Methods and system for guided device insertion during medical imaging

A method for interventional imaging, comprising:

• determining a desired trajectory for insertion of a medical device within a subject based on images of the subject acquired prior to the insertion;
• acquiring real-time images of the subject during the insertion;
• displaying the desired trajectory for the insertion on the real-time images of the subject during the insertion;
• estimating a live trajectory of the medical device during the insertion in real-time based on the live images of the insertion, a geometric model, and a mechanical model, wherein the geometric model is based on an orientation of the medical device, wherein the orientation comprises both a position of a distal end of the medical device and an angle with respect to a reference, wherein the reference is the desired trajectory for the medical device that is separate from the live trajectory, and wherein the mechanical model is based on physical properties of the medical device and physical properties of a tissue the medical device is penetrating;
• displaying the live trajectory of the medical device on the real-time images of the subject;
• estimating an uncertainty in the live trajectory based on at least one of a shape of the live trajectory, a length of the medical device, a thickness of the medical device, a stiffness of the medical device, a procedure type of the interventional imaging, or a stiffness of anatomical features being penetrated by the medical device;
• and
• displaying a visual representation of the uncertainty on the real-time images of the subject.

An imaging system, comprising:

• a radiation source configured to project a beam of radiation toward a subject;
• a radiation detector configured to receive the beam of radiation projected by the radiation source and impinged by the subject;
• a display;
• and
• a processor operatively coupled to a memory storing instructions that, when executed, cause the processor to:
• acquire, via the radiation detector, live images of a medical device penetrating the subject;
• analyze the live images in real-time to identify the medical device and estimate a live trajectory of the medical device, the live trajectory of the medical device further estimated based on a geometric model and a mechanical model, wherein the geometric model is based on an orientation of the medical device, wherein the mechanical model is based on physical properties of the medical device and physical properties of a tissue penetrated by the medical device, and wherein estimating the live trajectory of the medical device comprises extending a predetermined distance beyond a distal end, the predetermined distance selected according to a selected procedure to be consistent in scale with a magnification and acquired angle of the live images;
• and
• display, via the display, the live trajectory on the live images in real-time, the live trajectory being a non-linear curved pathway connecting the medical device and a target region within the subject.

A method for an interventional imaging procedure, comprising:

• identifying a medical device during insertion of the medical device within a subject based on live images of the insertion;
• extrapolating a trajectory of the medical device during the insertion in real-time based on the live images of the insertion, a geometric model, and a mechanical model, wherein the geometric model is based on an orientation of the medical device, and wherein the mechanical model is based on physical properties of the medical device and physical properties of a tissue the medical device is penetrating;
• and
• displaying the extrapolated trajectory of the medical device on the live images of the insertion, wherein the orientation comprises both a position of a distal end of the medical device and an angle with respect to a reference, and wherein the reference is a determined pathway for the medical device that is separate from the extrapolated trajectory.