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3D path planning for flexible needle steering in neurosurgery


Hong, Ayoung; Boehler, Quentin; Moser, Roman; Zemmar, Ajmal; Stieglitz, Lennart; Nelson, Bradley J (2019). 3D path planning for flexible needle steering in neurosurgery. The International Journal of Medical Robotics + Computer Assisted Surgery, 15(4):e1998.

Abstract

Background: We propose a 3D path planning method to steer flexible needles along curved paths in the context of Deep Brain Stimulation (DBS) procedures.
Methods: Our approach is based on a rapidly‐exploring random tree strategy and it takes into account constraints coming from anatomical obstacles and physical constraints dictated by flexible needle kinematics. The strategy is evaluated in simulation on a realistic 3D CAD model of the brain.
Results: The subthalamic nucleus (STN) and the fornix can be reached along several curved paths from various entry points. As compared to the usual straight line path, these curved paths avoid tissue damage to important neural structures while allowing for a much greater selection of entry points.
Conclusions: This path planning method offers alternative curved paths to reach DBS targets with flexible needles. The method potentially leads to safer paths and additional entry points capable of reaching the desired stimulation targets.

Abstract

Background: We propose a 3D path planning method to steer flexible needles along curved paths in the context of Deep Brain Stimulation (DBS) procedures.
Methods: Our approach is based on a rapidly‐exploring random tree strategy and it takes into account constraints coming from anatomical obstacles and physical constraints dictated by flexible needle kinematics. The strategy is evaluated in simulation on a realistic 3D CAD model of the brain.
Results: The subthalamic nucleus (STN) and the fornix can be reached along several curved paths from various entry points. As compared to the usual straight line path, these curved paths avoid tissue damage to important neural structures while allowing for a much greater selection of entry points.
Conclusions: This path planning method offers alternative curved paths to reach DBS targets with flexible needles. The method potentially leads to safer paths and additional entry points capable of reaching the desired stimulation targets.

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:04 Faculty of Medicine > University Hospital Zurich > Clinic for Neurosurgery
Dewey Decimal Classification:610 Medicine & health
Uncontrolled Keywords:surgical planning, deep brain stimulation, neurosurgery, flexible needle
Language:English
Date:1 August 2019
Deposited On:18 Apr 2019 07:55
Last Modified:05 Apr 2020 00:00
Publisher:Wiley-Blackwell Publishing, Inc.
ISSN:1478-5951
Additional Information:This is the peer reviewed version of the following article: The International Journal of Medical Robotics + Computer Assisted Surgery, which has been published in final form at https://doi.org/10.1002/rcs.1998. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions. (http://www.wileyauthors.com/self-archiving)
OA Status:Green
Publisher DOI:https://doi.org/10.1002/rcs.1998
PubMed ID:30945791

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