Multi-objective optimization based robotic path planning for interpolation reconstruction model of CT data

摘要

Robotic path planning plays a pivotal role in computer-aided liver tumor thermal ablation surgery. However, traditional methods face challenges in terms of low reconstruction efficiency and planning safety. To address these issues, we propose a method for robotic path planning of liver tumor thermal ablation surgery. Firstly, an interlayer interpolation algorithm based on optical flow estimation is utilized to compensate for large interlayer spacing in computed tomography (CT) images by inserting predicted images between sequence images. Secondly, the voxel traversal strategy and patch intersection calculation strategy in the standard marching cube (MC) algorithm is optimized to improve the efficiency of abdominal tissues reconstruction. Finally, comprehensive clinical constraints are summarized to ensure the surgery safety and the strength pareto evolutionary algorithm II (SPEA-II) is leveraged to optimize surgery path, which can obtain even distribution of solutions in high-dimension optimization problems. Extensive experiments conducted on the 3Dircadb and SLIVER07 datasets revealed that our proposed method reduces reconstruction time by 21.5% compared to the standard MC algorithm, while achieving an average overlap rate of 88.25% and an average Hausdorff distance of 15.25 mm between Pareto front points and surgeon's recommended puncture points.