INTERSTITAL LUNG ACCESS USING NESTED CANNULAS

摘要

A cannula configuration method involves a generation of a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula. The method further involves a selection of a tube target location (24) within the free-space, the tube target location (24) being derived from a computation of contiguous tool trajectory nodes of the discretized configuration space representative of a trajectory of a surgical tool extending through the nested cannula from the tube target location (24) within the free-space to a tool target location (23) within the forbidden space. The method further involves a generation of a series of concatenated path shapes between the tube entry location (24) and the tube target location to form a cannula configuration pathway within the free-space.

主权项

1. A cannula configuration system (90), comprising:
an image discretization module (92) operable for generating a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula; a target selection module (93) operable for selecting a tube target location (24) within the free-space, the tube target location (24) being derived from a computation of contiguous tool trajectory nodes of the discretized configuration space representative of a trajectory of a surgical tool extending through the nested cannula from the tube target location (24) within the free-space to a tool target location (23) within the forbidden space, wherein a selection of the tube target location (24) is a function of a heuristic cost metric of at least one tool trajectory node, each heuristic cost metric being indicative of an estimated distance from a corresponding tool trajectory node to a tube entry location into the free-space; and a cannula pathway module (94) operable for generating a series of concatenated path shapes between the tube entry location and the tube target location (24) to form a cannula configuration pathway within the free-space, the cannula configuration pathway serving as a specification for configuring and dimensioning the nested cannula to reach the tube target location (24) from the tube entry location.