Real Time Image Based Risk Assessment for an Instrument along a Path to a Target in an object

摘要

A method includes receiving an intra-procedure image of a region of interest of an object. The intra-procedure image includes a representation of an instrument in the object. The method further includes identifying a location of the instrument in the object in the intra-procedure image. The method further includes combining the intra-procedure image with a pre-procedure image of the region of interest. The pre-procedure image includes a planned trajectory for the instrument from a surface of the object to a target in the object and segmented structure(s) to be avoided by the instrument during the procedure. The method further includes segmenting the same structure(s) in the intra-procedure image relative to the instrument using the segmented structure(s) in the pre-procedure image. The method further includes computing a risk of the instrument contacting the structure(s) along the trajectory with the identified location, the trajectory, and the segmented structure(s) in the intra-procedure image.

主权项

1. A method, comprising:
receiving an intra-procedure image of a region of interest of an object, wherein the intra-procedure image includes a representation of an instrument in the object; identifying a location of the instrument in the object in the intra-procedure image; combining the intra-procedure image with a pre-procedure image of the region of interest of the object, wherein the pre-procedure image includes a planned trajectory for the instrument from a surface of the object to a target in the object and segmented structure to be avoided by the instrument and the treatment during the procedure; segmenting the same structure in the intra-procedure image relative to the instrument using the segmented structure in the pre-procedure image; computing a risk of the instrument contacting the structure along the trajectory with the identified location of the instrument, the trajectory, and the segmented structure in the intra-procedure image; and presenting the risk.