Patent ID: 9387047
Filing Date: 2016-07-12
CPC Classification: A61B,G06T

Claim Text:
1. A cannula configuration system, comprising: an image discretization module operable to generate a discretized configuration space of a three dimensional image of an anatomical region, the discretized configuration space including a free-space for navigation of a nested cannula within the anatomical region and a forbidden space unreachable by the nested cannula; a target selection module operable to select a tube target location within the free-space, the tube target location being derived from a computation of contiguous tool trajectory nodes of the discretized configuration space representative of a trajectory of a surgical tool extending through the nested cannula from the tube target location within the free-space to a tool target location within the forbidden space, a cannula pathway module operable to generate a series of concatenated path shapes between the tube entry location and the tube target location to form a cannula configuration pathway within the free-space, the cannula configuration pathway serving as a specification for configuring and dimensioning the nested cannula to reach the tube target location from the tube entry location.