Feedback system for integrating interventional planning and navigation

摘要

A therapy planning and image guidance and navigation for an interventional procedure are combined in one system. The system includes: a radio frequency ablation therapy planning component (1) capable of creating an initial treatment plan, adjusting the treatment plan to take into account data received during a procedure and transferring a treatment plan to a navigation component, a navigation system component (2) to guide an ablation probe (6) and a feedback sub-system (3) for determining actual ablation probe positions/orientations and actual ablation size/shape via imaging (4) and/or tracking (5) systems, and enabling exchange of information between the planning component and the navigation component. By combining and integrating procedure planning and navigation, and by providing feedback from the navigation component back to the planning component about actual electrode position and orientation and ablation volume, complex procedures can be carried out more accurately, efficiently, and potentially with better clinical outcomes.

主权项

1. A system for ablation treatment of tissue, comprising:
an ablation probe (6) for treating a tissue of interest with at least one of RF ablation, cryo-ablation, microwave ablation, ultrasound ablation, or other thermal or non-thermal ablation; a planning component (1) for calculating a three-dimensional treatment plan including a plurality of desired ablation probe placement positions and orientations and a plurality of estimated ablation volumes to achieve a composite ablation volume that will treat an entire planned target volume (PTV); a navigation component (2) comprising a tracking system (5) for spatially tracking at least one of the ablation probe and an imaging device and providing treatment instructions to an operator based on the three-dimensional treatment plan; an imaging system (4) for obtaining planning and treatment images of the tissue to be treated; and a feedback component (3) for determining actual probe position and orientation using the navigation component or imaging component, and for determining actual ablation volume based on treatment images provided by the imaging component (4), and feeding the actual probe position and orientation and actual ablation volume during treatment to the planning component (1), wherein the planning component (1) determines a treatment iteration based on the treatment plan, the actual probe position and orientation and actual ablation volume, the treatment iteration including at least one of a desired next probe position and orientation and a desired next ablation volume, wherein the navigation component (2) provides revised treatment instructions to the operator based on the treatment iteration until treatment is completed according to the desired planned target volume, characterized in the feedback component (3) being configured to obtain information including imaging feedback and tracking feedback about the actual probe location, and provide the information including both the imaging feedback and tracking feedback to the planning component (1) to update the three-dimensional treatment plan, wherein the planning component (1) receives the information and updates the plan by subtracting a measured ablation size and shape at a measured ablation position from an initially segmented planned target volume, and computes a new plan for a remaining part of the planned target volume.