Atlas-based trajectory planning

A non-transitory computer readable medium comprising instructions which, when executed by a computer, causes the computer to

• acquire medical image data representing the medical image,
• acquire atlas data representing an atlas comprising a representation of an anatomical structure:
• wherein a first area of the atlas data comprises a representation of a straight trajectory and at least one second area of the atlas data does not comprise any part of the straight trajectory,
• calculate a transformation of the atlas data onto the medical image data, comprising a restricted transformation of the first area,
• wherein the restricted transformation applies a geometric constraint to the first area that preserves the straight shape of the straight trajectory in the atlas data, and an unrestricted transformation of the at least one second area, and
• apply the straight trajectory of the transformed atlas data to the medical image data.

A system comprising at least one processor and associated memory, the memory storing instructions that when executed by the at least one processor cause the at least one processor to:

• acquire medical image data representing the medical image,
• acquire atlas data representing an atlas comprising a representation of an anatomical structure, wherein a first area of the atlas data comprises a representation of a straight trajectory and at least one second area of the atlas data does not comprise any part of the straight trajectory,
• calculate a transformation of the atlas data onto the medical image data, comprising a restricted transformation of the first area, wherein the restricted transformation applies a geometric constraint to the first area that preserves the straight shape of the straight trajectory in the atlas data, and an unrestricted transformation of the at least one second area, and
• apply the straight trajectory of the transformed atlas data to the medical image data.