3D trajectory planning algorithm for organ groups and irregular obstacles with application for prostate brachytherapy

摘要

Preoperative planning is critical when performing robot-assisted prostate brachytherapy, in which a smooth surgical needle trajectory is necessary to avoid harm to surrounding organs and tissues, thus minimizing any adverse effects. In this work, a trajectory planning algorithm is proposed that uses artificial potential field with high efficiency in exploring the actual pelvic environment with typical organs (called obstacles in our study). Manually segmented magnetic resonance images are reconstructed to give three-dimensional representations of the in-situ organs. These three-dimensional reconstructions are used to determine specific organ shapes and volumes. A numerical simulation is given to prove method validity and it also confirms the high efficiency of artificial potential field in a standard computer. The result of the numerical simulation indicates that the surgical needle can reach the target without touching the anatomical obstacles in the complex human environment in theory.