Fauser, Johannes ; Stenin, Igor ; Kristin, Julia ; Klenzner, Thomas ; Schipper, Jörg ; Mukhopadhyay, Anirban (2019)
Optimizing Clearance of Bézier Spline Trajectories for Minimally-Invasive Surgery.
MICCAI'19 - Medical Image Computing and Computer Assisted Intervention. Shenzhen, China (13.10.2019-17.10.2019)
doi: 10.1007/978-3-030-32254-0_3
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Preoperative planning of nonlinear trajectories is a key element in minimally-invasive surgery. Interpolating between start and goal of an intervention while circumnavigating risk structures provides the necessary feasible solutions for such procedure. While recent research shows that Rapidly-exploring Random Trees (RRT) on B´ezier Splines efficiently solve this task, access paths computed by this method do not provide optimal clearance to surrounding anatomy. We propose an approach based on sequential convex optimization that rearranges B´ezier Splines computed by an RRT-connect, thereby achieving locally optimal clearance to risk structures. Experiments on real CT data of patients demonstrate the applicability of our approach on two scenarios: catheter insertion through the aorta and temporal bone surgery. We compare distances to risk structures along computed trajectories with the state of the art solution and show that our method results in clinically safer paths.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2019 |
| Autor(en): | Fauser, Johannes ; Stenin, Igor ; Kristin, Julia ; Klenzner, Thomas ; Schipper, Jörg ; Mukhopadhyay, Anirban |
| Art des Eintrags: | Bibliographie |
| Titel: | Optimizing Clearance of Bézier Spline Trajectories for Minimally-Invasive Surgery |
| Sprache: | Englisch |
| Publikationsjahr: | 2019 |
| Veranstaltungstitel: | MICCAI'19 - Medical Image Computing and Computer Assisted Intervention |
| Veranstaltungsort: | Shenzhen, China |
| Veranstaltungsdatum: | 13.10.2019-17.10.2019 |
| DOI: | 10.1007/978-3-030-32254-0_3 |
| URL / URN: | https://doi.org/10.1007/978-3-030-32254-0_3 |
| Kurzbeschreibung (Abstract): | Preoperative planning of nonlinear trajectories is a key element in minimally-invasive surgery. Interpolating between start and goal of an intervention while circumnavigating risk structures provides the necessary feasible solutions for such procedure. While recent research shows that Rapidly-exploring Random Trees (RRT) on B´ezier Splines efficiently solve this task, access paths computed by this method do not provide optimal clearance to surrounding anatomy. We propose an approach based on sequential convex optimization that rearranges B´ezier Splines computed by an RRT-connect, thereby achieving locally optimal clearance to risk structures. Experiments on real CT data of patients demonstrate the applicability of our approach on two scenarios: catheter insertion through the aorta and temporal bone surgery. We compare distances to risk structures along computed trajectories with the state of the art solution and show that our method results in clinically safer paths. |
| Freie Schlagworte: | Optimization Surgical planning Preoperative planning Path planning |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Graphisch-Interaktive Systeme |
| Hinterlegungsdatum: | 09 Apr 2020 11:05 |
| Letzte Änderung: | 09 Apr 2020 11:05 |
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