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International Journal of Computer Assisted Radiology and Surgery

Published in:

01-02-2019 | Original Article

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

Authors: Josephine Granna, Arya Nabavi, Jessica Burgner-Kahrs

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 2/2019

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.

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Title: Computer-assisted planning for a concentric tube robotic system in neurosurgery
Authors: Josephine Granna
Arya Nabavi
Jessica Burgner-Kahrs
Publication date: 01-02-2019
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 2/2019
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1890-8

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

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

Abstract

Purpose

Methods

Results

Conclusions

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusions

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