Method and apparatus for assisted trajectory planning

摘要

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.

主权项

1. A method of planning a trajectory to perform a procedure, comprising:
selecting a plurality of training datasets regarding a plurality of training subjects, wherein each of the plurality of training datasets includes at least training image data; selecting at least one training trajectory in each of the selected plurality of training datasets; rating the at least one training trajectory in at least a selected sub-plurality of training datasets of the plurality of training datasets; executing instructions with a learning processor to process the training image data in each of at least the selected sub-plurality of training datasets of the plurality of training datasets; executing instructions with the learning processor to determine a learned rating coefficient that converges to a selected degree to predict the rating of each of the selected plurality of training trajectories; saving the determined learned rating coefficient; selecting a clinical dataset different from the plurality of training datasets including a clinical trajectory and a clinical image data; executing instructions with a clinical processor to process the clinical image data substantially similar to the instructions executed with the learning processor to process the training image data; executing instructions with the clinical processor to determine a clinical rating coefficient that converges to a selected degree to predict the rating of the clinical trajectory; determining a rating for the clinical trajectory based on the clinical rating coefficient.