US 12,440,273 B2
System and method for catheter based intervention
Lotte Huysmans, Leuven (BE); Lio De Winde, Leuven (BE); Julie Maes, Leuven (BE); and Benjamin Geebelen, Leuven (BE)
Assigned to MATERIALISE N.V., Leuven (BE)
Filed by MATERIALISE N.V., Leuven (BE)
Filed on Apr. 22, 2021, as Appl. No. 17/237,321.
Application 17/237,321 is a continuation of application No. PCT/US2019/057295, filed on Oct. 21, 2019.
Claims priority of application No. 2021849 (NL), filed on Oct. 22, 2018.
Prior Publication US 2021/0330386 A1, Oct. 28, 2021
Int. Cl. A61B 34/10 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/10 (2016.02) [A61B 2017/00292 (2013.01); A61B 2017/00331 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A computer-based method of planning a catheter-based intervention, the method comprising:
obtaining, by a computing device, a model of an anatomical region of interest;
determining, by the computing device, an entry in the anatomical region of interest;
determining, by the computing device, a target in the anatomical region of interest;
determining, by the computing device, a trajectory from the entry to the target, the trajectory comprising a sequence of a plurality of trajectory segments, wherein determining the trajectory comprises determining the trajectory based on a plurality of constraints having an order of priority, wherein the plurality of constraints comprise one or more operational constraints indicating at least one or more positions within the anatomical region of interest through which the trajectory should pass and one or more tolerances with respect to the one or more positions within which the trajectory should pass, wherein determining the trajectory comprises relaxing one or more of the plurality of constraints in order of the order of priority when the trajectory cannot conform to all of the plurality of constraints, wherein determining the trajectory comprises determining a first trajectory segment of the plurality of trajectory segments comprising:
obtaining a planned position for an implantable device in the anatomical region of interest, wherein the planned position defines a deployment axis of the implantable device; and
determining the first trajectory segment as a line segment that connects a first point on a central axis of a first feature of the anatomical region of interest with a second point on the deployment axis and that passes through a geometric center point of a second feature of the anatomical region of interest; and
selecting, by the computing device, a catheter from a plurality of catheters based on the catheter being able to achieve the trajectory within at least a threshold.