Method for determination of surgical procedure access

1. A method for assisting in the performance of a surgical procedure on a patient, comprising:

receiving an intra-operative CT scan image;

generating a three-dimensional isotropic scaffold based on the intra-operative CT scan image;

fusing one or more images with the three-dimensional isotropic scaffold to form a three-dimensional model of a portion of the body of the patient;

receiving information regarding the surgical procedure, including information regarding a surgical target to be operated upon, a region of access on the skin of the patient, and a surgical instrument to be used during the surgical procedure;

determining obstacles in a path of the surgical procedure based on the three-dimensional model; and

determining trajectories for the surgical procedure.

2. The method of claim 1 , further comprising recommending to a surgeon to use one or more of the determined trajectories.

3. The method of claim 2 , further comprising receiving information selecting one of the trajectories.

4. The method of claim 3 , further comprising controlling a robot to perform the surgical procedure using the selected trajectory.

5. The method of claim 1 , further comprising monitoring the surgical procedure using fluoroscopy.

6. The method of claim 1 , wherein determining obstacles in the path of the surgical procedure comprises receiving information regarding said obstacles.

7. The method of claim 1 , wherein determining obstacles in the path of the surgical procedure comprises reviewing the three-dimensional model to define said obstacles.

8. The method of claim 1 , wherein determining trajectories for the surgical procedure comprises:

calculating at least one path for a surgeon to follow to perform the surgical procedure; and

determining one or more access zones that a surgeon may use to enter the body.