Optimal trajectories computation within regions of interest for hepatic RFA planning

Percutaneous radiofrequency ablation has become a frequently used technique for the treatment of liver cancers, but still remains very difficult to plan. In this paper, we propose a robust method to delineate on the skin of a 3D reconstructed patient the zones that are candidate for an insertion, because they allow a safe access to the tumor without meeting any organ, and to compute automatically within these zones an optimal trajectory minimizing the volume of necrosis covering the tumor.