| CPC A61B 90/36 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); G06T 7/0012 (2013.01); A61B 2034/101 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2090/365 (2016.02); A61B 2090/367 (2016.02); A61B 2090/3782 (2016.02); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10136 (2013.01)] | 44 Claims |
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1. A method for navigating a probe to a location within a body of a patient, the method comprising the steps of:
visualizing a three-dimensional image of a region of the body of the patient;
receiving a selection of a target location within said three-dimensional image of the region of the patient's body;
determining and visualizing a preferred pathway for the probe to follow from an external entry point on the patient's body to the target location, the determining the preferred pathway step comprising:
rotating the three-dimensional image;
obtaining vector information of a viewing plane;
determining a select body orientation of a select body to provide line-of-sight of the target location;
obtaining spatial information of the target location with respect to the viewing plane; and
determining a line in space based on at least the viewing plane and the spatial information of the target location defined with respect to the viewing plane, the line in space representing at least a portion of the preferred pathway,
the preferred pathway being configured to minimize interference with radiating energy from one or more additional probes by automatically calculating one or more of the number of the additional probes, a respective positioning of the additional probes, or trajectories of the additional probes in a surrounding environment of the visualized preferred pathway;
registering three-dimensional image to a current actual position of a corresponding region of the patient's body;
registering the current actual position of the probe to the three-dimensional image and the current actual position of the patient's body;
visualizing the preferred pathway for the probe simultaneously with an indication of the current actual position of the probe in real time such that the simultaneous visualization enables a user to align the current actual position of the probe with the preferred pathway;
updating and visualizing the indication of the current actual position of the probe in real time as the probe is advanced to the target location; and
visualizing a three-dimensional image of a target at the target location, with predictive analytics being used to account for tissue shrinkage of the target due to energy exposure.
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