US 12,082,883 B2
Enhanced planning and visualization with curved instrument pathway and its curved instrument
Sarah Frisken, Cambridge, MA (US); Clement Mirabel, Brookline, MA (US); Parikshit Juvekar, Brookline, MA (US); Takahisa Kato, Brookline, MA (US); Alexandra J. Golby, Jamaica Plain, MA (US); Garth R. Cosgrove, Boston, MA (US); and Thomas Noh, Boston, MA (US)
Assigned to Canon U.S.A., Inc., Melville, NY (US); and The Brigham and Women's Hospital Incorporated, Boston, MA (US)
Appl. No. 17/791,168
Filed by Canon U.S.A., Inc., Melville, NY (US); The Brigham and Women's Hospital Incorporated, Boston, MA (US); Sarah Frisken, Cambridge, MA (US); Clement Mirabel, Brookline, MA (US); Parikshit Juvekar, Brookline, MA (US); Takahisa Kato, Brookline, MA (US); Alexandra J. Golby, Jamaica Plain, MA (US); Garth R. Cosgrove, Boston, MA (US); and Thomas Noh, Boston, MA (US)
PCT Filed Jan. 8, 2021, PCT No. PCT/US2021/012715
§ 371(c)(1), (2) Date Jul. 6, 2022,
PCT Pub. No. WO2021/142272, PCT Pub. Date Jul. 15, 2021.
Claims priority of provisional application 62/959,095, filed on Jan. 9, 2020.
Prior Publication US 2023/0044706 A1, Feb. 9, 2023
Int. Cl. A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 34/20 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A planning and visualization method comprising:
acquiring a position of an entry point and a target volume in a medical image;
defining a preliminary curved path between the entry point and the target volume based on a geometric element of the target volume, wherein the preliminary curved path comprises at least two segments, wherein at least one of the at least two segments is an arc segment;
modifying the preliminary curved path based on a user input to form a surgical curved path;
wherein at least one of the preliminary curved path and the surgical curved path is constrained by a physical parameter of a surgical robot and comprises one or more arc segment(s) and at least one straight segment that is concatenated between the one or more arc segment and the entry point; and
displaying the constrained preliminary curved path or the constrained surgical curved path.