Computer-assisted planning for a concentric tube robotic system in neurosurgery

authored by
Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs
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.

Organisation(s)
Institute of Continuum Mechanics
External Organisation(s)
International Neuroscience Institute (INI)
Type
Article
Journal
International journal of computer assisted radiology and surgery
Volume
14
Pages
335-344
No. of pages
10
ISSN
1861-6410
Publication date
01.02.2019
Publication status
Published
Peer reviewed
Yes
ASJC Scopus subject areas
Surgery, Biomedical Engineering, Radiology Nuclear Medicine and imaging, Computer Vision and Pattern Recognition, Health Informatics, Computer Science Applications, Computer Graphics and Computer-Aided Design
Electronic version(s)
https://doi.org/10.1007/s11548-018-1890-8 (Access: Closed)
 

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