Optimizing checkpoint locations along an insertion trajectory of a medical instrument using data analysis
AssigneeXact Robotics Ltd.
InventorsMoran Shochat, Ido Roth, Oz Moskovich, Danna Perlman, Gal Atarot
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Abstract
Provided are computer-implemented methods and systems for generating and/or utilizing model(s) for determining optimized checkpoint locations along a trajectory in an image-guided procedure for inserting a medical instrument to a target in a body of a patient based, inter alia, on data related to an automated medical device and/or to operation thereof.
Claims20
A computer-implemented method of generating a checkpoint locations model for optimizing locations of a plurality of checkpoints along a non-linear trajectory in an image-guided procedure for inserting a medical instrument toward a target in a body of a patient, using an automated medical device, the method comprising:
- collecting one or more datasets, at least one of the one or more datasets being related to an automated medical device configured to steer a medical instrument toward a target in the body of a patient and/or to operation thereof;
- creating a training set comprising at least a portion of the one or more datasets and one or more target parameters relating to checkpoint locations along a non-linear trajectory in one or more previous image-guided procedures for automatically inserting a medical instrument toward a target in a body of a patient;
- training the checkpoint locations model to predict checkpoint locations using the training set;
- calculating a checkpoint locations prediction error;
- and
- optimizing the checkpoint locations model using the calculated checkpoint locations prediction error, wherein the checkpoint locations model dynamically updates predicted checkpoint locations during execution of the image-guided procedure based on real-time feedback received from the automated medical device and procedural imaging data;
- and
- adjusting trajectory parameters of the automated medical device in real time according to the dynamically updated checkpoint locations.
A system for utilizing a checkpoint locations model for optimizing locations of checkpoints along a trajectory in an image-guided procedure for inserting a medical instrument to a target in a body of a patient, the system comprising:
- an inference module comprising:
- a memory configured to store the one or more datasets;
- and
- one or more processors configured to:
- collect one or more datasets, at least one of the one or more datasets being related to an automated medical device configured to steer a medical instrument toward a target in the body of a patient and/or to operation thereof;
- create a training set comprising at least a portion of the one or more datasets and one or more target parameters relating to checkpoint locations along a trajectory in one or more previous image-guided procedures for inserting a medical instrument toward a target in a body of a patient;
- train the checkpoint locations model to predict checkpoint locations using the training set;
- calculate a checkpoint locations prediction error, and
- optimize the checkpoint locations model using the calculated checkpoint locations prediction error, wherein the checkpoint locations model is configured to dynamically update predicted checkpoint locations during execution of the image-guided procedure based on real-time feedback received from the automated medical device and procedural imaging data;
- and
- adjust trajectory parameters of the automated medical device in real time according to the dynamically updated checkpoint locations.
Dependencies are inferred from the claim text.