Method for generating insertion trajectory of surgical needle

Abstract

The present disclosure relates to a method for generating an insertion trajectory of a surgical needle from an entry point to a target, including the steps of: preparing a medical image including the target and an anatomical structure; and extracting an insertion trajectory in consideration of at least one of a degree of invasion into the anatomical structure through the insertion trajectory and a distance of the insertion trajectory. Further, the present disclosure relates to a method for generating an insertion trajectory of a medical device, and a robot for interventional procedures including needle insertion.

Dependencies are inferred from the claim text.