Multi-criteria trajectory planning for hepatic radiofrequency ablation

In this paper, we propose a method based on multiple criteria to assist physicians in planning percutaneous RFA on liver. We explain how we extracted information from literature and interviews with radiologists, and formalized them into geometric constraints. We expose then our method to compute the most suitable needle insertion in two steps: computation of authorized insertion zones and multi-criteria optimization of the trajectory within this zones. We focus on the combination of the criteria to optimize and on the optimization step.