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Dynamic path planning for percutaneous procedures in the abdomen during free breathing

Danial Pour Arab 1 Sandrine Voros 2 Caroline Essert 1 
2 TIMC-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC - Translational Innovation in Medicine and Complexity / Recherche Translationnelle et Innovation en Médecine et Complexité - UMR 5525
Abstract : Percutaneous procedures are increasingly used for the treatment of tumors in abdominal structures. Most of the time, these procedures are planned based on static preoperative images, and do not take into account any motions, while breathing control is not always applicable. In this paper, we present a method to automatically adjust the planned path in real time according to the breathing. First, an estimation of the organs motions during breathing is performed during an observation phase. Then we propose an approach named Real Time Intelligent Trajectory (RTIT) that consists in finding the most appropriate moments to push the needle along the initially planned path, based on the motions and the distance to surrounding organs. We also propose a second approach called Real Time Straight Trajectory (RTST) that examines sixteen scenarios of needle insertion at constant speed, starting at eight different moments of the breathing cycle with two different speeds. We evaluated our methods on six 3D models of abdominal structures built using image datasets and a real-time simulation of breathing movements. We measured the deviation from the initial path, the target positioning error, and the distance of the actual path to risky structures. The path proposed by RTIT approach is compared to the best path proposed by RTST. We show that the RTIT approach is relevant and adapted to breathing movements. The modification of the path remains minimal while collisions with obstacles are avoided. This study on simulations constitutes a first step towards intelligent robotic insertion under real-time image guidance.
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Submitted on : Thursday, April 2, 2020 - 10:13:20 AM
Last modification on : Tuesday, September 27, 2022 - 4:32:00 AM


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  • HAL Id : hal-02529078, version 1


Danial Pour Arab, Sandrine Voros, Caroline Essert. Dynamic path planning for percutaneous procedures in the abdomen during free breathing. International Journal of Computer Assisted Radiology and Surgery, Springer Verlag, In press. ⟨hal-02529078⟩



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