Details
| Original language | English |
|---|---|
| Pages (from-to) | 335-344 |
| Number of pages | 10 |
| Journal | International journal of computer assisted radiology and surgery |
| Volume | 14 |
| Issue number | 2 |
| Early online date | 27 Nov 2018 |
| Publication status | Published - 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.
Keywords
- Concentric tube robot, Minimally invasive surgery, Neurosurgery, Planning, Robotic-surgery
ASJC Scopus subject areas
- Medicine(all)
- Surgery
- Engineering(all)
- Biomedical Engineering
- Medicine(all)
- Radiology Nuclear Medicine and imaging
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Medicine(all)
- Health Informatics
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
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In: International journal of computer assisted radiology and surgery, Vol. 14, No. 2, 01.02.2019, p. 335-344.
Research output: Contribution to journal › Article › Research › 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 -