Reachability Visualization for Needle Trajectory Planning
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Solution Overview
Problem
Analyzing multiple cross-section views of medical imagery for interventional procedures is challenging due to limitations in imaging device maneuverability, patient anatomy, and operational environment, making it difficult to plan optimal paths for interventional devices like needles.
Innovation Solution
A processor-implemented method determines and overlays reachability regions on medical imagery in multiple planes, allowing clinicians to visualize reachable paths for interventional devices by specifying target or entry points, considering device and environmental constraints, and dynamically updating these regions in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If multiple cross-section views are used for trajectory planning, then the completeness of path analysis is improved, but the difficulty of analysis and visualization increases
Solution Approach 1:
The patent transforms the analysis from multiple separate 2D cross-section views into a single 3D reachability volume visualization. By computing and displaying the reachable volume as a three-dimensional region overlaid on the medical imagery, the system allows clinicians to assess trajectory options across all planes simultaneously, eliminating the need to mentally integrate multiple 2D views while preserving complete spatial information.
2Measurement precision
If reachability regions are computed for all planes, then the accuracy of trajectory planning is improved, but the computational complexity and time increase
Solution Approach 1:
The system performs preliminary computation of the reachability volume by pre-defining the reachable region based on device constraints and anatomical boundaries before the actual trajectory planning occurs. This pre-computed 3D volume serves as a constraint envelope that guides subsequent trajectory selection, reducing the computational burden during real-time planning while maintaining accurate geometric constraints.
3Reliability
If device constraints are strictly enforced, then the feasibility of implementation is improved, but the flexibility in path selection decreases
Solution Approach 1:
The reachability volume is computed dynamically based on the specific device constraints and target location, allowing the feasible region to adapt to different procedural requirements. The system maintains strict enforcement of hard constraints (device geometry, anatomical boundaries) while providing flexibility within the computed reachable volume, allowing clinicians to select optimal paths that balance constraint compliance with procedural goals.
Data Source
AI summary
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, 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 location of the interventional device. The processor-implemented method also includes determining corresponding reachability regions for each of the one or more images based on the target point and the one or more constraints. Each corresponding reachability region includes reachable paths for the interventional device between one or more reachable entry points and the target point. The processor-implemented method also includes overlaying the corresponding reachability regions upon each of the one or more images and displaying the one or more images.