Erschienen in:
27.11.2018 | Original Article
Computer-assisted planning for a concentric tube robotic system in neurosurgery
verfasst von:
Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs
Erschienen in:
International Journal of Computer Assisted Radiology and Surgery
|
Ausgabe 2/2019
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Abstract
Purpose
Laser-induced thermotherapy in the brain is a minimally invasive procedure to denature tumor tissue. However, irregularly shaped brain tumors cannot be treated using existing commercial systems. Thus, we present a new concept for laser-induced thermotherapy using a concentric tube robotic system. The planning procedure is complex and consists of the optimal distribution of thermal laser ablations within a volume as well as design and configuration parameter optimization of the concentric tube robot.
Methods
We propose a novel computer-assisted planning procedure that decomposes the problem into task- and robot-specific planning and uses a multi-objective particle swarm optimization algorithm with variable length.
Results
The algorithm determines a Pareto-front of optimal ablation distributions for three patient datasets. It considers multiple objectives and determines optimal robot parameters for multiple trajectories to access the tumor volume.
Conclusions
We prove the effectiveness of our planning procedure to enable the treatment of irregularly shaped brain tumors. Multiple trajectories further increase the applicability of the procedure.