| 摘要 |
A computer implemented method is provided for planning a position and/or a movement trajectory of a medical instrument in a heterogeneous body structure such that the instrument is delivered to a target region in the heterogeneous body structure. The method includes providing at least one of a) body structure data corresponding to mechanical properties of the heterogeneous body structure, wherein said mechanical properties influence a movement of the instrument through the heterogeneous body structure due to the mechanical interaction between the instrument and the heterogeneous body structure, b) instrument data concerning mechanical and/or geometric properties of the instrument, or c) movement data concerning mechanical properties that are intended to cause and/or describe a movement of the instrument through the heterogeneous body structure. The position and/or movement trajectory of the instrument in the heterogeneous body structure to the target region or a probability that said position and/or movement trajectory will be achieved then is determined based on at least one of the movement data, the body structure data or the instrument data.
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