Three-dimensional navigation method for guiding a medical instrument in arborescent anatomical structures, whereby reference images are obtaining in a pre-operative phase prior to operation planing and actual intervention

摘要

Method for guiding the navigation of a medical instrument in arborescent anatomical structures has a planning phase in which a pre-operative 3-D image containing the structures of interest is obtained and the structure images are segmented to obtain a descriptive model. Planning is followed by an intervention phase with the following steps: imaging of the structures of interest to obtain a reference image sequence that is broken down into 2-D primitives and 3-D referentials by application of a coordinate transform to 2-D referentials. The tool is located in pre-operative images using a marker attached to it. The invention also relates to a corresponding surgical navigation assistance system and a computer program for implementation of the inventive method.