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Differential evolution and cost-maps for needle path planning in Baker's cyst aspiration
Adam Ciszkiewicz1, Jacek Lorkowski2, Grzegorz Milewski1
1Faculty of Mechanical Engineering, Cracow University of Technology, Kraków, Poland.
Acta of Bioengineering and Biomechanics
|June 21, 2023
Summary
This study introduces an automated needle path planning method for Baker's cyst aspiration, improving safety and efficiency in knee treatments.
Area of Science:
- Orthopedic surgery
- Medical imaging
- Robotics
Background:
- Baker's cysts are associated with degenerative knee changes.
- Aspiration is a common treatment for Baker's cysts.
Purpose of the Study:
- To develop an automated needle path planning procedure for Baker's cyst aspiration.
- To optimize needle trajectory in the transverse plane for improved safety and efficacy.
Main Methods:
- Utilized optimization algorithms (Differential Evolution) with a custom objective function.
- Employed cost maps derived from segmented knee MRI images.
- Compared generated paths against surgeon-defined reference paths.
Main Results:
- Successfully planned 165 simulated needle paths, avoiding critical anatomical structures.
- Minimized needle travel distance within the knee joint.
- 90% of generated paths closely matched surgeon references; remaining 10% were viable alternatives.
Conclusions:
- The proposed automated planning solution is a viable approach for Baker's cyst aspiration.
- This method enhances safety and potentially reduces procedure time.
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