Toward computer-assisted planning for interstitial laser ablation of malignant brain tumors using a tubular continuum robot

Abstract

This paper presents a computer-assisted planning workflow for robotic laser induced thermal therapy in the brain (LITT). A tubular continuum robot is used to position a laser probe for thermoablation, as conventional multiple straight trajectories are insufficient to treat polycyclic intracranial lesions with stereotactically placed probes. A multiobjective variable-length particle swarm optimization algorithm is utilized to determine an optimal number and size of ablation objects placed within the tumor volume while optimizing configuration and design parameters of the tubular continuum robot and optimal insertion path simultaneously. The algorithm optimizes for pareto-optimal solutions by considering multiple objectives. To verify the proposed optimization workflow, 15 patient trials and the expertise of two neurosurgeons are considered.