System and method for estimating and visualizing trajectories of robotically controlled interventional device

A method of estimating and visualizing trajectories of an interventional device guided by a robot and configured for insertion into an anatomical structure of a subject, the method comprising:

• performing training of a neural network model with regard to predicting trajectories of the interventional device based on training data from previous images of the interventional device and corresponding control inputs to the robot for guiding movement of the interventional device as shown in the previous images;
• receiving image data from at least one image of the anatomical structure, the at least one image showing a current position of the interventional device with respect to the anatomical structure;
• receiving untriggered control inputs for controlling the robot to guide future movement of the interventional device from the current position;
• predicting a trajectory of the interventional device in the at least one image by applying the image data and the untriggered control inputs to the trained neural network model;
• displaying the predicted trajectory of the interventional device overlaid on the at least one image of the anatomical structure;
• triggering the untriggered control inputs to control the robot to guide movement of the interventional device according to the triggered control inputs when the predicted trajectory is determined to be acceptable;
• and
• receiving new untriggered control inputs for controlling the robot to alternatively guide the future movement of the interventional device from the current position when the predicted trajectory is determined to be not acceptable.