Generalized Trajectory Planning for Nonlinear Interventions

Johannes Fauser, Igor Stenin, Julia Kristin, Thomas Universitätsklinikum Düsseldorf Klenzner, Jörg Universitätsklinikum Düsseldorf Schipper, Dieter Fellner, Anirban Mukhopadhyay

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Minimally invasive procedures with flexible instruments suchas endoscopes, needles or drilling units are becoming more and more common.Their automated insertion will be standard across several applicationsin operation rooms of the future. In such scenarios regular replanningfor feasible nonlinear trajectories is a mandatory step towardautomation. However, state of the art methods focus on isolated solutionsonly. In this paper we introduce a generalized motion planningformulation in SE(3), regarding both position and orientation, that issuitable for these approaches. To emphasize the generalization of this formulationwe evaluate the performance of proposed Bidirectional RapidlyexploringRandom Trees (Bi-RRT) on four different clinical applications:Drilling in temporal bone surgery, trajectory planning for cardiopulmonaryendoscopy, automatic needle insertion for spine biopsy and livertumor removal. Experiments show that for all four scenarios the formulationis suitable and feasible trajectories can be planned successfully.
Original languageEnglish
Title of host publication OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis
Subtitle of host publicationCARE 2018, CLIP 2018, OR 2.0 2018, ISIC 2018
Number of pages8
ISBN (Print)303001200X
Publication statusPublished - 2018

Publication series

NameLecture Notes in Computer Science


  • Path planning
  • Preoperative planning
  • Surgical planning
  • Minimally invasive surgery
  • Needle guidance

Fields of Expertise

  • Information, Communication & Computing

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