Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery
https://doi.org/10.16931/1995-5464.2024-2-123-133
Abstract
Aim. To improve the efficiency of radiofrequency ablation for large tumors by computer-aided modeling and planning of robotic surgery.
Materials and methods. A set of algorithms for planning robotic electrode insertion was developed.
Results. The evaluation of the technique proved its potential for achieving complete tumor processing and trajectory building with all feasible constraints.
Conclusion. The set of algorithms provides computer-aid planning for sequential placement of radiofrequency ablation needles during intervention.
Keywords
About the Authors
A. S. PershinRussian Federation
Andrey S. Pershin, Laboratory Research Assistant
TECHNOBIOMED Research Institute; Laboratory of Medical and Robotic Digital Technologies
127006; 4, Dolgorukovskaya str.; Moscow
D. D. Klimov
Russian Federation
Daniil D. Klimov, Cand. of Sci. (Techn.), Head of the Laboratory
TECHNOBIOMED Research Institute; Laboratory of Medical and Robotic Digital Technologies
127006; 4, Dolgorukovskaya str.; Moscow
L. S. Prokhorenko
Russian Federation
Leonid S. Prokhorenko, Laboratory Junior Researcher
TECHNOBIOMED Research Institute; Laboratory of Medical and Robotic Digital Technologies
127006; 4, Dolgorukovskaya str.; Moscow
E. V. Grigoryeva
Russian Federation
Elena V. Grigorieva, Doct. of Sci. (Med.), Head of the Unit
University Clinic; Diagnostic Radiology Unit
127006; 4, Dolgorukovskaya str.; Moscow
D. A. Astakhov
Russian Federation
Dmitry A. Astakhov, Doct. of Sci. (Med.), Associate Professor, Head of Unit
Department of Surgery and Surgical Technologies; Oncology Unit
127006; 4, Dolgorukovskaya str.; Moscow
K. A. Tupikin
Russian Federation
Kirill A. Tupikin, Cand. of Sci. (Med.), Assistant
Department of Surgery and Surgical Technologies
127006; 4, Dolgorukovskaya str.; Moscow
Yu. V. Podurayev
Russian Federation
Yuri V. Poduraev, Doct. of Sci. (Techn.), Director of the Institute
TECHNOBIOMED Research Institute
127006; 4, Dolgorukovskaya str.; Moscow
P. I. Rasner
Russian Federation
Pavel I. Rasner, Doct. of Sci. (Med.), Chief Physician
University Clinic
127006; 4, Dolgorukovskaya str.; Moscow
D. N. Panchenkov
Russian Federation
Dmitry N. Panchenkov, Doct. of Sci. (Med.), Professor, Head of Department, Head of Laboratory
Department of Surgery and Surgical Technologies; , TECHNOBIOMED Research Institute; Laboratory of Minimally Invasive Surgery
127006; 4, Dolgorukovskaya str.; Moscow
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Review
For citations:
Pershin A.S., Klimov D.D., Prokhorenko L.S., Grigoryeva E.V., Astakhov D.A., Tupikin K.A., Podurayev Yu.V., Rasner P.I., Panchenkov D.N. Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery. Annaly khirurgicheskoy gepatologii = Annals of HPB Surgery. 2024;29(2):123-133. (In Russ.) https://doi.org/10.16931/1995-5464.2024-2-123-133