Multi-Scale Robotics Laboratory, ETH Zürich, Zürich, Switzerland.
Juha Hernesniemi International Neurosurgery Center, Henan Provincial People's Hospital, Zhengzhou University, Zhengzhou, China.
Int J Med Robot. 2019 Aug;15(4):e1998. doi: 10.1002/rcs.1998. Epub 2019 May 9.
BACKGROUND: We propose a 3D path planning method to steer flexible needles along curved paths in the context of deep brain stimulation (DBS) procedures. METHODS: Our approach is based on a rapidly exploring random tree strategy, and it takes into account constraints coming from anatomical obstacles and physical constraints dictated by flexible needle kinematics. The strategy is evaluated in simulation on a realistic 3D CAD model of the brain. RESULTS: The subthalamic nucleus (STN) and the fornix can be reached along several curved paths from various entry points. As compared with the usual straight line path, these curved paths avoid tissue damage to important neural structures while allowing for a much greater selection of entry points. CONCLUSIONS: This path planning method offers alternative curved paths to reach DBS targets with flexible needles. The method potentially leads to safer paths and additional entry points capable of reaching the desired stimulation targets.
背景：我们提出了一种 3D 路径规划方法，以引导深部脑刺激 (DBS) 手术中的柔性针沿着弯曲的路径行进。
方法：我们的方法基于快速探索随机树策略，同时考虑到来自解剖障碍物的约束和由柔性针运动学决定的物理约束。该策略在大脑的真实 3D CAD 模型上进行了模拟评估。
结果：从多个进入点可以沿着几条弯曲的路径到达底丘脑核 (STN) 和穹窿。与通常的直线路径相比，这些弯曲路径避免了对重要神经结构的组织损伤，同时允许选择更多的进入点。
结论：这种路径规划方法为使用柔性针到达 DBS 靶点提供了替代的弯曲路径。该方法可能会导致更安全的路径和更多的进入点，从而能够到达所需的刺激靶点。
Int J Med Robot. 2019-5-9
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