Systems, methods and computer readable storage media storing instructions for image-guided interventions based on patient-specific models

A system for generating an integrated image of a prostate of a patient, comprising:

• an ultrasound system including an ultrasound probe, an ultrasound stepper configured to hold and move the ultrasound probe and an image acquisition device configured to acquire 2D and 3D TRUS images;
• and
• a processor and a memory, wherein the processor is configured to:
• acquire a reference set of one or more Transrectal Ultrasound (“TRUS”) images of the patient at a reference probe position using an ultrasound probe;
• cause the ultrasound probe to move to a plurality of probe positions in a direction relative to the reference probe position and the patient;
• acquire a first set of one or more TRUS images at each of the plurality of probe positions of the patient using the ultrasound probe;
• generate strain data based on a comparison of the reference set of one or more TRUS images for the reference probe position and the first set of one or more TRUS images at each of the plurality of probe positions;
• and
• the strain data representing a comparison of a strain value of each voxel with respect to each of the plurality of probe positions;
• and
• determine a range of probe positions based on the strain data for placement of the ultrasound probe with respect to the patient for a second set of one or more TRUS images;
• the range of probe positions defining an area in which strain values are linear;
• the range of probe positions including a first probe position, a second probe position, and one or more probe positions between the first probe position and the second probe position;
• acquire the second set of TRUS images of the patient at each probe position of the range using the ultrasound probe;
• generate a patient specific biomechanical model based on the second set of one or more TRUS images;
• and
• integrate the patient specific biomechanical model, the second set of one or more TRUS images and MR images to generate an integrated image of the prostate.

A non-transitory computer-readable medium storing instructions for generating an integrated image of a prostate of a patient, the instructions comprising:

• acquiring a reference set of one or more Transrectal Ultrasound (“TRUS”) images of the patient at a reference probe position using an ultrasound probe;
• causing the ultrasound probe to move to a plurality of probe positions in a direction relative to the reference probe position and the patient;
• acquiring a first set of one or more TRUS images of the patient at each of the plurality of probe positions using the ultrasound probe;
• generating strain data based on a comparison of the reference set of one or more TRUS images for the reference probe position and the first set of one or more TRUS images at each of the plurality of probe positions;
• and
• the strain data representing a comparison of a strain value of each voxel with respect to each of the plurality of probe positions;
• and
• determining a range of probe positions for placement based on the strain data for the placement of the ultrasound probe with respect to the patient for a second set of one or more TRUS images;
• the range of probe positions defines an area in which strain values are linear;
• the range of probe positions including a first probe position, a second probe position, and one or more additional probe positions between the first probe position and the second probe position;
• acquiring the second set of one or more TRUS images of the patient at each probe position of the range using the ultrasound probe;
• generating a patient specific biomechanical model based on the second set of one or more TRUS images;
• and
• integrating the patient specific biomechanical model, the second set of one or more TRUS images and MR-images to generate an integrated image of the prostate.