Patent ID: 8165660
Filing Date: 2012-04-24
Classification: A61B,A61N

Abstract:
1. A method for planning a percutaneous procedure for use in a system comprising an imaging system having a movable arm, an x-ray source and an x-ray detector mounted on the arm and a display and a system controller connected to and in communication with the imaging system and display, comprising: providing a three-dimensional image data set of a patient tissue region; obtaining an x-ray image of the patient tissue region using the x-ray source and the x-ray detector; co-registering the three-dimensional image data set to the x-ray image acquired using the x-ray source and the x-ray detector; obtaining a planned instrument trajectory within the co-registered three-dimensional image data set and x-ray image based on target point data representative of a target object within the patient tissue region and a skin entry point data representative of a skin entry point; and selecting by the system one of a plurality of instrument guidance procedures for aligning an instrument along the planned instrument trajectory in response to the planned instrument trajectory and a position of the movable arm; wherein the plurality of instrument guidance procedures comprises a laser guided procedure, an x-ray guided procedure, and a procedure that replans the instrument trajectory.