Computer-assisted planning for a concentric tube robotic system in neurosurgery
Computer-assisted planning for a concentric tube robotic system in neurosurgery
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DOI：
10.1007/s11548-018-1890-8
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发表时间：
2018-11
影响因子：
3
通讯作者：
J. Granna;A. Nabavi;J. Burgner-Kahrs
中科院分区：
文献类型：
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作者：
J. Granna;A. Nabavi;J. Burgner-Kahrs
目的脑内激光热疗是一种微创的肿瘤组织变性治疗方法。然而，不规则形状的脑肿瘤不能使用现有的商业系统进行治疗。因此，我们提出了一个新的概念，激光诱导热疗使用同心管机器人系统。规划过程是复杂的，包括在一个体积内的热激光烧蚀的最优分布以及同心管robot.MethodsWe的设计和配置参数优化，提出了一种新的计算机辅助规划过程，将问题分解为任务和机器人特定的规划，并使用多目标粒子群优化算法与可变长度。三个患者数据集的最佳消融分布前沿。它考虑了多个目标，并确定最佳的机器人参数为多个轨迹访问tumor volume.ConclusionsWe证明了我们的规划程序的有效性，使不规则形状的脑肿瘤的治疗。多个轨迹进一步增加了程序的适用性。
PurposeLaser-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.MethodsWe 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.ResultsThe 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.ConclusionsWe 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.