System for real-time organ segmentation and tool navigation during tool insertion in interventional therapy and method of opeperation thereof

A method for rendering a superposed image, the method performed by at least one controller of the interventional therapy system and comprising acts of:

• obtaining a reference image dataset comprising a plurality of image slices to form a three-dimensional image of an object-of-interest (OOI);
• automatically defining and highlighting by the at least one controller without user intervention restricted areas (RAs) within the reference image dataset where the at least one catheter should not travel;
• determining location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset;
• determining at least one of a position and an orientation of the distal end of the at least one catheter within the OOI;
• determining a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints;
• and
• superposisng the location constraints on an image slice of the plurality of image slices.

A non-transitory computer readable medium comprising computer instructions which, when executed by at least one processor, configure the at least one processor to control an interventional therapy system, having an ultrasound probe and at least one catheter having a tracking element situated at one end thereof, to perform acts of:

• obtaining a reference image dataset comprising a plurality of image slices to form a three-dimensional image of an object-of-interest (OOI);
• automatically defining and highlighting by the at least one controller without user intervention restricted areas (RAs) within the reference image dataset where the at least one catheter should not travel;
• determining location constraints for the at least one catheter in accordance with at least one of planned catheter intersection points, a peripheral boundary of the OOI and the RAs defined in the reference dataset;
• determining at least one of a position and an orientation of the distal end of the at least one catheter within the OOI;
• and
• determining a planned trajectory for the at least one catheter in accordance with the determined at least one position and orientation for the at least one catheter and the location constraints.