Trajectory generation algorithms for local destruction methods in robotic surgery
Andrew Pershin, D. D. Klimov, Leonid S. Prokhorenko, Е. V. Grigorieva, Dmitry Astakhov, Yuri Poduraev, Dmitry Nikolayevich Panchenkov · Research Square · 2023
Abstract Background: According to current data, 90% of liver cancers are hepatocellular carcinoma (HCC) which remains a global health challenge. Radiofrequency ablation (RFA) is one of the most used ablative techniques that shows promising results with small HCC tumors. Aim: To improve the efficiency of RFA on large HCC tumors, it is proposed to carry out computer simulations to plan a robotic operation. Methods: Based on anonymized medical data, we developed a set of algorithms for planning robotic RFA electrode insertion. Results: Numerical and visual evaluations showed the possibility of achieving complete tumor coverage and constructing a trajectory with various restrictions (bones, vessels, etc.). Conclusions: The proposed set of algorithms allows automatic planning of sequential needle placement with multiple interdependent insertions for a predictable, minimally invasive procedure.