DocumentCode :
3017348
Title :
Planning active cannula configurations through tubular anatomy
Author :
Lyons, Lisa A. ; Webster, Robert J., III ; Alterovitz, Ron
Author_Institution :
Dept. of Comput. Sci., Univ. of North Carolina at Chapel Hill, Chapel Hill, NC, USA
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
2082
Lastpage :
2087
Abstract :
Medical procedures such as lung biopsy and brachytherapy require maneuvering through tubular structures such as the trachea and bronchi to reach clinical targets. We introduce a new method to plan configurations for active cannulas, medical devices composed of thin, pre-curved, telescoping lumens that are capable of following controlled, curved paths through open or liquid-filled cavities. Planning optimal configurations for these devices is challenging due to their complex kinematics, which involve both beam mechanics and space curves. In this paper, we propose an optimization-based planning algorithm that computes active cannula configurations through tubular structures that reach specified targets. Given the target location, the start position and orientation, and a geometric representation of the physical environment extracted from pre-procedure medical images, the planner optimizes insertion length and orientation angle of each lumen of the active cannula. The planner models active cannula kinematics using a physically-based simulation that incorporates beam mechanics and minimizes energy. The algorithm typically computes plans in less than 2 minutes on a standard PC. We apply the method in simulation to anatomy extracted from a human CT scan and demonstrate configurations for a 5-lumen active cannula that maneuver it through the bronchi to targets in the lung.
Keywords :
biomedical equipment; lung; optimisation; active cannula configuration; active cannula kinematics; beam mechanics; brachytherapy; bronchi; insertion length; lung biopsy; medical devices; medical procedures; optimization-based planning; orientation angle; space curves; trachea; tubular anatomy; tubular structures; Anatomy; Biomedical imaging; Biopsy; Brachytherapy; Computational modeling; Humans; Kinematics; Lungs; Medical simulation; Respiratory system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509442
Filename :
5509442
Link To Document :
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