Planning movement trajectories of medical instruments into heterogeneous body structures

A computer implemented method for planning a position and/or a movement trajectory of a medical instrument in a heterogeneous body structure such that the instrument is delivered to a target region in the heterogeneous body structure, comprising:

• providing at least one of
• a) body structure data corresponding to mechanical properties of the heterogeneous body structure, wherein said mechanical properties influence a movement of the instrument through the heterogeneous body structure due to the mechanical interaction between the instrument and the heterogeneous body structure,
• b) instrument data concerning mechanical and/or geometric properties of the instrument, or
• c) movement data concerning mechanical properties that are intended to cause and/or describe a movement of the instrument through the heterogeneous body structure;
• and
• determining, using a processor, the position and/or movement trajectory of the instrument in the heterogeneous body structure to the target region or a probability that said position and/or movement trajectory to the target region will be achieved, wherein said determining is based on at least one of the movement data, the body structure data or the instrument data, further comprising calculating, at least for sections of the movement trajectory, a risk of the medical instrument deviating from the expected movement trajectory or a risk of the medical instrument deviating from a movement channel in which the medical instrument is moved, said calculating based on given tolerances of the at least one of the movement data, body structure data and/or instrument data.

A computer program embodied on a non-transitory computer readable medium for planning a position and/or a movement trajectory of a medical instrument in a heterogeneous body structure such that the instrument is delivered to a target region in the heterogeneous body structure, comprising:

• code that provides each of:
• a) body structure data corresponding to mechanical properties of the heterogeneous body structure, wherein said mechanical properties influence a movement of the instrument through the heterogeneous body structure due to the mechanical interaction between the instrument and the heterogeneous body structure;
• b) instrument data concerning mechanical and/or geometric properties of the instrument;
• and
• c) movement data concerning mechanical properties that are intended to cause and/or describe a movement of the instrument through the heterogeneous body structure;
• and
• code that determines the position and/or movement trajectory of the instrument in the heterogeneous body structure to the target region or a probability that said position and/or movement trajectory to the target region will be achieved, wherein said determining is based on the movement data, the body structure data and the instrument data.

A device for planning a position and/or a movement trajectory of a medical instrument in a heterogeneous body structure such that the instrument is delivered to a target region in the heterogeneous body structure, comprising:

• a processor and memory;
• and
• logic stored in the memory and executable by the processor, said logic including
• a) logic configured to provide the body structure data corresponding to mechanical properties of the heterogeneous body structure, wherein said mechanical properties influence a movement of the instrument through the heterogeneous body structure due to the mechanical interaction between the instrument and the heterogeneous body structure,
• b) logic configured to provide the instrument data concerning mechanical and/or geometric properties of the instrument, and
• c) logic configured to provide the movement data concerning mechanical properties that are intended to cause and/or describe a movement of the instrument through the heterogeneous body structure;
• and
• logic configured to determine the position and/or movement trajectory of the instrument in the heterogeneous body structure to the target region or a probability that said position and/or movement trajectory to the target region will be achieved, wherein said determining is based on the movement data, body structure data and instrument data.