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Multimodal Risk-based Path Planning for Neurosurgical Interventions

Kunz, Christian; Gerst, Maximilian; Henrich, Pit; Schneider, Max; Hlavac, Michal; Pala, Andrej; Mathis-Ullrich, Franziska

Abstract (englisch):
Image-guided neurosurgical interventions are challenging due to the complex anatomy of the brain and the inherent risk of damaging vital structures. This paper presents a neurosurgical planning tool for safe and effective neurosurgical interventions, minimizing the risk through optimized access planning. The strengths of the proposed system are the integration of multiple risk structures combined into a holistic model for fast and intuitive user interaction, and a modular architecture. The tool is intended to support neurosurgeons to quickly determine the most appropriate surgical entry point and trajectory through the brain with minimized risk. The user interface guides a user through the decision-making process and may save planning time of neurosurgical interventions. The navigation tool has been interfaced to the Robot Operating System, which allows the integration into automated workflows and the planning of linear and non-linear trajectories. Determined risk structures and trajectories can be visualized intuitively as a projection map on the skin or cortical surface. Two risk calculation modes (strict and joint) are offered to the neurosurgeons, depending on the intracranial procedure's type and complexity. ... mehr



Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2021
Sprache Englisch
Identifikator ISSN: 1932-6181, 1932-619X
KITopen-ID: 1000128450
Erschienen in Journal of medical devices
Verlag American Society of Mechanical Engineers (ASME)
Vorab online veröffentlicht am 08.01.2021
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