title: Computer-assisted needle positioning for liver tumour radiofrequency ablation (RFA).
abstract: BACKGROUND
  The RFA procedures rely on a precise positioning of the radiofrequency electrode and the complete destruction of the tumour. This article presents new optimization techniques to improve such surgical procedures.
  
  
  METHODS
  A method to optimize the coverage of the tumour by successive RFA destructions and an in vitro procedure with simulated tumours have been developed.
  
  
  RESULTS
  The guidance system and optimization coverage have been tested on 3D simulation and by the surgeon in vitro on a heifer liver. In this context, the RFA electrode is optically tracked and guided.
  
  
  CONCLUSIONS
  The optimization method provides needle placements that ensure a complete theoretical ablation of the tumour, and the guidance system helps the surgeon to reach each position of destruction.
authors.affiliation: Laboratory of Image Synthesis and Analysis, Université Libre de Bruxelles, 50 Avenue F. Roosevelt, Brussels, Belgium. lmundele@ulb.ac.be
authors.forename: Laurent
authors.initials: L
authors.lastname: Mundeleer
authors.forename: David
authors.initials: D
authors.lastname: Wikler
authors.forename: Thierry
authors.initials: T
authors.lastname: Leloup
authors.forename: Valério
authors.initials: V
authors.lastname: Lucidi
authors.forename: Vincent
authors.initials: V
authors.lastname: Donckier
authors.forename: Nadine
authors.initials: N
authors.lastname: Warzée
mesh_terms: D017115:Catheter Ablation / Q000295:instrumentation / Q000379:methods*; D006498:Hepatectomy / Q000379:methods; D006801:Humans; D008113:Liver Neoplasms / Q000000981:diagnostic imaging* / Q000601:surgery*; D009339:Needles; D019919:Prosthesis Implantation / Q000379:methods; D012371:Robotics / Q000379:methods*; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014057:Tomography, X-Ray Computed / Q000379:methods*