Details
| Originalsprache | Englisch |
|---|---|
| Seiten (von - bis) | 335-344 |
| Seitenumfang | 10 |
| Fachzeitschrift | International journal of computer assisted radiology and surgery |
| Jahrgang | 14 |
| Ausgabenummer | 2 |
| Frühes Online-Datum | 27 Nov. 2018 |
| Publikationsstatus | Veröffentlicht - 1 Feb. 2019 |
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.
ASJC Scopus Sachgebiete
- Medizin (insg.)
- Chirurgie
- Ingenieurwesen (insg.)
- Biomedizintechnik
- Medizin (insg.)
- Radiologie, Nuklearmedizin und Bildgebung
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
- Medizin (insg.)
- Gesundheitsinformatik
- Informatik (insg.)
- Angewandte Informatik
- Informatik (insg.)
- Computergrafik und computergestütztes Design
Zitieren
- Standard
- Harvard
- Apa
- Vancouver
- BibTex
- RIS
in: International journal of computer assisted radiology and surgery, Jahrgang 14, Nr. 2, 01.02.2019, S. 335-344.
Publikation: Beitrag in Fachzeitschrift › Artikel › Forschung › Peer-Review
}
TY - JOUR
T1 - Computer-assisted planning for a concentric tube robotic system in neurosurgery
AU - Granna, Josephine
AU - Nabavi, Arya
AU - Burgner-Kahrs, Jessica
N1 - Funding Information: Funding This research was supported in parts by the International Neu-robionics Foundation and by the German Research Foundation under Award No. BU-2935/1-1.
PY - 2019/2/1
Y1 - 2019/2/1
N2 - 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.
AB - 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.
KW - Concentric tube robot
KW - Minimally invasive surgery
KW - Neurosurgery
KW - Planning
KW - Robotic-surgery
UR - http://www.scopus.com/inward/record.url?scp=85057554866&partnerID=8YFLogxK
U2 - 10.1007/s11548-018-1890-8
DO - 10.1007/s11548-018-1890-8
M3 - Article
C2 - 30478533
AN - SCOPUS:85057554866
VL - 14
SP - 335
EP - 344
JO - International journal of computer assisted radiology and surgery
JF - International journal of computer assisted radiology and surgery
SN - 1861-6410
IS - 2
ER -