A novel planning solution for semi-autonomous aspiration of Baker's cysts

作者：Ciszkiewicz Adam^*; Lorkowski Jacek; Milewski Grzegorz

来源：International Journal of Medical Robotics and Computer Assisted Surgery, 2018, 14(2): e1882.

DOI：10.1002/rcs.1882

• 3D imaging
• computer simulation
• image analysis
• knee
• minimal invasive surgery
• MRI
• needle insertion

BackgroundA Baker's cyst is a pathological structure located near a kneepit, which causes discomfort and reduces mobility of the knee. It is commonly treated with aspiration, which often requires MRI scanning and US guidance. The aim of this study was to propose a novel planning solution for semi-autonomous aspiration of the Baker's cyst using only MRI imaging.
MethodsThe proposed method requires minimal user input and offers automatic cyst segmentation with collision-free path planning for the assumed robotic structure with four degrees of freedom.
ResultsThe prepared software was tested on four image sets obtained from patients eligible for cyst aspiration. It was possible to accurately segment the cyst in the considered cases. The collision-free path planning method was investigated in numerical scenarios.
ConclusionsThe simulations verified the proposed software solution. Future work will be devoted to experimental verification of the path planning procedure.

• 出版日期2018-4