Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery

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.