Planning Non-Linear Trajectories for No-Touch Thermal Ablation Using Passive Steerable Needle With Controlled...

Percutaneous thermal ablation using a passive steering needle has the potential to help reduce procedure risks and enable multiple ablations with a single insertion. However, manual planning of such procedures is challenging, time-consuming, and typically done using CT-scans or tools designed for rigid or active steering needles. We introduce the PSAM approach which is based on an enhanced version of the particle swarm optimization with a memory component. This tool calculates optimal trajectories for no-touch thermal ablations, considering safety distances from obstacles such as bones and organs, and the amount of ablation affecting healthy tissue. Experiments were conducted on a passive steerable needle with controlled stiffness named ARC needle recently developed. The results are then compared with a semi-exhaustive Monte-Carlo approach and a manual planning by a trained surgeon using conventional rigid needles, and ranked by a second expert. The results demonstrate the interest and potential of the ARC needle and the PSAM approach to achieve the no-touch approach and avoid multiple insertions.