Trajectory planning for minimally invasive therapy delivery using local mesh geometry
Systems and methods are provided for determining surgical trajectories (including target points and entry points) for delivering therapy to a patient's brain using a three-dimensional (3D) representation of the patient's brain (including the patient's scalp, skull, and brain) adapted from imaging data (e.g., MRI data, CT data, etc.) of the patient's brain.
1 . A method, comprising:
adapting a shape-constrained deformable brain model to a head scan of a patient to generate a patient-specific 3D mesh representation of the patient's brain;
selecting a target 3D mesh brain region from the patient-specific 3D mesh representation of the patient's brain;
defining a local coordinate system for the target 3D mesh brain region by performing principal component analysis (PCA) on mesh vertices of the target 3D mesh brain region;
defining 3D mesh sub-regions for the target 3D mesh brain region utilizing the local coordinate system such that at least one of:
the 3D mesh sub-regions have substantially equal length along a long axis of the target 3D mesh brain region, or
the 3D mesh sub-regions have substantially equal volume;
defining one or more target points within each 3D mesh sub-region of the target 3D mesh brain region using the local coordinate system;
determining a trajectory for the target points;
determining one or more entry points for the trajectory;
generating a graphical representation of the trajectory and the one or more entry points; and
displaying, on a graphical user interface (GUI), the graphical representation of the trajectory and the one or more entry points.
2 . The method of claim 1 , wherein defining the local coordinate system for the target 3D mesh brain region comprises:
deriving eigen vectors and eigen values from the PCA to define the local coordinate system for the target 3D mesh brain mesh region.
3 . The method of claim 1 , wherein the local coordinate system is oriented along the long axis of the target 3D mesh brain mesh region.
4 . The method of claim 1 , wherein the trajectory for the target points is determined using a direction vector originating at the target points.
5 . The method of claim 4 , wherein determining the one or more entry points for the trajectory comprises:
extending the direction vector to mesh boundary surfaces representing one of the patient's skull and the patient's scalp; and
using line-mesh intersection in 3D to determine the one or more entry points at the one of the patient's skull and the patient's scalp.
6 . The method of claim 1 , wherein defining the one or more target points within each 3D mesh sub-region of the target 3D mesh brain region using the local coordinate system comprises:
fitting a regression line to the target points.
7 . The method of claim 6 , wherein determining the one or more entry points for the trajectory comprises:
extending the regression line to mesh boundary surfaces representing one of the patient's skull and the patient's scalp; and
using line-mesh intersection in 3D to determine the one or more entry points at the one of the patient's skull and the patient's scalp.
8 . The method of claim 1 , wherein the head scan comprises image data of the patient's brain.
9 . The method of claim 1 , wherein displaying the graphical representation of the trajectory and the one or more entry points comprises at least one of:
displaying the graphical representation of the trajectory and the one or more entry points relative to the patient-specific 3D mesh representation of the patient's brain; or
displaying the graphical representation of the trajectory and the one or more entry points overlaid on the head scan of the patient.
10 . The method of claim 1 , wherein:
the target 3D mesh brain region represents a subcortical structure; and
the 3D mesh sub-regions represent sub-regions of the subcortical structure.
11 . A system comprising:
a graphical user interface (GUI);
one or more processing resources; and
non-transitory computer-readable memory, coupled to the one or more processing resources, having stored therein instructions that when executed by the one or more processing resources cause the system to perform a method comprising:
adapting a shape-constrained deformable brain model to a head scan of a patient to generate a patient-specific 3D mesh representation of the patient's brain;
selecting a target 3D mesh brain region from the patient-specific 3D mesh representation of the patient's brain;
defining a local coordinate system for the target 3D mesh brain region by performing principal component analysis (PCA) on mesh vertices of the target 3D mesh brain region;
defining 3D mesh sub-regions for the target 3D mesh brain region utilizing the local coordinate system such that at least one of:
the 3D mesh sub-regions have substantially equal length along a long axis of the target 3D mesh brain region, or
the 3D mesh sub-regions have substantially equal volume;
defining one or more target points within each 3D mesh sub-region of the target 3D mesh brain region using the local coordinate system;
determining a trajectory for the target points;
determining one or more entry points for the trajectory;
generating a graphical representation of the trajectory and the one or more entry points; and
displaying, on the GUI, the graphical representation of the trajectory and the one or more entry points.
12 . The system of claim 11 , wherein defining the local coordinate system for the target 3D mesh brain region comprises:
deriving eigen vectors and eigen values from the PCA to define the local coordinate system for the target 3D mesh brain mesh region.
13 . The system of claim 11 , wherein the local coordinate system is oriented along the long axis of the target 3D mesh brain mesh region.
14 . The system of claim 11 , wherein the trajectory for the target points is determined using a direction vector originating at the target points.
15 . The system of claim 14 , wherein determining the one or more entry points for the trajectory comprises:
extending the direction vector to mesh boundary surfaces representing one of the patient's skull and the patient's scalp; and
using line-mesh intersection in 3D to determine the one or more entry points at the one of the patient's skull and the patient's scalp.
16 . The system of claim 11 , wherein defining the one or more target points within each 3D mesh sub-region of the target 3D mesh brain region using the local coordinate system comprises:
fitting a regression line to the target points.
17 . The system of claim 16 , wherein determining the one or more entry points for the trajectory comprises:
extending the regression line to mesh boundary surfaces representing one of the patient's skull and the patient's scalp; and
using line-mesh intersection in 3D to determine the one or more entry points at the one of the patient's skull and the patient's scalp.
18 . The system of claim 11 , wherein displaying the graphical representation of the trajectory and the one or more entry points comprises at least one of:
displaying the graphical representation of the trajectory and the one or more entry points relative to the patient-specific 3D mesh representation of the patient's brain; or
displaying the graphical representation of the trajectory and the one or more entry points overlaid on the head scan of the patient.
19 . The system of claim 11 , wherein:
the target 3D mesh brain region represents a subcortical structure; and
the 3D mesh sub-regions represent sub-regions of the subcortical structure.
20 . A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:
adapting a shape-constrained deformable brain model to a head scan of a patient's brain to generate a patient-specific 3D mesh representation of the patient's brain;
selecting a target 3D mesh brain region from the patient-specific 3D mesh representation of the patient's brain;
defining a local coordinate system for the target 3D mesh brain region by performing principal component analysis (PCA) on mesh vertices of the target 3D mesh brain region;
defining 3D mesh sub-regions for the target 3D mesh brain region utilizing the local coordinate system such that at least one of:
the 3D mesh sub-regions have substantially equal length along a long axis of the target 3D mesh brain region, or
the 3D mesh sub-regions have substantially equal volume;
defining one or more target points within the target 3D mesh brain region using the local coordinate system;
determining a trajectory for the one or more target points;
determining one or more entry points for the trajectory;
generating a graphical representation of the trajectory and the one or more entry points; and
displaying, on a graphical user interface (GUI), the graphical representation of the trajectory and the one or more entry points.