Systems and methods for estimating the movement of a target using a universal deformation model for anatomic tissue

A method comprising:

• obtaining three-dimensional (3D) samples from intraoperative data of a new patient;
• applying an inverse of a transformation to movement points of a deformation model in a coordinate system of the intraoperative data of the new patient to obtain a transformed deformation model;
• creating a deformed distance map and deformed targets based on the intraoperative data of the new patient and the transformed deformation model;
• computing registration between the 3D samples and the deformed distance map to obtain a deformed registration;
• computing registration between the 3D samples and an original distance map to obtain an original registration;
• determining that the original distance map or the deformed distance map fits the 3D samples the best;
• applying the original registration to original targets in response to determining that the original distance map fits the 3D samples the best;
• and
• applying the deformed registration to the deformed targets in response to determining that the deformed distance map fits the 3D samples the best.

A method comprising:

• receiving preoperative imaging data and deformation models;
• registering the preoperative imaging data with each other to obtain a transformation;
• obtaining samples from intraoperative data of a new patient;
• applying the transformation to the deformation models in a coordinate system of the preoperative imaging data of the new patient to obtain transformed deformation models;
• generating deformed distance maps and deformed targets based on the preoperative imaging data of the new patient and the transformed deformation models;
• determining a distance map from the deformed distance maps that fits the samples the best;
• and
• estimating movement of the target by applying the determined distance map to the deformed targets.