Trajectory planning for minimally invasive therapy delivery using local mesh geometry

A system comprising:

• a graphical user interface (GUI);
• one or more processing resources;
• and
• non-transitory computer-readable memory, coupled to the one or more processing resources, having stored therein instructions that when executed by the one or more processing resources cause the system to perform a method comprising:
• adapting a shape-constrained deformable brain model to a head scan of a patient to generate a patient-specific 3D mesh representation of the patient's brain;
• selecting a target 3D mesh brain region from the patient-specific 3D mesh representation of the patient's brain;
• defining a local coordinate system for the target 3D mesh brain region by performing principal component analysis (PCA) on mesh vertices of the target 3D mesh brain region;
• defining 3D mesh sub-regions for the target 3D mesh brain region utilizing the local coordinate system such that at least one of:
• the 3D mesh sub-regions have substantially equal length along a long axis of the target 3D mesh brain region, or
• the 3D mesh sub-regions have substantially equal volume;
• defining one or more target points within each 3D mesh sub-region of the target 3D mesh brain region using the local coordinate system;
• determining a trajectory for the target points;
• determining one or more entry points for the trajectory;
• generating a graphical representation of the trajectory and the one or more entry points;
• and
• displaying, on the GUI, the graphical representation of the trajectory and the one or more entry points.

A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform a method comprising:

• adapting a shape-constrained deformable brain model to a head scan of a patient's brain to generate a patient-specific 3D mesh representation of the patient's brain;
• selecting a target 3D mesh brain region from the patient-specific 3D mesh representation of the patient's brain;
• defining a local coordinate system for the target 3D mesh brain region by performing principal component analysis (PCA) on mesh vertices of the target 3D mesh brain region;
• defining 3D mesh sub-regions for the target 3D mesh brain region utilizing the local coordinate system such that at least one of:
• the 3D mesh sub-regions have substantially equal length along a long axis of the target 3D mesh brain region, or
• the 3D mesh sub-regions have substantially equal volume;
• defining one or more target points within the target 3D mesh brain region using the local coordinate system;
• determining a trajectory for the one or more target points;
• determining one or more entry points for the trajectory;
• generating a graphical representation of the trajectory and the one or more entry points;
• and
• displaying, on a graphical user interface (GUI), the graphical representation of the trajectory and the one or more entry points.