Difference between revisions of "Specifications, constraints and Proofs"
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To this end, we put into play some approaches coming from declarative modeling and geometric constraint solving, to compute automatically optimal trajectories for rigid and straight surgical tools. The comutation of the trajectory is performed in several steps. First, the expertise of the surgeon on a given type of intervention is transcribed under the form of mathematical equations (equalities, cost functions). Then those equations are formalized into geometric constraints, written under the form of terms combining geometric and arithmetic operators and the data coming from the medical images (MRI, CT). A first computation solves the so-called "strict" geometric constraints (boolean constraints) to provide the space of possible solutions. Finally a second computation solves the so-called "soft" geometric constraints called (numerical constraints) thanks to a numerical optimization, to provide the optimal solution. [[Image:Caro zonesoptimisationdec2006 detoure.jpg|right|thumb|150px]] | To this end, we put into play some approaches coming from declarative modeling and geometric constraint solving, to compute automatically optimal trajectories for rigid and straight surgical tools. The comutation of the trajectory is performed in several steps. First, the expertise of the surgeon on a given type of intervention is transcribed under the form of mathematical equations (equalities, cost functions). Then those equations are formalized into geometric constraints, written under the form of terms combining geometric and arithmetic operators and the data coming from the medical images (MRI, CT). A first computation solves the so-called "strict" geometric constraints (boolean constraints) to provide the space of possible solutions. Finally a second computation solves the so-called "soft" geometric constraints called (numerical constraints) thanks to a numerical optimization, to provide the optimal solution. [[Image:Caro zonesoptimisationdec2006 detoure.jpg|right|thumb|150px]] | ||
| − | + | We tested our approaches on 2 types of interventions : the ablation of hepatic tumors by radiofrequency (hyperthermia) in collaboration with Pr. Gangi from the service of radiology of the Hôpital Civil of Strasbourg, and the implantation of electrodes of deep brain stimulation in collaboration with Dr. Haegelen from the service of neurosurgery of Renn's University hospital Pontchaillou. | |
| − | + | The PhD thesis of Claire Baegert dealt with this topic [http://lsiit-cnrs.unistra.fr/Publications/2009/Bae09/]. Various publications were published regarding radiofrequency [http://lsiit-cnrs.unistra.fr/Publications/2009/EBS09/][http://lsiit-cnrs.unistra.fr/Publications/2007/BESSG07/][http://lsiit-cnrs.unistra.fr/Publications/2007/BESS07/][http://lsiit-cnrs.unistra.fr/Publications/2007/BESS07a/][http://lsiit-cnrs.unistra.fr/Publications/2007/BESS07b/] and deep brain stimulation [http://lsiit-cnrs.unistra.fr/Publications/2010/EHJ10/]. These works also leaded to a collaboration with DKFZ Heidelberg on the acceleration of occlusions solving thanks to GPU [http://lsiit-cnrs.unistra.fr/Publications/2010/ESFRSEBMM10/][http://lsiit-cnrs.unistra.fr/Publications/2011/SESREBFFYMM11/]. | |
| − | + | These works gave rise to the ANR project '''[http://www.anr-acoustic.org/ ACouStiC]''', which started in january 2011 for 4 years, and in which IGG team is a partner. This research topic is part of the IHU of Strasbourg. | |
== Perspectives == | == Perspectives == | ||
Revision as of 12:45, 4 April 2011
Presentation
Context and goals
Permanents staff
- 2 professors : Jean-François Dufourd and Pascal Schreck
- 4 assistant professors : Caroline Essert, Nicolas Magaud, Pascal Mathis, Julien Narboux
Other participants
Associate researcher : Gabriel Braun (MC) associate since 2009
Post-doctoral : Christophe Brun (ATER), Simon E.B. Thierry (ATER)
PhD students : Rémi Imbach
Former PhD students : Claire Baegert, Christophe Brun, Simon E. B. Thierry.
Outcome
Theorem proving
Specification, proofs of algorithms and implementation
Specification and constraint solving
Formalisation and planning of surgical interventions
In these works, we propose an original approach to assist automatically the planning of a position of a surgical tool. Our method allows for elaborating an optimal strategy of intervention, specific to the patient and to the type of intervention, thanks to an automatic computation which is based on the expertise of the field and the preoperative data.
To this end, we put into play some approaches coming from declarative modeling and geometric constraint solving, to compute automatically optimal trajectories for rigid and straight surgical tools. The comutation of the trajectory is performed in several steps. First, the expertise of the surgeon on a given type of intervention is transcribed under the form of mathematical equations (equalities, cost functions). Then those equations are formalized into geometric constraints, written under the form of terms combining geometric and arithmetic operators and the data coming from the medical images (MRI, CT). A first computation solves the so-called "strict" geometric constraints (boolean constraints) to provide the space of possible solutions. Finally a second computation solves the so-called "soft" geometric constraints called (numerical constraints) thanks to a numerical optimization, to provide the optimal solution.
We tested our approaches on 2 types of interventions : the ablation of hepatic tumors by radiofrequency (hyperthermia) in collaboration with Pr. Gangi from the service of radiology of the Hôpital Civil of Strasbourg, and the implantation of electrodes of deep brain stimulation in collaboration with Dr. Haegelen from the service of neurosurgery of Renn's University hospital Pontchaillou.
The PhD thesis of Claire Baegert dealt with this topic [1]. Various publications were published regarding radiofrequency [2][3][4][5][6] and deep brain stimulation [7]. These works also leaded to a collaboration with DKFZ Heidelberg on the acceleration of occlusions solving thanks to GPU [8][9].
These works gave rise to the ANR project ACouStiC, which started in january 2011 for 4 years, and in which IGG team is a partner. This research topic is part of the IHU of Strasbourg.
Perspectives
Concernant la planification d'opérations chirurgicales, dans le cadre entre autres du projet ANR blanc ACouStiC, nous allons entamer une extension du domaine des solutions possibles, en étudiant les trajectoires courbes et/ou multiples, ainsi que les trajectoires volumiques. Cela nous permettra d'étendre le champ des applications à des outils chirurgicaux déformables, insérés dans des tissus également déformables, ou encore à des outils multiples (par exemple la cryoablation de tumeurs du foie), ou enfin à des volumes d'accès par exemple pour la craniotomie dans le cadre d'exérèse de lésions cérébrales. Nous allons également travailler à la navigation contrainte dans l'espace des solutions, afin de restreindre la modification de la trajectoire proposée à un espace des solutions possibles et/ou raisonnables. Pour cela, le lien sera fait avec l'axe "Visualisation et interactions" et notamment le thème de recherche sur les interfaces à retour d'effort.