title: Preoperative trajectory planning for percutaneous procedures in deformable environments.
abstract: In image-guided percutaneous interventions, a precise planning of the needle path is a key factor to a successful intervention. In this paper we propose a novel method for computing a patient-specific optimal path for such interventions, accounting for both the deformation of the needle and soft tissues due to the insertion of the needle in the body. To achieve this objective, we propose an optimization method for estimating preoperatively a curved trajectory allowing to reach a target even in the case of tissue motion and needle bending. Needle insertions are simulated and regarded as evaluations of the objective function by the iterative planning process. In order to test the planning algorithm, it is coupled with a fast needle insertion simulation involving a flexible needle model and soft tissue finite element modeling, and experimented on the use-case of thermal ablation of liver tumors. Our algorithm has been successfully tested on twelve datasets of patient-specific geometries. Fast convergence to the actual optimal solution has been shown. This method is designed to be adapted to a wide range of percutaneous interventions.
authors.affiliation: Université de Strasbourg - ICube, 300 boulevard S. Brant, 67412 Illkirch, France; Institut Hospitalo-Universitaire, 1 Place de l'Hôpital, 67000 Strasbourg, France. Electronic address: n.hamze@unistra.fr.
authors.forename: Noura
authors.initials: N
authors.lastname: Hamzé
authors.affiliation: Institute of Computer Science, Masaryk University, Czech Republic; Institut Hospitalo-Universitaire, 1 Place de l'Hôpital, 67000 Strasbourg, France. Electronic address: peterlik@ics.muni.cz.
authors.forename: Igor
authors.initials: I
authors.lastname: Peterlík
authors.affiliation: Inria, 1 Place de l'Hôpital, 67000 Strasbourg, France; Institut Hospitalo-Universitaire, 1 Place de l'Hôpital, 67000 Strasbourg, France. Electronic address: stephane.cotin@inria.fr.
authors.forename: Stéphane
authors.initials: S
authors.lastname: Cotin
authors.affiliation: Université de Strasbourg - ICube, 300 boulevard S. Brant, 67412 Illkirch, France; Institut Hospitalo-Universitaire, 1 Place de l'Hôpital, 67000 Strasbourg, France. Electronic address: essert@unistra.fr.
authors.forename: Caroline
authors.initials: C
authors.lastname: Essert
mesh_terms: D055011:Ablation Techniques; D000465:Algorithms; D003198:Computer Simulation; D006801:Humans; D021621:Imaging, Three-Dimensional; D008099:Liver / Q000503:physiopathology / Q000601:surgery; D008113:Liver Neoplasms / Q000601:surgery*; D008953:Models, Anatomic; D057234:Preoperative Period; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface
keywords: Biomechanics; Constraint solving; Cryoablation; Deformable models; Finite Element Method (FEM); Flexible needles; Interventional radiology; Optimization; Percutaneous procedures; Radiofrequency ablation; Trajectory planning