Dynamic planning method for needle insertion

A system for pre-operatively planning an image-guided insertion procedure for inserting a tool into a tissue in a region of interest of a subject;

• comprising:
• a user interface configured to receive user inputs regarding at least positions of an entry point for entry of said tool into said tissue, a target point and one or more forbidden regions into which entry by said tool during said insertion procedure is forbidden, defined on a first image of a plurality of time-separated images of the region of interest derived at different times during the breathing cycle of said subject;
• and
• at least one processor configured to:
• determine the positions of said entry point, said target point and said one or more forbidden regions in at least one other image of said plurality of time-separated images;
• calculate at least one trajectory for said needle insertion procedure between said entry point and said target point, which avoids entry into all of said one or more forbidden regions, in at least said first image of said plurality of time-separated images;
• check for said calculated at least one trajectory, one or more trajectory characteristics selected from:
• (i) the curvature, (ii) the entry angle at said entry, point, and (iii) the proximity to each of said one or more forbidden regions, to determine if at least one predetermined level relating to said one or more trajectory characteristics is exceeded;
• and
• if said one or more predetermined levels relating to said one or more trajectory characteristics are determined not to be exceeded, ascertain pre-operatively that said calculated at least one trajectory is a suitable trajectory for said insertion procedure.

A method of pre-operatively planning an image-guided insertion procedure for inserting a tool into a tissue in a region of interest of a subject, comprising:

• (a) obtaining a plurality of time-separated images of the region of interest;
• (b) defining on a first image of said plurality of time-separated images an entry point for entry of said tool into said tissue, a target point and one or more forbidden regions into which entry by said tool during said insertion procedure is forbidden;
• (c) calculating on said first image a first trajectory for said insertion procedure between said entry point and said target point, which avoids entry into all of said one or more forbidden regions;
• (d) determining the positions of said entry point, said target point and said one or more forbidden regions in one or more other images of said plurality of time-separated images;
• (e) calculating, on at least one of said one or more other images, at least one new trajectory between said entry point and said target point, which avoids entry into all of said one or more forbidden regions, based on the positions of said entry point, said target point and said one or more forbidden regions in said at least one of said one or more other images, as determined in step (d);
• (f) calculating, for each of said first trajectory and said at least one new trajectory, the maximal curvature level;
• (g) comparing the calculated maximal curvature level to a predetermined maximal curvature level;
• and
• (h) if the calculated maximal curvature level of each of said first trajectory and said at least one new trajectory is determined not to exceed said predetermined maximal curvature level, ascertaining pre-operatively that said first trajectory and said at least one new trajectory are suitable trajectories for said insertion procedure.