Digital image analysis for device navigation in tissue

A surgical robot for navigating a surgical instrument through a vasculature of a patient, comprising:

• a non-transitory computer-readable storage medium storing computer instructions, which when executed by one or more computer processors cause the surgical robot to:
• obtain one or more images of an anatomy of the patient using one or more imaging devices;
• identify one or more anatomical structures of the anatomy by performing digital image analysis on the one or more images, the one or more anatomical structures comprising at least one or more blood vessels of the patient;
• generate a mapping of the vasculature in a plurality of dimensions based on the one or more anatomical structures;
• determine, by a machine learning model using the mapping, an anomalous condition within the vasculature, the machine learning model trained, using training sets from historical surgical procedures;
• determine a treatment site based on a location of the anomalous condition;
• determine at least one incision site for inserting the surgical instrument into the vasculature based on the treatment site;
• generate a plurality of intravascular routes for navigating the surgical instrument from the at least one incision site to the treatment site through the vasculature;
• virtually simulate navigation of the surgical instrument through the vasculature by simulating the surgical instrument positioned within and moving along the at least one or more blood vessels of the vasculature to determine one or more metrics for each route of the plurality of intravascular routes based on an interoperative goal and/or a post-operative goal;
• select a route from the plurality of intravascular routes for navigating the surgical instrument based on the one or more metrics;
• after selecting the intravascular route, insert, by the surgical robot, the surgical instrument into the anatomy at the at least one incision site;
• and
• navigate, by the surgical robot, the surgical instrument from the at least one incision site to the treatment site along the intravascular route to treat the anomalous condition.

A system for navigating a surgical instrument through a vasculature of a patient using a surgical robot, comprising:

• one or more computer processors;
• and
• a non-transitory computer-readable storage medium storing computer instructions, which when executed by the one or more computer processors cause the system to:
• obtain one or more images of an anatomy of the patient using one or more imaging devices;
• identify one or more anatomical structures of the anatomy by performing digital image analysis on the one or more images, the one or more anatomical structures comprising at least one or more blood vessels of the patient;
• generate a mapping of the vasculature in a plurality of dimensions based on the one or more anatomical structures;
• determine, by a machine learning model using the mapping, an anomalous condition within the vasculature, the machine learning model trained, using training sets from historical surgical procedures;
• determine a treatment site based on a location of the anomalous condition;
• determining at least one incision site for inserting the surgical instrument into the vasculature based on the treatment site:
• generate a plurality of intravascular routes for navigating the surgical instrument from the at least one incision site to the treatment site through the vasculature;
• virtually simulate navigation of the surgical instrument through the vasculature by simulating the surgical instrument positioned within and moving along the at least one or more blood vessels of the vasculature to determine one or more metrics for each route of the plurality of intravascular routes based on an interoperative goal and/or a post-operative goal;
• select a route from the plurality of intravascular routes for navigating the surgical instrument based on the one or more metrics;
• after selecting the intravascular route, insert, by the surgical robot, the surgical instrument into the anatomy at the at least one incision site;
• and
• navigate, by the surgical robot, the surgical instrument from the at least one incision site to the treatment site along the intravascular route to treat the anomalous condition.