computing system (herein represented as imager system 408 or a workstation associated with such an imager system) typically includes at least one processor 421, at least one memory 422 (e.g., random access memory (RAM), read-only memory (ROM)), at least one networking device 424 (e.g., wireless networking card, Ethernet networking card), and at least one storage device 446 (e.g., non-transitory computer-readable medium such as, but not limited to, a hard disk device, a solid state disk device, a flash memory device). Additionally, imager system 408 includes an input / output (I / O) port 453 that can interact with user input devices 63, such as a keyboard, a mouse, a touchpad, a touchscreen, a speaker, a display, etc., and this input / output (I / O) port enables a clinician to provide input to imager system 408 and receive the output of this imager system. As described herein, the input received from user input device 63 may include constraints 406 input by the clinician. In certain embodiments, imager system 408 includes at least one front-end graphics processing unit (GPU) 446 that is generally configured to perform graphics processing to render images on the display devices of these imager systems 408. Specifically, graphics processing unit 446 can perform multi-planar reconstruction on medical images such that the medical images can be analyzed and viewed in multiple cross-sectional views. In the context of the present invention, storage device 447 can store images 444 (e.g., medical images or scans), processor-executable routines 460 for processing images 444 (or other suitable data) for determining reachability regions, etc., and / or one or more processor-executable user interface routines 456 for displaying images 444 as part of a graphical user interface together with other information, buttons, aesthetic designs, etc.

[0081] In the depicted example, information is shown as being exchanged between imager system 408 and back-end computing system 404. In implementation, such data may include, but is not limited to, constraints and images 442 and medical images 445, which may be transmitted from imager system 408 to back-end computing system 404, where the specific type of data transmitted depends in part on where reachability region generation is performed.

[0082] By way of example, in a first specific implementation, the image 444 and constraints acquired by the imager system 408 (e.g., the C-arm imager system 10) can be transmitted to the backend computing system 304 as constraints and image 442, where they can be processed using the reachability region routine 460. In one such example, the constraints include target points input by the clinician (e.g., via the user input device 63), and based on the target points, the image, and additional constraints, the reachability region routine 460 can generate a reachability region. The reachability region can define the region of the patient's anatomy within which an entry point can be placed such that the medical imager system can be manipulated to obtain a bull's-eye view of the trajectory formed between the entry point and the target point. Additionally, the reachability region routine 460 can include routines for generating a buffer region based on the target points and constraints. Further, the generated reachability region and buffer region can be overlaid on the medical image 444 and sent to the imager system 408 as a medical image 445. The imager system 408 can then process the received medical image 445 using the user interface routine 456 such that they can be displayed via the display 452.

[0083] In another specific implementation, additional functionality can be performed on the front end. In this example, the medical image 444 acquired by the imager system 408 (e.g., the C-arm imager system 10) can be processed on the imager system 408 (or other front-end system) via the locally implemented reachability region routine 460. In one such example, based on the target points, the image, and additional constraints, the locally implemented reachability region routine 460 can generate a reachability region and a buffer region for the image 444. The generated reachability region and buffer region can be overlaid on the medical image 444, and the imager system 408 can display the medical image 444 as a medical image via the user interface routine 456 in the graphical user interface via the display 452.

[0084] As can be appreciated from the foregoing examples, aspects of the presently described technology can be (such as image processing, user input processing, and reachability region generation) performed at one location or distributed among systems (such as between a local system and a cloud-based system). Although the foregoing examples relate to certain possible specific implementation scenarios, it is understood that the present disclosure can perform and contemplate other actual implementations. Additionally, it is understood that aspects of the foregoing examples can be mixed to achieve hybrid implementations, such as where there are multiple imager systems 408 with different capabilities (e.g., different models) and they can thus each perform different degrees of processing at the front end. That is, in a particular hybrid scenario, a particular imager system 408 can transmit unprocessed image data to the backend computing system 404, while other imager systems 408 can process medical images using locally implemented routines. Accordingly, this example should be understood in view of its intention to provide useful context and specific implementation scenarios, but should not be construed as an exhaustive list of all possible implementations or permutations.

[0085] In view of the foregoing discussion and explanation, it is understood that the technical advantages of the presently disclosed technology include, but are not limited to, improvements to the general imaging process and imager systems or devices (especially including medical imager systems and devices). The present method can also be used in any computing scenario involving data processing to improve the visualization of data (but not limited to image data, video data, time series data, etc.), and presents technical advantages with respect to these computing scenarios. Accordingly, the presently disclosed and described technology improves the systems and devices that implement it (e.g., computers and workstations, medical imager systems, image archiving systems, etc.) and provides technical advantages. Thus, such improved devices can operate more efficiently in providing excellent operation or performance using the same or fewer resources (e.g., computing resources, network bandwidth, etc.).

[0086] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any included method. The patent scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. If such other examples have structural elements that are indistinguishable from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims, then such other examples are intended to fall within the scope of the claims.

Claims

1. A processor-implemented method for visualizing operation of an interventional device on a patient, the processor-implemented method comprising: accessing or acquiring one or more images from a medical imaging device; receiving an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, the interventional device, or both; receiving an indication of a target point in the one or more images, wherein the target point specifies an intended position of the interventional device; determining a corresponding reachability region for each of the one or more images based on the target point and the one or more constraints, wherein each corresponding reachability region includes a reachable path for the interventional device between one or more reachable entry points and the target point; overlaying the corresponding reachability region on each of the one or more images; as well as The one or more images are displayed via a display device.

2. The processor-implemented method of claim 1 , wherein the medical imaging device comprises a C-arm imager system, and wherein the one or more constraints comprise an angulation capability of the C-arm imager system, an extension capability of the C-arm imager system, a configuration of a patient table, or a combination thereof. 3 . The processor-implemented method of claim 1 , wherein the one or more constraints include one or more characteristics of the patient's anatomy. 4 . The processor-implemented method of claim 1 , wherein the one or more constraints include an angulation capability of the interventional device, an extension capability of the interventional device, or both.

5. The processor-implemented method of claim 1, wherein the accessible path of the interventional device comprises a path along which the medical imaging device can acquire images.

6. The processor-implemented method of claim 5, wherein the ability of the medical imaging device to acquire the along-the-foramen image is based on the one or more constraints.

7. The processor-implemented method of claim 1, wherein the one or more images include sagittal cross-sectional views, coronal cross-sectional views, axial cross-sectional views, oblique cross-sectional views, or any combination thereof of the patient's anatomical structure.

8. The processor-implemented method of claim 1 , comprising: determining a corresponding buffer region for each of the one or more images based on the target point and the one or more constraints, wherein the buffer region includes a path of the intervention device between one or more additional entry points and the target point, and wherein the buffer region is associated with a reachability confidence interval; as well as The corresponding buffer area is overlaid on each of the one or more images. 9 . The processor-implemented method of claim 8 , wherein the reachability confidence interval is determined based on a weight assigned to each of the one or more constraints.

10. A system, comprising: a medical imager device configured to acquire medical images in one or more planes; a computing device communicatively coupled to the medical imager device, the computing device configured to: receiving the medical image from the medical imaging device; receiving an indication of one or more constraints associated with one or more physical characteristics of the medical imaging device, the interventional device, or both; receiving an indication of a target point in each of the one or more planes of the medical image, wherein the target point specifies an intended position of the interventional device; determining a corresponding reachability region for each of the one or more planes of the medical image based on the target point and the one or more constraints, wherein each corresponding reachability region includes a reachable path of the interventional device between one or more reachable entry points and the target point; overlaying the corresponding reachability region on each of the one or more planes of the medical image; as well as The medical image is displayed via a display device.

11. The system of claim 10, comprising one or more user input devices communicatively coupled to the computing device, the one or more user input devices configured to accept user input including the one or more constraints.

12. A system according to claim 10, wherein the computing device is configured to: determine the corresponding accessibility area for each plane of the medical image; overlay the corresponding accessibility area on each of the one or more planes of the medical image; and display the medical image via the display device in response to user input via a graphical user interface (GUI).

13. The system of claim 10, wherein the one or more accessible access points include the exterior of a patient's skeletal structure or a skin surface of an anatomical structure.

14. The system of claim 10, wherein the interventional device comprises an interventional needle.

15. A non-transitory computer readable medium comprising processor executable code, which when executed by a processor causes the processor to perform the method according to any one of claims 1 to 9.

Images