Systems and methods for planning multiple interventional procedures
A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.
1 . A method for planning multiple interventional procedures, comprising:
identifying a target structure in an anatomic frame;
determining a target region in the anatomic frame, wherein the target structure is located within the target region and the target region includes a plurality of target points, the target region being determined by a probabilistic collection of the plurality of target points;
identifying a first engagement location within the target region for deploying an interventional instrument; and
identifying a second engagement location for deploying the interventional instrument.
2 . The method of claim 1 , further comprising determining a revised target region in the anatomic frame based on information gathered from the first engagement location.
3 . The method of claim 2 , wherein the second engagement location is located within the revised target region.
4 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from cyclic anatomical motion data.
5 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from an error distribution for a current location of the interventional instrument.
6 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from an error distribution for a location of a target anatomical structure.
7 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from an error distribution for a shape of a target anatomical structure.
8 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from information about anatomical structures in a vicinity of the target structure.
9 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from information about a set of engagement characteristics of the interventional instrument.
10 . The method of claim 1 , wherein the probabilistic collection of the plurality of target points is derived from a change in a patient anatomical pose between preoperative imaging and an interventional procedure.
11 . The method of claim 1 , wherein the target region is determined relative to a current location of the interventional instrument.
12 . The method of claim 1 , wherein determining the target region comprises associating each of the plurality of target points with a probability of engaging the target structure with the interventional instrument.
13 . The method of claim 1 , wherein the probabilistic collection of target points is based on error factors associated with a location of the target structure relative the interventional instrument.
14 . A system for planning multiple interventional procedures, comprising:
an interventional instrument including a catheter and a tool deployable from the catheter and
a control system configured to:
identify a target structure in an anatomic frame;
determine a target region in the anatomic frame, wherein the target structure is located within the target region and the target region includes a plurality of target points, the target region being determined by a probabilistic collection of the plurality of target points;
identify a first engagement location within the target region for deploying an interventional instrument; and
identify a second engagement location for deploying the interventional instrument.
15 . The system of claim 14 , wherein the control system is configured to determine a revised target region in the anatomic frame based on information gathered from the first engagement location.
16 . The system of claim 15 , wherein the second engagement location is located within the revised target region.
17 . The system of claim 14 , wherein the probabilistic collection of the plurality of target points is derived from information about anatomical structures in a vicinity of the target structure.
18 . The system of claim 14 , wherein the target region is determined relative to a current location of the interventional instrument.
19 . The system of claim 14 , wherein the control system is configured to determine the target region by associating each of the plurality of target points with a probability of engaging the target structure with the interventional instrument.
20 . The system of claim 14 , wherein the probabilistic collection of target points is based on error factors associated with a location of the target structure relative the interventional instrument.