Systems and methods for interventional procedure planning

Abstract

A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

1 - 20 . (canceled) 
     
     
         21 . A method of deploying an interventional instrument, the method comprising:
 identifying a target structure in an anatomic frame of reference;   determining a target region in the anatomic frame of reference with respect to a current location of the interventional instrument wherein determining the target region includes determining a probability of a location of the target structure relative to the current location of the interventional instrument; and   recording a first engagement location of the interventional instrument within the target region.   
     
     
         22 . The method of  claim 21  wherein at least a portion of the target structure is located within the target region. 
     
     
         23 . The method of  claim 21  wherein the anatomic frame of reference is a three-dimensional anatomic frame of reference and wherein identifying the target structure includes identifying a model target structure in a three-dimensional model frame of reference and registering the three-dimensional model frame of reference to the three-dimensional anatomic frame of reference. 
     
     
         24 . The method of  claim 21  wherein determining the target region includes at least one of determining a change in a patient anatomical pose between a preoperative imaging time and an interventional procedure time, determining an uncertainty value for a sensor in the interventional instrument, determining an uncertainty value associated with a shape of a target anatomic structure, determining a value associated with a property of tissue surrounding the target structure, and visualizing a target anatomic structure with an imaging device. 
     
     
         25 . The method of  claim 21  wherein the interventional instrument includes a catheter and a tool and determining the target region includes determining an uncertainty value for a known characteristic of the tool extended from the catheter. 
     
     
         26 . The method of  claim 21  further comprising providing instructions for timing conduct of a first engagement procedure at the first engagement location based on a cyclical anatomical motion state. 
     
     
         27 . The method of  claim 21  further comprising identifying a second engagement location for deploying the interventional instrument. 
     
     
         28 . The method of  claim 27  further comprising determining a revised target region in the anatomic frame of reference based on information gathered from the first engagement location. 
     
     
         29 . The method of  claim 28  wherein the second engagement location is located within the revised target region. 
     
     
         30 . The method of  claim 21  further comprising recording a second engagement location of the interventional instrument within the target region. 
     
     
         31 . The method of  claim 30  further comprising providing instructions for conducting a second engagement procedure at the second engagement location based on information obtained from the first engagement location. 
     
     
         32 . The method of  claim 30  further comprising determining a first deployment location for the interventional instrument prior to recording the first engagement location; and
 determining a second deployment location for the interventional instrument prior to recording the second engagement location, wherein the first deployment location is different from the second deployment location. 
 
     
     
         33 . A system 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 of reference;   determine a target region in the anatomic frame of reference with respect to a current location of the interventional instrument, wherein determining the target region includes determining a probability of a location of the target structure relative to the current location of the interventional instrument; and   record a first engagement location of the interventional instrument within the target region.   
     
     
         34 . The system of  claim 33  wherein the anatomic frame of reference is a three-dimensional anatomic frame of reference and wherein identifying the target structure includes identifying a model target structure in a three-dimensional model frame of reference and registering the three-dimensional model frame of reference to the three-dimensional anatomic frame of reference. 
     
     
         35 . The system of  claim 33  wherein determining the target region includes at least one of determining a change in a patient anatomical pose between a preoperative imaging time and an interventional procedure time, determining an anatomical motion cycle, determining an uncertainty value for a characteristic of the tool extended from the catheter, determining an uncertainty value associated with a shape of a target anatomic structure, and visualizing a target anatomic structure with an imaging device. 
     
     
         36 . The system of  claim 35  wherein the anatomical motion cycle is a respiration cycle. 
     
     
         37 . The system of  claim 33  wherein the control system is further configured to provide instructions for when to conduct a first engagement procedure at the first engagement location based on a cyclical anatomical motion state. 
     
     
         38 . The system of  claim 33  wherein the control system is configured to:
 record a second engagement location of the interventional instrument within the target region. 
 
     
     
         39 . The system of  claim 38  wherein the control system is further configured to provide instructions for conducting a second engagement procedure at a second engagement location based on information obtained from the first engagement location. 
     
     
         40 . The system of  claim 33  wherein the control system is further configured to generate a graphical user interface (GUI) including a target marker representing the target structure. 
     
     
         1 - 20 . (canceled) 
     
     
         21 . A system comprising a non-transitory computer readable medium containing computer executable instructions for guiding an interventional instrument, including instructions for:
 identifying a target structure in an anatomic frame of reference;   determining a target region in the anatomic frame of reference with respect to a current location of the interventional instrument wherein determining the target region includes determining a probability of a location of the target structure relative to the current location of the interventional instrument; and   recording a first engagement location of the interventional instrument within the target region.   
     
     
         22 . The system of  claim 21  wherein at least a portion of the target structure is located within the target region. 
     
     
         23 . The system of  claim 21  wherein the anatomic frame of reference is a three-dimensional anatomic frame of reference and wherein identifying the target structure includes identifying a model target structure in a three-dimensional model frame of reference and registering the three-dimensional model frame of reference to the three-dimensional anatomic frame of reference. 
     
     
         24 . The system of  claim 21  wherein determining the target region includes at least one of determining a change in a patient anatomical pose between a preoperative imaging time and an interventional procedure time, determining an uncertainty value for a sensor in the interventional instrument, determining an uncertainty value associated with a shape of a target anatomic structure, determining a value associated with a property of tissue surrounding the target structure, and visualizing a target anatomic structure with an imaging device. 
     
     
         25 . The system of  claim 21  wherein the interventional instrument includes a catheter and a tool and determining the target region includes determining an uncertainty value for a known characteristic of the tool extended from the catheter. 
     
     
         26 . The system of  claim 21  further including instructions for timing conduct of a first engagement procedure at the first engagement location based on a cyclical anatomical motion state. 
     
     
         27 . The system of  claim 21  further including instructions for identifying a second engagement location for deploying the interventional instrument. 
     
     
         28 . The system of  claim 27  further including instructions for determining a revised target region in the anatomic frame of reference based on information gathered from the first engagement location. 
     
     
         29 . The system of  claim 28  wherein the second engagement location is located within the revised target region. 
     
     
         30 . The system of  claim 21  further including instructions for recording a second engagement location of the interventional instrument within the target region. 
     
     
         31 . The system of  claim 30  further including instructions for conducting a second engagement procedure at the second engagement location based on information obtained from the first engagement location. 
     
     
         32 . The system of  claim 30  further including instructions for determining a first deployment location for the interventional instrument prior to recording the first engagement location; and
 determining a second deployment location for the interventional instrument prior to recording the second engagement location, wherein the first deployment location is different from the second deployment location. 
 
     
     
         33 . A system 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 of reference;   determine a target region in the anatomic frame of reference with respect to a current location of the interventional instrument, wherein determining the target region includes determining a probability of a location of the target structure relative to the current location of the interventional instrument; and   record a first engagement location of the interventional instrument within the target region.   
     
     
         34 . The system of  claim 33  wherein the anatomic frame of reference is a three-dimensional anatomic frame of reference and wherein identifying the target structure includes identifying a model target structure in a three-dimensional model frame of reference and registering the three-dimensional model frame of reference to the three-dimensional anatomic frame of reference. 
     
     
         35 . The system of  claim 33  wherein determining the target region includes at least one of determining a change in a patient anatomical pose between a preoperative imaging time and an interventional procedure time, determining an anatomical motion cycle, determining an uncertainty value for a characteristic of the tool extended from the catheter, determining an uncertainty value associated with a shape of a target anatomic structure, and visualizing a target anatomic structure with an imaging device. 
     
     
         36 . The system of  claim 35  wherein the anatomical motion cycle is a respiration cycle. 
     
     
         37 . The system of  claim 33  wherein the control system is further configured to provide instructions for when to conduct a first engagement procedure at the first engagement location based on a cyclical anatomical motion state. 
     
     
         38 . The system of  claim 33  wherein the control system is configured to:
 record a second engagement location of the interventional instrument within the target region. 
 
     
     
         39 . The system of  claim 38  wherein the control system is further configured to provide instructions for conducting a second engagement procedure at a second engagement location based on information obtained from the first engagement location. 
     
     
         40 . The system of  claim 33  wherein the control system is further configured to generate a graphical user interface (GUI) including a target marker representing the target structure.