The Adaptive Hermite Fractal Tree (AHFT): a novel surgical 3D path planning approach with curvature and heading constraints

International Journal of Computer Assisted Radiology and Surgery
Marlene PinziFerdinando Rodriguez y Baena

Abstract

In the context of minimally invasive neurosurgery, steerable needles such as the one developed within the Horizon2020-funded EDEN2020 project (Frasson et al. in Proc Inst Mech Eng Part H J Eng Med 224(6):775-88, 2010. https://doi.org/10.1243/09544119JEIM663 ; Secoli and y Baena in IEEE international conference on robotics and automation, 2013) aspire to address the clinical challenge of better treatment for cancer patients. The direct, precise infusion of drugs in the proximity of a tumor has been shown to enhance its effectiveness and diffusion in the surrounding tissue (Vogelbaum and Aghi in Neuro-Oncology 17(suppl 2):ii3-ii8, 2015. https://doi.org/10.1093/neuonc/nou354 ). However, planning for an appropriate insertion trajectory for needles such as the one proposed by EDEN2020 is challenging due to factors like kinematic constraints, the presence of complex anatomical structures such as brain vessels, and constraints on the required start and target poses. We propose a new parallelizable three-dimensional (3D) path planning approach called Adaptive Hermite Fractal Tree (AHFT), which is able to generate 3D obstacle-free trajectories that satisfy curvature constraints given a specified start and target pose. The AHFT combines ...Continue Reading

References

Jan 1, 1982·Child Psychiatry and Human Development·D WesnerK Darian
Jul 9, 2010·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·L FrassonF Rodriguez y Baena
Jan 1, 2009·The International Journal of Robotics Research·Vincent DuindamKen Goldberg
Jan 1, 2010·Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics·Sachin Patil, Ron Alterovitz
Nov 30, 2012·IEEE Transactions on Bio-medical Engineering·Seong Young Ko, Ferdinando Rodriguez y Baena
Mar 10, 2015·Neuro-oncology·Michael A Vogelbaum, Manish K Aghi
Jun 9, 2016·Interface Focus·Alexander LeibingerFerdinando Rodriguez Y Baena
Dec 24, 2017·Journal of Controlled Release : Official Journal of the Controlled Release Society·Wenbo Zhan, Chi-Hwa Wang
Mar 5, 2018·International Journal of Computer Assisted Radiology and Surgery·Johannes FauserAnirban Mukhopadhyay

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Citations

Mar 12, 2021·International Journal of Computer Assisted Radiology and Surgery·Zhen LiElena De Momi

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Software Mentioned

MATLAB
AFT
AHFT

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