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A novel planning solution for semi‐autonomous aspiration of Baker's cysts
Author(s) -
Ciszkiewicz Adam,
Lorkowski Jacek,
Milewski Grzegorz
Publication year - 2018
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1882
Subject(s) - cyst , computer science , motion planning , software , path (computing) , collision , artificial intelligence , segmentation , simulation , computer vision , medicine , radiology , robot , computer security , programming language
Background A 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. Methods The 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. Results The 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. Conclusions The simulations verified the proposed software solution. Future work will be devoted to experimental verification of the path planning procedure.