Virtual simulator for planning and executing robotic steering of a medical instrument

1 . A method for simulation of planning and executing a procedure for robotic insertion and/or steering of a medical instrument toward an internal target, for training a user, the simulation method comprising:

displaying a plurality of medical procedure options;

receiving user input associated with a selected medical procedure;

displaying one or more images of a region of interest associated with the selected medical procedure;

receiving user input associated with a location of at least one of a target and an entry point on the one or more images;

receiving user input associated with locations of one or more obstacles between the entry point and the target;

displaying on the one or more images a trajectory from the entry point to the target, the trajectory being calculated in real-time by applying at least one of the selected medical procedure, the target, the entry point and the one or more obstacles to a data-analysis algorithm;

displaying one or more checkpoints along the trajectory, wherein one or more default checkpoints are automatically marked and the user is prompted to confirm the default checkpoints or to change a number and/or locations of the displayed checkpoints;

receiving user input regarding initiation of advancement of the medical instrument to a next checkpoint along the trajectory;

prompting the user to initiate imaging after the advancement to the next checkpoint to verify a location of the medical instrument and a current location of the target;

receiving confirmation input confirming the location of the medical instrument and the current location of the target; and

in response to the confirmation input, displaying on the one or more images advancement of the medical instrument according to the trajectory, from the next checkpoint to a subsequent checkpoint or to the target; thereby training the user in planning and executing a procedure for robotic insertion and/or steering of a medical instrument.

2 . The simulation method of claim 1 , comprising:

determining, by a processor, if the received user input associated with the location of the at least one of the target and the entry point is valid and/or optimal;

if the processor determines that the received user input associated with the location of the at least one of the target and the entry point is invalid and/or not optimal, displaying on the one or more images a valid and/or optimal location of the at least one of the target and the entry point;

determining if the received user input associated with the locations of the one or more obstacles is valid and/or optimal; and

if it is determined by the processor that the received user input associated with the locations of the one or more obstacles is invalid and/or not optimal, displaying on the one or more images valid and/or optimal locations of the one or more obstacles.

3 . The simulation method of claim 1 , comprising receiving user input associated with a type of the medical instrument for use in the simulation;

determining, by a processor if the received user input associated with the type of medical instrument for use in the simulation is optimal; and

if it is determined by the processor that the received user input associated with the type of medical instrument for use in the simulation is not optimal, recommending to the user an optimal type of medical instrument for use in the simulation.

4 . The simulation method of claim 1 , comprising receiving user input associated with locations of one or more checkpoints along the trajectory;

determining, by a processor if the received user input associated with the locations of the one or more checkpoints is valid and/or optimal; and

if it is determined by the processor that the received user input associated with the locations of the one or more checkpoints is invalid and/or not optimal, displaying on the one or more images valid and/or optimal locations of the one or more checkpoints.

5 . The simulation method of claim 1 , wherein displaying the trajectory and/or displaying the advancement of the medical instrument comprises:

applying at least one of the selected medical procedure, the target, the entry point, the one or more obstacles, the trajectory, and the one or more checkpoints to a data-analysis algorithm configured to output data associated therewith;

obtaining the output of the data-analysis algorithm; and

generating a display based, at least in part, on the obtained output, and

issuing notifications to assist and/or guide the user during the simulation.

6 . The simulation method of claim 5 , comprising calculating the trajectory in real-time.

7 . The simulation method of claim 1 , comprising prompting the user to choose one or more parameters associated with a virtual subject undergoing the simulated procedure;

displaying respiratory activity of the virtual subject, and

prompting the user to synchronize one or more of initiating imaging and initiating the advancement of the medical instrument with a point or a phase of a respiratory cycle of the virtual subject.

8 . The simulation method of claim 1 , comprising displaying movement of the target during the simulation, and

displaying an updated trajectory on the one or more images.

9 . The simulation method of claim 8 , wherein the movement of the target is simulated using one or more data-analysis algorithms.

10 . The simulation method of claim 1 , wherein the robotic medical device is configured to steer the medical instrument toward the target in a non-linear trajectory.

11 . The simulation method of claim 1 , comprising assessing a level of success of the simulation.

12 . The simulation method of claim 1 , comprising updating a database with data associated with a completed simulation; and

saving data associated with the simulation, wherein the saved data comprises one or more tags associated with a specified user account and wherein the saved data is stored within the specified user account.

13 . The simulation method of claim 1 , comprising displaying animation segments during the simulation, the animation segments visualizing one or more of the planning of the simulated procedure and the execution of the simulated procedure; and

simulating one or more symptoms indicative of at least one of development and occurrence of a clinical complication.

14 . A method for simulation of planning and executing a procedure for robotic insertion and/or steering of a medical instrument toward an internal target, for training a user, the simulation method comprising:

displaying a plurality of medical procedure options;

receiving user input associated with a selected medical procedure;

displaying one or more images of a region of interest associated with the selected medical procedure;

receiving user input associated with a location of at least one of a target and an entry point on the one or more images;

receiving user input associated with locations of one or more obstacles between the entry point and the target;

calculating, in real-time by a processor executing a data-analysis algorithm, a trajectory from the entry point to the target, based on one or more of: the target, the entry point, the one or more obstacles;

displaying on the one or more images the trajectory from the entry point to the target;

displaying one or more checkpoints along the trajectory, wherein one or more default checkpoints are automatically marked, and prompting the user to confirm the one or more default checkpoints or to change a number and/or locations of the displayed one or more checkpoints;

receiving user input requesting advancement of the medical instrument according to the trajectory to a next checkpoint along the trajectory displaying, on the one or more images, advancement of the medical instrument according to the trajectory to the next checkpoint;

prompting the user to initiate imaging after the medical instrument has advanced to the next checkpoint to verify a location of the medical instrument and a current location of the target;

receiving confirmation input confirming the location of the medical instrument and the current location of the target;

in response to the confirmation input, displaying, on the one or more images, advancement of the medical instrument according to the trajectory from the next checkpoint to a subsequent checkpoint or to the target; and

simulating on the one or more images the insertion and/or steering of the medical instrument by a robotic medical device, thereby training the user.

15 . The simulation method of claim 14 , comprising presenting to the user one or more first parameters relating to selection of an optimal location for the at least one of the target and the entry point, and

presenting to the user one or more second parameters relating to marking of optimal locations of the one or more obstacles.

16 . The simulation method of claim 14 , comprising receiving user input associated with a type of medical instrument for use in the simulation, and

receiving user input associated with locations of one or more checkpoints along the trajectory.

17 . The simulation method of claim 16 , comprising presenting to the user one or more third parameters relating to selection of an optimal type of medical instrument for use in the simulation; and

presenting to the user one or more fourth parameters relating to optimal locations of the one or more checkpoints along the trajectory.

18 . The simulation method of claim 14 , comprising simulating movement of the target using one or more data-analysis algorithms, and calculating an updated trajectory in real-time.

19 . The simulation method of claim 14 , comprising presenting to the user one or more limitations of the robotic medical device to consider during the simulation.

20 . The simulation method of claim 14 , comprising assessing a level of success of the simulation.