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Published on: January 16, 2011
A novel planning solution for semi-autonomous aspiration of Baker's cysts
Adam Ciszkiewicz1, Jacek Lorkowski2, Grzegorz Milewski1
1Institute of Applied Mechanics, Cracow University of Technology, Cracow, Poland.
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.
