TU Darmstadt / ULB / TUbiblio

Planning nonlinear access paths for temporal bone surgery

Fauser, Johannes and Sakas, Georgios and Mukhopadhyay, Anirban (2018):
Planning nonlinear access paths for temporal bone surgery.
In: International Journal of Computer Assisted Radiology and Surgery, pp. 637-646, 13, (5), ISSN 1861-6410,
DOI: 10.1007/s11548-018-1712-z,
[Online-Edition: https://doi.org/10.1007/s11548-018-1712-z],
[Article]

Abstract

Purpose: Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potentialminimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. Methods: We define a specific motion planning problem in SE(3) = R3 × SO(3) with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present k-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. Results: The benefits of k-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. Conclusion: With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

Item Type: Article
Erschienen: 2018
Creators: Fauser, Johannes and Sakas, Georgios and Mukhopadhyay, Anirban
Title: Planning nonlinear access paths for temporal bone surgery
Language: English
Abstract:

Purpose: Interventions at the otobasis operate in the narrow region of the temporal bone where several highly sensitive organs define obstacles with minimal clearance for surgical instruments. Nonlinear trajectories for potentialminimally invasive interventions can provide larger distances to risk structures and optimized orientations of surgical instruments, thus improving clinical outcomes when compared to existing linear approaches. In this paper, we present fast and accurate planning methods for such nonlinear access paths. Methods: We define a specific motion planning problem in SE(3) = R3 × SO(3) with notable constraints in computation time and goal pose that reflect the requirements of temporal bone surgery. We then present k-RRT-Connect: two suitable motion planners based on bidirectional Rapidly exploring Random Tree (RRT) to solve this problem efficiently. Results: The benefits of k-RRT-Connect are demonstrated on real CT data of patients. Their general performance is shown on a large set of realistic synthetic anatomies. We also show that these new algorithms outperform state-of-the-art methods based on circular arcs or Bézier-Splines when applied to this specific problem. Conclusion: With this work, we demonstrate that preoperative and intra-operative planning of nonlinear access paths is possible for minimally invasive surgeries at the otobasis.

Journal or Publication Title: International Journal of Computer Assisted Radiology and Surgery
Volume: 13
Number: 5
Uncontrolled Keywords: Minimally invasive surgery, Statistical shape models (SSM)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Interactive Graphics Systems
Date Deposited: 01 Jul 2019 08:39
DOI: 10.1007/s11548-018-1712-z
Official URL: https://doi.org/10.1007/s11548-018-1712-z
Export:
Suche nach Titel in: TUfind oder in Google

Optionen (nur für Redakteure)

View Item View Item