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.
Type de document :
Article dans une revue
Computerized Medical Imaging and Graphics, Elsevier, 2015, 47, 〈10.1016/j.compmedimag.2015.10.002〉
Liste complète des métadonnées

Littérature citée [43 références]  Voir  Masquer  Télécharger


https://hal.inria.fr/hal-01242842
Contributeur : Nazim Haouchine <>
Soumis le : lundi 14 décembre 2015 - 10:53:06
Dernière modification le : mardi 15 décembre 2015 - 01:06:38
Document(s) archivé(s) le : samedi 29 avril 2017 - 12:40:35

Fichiers

prop_hamze.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Noura Hamzé, Igor Peterlík, Stéphane Cotin, Caroline Essert. Preoperative trajectory planning for percutaneous procedures in deformable environments. Computerized Medical Imaging and Graphics, Elsevier, 2015, 47, 〈10.1016/j.compmedimag.2015.10.002〉. 〈hal-01242842〉

Partager

Métriques

Consultations de
la notice

184

Téléchargements du document

197