Patent Document ID: 9314305
Application ID: 13610338
Patent Status: 1

Claim One:
1. A method for carrying out an MRI-guided surgical procedure, comprising; obtaining MRI image data of a patient; electronically segmenting the MRI image data-while a patient is in a high-magnetic field of an MRI scanner predefined physical characteristics of the at least one surgical tool; electronically calculating user adjustments to move at least one of a pitch, roll X or Y actuator to adjust a trajectory of a trajectory guide to provide a desired intrabody trajectory to a target site; displaying the calculated user adjustments to at least one display associated with an MRI suite to thereby provide a user with adjustment data regarding actuator adjustment for at least one of a pitch, roll, X or Y actuator to achieve the desired intrabody trajectory thereby facilitating an MRI-guided surgical procedure; providing a User Interface on at least one display that defines workflow progression for an MRI-guided surgical procedure and allows a user to select steps in the workflow progression; and generating visualizations using the predefined physical characteristics of the at least one surgical tool and the segmented MRI image data of the patient in substantially real time during the surgical procedure for MRI-guided surgical navigation, wherein the MRI guided procedure is a deep brain procedure, wherein a trajectory guide is attached to a skull of the patient and is one of the at least one tool, and the MRI image data is from brain MRI images, wherein the at least one surgical tool also comprises a flexible grid attached to a skull of the patient, and wherein the method further comprises electronically deforming an electronic model of the grid to fit a head surface and interpolating grid cells of the grid to find associated vertices.