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)
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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)
-
Details in the research portal "Research@Leibniz University"