Software College, Northeastern University, No.195, Chuangxin Road, Hunnan District, Shenyang, 110169, Liaoning, China.
Software College, Northeastern University, No.195, Chuangxin Road, Hunnan District, Shenyang, 110169, Liaoning, China; Key Laboratory of Intelligent Computing in Biomedical Image, Ministry of Education, Northeastern University, No.195, Chuangxin Road, Hunnan District, Shenyang, 110169, Liaoning, China.
Comput Biol Med. 2022 Jun;145:105506. doi: 10.1016/j.compbiomed.2022.105506. Epub 2022 Apr 9.
This paper designs a multi-stage puncture path planning algorithm of ablation needles for percutaneous radiofrequency ablation of liver tumors, in order to guide or assist clinicians automatically plan the puncture path of ablation needle, and improve the safety and effectiveness of percutaneous radiofrequency ablation for liver cancer. Firstly, the initial feasible puncture paths satisfying the hard constraints are obtained by quantifying different clinical multi-constraint conditions. Then, according to the soft constraints, the risk index of puncture path is designed to realize the first-stage path planning. Secondly, considering the zero potential energy point and multi-tumor puncture, we embed the gravitational additional potential field to improve the traditional artificial potential field, and the second-stage path planning of candidate puncture paths is carried out by calculating the comprehensive potential energy of the paths. Finally, the reliability of the ablation needle trajectory is evaluated based on the relationship between the candidate puncture paths and liver segments, and the third-stage path planning is realized to determine the optimal puncture path. Through the quantitative and qualitative evaluation of the results, it is proved that our algorithm can obtain an optimal puncture path that meets the clinical conditions, which is expected to guide clinicians in the puncture path planning of percutaneous radiofrequency ablation for liver cancer.
本文设计了一种用于经皮射频消融肝癌的消融针多阶段穿刺路径规划算法，以指导或协助临床医生自动规划消融针的穿刺路径，提高经皮射频消融治疗肝癌的安全性和有效性。首先，通过量化不同的临床多约束条件，获得满足硬约束的初始可行穿刺路径。然后，根据软约束，设计穿刺路径的风险指标，实现第一阶段路径规划。其次，考虑到零势能点和多肿瘤穿刺，我们嵌入引力附加势能场来改进传统的人工势能场，并通过计算路径的综合势能来进行候选穿刺路径的第二阶段路径规划。最后，基于候选穿刺路径与肝段的关系，评估消融针轨迹的可靠性，实现第三阶段路径规划，确定最优穿刺路径。通过对结果的定量和定性评估，证明了我们的算法可以获得满足临床条件的最优穿刺路径，有望指导临床医生进行经皮射频消融肝癌的穿刺路径规划。
