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

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

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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Funding

This research was supported in parts by the International Neurobionics Foundation and by the German Research Foundation under Award No. BU-2935/1-1.

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Authors and Affiliations

  1. Laboratory for Continuum Robotics, Leibniz Universität Hannover, Hanover, Germany

    Josephine Granna & Jessica Burgner-Kahrs

  2. International Neuroscience Institute, Image Guided Neurosurgical Therapy, Hanover, Germany

    Arya Nabavi

Authors
  1. Josephine Granna
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  2. Arya Nabavi
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  3. Jessica Burgner-Kahrs
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Corresponding author

Correspondence to Josephine Granna.

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The authors declare that they have no conflict of interest.

Ethical approval

This article does not contain any studies with human participants or animals performed by any of the authors.

Informed consent

Informed consent was obtained from all individual participants included in the study.

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Cite this article

Granna, J., Nabavi, A. & Burgner-Kahrs, J. Computer-assisted planning for a concentric tube robotic system in neurosurgery. Int J CARS 14, 335–344 (2019). https://doi.org/10.1007/s11548-018-1890-8

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  • DOI: https://doi.org/10.1007/s11548-018-1890-8

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