Surgical planning assistance in keyhole and percutaneous surgery: A systematic review

Surgical planning of percutaneous interventions has a crucial role to guarantee the success of minimally invasive surgeries. In the last decades, many methods have been proposed to reduce clinician work load related to the planning phase and to augment the information used in the definition of the optimal trajectory. In this survey, we include 113 articles related to computer assisted planning (CAP) methods and validations obtained from a systematic search on three databases. First, a general formulation of the problem is presented, independently from the surgical field involved, and the key steps involved in the development of a CAP solution are detailed. Secondly, we categorized the articles based on the main surgical applications, which have been object of study and we categorize them based on the type of assistance provided to the end-user.

[1]  Sébastien Ourselin,et al.  Anatomy-driven multiple trajectory planning (ADMTP) of intracranial electrodes for epilepsy surgery , 2017, International Journal of Computer Assisted Radiology and Surgery.

[2]  Benoit M. Dawant,et al.  Computer-aided placement of deep brain stimulators: from planningto intraoperative guidance , 2005, IEEE Transactions on Medical Imaging.

[3]  Abbas F. Sadikot,et al.  A Prospective Evaluation of Computer-Assisted Deep Brain Stimulation Trajectory Planning , 2012, CLIP.

[4]  Leo Joskowicz,et al.  Trajectory planning method for reduced patient risk in image-guided neurosurgery: concept and preliminary results , 2010, Medical Imaging.

[5]  Kenji Shimada,et al.  Cryosurgery planning using bubble packing in 3D , 2008, Computer methods in biomechanics and biomedical engineering.

[6]  Leo Joskowicz,et al.  A Method for Planning Safe Trajectories in Image-Guided Keyhole Neurosurgery , 2010, MICCAI.

[7]  Thomas L. Saaty,et al.  DECISION MAKING WITH THE ANALYTIC HIERARCHY PROCESS , 2008 .

[8]  Stefan Bruckner,et al.  Biopsy Planner – Visual Analysis for Needle Pathway Planning in Deep Seated Brain Tumor Biopsy , 2012, Comput. Graph. Forum.

[9]  Hongliang Ren,et al.  An ablation planning system for computer-assisted interventions , 2013, 2013 International Conference on Collaboration Technologies and Systems (CTS).

[10]  D Rivière,et al.  BrainVISA: an extensible software environment for sharing multimodal neuroimaging data and processing tools , 2009, NeuroImage.

[11]  Elena De Momi,et al.  Experience-based SEEG planning: from retrospective data to automated electrode trajectories suggestions , 2018, Healthcare technology letters.

[12]  Sebastien Ourselin,et al.  Stereoelectroencephalography electrode placement: Detection of blood vessel conflicts , 2019, Epilepsia.

[13]  Robert L. Galloway,et al.  Optimizing needle placement in treatment planning of radiofrequency ablation , 2006, SPIE Medical Imaging.

[14]  Benoit M Dawant,et al.  Automatic segmentation of the facial nerve and chorda tympani in CT images using spatially dependent feature values. , 2008, Medical physics.

[15]  Elena De Momi,et al.  Straight trajectory planning for keyhole neurosurgery in sheep with automatic brain structures segmentation , 2017, Medical Imaging.

[16]  Jorge Gonzalez-Martinez,et al.  Is SEEG safe? A systematic review and meta‐analysis of stereo‐electroencephalography–related complications , 2016, Epilepsia.

[17]  Runze Han,et al.  Automatic pedicle screw planning using atlas-based registration of anatomy and reference trajectories , 2019, Physics in medicine and biology.

[18]  Yoed Rabin,et al.  Computerized Planning for Multiprobe Cryosurgery using a Force-field Analogy , 2004, Computer methods in biomechanics and biomedical engineering.

[19]  Chee-Kong Chui,et al.  A Robotic System for Overlapping Radiofrequency Ablation in Large Tumor Treatment , 2010, IEEE/ASME Transactions on Mechatronics.

[20]  Shuicai Wu,et al.  Computer-assisted needle trajectory planning and mathematical modeling for liver tumor thermal ablation: A review. , 2019, Mathematical biosciences and engineering : MBE.

[21]  Benoit M Dawant,et al.  Automatic Identification and 3D Rendering of Temporal Bone Anatomy , 2009, Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology.

[22]  Daniel Rueckert,et al.  Geodesic Information Flows: Spatially-Variant Graphs and Their Application to Segmentation and Fusion , 2015, IEEE Transactions on Medical Imaging.

[23]  Vasile Manta,et al.  Needle-stability maps for brain-tumor biopsies , 2011, 15th International Conference on System Theory, Control and Computing.

[24]  Elena De Momi,et al.  Safe electrode trajectory planning in SEEG via MIP-based vessel segmentation , 2017, Medical Imaging.

[25]  Rajni V. Patel,et al.  Needle insertion into soft tissue: a survey. , 2007, Medical engineering & physics.

[26]  Sébastien Ourselin,et al.  Stability, structure and scale: improvements in multi-modal vessel extraction for SEEG trajectory planning , 2015, International Journal of Computer Assisted Radiology and Surgery.

[27]  Christian Schumann,et al.  Interactive access path exploration for planning of needle-based interventions , 2013, CURAC.

[28]  Christian Barillot,et al.  Modeling Cortical Sulci with Active Ribbons , 1997, Int. J. Pattern Recognit. Artif. Intell..

[29]  Dieter Schmalstieg,et al.  Crepuscular Rays for Tumor Accessibility Planning , 2011, IEEE Transactions on Visualization and Computer Graphics.

[30]  Jing Li,et al.  Statistical atlas based registration and planning for ablating bone tumors in minimally invasive interventions , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[31]  Luc Soler,et al.  Virtual Radiofrequency Ablation of Liver Tumors , 2003, IS4TH.

[32]  J. Talairach,et al.  Stereotaxic Approach to Epilepsy , 1973 .

[33]  Jialin Peng,et al.  A region-appearance-based adaptive variational model for 3D liver segmentation. , 2014, Medical physics.

[34]  P. Danielsson.  Euclidean distance mapping , 1980 .

[35]  Alireza Mirbagheri,et al.  Planning screw insertion trajectory in lumbar spinal fusion using pre-operative CT images , 2015, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[36]  Giancarlo Ferrigno,et al.  Automatic Trajectory Planner for StereoElectroEncephaloGraphy Procedures: A Retrospective Study , 2013, IEEE Transactions on Biomedical Engineering.

[37]  Maud Marchal,et al.  Automatic Parameters Optimization for Deep Brain Stimulation Trajectory Planning , 2012 .

[38]  Bernard Bayle,et al.  Automatic planning of needle placement for robot-assisted percutaneous procedures , 2018, International Journal of Computer Assisted Radiology and Surgery.

[39]  Leo Joskowicz,et al.  Carotid vasculature modeling from patient CT angiography studies for interventional procedures simulation , 2012, International Journal of Computer Assisted Radiology and Surgery.

[40]  Stefan Wesarg,et al.  Path Planning for Multi-port Lateral Skull Base Surgery Based on First Clinical Experiences , 2013, CLIP.

[41]  Caroline Essert,et al.  Automatic preoperative planning of DBS electrode placement using anatomo-clinical atlases and volume of tissue activated , 2018, International Journal of Computer Assisted Radiology and Surgery.

[42]  Giovanni F Solitro,et al.  Innovative approach in the development of computer assisted algorithm for spine pedicle screw placement. , 2016, Medical engineering & physics.

[43]  Christian Schumann,et al.  Interactive multi-criteria planning for radiofrequency ablation , 2015, International Journal of Computer Assisted Radiology and Surgery.

[44]  Luc Soler,et al.  Multi-criteria Trajectory Planning for Hepatic Radiofrequency Ablation , 2007, MICCAI.

[45]  Gianpiero Gravante,et al.  Hepatic microwave ablation: a review of the histological changes following thermal damage , 2008, Liver international : official journal of the International Association for the Study of the Liver.

[46]  Samuel Kadoury,et al.  Computer-assisted pedicle screw placement planning: Towards clinical practice , 2018, 2018 IEEE 15th International Symposium on Biomedical Imaging (ISBI 2018).

[47]  Luc Soler,et al.  Toward realistic radiofrequency ablation of hepatic tumors 3D simulation and planning , 2004, Medical Imaging: Image-Guided Procedures.

[48]  Jan Hendrik Moltz,et al.  State of the art in computer-assisted planning, intervention, and assessment of liver-tumor ablation. , 2010, Critical reviews in biomedical engineering.

[49]  M. Hariz,et al.  Effect of electrode contact location on clinical efficacy of pallidal deep brain stimulation in primary generalised dystonia , 2007, Journal of Neurology, Neurosurgery, and Psychiatry.

[50]  Benoit M. Dawant,et al.  Automatic 3-D segmentation of internal structures of the head in MR images using a combination of similarity and free-form transformations. I. Methodology and validation on normal subjects , 1999, IEEE Transactions on Medical Imaging.

[51]  Sébastien Ourselin,et al.  Automated multiple trajectory planning algorithm for the placement of stereo-electroencephalography (SEEG) electrodes in epilepsy treatment , 2016, International Journal of Computer Assisted Radiology and Surgery.

[52]  D. Moher,et al.  Preferred reporting items for systematic reviews and meta-analyses: the PRISMA Statement , 2009, BMJ : British Medical Journal.

[53]  Alejandro F. Frangi,et al.  Muliscale Vessel Enhancement Filtering , 1998, MICCAI.

[54]  J Goerres,et al.  Planning, guidance, and quality assurance of pelvic screw placement using deformable image registration , 2017, Physics in medicine and biology.

[55]  Luc Soler,et al.  Optimal Trajectories Computation Within Regions of Interest for Hepatic RFA Planning , 2005, MICCAI.

[56]  Zeyang Xia,et al.  Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy , 2016, PloS one.

[57]  Bettina Schrader,et al.  Most effective stimulation site in subthalamic deep brain stimulation for Parkinson's disease , 2004, Movement disorders : official journal of the Movement Disorder Society.

[58]  John A. Nelder,et al.  A Simplex Method for Function Minimization , 1965, Comput. J..

[59]  P. Liang,et al.  Percutaneous microwave ablation for hepatocellular carcinoma adjacent to large vessels: a long-term follow-up. , 2014, European journal of radiology.

[60]  M. Pope,et al.  Depth of insertion of transpedicular vertebral screws into human vertebrae: effect upon screw-vertebra interface strength. , 1988, Journal of spinal disorders.

[61]  Aviva Abosch,et al.  Localization of clinically effective stimulating electrodes in the human subthalamic nucleus on magnetic resonance imaging. , 2002, Journal of neurosurgery.

[62]  Roy Eagleson,et al.  Multimodal connectivity based eloquence score computation and visualisation for computer-aided neurosurgical path planning , 2017, Healthcare technology letters.

[63]  Marco Caversaccio,et al.  Surgical planning tool for robotically assisted hearing aid implantation , 2013, International Journal of Computer Assisted Radiology and Surgery.

[64]  Bruce Fischl,et al.  FreeSurfer , 2012, NeuroImage.

[65]  Christof Büskens,et al.  Multiscale optimization of the probe placement for radiofrequency ablation. , 2007, Academic radiology.

[66]  Benoit M. Dawant,et al.  A surgeon specific automatic path planning algorithm for deep brain stimulation , 2012, Medical Imaging.

[67]  Christian Schumann,et al.  Automatic path proposal computation for CT-guided percutaneous liver biopsy , 2016, International Journal of Computer Assisted Radiology and Surgery.

[68]  Gang Yu,et al.  3D Path Planning for Anterior Spinal Surgery Based on CT images and Reinforcement Learning* , 2018, 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS).

[69]  C. McIntyre,et al.  Patient-specific analysis of the relationship between the volume of tissue activated during DBS and verbal fluency , 2011, NeuroImage.

[70]  Giancarlo Ferrigno,et al.  Multi-trajectories automatic planner for StereoElectroEncephaloGraphy (SEEG) , 2014, International Journal of Computer Assisted Radiology and Surgery.

[71]  D. Louis Collins,et al.  Automatic 3‐D model‐based neuroanatomical segmentation , 1995 .

[72]  Stefan Wesarg,et al.  Towards Automatic Path Planning for Multi-port Minimally-Traumatic Lateral Skull Base Surgery , 2012, CLIP.

[73]  Brett E. Youngerman,et al.  Multicenter validation of automated trajectories for selective laser amygdalohippocampectomy , 2019, Epilepsia.

[74]  Caroline Essert,et al.  Automatic Computation of Electrodes Trajectory for Deep Brain Stimulation , 2010, MIAR.

[75]  Jack P. C. Kleijnen,et al.  Kriging interpolation in simulation: a survey , 2004, Proceedings of the 2004 Winter Simulation Conference, 2004..

[76]  C B Maks,et al.  Deep brain stimulation activation volumes and their association with neurophysiological mapping and therapeutic outcomes , 2008, Journal of Neurology, Neurosurgery, and Psychiatry.

[77]  H. H. Pennes.  Analysis of tissue and arterial blood temperatures in the resting human forearm. 1948. , 1948, Journal of applied physiology.

[78]  D. Louis Collins,et al.  Improving recorded volume in mesial temporal lobe by optimizing stereotactic intracranial electrode implantation planning , 2015, International Journal of Computer Assisted Radiology and Surgery.

[79]  Bostjan Likar,et al.  Computer-Assisted Screw Size and Insertion Trajectory Planning for Pedicle Screw Placement Surgery , 2016, IEEE Transactions on Medical Imaging.

[80]  Sebastien Ourselin,et al.  Automated trajectory planning for laser interstitial thermal therapy in mesial temporal lobe epilepsy , 2018, Epilepsia.

[81]  Caroline Essert,et al.  Automatic computation of electrode trajectories for Deep Brain Stimulation: a hybrid symbolic and numerical approach , 2012, International Journal of Computer Assisted Radiology and Surgery.

[82]  Sébastien Ourselin,et al.  A Computer Assisted Planning System for the Placement of sEEG Electrodes in the Treatment of Epilepsy , 2014, IPCAI.

[83]  Francesco Lolli,et al.  Complications of Thoracic Pedicle Screws in Scoliosis Treatment , 2007, Spine.

[84]  M. J. D. Powell,et al.  An efficient method for finding the minimum of a function of several variables without calculating derivatives , 1964, Comput. J..

[85]  Jing Xu,et al.  Preoperative Surgery Planning for Percutaneous Hepatic Microwave Ablation , 2008, MICCAI.

[86]  Benoit M. Dawant,et al.  CranialVault and its CRAVE tools: A clinical computer assistance system for deep brain stimulation (DBS) therapy , 2012, Medical Image Anal..

[87]  Luc Soler,et al.  Precise determination of regions of interest for hepatic RFA planning , 2007, SPIE Medical Imaging.

[88]  E. Duchesnay,et al.  A framework to study the cortical folding patterns , 2004, NeuroImage.

[89]  Marco Caversaccio,et al.  Semiautomatic Cochleostomy Target and Insertion Trajectory Planning for Minimally Invasive Cochlear Implantation , 2014, BioMed research international.

[90]  Heinz-Otto Peitgen,et al.  Fast automatic path proposal computation for hepatic needle placement , 2010, Medical Imaging.

[91]  Wan Kyun Chung,et al.  Automated surgical planning and evaluation algorithm for spinal fusion surgery with three-dimensional pedicle model , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[92]  Bostjan Likar,et al.  Manual and Computer-Assisted Pedicle Screw Placement Plans: A Quantitative Comparison , 2016, CSI@MICCAI.

[93]  G. Sandison,et al.  Simultaneous optimization of cryoprobe placement and thermal protocol for cryosurgery. , 2001, Physics in medicine and biology.

[94]  Nassir Navab,et al.  Trajectory planning with Augmented Reality for improved risk assessment in image-guided keyhole neurosurgery , 2011, 2011 IEEE International Symposium on Biomedical Imaging: From Nano to Macro.

[95]  Bostjan Likar,et al.  Automated Pedicle Screw Size and Trajectory Planning by Maximization of Fastening Strength , 2015, CSI@MICCAI.

[96]  Sebastien Ourselin,et al.  Computer-Assisted Planning for Stereoelectroencephalography (SEEG) , 2019, Neurotherapeutics.

[97]  Omid Majdani,et al.  Automatic determination of optimal linear drilling trajectories for cochlear access accounting for drill‐positioning error , 2010, The international journal of medical robotics + computer assisted surgery : MRCAS.

[98]  Omid Majdani,et al.  Modeling and segmentation of intra-cochlear anatomy in conventional CT , 2010, Medical Imaging.

[99]  Caroline Essert,et al.  PyDBS: an automated image processing workflow for deep brain stimulation surgery , 2015, International Journal of Computer Assisted Radiology and Surgery.

[101]  A. Jaberzadeh,et al.  Pre‐operative planning of multiple probes in three dimensions for liver cryosurgery: comparison of different optimization methods , 2016 .

[102]  Leo Joskowicz,et al.  3D Modelling of the Residual Freezing for Renal Cryoablation Simulation and Prediction , 2019, MICCAI.

[103]  Terry M. Peters,et al.  Automatic Target and Trajectory Identification for Deep Brain Stimulation (DBS) Procedures , 2007, MICCAI.

[104]  William E. Lorensen,et al.  Marching cubes: A high resolution 3D surface construction algorithm , 1987, SIGGRAPH.

[105]  Benoit M. Dawant,et al.  Planning a safe drilling path for cochlear implantation surgery using image registration techniques , 2007, SPIE Medical Imaging.

[106]  Sebastien Ourselin,et al.  Optimizing Trajectories for Cranial Laser Interstitial Thermal Therapy Using Computer-Assisted Planning: A Machine Learning Approach , 2018, Neurotherapeutics.

[107]  Fangyi Liu,et al.  A comparison of microwave ablation and bipolar radiofrequency ablation both with an internally cooled probe: results in ex vivo and in vivo porcine livers. , 2011, European journal of radiology.

[108]  A. Benabid,et al.  Deep brain stimulation of the subthalamic nucleus for the treatment of Parkinson's disease , 2009, The Lancet Neurology.

[109]  Pierre Collet,et al.  Pareto Front vs. Weighted Sum for Automatic Trajectory Planning of Deep Brain Stimulation , 2016, MICCAI.

[110]  R. Wicker,et al.  Automatic determination of pedicle screw size, length, and trajectory from patient data , 2004, The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[111]  Samuel Kadoury,et al.  Computer-assisted pedicle screw trajectory planning using CT-inferred bone density: A demonstration against surgical outcomes. , 2019, Medical physics.

[112]  Thomas Klenzner,et al.  Navigation as a quality management tool in cochlear implant surgery , 2004, The Journal of Laryngology & Otology.

[113]  Elena De Momi,et al.  Blood vessel segmentation algorithms - Review of methods, datasets and evaluation metrics , 2018, Comput. Methods Programs Biomed..

[114]  Leo Joskowicz,et al.  Fast GPU Computation of 3D Isothermal Volumes in the Vicinity of Major Blood Vessels for Multiprobe Cryoablation Simulation , 2018, MICCAI.

[115]  Yongming Han,et al.  Review: Multi-objective optimization methods and application in energy saving , 2017 .

[116]  Nobuhiko Hata,et al.  Treatment Planning and Image Guidance for Radiofrequency Ablation of Large Tumors , 2014, IEEE Journal of Biomedical and Health Informatics.

[117]  Shuzhi Sam Ge,et al.  Coverage planning in computer-assisted ablation based on Genetic Algorithm , 2014, Comput. Biol. Medicine.

[118]  Wan Kyun Chung,et al.  Automated Segmentation of the Lumbar Pedicle in CT Images for Spinal Fusion Surgery , 2011, IEEE Transactions on Biomedical Engineering.

[119]  Kenji Shimada,et al.  Computerized planning of prostate cryosurgery with pullback operation , 2008, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[120]  Christof Büskens,et al.  Towards Optimization of Probe Placement for Radio-Frequency Ablation , 2006, MICCAI.

[121]  Raphael P. Rush,et al.  CT-based Patient-specific Simulation Software for Pedicle Screw Insertion , 2009, Journal of spinal disorders & techniques.

[122]  A Uneri,et al.  Atlas-based automatic planning and 3D–2D fluoroscopic guidance in pelvic trauma surgery , 2019, Physics in medicine and biology.

[123]  J. A. Sethian,et al.  Fast Marching Methods , 1999, SIAM Rev..

[124]  G. Dodd,et al.  Radiofrequency thermal ablation: computer analysis of the size of the thermal injury created by overlapping ablations. , 2001, AJR. American journal of roentgenology.

[125]  Amir Manbachi,et al.  Guided pedicle screw insertion: techniques and training. , 2014, The spine journal : official journal of the North American Spine Society.

[126]  Heinz-Otto Peitgen,et al.  Visualization support for the planning of hepatic needle placement , 2012, International Journal of Computer Assisted Radiology and Surgery.

[127]  Martin Fürst,et al.  Automatic entry point planning for robotic post-mortem CT-based needle placement , 2016, Forensic Science, Medicine, and Pathology.

[128]  Leo Joskowicz,et al.  Reduced risk trajectory planning in image-guided keyhole neurosurgery. , 2012, Medical physics.

[129]  D. Louis Collins,et al.  Automatic Optimization of Depth Electrode Trajectory Planning , 2013, CLIP.

[130]  Dexing Kong,et al.  Semiautomatic Radiofrequency Ablation Planning Based on Constrained Clustering Process for Hepatic Tumors , 2018, IEEE Transactions on Biomedical Engineering.

[131]  C. D. Gelatt,et al.  Optimization by Simulated Annealing , 1983, Science.

[132]  Guido Gerig,et al.  User-guided 3D active contour segmentation of anatomical structures: Significantly improved efficiency and reliability , 2006, NeuroImage.

[133]  Keith Warfield,et al.  Technology readiness levels , 2016 .

[134]  Benoit M. Dawant,et al.  Multisurgeon, Multisite Validation of a Trajectory Planning Algorithm for Deep Brain Stimulation Procedures , 2014, IEEE Transactions on Biomedical Engineering.

[135]  Kang Yan,et al.  A method of lumbar pedicle screw placement optimization applied to guidance techniques , 2016 .

[136]  Mihály Héder.  From NASA to EU: the evolution of the TRL scale in Public Sector Innovation , 2017 .

[137]  Bart M. ter Haar Romeny,et al.  Automatic Trajectory Planning for Deep Brain Stimulation: A Feasibility Study , 2007, MICCAI.

[138]  Abbas F. Sadikot,et al.  Automatic Trajectory Planning of DBS Neurosurgery from Multi-modal MRI Datasets , 2011, MICCAI.

[139]  Jasbir S. Arora,et al.  Survey of multi-objective optimization methods for engineering , 2004 .

[140]  Wan Kyun Chung,et al.  Optimal surgical planning guidance for lumbar spinal fusion considering operational safety and vertebra–screw interface strength , 2012, The international journal of medical robotics + computer assisted surgery : MRCAS.

[141]  Luc Soler,et al.  Trajectory optimization for the planning of percutaneous radiofrequency ablation of hepatic tumors , 2007, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[142]  A Uneri,et al.  Spinal pedicle screw planning using deformable atlas registration , 2017, Physics in medicine and biology.

[143]  K. McMasters,et al.  Safety and Efficacy of Microwave Ablation of Hepatic Tumors: A Prospective Review of a 5-Year Experience , 2010, Annals of surgical oncology.

[144]  Ziv Yaniv,et al.  Needle-Based Interventions With the Image-Guided Surgery Toolkit (IGSTK): From Phantoms to Clinical Trials , 2010, IEEE Transactions on Biomedical Engineering.

[145]  Nassir Navab,et al.  Advanced planning and intra-operative validation for robot-assisted keyhole neurosurgery In ROBOCAST , 2009, 2009 International Conference on Advanced Robotics.

[146]  E. Berber.  The first clinical application of planning software for laparoscopic microwave thermosphere ablation of malignant liver tumours. , 2015, HPB : the official journal of the International Hepato Pancreato Biliary Association.

[147]  Elena De Momi,et al.  Retrospective evaluation and SEEG trajectory analysis for interactive multi-trajectory planner assistant , 2017, International Journal of Computer Assisted Radiology and Surgery.

[148]  Leo Joskowicz,et al.  The role of automatic computer-aided surgical trajectory planning in improving the expected safety of stereotactic neurosurgery , 2015, International Journal of Computer Assisted Radiology and Surgery.

[149]  Sebastien Ourselin,et al.  Comparison of computer-assisted planning and manual planning for depth electrode implantations in epilepsy. , 2016, Journal of neurosurgery.

[150]  Kemal Tuncali,et al.  Pre- and Intra-operative Planning and Simulation of Percutaneous Tumor Ablation , 2000, MICCAI.

[151]  Sebastien Ourselin,et al.  Computer-assisted planning for the insertion of stereoelectroencephalography electrodes for the investigation of drug-resistant focal epilepsy: an external validation study. , 2018, Journal of neurosurgery.

[152]  Arno Klein,et al.  101 Labeled Brain Images and a Consistent Human Cortical Labeling Protocol , 2012, Front. Neurosci..

[153]  Jing Liu,et al.  COMPUTERIZED PLANNING OF MULTI-PROBE CRYOSURGICAL TREATMENT FOR TUMOR WITH COMPLEX GEOMETRY , 2007 .

[154]  J L Ochsner,et al.  Minimally invasive surgical procedures. , 2000, The Ochsner journal.

[155]  Xiaoyan Liu,et al.  3D Trajectory Planning Based on FEM with Application of Brachytherapy , 2009, 2009 2nd International Conference on Biomedical Engineering and Informatics.

[156]  Sebastien Ourselin,et al.  Computer-Assisted Versus Manual Planning for Stereotactic Brain Biopsy: A Retrospective Comparative Pilot Study , 2019, Operative neurosurgery.

[157]  D. Louis Collins,et al.  ANIMAL+INSECT: Improved Cortical Structure Segmentation , 1999, IPMI.

[158]  Li Chen,et al.  Precise and semi-automatic puncture trajectory planning in craniofacial surgery: A prototype study , 2014, 2014 7th International Conference on Biomedical Engineering and Informatics.

[159]  Marco Antonio Aceves-Fernández,et al.  Risk map generation for keyhole neurosurgery using fuzzy logic for trajectory evaluation , 2017, Neurocomputing.

[160]  Hansrudi Noser,et al.  CT-based 3-D visualisation of secure bone corridors and optimal trajectories for sacroiliac screws. , 2013, Injury.

[161]  Johan Andersson,et al.  A survey of multiobjective optimization in engineering design , 2001 .

[162]  Zhigang Deng,et al.  GPU-Accelerated Interactive Visualization and Planning of Neurosurgical Interventions , 2014, IEEE Computer Graphics and Applications.

[163]  Zhigang Deng,et al.  Visualization and Planning of Neurosurgical Interventions with Straight Access , 2010, IPCAI.

[164]  Richard A. Robb,et al.  Estimating pedicle screw fastening strength via a virtual templating platform for spine surgery planning: a retrospective preliminary clinical demonstration , 2015, Comput. methods Biomech. Biomed. Eng. Imaging Vis..

[165]  Maud Marchal,et al.  Statistical study of parameters for deep brain stimulation automatic preoperative planning of electrodes trajectories , 2015, International Journal of Computer Assisted Radiology and Surgery.

[166]  Abbas F. Sadikot,et al.  A multi-modal approach to computer-assisted deep brain stimulation trajectory planning , 2012, International Journal of Computer Assisted Radiology and Surgery.

[167]  Boštjan Likar,et al.  Variability Analysis of Manual and Computer-Assisted Preoperative Thoracic Pedicle Screw Placement Planning , 2018, Spine.

[168]  M. Mack,et al.  Minimally invasive and robotic surgery. , 2001, JAMA.

[169]  Stephane Cotin,et al.  Anticipation of brain shift in Deep Brain Stimulation automatic planning , 2015, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[170]  Tero Karras,et al.  Maximizing parallelism in the construction of BVHs, octrees, and k-d trees , 2012, EGGH-HPG'12.

[171]  Benoit M. Dawant,et al.  The adaptive bases algorithm for intensity-based nonrigid image registration , 2003, IEEE Transactions on Medical Imaging.

[172]  B. Cunningham,et al.  Straight-Forward Versus Anatomic Trajectory Technique of Thoracic Pedicle Screw Fixation: A Biomechanical Analysis , 2003, Spine.

[173]  Lena Maier-Hein,et al.  Computer-assisted trajectory planning for percutaneous needle insertions. , 2011, Medical physics.

[174]  Wieslaw Lucjan Nowinski,et al.  Computer-aided stereotactic functional neurosurgery enhanced by the use of the multiple brain atlas database , 2000, IEEE Transactions on Medical Imaging.

[175]  Ned Greene,et al.  Environment Mapping and Other Applications of World Projections , 1986, IEEE Computer Graphics and Applications.

[176]  D. Collins,et al.  Automatic 3D Intersubject Registration of MR Volumetric Data in Standardized Talairach Space , 1994, Journal of computer assisted tomography.